hatem-darweesh/op_bridge

OpenPlanner ROS based bridge for CARLA Simulator and Scenario Runner

op_bridge's Issues

my vehicle STATE always planning

when I set 2D pose Estimate point and 2D Goal Pose, vehicle can planning the line is yellow not green, error log failed look up transfrom from map to base_link;

how to fix the direction

Hello, I followed the instructions and run run_exploration_mode_ros2.sh. I managed to start the autoware, however it seemed like the directions of the vehicle are different in carla and rviz, like this:

Any hint to fix the problem? I have already modified the ~/src/launcher/autoware_launch/autoware_launch/launch/autoware.launch.xml and ~/src/sensor_kit/sample_sensor_kit_launch/sample_sensor_kit_launch/launch/gnss.launch.xml, did I miss other files?

Stuck on planning

Good evening,

Fisrt of all thank you so much for your work. The youtube videaos, comments and bridge are extremely usefull !

I managed to make the bridge launch but the run_exploration gets stucked on planning after sending a goal.

I get this error in loop

[system_error_monitor-21] [ERROR] [1676488552.295627924] [system_error_monitor /autoware/perception/node_alive_monitoring/topic_status/topic_state_monitor_obstacle_segmentation_pointcloud: perception_topic_status]: [Single Point Fault]: Error
[component_container_mt-74] [WARN] [1676488552.529779971] [autoware_api.external.vehicle_status]: The turn_indicators topic is not subscribed
[component_container_mt-64] [ERROR] [1676488552.772213389] [planning.scenario_planning.lane_driving.motion_planning.obstacle_stop_planner]: Failed to look up transform from map to base_link
[component_container_mt-64] [ERROR] [1676488553.360538686] [planning.scenario_planning.lane_driving.motion_planning.obstacle_stop_planner]: Failed to look up transform from map to base_link
[component_container_mt-64] [ERROR] [1676488553.938515903] [planning.scenario_planning.lane_driving.motion_planning.obstacle_stop_planner]: Failed to look up transform from map to base_link
[component_container_mt-64] [ERROR] [1676488554.510493746] [planning.scenario_planning.lane_driving.motion_planning.obstacle_stop_planner]: Failed to look up transform from map to base_link
[component_container_mt-64] [ERROR] [1676488555.074671410] [planning.scenario_planning.lane_driving.motion_planning.obstacle_stop_planner]: Failed to look up transform from map to base_link
[component_container_mt-64] [ERROR] [1676488555.653173686] [planning.scenario_planning.lane_driving.motion_planning.obstacle_stop_planner]: Failed to look up transform from map to base_link
[system_error_monitor-21] [ERROR] [1676488556.124665306] [system_error_monitor /autoware/localization/performance_monitoring/localization_accuracy]: [Single Point Fault]: Error

Anyone knows what is happening and how to fix it ?

Can op_bridge work without ros-bridge?

Thank you so much for your work. I am trying to write a dockerfile and buiId both bridge and autoware.universe in a single docker iamge. I noticed that there is no clone to carla/ros-bridge project in your process. Whether op_palnner can work independently without the support of ros-bridge? BTW, may I directly use rostopic to publish the target position of the ego vehicle instead of manually selecting points on the map.

ERROR when run_exploration_mode_ros2.sh

I want to use ros2 so I run run_exploration_mode_ros2.sh.However I meet following error.I have tried changing default python version to python2.7 but it's still not working.

Traceback (most recent call last):
File "/home/tasl/carla-autoware-universe/op_carla/op_bridge/op_bridge/op_bridge_ros2.py", line 12, in
import carla
File "", line 259, in load_module
File "/home/tasl/carla_0.9.13/PythonAPI/carla/dist/carla-0.9.13-py2.7-linux-x86_64.egg/carla/init.py", line 8, in
raise ImportError('This package shoud not be accessible on Python 3.')
File "", line 259, in load_module
File "/home/tasl/carla_0.9.13/PythonAPI/carla/dist/carla-0.9.13-py2.7-linux-x86_64.egg/carla/libcarla.py", line 7, in
File "/home/tasl/carla_0.9.13/PythonAPI/carla/dist/carla-0.9.13-py2.7-linux-x86_64.egg/carla/libcarla.py", line 6, in bootstrap
File "/usr/lib/python3.8/imp.py", line 342, in load_dynamic
return _load(spec)
ImportError: /home/tasl/.cache/Python-Eggs/carla-0.9.13-py2.7-linux-x86_64.egg-tmp/carla/libcarla.so: undefined symbol: _PyThreadState_Current

How to run CARLA leaderboard routes with Auoware.universe and openplanner on ROS 2 (galactic)?

Hi,

Thanks for the great code and tutorial. I tried to setup autoware.universe with the Carla bridge on Ubuntu 20.04 and ROS galactic. Now I can successfully run the run_exploration_mode_ros2.sh to play with the vehicle planning.

However, when I try to run run_route_scenarios_ros2.sh on the Leaderboard routes, the ego vehicle is always stuck at the waiting_for_route state and does not follow the predefined waypoints in the route. It looks to me that the vehicle is not receiving any routing points to do the planning, but I am not sure what causes this.

Do you know which part of the code could possibly go wrong here?

How to fix this error

Hi, when i ran exploration_made_ros2.sh gave this error i don't know how fix it

a@a:~/op_carla/op_bridge/op_scripts(ros2)$ ./run_exploration_mode_ros2.sh
Ego Vehicle: hero
Executing stack... hero Town01

Starting OpenPlanner ..
hero
Town01
true

---

[INFO] [launch]: All log files can be found below /home/a/.ros/log/2023-01-04-15-50-48-939164-a-227460
[INFO] [launch]: Default logging verbosity is set to INFO
Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/galactic/lib/python3.8/site-packages/launch/launch_service.py:226> exception=SubstitutionFailure("executed command failed. Command: xacro /home/a/carla-autoware-universe/autoware.universe.openplanner/install/tier4_vehicle_launch/share/tier4_vehicle_launch/urdf/vehicle.xacro vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit config_dir:=/home/a/carla-autoware-universe/autoware.universe.openplanner/install/sample_sensor_kit_description/share/sample_sensor_kit_description/config\nCaptured stderr output: error: name 'xacro' is not defined \nwhen evaluating expression 'xacro.load_yaml('$(find sample_vehicle_description)/config/vehicle_info.param.yaml')' \nwhen evaluating expression 'vehicle_info['/']['ros__parameters']['wheel_base']/2.0'\nwhen processing file: /home/a/carla-autoware-universe/autoware.universe.openplanner/install/sample_vehicle_description/share/sample_vehicle_description/urdf/vehicle.xacro\nincluded from: /home/a/carla-autoware-universe/autoware.universe.openplanner/install/tier4_vehicle_launch/share/tier4_vehicle_launch/urdf/vehicle.xacro\n")>
Traceback (most recent call last):
File "/opt/ros/galactic/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
await self.__process_event(next_event)
File "/opt/ros/galactic/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
visit_all_entities_and_collect_futures(entity, self.__context))
File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
[Previous line repeated 5 more times]
File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
sub_entities = entity.visit(context)
File "/opt/ros/galactic/lib/python3.8/site-packages/launch/action.py", line 108, in visit
return self.execute(context)
File "/opt/ros/galactic/lib/python3.8/site-packages/launch_ros/actions/node.py", line 465, in execute
self._perform_substitutions(context)
File "/opt/ros/galactic/lib/python3.8/site-packages/launch_ros/actions/node.py", line 420, in _perform_substitutions
evaluated_parameters = evaluate_parameters(context, self.__parameters)
File "/opt/ros/galactic/lib/python3.8/site-packages/launch_ros/utilities/evaluate_parameters.py", line 164, in evaluate_parameters
output_params.append(evaluate_parameter_dict(context, param))
File "/opt/ros/galactic/lib/python3.8/site-packages/launch_ros/utilities/evaluate_parameters.py", line 133, in evaluate_parameter_dict
evaluated_value = value.evaluate(context)
File "/opt/ros/galactic/lib/python3.8/site-packages/launch_ros/parameter_descriptions.py", line 91, in evaluate
self.__evaluated_parameter_value = perform_typed_substitution(
File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/type_utils.py", line 546, in perform_typed_substitution
perform_substitutions(context, cast(List[Substitution], value)),
File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions
return ''.join([context.perform_substitution(sub) for sub in subs])
File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in
return ''.join([context.perform_substitution(sub) for sub in subs])
File "/opt/ros/galactic/lib/python3.8/site-packages/launch/launch_context.py", line 232, in perform_substitution
return substitution.perform(self)
File "/opt/ros/galactic/lib/python3.8/site-packages/launch/substitutions/command.py", line 119, in perform
raise SubstitutionFailure(on_error_message)
launch.substitutions.substitution_failure.SubstitutionFailure: executed command failed. Command: xacro /home/a/carla-autoware-universe/autoware.universe.openplanner/install/tier4_vehicle_launch/share/tier4_vehicle_launch/urdf/vehicle.xacro vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit config_dir:=/home/a/carla-autoware-universe/autoware.universe.openplanner/install/sample_sensor_kit_description/share/sample_sensor_kit_description/config
Captured stderr output: error: name 'xacro' is not defined
when evaluating expression 'xacro.load_yaml('$(find sample_vehicle_description)/config/vehicle_info.param.yaml')'
when evaluating expression 'vehicle_info['/']['ros__parameters']['wheel_base']/2.0'
when processing file: /home/a/carla-autoware-universe/autoware.universe.openplanner/install/sample_vehicle_description/share/sample_vehicle_description/urdf/vehicle.xacro
included from: /home/a/carla-autoware-universe/autoware.universe.openplanner/install/tier4_vehicle_launch/share/tier4_vehicle_launch/urdf/vehicle.xacro

Traceback (most recent call last):
File "/home/a/op_carla/op_bridge/op_bridge/op_bridge_ros2.py", line 61, in _tick_agent
ego_action = self.agent()
File "/home/a/op_carla/op_bridge/leaderboard/autoagents/agent_wrapper.py", line 75, in call
return self._agent()
File "/home/a/op_carla/op_bridge/leaderboard/autoagents/autonomous_agent.py", line 115, in call
control = self.run_step(input_data, timestamp)
File "/home/a/op_carla/op_bridge/op_bridge/op_ros2_agent.py", line 531, in run_step
raise RuntimeError("Stack exited with: {} {}".format(
RuntimeError: Stack exited with: 1 None

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
File "/home/a/op_carla/op_bridge/op_bridge/op_bridge_ros2.py", line 171, in run_agent
self.agent_loop._tick_agent(timestamp)
File "/home/a/op_carla/op_bridge/op_bridge/op_bridge_ros2.py", line 67, in _tick_agent
raise AgentError(e)
leaderboard.autoagents.agent_wrapper.AgentError: Stack exited with: 1 None
Scenario Ended , Hero has fallen, Sayonara
ERROR: failed to destroy actor 197 : unable to destroy actor: not found

Leaderboard training scenario, list out of range

Good evening,

I am trying to link autoware to the leaderboard training scenario.

I get this error

The scenario could not be loaded:

list index out of range

Traceback (most recent call last):
File "/home/avner/CARLA_AUTOWARE_project/op_carla/op_bridge/leaderboard/leaderboard_evaluator.py", line 332, in _load_and_run_scenario
scenario = RouteScenario(world=self.world, config=config, debug_mode=args.debug)
File "/home/avner/CARLA_AUTOWARE_project/op_carla/op_bridge/leaderboard/scenarios/route_scenario.py", line 189, in init
self._update_route(world, config, debug_mode>0)
File "/home/avner/CARLA_AUTOWARE_project/op_carla/op_bridge/leaderboard/scenarios/route_scenario.py", line 235, in _update_route
self.timeout = self._estimate_route_timeout()
File "/home/avner/CARLA_AUTOWARE_project/op_carla/op_bridge/leaderboard/scenarios/route_scenario.py", line 266, in _estimate_route_timeout
prev_point = self.route[0][0]
IndexError: list index out of range

Registering the route statistics
Exception ignored in: <function RouteScenario.del at 0x7f094178e280>
Traceback (most recent call last):
File "/home/avner/CARLA_AUTOWARE_project/op_carla/op_bridge/leaderboard/scenarios/route_scenario.py", line 567, in del
self.remove_all_actors()
File "/home/avner/CARLA_AUTOWARE_project/op_carla/scenario_runner/srunner/scenarios/basic_scenario.py", line 202, in remove_all_actors
for i, _ in enumerate(self.other_actors):
AttributeError: 'RouteScenario' object has no attribute 'other_actors'

It works properly with the provided scripts. Am I missing something ?

Thank you !

Import Issues with Carla Simulator 0.9.13 release

Hi @hatem-darweesh

I am following your tutorial: Autoware Universe with CARLA
My OS is ubuntu 20.04 and I have CARLA 0.9.13 version installed at:

I am having issues to run the /run_exploration_mode_ros2.sh

I receive the following import errors:

File "hatem-repos/op_bridge/op_bridge/op_ros2_agent.py", line 35, in <module>
    from sensor_msgs_py.point_cloud2 import create_cloud
ModuleNotFoundError: No module named 'sensor_msgs_py'

It is not an egg or python version issue, because I have checked that other modules are imported...

However I checked other thing that I would like to ask you.:
I needed to change the script /run_exploration_mode_ros2.sh*, to be able to execute the script op_ros2_agent.py. Please take a look at the end rows:

I was inspecting the ${LEADERBOARD_ROOT} path in sublime text, and I got:

Going straight to the point:

The **${LEADERBOARD_ROOT} ** points to: /home/user/carla-0.9.13/op_bridge

However my carla-simulator is installed at opt/carla-simulator I have not this carla-0.9.13 folder. Actually I have dowloaded it from here: https://github.com/carla-simulator/carla/tree/0.9.13
Afterwards I have uncompressed it. And checked the content:

I do not have the content contained in the export env variables:

export CARLA_ROOT=/home/user/carla-0.9.13/CARLA_0.9.13_RSS
   12  export SCENARIO_RUNNER_ROOT=/home/user/carla-0.9.13/scenario_runner
   13: export LEADERBOARD_ROOT=/home/user/carla-0.9.13/op_bridge
   14  export TEAM_CODE_ROOT=/home/user/carla-0.9.13/op_agent
   15  export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI

I have not found inside "carla-0.9.13" CARLA_0_9_13_RSS or scenario_runner or op_bridge or op_agent.
Just Python_API is available. The other folder I have put inside "hatem-repos" folder as you recommend in your tutorial:

The folder CARLA_0_9_13_RSS I have no idea where it is.

Then my question is simple, how did you install the CARLA 0.9.13 simulator and could I take a look how your directories are organized please?

I do not know if commenting the line:

#python3 ${LEADERBOARD_ROOT}/op_bridge/op_bridge_ros2.py

and replacing for
python3 hatem-repos/op_bridge/op_bridge/op_ros2_agent.py

is generating my issue. Becuse I guee the ${LEADERBOARD ROOT} term accomplishes with some function in CARLA.

Would you have some idea what is going on?

Thanks in advance

Missing Required Argument 'component_state_monitor_topic_path' in run_exploration_mode_ros2.sh

Hi,
I encountered an error while running the ./run_exploration_mode_ros2.sh script inside the autoware-universe:humble-2023.10-cuda Docker image. The error message is as follows:
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Included launch description missing required argument 'component_state_monitor_topic_path' (description: 'no description given'), given: [map_path, vehicle_model, sensor_model, run_mode, sensor_model, cpu_monitor_config_file, gpu_monitor_config_file, hdd_monitor_config_file, mem_monitor_config_file, net_monitor_config_file, ntp_monitor_config_file, process_monitor_config_file, voltage_monitor_config_file, mode, file, config_file, extra_agg_config_file_sensing, extra_agg_config_file_system, extra_agg_config_file_vehicle, use_emergency_hold, config_file, ignore_missing_diagnostics, add_leaf_diagnostics, data_ready_timeout, data_heartbeat_timeout, diag_timeout_sec, hazard_recovery_timeout, use_emergency_hold, use_emergency_hold_in_manual_driving, config_file, config_file, config_file, config_file, extra_config_file_sensor, launch_rqt_reconfigure, launch_rqt_runtime_monitor, launch_rqt_robot_monitor, launch_rqt_runtime_monitor_err, config_file, extra_config_file_sensor, update_rate] Traceback (most recent call last): File "/home/amir/Carla/CARLA_0.9.15/op_bridge-ros2-humble/op_bridge/op_bridge_ros2.py", line 61, in _tick_agent ego_action = self.agent() File "/home/amir/Carla/CARLA_0.9.15/op_bridge-ros2-humble/leaderboard/autoagents/agent_wrapper.py", line 75, in __call__ return self._agent() File "/home/amir/Carla/CARLA_0.9.15/op_bridge-ros2-humble/leaderboard/autoagents/autonomous_agent.py", line 115, in __call__ control = self.run_step(input_data, timestamp) File "/home/amir/Carla/CARLA_0.9.15/op_bridge-ros2-humble/op_bridge/op_ros2_agent.py", line 528, in run_step raise RuntimeError("Stack exited with: {} {}".format( RuntimeError: Stack exited with: 1 None
The environment details are as follows:

Docker image: autoware-universe:humble-2023.10-cuda
Carla version: 0.9.15
The op_bridge and op_agent are cloned in carla directory. I've cloned the open_planer and Lidar driver and rebuilt autoware, but the error persists.

Could you please assist in resolving this issue?

Is python3 supported?

I am trying to use op_bridge with autoware.universe. I notice that op_bridge uses Carla python2 apis. I wonder wether it is possible to use python3.

Question about lidar topic

Hi, I'm also working on the ros2 bridge connecting autoware.universe and carla 0.9.13 recently (as you can see from my repos).

By now, I'm stuck on the lidar topic reforwarding. It seems that if I don't deal with lidar topic perfectly, autoware's localization module also doesn't work (since the ndt_scan_matcher needs the lidar sensor output).

I find that you are publishing carla's lidar info to the topic /carla_pointcloud in your latest commit. But I didn't find a relevant remap in your op_bridge and op_agent repo. As far as I know, the lidar info needs to be published to /sensing/lidar/top/pointcloud_raw_ex. Then where did you do the remmaping (from /carla_pointcloud to /sensing/lidar/top/pointcloud_raw_ex )? Or am I missing something important?

I'm glad to hear from you. Thx

How to employ my own map to do the simulation with carla and autoware.

Hi,
Right now I already drew my own roadrunner map, and it has been successfully imported into the carla 0.9.15 with ubuntu 22.04. And I want to do the simulation of my own map with carla and autoware. I see in the op_agent folder, the autoware requires the osm map and pcd map and a projector yaml. I have reconstructed the pcd map of my own roadrunner map in carla with a slam algorithm. Can you tell me how can I get the correct osm and projector yaml to do the simulation?
Thanks a lot.

Correct orientation in carla but not in autoware

Hello,
the vehicle spawns with the correct orientation in carla but not in autoware (it's 90 degrees off). I tried to rectify the orientation by using the 2D pose estimate in RViz but the vehicle will not rotate in autoware. I can modify its location but not its orientation. Would you know if this has to do with the edit we made in gnss.launch.xml?

Thank you

issue when running ./run_exploration_mode_ros2.sh

hi, I get the error massage like this. I cannot get the autoware started but the carla display did change to town1

[INFO] [launch]: All log files can be found below /home/hguo/.ros/log/2023-03-04-22-46-05-299220-hguo-Legion-5-Pro-22552
[INFO] [launch]: Default logging verbosity is set to INFO
Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/galactic/lib/python3.8/site-packages/launch/launch_service.py:226> exception=SubstitutionFailure("launch configuration 'launch_carla_interface' does not exist")>
Traceback (most recent call last):
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  [Previous line repeated 1 more time]
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/action.py", line 106, in visit
    if self.__condition is None or self.__condition.evaluate(context):
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/condition.py", line 44, in evaluate
    return self._predicate(context)
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/conditions/if_condition.py", line 43, in _predicate_func
    return evaluate_condition_expression(context, self.__predicate_expression)
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/conditions/evaluate_condition_expression_impl.py", line 41, in evaluate_condition_expression
    expanded_expression = perform_substitutions(context, expression)
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/launch_context.py", line 232, in perform_substitution
    return substitution.perform(self)
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/substitutions/launch_configuration.py", line 98, in perform
    raise SubstitutionFailure(
launch.substitutions.substitution_failure.SubstitutionFailure: launch configuration 'launch_carla_interface' does not exist
Traceback (most recent call last):
  File "/home/hguo/carla-autoware-universe/op_carla/op_bridge/op_bridge/op_bridge_ros2.py", line 61, in _tick_agent
    ego_action = self.agent()
  File "/home/hguo/carla-autoware-universe/op_carla/op_bridge/leaderboard/autoagents/agent_wrapper.py", line 75, in __call__
    return self._agent()
  File "/home/hguo/carla-autoware-universe/op_carla/op_bridge/leaderboard/autoagents/autonomous_agent.py", line 115, in __call__
    control = self.run_step(input_data, timestamp)
  File "/home/hguo/carla-autoware-universe/op_carla/op_bridge/op_bridge/op_ros2_agent.py", line 531, in run_step
    raise RuntimeError("Stack exited with: {} {}".format(
RuntimeError: Stack exited with: 1 None

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/home/hguo/carla-autoware-universe/op_carla/op_bridge/op_bridge/op_bridge_ros2.py", line 171, in run_agent
    self.agent_loop._tick_agent(timestamp)
  File "/home/hguo/carla-autoware-universe/op_carla/op_bridge/op_bridge/op_bridge_ros2.py", line 67, in _tick_agent
    raise AgentError(e)
leaderboard.autoagents.agent_wrapper.AgentError: Stack exited with: 1 None
Scenario Ended , Hero has fallen, Sayonara
ERROR: failed to destroy actor 375 : unable to destroy actor: not found 
^CException ignored in: <module 'threading' from '/usr/lib/python3.8/threading.py'>
Traceback (most recent call last):
  File "/usr/lib/python3.8/threading.py", line 1388, in _shutdown
    lock.acquire()
TypeError: _stop_loop() takes 1 positional argument but 2 were given

I would appreciate if you can help me.

run_exploration_mode_ros2.sh, got error

[gnss_poser-32] [ERROR] [1704860230.069107566] [sensing.gnss.gnss_poser]: Failed to convert Height from Ellipsoid to OrthometricFile not readable /usr/share/GeographicLib/geoids/egm2008-1.pgm
[gnss_poser-32] [ERROR] [1704860230.128319694] [sensing.gnss.gnss_poser]: Failed to convert Height from Ellipsoid to OrthometricFile not readable /usr/share/GeographicLib/geoids/egm2008-1.pgm
[gnss_poser-32] [ERROR] [1704860230.187034612] [sensing.gnss.gnss_poser]: Failed to convert Height from Ellipsoid to OrthometricFile not readable /usr/share/GeographicLib/geoids/egm2008-1.pgm
[gnss_poser-32] [ERROR] [1704860230.245079209] [sensing.gnss.gnss_poser]: Failed to convert Height from Ellipsoid to OrthometricFile not readable /usr/share/GeographicLib/geoids/egm2008-1.pgm
[gnss_poser-32] [ERROR] [1704860230.307171874] [sensing.gnss.gnss_poser]: Failed to convert Height from Ellipsoid to OrthometricFile not readable /usr/share/GeographicLib/geoids/egm2008-1.pgm
[gnss_poser-32] [ERROR] [1704860230.358996723] [sensing.gnss.gnss_poser]: Failed to convert Height from Ellipsoid to OrthometricFile not readable /usr/share/GeographicLib/geoids/egm2008-1.pgm
[component_container_mt-2] [WARN] [1704860229.378742897] [perception.occupancy_grid_map.occupancy_grid_map_node]: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[component_container_mt-2] [WARN] [1704860229.905567969] [perception.occupancy_grid_map.occupancy_grid_map_node]: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.

It seems that the coordinates are not aligned
Can anyone provide some help？

Ego Vehicle Stuck on Planning Stage

Hello, I've been trying to run the bridge as shown in the video tutorials. I can input a 2D Goal correctly, but the ego vehicle remains stuck on Planning Stage, without ever engaging.

Apparently, the vehicle plans part of the way correctly, but comes to a sudden stop, marked red in the trajectory preview. Additionally, the log obtained from the console is the following:

[system_error_monitor-21] [ERROR] [1681477470.405202187] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation]: [Single Point Fault]: Stale
[system_error_monitor-21] [ERROR] [1681477470.405244454] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_curvature_validation/planning_error_monitor: trajectory_curvature_validation]: [Single Point Fault]: This trajectory's curvature is within the expected range
[system_error_monitor-21] [ERROR] [1681477470.405257889] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_point_validation/planning_error_monitor: trajectory_point_validation]: [Single Point Fault]: This Trajectory doesn't have any invalid values
[system_error_monitor-21] [ERROR] [1681477470.405268400] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_interval_validation/planning_error_monitor: trajectory_interval_validation]: [Single Point Fault]: Trajectory Interval Length is within the expected range
[system_error_monitor-21] [ERROR] [1681477470.405277809] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_relative_angle_validation/planning_error_monitor: trajectory_relative_angle_validation]: [Single Point Fault]: This trajectory's relative angle is within the expected range
[component_container_mt-64] [INFO] [1681477470.414272572] [planning.scenario_planning.lane_driving.motion_planning.obstacle_avoidance_planner]: Replan with resetting optimization since valid nearest trajectory point from ego was not found.
[component_container-43] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud!
[component_container-43] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud!
[carla_pointcloud_node-1] CARLA CARLA >>>> Received Cloud : 0x7f5a94029e40, Converted:
[component_container-67] [ERROR] [1681477472.544833715] [control.trajectory_follower.controller_node_exe]: [Emergency stop] vel: 0.000, acc: -5.000
[component_container-43] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud!
[carla_pointcloud_node-1] CARLA CARLA >>>> Received Cloud : 0x7f5a94029e40, Converted:
[component_container-67] [INFO] [1681477473.921484725] [control.operation_mode_transition_manager]: Engage unavailable: closest point not found
[component_container_mt-64] [INFO] [1681477473.930000145] [planning.scenario_planning.lane_driving.motion_planning.obstacle_avoidance_planner]: Replan with resetting optimization since valid nearest trajectory point from ego was not found.
[component_container-43] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud!
[carla_pointcloud_node-1] CARLA CARLA >>>> Received Cloud : 0x7f5a94029e40, Converted:
[component_container-43] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud!
[carla_pointcloud_node-1] CARLA CARLA >>>> Received Cloud : 0x7f5a94029e40, Converted:
[component_container-43] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud!
[lidar_centerpoint_node-47] [WARN] [1681477477.257861893] [lidar_centerpoint]: No detected boxes.
[component_container-67] [INFO] [1681477477.274596408] [control.operation_mode_transition_manager]: Engage unavailable: closest point not found

I am using Ubuntu 20 with ROS 2 Galactic.
Is it PCL related, bridge related or Autoware related? I would appreciate any help to solve this issue. Thanks in advance.

ERROR when execute run_route_scenarios_ros2.sh

========= Preparing RouteScenario_0 (repetition 0) =========

Setting up the agent
Loading the world
WARNING: Actor model vehicle.lincoln.mkz2017 not available. Using instead vehicle.tesla.model3
Skipping scenario 'Scenario3' due to setup error: type object 'ParallelPolicy' has no attribute 'SUCCESS_ON_ONE'
Skipping scenario 'Scenario3' due to setup error: type object 'ParallelPolicy' has no attribute 'SUCCESS_ON_ONE'
Skipping scenario 'Scenario3' due to setup error: type object 'ParallelPolicy' has no attribute 'SUCCESS_ON_ONE'
Skipping scenario 'Scenario4' due to setup error: type object 'ParallelPolicy' has no attribute 'SUCCESS_ON_ONE'
Skipping scenario 'Scenario4' due to setup error: type object 'ParallelPolicy' has no attribute 'SUCCESS_ON_ONE'
WARNING: Not all actors were spawned

The scenario could not be loaded:

type object 'ParallelPolicy' has no attribute 'SUCCESS_ON_ONE'

Traceback (most recent call last):
File "/home/pc/workspaces/autowarefoundation/op_bridge/leaderboard/leaderboard_evaluator.py", line 332, in _load_and_run_scenario
scenario = RouteScenario(world=self.world, config=config, debug_mode=args.debug)
File "/home/pc/workspaces/autowarefoundation/op_bridge/leaderboard/scenarios/route_scenario.py", line 200, in init
super(RouteScenario, self).init(name=config.name,
File "/home/pc/workspaces/carla-0.9.13/scenario_runner/srunner/scenarios/basic_scenario.py", line 63, in init
behavior = self._create_behavior()
File "/home/pc/workspaces/autowarefoundation/op_bridge/leaderboard/scenarios/route_scenario.py", line 487, in _create_behavior
behavior = py_trees.composites.Parallel(policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
AttributeError: type object 'ParallelPolicy' has no attribute 'SUCCESS_ON_ONE'

Registering the route statistics

When i run_exploration_mode_ros2.sh, got error

Hi, i ran run_exploration_mode_ros2.sh to op_bridge autoware.universe and carla, i got error ~/worksapces/op_carla/op_bridge/op_scripts(ros2)$ ./run_exploration_mode_ros2.sh
./run_exploration_mode_ros2.sh: line 32: 19471 Segmentation fault (core dumped) python3 ${LEADERBOARD_ROOT}/op_bridge/op_bridge_ros2.py
and if you need more information plz tell me

Multiple Lidar Support

Hello!

Thank you very much for your amazing work of Autoware CARLA bridging, it works really well for me. I have some question when adding one more LIDAR to the system.
I have tried to add one more LIDAR to the system by modifying some code,

• agent_wrapper.py Line 27

SENSOR_LIMITS = { ... 'sensor.lidar.ray_cast': 2, ...

• op_ros2_agent.py Line 316 (Adding more lidar.ray_cast with different ID here)

def sensor(self): sensors = ...

• carla_pointcloud_interface_node.cpp and .hpp (Added one more subscriber and publisher for the new Lidar Nodes)

After modifying those codes, the localization fail to run as only one lidar topic have message (ex. carla_pointcloud_1, where as carla_pointcloud_2 is empty) and both the publisher topic of the lidar message for Autoware are empty somehow. Do you have work around or an idea on how to add more LIDAR to your method?

Thank you in advance.

map issue

what can I do to change the map from Town01 to other Towns?

couldn't start planning and start engage when the start and ending point have been chose

[system_error_monitor-21] [ERROR] [1692584098.178476558] [system_error_monitor /autoware/control/autonomous_driving/node_alive_monitoring]: [Single Point Fault]: Error
[system_error_monitor-21] [ERROR] [1692584098.178549856] [system_error_monitor /autoware/control/autonomous_driving/node_alive_monitoring/topic_status/topic_state_monitor_control_command_control_cmd: control_topic_status]: [Single Point Fault]: Error
[system_error_monitor-21] [ERROR] [1692584098.178558686] [system_error_monitor /autoware/control/autonomous_driving/node_alive_monitoring/topic_status/topic_state_monitor_trajectory_follower_control_cmd: control_topic_status]: [Single Point Fault]: Error
[system_error_monitor-21] [ERROR] [1692584098.178562776] [system_error_monitor /autoware/localization/performance_monitoring/localization_accuracy]: [Single Point Fault]: Error
[system_error_monitor-21] [ERROR] [1692584098.178570201] [system_error_monitor /autoware/localization/performance_monitoring/localization_accuracy/localization_error_monitor: localization_accuracy]: [Single Point Fault]: ellipse size is over the expected range
[system_error_monitor-21] [ERROR] [1692584098.178576643] [system_error_monitor /autoware/localization/performance_monitoring/localization_accuracy/localization_error_monitor: localization_accuracy_lateral_direction]: [Single Point Fault]: ellipse size along lateral direction is over the expected range

[system_error_monitor-21] [ERROR] [1692584098.178586259] [system_error_monitor /autoware/perception/node_alive_monitoring/topic_status/topic_state_monitor_object_recognition_objects: perception_topic_status]: [Single Point Fault]: OK
[system_error_monitor-21] [ERROR] [1692584098.178590637] [system_error_monitor /autoware/perception/node_alive_monitoring/topic_status/topic_state_monitor_obstacle_segmentation_pointcloud: perception_topic_status]: [Single Point Fault]: Error
[system_error_monitor-21] [ERROR] [1692584098.178597025] [system_error_monitor /autoware/planning/node_alive_monitoring]: [Single Point Fault]: Error
[system_error_monitor-21] [ERROR] [1692584098.178600285] [system_error_monitor /autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_mission_planning_route: planning_topic_status]: [Single Point Fault]: OK
[system_error_monitor-21] [ERROR] [1692584098.178604628] [system_error_monitor /autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_scenario_planning_trajectory: planning_topic_status]: [Single Point Fault]: Error
[component_container_mt-74] [WARN] [1692584100.037033261] [autoware_api.external.vehicle_status]: The turn_indicators topic is not subscribed
[component_container-67] [WARN] [1692584100.038872321] [control.operation_mode_transition_manager]: Engage unavailable: trajectory size must be > 2

Meanwhile, After I run the ./run_exploration_mode_ros2.sh ,the ubuntu prompt a crash report on component_container_mt, I guess it
might be the reson but i can't deal with it

can someone help to take a look? many thanks!

An error with launching "run_exploration_mode_ros2.sh"

Hi, I am in trouble with an error with launching "run_exploration_mode_ros2.sh" .

The operation environment is as follow:
1.Autoware PC
OS : Ubuntu 20.04
CPU : Intel Core i9
RMA : 32Gbytes
GPU : NVIDIA GeForce RTX2060 SUPER
2.CARLA PC
OS : Ubuntu 18.04

I would appreciate your cooperation.
Thanks in advance.

The initialization of localization is very poor in the ROS Humble version

Dear @hatem-darweesh ,

I have successfully run your Carla Autoware bridge in the ROS Humble version. However, the initialization of localization seems to be quite poor.

I am not sure why; usually, I have to rerun the program several times to get the localization initialization right.

Thank you very much!

Localization stuck on "uninitialized"

Hey @hatem-darweesh. Thank you for providing a Carla bridge that is compatible with Autoware. Please help me with this issue.

Here's what I've done so far:
My system:
Ubuntu 22.04
Python
Carla 0.9.15

I followed the steps listed on op_carla_bridge and cloned scenario_runner (openplanner_carla_bridge branch). Here is what some of my directories look like:

I had errors when I placed carla_sensor_kit directly in individual_params.

I managed to get around this error by placing carla_sensor_kit in individual/config/default instead:

colcon build build initially had some stderrs on packages. But after trying again it successfully built:

I created a directory called carla-0.9.15, extracted the CARLA_0.9.15.tar.gz into that directory. I also installed op_agent and op_bridge into that directory, so it looks like this:

Finally I tried following the steps 1-2 in op_bridge:

How to run the bridge:
1-Run CARLA simulator 0.9.13
2-Run one of the following options.
3-In case of run_srunner_agent.sh, scneario must be started before running the bridge.
4-The bridge run script will run the op_agent

First Terminal: ./dbat/carla-0.9.15/CarlaUE4.sh

Second Terminal:
Some additionally exports I had to make not mentioned in op_bridge/op_agent repos

export OP_BRIDGE_ROOT=~/dbat/carla-0.9.15/op_bridge
export OP_AGENT_ROOT=~/dbat/carla-0.9.15/op_agent
export OP_BRIDGE_ROOT=~/dbat/carla-0.9.15/op_bridge
export AUTOWARE_ROOT=~/dbat/autoware

Then run the rest of the exports listed in op_bridge/op_agent repos

export CARLA_ROOT=~/dbat/carla-0.9.15
export SCENARIO_RUNNER_ROOT=~/dbat/carla-0.9.15/scenario_runner
export LEADERBOARD_ROOT=~/dbat/carla-0.9.15/op_bridge/leaderboard 
export TEAM_CODE_ROOT=~/dbat/carla-0.9.15/op_agent 
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/util 
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla 
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla/agents
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla/dist/carla-0.9.13-py2.7-linux-x86_64.egg

Finally: ./dbat/carla-0.9.15/op_bridge/op_scripts/run_exploration_mode_ros2.sh

Output:
https://github.com/hatem-darweesh/op_bridge/assets/99521514/469bee2c-7f7c-454e-b622-d9eafc122e03

State of car after several minutes:

Can not initialize the pose after set and arrive the goal position.

Hello! I met a problem when I runing the ./run_exploration_mode_ros2.py. After I set the 2D Goal Pose in the Autoware, I will always failed in setting the 2D Pose Estimation in the Autoware.

Question about run run_exploration_mode_ros2.sh

@hatem-darweesh
I follow the CARLA Simulator + Autoware Universe Tutorials in URL of autowarefoundation/autoware#2828 that you released, but there are some errors,do you have any idea?

Another question, can the environment variables replace "export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla/dist/carla-0.9.13-py2.7-linux-x86_64.egghuanj" with "export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla/dist/carla-0.9.13-py3.7-linux-x86_64.egghuanj"?

I'm glad to hear from you, thank you！

How to run ./run_exploration_mode_ros2.sh in autoware_universe docker

I want run ./run_exploration_mode_ros2.sh in autoware.universe docker, outside dockers Error:No module named 'autoware_auto_vehicle_nsgs' in side docker can't find '/op_bridge/op_bridge_ros2.py' No such file or directory How Can I do now?

Problems running op_bridge ros2

Hi, I am trying to run op_bridge with ros2. I followed your tutorial on youtube and got everything setup. But when I launched ./run_exploration_mode_ros2.sh script, an rviz window did not correctly show the camera image and pointclouds.
Here is the terminal output:

[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[ndt_scan_matcher-21] [WARN] [1664086858.015599232] [localization.pose_estimator.ndt_scan_matcher]: No Pose!
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] [INFO] [1664086858.046088964] [rviz2]: Message Filter dropping message: frame 'base_link' at time 16.350 for reason 'discarding message because the queue is full'
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] [INFO] [1664086858.142314375] [rviz2]: Message Filter dropping message: frame 'base_link' at time 16.400 for reason 'discarding message because the queue is full'
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[ndt_scan_matcher-21] [WARN] [1664086858.226914341] [localization.pose_estimator.ndt_scan_matcher]: No Pose!
[rviz2-64] [INFO] [1664086858.237792162] [rviz2]: Message Filter dropping message: frame 'base_link' at time 16.450 for reason 'discarding message because the queue is full'
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] [INFO] [1664086858.334673530] [rviz2]: Message Filter dropping message: frame 'base_link' at time 16.500 for reason 'discarding message because the queue is full'
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[ndt_scan_matcher-21] [WARN] [1664086858.436153661] [localization.pose_estimator.ndt_scan_matcher]: No Pose!
[rviz2-64] [INFO] [1664086858.461631806] [rviz2]: Message Filter dropping message: frame 'base_link' at time 16.550 for reason 'discarding message because the queue is full'
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[ndt_scan_matcher-21] [WARN] [1664086858.529001114] [localization.pose_estimator.ndt_scan_matcher]: No Pose!
[rviz2-64] [INFO] [1664086858.557993163] [rviz2]: Message Filter dropping message: frame 'base_link' at time 16.600 for reason 'discarding message because the queue is full'
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[ndt_scan_matcher-21] [WARN] [1664086858.620294319] [localization.pose_estimator.ndt_scan_matcher]: No Pose!
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] [INFO] [1664086858.653768019] [rviz2]: Message Filter dropping message: frame 'base_link' at time 16.650 for reason 'discarding message because the queue is full'
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[lidar_centerpoint_node-32] [WARN] [1664086858.678036155] [lidar_centerpoint]: Could not find a connection between 'base_link' and 'map' because they are not part of the same tree.Tf has two or more unconnected trees.
[lidar_centerpoint_node-32] [WARN] [1664086858.678077062] [lidar_centerpoint]: Fail to preprocess and skip to detect.
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[ndt_scan_matcher-21] [WARN] [1664086858.715348153] [localization.pose_estimator.ndt_scan_matcher]: No Pose!
[rviz2-64] [INFO] [1664086858.718300529] [rviz2]: Message Filter dropping message: frame 'base_link' at time 16.700 for reason 'discarding message because the queue is full'
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[automatic_pose_initializer-20] [INFO] [1664086858.793155896] [localization.util.default_ad_api.helpers.automatic_pose_initializer]: client call: /api/localization/initialize
[automatic_pose_initializer-20] pose: []
[automatic_pose_initializer-20] 
[component_container_mt-53] [INFO] [1664086858.793430509] [default_ad_api.node.localization]: service call: /api/localization/initialize
[component_container_mt-53] pose: []
[component_container_mt-53] 
[component_container_mt-53] [INFO] [1664086858.793769630] [default_ad_api.node.localization]: client call: /localization/initialize
[component_container_mt-53] pose: []
[component_container_mt-53] 
[pose_initializer_node-19] [INFO] [1664086858.793876599] [localization.util.pose_initializer_node]: service call: /localization/initialize
[pose_initializer_node-19] pose: []
[pose_initializer_node-19] 
[pose_initializer_node-19] [INFO] [1664086858.794474050] [localization.util.pose_initializer_node]: Call NDT align server.
[ndt_scan_matcher-21] [WARN] [1664086858.794553962] [localization.pose_estimator.ndt_scan_matcher]: No InputTarget
[pose_initializer_node-19] [INFO] [1664086858.794676277] [localization.util.pose_initializer_node]: NDT align server failed.
[pose_initializer_node-19] [INFO] [1664086858.794761276] [localization.util.pose_initializer_node]: service exit: /localization/initialize
[pose_initializer_node-19] status:
[pose_initializer_node-19]   success: false
[pose_initializer_node-19]   code: 4
[pose_initializer_node-19]   message: "NDT align server failed."
[pose_initializer_node-19] 
[component_container_mt-53] [INFO] [1664086858.794883142] [default_ad_api.node.localization]: client exit: /localization/initialize
[component_container_mt-53] status:
[component_container_mt-53]   success: false
[component_container_mt-53]   code: 4
[component_container_mt-53]   message: "NDT align server failed."
[component_container_mt-53] 
[component_container_mt-53] [INFO] [1664086858.794885874] [default_ad_api.node.localization]: service exit: /api/localization/initialize
[component_container_mt-53] status:
[component_container_mt-53]   success: false
[component_container_mt-53]   code: 4
[component_container_mt-53]   message: "NDT align server failed."
[component_container_mt-53] 
[automatic_pose_initializer-20] [INFO] [1664086858.795090695] [localization.util.default_ad_api.helpers.automatic_pose_initializer]: client exit: /api/localization/initialize
[automatic_pose_initializer-20] status:
[automatic_pose_initializer-20]   success: false
[automatic_pose_initializer-20]   code: 4
[automatic_pose_initializer-20]   message: "NDT align server failed."
[automatic_pose_initializer-20] 
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] [INFO] [1664086858.845918386] [rviz2]: Message Filter dropping message: frame 'base_link' at time 16.750 for reason 'discarding message because the queue is full'
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[ndt_scan_matcher-21] [WARN] [1664086858.908776752] [localization.pose_estimator.ndt_scan_matcher]: No Pose!
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp

Could you please give some advice on how I can fix this issue? Thanks!

Camera-PointCloud Fusion

How to enable the function of camera-point cloud fusion?