autowarefoundation / autoware_ai Goto Github PK

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what does that mean? I have installed python 2.7.12.

Firstly ,thanks for your open source code and answering my question.

I have got a bug in Autoware when I am trying to use wf_simulator in my own computer.
My operations are listed below:
1.launch Autoware and open rviz ,then open "default.rviz" in rviz.
2.select the .pcd file and click "point cloud" button.
3.select "tf.launch" file and click the "TF" button. Now in rviz i could see the Points Map.
4.select .csv file and click "waypoint_loader" ,then I could see the waypoints in the rviz.
5.select "lane_rule" and click the "APP" of "lane_select" , and click to select "Driving".
6.click the "APP" of "wf_simulator" ,but nothing shows up.

All my operations are following the instructions in the video "Planning with wf_simulator". In the video in step 6, there should show up a dialog to choose from "Rviz" "ndt_loclizer" "GNSS". However in my computer ,nothing shows up.

and the tips in the console is listed below:

Traceback (most recent call last):
File "/home/linfeng/Autoware/ros/src/util/packages/runtime_manager/scripts/runtime_manager_dialog.py", line 680, in OnHyperlinked
self.OnHyperlinked_obj(event.GetEventObject())
File "/home/linfeng/Autoware/ros/src/util/packages/runtime_manager/scripts/runtime_manager_dialog.py", line 688, in OnHyperlinked_obj
dlg = klass_dlg(self, pdic=pdic, gdic=gdic, prm=prm)
File "/home/linfeng/Autoware/ros/src/util/packages/runtime_manager/scripts/runtime_manager_dialog.py", line 2595, in init
self.panel = ParamPanel(parent, frame=frame, pdic=pdic, gdic=gdic, prm=prm)
File "/home/linfeng/Autoware/ros/src/util/packages/runtime_manager/scripts/runtime_manager_dialog.py", line 2295, in init
vp = VarPanel(self, var=var, v=v, update=self.update)
File "/home/linfeng/Autoware/ros/src/util/packages/runtime_manager/scripts/runtime_manager_dialog.py", line 2401, in init
self.choices_sel_set(v)
File "/home/linfeng/Autoware/ros/src/util/packages/runtime_manager/scripts/runtime_manager_dialog.py", line 2572, in choices_sel_set
self.obj.SetStringSelection(v)
File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_controls.py", line 2437, in SetStringSelection
return controls.RadioBox_SetStringSelection(_args, *_kwargs)
TypeError: String or Unicode type required

I am really sorry to disturb you, and hope my bug report could help you make Autoware much stronger.

I have followed the Quick Start in Instruction Videos. When the Autoware starts to run, there are no *.launch files in map/Localization/Mission planning/Motion planning.I don't know how the autoware software works. Please tell me how to run it correctly. Thank you.

I have been using NDT matching against a map I built using NDT mapping for an area with many static features like buildings, trees etc [ urban environment] and it works fine.
Now I built a map of an open parking lot with aisles that do not have many static features. NDT matching works fine around areas where there are landmarks to match against, but localization fails on the driving corridor aisle where there are just cars on both sides. Is this a known issue in NDT matching? If not how do I remedy this situation? Do I have to rebuild the map everytime since car density is dynamically changing?

I connect one usb camera to the computer.
In Aotoware "Sensing"-->Cameras , I click to choose the "USB Generic". Then in rviz I could see the raw Image of the USB camera lively.
And then In Autoware' "Computing"-->"Detection"-->"cv_detection" , I click to choose "dpm_ocv", then one dialog appeared and asked me to choose my Camera ID. I have tried every possible option. but I could not see any detection result in rviz.

Please tell me the problem in my operations, if convenient ,Please have an introduction of "dpm_ocv" "dpm_ttic" "rcnn_node" "range_fusion" and so on.

Thanks in advance.

I am very sorry to bother you.
I have run the Autoware in ROS Indigo successfully, however following your instructions in the video, I could not find a lot of files that Autoware needed, like driving_lane.csv in 'waypoint_loader' and so on.
Please tell me where to get it.Thanks in advance!

Hi

I would like to generate a path by capturing current_pose while robot is moving around using a pre-loaded map that was generated using ndt mapping [ SLAM] ?

I also would like to know the significance of the /config/ndt parameters.

Initial Pose : Should I set this to beginning of path or map coordinates for better pose calculations?
What is significance of lidar max and min values?

Please explain the following /config/ndt attributes:

resolution:
step_size
trans_ep
leaf_size
angle_error
shift_x
shift_y
shift_z

Thanks for your contribution first.
Now I applied Autoware into the real vehicle. It could drive by itself using ndt_matching , waypoint_loader, pure_pursuit and so on.
However the vehicle can only drive in the area with the map built before.But to a city, it is difficult to build a map of the whole city, I know Autoware could navigate with GNSS. However part of the city is GNSS-dark areas.
So Could you tech me how to combine GNSS and 'ndt_mapping' to navigate in a larger place.
Thanks very much.

Is there a way to only use Euclidean clustering to detect object and impact motion planning in velocity_set? That is decelerate when object in front and within detection range and stop if necessary.?
I find velocity_set subscribes to vscan_points and detects objects. If I remap cluster_points to vscan_points can I reuse the object detection impact on motion planning?

Hi, thanks for such a great package.

I hit a problem when setting the vehicle model,
I am using Ubuntu 14.04, Indigo,
car model from : Autoware/ros/src/.config/model/default.dae
error log is below:

thanks
Ric

['roslaunch', 'model_publisher', 'vehicle_model.launch', 'model_path:=/home/richard/Autoware/ros/src/.config/model/default.dae']
pid=8691
sched policy=OTHER prio=0
[ERROR] [1462398475.448040267]: COLLADA error: Trying to load an invalid COLLADA version for this DOM build!

[ERROR] [1462398475.468431809]: COLLADA error: Failed to load XML document from memory


[robot_state_publisher-2] process has died [pid 8714, exit code -11, cmd /opt/ros/indigo/lib/robot_state_publisher/state_publisher __name:=robot_state_publisher __log:=/home/richard/.ros/log/935206e2-1241-11e6-9ef7-782bcbabe408/robot_state_publisher-2.log].
log file: /home/richard/.ros/log/935206e2-1241-11e6-9ef7-782bcbabe408/robot_state_publisher-2*.log
Traceback (most recent call last):
File "/opt/ros/indigo/lib/joint_state_publisher/joint_state_publisher", line 343, in <module>
jsp = JointStatePublisher()
File "/opt/ros/indigo/lib/joint_state_publisher/joint_state_publisher", line 26, in __init__
robot = xml.dom.minidom.parseString(description).getElementsByTagName('robot')[0]
IndexError: list index out of range
[joint_state_publisher-1] process has died [pid 8713, exit code 1, cmd /opt/ros/indigo/lib/joint_state_publisher/joint_state_publisher __name:=joint_state_publisher __log:=/home/richard/.ros/log/935206e2-1241-11e6-9ef7-782bcbabe408/joint_state_publisher-1.log].
log file: /home/richard/.ros/log/935206e2-1241-11e6-9ef7-782bcbabe408/joint_state_publisher-1*.log
... logging to /home/richard/.ros/log/935206e2-1241-11e6-9ef7-782bcbabe408/roslaunch-deepdriving-8691.log
Checking log directory for disk usage. This may take awhile.

We are really enjoying Autoware software and considering to use it in our project.
However we are trying to test the installation of software with real data, but there is problem that links do not work:
3D map of Moriyama in Nagoya http://db3.ertl.jp/autoware/sample_data/sample_moriyama_data.tar.gz
ROSBAG data of Moriyama driving http://db3.ertl.jp/autoware/sample_data/sample_moriyama_150324.tar.gz
Would be great if we could get those sample files elsewhere.
Thank you in advance!

@kondoh2
このようなエラーが出たのですが、何か分かりますか?
pos_downloader,pos_uploaderを起動している時だったので、それらが関係しているかもしれません。

    tc.AppendText(s)
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_controls.py", line 1850, in AppendText
    return _controls_.TextCtrl_AppendText(*args, **kwargs)
  File "/usr/lib/python2.7/encodings/utf_8.py", line 16, in decode
    return codecs.utf_8_decode(input, errors, True)
UnicodeDecodeError: 'utf8' codec can't decode byte 0xcd in position 13: invalid continuation byte
Traceback (most recent call last):
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_core.py", line 14665, in <lambda>
    lambda event: event.callable(*event.args, **event.kw) )
  File "/home/anh/Autoware/ros/src/util/packages/runtime_manager/scripts/runtime_manager_dialog.py", line 2650, in append_tc_limit
    tc.AppendText(s)
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_controls.py", line 1850, in AppendText
    return _controls_.TextCtrl_AppendText(*args, **kwargs)
  File "/usr/lib/python2.7/encodings/utf_8.py", line 16, in decode
    return codecs.utf_8_decode(input, errors, True)
UnicodeDecodeError: 'utf8' codec can't decode byte 0xcd in position 13: invalid continuation byte
Traceback (most recent call last):
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_core.py", line 14665, in <lambda>
    lambda event: event.callable(*event.args, **event.kw) )
  File "/home/anh/Autoware/ros/src/util/packages/runtime_manager/scripts/runtime_manager_dialog.py", line 2650, in append_tc_limit
    tc.AppendText(s)
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_controls.py", line 1850, in AppendText
    return _controls_.TextCtrl_AppendText(*args, **kwargs)
  File "/usr/lib/python2.7/encodings/utf_8.py", line 16, in decode
    return codecs.utf_8_decode(input, errors, True)
UnicodeDecodeError: 'utf8' codec can't decode byte 0xcd in position 49: invalid continuation byte
Traceback (most recent call last):
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_core.py", line 14665, in <lambda>
    lambda event: event.callable(*event.args, **event.kw) )
  File "/home/anh/Autoware/ros/src/util/packages/runtime_manager/scripts/runtime_manager_dialog.py", line 2650, in append_tc_limit
    tc.AppendText(s)
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_controls.py", line 1850, in AppendText
    return _controls_.TextCtrl_AppendText(*args, **kwargs)
  File "/usr/lib/python2.7/encodings/utf_8.py", line 16, in decode
    return codecs.utf_8_decode(input, errors, True)
UnicodeDecodeError: 'utf8' codec can't decode byte 0xcd in position 13: invalid continuation byte
Traceback (most recent call last):
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_core.py", line 14665, in <lambda>
    lambda event: event.callable(*event.args, **event.kw) )
  File "/home/anh/Autoware/ros/src/util/packages/runtime_manager/scripts/runtime_manager_dialog.py", line 2650, in append_tc_limit
    tc.AppendText(s)
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_controls.py", line 1850, in AppendText
    return _controls_.TextCtrl_AppendText(*args, **kwargs)
  File "/usr/lib/python2.7/encodings/utf_8.py", line 16, in decode
    return codecs.utf_8_decode(input, errors, True)
UnicodeDecodeError: 'utf8' codec can't decode byte 0xcd in position 49: invalid continuation byte
Traceback (most recent call last):
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_core.py", line 14665, in <lambda>
    lambda event: event.callable(*event.args, **event.kw) )
  File "/home/anh/Autoware/ros/src/util/packages/runtime_manager/scripts/runtime_manager_dialog.py", line 2650, in append_tc_limit
    tc.AppendText(s)
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_controls.py", line 1850, in AppendText
    return _controls_.TextCtrl_AppendText(*args, **kwargs)
  File "/usr/lib/python2.7/encodings/utf_8.py", line 16, in decode
    return codecs.utf_8_decode(input, errors, True)
UnicodeDecodeError: 'utf8' codec can't decode byte 0xcd in position 13: invalid continuation byte
Traceback (most recent call last):
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_core.py", line 14665, in <lambda>
    lambda event: event.callable(*event.args, **event.kw) )
  File "/home/anh/Autoware/ros/src/util/packages/runtime_manager/scripts/runtime_manager_dialog.py", line 2650, in append_tc_limit
    tc.AppendText(s)
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_controls.py", line 1850, in AppendText
    return _controls_.TextCtrl_AppendText(*args, **kwargs)
  File "/usr/lib/python2.7/encodings/utf_8.py", line 16, in decode
    return codecs.utf_8_decode(input, errors, True)
UnicodeDecodeError: 'utf8' codec can't decode byte 0xcd in position 13: invalid continuation byte
Traceback (most recent call last):
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_core.py", line 14665, in <lambda>
    lambda event: event.callable(*event.args, **event.kw) )
  File "/home/anh/Autoware/ros/src/util/packages/runtime_manager/scripts/runtime_manager_dialog.py", line 2650, in append_tc_limit
    tc.AppendText(s)
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_controls.py", line 1850, in AppendText
    return _controls_.TextCtrl_AppendText(*args, **kwargs)
  File "/usr/lib/python2.7/encodings/utf_8.py", line 16, in decode
    return codecs.utf_8_decode(input, errors, True)
UnicodeDecodeError: 'utf8' codec can't decode byte 0xcd in position 49: invalid continuation byte
Traceback (most recent call last):
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_core.py", line 14665, in <lambda>
    lambda event: event.callable(*event.args, **event.kw) )
  File "/home/anh/Autoware/ros/src/util/packages/runtime_manager/scripts/runtime_manager_dialog.py", line 2650, in append_tc_limit
    tc.AppendText(s)
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_controls.py", line 1850, in AppendText
    return _controls_.TextCtrl_AppendText(*args, **kwargs)
  File "/usr/lib/python2.7/encodings/utf_8.py", line 16, in decode
    return codecs.utf_8_decode(input, errors, True)
UnicodeDecodeError: 'utf8' codec can't decode byte 0xcd in position 13: invalid continuation byte
Traceback (most recent call last):
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_core.py", line 14665, in <lambda>
    lambda event: event.callable(*event.args, **event.kw) )
  File "/home/anh/Autoware/ros/src/util/packages/runtime_manager/scripts/runtime_manager_dialog.py", line 2650, in append_tc_limit
    tc.AppendText(s)
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_controls.py", line 1850, in AppendText
    return _controls_.TextCtrl_AppendText(*args, **kwargs)
  File "/usr/lib/python2.7/encodings/utf_8.py", line 16, in decode
    return codecs.utf_8_decode(input, errors, True)
UnicodeDecodeError: 'utf8' codec can't decode byte 0xcd in position 13: invalid continuation byte
Traceback (most recent call last):
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_core.py", line 14665, in <lambda>
    lambda event: event.callable(*event.args, **event.kw) )
  File "/home/anh/Autoware/ros/src/util/packages/runtime_manager/scripts/runtime_manager_dialog.py", line 2650, in append_tc_limit
    tc.AppendText(s)
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_controls.py", line 1850, in AppendText
    return _controls_.TextCtrl_AppendText(*args, **kwargs)
  File "/usr/lib/python2.7/encodings/utf_8.py", line 16, in decode
    return codecs.utf_8_decode(input, errors, True)
UnicodeDecodeError: 'utf8' codec can't decode byte 0xcd in position 49: invalid continuation byte
Traceback (most recent call last):
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_core.py", line 14665, in <lambda>
    lambda event: event.callable(*event.args, **event.kw) )
  File "/home/anh/Autoware/ros/src/util/packages/runtime_manager/scripts/runtime_manager_dialog.py", line 2650, in append_tc_limit
    tc.AppendText(s)
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_controls.py", line 1850, in AppendText
    return _controls_.TextCtrl_AppendText(*args, **kwargs)
  File "/usr/lib/python2.7/encodings/utf_8.py", line 16, in decode
    return codecs.utf_8_decode(input, errors, True)
UnicodeDecodeError: 'utf8' codec can't decode byte 0xcd in position 13: invalid continuation byte
Traceback (most recent call last):
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_core.py", line 14665, in <lambda>
    lambda event: event.callable(*event.args, **event.kw) )
  File "/home/anh/Autoware/ros/src/util/packages/runtime_manager/scripts/runtime_manager_dialog.py", line 2650, in append_tc_limit
    tc.AppendText(s)
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_controls.py", line 1850, in AppendText
    return _controls_.TextCtrl_AppendText(*args, **kwargs)
  File "/usr/lib/python2.7/encodings/utf_8.py", line 16, in decode
    return codecs.utf_8_decode(input, errors, True)
UnicodeDecodeError: 'utf8' codec can't decode byte 0xcd in position 13: invalid continuation byte
Traceback (most recent call last):
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_core.py", line 14665, in <lambda>
    lambda event: event.callable(*event.args, **event.kw) )
  File "/home/anh/Autoware/ros/src/util/packages/runtime_manager/scripts/runtime_manager_dialog.py", line 2650, in append_tc_limit
    tc.AppendText(s)
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_controls.py", line 1850, in AppendText
    return _controls_.TextCtrl_AppendText(*args, **kwargs)
  File "/usr/lib/python2.7/encodings/utf_8.py", line 16, in decode
    return codecs.utf_8_decode(input, errors, True)
UnicodeDecodeError: 'utf8' codec can't decode byte 0xcd in position 49: invalid continuation byte
Traceback (most recent call last):
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_core.py", line 14665, in <lambda>
    lambda event: event.callable(*event.args, **event.kw) )
  File "/home/anh/Autoware/ros/src/util/packages/runtime_manager/scripts/runtime_manager_dialog.py", line 2650, in append_tc_limit
    tc.AppendText(s)
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_controls.py", line 1850, in AppendText
    return _controls_.TextCtrl_AppendText(*args, **kwargs)
  File "/usr/lib/python2.7/encodings/utf_8.py", line 16, in decode
    return codecs.utf_8_decode(input, errors, True)
UnicodeDecodeError: 'utf8' codec can't decode byte 0xcd in position 13: invalid continuation byte
Traceback (most recent call last):
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_core.py", line 14665, in <lambda>
    lambda event: event.callable(*event.args, **event.kw) )
  File "/home/anh/Autoware/ros/src/util/packages/runtime_manager/scripts/runtime_manager_dialog.py", line 2650, in append_tc_limit
    tc.AppendText(s)
  File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_controls.py", line 1850, in AppendText
    return _controls_.TextCtrl_AppendText(*args, **kwargs)
  File "/usr/lib/python2.7/encodings/utf_8.py", line 16, in decode
    return codecs.utf_8_decode(input, errors, True)

From tutorials and demo data it is possible to replicate point cloud (from sequence of .pcd files) and Vector map (from set of .csv files - crosswalk.csv, stopline.csv, zebrazone.csv etc).
In Rviz vector map .csv file content appears as Namespaces in Vector map marker topic.
What editing tool, GUI should be used to add or change objects in vector maps?
Or what are the steps to create new set of objects- like "Stop lines" to add to vector map.
What are the tools (opensource?) used to create vector maps of sample data?

How do I invoke just the points2vscan node to generate vscan tostopic from lidar points_raw? I need to use vscan_points for obstacle detection in velocity_set, but do not have a camera.

I notice that ndt_mapping consumes 100% of a single thread. Could this be better parallelised?

Thanks for your contribution first.
Now I use rosbag to record velodyne data with one real vehicle driving in the school, And run "ndt_mapping" with the simulation playing the recorded data by rosbag.

However the data is rather too big,Only part of the school occupies 40G. The memory of my workstation is 32G. So I could not get the "ndt_mapping" result.

As in your Demo data ,the mapping result had been split into many small files ,Could you tell me how to achieve that. Should I split into files when recording velodyne data with rosbag?
Thanks in advance.

Thanks in advance.
In the autoware's video , It could detect the Pedestrian and traffic signal. Could you tell me how many cameras does autoware use and whta is the type of the camera?
Thanks again.

I found bug about "lady bug node" in "pointgrey package".

Lady bug node serve flip horizonatal images.

How about you fix code as described below.

original

int main (int argc, char **argv)
{
    cv::Mat rawImage(size, CV_8UC1, currentImage.pData + (i * size.width*size.height));
    //cv::flip(mat, mat, -1);
    cv::Mat image(size, CV_8UC3);
    cv::cvtColor(rawImage, image, cv::COLOR_BayerBG2RGB);
    cv::resize(image,image,cv::Size(size.width*image_scale/100, size.height*image_scale/100));
    cv::transpose(image, image);
}

fix

int main (int argc, char **argv)
{
    cv::Mat rawImage(size, CV_8UC1, currentImage.pData + (i * size.width*size.height));
    cv::Mat image(size, CV_8UC3);
    cv::cvtColor(rawImage, image, cv::COLOR_BayerBG2RGB);
    cv::resize(image,image,cv::Size(size.width*image_scale/100, size.height*image_scale/100));
    cv::transpose(image, image);
    cv::flip(image, image, 1);
}

Thanks.

Hi

I have integrated the autoware stack with the my car specific ros driver that uses socketcan interface.
Now the twist commands are generated and converted to CAN Commands by the ROS driver
In simulation, I can see the vehicle move perfectly in rviz.
However when actually attempting to run the physical car , there is some delay in applying teh steering commands and the car does not drive smoothly.
Please advise how to trouble shoot this issue. The ndt_pose is being computed using velodyne lidar puck that has a scan frequency of 20 z. The driver has a built in time callback where it generates the can commands from twist commands and is called 50 times per second.
I am enclosing the rosgraph

--Resolved the issue by ensuring calc_twist is computed everytime even if vehicle is following trajectory

We running Autoware on several different Ubuntu 14.04, ROS Indigo hosts, and none of them display real-time processor load, as seen on demo videos.
Installation done as described in instruction.
Whet we are missing, or this functionality is not included in GitHub source?

When I tried to playback sample rosbag data on the latest Autoware (a982bf0) and show the data on RViz, I got error "For frame [velodyne]: Frame [velodyne] does not exist" in "Points Raw -> Status: Error -> Transform[sender=unknown_publisher]".

Is there anything I have to do before playback?
My procedure steps were like the below

• load map/vector/tf
• load rosbag
• turn on nmea2tfpose/ndt_matching
• play

Besides, on the latest Autoware GUI (on my environment), there is no option "Clock" and "Sim Time" in Simulation tab. How can I set those parameters?

Firstly, Thank you for answering my question!
I have download Autoware in ROS Indigo, and build it successfully. I own one velodyne HDL-32 lidar. I haved finished ndt_mapping with the lidar and Autoware already. Now i plan to run ndt_matching , but in rviz I could not see the /Points_raw frames in fixed frame /world. so I can not get the matching result. It is really annoying. I guess the problem exists in the TF. Now I have only two static publisher in TF :/world to /map , /base_link to /velodyne. Could you help me or share your Launch file. Many Thanks!

I know that through matching between frames we can get the relative displacement,so we can locate our position,but I confuse why we need mapping,what are the function of the mapping?,Any help will be appreciated!
Regards

Hi,

Thanks first for this wonderful tool.

I am trying to setup some performace test bed. is there any IDE or debug environment for this package?
Right now seem log files is the only help.

thanks
Ric

度々失礼します。別環境にてAutowareのインスートルを行おうとしたところ、Autoware/ros/のmake時にエラーが出ました(前回質問時のものと異なるものです)。度々申し訳ありませんが、ご助言いただけると大変助かります。

環境: Ubuntu14.04(実機上)
リビジョン: 投稿時点で最新のリビジョン(53b10e)
現象: rosの./catkin_make_release時に下記ログのエラーが出ます。
インストール手順: README.mdの手順通りに行っています。
(OptionalのCUDA, FlyCapture2のインストールは行っていません。)

*本件前回質問時の環境では起きていませんでした。前回との環境の違いはVM上であること、proxy配下にあることです。

複数台のPCで試してみましたが、いずれも同様のエラーが発生しています。
以下、標準エラー出力の抜粋です。

Cmake Error at /home/laugust-dev/Autoware/ros/devel/share/glviewer/cmake/glviewerConfig:141 (message):
  Project 'calibration_camera_lidar' tried to find library 'glviewer'. The
  library is neither a target nor built/installed propery. Did you compile project 'glviewer'? Did you find_package() it before the subdirectory
  containing its code is included?

I have followed the Quick Start in Instruction Videos. When the Autoware starts to run, there is something wrong with vehicle model.The vehicle model path is "Autoware/ros/src/.config/model/default.dae". The error is "[ERROR] [1468713326.197371983]: COLLADA error: Trying to load an invalid COLLADA version for this DOM build!
[ERROR] [1468713326.254143386]: COLLADA error: Failed to load XML document from memory".
Please tell me how to run it correctly. Thank you.

We are trying to launch Autoware on Nvidia Jetson TK1, which is 32bit and Arm architecture.
Most of drivers and libs are installed pretty good, however we stuck on "glviewer" missing while ./catkin_make_release

We found out this gist: "Autoware patch for building on Ubuntu 14.04 32bit " https://gist.github.com/syohex/dbbe8b11f8340125e678 , but were unable to patch latest build files. Reason might be,that patch is 6 month old, but cmake files are newer.
Any workarounds on that?

Hi I am trying to implement a traffic stop sign in my motion trajectory. I expect the car to stop for some time at the defined waypoint pose and then resume.

I have studies the lane_rule and pure-pursuit algorithms. It appears the vector map signs essentially manifest themselves as a reduction in twist linear velocity at the vmap nodes. Is this a correct assumption?

Can you please explain how a traffic sign [ not light] is integrated with pure pursuit?

• Fix cycle dependency issues
• Declare package dependency correctly. Some dependencies are not declared for avoiding build errors now.
• Remove build warnings. There are some build warnings about rostest and roslaunch.

CC: @manato @yukikitsukawa @syouji

The VSCAN ceiling and floor values : Are they wrt to ground or wrt localizer pose?
Also the config values for min(detection_height) ad max (detection_height) in velocity set config are wrt localizer pose or wrt ground values?
I did study the vscan publication at https://www.researchgate.net/publication/299616531_Robust_Virtual_Scan_for_Obstacle_Detection_in_Urban_Environments
but am confused on how the measurements are taken. Also what does beamnum signify? I have a 16 ring lidar. Does beamnum coincide with ring number or does it have some other significance?

Hi,

I am seeing two tracking node, kf_track and klt_track. May I know which tracking node is good to be used?

I would like to implement vehicle following where the car as a robot reduces speed depending on moving car in front. What ros nodes will help implement this?

I would like to also implement vehicle passing wherein if there is a stationary object on trajectory, then car will pass it. How do I implement this?

Also is it possible to use only lidar and euclieden clustering for object detection and then influence velocity_set node to make decisions on stopping or resuming driving?

Hi,

I'm excited to test this software.

I'm following the Quick Start video on the Autoware GitHub landing page:
https://www.youtube.com/watch?v=Ursbp2qs1u0

I got the sample data OK, and got the my_launch script and ran it in ~/Autoware.

Following along with the video, everything is OK until the Map button is clicked. When this happens, the "load files" portion finishes but it seems to stop on "start publish vector map".

Additionally, I see only an empty grid in RViz and the error message:
"No tf data. Actual error: Fixed Frame [map] does not exist."

I had to create a symlink from ~/.autoware to ~/Autoware to allow me to get this far, otherwise I get a "No such file or directory"
I also loaded the .urdf file instead of the .dae file for the vehicle model as I received a COLLADA error.

Ubuntu 14.04 LTS
ASUS ROG Laptop w/ NVIDIA GTX970M, 32 GB

Hi,

Thanks first for providing this fantastic package. I am trying to build a debug version using
~/Autoware/ros$ catkin_make -DCMAKE_BUILD_TYPE=Debug

and it hit the problem with the following messages, saying we are posting a message, but the message is actually an object of TIME or INT, which don't have method of m.__getMD5Sum().c_str();

But build release version is ok, i guess it suppressed some warning.

any possible idea to fix it or generate debug version?

thanks
Richard

/home/richard/Autoware/ros/src/computing/perception/detection/packages/lidar_tracker/nodes/obj_fusion/obj_fusion.cpp:1:
/opt/ros/indigo/include/ros/message_traits.h: In instantiation of ‘static const char* ros::message_traits::MD5Sum::value(const M&) [with M = ros::Time]’:
/opt/ros/indigo/include/ros/message_traits.h:255:104: required from ‘const char* ros::message_traits::md5sum(const M&) [with M = ros::Time]’
/opt/ros/indigo/include/ros/publisher.h:112:7: required from ‘void ros::Publisher::publish(const M&) const [with M = ros::Time]’
/home/richard/Autoware/ros/src/computing/perception/detection/packages/lidar_tracker/nodes/obj_fusion/obj_fusion.cpp:68:58: required from here
/opt/ros/indigo/include/ros/message_traits.h:126:34: error: ‘const class ros::Time’ has no member named ‘__getMD5Sum’
return m.__getMD5Sum().c_str();

When building according to the docs, cmake fails to resolve the sound_play package. You need to add a build_depend to the package utils/packages/sound_player.

Hi,

at the date of 05/19, the version by git cannot be compiled

[ 86%] Built target kf
Scanning dependencies of target ring_filter
[ 86%] Building CXX object sensing/data_filter/packages/points_filter/CMakeFiles/ring_filter.dir/nodes/ring_filter/ring_filter.cpp.o
~/Autoware/ros/src/sensing/data_filter/packages/points_filter/nodes/ring_filter/ring_filter.cpp:38:45: fatal error: velodyne_pointcloud/point_types.h: No such file or directory
 #include <velodyne_pointcloud/point_types.h>
                                             ^
compilation terminated.
Linking CXX executable ~/Autoware/ros/devel/lib/points_filter/distance_filter

I hacked the cmake file by adding the directory of the header file, it can work. you guys may have an more elegant way to solve it .

include_directories(include 
   ${catkin_INCLUDE_DIRS} 
   ~/Autoware/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/include/
)

thanks
Richard

There are the list of vscan bugs we found.

• Determine the 'MaxHeight' when a low ceiling above our Prius is present.

Autoware/ros/でのmake時にエラーが出るようです。
環境: Ubuntu14.04(実機上、VM上)
リビジョン: 投稿時点で最新のリビジョン(53b10e)
現象: rosの./catkin_make_release時に下記ログのエラーが出ます。
インストール手順: README.mdの手順通りに行っています。
(OptionalのCUDA, FlyCapture2のインストールは行っていません。)

-----------------------------catkin_make時の標準出力(エラー部分抜粋)-----------------------------

CMake Error at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:75 (find_package):
  Could not find a package configuration file provided by
  "velodyne_pointcloud" with any of the following names:

    velodyne_pointcloudConfig.cmake
    velodyne_pointcloud-config.cmake

  Add the installation prefix of "velodyne_pointcloud" to CMAKE_PREFIX_PATH
  or set "velodyne_pointcloud_DIR" to a directory containing one of the above
  files.  If "velodyne_pointcloud" provides a separate development package or
  SDK, be sure it has been installed.
Call Stack (most recent call first):
  computing/perception/localization/packages/ndt_localizer/CMakeLists.txt:4 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/lauguste/Workspace/Autoware/ros/build/CMakeFiles/CMakeOutput.log".
See also "/home/lauguste/Workspace/Autoware/ros/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed


---------------------------------------------CmakeError.log---------------------------------------------
Determining if the pthread_create exist failed with the following output:
Change Dir: /home/lauguste/Workspace/Autoware/ros/build/CMakeFiles/CMakeTmp

Run Build Command:/usr/bin/make "cmTryCompileExec2837461572/fast"
/usr/bin/make -f CMakeFiles/cmTryCompileExec2837461572.dir/build.make CMakeFiles/cmTryCompileExec2837461572.dir/build
make[1]: Entering directory `/home/lauguste/Workspace/Autoware/ros/build/CMakeFiles/CMakeTmp'
/usr/bin/cmake -E cmake_progress_report /home/lauguste/Workspace/Autoware/ros/build/CMakeFiles/CMakeTmp/CMakeFiles 1
Building C object CMakeFiles/cmTryCompileExec2837461572.dir/CheckSymbolExists.c.o
/usr/bin/cc    -o CMakeFiles/cmTryCompileExec2837461572.dir/CheckSymbolExists.c.o   -c /home/lauguste/Workspace/Autoware/ros/build/CMakeFiles/CMakeTmp/CheckSymbolExists.c
Linking C executable cmTryCompileExec2837461572
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTryCompileExec2837461572.dir/link.txt --verbose=1
/usr/bin/cc       CMakeFiles/cmTryCompileExec2837461572.dir/CheckSymbolExists.c.o  -o cmTryCompileExec2837461572 -rdynamic
CMakeFiles/cmTryCompileExec2837461572.dir/CheckSymbolExists.c.o: In function `main':
CheckSymbolExists.c:(.text+0x16): undefined reference to `pthread_create'
collect2: error: ld returned 1 exit status
make[1]: Leaving directory `/home/lauguste/Workspace/Autoware/ros/build/CMakeFiles/CMakeTmp'
make[1]: *** [cmTryCompileExec2837461572] Error 1
make: *** [cmTryCompileExec2837461572/fast] Error 2

File /home/lauguste/Workspace/Autoware/ros/build/CMakeFiles/CMakeTmp/CheckSymbolExists.c:
/* */
#include <pthread.h>

int main(int argc, char** argv)
{
  (void)argv;
#ifndef pthread_create
  return ((int*)(&pthread_create))[argc];
#else
  (void)argc;
  return 0;
#endif
}

Determining if the function pthread_create exists in the pthreads failed with the following output:
Change Dir: /home/lauguste/Workspace/Autoware/ros/build/CMakeFiles/CMakeTmp

Run Build Command:/usr/bin/make "cmTryCompileExec2347961959/fast"
/usr/bin/make -f CMakeFiles/cmTryCompileExec2347961959.dir/build.make CMakeFiles/cmTryCompileExec2347961959.dir/build
make[1]: Entering directory `/home/lauguste/Workspace/Autoware/ros/build/CMakeFiles/CMakeTmp'
/usr/bin/cmake -E cmake_progress_report /home/lauguste/Workspace/Autoware/ros/build/CMakeFiles/CMakeTmp/CMakeFiles 1
Building C object CMakeFiles/cmTryCompileExec2347961959.dir/CheckFunctionExists.c.o
/usr/bin/cc   -DCHECK_FUNCTION_EXISTS=pthread_create   -o CMakeFiles/cmTryCompileExec2347961959.dir/CheckFunctionExists.c.o   -c /usr/share/cmake-2.8/Modules/CheckFunctionExists.c
Linking C executable cmTryCompileExec2347961959
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTryCompileExec2347961959.dir/link.txt --verbose=1
/usr/bin/cc   -DCHECK_FUNCTION_EXISTS=pthread_create    CMakeFiles/cmTryCompileExec2347961959.dir/CheckFunctionExists.c.o  -o cmTryCompileExec2347961959 -rdynamic -lpthreads
/usr/bin/ld: cannot find -lpthreads
collect2: error: ld returned 1 exit status
make[1]: Leaving directory `/home/lauguste/Workspace/Autoware/ros/build/CMakeFiles/CMakeTmp'
make[1]: *** [cmTryCompileExec2347961959] Error 1
make: *** [cmTryCompileExec2347961959/fast] Error 2

So far this looks like maybe a smaller section of a bigger data set, which maybe doesn't include images.

Hi,

I am following the quick start video using Ubuntu 14.04, ROS indig.
However, after loading the vector map and point cloud map, there is no "point_map published" shown on the terminal window. I am using the default "my_map.launch".

I am not sure where to launch the package of map_db/point_map_query. Only the source code in this package has the text of "point_map published".

thanks
Ric

Running cuda_memcheck, I found that in dpm_ttic's GPU_function.cu there is an out-of-bounds GPU memory read.

When component_jj equals NoC-1, int ssize1 = *((int *)pointer_ssize + sizeof(int)); - or the clearer to me int ssize1 = ssize_array[component_jj+1]; - accesses one past the end of the array, that is ssize_array[NoC], as the allocation in get_boxes.cpp is only for NoC elements.

I also note similar issues in CPU code with the rm_size_array here and here.

• Furthermore, shouldn't (int *)pointer_ssize + sizeof(int) be (int *)pointer_ssize + 1 or (int *)(pointer_ssize + sizeof(int))?

I notice that many files contain a reference to an ~/.autoware directory. Should this not be ~/Autoware ?

Ubuntu 14.04LTS上で、READMEの手順に従いInstall dependencies for Ubuntu 14.04 indigoのインストールを試みました。１行目の

% sudo apt-get install ros-indigo-desktop-full ros-indigo-nmea-msgs ros-indigo-nmea-navsat-driver ros-indigo-sound-play ros-indigo-jsk-visualization

についてはうまく行ったのですが、２行目の

% sudo apt-get install libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev gksu

について、以下のようなエラーが発生してうまく行きません。
解決法をご教示いただけないでしょうか。よろしくお願いいたします。
（エラー内容）

linux-image-3.13.0-24-generic (3.13.0-24.47) を設定しています ...
Running depmod.
update-initramfs: deferring update (hook will be called later)
Not updating initrd symbolic links since we are being updated/reinstalled 
(3.13.0-24.46 was configured last, according to dpkg)
Not updating image symbolic links since we are being updated/reinstalled 
(3.13.0-24.46 was configured last, according to dpkg)
Examining /etc/kernel/postinst.d.
run-parts: executing /etc/kernel/postinst.d/apt-auto-removal 3.13.0-24-generic /boot/vmlinuz-3.13.0-24-generic
run-parts: executing /etc/kernel/postinst.d/initramfs-tools 3.13.0-24-generic /boot/vmlinuz-3.13.0-24-generic
update-initramfs: Generating /boot/initrd.img-3.13.0-24-generic
run-parts: executing /etc/kernel/postinst.d/pm-utils 3.13.0-24-generic /boot/vmlinuz-3.13.0-24-generic
run-parts: executing /etc/kernel/postinst.d/update-notifier 3.13.0-24-generic /boot/vmlinuz-3.13.0-24-generic
run-parts: executing /etc/kernel/postinst.d/zz-update-grub 3.13.0-24-generic /boot/vmlinuz-3.13.0-24-generic
/usr/sbin/grub-mkconfig: 35: /etc/default/grub: �kd�kd�kd�kd�kd�ku�ku�ku�ku�ku�ku�kb�kb�kbi�kb�kb�kb�kbiiii�kb�kb�kb�kb�kb�kb�kb�kb�kbdddddddddd�kb�kb�kb�kb�kb�kb�kb�kb�kb�kb�kb�kb�kb�kb�kb�kb�kb��������ku�ku���������kr��kr��kr��kl��kl��kd���k����set: File name too long
run-parts: /etc/kernel/postinst.d/zz-update-grub exited with return code 127
Failed to process /etc/kernel/postinst.d at /var/lib/dpkg/info/linux-image-3.13.0-24-generic.postinst line 1025.
dpkg: パッケージ linux-image-3.13.0-24-generic の処理中にエラーが発生しました (--configure):
 サブプロセス インストール済みの post-installation スクリプト はエラー終了ステータス 2 を返しました
grub-efi-amd64 (2.02~beta2-9ubuntu1.7) を設定しています ...
/var/lib/dpkg/info/grub-efi-amd64.config: 35: /etc/default/grub: �kd�kd�kd�kd�kd��kb�kb�kbi�kb�kb�kb�kbiiii�kb�kb�kb�kb�kb�kb�kb�kb�kbdddddddddd�kb�kb�kb�kb�kb�kb�kb�kb�kb�kb�kb�kb�kb�kb�kb�kb�kb��������ku�ku���������kr��kr��kr��kl��kl��kd���k����set: File name too long
dpkg: パッケージ grub-efi-amd64 の処理中にエラーが発生しました (--configure):
 サブプロセス インストール済みの post-installation スクリプト はエラー終了ステータス 127 を返しました
dpkg: 依存関係の問題により grub-efi-amd64-signed の設定ができません:
 grub-efi-amd64-signed は以下に依存 (depends) します: grub-efi-amd64 (= 2.02~beta2-9ubuntu1.7) ...しかし:
  パッケージ grub-efi-amd64 はまだ設定されていません。

dpkg: パッケージ grub-efi-amd64-signed の処理中にエラーが発生しました (--configure):
 依存関係の問題 - 設定を見送ります
dpkg: 依存関係の問題により linux-image-extra-3.13.0-24-generic の設定ができません:
 linux-image-extra-3.13.0-24-generic は以下に依存 (depends) します: linux-image-3.13.0-24-generic ...しかし:
  パッケージ linux-image-3.13.0-24-generic はまだ設定されていません。

dpkg: パッケージ linux-image-extra-3.13.0-24-generic の処理中にエラーが発生しました (--configure):
 依存関係の問題 - 設定を見送ります
dpkg: 依存関係の問題により linux-signed-image-3.13.0-24-generic の設定ができま�エラーメッセージは前の失敗から続くエラーであることを示しているので、レポートは書き込まれません。
              MaxReports にすでに達しているため、レポートは書き込まれません
                                                                           MaxReports にすでに達しているため、レポートは書き込まれません
                                                       ��ん:
 linux-signed-image-3.13.0-24-generic は以下に依存 (depends) します: linux-image-3.13.0-24-generic (= 3.13.0-24.47) ...しかし:
  パッケージ linux-image-3.13.0-24-generic はまだ設定されていません。
 linux-signed-image-3.13.0-24-generic は以下に依存 (depends) します: linux-image-extra-3.13.0-24-generic (= 3.13.0-24.47) ...しかし:
  パッケージ linux-image-extra-3.13.0-24-generic はまだ設定されていません。

dpkg: パッケージ linux-signed-image-3.13.0-24-generic の処理中にエラーが発生しました (--configure):
 依存関係の問題 - 設定を見送ります
処理中にエラーが発生しました:
 linux-image-3.13.0-24-generic
 grub-efi-amd64
 grub-efi-amd64-signed
 linux-image-extra-3.13.0-24-generic
 linux-signed-image-3.13.0-24-generic
E: Sub-process /usr/bin/dpkg returned an error code (1)

Hi, guys,

It's a great package for the community, thanks for your extraordinary work.
However, it's very hard to reproduce the demo videos after many of us tried for weeks.
We figured out there have been many versions of the source code, many versions of the main control panel, and a lot config/script files. It's hard to tell what to use with the most recent release.

So, to make the test more efficient, can you help release the shell script command for the demo vidoes? I think most actions can be done by rosrun/roslaunch with parameter files. Together with the source code release, that would make the demo and test really efficient.

thanks
Ric

I attempted to create a map of a parking lot with some mature trees. I generated the map using default voxel grid size = 1 and resolution = 1. Then I persisted the in memory map with voxel grid size .2, .5 and 1. I find that localization fails when used with map persisted using voxel grid size .2 . However it does localization correctly when used with voxel grid size .5. Does this mean that localization works better with higher grid size in sparse feature regions? What criteria should be used to determine voxel grid size? Can you explain the concept of resolution in ndt mapping or matching. ? Is it the scan points per meter? Or distance between scan points? Should it be set higher for sparse feature regions? Please provide some guidance on setting ndt matching and mapping parameters

@syohex

最新版のコンパイル時に以下のようなエラーが出ましたが、何のエラーかわかりますか。

/home/ando/Autoware/ros/src/computing/perception/detection/packages/cv_tracker/nodes/dpm_ocv/dpm_ocv.cpp: In constructor ‘objectDetect::objectDetect()’:
/home/ando/Autoware/ros/src/computing/perception/detection/packages/cv_tracker/nodes/dpm_ocv/dpm_ocv.cpp:76:39: error: ‘use_gpu’ was not declared in this scope
  if (!private_nh_.getParam("use_gpu", use_gpu)) {
                                       ^
[ 93%] Built target points2vscan
Scanning dependencies of target kf_track
[ 93%] Building CXX object computing/perception/detection/packages/cv_tracker/CMakeFiles/kf_track.dir/nodes/kf_track/kf_track.cpp.o
make[2]: *** [computing/perception/detection/packages/cv_tracker/CMakeFiles/dpm_ocv.dir/nodes/dpm_ocv/dpm_ocv.cpp.o] エラー 1
make[1]: *** [computing/perception/detection/packages/cv_tracker/CMakeFiles/dpm_ocv.dir/all] エラー 2
make[1]: *** 未完了のジョブを待っています....

I have created a rosbag using persons and car images from KITTI dataset and am using the DPM TTIC algorithm to detect and recognize the objects using the pre-trained models.

I find the results are not correct particularly for pedestrian.. What configuration parameters can be tweaked to make the detection and recognition more reasonable?

Hi

I refreshed latest autoware stack and was running ndt matching on my test car which was working perfectly as of commit April 15, 2016 [sha1: 08ad56e]. This was before the refactoring to separate out voxel grid filter as it's own node. In the previous version, ndt matching was consuming /points_raw and applying the voxel grid filter in the callback. With the latest code as of June 17, the car is not computing pose correctly. It works fine in simulation .

I think there is delay introduced because now 2 nodes have to establish a communication channel. Are there any other gotchas that others have encountered with this refactoring that could be responsible for the observed behavior?

Thanks for answering my question!
Now I am trying to output the "twist_cmd" via vehicle_sender. Now I have finished connecting the computer on which Autoware is running to another computer via scoket. I received a list of data shows in the following picture.
Could you please introduce the protocol of vehicle_sender and vehicle_receiver.
Thanks very much.

To date, I have finished ndt_mapping and ndt_matching already.
Now my next plan is to apply the localization and mission result to the vehicle. My vehicle could be driven via the can network already.

However ,I get the following questions:
1.Could Autoware output the motion planning result via can network to control the vehicle?
2.Could Autoware output the localization result via socket or serial port?
3.which type of can interface card that Autoware support? Does it support Vector VN1630A?

Thanks a lot, and if there is anything that I can do for your team ,Please contact me, I will try my best to do it well and contribute my own strength.