rviz_op_config.rviz about carla-autoware

[DarrenWong]

if you are using carla 0.9.8, you can try to follow the latest bridge in here, https://gitlab.com/autowarefoundation/autoware.ai/simulation/-/tree/master/carla_simulator_bridge
It should be easier to integrate, but I still need some time to see how to let vehicle move.

[jS5t3r]

@DarrenWong Do you know what is the simplest way that the ego_vehicle is moving? After following this tutorial (https://github.com/Autoware-AI/simulation/blob/master/carla_simulator_bridge/README.md) I found out that there is no (pure pursuit or sth). I guess with the runtime_manager I can do something meaningful:

roslaunch runtime_manager runtime_manager.launch

[jS5t3r]

@bsamadi He mad a custom one. https://github.com/Autoware-AI/autoware.ai/wiki/ROSBAG-Demo You can find one: autoware.ai/src/autoware/documentation/autoware_quickstart_examples/launch/rosbag_demo/

I know that in Autoware 14 is OP already included in the RVIZ config file.

[DarrenWong]

@jS5t3r not yet, only move the car using Carla API with ros directly.

[jS5t3r]

@DarrenWong so, you mean manual control?

[DarrenWong]

@DarrenWong so, you mean manual control?

yes, manual control with ros bridge only... I am not further testing about it.... pls let me know if you succeed

[wuxiaohua1011]

@DarrenWong , are you able to move the vehicle using Autoware?

I am currently using Autoware 1.14 + Carla 0.9.9.

When I have everything set up (So I see this screen), and everything, from Localization to waypoint, etc works

However, I am unable to move the vehicle because it seems like the launch file specified here, find waypoint_follower, does not exist in Autoware 1.14 and 1.13.

I do find it in 1.12, are you using 1.12?

[DarrenWong]

not yet, 1.14 with docker images tested before. Seems you find a possible reason (not waypoint_follower) why we can not move, might be we can add the waypoint_follower node. I will try again if I have spare time later...

@DarrenWong , are you able to move the vehicle using Autoware?

I am currently using Autoware 1.14 + Carla 0.9.9.

When I have everything set up (So I see this screen), and everything, from Localization to waypoint, etc works

However, I am unable to move the vehicle because it seems like the launch file specified here, find waypoint_follower, does not exist in Autoware 1.14 and 1.13.

I do find it in 1.12, are you using 1.12?

[joel-mb]

Hi @DarrenWong @wuxiaohua1011 ,
waypoint_follower package has been removed in the newer versions of Autoware. You should replace this package with the newer ones (i.e., pure_pursuit and twist_filter). Hopefully, this will be solved in the new agent we are building (you can find more info here: https://github.com/carla-simulator/carla-autoware/tree/joel-mb/agent)

[DarrenWong]

@joel-mb your idea integrate all into docker is good. I am testing but I think the dockerfile have something not update yet

for example:
issue 1:
unused args [use_manual_control] for include of [/home/autoware/Autoware/install/carla_autoware_bridge/share/carla_autoware_bridge/launch/carla_autoware_bridge.launch]

carla-autoware/carla-autoware-agent/launch/carla_autoware_agent.launch

Line 42 in 55ce708

<arg name='use_manual_control' value='$(arg use_manual_control)'/>

The master of autoware-ai should have this one, but the docker file only build on top of the

carla-autoware/Dockerfile

Line 2 in 55ce708

ARG AUTOWARE_VERSION=1.14.0-melodic-cuda

https://github.com/Autoware-AI/simulation/blob/2677e815161e268171ec65a7543d14fb430bc9af/carla_simulator_bridge/carla_autoware_bridge/launch/carla_autoware_bridge.launch#L8

Tag: 1.14.0
https://github.com/Autoware-AI/simulation/blob/1.14.0/carla_simulator_bridge/carla_autoware_bridge/launch/carla_autoware_bridge.launch

Try to fix this, but still many errors after that.

Did you test the docker based on the autoware 1.14.0-melodic-cuda or the master version?

Update a few minutes later.. I fix the autoware issue by copy the launch files into the docker, but still error of ros_bridge comes out, you might need to update both carla docker and autoware docker to make it aligned...

ValueError: cannot reshape array of size 45579 into shape (11394,4)
Traceback (most recent call last):
  File "/home/autoware/carla_ws/src/ros-bridge/carla_ros_bridge/src/carla_ros_bridge/sensor.py", line 105, in _callback_sensor_data
    self.sensor_data_updated(carla_sensor_data)
  File "/home/autoware/carla_ws/src/ros-bridge/carla_ros_bridge/src/carla_ros_bridge/lidar.py", line 66, in sensor_data_updated
    lidar_data, (int(lidar_data.shape[0] / 4), 4))
  File "/usr/lib/python2.7/dist-packages/numpy/core/fromnumeric.py", line 232, in reshape
    return _wrapfunc(a, 'reshape', newshape, order=order)
  File "/usr/lib/python2.7/dist-packages/numpy/core/fromnumeric.py", line 57, in _wrapfunc
    return getattr(obj, method)(*args, **kwds)
ValueError: cannot reshape array of size 45579 into shape (11394,4)

[joel-mb]

Hi @DarrenWong!
Yes, you are right. I've done some modifications to the Dockerfile to align the different versions between carla and autoware. Also updated the autoware-contents submodule to point to the proper branch. I'm still working on some issues I've detected but it should work now.

When running the agent for the first time, you will get an error due to the map change. The issues comes from the carla-ros-bridge, so I'm taking a look to solve it.

Thanks for the feedback!

[DarrenWong]

@joel-mb finally it moves after a few months trying, thanks a lot. But seems a small issue that we need to add the readme to get the map file because it's a git lfs repo when try to pull the pcd
https://bitbucket.org/carla-simulator/autoware-contents/src/master/maps/point_cloud_maps/Town01.pcd

And indeed a few issues like cannot select second goal, yolo3 process died so that I cannot receive the image. But I believe it would be fix soonly

And the carlasim keep logging but still working

ERROR: Invalid session: no stream available with id 24 
ERROR: Invalid session: no stream available with id 23 
ERROR: Invalid session: no stream available with id 26 
ERROR: Invalid session: no stream available with id 25 
ERROR: Invalid session: no stream available with id 24 
ERROR: Invalid session: no stream available with id 26 
ERROR: Invalid session: no stream available with id 23 
ERROR: Invalid session: no stream available with id 24 
ERROR: Invalid session: no stream available with id 25 
ERROR: Invalid session: no stream available with id 26 
ERROR: Invalid session: no stream available with id 24 
ERROR: Invalid session: no stream available with id 26 
ERROR: Invalid session: no stream available with id 25 
ERROR: Invalid session: no stream available with id 24 
ERROR: Invalid session: no stream available with id 25 
ERROR: Invalid session: no stream available with id 26 
ERROR: Invalid session: no stream available with id 24 
ERROR: Invalid session: no stream available with id 25 
ERROR: Invalid session: no stream available with id 26 

[joel-mb]

Hi @DarrenWong!

• Regarding selecting a second goal, unfortunately, this is a limitation introduced by the open planner package. As far as I know, you can select multiple goals at the beginning but not when the agent has started to drive. You may want to try with lane_navi node of the lane_planner package.
• Could you please provide more information about the issue with Yolo3? It shouldn't be crashing. Please, check that the autoware-contents submodule is correctly cloned and it includes the configuration files for yolo.
• The ERROR logs of CARLA are a known issue (carla-simulator/carla#1821). We are working on it.

Thanks again for the feedback!

[DarrenWong]

@joel-mb got it and thanks, the second question is I forget to pull all conetents in autoware-contents. New it works fine with all the modules on.
@wuxiaohua1011 @jS5t3r you can try the last version should be ok for functional test.

[joel-mb]

Closing the issue. Feel free to re-open it if any of the problems persist.

[laizpp]

s

ValueError: cannot reshape array of size 45579 into shape (11394,4)
Traceback (most recent call last):
File "/home/autoware/carla_ws/src/ros-bridge/carla_ros_bridge/src/carla_ros_bridge/sensor.py", line 105, in _callback_sensor_data
self.sensor_data_updated(carla_sensor_data)
File "/home/autoware/carla_ws/src/ros-bridge/carla_ros_bridge/src/carla_ros_bridge/lidar.py", line 66, in sensor_data_updated
lidar_data, (int(lidar_data.shape[0] / 4), 4))
File "/usr/lib/python2.7/dist-packages/numpy/core/fromnumeric.py", line 232, in reshape
return _wrapfunc(a, 'reshape', newshape, order=order)
File "/usr/lib/python2.7/dist-packages/numpy/core/fromnumeric.py", line 57, in _wrapfunc
return getattr(obj, method)(*args, **kwds)
ValueError: cannot reshape array of size 45579 into shape (11394,4)

Hi.How did you solve it?

[sayfulloh11]

Hello!
Currently, are you using Carla 0.9.8 version?