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This project forked from autowarefoundation/autoware.universe

30.0 30.0 23.0 209.9 MB

License: Apache License 2.0

CMake 1.70% C++ 94.96% Python 2.77% Cuda 0.49% Shell 0.01% C 0.07%

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autoware.universe's Issues

Incorrect namespace inside cuda_utils

Checklist

  • I've read the contribution guidelines.
  • I've searched other issues and no duplicate issues were found.
  • I'm convinced that this is not my fault but a bug.

Description

All the references to the std namespace inside the cuda_utils.hpp files are encased inside the cuda namespace causing compilation issues.

https://github.com/tier4/autoware.universe/blob/tier4/main/perception/tensorrt_yolo/lib/include/cuda_utils.hpp#L60
https://github.com/tier4/autoware.universe/blob/tier4/main/perception/lidar_centerpoint/include/lidar_centerpoint/cuda_utils.hpp#L59

Expected behavior

Successful compilation.

Actual behavior

Errors such as:

error: namespace "cuda::std" has no member "stringstream"

error: namespace "cuda::std" has no member "runtime_error"

error: namespace "cuda::std" has no member "unique_ptr"

error: namespace "cuda::std" has no member "runtime_error"

Steps to reproduce

Compile colcon build

Versions

  • Ubuntu 22.04
  • CUDA 11.8.89-1
  • CUDNN 8.8
  • tensorrt 8.5.3.1-1

Possible causes

Incorrect namespace resolution due to missing :: before any call to methods contained in std.

How to fix

Prepend :: before any call to std

Example on https://github.com/tier4/autoware.universe/blob/tier4/main/perception/lidar_centerpoint/include/lidar_centerpoint/cuda_utils.hpp#L59

namespace cuda
{
inline void check_error(const ::cudaError_t e, const char * f, int n)
{
  if (e != ::cudaSuccess) {
-  std::stringstream s;
+  ::std::stringstream s;
    s << ::cudaGetErrorName(e) << " (" << e << ")@" << f << "#L" << n << ": "
      << ::cudaGetErrorString(e);
-  throw std::runtime_error{s.str()};
+  ::throw std::runtime_error{s.str()};
}
.....

Additional context

No response

Incorrect param names in ground_segmentation.param.yaml

Checklist

  • I've read the contribution guidelines.
  • I've searched other issues and no duplicate issues were found.
  • I'm convinced that this is not my fault but a bug.

Description

The names of some parameters in ground_segmentation.param.yaml are different from the actual ones.
This is due to the changes in 0e1761a.

Expected behavior

ground_segmentation.param.yaml should provide ros__parameters/common_crop_box_filter/parameters/margin_max_z and ros__parameters/common_crop_box_filter/parameters/margin_min_z.

Actual behavior

ground_segmentation.param.yaml provide ros__parameters/common_crop_box_filter/parameters/max_z and ros__parameters/common_crop_box_filter/parameters/min_z.

Steps to reproduce

Not applicable.

Versions

No response

Possible causes

No response

Additional context

No response

Problem linking `awapi_awiv_adapter`

  • Operating System:
    • Ubuntu 20.04
  • Installation type:
    • building from source
  • ROS Version
    • ROS2, galactic
  • Version or commit hash:

Steps to reproduce issue

It's a strange error I could only get on one out of three machines.
When tested on two freshly installed ubuntu + ros2, one passes second one does not.
Following build instructions, I got missing package pacmod3-msgs - not installing from rosdep. I have installed manually from repository instruction. Then when compiling I got a linking error.

Expected behavior

Build awapi_awiv_adapter

Actual behavior

--- stderr: awapi_awiv_adapter                                                                                                                                                                
/usr/bin/ld: CMakeFiles/awapi_awiv_adapter.dir/src/awapi_awiv_adapter_core.cpp.o: in function `rclcpp::Publisher<pacmod3_msgs::msg::SystemCmdInt_<std::allocator<void> >, std::allocator<void> >::Publisher(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&)':
awapi_awiv_adapter_core.cpp:(.text._ZN6rclcpp9PublisherIN12pacmod3_msgs3msg13SystemCmdInt_ISaIvEEES4_EC2EPNS_15node_interfaces17NodeBaseInterfaceERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_3QoSERKNS_29PublisherOptionsWithAllocatorIS4_EE[_ZN6rclcpp9PublisherIN12pacmod3_msgs3msg13SystemCmdInt_ISaIvEEES4_EC5EPNS_15node_interfaces17NodeBaseInterfaceERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_3QoSERKNS_29PublisherOptionsWithAllocatorIS4_EE]+0x17d): undefined reference to `rosidl_message_type_support_t const* rosidl_typesupport_cpp::get_message_type_support_handle<pacmod3_msgs::msg::SystemCmdInt_<std::allocator<void> > >()'
/usr/bin/ld: CMakeFiles/awapi_awiv_adapter.dir/src/awapi_awiv_adapter_core.cpp.o: in function `std::_Function_handler<std::shared_ptr<rclcpp::SubscriptionBase> (rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&), rclcpp::create_subscription_factory<pacmod3_msgs::msg::GlobalRpt_<std::allocator<void> >, std::_Bind<void (autoware_api::AutowareIvAdapter::*(autoware_api::AutowareIvAdapter*, std::_Placeholder<1>))(std::shared_ptr<pacmod3_msgs::msg::GlobalRpt_<std::allocator<void> > const>)>, std::allocator<void>, pacmod3_msgs::msg::GlobalRpt_<std::allocator<void> >, rclcpp::Subscription<pacmod3_msgs::msg::GlobalRpt_<std::allocator<void> >, std::allocator<void>, rclcpp::message_memory_strategy::MessageMemoryStrategy<pacmod3_msgs::msg::GlobalRpt_<std::allocator<void> >, std::allocator<void> > >, rclcpp::message_memory_strategy::MessageMemoryStrategy<pacmod3_msgs::msg::GlobalRpt_<std::allocator<void> >, std::allocator<void> > >(std::_Bind<void (autoware_api::AutowareIvAdapter::*(autoware_api::AutowareIvAdapter*, std::_Placeholder<1>))(std::shared_ptr<pacmod3_msgs::msg::GlobalRpt_<std::allocator<void> > const>)>&&, rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void> > const&, rclcpp::message_memory_strategy::MessageMemoryStrategy<pacmod3_msgs::msg::GlobalRpt_<std::allocator<void> >, std::allocator<void> >::SharedPtr, std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<pacmod3_msgs::msg::GlobalRpt_<std::allocator<void> > > >)::{lambda(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)#1}>::_M_invoke(std::_Any_data const&, rclcpp::node_interfaces::NodeBaseInterface*&&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)':
awapi_awiv_adapter_core.cpp:(.text._ZNSt17_Function_handlerIFSt10shared_ptrIN6rclcpp16SubscriptionBaseEEPNS1_15node_interfaces17NodeBaseInterfaceERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS1_3QoSEEZNS1_27create_subscription_factoryIN12pacmod3_msgs3msg10GlobalRpt_ISaIvEEESt5_BindIFMN12autoware_api17AutowareIvAdapterEFvS0_IKSO_EEPSR_St12_PlaceholderILi1EEEESN_SO_NS1_12SubscriptionISO_SN_NS1_23message_memory_strategy21MessageMemoryStrategyISO_SN_EEEES14_EENS1_19SubscriptionFactoryEOT0_RKNS1_32SubscriptionOptionsWithAllocatorIT1_EENT4_9SharedPtrES0_INS1_16topic_statistics27SubscriptionTopicStatisticsIT2_EEEEUlS6_SE_SH_E_E9_M_invokeERKSt9_Any_dataOS6_SE_SH_[_ZNSt17_Function_handlerIFSt10shared_ptrIN6rclcpp16SubscriptionBaseEEPNS1_15node_interfaces17NodeBaseInterfaceERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS1_3QoSEEZNS1_27create_subscription_factoryIN12pacmod3_msgs3msg10GlobalRpt_ISaIvEEESt5_BindIFMN12autoware_api17AutowareIvAdapterEFvS0_IKSO_EEPSR_St12_PlaceholderILi1EEEESN_SO_NS1_12SubscriptionISO_SN_NS1_23message_memory_strategy21MessageMemoryStrategyISO_SN_EEEES14_EENS1_19SubscriptionFactoryEOT0_RKNS1_32SubscriptionOptionsWithAllocatorIT1_EENT4_9SharedPtrES0_INS1_16topic_statistics27SubscriptionTopicStatisticsIT2_EEEEUlS6_SE_SH_E_E9_M_invokeERKSt9_Any_dataOS6_SE_SH_]+0x4a): undefined reference to `rosidl_message_type_support_t const* rosidl_typesupport_cpp::get_message_type_support_handle<pacmod3_msgs::msg::GlobalRpt_<std::allocator<void> > >()'
/usr/bin/ld: CMakeFiles/awapi_awiv_adapter.dir/src/awapi_awiv_adapter_core.cpp.o: in function `std::_Function_handler<std::shared_ptr<rclcpp::SubscriptionBase> (rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&), rclcpp::create_subscription_factory<pacmod3_msgs::msg::SystemRptInt_<std::allocator<void> >, std::_Bind<void (autoware_api::AutowareIvAdapter::*(autoware_api::AutowareIvAdapter*, std::_Placeholder<1>))(std::shared_ptr<pacmod3_msgs::msg::SystemRptInt_<std::allocator<void> > const>)>, std::allocator<void>, pacmod3_msgs::msg::SystemRptInt_<std::allocator<void> >, rclcpp::Subscription<pacmod3_msgs::msg::SystemRptInt_<std::allocator<void> >, std::allocator<void>, rclcpp::message_memory_strategy::MessageMemoryStrategy<pacmod3_msgs::msg::SystemRptInt_<std::allocator<void> >, std::allocator<void> > >, rclcpp::message_memory_strategy::MessageMemoryStrategy<pacmod3_msgs::msg::SystemRptInt_<std::allocator<void> >, std::allocator<void> > >(std::_Bind<void (autoware_api::AutowareIvAdapter::*(autoware_api::AutowareIvAdapter*, std::_Placeholder<1>))(std::shared_ptr<pacmod3_msgs::msg::SystemRptInt_<std::allocator<void> > const>)>&&, rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void> > const&, rclcpp::message_memory_strategy::MessageMemoryStrategy<pacmod3_msgs::msg::SystemRptInt_<std::allocator<void> >, std::allocator<void> >::SharedPtr, std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<pacmod3_msgs::msg::SystemRptInt_<std::allocator<void> > > >)::{lambda(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)#1}>::_M_invoke(std::_Any_data const&, rclcpp::node_interfaces::NodeBaseInterface*&&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)':
awapi_awiv_adapter_core.cpp:(.text._ZNSt17_Function_handlerIFSt10shared_ptrIN6rclcpp16SubscriptionBaseEEPNS1_15node_interfaces17NodeBaseInterfaceERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS1_3QoSEEZNS1_27create_subscription_factoryIN12pacmod3_msgs3msg13SystemRptInt_ISaIvEEESt5_BindIFMN12autoware_api17AutowareIvAdapterEFvS0_IKSO_EEPSR_St12_PlaceholderILi1EEEESN_SO_NS1_12SubscriptionISO_SN_NS1_23message_memory_strategy21MessageMemoryStrategyISO_SN_EEEES14_EENS1_19SubscriptionFactoryEOT0_RKNS1_32SubscriptionOptionsWithAllocatorIT1_EENT4_9SharedPtrES0_INS1_16topic_statistics27SubscriptionTopicStatisticsIT2_EEEEUlS6_SE_SH_E_E9_M_invokeERKSt9_Any_dataOS6_SE_SH_[_ZNSt17_Function_handlerIFSt10shared_ptrIN6rclcpp16SubscriptionBaseEEPNS1_15node_interfaces17NodeBaseInterfaceERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS1_3QoSEEZNS1_27create_subscription_factoryIN12pacmod3_msgs3msg13SystemRptInt_ISaIvEEESt5_BindIFMN12autoware_api17AutowareIvAdapterEFvS0_IKSO_EEPSR_St12_PlaceholderILi1EEEESN_SO_NS1_12SubscriptionISO_SN_NS1_23message_memory_strategy21MessageMemoryStrategyISO_SN_EEEES14_EENS1_19SubscriptionFactoryEOT0_RKNS1_32SubscriptionOptionsWithAllocatorIT1_EENT4_9SharedPtrES0_INS1_16topic_statistics27SubscriptionTopicStatisticsIT2_EEEEUlS6_SE_SH_E_E9_M_invokeERKSt9_Any_dataOS6_SE_SH_]+0x4a): undefined reference to `rosidl_message_type_support_t const* rosidl_typesupport_cpp::get_message_type_support_handle<pacmod3_msgs::msg::SystemRptInt_<std::allocator<void> > >()'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/awapi_awiv_adapter.dir/build.make:484: awapi_awiv_adapter] Error 1
make[1]: *** [CMakeFiles/Makefile2:78: CMakeFiles/awapi_awiv_adapter.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed   <<< awapi_awiv_adapter [3.68s, exited with code 2]

Additional information

When the same version of pacmod3-msgs is installed on other machines it passes build. Another issue with rosdep - rosdep is unable to locate logsim: Cannot locate rosdep definition for [ndt_convergence_evaluation].

I have no time to investigate, also it is not crucial and necessary for me to work. Please do not rush to solve this.

tier4_simulator_launch_param_path is conflicting a file path

Checklist

  • I've read the contribution guidelines.
  • I've searched other issues and no duplicate issues were found.
  • I'm convinced that this is not my fault but a bug.

Description

An environment variable name tier4_simulator_launch_param_pathis defined HERE.
And the name is used in HERE. You can see the config directory is conflicting.
When I tried to use fault injection in the scenario simulator, I could not use the fault injection because of duplicate "config" directories.

Expected behavior

I can use Fault Injection in the scenario simulator.

Actual behavior

I cannot use Fault Injection in the scenario simulator.

Steps to reproduce

  1. Run scenario simulator.
  2. Publish a something fault injection.

Versions

No response

Possible causes

No response

Additional context

No response

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