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control LGSVL

Hello everybody,

I am trying to run Autoware 1.12.0 installed from source coupled with LGSVL. Hohevwe I am not able to make the car drive. Autoware is receiving all the data from the ROS bridge, but Autoware just sent a very smal amount of data when I check/un-check the twist_filter, but the vehicle keep stoped. I can even see the planned trajectory in Rviz but the vehicle do not drive.

I shared the images in the link

It is possible to check:

I am using:

Thank you in advance for some support.

Asked by Drechsler on 2019-12-09 10:13:59 UTC

Comments

Can you show me the data of the /vehicle_cmd topic?

Asked by Masaya Kataoka on 2019-12-11 21:20:04 UTC

Sure, it is below

vil@VIL:~$ rostopic echo /vehicle_cmd
header: 
  seq: 3
  stamp: 
    secs: 0
    nsecs:         0
  frame_id: ''
steer_cmd: 
  header: 
    seq: 0
    stamp: 
      secs: 0
      nsecs:         0
    frame_id: ''
  steer: 0
accel_cmd: 
  header: 
    seq: 0
    stamp: 
      secs: 0
      nsecs:         0
    frame_id: ''
  accel: 0
brake_cmd: 
  header: 
    seq: 0
    stamp: 
      secs: 0
      nsecs:         0
    frame_id: ''
  brake: 0
lamp_cmd: 
  header: 
    seq: 0
    stamp: 
      secs: 0
      nsecs:         0
    frame_id: ''
  l: 0
  r: 0
gear: 0
mode: 0
twist_cmd: 
  header: 
    seq: 0
    stamp: 
      secs: 0
      nsecs:         0
    frame_id: ''
  twist: 
    linear: 
      x: 0.0
      y: 0.0
      z: 0.0
    angular:

Asked by Drechsler on 2020-01-02 04:01:31 UTC

I also notice that when I start the motion planning in the Quick start of Autoware it shows the error:

[roslaunch][ERROR] 2020-01-02 09:27:14,127: while processing /home/vil/autoware.ai/install/runtime_manager/share/runtime_manager/scripts/vehicle_socket.launch:
Invalid roslaunch XML syntax: [Errno 2] No such file or directory: u'/home/vil/autoware.ai/install/runtime_manager/share/runtime_manager/scripts/vehicle_socket.launch'

I copied the vehicle_socket.launch from /home/vil/autoware.ai/install/runtime_manager/share/runtime_manager/launch_files/vehicle_socket.launch to the required directory but it did not solve the problem.

Asked by Drechsler on 2020-01-02 04:05:49 UTC

It seems... you are use LGSVL with Open Planner??

Asked by Masaya Kataoka on 2020-01-06 02:13:46 UTC

I am not using Open Planner from Autoware, I just checked lane_rule, lane_stop, lane_select, astar_avoid, velocity_set, pure _pursuit and twist_filter.

Asked by Drechsler on 2020-01-07 04:04:18 UTC

Answers