Autoware simple osm throwing errors
Hi, I generated an osm file with literally just 1 lane from https://tools.tier4.jp/vector_map_builder_ll2/ but I get this in rviz2.......
center_lane_line/1000
Contains invalid floating point values (nans or infs)
This is my osm file:
<?xml version="1.0" encoding="UTF-8"?>
<osm generator="VMB">
<MetaInfo format_version="1" map_version="2"/>
<node id="51" lat="0.9042631754899899" lon="103.20275285992474">
<tag k="mgrs_code" v="48NUG0000-1"/>
<tag k="local_x" v="3.1257"/>
<tag k="local_y" v="-2.1507"/>
<tag k="ele" v="-1.205"/>
</node>
<node id="52" lat="0.9040864961530666" lon="103.20294891184759">
<tag k="mgrs_code" v="48NUG0000-1"/>
<tag k="local_x" v="24.9398"/>
<tag k="local_y" v="-21.6996"/>
<tag k="ele" v="-1.4514"/>
</node>
<node id="54" lat="0.904276649828759" lon="103.20276484345389">
<tag k="mgrs_code" v="48NUG0000-1"/>
<tag k="local_x" v="4.4604"/>
<tag k="local_y" v="-0.6613"/>
<tag k="ele" v="-1.205"/>
</node>
<node id="55" lat="0.9040999713957669" lon="103.20296089537901">
<tag k="mgrs_code" v="48NUG0000-1"/>
<tag k="local_x" v="26.2745"/>
<tag k="local_y" v="-20.2101"/>
<tag k="ele" v="-1.4514"/>
</node>
<way id="53">
<nd ref="51"/>
<nd ref="52"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>
</way>
<way id="56">
<nd ref="54"/>
<nd ref="55"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>
</way>
<relation id="57">
<member type="way" role="left" ref="56"/>
<member type="way" role="right" ref="53"/>
<tag k="type" v="lanelet"/>
<tag k="subtype" v="road"/>
<tag k="speed_limit" v="10"/>
<tag k="location" v="urban"/>
<tag k="one_way" v="yes"/>
</relation>
</osm>
Asked by MrOCW on 2022-07-07 21:50:48 UTC
Answers
For me, I can visualize your map on rviz without your error.
I tried this tutorial https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/planning-simulation/
Asked by shmpwk on 2022-07-07 22:29:06 UTC
Comments
Oh @shmpwk I am using Autoware.Auto though, you are using Autoware Core/Universe? I intend to run autoware on a Jetson Xavier AGX running Jetpack 4.6.x so I don't think it is compatible with Core/Universe. Could you please try on autoware auto instead?
Asked by MrOCW on 2022-07-08 06:45:56 UTC
@MrOCW I cannot build Autoware.Auto in my environment now, but could you visualize the sample map here? https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/launch/autoware_demos/data
Asked by shmpwk on 2022-07-08 08:29:03 UTC
@shmpwk i have tried both the example maps given and my own osm map which you have tried but unforunately both returns the same "Contains invalid floating point values (nans or infs)" error
Asked by MrOCW on 2022-07-08 08:38:01 UTC
I re installed the whole environment and the example maps work now. but when colcon build --symlink-install (my own package with launch files) ndt_nodes (because i made changes to it to fix an issue where i cant visualize a map unless i manually add in frame_id = map to the point cloud), I am still getting the same "Contains invalid floating point values (nans or infs)" error. How should I add custom files and pcd maps without colcon build?
Asked by MrOCW on 2022-07-08 08:59:36 UTC
Do these answers help you? https://answers.ros.org/question/384072/autoware-create-custom-map-osm-file-version/ https://answers.ros.org/answers/377000/revisions/
Asked by shmpwk on 2022-07-08 10:56:18 UTC
@shmpwk Thank you so much for taking the time to reply as questions I've asked on ROS answers and discord are unanswered. I've read through those, wasn't very helpful. Nevertheless, I have built autoware core/universe on a fresh ros2 foxy image. i can visualize both the map and osm now. However, could you help me understand the map and viewer frame? I've set the frame_id to map in the source code but it doesnt visualize sometimes depending on map frame vs viewer frame etc..
Asked by MrOCW on 2022-07-08 22:41:57 UTC
More reference https://github.com/autowarefoundation/autoware/discussions/2680
Asked by shmpwk on 2022-07-08 23:07:30 UTC
@MrOCW
The map frame is usually far from the center of the map, so we made the viwer frame which is near the center.
The viewer frame is created from pcd map with Autoware.Auto.
Recently, it is created from osm map with core/universe at https://github.com/autowarefoundation/autoware.universe/tree/main/map/map_tf_generator
Asked by shmpwk on 2022-07-08 23:10:26 UTC
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