[Autoware 1.11.0] No twist command output with autoware quick start (autoware launcher)

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Setup

• Autoware 1.11.0-kinetic-cuda docker image
• test data: sample moriyama from here ( https://github.com/autowarefoundation... )

Issue

[Note: I’m fairly new to autoware]
I’m trying to get the demo running using autoware launcher. However, I’m not getting any output from the /twist_cmd topic; rostopic echo /twist_cmd shows nothing.

In my investigation, I found that pure pursuit isn’t happy as the necessary topics are not subscribed yet; I’m seeing this in the logs:
Necessary topics are not subscribed yet ...

From the pure pursuit source code (ros/src/computing/planning/motion/packages/waypoint_follower/nodes/pure_pursuit/pure_pursuit_core.cpp), I can see that four conditions need to be met, i.e. the pose, velocity, waypoints and config have to be set. This makes perfect sense.

I then checked if all the subscribed topics have outputs by using “rostopic echo” on them:

• /current_pose [✓]
• /current_velocity [✓]
• /final_waypoints [✗]
  • I still need to do more investigation on this to find out why this is the case.
• /config/waypoint_follower [✗]
  • This one is weird. It outputs the pure pursuit configuration parameters only when the pure pursuit node is relaunched. It seems as though the publisher isn’t latching the output, though it doesn’t appear that way according to autoware_launcher/plugins/leaf/pure_pursuit.xml.

There is also another thing I found:

A new launch file might be needed there, though I’m not entirely sure if this is contributing to the problem I’m facing.

Procedure to reproduce the problem

1. Run docker/generic/run.sh -t 1.11.0 on host.

2. Place the sample data file from here ( https://github.com/autowarefoundation... ) into the ~/.autoware directory, i.e.

   mkdir -p ~/.autoware/log  
   ln -sf ~/shared_dir/data ~/.autoware/data  
   ln -sf ~/shared_dir/sample_moriyama_150324.bag ~/.autoware/log/20150324.bag  
   cd ~/.autoware/data  
   ln -sf ./map/pointcloud_map .  
   ln -sf ./map/vector_map .
   

3. Modify velocity_set.yaml and obstacle_avoid.yaml in autoware_launcher/share/autoware_launcher/plugins/refs such that:

   obstacle_avoid.yaml:

   @@ -1,5 +1,5 @@
   format: Autoware Launcher Plugin Version 0.1
   -rosxml: $(find astar_planner)/launch/obstacle_avoid.launch
   +rosxml: $(find waypoint_planner)/launch/astar_avoid.launch
   args:
   - {name: use_2dnav_goal, type: bool, default: false}
   - {name: map_frame, type: str, default: map}
   

   velocity_set.yaml:

   @@ -1,5 +1,5 @@
   format: Autoware Launcher Plugin Version 0.1
   -rosxml: $(find astar_planner)/launch/velocity_set.launch
   +rosxml: $(find waypoint_planner)/launch/velocity_set.launch
   args:
   - {name: use_crosswalk_detection, type: bool, default: true}
   - {name: points_topic, type: str, default: points_no_ground}
   

   This changes were made because the existing names reference the old package name and launch file name.

4. Launch autoware launcher

   cd ~/Autoware/ros
   ./run-experimental
   

5. Play back the bag file and launch all modules.

6. Verify that you're getting the same problem I've described above.

Thank you for looking into this. Any input or insight will be greatly appreciated!