control LGSVL

asked 2019-12-09 09:13:59 -0600

Drechsler gravatar image

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:

  • The big difference between the count of published topics (2542 times) and the subscribed topics (4) in LGSVL;
  • The vehicle model error that happens sometimes, but even this error does not occur the vehicle does not drive;
  • Rviz,
  • Setup of the Tabs Quick Start, Map and Computing of the Autoware. On the other tabs I did not change anything.

I am using:

  • ROS Kinetic
  • Ubuntu 16.04
  • Nvidia GTX 980 Ti

Thank you in advance for some support.

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Comments

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

Masaya Kataoka gravatar imageMasaya Kataoka ( 2019-12-11 20:20:04 -0600 )edit

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:
Drechsler gravatar imageDrechsler ( 2020-01-02 03:01:31 -0600 )edit

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.

Drechsler gravatar imageDrechsler ( 2020-01-02 03:05:49 -0600 )edit

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

Masaya Kataoka gravatar imageMasaya Kataoka ( 2020-01-06 01:13:46 -0600 )edit

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.

Drechsler gravatar imageDrechsler ( 2020-01-07 03:04:18 -0600 )edit