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Autoware lidar_euclidean_cluster_detect not publishing anything

asked 2019-12-10 01:10:16 -0600

syigzaw gravatar image

Ubuntu 16.04, ROS distro: Kinetic, ROS version: 1.12.14, Autoware version: 1.12.0

The only relevant documentation I found on this package is here:

I'm playing a pcap file which is publishing to /points_raw, rviz is showing the points, but when I go into the Computing tab of the Runtime Manager and select lidar_euclidean_cluster_detect, nothing happens. I tried changing some of the parameters it has, like changing the input_points_node parameter to /points_raw, but nothing's worked. Is there something from the parameters I'm missing, or do I need to look in a completely different area? Thanks in advance for your help.

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@syigzaw - What frame is your lidar data being published in?

Josh Whitley gravatar image Josh Whitley  ( 2019-12-16 16:00:10 -0600 )edit

I don't quite know what you mean by which frame. If you mean which topic, then the lidar data is being published on /points_raw. I also set lidar_euclidean_cluster_detect input_points_node parameter to /points_raw, to make sure it's listening to the right topic.

syigzaw gravatar image syigzaw  ( 2019-12-16 16:18:45 -0600 )edit

Is the node actually running? Maybe an error message was shown just after you clicked it on runtime manager. If it’s running can you see the topic points_cluster being published?

amc-nu gravatar image amc-nu  ( 2019-12-16 16:23:31 -0600 )edit

@syigzaw - Most messages (including sensor_msgs/PointCloud2) includes a std_msgs/Header which has the field frame_id. This determines the "frame of reference" in which the sensor data are being published. To find out which frame your sensor data are currently using, start replaying the data and run rostopic echo /points_raw | grep 'frame_id'. The likely problem that you're having is that the lidar_euclidian_cluster_detect node doesn't understand how to transform data from the frame in which your points are being published to the output frame (by default, the output frame is velodyne). It uses the tf package and transforms which are being published in order to do this. If your data are being published with a frame_id of velodyne, then no transform is necessary. However, if your data are being published in another frame then a transform has to be calculated and if no static transform from your frame to the ...(more)

Josh Whitley gravatar image Josh Whitley  ( 2019-12-16 16:26:53 -0600 )edit

@amc-nu - points_cluster shows in the list if I run rostopic list, so that shows that lidar_euclidean_cluster_detect is running, it's just not publishing anything to that topic. @Masimus5684 - the frame ID is velodyne

syigzaw gravatar image syigzaw  ( 2019-12-16 16:42:28 -0600 )edit

points_cluster shows in the list, so that shows that lidar_euclidean_cluster_detect is running

That’s not necessary true. Can you run instead rosnode list confirm it’s there and then rosnode info lidar_euclidean_cluster_detect?

amc-nu gravatar image amc-nu  ( 2019-12-16 17:01:10 -0600 )edit

# rosnode list /detection/lidar_detector/cluster_detect_visualization_01








syigzaw gravatar image syigzaw  ( 2019-12-16 17:05:16 -0600 )edit

# rosnode info lidar_euclidean_cluster_detect

Node [/lidar_euclidean_cluster_detect]


  • /cluster_centroids [autoware_msgs/Centroids]

  • /detection/lidar_detector/cloud_clusters [autoware_msgs/CloudClusterArray]

  • /detection/lidar_detector/objects [autoware_msgs/DetectedObjectArray]

  • /points_cluster [sensor_msgs/PointCloud2]

  • /points_ground [sensor_msgs/PointCloud2]

  • /points_lanes [sensor_msgs/PointCloud2]

  • /rosout [rosgraph_msgs/Log]


  • /points_raw [sensor_msgs/PointCloud2]

  • /tf [unknown type]

  • /tf_static [unknown type]


  • /lidar_euclidean_cluster_detect/get_loggers

  • /lidar_euclidean_cluster_detect/set_logger_level

contacting node http://sf-pc11:38340/ ...

ERROR: Communication with node[http://sf-pc11:38340/] failed!

syigzaw gravatar image syigzaw  ( 2019-12-16 17:05:42 -0600 )edit

1 Answer

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answered 2019-12-17 10:48:41 -0600

syigzaw gravatar image

The solution is to find your internal IP address, I did this using hostname -I. Take an address from the output and enter export ROS_IP=<address> across all terminals. After that, restart the runtime manager and whatever scripts you need to run.

Thanks to @amc-nu for helping me with this question.

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Asked: 2019-12-10 01:10:16 -0600

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Last updated: Dec 17 '19