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Autoware ROSBAG Demo no points_map

asked 2020-04-07 02:57:06 -0500

GeorgNo gravatar image

updated 2020-04-20 08:35:32 -0500

Hello,

my problem is that I do not get the expected output if I follow the instructions for the rosbag demo (link), namely no /points_map is published by my_map.launch and also no tf between velodyne and base_link is present, thus also failing the detection.

Here the setup I am using:

  • Ubuntu 18.04 + ROS Meldoic [Host], AMD Ryzen 7 3800X, Nvidia RTX 2070 super
  • Docker (Version: 19.03.08) : autoware/autoware:latest-melodic-cuda

I uploaded a video of my steps: link.
Here are the commands I entered:

Host:

 mkdir -p ~/shared_dir   
 wget https://autoware-ai.s3.us-east-2.amazonaws.com/sample_moriyama_data.tar.gz  
 wget https://autoware-ai.s3.us-east-2.amazonaws.com/sample_moriyama_150324.tar.gz  
 tar zxfv sample_moriyama_150324.tar.gz     # also tried extracting in docker container
 tar zxfv sample_moriyama_data.tar.gz       # also tried extracting in docker container
 cd <path-to-autoware-docker-git>/generic && ./run.sh

Docker:

 mkdir -p ~/.autoware && cd ~/.autoware
 ln -s ~/shared_dir/data                             # also tried it with cp, made no difference
 ln -s ~/shared_dir/sample_moriyama_150324.bag       # also tried it with cp, made no difference
 roslaunch runttime_manager runtime_manager.launch

After running roslaunch I followed instructions of here / the video found here

Thank you for your help.

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answered 2020-04-11 17:33:01 -0500

omkard gravatar image

updated 2020-04-11 17:33:25 -0500

Hi @GeorgNo

If you follow the provided video in the tutorial correctly at 1:40, please turn off and on the points map, you will be able to see the expected output.

Thanks!

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Hi @omkard,

thank you for your help!

I followed the video step by step (see following video) and also turned the points map off and on in rviz but still can not see it.

Some additional information that might be useful for you to help me:

  • to get gpu acceleration running I needed to change RUNTIME="--runtime=nvidia" to RUNTIME="--gpus all" on my host in the generic/run.sh file. Otherwise docker would throw following error: docker: Error response from daemon: Unknown runtime specified nvidia.
    • inside the container I edited the path to the install/setup.bash, since the provided path always threw no such file or directory, in runtime_manager/scripts/run

Thank you again for your help!

GeorgNo gravatar image GeorgNo  ( 2020-04-14 07:58:25 -0500 )edit

Hi @GeorgNo

Try multiple times by playing and pausing the simulation and turning on and off the points map. That's the only thing I could try.

And, I believe changing the runtime to what you provided is good but I am not sure about the path to install/setup.bash. Thank you!

omkard gravatar image omkard  ( 2020-04-14 10:40:14 -0500 )edit

@omkard sadly switching it off and on does not work. Do you have any other idea what I might try?

GeorgNo gravatar image GeorgNo  ( 2020-04-16 05:18:56 -0500 )edit

No @GeorgNo, I don't have any.

omkard gravatar image omkard  ( 2020-04-16 07:52:55 -0500 )edit

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Asked: 2020-04-07 02:57:06 -0500

Seen: 75 times

Last updated: Apr 20