[Autoware 1.14] lane_select says current_pose is missing, but it exists and can be confirmed with echo

asked 2021-01-27 03:06:44 -0500

KenIsX gravatar image

I am trying to use autoware as a autonomous navigation software for my robot (not car). The robot is not running on the road as the main purpose of autoware. I succeeded in mapping, making waypoints, and localizing in real-time.

However, when I try waypoint following: lane_select program gives me the following warnings: - Topic current_pose is missing - Topic current_velocity is missing

image description

My setup is as following:

  • Jetson TX2
  • Ubuntu 18.04
  • ROS Melodic
  • CUDA 10.0
  • Autoware 1.14 (Master branch, Built with CUDA Support)

Steps to reproduce:\

  1. Setup/TF (baselink_velodyne tf publisher)
  2. Map/Pointcloud
  3. Map/TF (world_map tf publisher)
  4. Sensing/VLP-16 and Sensing/voxel_grid_filter
  5. Computing/ndt_matching, vel_pose_connect,
  6. Rviz (use .config/default.rviz)

vel_pose_connect relaying /ndt_pose to /current_pose and /estimate_twist to /current_velocity, rostopic is published as in the image

current_velocity

rqt_graph

Anyone has encounter this problem or have any ideas on how to solve this?

Any helps are very much appreciated. Thank you.

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