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OccupangyGrid map Issue: ray_ground_filter fails to generate costmap on AutowareAI

asked 2021-05-04 14:08:42 -0500

marcusvini178 gravatar image

updated 2021-05-04 19:14:30 -0500

I have recorded a video where the self-driving car fails to recognize a car obstacle in Occupancy Grid map:

https://www.youtube.com/watch?v=XSKYE...

This issue is related to: https://answers.ros.org/question/3773...

I did not figured out the reason why the /semantics/costmap_generator/occupancy_grid does not recognize the AGENT car or pedestrian as obstacle. When I echoed this topic, it returns usually an inifinite array of ZEROs values. However sometimes it returns the value 100:

`$ rostopic echo /semantics/costmap_generator/occupancy_grid

0, 0, 0, 0, 100, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 100, 0, 100, 0, 0, 100, 0, 0, 0, 0, 100, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 100, 0, 100, 100, 0, 0, 0, 0, 0, 100, 100, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 100, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 100, 0, 0, 0, 0, 0, 0, 0,....]`

The terminal that outputs the runtime_manager launched modules, always display this warning message:

Lookup would require extrapolation into the past. Requested time 1620142061.472442880 but the earliest data is at time 1620142284.496077775, when looking up transform from frame [velodyne] to frame [base_link]

And this error message:

[ERROR] [1620142288.442861565]: Failed transform from base_link to velodyne

However when I run the commands:

```
$rosrun tf view_frames
$ evince frames.pdf
```

I get this TF: frames.pdf

Afterwards I checked again if the TF exist with the cmd:

`$rosrun tf tf_echo base_link velodyne:`

At time 1620141918.625
- Translation: [0.368, 0.000, 1.975]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
            in RPY (radian) [0.000, -0.000, 0.000]
            in RPY (degree) [0.000, -0.000, 0.000]
At time 1620141919.617
- Translation: [0.368, 0.000, 1.975]
- Rotation: in ...
(more)
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Comments

The road_occupancy_processor that could be an alternative to generate the occupancy grid map also presents the same issues...regarding not receiving data from grid2map, points_non_ground, etc...unfortunately. I am really convinced that the node ray_ground_filter has some bug to enable data to points_non_ground and the ring_ground_filter does not work to generate the /semantis/costmap_generator/occupancy_grid correct data.

marcusvini178 gravatar image marcusvini178  ( 2021-05-04 19:11:43 -0500 )edit

1 Answer

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answered 2021-05-18 10:40:26 -0500

marcusvini178 gravatar image

updated 2021-05-18 10:41:45 -0500

Hi I have already answered here:

https://answers.ros.org/question/3670...

The issues are:

1 - You need a very powerful machine (or 2) to run the Percpetion module from Autoware.AI with the LG SVL simulator. Otherwise this module will rarely work and generates occupancy grid map.

2- The Perception module from Autoware.Ai project is still not robust/efficient, as you can check in this video:

https://www.youtube.com/watch?v=9gbq6...

It takes a lot of attempts to make the module works, following the correct tutorial: https://gitlab.com/autowarefoundation...

And when it "works" it fails to be updated while the car moves. I strongly suggest to use Apollo.Auto AD stack from Baidu instead Autoware. The perception module does not fail!!! And Autoware.AI project seems that is not more supported.

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Asked: 2021-05-04 14:08:42 -0500

Seen: 49 times

Last updated: May 18