Autoware Auto - Record/Replay a Trajectory in LGSVL

edit

Hi All,

I was trying to use "Record/Replay a Trajectory in LGSVL" from here.

And noticed that the below command does not seem to be working.

ros2 action send_goal /planning/recordtrajectory autoware_auto_msgs/action/RecordTrajectory "{record_path: "/tmp/path"}" --feedback

The passed action type is invalid

To find the right action, I searched in ros2 interface list and updated the command as below.

ros2 action send_goal /planning/recordtrajectory recordreplay_planner_actions/action/RecordTrajectory "{record_path: "/tmp/path"}" --feedback

The updated command seems to be working to record the path.

Similarly for "Reply" I used the below command.

ros2 action send_goal /planning/replaytrajectory recordreplay_planner_actions/action/ReplayTrajectory "{replay_path: "/tmp/path"}" --feedback

Could anybody please check and confirm on the same.

I have tried updating the ade by following the below steps. The version is 4.2.0.

kishor@kishor:~/adehome/AutowareAuto$ ade stop
kishor@kishor:~/adehome/AutowareAuto$ 
kishor@kishor:~/adehome/AutowareAuto$ ade start --update
1.0.0: Pulling from autowarefoundation/autoware.auto/autowareauto/amd64/ade-foxy
Digest: sha256:eac0688314b5c8e846acc769fa18c54de438234a6a863d5d1764433a4c29ac2e
Status: Image is up to date for registry.gitlab.com/autowarefoundation/autoware.auto/autowareauto/amd64/ade-foxy:1.0.0
registry.gitlab.com/autowarefoundation/autoware.auto/autowareauto/amd64/ade-foxy:1.0.0
1.0.0: Pulling from autowarefoundation/autoware.auto/autowareauto/amd64/binary-foxy
Digest: sha256:432f5513b0c5608a4d44931234beee7422532dac6595ff98a1911cd8a58aaed3
Status: Image is up to date for registry.gitlab.com/autowarefoundation/autoware.auto/autowareauto/amd64/binary-foxy:1.0.0
registry.gitlab.com/autowarefoundation/autoware.auto/autowareauto/amd64/binary-foxy:1.0.0
Starting ade with the following images:
ade-foxy    | 1.0.0 | 1.0.0 | registry.gitlab.com/autowarefoundation/autoware.auto/autowareauto/amd64/ade-foxy:1.0.0   
binary-foxy | 1.0.0 | 1.0.0 | registry.gitlab.com/autowarefoundation/autoware.auto/autowareauto/amd64/binary-foxy:1.0.0
ade_registry.gitlab.com_autowarefoundation_autoware.auto_autowareauto_amd64_binary-foxy_1.0.0
non-network local connections being added to access control list

Current default time zone: 'Asia/Kolkata'
Local time is now:      Fri Jun 25 11:08:47 IST 2021.
Universal Time is now:  Fri Jun 25 05:38:47 UTC 2021.

Adding user kishor to group video
Adding user kishor to group dialout
ADE startup completed.

ADE has been started, enter or run commands using: ade enter

kishor@kishor:~/adehome/AutowareAuto$ ade --version
4.2.0
kishor@kishor:~/adehome/AutowareAuto$

Is 4.2.0 the latest version?

And also I have captured the ros2 interface list for the msgs and actions available in the pre-built version. Actions given below:

Actions:
    autoware_auto_msgs/action/PlanTrajectory
    recordreplay_planner_actions/action/RecordTrajectory
    recordreplay_planner_actions/action/ReplayTrajectory
    tf2_msgs/action/LookupTransform

Thank you