How to build the Autoware.Auto

asked 2021-06-16 06:25:59 -0600

nkinoshita gravatar image

I'm building the Autoware.Auto according to the official documentation[1]. However, when testing whether it works normally, the following error occurs.

$colcon test

Starting >>> autoware_auto_cmake Starting >>> autoware_auto_msgs Starting >>> mpark_variant_vendor Starting >>> rosbridge_library Starting >>> rosbridge_msgs Starting >>> autoware_auto_integration_tests Starting >>> lexus_rx_450h_description Starting >>> ament_acado Starting >>> motion_model_testing_simulator Starting >>> autoware_auto_create_pkg Starting >>> autoware_auto_examples Finished <<< mpark_variant_vendor [0.07s] Finished <<< rosbridge_library [0.07s] Finished <<< rosbridge_msgs [0.07s] Finished <<< autoware_auto_integration_tests [0.07s] Finished <<< lexus_rx_450h_description [0.06s] Finished <<< ament_acado [0.06s] Starting >>> rosapi Finished <<< autoware_auto_examples [0.06s]
Finished <<< rosapi [0.02s] Starting >>> rosbridge_server Finished <<< rosbridge_server [0.02s] Starting >>> rosbridge_suite Finished <<< rosbridge_suite [0.02s] Finished <<< autoware_auto_cmake [0.31s]
Starting >>> autoware_auto_common Starting >>> time_utils Starting >>> reference_tracking_controller Starting >>> autoware_auto_algorithm Starting >>> recordreplay_planner_actions Starting >>> avp_web_interface Finished <<< recordreplay_planner_actions [0.06s]
Finished <<< avp_web_interface [0.05s] Finished <<< motion_model_testing_simulator [2.21s]
Finished <<< reference_tracking_controller [2.04s]
Finished <<< time_utils [2.06s] Finished <<< autoware_auto_algorithm [2.07s]
Finished <<< autoware_auto_create_pkg [2.63s]
Finished <<< autoware_auto_common [2.96s]
Starting >>> motion_model Starting >>> optimization Starting >>> signal_filters Starting >>> velodyne_driver Starting >>> covariance_insertion Starting >>> spinnaker_camera_driver
Starting >>> xsens_driver Starting >>> hungarian_assigner Starting >>> socketcan Finished <<< spinnaker_camera_driver [0.08s] Starting >>> spinnaker_camera_nodes
Finished <<< spinnaker_camera_nodes [0.07s] Finished <<< covariance_insertion [2.55s]
Starting >>> covariance_insertion_nodes Finished <<< signal_filters [2.76s]
Finished <<< socketcan [2.83s]
Finished <<< hungarian_assigner [3.01s]
Finished <<< velodyne_driver [3.05s] Finished <<< xsens_driver [3.03s] Starting >>> xsens_nodes Finished <<< optimization [3.42s]
Finished <<< motion_model [3.91s]
Starting >>> kalman_filter Finished <<< kalman_filter [2.05s]
Starting >>> state_estimation_nodes --- stderr: state_estimation_nodes

Errors while running CTest

Finished <<< state_estimation_nodes [3.58s] [ with test failures ] --- stderr: xsens_nodes

Errors while running CTest

Finished <<< xsens_nodes [13.0s] [ with test failures ] Finished <<< autoware_auto_msgs [23.3s]
Starting >>> autoware_auto_geometry Starting >>> motion_testing Starting >>> had_map_utils Starting >>> autoware_auto_tf2
Starting >>> localization_common Starting >>> vehicle_interface Starting >>> lidar_integration Starting >>> off_map_obstacles_filter Starting >>> trajectory_spoofer Starting >>> joystick_vehicle_interface Starting >>> controller_testing Finished <<< autoware_auto_tf2 [2.72s]
Starting >>> autoware_rviz_plugins Finished <<< off_map_obstacles_filter [2.71s] Finished <<< had_map_utils [2.77s] Starting >>> trajectory_planner_node_base Starting >>> lanelet2_map_provider Finished <<< motion_testing [2.82s] Starting >>> motion_common Finished <<< joystick_vehicle_interface [2.77s]
Finished <<< localization_common [2.82s] Starting >>> localization_nodes Finished <<< lidar_integration [3.65s]
Finished <<< autoware_auto_geometry [3.94s]
Starting >>> lidar_utils Finished <<< autoware_rviz_plugins [1.79s]
Finished <<< trajectory_planner_node_base [1.83s] Finished <<< motion_common [2.08s]
Starting >>> controller_common Starting >>> trajectory_smoother Starting >>> behavior_planner Starting >>> recordreplay_planner Starting >>> lanelet2_global_planner Finished <<< lidar_utils [2.02s]
Starting >>> voxel_grid Finished <<< trajectory_smoother [1.98s]
Starting >>> object_collision_estimator Finished <<< controller_common [2.20s]
Starting >>> mpc_controller Finished <<< recordreplay_planner [2.22s]
Starting >>> euclidean_cluster Finished <<< behavior_planner [2.23s] Starting >>> parking_planner Finished <<< lanelet2_global_planner [2.63s]
Starting >>> point_cloud_fusion Finished <<< controller_testing [7.59s]
Starting >>> ray_ground_classifier Finished <<< voxel_grid [2.43s]
Starting >>> voxel_grid_nodes Finished <<< object_collision_estimator [2.04s ... (more)

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The output that you received above does not tell us what errors actually occurred. Please run colcon test-result --verbose to get the actual errors. Also, please give us answers to the following questions:

  • What version/commit of AutowareAuto are you trying to build?
  • Are you building inside or outside of ade?
Josh Whitley gravatar image Josh Whitley  ( 2021-06-17 07:16:53 -0600 )edit

Thanks for your comment.

I ran colcon test-result --verbose. I got the following log.

The version of AutowareAuto I am trying to build is 1.0.0. I am trying to build inside of ade.

nkinoshita gravatar image nkinoshita  ( 2021-06-17 21:31:01 -0600 )edit

Could you please give me all the commands that you have run so far in order to build and test Autoware.Auto 1.0.0? Something appears to be wrong in your setup and I can't reproduce it. Additionally, make sure you clear out your build workspace (rm -rf build/ install/ log/) before attempting to build and test.

Josh Whitley gravatar image Josh Whitley  ( 2021-06-21 15:54:58 -0600 )edit

Thanks for your comment. I cleaned my workspace and then built and tested Autoware.Auto 1.0.0. The command is as follows.

rm -rf build/ install/ log/
ade --rc .aderc-amd64-foxy start --update --enter
cd AutowareAuto
vcs import <$ROS_DISTRO.repos
git lfs pull --exclude="" --include="*"
colcon build
colcon test
colcon test-result --verbose

I got a following log.

This time I got a different log from the last time.

nkinoshita gravatar image nkinoshita  ( 2021-06-21 21:03:53 -0600 )edit

The remaining error is just saying that the copyrights in the lgsvl_msgs package don't pass the ament_copyright test. Since the packages in src/external are mostly managed by other maintainers, we can not control them passing tests. For this reason, we would normally skip testing those packages with a command line colcon test --packages-skip $(colcon list --names-only --base-paths src/external).

Josh Whitley gravatar image Josh Whitley  ( 2021-06-21 21:13:29 -0600 )edit

Thanks for your comment. I cleaned my workspace and then built and tested Autoware.Auto 1.0.0 with the skip option. I got a following log.

It looks like it's still failing to build.

nkinoshita gravatar image nkinoshita  ( 2021-06-21 23:48:18 -0600 )edit

To be clear, colcon test just runs unit and integration tests. If colcon build passes without any package failures, then everything has built correctly.

Josh Whitley gravatar image Josh Whitley  ( 2021-06-21 23:54:20 -0600 )edit

colcon build is certainly running without any package failures. Was I able to build Autoware.Auto? I tested the official documentation's demo[1].

ade$ source /opt/AutowareAuto/setup.bash
ade$ ros2 launch autoware_demos

But it doesn't work with an error. I got a following log.


nkinoshita gravatar image nkinoshita  ( 2021-06-22 00:26:54 -0600 )edit