first lecture of AutowareAuto without point cloud and laser

asked 2021-11-02 09:12:50 -0500

gavin fang
3 ●3 ●4

updated 2021-11-05 23:03:36 -0500

In the first lecture of AutowareAuto, I tried to run 7 debugging commands in the ade environment according to the lecture notes. But after I run the first 5 sentences, then run: ros2 run point_cloud_filter_transform_nodes point_cloud_filter_transform_node_exe... After that, point clouds still cannot appear on Rviz.

I see no error output, only after running the second sentence rviz2 -d /home/${USER}/autowareclass2020/code/src/01_DevelopmentEnvironment/aw_class2020.rviz, some warnings are displayed as follows:

*QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-gavinfang'

rviz2: Stereo is NOT SUPPORTED

rviz2: OpenGl version: 3.1 (GLSL 1.4)

rviz2: Stereo is NOT SUPPORTED

Parsing robot urdf xml string.

Warning: Invalid frame ID "base_link" passed to canTransform argument target_frame - frame does not exist at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.9/src/buffer_core.cpp

Warning: Invalid frame ID "base_link" passed to canTransform argument target_frame - frame does not exist at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.9/src/buffer_core.cpp*

I wonder if this affects point cloud generation? hi, everyone, can you help me ?

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Could you add autoware tag to the question please for others to easily find this question?

xmfcx ( 2021-11-05 10:42:07 -0500 )edit

1

Thanks and already done

gavin fang ( 2021-11-05 23:04:43 -0500 )edit

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answered 2021-11-05 03:27:22 -0500

xmfcx
96 ●1 ●6 ●6

A recent version of rviz2 on foxy had issues visualizing point clouds, you could try sudo apt update ; sudo apt dist-upgrade and rerun the command that opens up rviz2 ?

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Thanks a lot! It's work now after update. So it's not nvidia driver issue. and don't forget add /lidar_front/points_raw topic, thanks!

BR Gavin Fang

gavin fang ( 2021-11-05 19:53:58 -0500 )edit

I'm glad it solved your problem! Could you mark this answer as correct with the tick symbol on the left? Thanks!

xmfcx ( 2021-11-05 23:26:32 -0500 )edit

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answered 2021-11-04 02:30:16 -0500

gavin fang
3 ●3 ●4

updated 2021-11-04 20:45:43 -0500

I check the udp netstat and feedback as below, is it correct? I saw no received and send package.

root@ade:/home/gavinfang# netstat -tupln

gavinfang@ade:~$ netstat -tupln (Not all processes could be identified, non-owned process info will not be shown, you would have to be root to see it all.) Active Internet connections (only servers) Proto Recv-Q Send-Q Local Address Foreign Address State PID/Program name

udp 0 0 0.0.0.0:32150 0.0.0.0:* 11226/rviz2

udp 0 0 0.0.0.0:32150 0.0.0.0:* 11216/ray_ground_cl

udp 0 0 0.0.0.0:32150 0.0.0.0:* 11155/point_cloud_f

udp 0 0 0.0.0.0:32150 0.0.0.0:* 11091/robot_state_p

udp 0 0 0.0.0.0:32150 0.0.0.0:* 11029/velodyne_clou

udp 0 0 0.0.0.0:32151 0.0.0.0:* 11226/rviz2

udp 0 0 0.0.0.0:32151 0.0.0.0:* 11216/ray_ground_cl

udp 0 0 0.0.0.0:32151 0.0.0.0:* 11155/point_cloud_f

udp 0 0 0.0.0.0:32151 0.0.0.0:* 11091/robot_state_p

udp 0 0 0.0.0.0:32151 0.0.0.0:* 11029/velodyne_clou

udp 0 0 0.0.0.0:36290 0.0.0.0:* 11226/rviz2

udp 0 0 172.17.0.2:42638 0.0.0.0:* 11155/point_cloud_f

udp 0 0 172.17.0.2:36816 0.0.0.0:* 11091/robot_state_p

udp 0 0 127.0.0.1:2368 0.0.0.0:* 11029/velodyne_clou

udp 0 0 0.0.0.0:49500 0.0.0.0:* 10797/udpreplay

udp 0 0 172.17.0.2:39307 0.0.0.0:* 11226/rviz2

udp 0 0 172.17.0.2:43594 0.0.0.0:* 11029/velodyne_clou

udp 0 0 0.0.0.0:54133 0.0.0.0:* 11216/ray_ground_c l udp 0 0 0.0.0.0:54198 0.0.0.0:* 11091/robot_state_p

udp 0 0 0.0.0.0:48062 0.0.0.0:* 11029/velodyne_clou

udp 0 0 0.0.0.0:33931 0.0.0.0:* 10958/udpreplay

udp 0 0 0.0.0.0:48389 0.0.0.0:* 11155/point_cloud_f

udp 0 0 172.17.0.2:36165 0.0.0.0:* 11216/ray_ground_cl

I think the command is correct:

udpreplay ~/data/route_small_loop_rw-127.0.0.1.pcap -r -1

I double check the Rviz2/ PointCloud2 / status: showing [0] points from [0] message. I think it didnt' receive the UDP package from udpreplay. Am I correct?

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