[Autoware.Auto] ndt map pulbisher not working, PCD file not be loaded.

asked 2021-12-01 01:50:43 -0500

dymoon
21 ●2 ●4 ●6

updated 2021-12-06 22:02:47 -0500

Environment Setting: Ubuntu 20.04, ros2-foxy, use Autoware.Auto master branch, don't use ADE, Use Master branch

I wanted to publish PCD map file, but ndt_map_publisher didn't work like that. I am trying to run map_provider.launch.py file which is in ndt_nodes ros2 package. but the following results were obtained.

[INFO] [launch]: All log files can be found below /home/morai/.ros/log/2021-12-01-15-30-25-097848-morai-desktop-212024
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ndt_map_publisher_exe-1]: process started with pid [212026]
[INFO] [voxel_grid_node_exe-2]: process started with pid [212028]
[ndt_map_publisher_exe-1] [pcl::PCDReader::readHeader] No points to read
[ndt_map_publisher_exe-1] terminate called after throwing an instance of 'std::runtime_error'
[ndt_map_publisher_exe-1]   what():  PCD file /home/morai/AutowareAuto/install/autoware_demos/share/autoware_demos/data/autonomoustuff_parking_lot_lgsvl.pcd could not be loaded.
[ERROR] [ndt_map_publisher_exe-1]: process has died [pid 212026, exit code -6, cmd '/home/morai/AutowareAuto/install/ndt_nodes/lib/ndt_nodes/ndt_map_publisher_exe --ros-args -r __ns:=/localization --params-file /home/morai/AutowareAuto/install/autoware_auto_launch/share/autoware_auto_launch/param/map_publisher.param.yaml --params-file /tmp/launch_params_y55b9iy9 --params-file /tmp/launch_params_yzl4fuzo']

I used my own custom PCD file. Because I thought original (default : autonomoustuff_parking_lot.pcd) PCD file is the cause of the matter. The changed part is the file name of the line 40 and 43 of the link file below.

https://gitlab.com/autowarefoundation...

After the change, the following results were obtained.

[INFO] [launch]: All log files can be found below /home/morai/.ros/log/2021-12-01-16-17-52-898023-morai-desktop-231143
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ndt_map_publisher_exe-1]: process started with pid [231145]
[INFO] [voxel_grid_node_exe-2]: process started with pid [231147]
[ndt_map_publisher_exe-1] terminate called after throwing an instance of 'std::runtime_error'
[ndt_map_publisher_exe-1]   what():  intensity datatype is not float or uint8_t
[ERROR] [ndt_map_publisher_exe-1]: process has died [pid 231145, exit code -6, cmd '/home/morai/AutowareAuto/install/ndt_nodes/lib/ndt_nodes/ndt_map_publisher_exe --ros-args -r __ns:=/localization --params-file /home/morai/AutowareAuto/install/autoware_auto_launch/share/autoware_auto_launch/param/map_publisher.param.yaml --params-file /tmp/launch_params_6tp78do_ --params-file /tmp/launch_params_18dohqoq'].

My Custom PCD file format is as follows, but I couldn't figure out why the problem occurred.

# .PCD v0.7 - Point Cloud Data file format
VERSION 0.7
FIELDS x y z rgb
SIZE 4 4 4 4
TYPE F F F F
COUNT 1 1 1 1
WIDTH 45273600
HEIGHT 1
VIEWPOINT 0 0 0 1 0 0 0
POINTS 45273600
DATA binary

and the only other part I changed is param file which refer to map_provider.launch.py

https://gitlab.com/autowarefoundation...

I am asking for you to give me advice to solve this problem. Thank you for your help in advance.

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answered 2021-12-10 23:34:06 -0500

Josh Whitley

1766 ●4 ●72 ●24

The current ndt_map_publisher node expects the PCD format to contain at least fields X, Y, Z, and INTENSITY (which must be of type float or uint8_t). This is why your custom map did not load.

As for why the AutonomouStuff Parking Lot map did not load, it is probably because this file is checked in to the AutowareAuto repository with git lfs which does not pull the file automatically with a simple git clone. In order to pull this (and all other git lfs files), cd into your AutowareAuto folder and run:

sudo apt install -y git-lfs
git lfs install
git lfs pull --exclude="" --include="*"

After this, re-build the autoware_demos package and it should then be able to load the example PCD.

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Hello, can you describe it in detail? What do the three lines of instructions mean?

marks ( 2022-04-18 02:05:19 -0500 )edit

Hello, my PCD format is already XYZand Intensity, but still cannot load the map through the ndt_map_publisher nodes. I am wondering if the data also should be in ascii format or binary format ? but as for now ive already tried both and didnt work also. i used the pcl_conversion nodes to convert from ascii to binary pcd file

nasih ( 2022-07-28 01:12:10 -0500 )edit

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