Not able to set 2D pose in Autoware.auto valet parking demo
Hi,
I'm learning Autoware.auto and ros2. I'm trying to run the valet parking demo described here: https://autowarefoundation.gitlab.io/...
I'm not able to set initial 2D pose in rviz2 or it's not updating in the Autoware stack (I think). When I draw the 2D arrow there's this message in rviz2 terminal:
[rviz2-1] [INFO] [1639588780.655812900] [rviz2]: Setting estimate pose: Frame:map, Position(-57.6281, -40.7876, 0), Orientation(0, 0, -0.981921, 0.189291) = Angle: -2.76071
That looks sensible to me.
The mock-up car doesn't move where I point and the Autoware stack terminal just keeps spewing these messages:
[freespace_planner_node_exe-17] [INFO] [1639589683.268449200] [planning.freespace_planner]: Waiting for costmap generator action service...
[costmap_generator_node_exe-16] [INFO] [1639589683.286138200] [planning.costmap_generator_node]: Waiting for initial pose...
Any idea what the problem could be?
Info about my setup (because it may not be completely traditional):
- I'm running the Autoware ADE on Windows WSL2.
- I have Docker desktop.
- I'm running VcXSrv as X terminal server (so rviz2 runs through that).
- I'm running LGSVL simulator on Windows.
- I have been able to view LIDAR point cloud from LGSVL on rviz2 when running lgsvl_bridge.
- I have this stuff at the end of adehome's .bashrc:
source AutowareAuto/install/setup.bash
export DISPLAY=172.23.64.1:0.0
export COLCON_DEFAULTS_FILE=/usr/local/etc/colcon-defaults.yaml
sudo cp .hosts /etc/hosts sudo cp .locale /etc/default/locale
Can you try to set the pose via command line or try try the localization demo using rosbag ?
No, I'm not able to set the pose via command line. Yes, the localization demo works. BTW I had an error in the initial version of the question. There was a missing line in the Autoware stack terminal: "Waiting for initial pose..." I've updated the question.
Actually, I was now able to set the pose. It seems that the WebSocket ROS bridge was somehow the quilty component. I first started lgsvl_bridge. Then I started rviz. Then I started the Autoware stack (at this point rosbridge_websocket-3 started to complain about not being able to start the server, apparently because lgsvl_bridge had already reserved the port). Then I started the LGSVL. Then I set the pose in rviz and it got picked up. Also setting the pose via command line works now.