Issue in /detected_polygons topic type visualizationmsgs/MarkerArray

Hello. I am working on Carla+ROS(Melodic)+Autoware.ai.1.14. When I try to avoid obstacles using velocity_set and astar_avoid nodes, I have to start the lidar_kf_contour_track node. But the published topic /detected_polygons apparently has some issues as it throws an error in Rviz. Error: marer array Text is empty or only consists of whitespace and Error: At least two points are required for a LINE_STRIP marker. This topic is only subscribed by Rviz, so I don't understand why the vehicle crashes into the obstacle instead of avoiding it.

Any help would be appreciated.

Asked by Junaid22 on 2022-09-09 08:43:03 UTC

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Your RViz is somehow receiving an empty text and an empty line to display. This is why it complains and shows error messages. The vehicle crashing should be unrelated to visualization. I suggest checking the rostopic and manually echoing it in the terminal. It could be a bug you are hitting on.

Asked by ravijoshi on 2022-09-09 22:48:09 UTC

Thank you for your answer. Yes, in the rostopic I have empty data types for some variables including this. But I use the standard node of Autoware.ai, lidar_kf_contour_track but still I get empty texts. What could be the reason of bug?

Here is the rostopic echo: https://drive.google.com/file/d/1AtwJZzSkKFFQjARhfRg2erG1RWTZZppc/view?usp=sharing

Asked by Junaid22 on 2022-09-12 05:57:55 UTC

And also to mention that the node lidar_euclidean_cluster_detect works fine and the output --> /cloud_clusters is non empty(this is the input to the node : lidar_kf_contour_track. The issue is with the node lidar_kf_contour_track but i am unable to debug.

Asked by Junaid22 on 2022-09-12 09:37:34 UTC

Sorry, I can not provide additional support, as it belongs to Autoware.ai.

Asked by ravijoshi on 2022-09-12 20:38:20 UTC

Issue in /detected_polygons topic type visualizationmsgs/MarkerArray

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