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launch static_transform.dag fail, yaml files not found #14603

Closed ywangwxd closed 2 years ago

ywangwxd commented 2 years ago

I am folllowing the instructions of the section "How to Run Perception Module on Your Local Computer".

I am using Ubuntu 18, build the latest repo of Apollo code by myself with GPU support. When I execute cyber_launch start /apollo/modules/transform/launch/static_transform.launch

It failed and error message is

[mainboard_default_6958] E0921 10:44:04.804172 6965 static_transform_component.cc:60] [static_transform]Extrinsic yaml file does not exist: /apollo/modules/drivers/lidar/velodyne/params/lidar16_front_up_novatel_extrinsics.yaml [mainboard_default_6958] E0921 10:44:04.804183 6965 static_transform_component.cc:60] [static_transform]Extrinsic yaml file does not exist: /apollo/modules/drivers/lidar/velodyne/params/lidar16_front_novatel_extrinsics.yaml [mainboard_default_6958] E0921 10:44:04.804188 6965 static_transform_component.cc:60] [static_transform]Extrinsic yaml file does not exist: /apollo/modules/drivers/lidar/velodyne/params/lidar16_rear_left_novatel_extrinsics.yaml [mainboard_default_6958] E0921 10:44:04.804193 6965 static_transform_component.cc:60] [static_transform]Extrinsic yaml file does not exist: /apollo/modules/drivers/lidar/velodyne/params/lidar16_rear_right_novatel_extrinsics.yaml [mainboard_default_6958] E0921 10:44:04.816138 6965 static_transform_component.cc:60] [static_transform]Extrinsic yaml file does not exist: /apollo/modules/perception/data/params/radar_rear_extrinsics.yaml [mainboard_default_6958] E0921 10:44:04.989046 6988 node_manager.cc:101] [mainboard]this process will be terminated due to duplicated node[static_transform], please ensure that each node has a unique name. [mainboard_default_6958] [cyber_launch_6958] ERROR Process [mainboard_default_6958] has finished. [pid 6965, cmd mainboard -d /apollo/modules/transform/dag/static_transform.dag -p mainboard_default_6958 -s CYBER_DEFAULT]. [cyber_launch_6958] INFO All processes has died. [cyber_launch_6958] INFO Cyber exit. [cyber_launch_6958] INFO All processes have been stopped.

The camera module also failed if I execute this command alone cyber_launch start /apollo/modules/perception/production/launch/perception_camera.launch

The logging messages are:

[cyber_launch_7320] INFO Launch file [/apollo/modules/perception/production/launch/perception_camera.launch] [cyber_launch_7320] INFO ======================================================================================================================== [cyber_launch_7320] INFO Load module [perception_camera] library: [mainboard_default_7320] [CYBER_DEFAULT] conf: [/apollo/modules/perception/production/dag/dag_streaming_perception_camera.dag] exception_handler: [] [cyber_launch_7320] INFO Start process [mainboard_default_7320] successfully. pid: 7327 [cyber_launch_7320] INFO ------------------------------------------------------------------------------------------------------------------------ [cyber_launch_7320] INFO Load module [motion_service] library: [mainboard_default_7320] [CYBER_DEFAULT] conf: [/apollo/modules/perception/production/dag/dag_motion_service.dag] exception_handler: [] [mainboard_default_7320] WARNING: Logging before InitGoogleLogging() is written to STDERR [mainboard_default_7320] I0921 11:00:02.827618 7327 module_argument.cc:81] []command: mainboard -d /apollo/modules/perception/production/dag/dag_streaming_perception_camera.dag /apollo/modules/perception/production/dag/dag_motion_service.dag -p mainboard_default_7320 -s CYBER_DEFAULT [mainboard_default_7320] I0921 11:00:02.827687 7327 module_argument.cc:120] []Found non-option ARGV-element "/apollo/modules/perception/production/dag/dag_motion_service.dag" [mainboard_default_7320] I0921 11:00:02.827692 7327 module_argument.cc:29] []Usage: [mainboard_default_7320] mainboard [OPTION]... [mainboard_default_7320] Description: [mainboard_default_7320] -h, --help : help information [mainboard_default_7320] -d, --dag_conf=CONFIG_FILE : module dag config file [mainboard_default_7320] -p, --process_group=process_group: the process namespace for running this module, default in manager process [mainboard_default_7320] -s, --sched_name=sched_name: sched policy conf for hole process, sched_name should be conf in cyber.pb.conf [mainboard_default_7320] Example: [mainboard_default_7320] mainboard -h [mainboard_default_7320] mainboard -d dag_conf_file1 -d dag_conf_file2 -p process_group -s sched_name [cyber_launch_7320] ERROR Process [mainboard_default_7320] has died [pid 7327, exit code 1, cmd mainboard -d /apollo/modules/perception/production/dag/dag_streaming_perception_camera.dag /apollo/modules/perception/production/dag/dag_motion_service.dag -p mainboard_default_7320 -s CYBER_DEFAULT]. [cyber_launch_7320] INFO All processes has died. [cyber_launch_7320] INFO Cyber exit. [cyber_launch_7320] INFO All processes have been stopped.

ywangwxd commented 2 years ago

I just removed those lines and keep the valid lines where the related files are acutally there.