Localization module launch error due to missing imu transform

ApolloAuto / apollo

An open autonomous driving platform

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Localization module launch error due to missing imu transform #15421

Open chiragr15 opened 3 weeks ago

chiragr15 commented 3 weeks ago

System information

OS Platform and Distribution (e.g., Linux Ubuntu 18.04): Ubuntu 22.04.2 LTS
Apollo installed from (source or binary): b9.0.0-rc10

Steps to reproduce the issue:

Built Apollo from source with build_opt_gpu successfully.
Dreamview, transform are launched correctly, but when I run the following command to launch rtk_localization, it throws an error:
mainboard -d modules/localization/dag/dag_streaming_rtk_localization.dag
The modules/tranform/conf file does contain the relevant imu_transformation.txt file but I still get the above error.
I also want to launch the planning module similar to the way it launches from Dreamview( when launched from cyber_launch, the behavior is not the same compared to launching from Module Controller in Dreamview).

Thank you in advance, this is a critical error to resolve and would appreciate your swift response.

YuqiHuai commented 3 weeks ago

I might be able to help you with

I also want to launch the planning module similar to the way it launches from Dreamview( when launched from cyber_launch, the behavior is not the same compared to launching from Module Controller in Dreamview).

Can you be more clear about the difference?

chiragr15 commented 3 weeks ago

When I launch prediction, planning and control from Dreamview, and then send a routing request, I can visualize the routing output along with the planning and control operating as well. But when I launch the prediction from dreamview, planning from cyber_launch, I am unable to send a routing request(I get the default Lane Follow Command, but no routing output) and hence the planning and control do not work as a result of receiving no routing request.

YuqiHuai commented 3 weeks ago

Thanks for the response. That is the issue I am aware of.

You need to also launch the external command process https://github.com/ApolloAuto/apollo/blob/9.x_alpha/modules/external_command/process_component/launch/external_command_process.launch

In Apollo 9.0, they use this external command process to invoke routing.

chiragr15 commented 3 weeks ago

Thank you for your response on the issue, I will try this out!

YuqiHuai commented 3 weeks ago

Ops ... I just realized you also posted https://github.com/ApolloAuto/apollo/issues/15400 , that specific problem should be resolved by this.