freshnewegg
commented
6 years ago Hi, I'm new to this but to my understanding if you use dreamview you the adapter will load the conf from a file like https://github.com/ApolloAuto/apollo/blob/154acc8dd34b93aa3fcce00d0e35247ce2a2f644/modules/dreamview/frontend/proto_bundle/sim_world_proto_bundle.json#L4104
Have you made sure a relative map is specified in your setup?
platform: ubuntu 16.04
code version apollo 3.0
relate module planning(Lattice planner)、map(relative map)
issue: we use relative map and lattice planner in navigation mode to run our vehicle，but the lattice planner run error, Log file created at: 2018/09/19 18:05:16 Running on machine: in_dev_docker Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg E0919 18:05:16.102973 12869 hdmap_util.cc:120] RelativeMap is empty E0919 18:05:16.103359 12869 navi_planning.cc:299] map not ready; skip the planning cycle. E0919 18:05:16.232731 12869 file.h:97] Failed to open file /apollo/modules/map/data/demo/speed_control.pb.txt in text mode. E0919 18:05:16.232923 12869 file.h:140] Failed to open file /apollo/modules/map/data/demo/speed_control.pb.txt in binary mode. ... E0919 18:06:05.080482 12869 linear_interpolation.h:52] input time difference is too small E0919 18:06:05.194833 12869 linear_interpolation.h:52] input time difference is too small E0919 18:06:05.321996 12869 linear_interpolation.h:52] input time difference is too small E0919 18:06:05.408751 12869 lattice_planner.cc:412] Planning failed E0919 18:06:05.408839 12869 lattice_planner.cc:414] Use backup trajectory E0919 18:06:05.447599 12869 linear_interpolation.h:52] input time difference is too small E0919 18:06:05.538278 12869 lattice_planner.cc:412] Planning failed ... E0919 18:19:20.786396 12869 linear_interpolation.h:52] input time difference is too small E0919 18:19:20.886240 12869 linear_interpolation.h:52] input time difference is too small E0919 18:19:20.987223 12869 linear_interpolation.h:52] input time difference is too small E0919 18:19:21.087262 12869 linear_interpolation.h:52] input time difference is too small E0919 18:19:21.186141 12869 linear_interpolation.h:52] input time difference is too small E0919 18:19:21.282779 12869 trajectory_stitcher.cc:159] the distance between matched point and actual position is too large. Replan is triggered. lat_diff = 7.52807e-05, lon_diff = 5.49816 ... E0919 18:20:37.460412 12869 linear_interpolation.h:52] input time difference is too small E0919 18:20:37.560636 12869 linear_interpolation.h:52] input time difference is too small E0919 18:20:37.659488 12869 linear_interpolation.h:52] input time difference is too small E0919 18:20:37.759235 12869 linear_interpolation.h:52] input time difference is too small E0919 18:20:37.860157 12869 linear_interpolation.h:52] input time difference is too small E0919 18:20:37.959830 12869 linear_interpolation.h:52] input time difference is too small E0919 18:20:38.057704 12869 trajectory_stitcher.cc:159] the distance between matched point and actual position is too large. Replan is triggered. lat_diff = -0.000100374, lon_diff = 5.48954 E0919 18:20:38.062141 12869 linear_interpolation.h:52] input time difference is too small E0919 18:20:38.160594 12869 linear_interpolation.h:52] input time difference is too small ... +add core dump file information, we use gdb debug,
Core was generated by `/apollo/bazel-bin/modules/planning/planning --flagfile=modules/planning/conf/pl'. Program terminated with signal SIGABRT, Aborted.
0 0x00007f65417abc37 in __GI_raise (sig=sig@entry=6) at ../nptl/sysdeps/unix/sysv/linux/raise.c:56
56 ../nptl/sysdeps/unix/sysv/linux/raise.c: No such file or directory. (gdb) bt
0 0x00007f65417abc37 in __GI_raise (sig=sig@entry=6) at ../nptl/sysdeps/unix/sysv/linux/raise.c:56
1 0x00007f65417af028 in __GI_abort () at abort.c:89
2 0x0000000000a36fab in google::logging_fail () at external/glog/src/logging.cc:1474
3 0x0000000000a36fd4 in google::LogMessage::Fail () at external/glog/src/logging.cc:1488
4 0x0000000000a36f37 in google::LogMessage::SendToLog (this=0x7fffda054830) at external/glog/src/logging.cc:1442
5 0x0000000000a368ac in google::LogMessage::Flush (this=0x7fffda054830) at external/glog/src/logging.cc:1311
6 0x0000000000a39a06 in google::LogMessageFatal::~LogMessageFatal (this=0x7fffda054830, __in_chrg=) at external/glog/src/logging.cc:2023
7 0x00000000004eacb4 in apollo::planning::FeasibleRegion::FeasibleRegion (this=0x7fffda055080, init_s=...) at modules/planning/lattice/behavior/feasible_region.cc:35
8 0x00000000004e76e1 in apollo::planning::EndConditionSampler::EndConditionSampler (this=0x7fffda055048, init_s=..., init_d=..., ptr_path_time_graph=..., ptr_prediction_querier=...)
9 0x00000000004e2b1a in apollo::planning::Trajectory1dGenerator::Trajectory1dGenerator (this=0x7fffda055010, lon_init_state=..., lat_init_state=..., ptr_path_time_graph=..., ptr_prediction_querier=...)
10 0x00000000004d3d43 in apollo::planning::LatticePlanner::PlanOnReferenceLine (this=0x1e1d490, planning_init_point=..., frame=0x25a0ed0, reference_line_info=0x2544be0) at modules/planning/planner/lattice/lattice_planner.cc:192
11 0x00000000004d31c4 in apollo::planning::LatticePlanner::Plan (this=0x1e1d490, planning_start_point=..., frame=0x25a0ed0) at modules/planning/planner/lattice/lattice_planner.cc:110
12 0x0000000000432ad6 in apollo::planning::NaviPlanning::Plan (this=0x1bda280, current_time_stamp=1537348712.5298502, stitching_trajectory=..., trajectory_pb=0x25a11b0) at modules/planning/navi_planning.cc:521
13 0x0000000000431b57 in apollo::planning::NaviPlanning::RunOnce (this=0x1bda280) at modules/planning/navi_planning.cc:440
14 0x000000000042f1f7 in apollo::planning::NaviPlanning::OnTimer (this=0x1bda280) at modules/planning/navi_planning.cc:112
15 0x000000000044e56e in boost::_mfi::mf1<void, apollo::planning::NaviPlanning, ros::TimerEvent const&>::operator() (this=0x2201d58, p=0x1bda280, a1=...) at /usr/include/boost/bind/mem_fn_template.hpp:165
16 0x000000000044da3e in boost::_bi::list2<boost::_bi::value<apollo::planning::NaviPlanning*>, boost::arg<1> >::operator()<boost::_mfi::mf1<void, apollo::planning::NaviPlanning, ros::TimerEvent const&>, boost::_bi::list1<ros::TimerEvent const&> > (this=0x2201d68, f=..., a=...) at /usr/include/boost/bind/bind.hpp:313
17 0x000000000044cb66 in boost::_bi::bind_t<void, boost::_mfi::mf1<void, apollo::planning::NaviPlanning, ros::TimerEvent const&>, boost::_bi::list2<boost::_bi::value<apollo::planning::NaviPlanning*>, boost::arg<1> > >::operator() (this=0x2201d58, a1=...) at /usr/include/boost/bind/bind_template.hpp:47
18 0x000000000044b78a in boost::detail::function::void_function_obj_invoker1<boost::_bi::bind_t<void, boost::_mfi::mf1<void, apollo::planning::NaviPlanning, ros::TimerEvent const&>, boost::_bi::list2<boost::_bi::value<apollo::planning::NaviPlanning*>, boost::arg<1> > >, void, ros::TimerEvent const&>::invoke (function_obj_ptr=..., a0=...) at /usr/include/boost/function/function_template.hpp:153
19 0x00007f6546d82780 in operator() (a0=..., this=) at /usr/include/boost/function/function_template.hpp:767
20 ros::TimerManager<ros::Time, ros::Duration, ros::TimerEvent>::TimerQueueCallback::call (this=0x7f64d8000b00) at /apollo/apollo-platform/ros/ros_comm/roscpp/include/ros/timer_manager.h:184
21 0x00007f6546d9fad6 in ros::CallbackQueue::callOneCB (this=this@entry=0x1befd50, tls=tls@entry=0x22125e0) at /apollo/apollo-platform/ros/ros_comm/roscpp/src/libros/callback_queue.cpp:393
22 0x00007f6546da02a3 in ros::CallbackQueue::callAvailable (this=this@entry=0x1befd50, timeout=...) at /apollo/apollo-platform/ros/ros_comm/roscpp/src/libros/callback_queue.cpp:334
23 0x00007f6546deae35 in ros::SingleThreadedSpinner::spin (this=, queue=0x1befd50) at /apollo/apollo-platform/ros/ros_comm/roscpp/src/libros/spinner.cpp:62
24 0x00007f6546dcf7db in ros::spin () at /apollo/apollo-platform/ros/ros_comm/roscpp/src/libros/init.cpp:567
25 0x000000000045d665 in apollo::common::ApolloApp::Spin (this=0x7fffda055e80) at modules/common/apollo_app.cc:78
---Type to continue, or q to quit---return
26 0x000000000042c498 in main (argc=3, argv=0x7fffda055fa8) at modules/planning/main.cc:20
in the core dump file we find navi planner and lattice planner infromation, but we set the planner_type= LATTICE, why does it have navi planner? we are solve this issue,if someone knows how to deal with this problem,that is good news for us!