Kenzo-Fujisaki
commented
1 year ago - 動作確認において自己位置推定はできるのですが、2D Goal Poseを道路においた際にルートを表示してくれない問題が起きています。解決方法はありますでしょうか。動作環境はPC2台でどちらともスペックは満たしております。
Closed Kenzo-Fujisaki closed 1 year ago
Kenzo-Fujisaki
commented
1 year ago
Reee009876
commented
1 year ago お世話になっております。
解決のため、下記のご対応をお願いできないでしょうか？ ・Autowareのログの提出 ・Autowareのログ内に”Not Covered”がないかの確認 ・自己位置推定後、数分程度様子見
よろしくおねがいします。
Kenzo-Fujisaki
commented
1 year ago 返答ありがとうございます。対応を行った結果を以下に記述します。
Autowareのログの提出
$ ros2 launch aichallenge_launch aichallenge.launch.xml [INFO] [launch]: All log files can be found below /home/tsukuba2/.ros/log/2022-12-09-16-11-29-014475-tsukuba2-desktop-68864 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/system/system_monitor/cpu_monitor' in container '/system/system_monitor/system_monitor/system_monitor_container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/sensing/lidar/right/pointcloud_distortion_relay' in container '/sensing/lidar/right/pointcloud_preprocessor/velodyne_node_container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/perception/occupancy_grid_map/occupancy_grid_map_node' in container '/perception/occupancy_grid_map/occupancy_grid_map_container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/perception/object_recognition/detection/voxel_based_compare_map_filter' in container 'pointcloud_container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/perception/obstacle_segmentation/crop_box_filter' in container 'pointcloud_container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/external_cmd_converter' in container '/control/control_container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/sensing/lidar/concatenate_data' in container 'pointcloud_container' [INFO] [score-1]: process started with pid [68896] [INFO] [component_container_mt-2]: process started with pid [68898] [INFO] [robot_state_publisher-3]: process started with pid [68900] [INFO] [component_container_mt-4]: process started with pid [68902] [INFO] [ad_service_state_monitor-5]: process started with pid [68904] [INFO] [aggregator_node-6]: process started with pid [68906] [INFO] [system_error_monitor-7]: process started with pid [68908] [INFO] [emergency_handler-8]: process started with pid [68910] [INFO] [component_container-9]: process started with pid [68912] [INFO] [map_hash_generator-10]: process started with pid [68914] [INFO] [component_container-11]: process started with pid [68916] [INFO] [component_container-12]: process started with pid [68918] [INFO] [component_container-13]: process started with pid [68920] [INFO] [imu_corrector-14]: process started with pid [68922] [INFO] [vehicle_velocity_converter-15]: process started with pid [68924] [INFO] [map_height_fitter-16]: process started with pid [68926] [INFO] [pose_initializer_node-17]: process started with pid [69081] [INFO] [automatic_pose_initializer-18]: process started with pid [69084] [INFO] [ndt_scan_matcher-19]: process started with pid [69088] [INFO] [gyro_odometer-20]: process started with pid [69105] [INFO] [ekf_localizer-21]: process started with pid [69152] [INFO] [stop_filter-22]: process started with pid [69154] [INFO] [twist2accel-23]: process started with pid [69156] [INFO] [localization_error_monitor-24]: process started with pid [69158] [INFO] [component_container_mt-25]: process started with pid [69183] [INFO] [component_container-26]: process started with pid [69186] [INFO] [shape_estimation-27]: process started with pid [69216] [INFO] [detected_object_feature_remover-28]: process started with pid [69222] [INFO] [detection_by_tracker-29]: process started with pid [69224] [INFO] [lidar_centerpoint_node-30]: process started with pid [69258] [INFO] [obstacle_pointcloud_based_validator_node-31]: process started with pid [69275] [INFO] [object_association_merger_node-32]: process started with pid [69277] [INFO] [object_association_merger_node-33]: process started with pid [69279] [INFO] [object_lanelet_filter_node-34]: process started with pid [69286] [INFO] [multi_object_tracker-35]: process started with pid [69291] [INFO] [map_based_prediction-36]: process started with pid [69322] [INFO] [traffic_light_map_based_detector_node-37]: process started with pid [69359] [INFO] [component_container_mt-38]: process started with pid [69385] [INFO] [traffic_light_map_visualizer_node-39]: process started with pid [69387] [INFO] [mission_planner-40]: process started with pid [69389] [INFO] [goal_pose_visualizer-41]: process started with pid [69391] [INFO] [scenario_selector-42]: process started with pid [69411] [INFO] [external_velocity_limit_selector-43]: process started with pid [69414] [INFO] [motion_velocity_smoother-44]: process started with pid [69506] [INFO] [component_container_mt-45]: process started with pid [69508] [INFO] [rtc_auto_mode_manager_node-46]: process started with pid [69519] [INFO] [component_container_mt-47]: process started with pid [69542] [INFO] [component_container-48]: process started with pid [69572] [INFO] [planning_error_monitor-49]: process started with pid [69623] [INFO] [component_container-50]: process started with pid [69626] [INFO] [component_container_mt-51]: process started with pid [69634] [INFO] [web_server.py-52]: process started with pid [69653] [INFO] [initial_pose_adaptor-53]: process started with pid [69660] [INFO] [routing_adaptor-54]: process started with pid [69664] [INFO] [awapi_awiv_adapter-55]: process started with pid [69693] [INFO] [component_container-56]: process started with pid [69714] [INFO] [component_container_mt-57]: process started with pid [69717] [INFO] [component_container_mt-58]: process started with pid [69728] [INFO] [relay-59]: process started with pid [69744] [INFO] [relay-60]: process started with pid [69757] [INFO] [relay-61]: process started with pid [69810] [INFO] [rosbridge_websocket-62]: process started with pid [69824] [INFO] [rosapi_node-63]: process started with pid [69862] [INFO] [web_server-64]: process started with pid [69866] [INFO] [sample-65]: process started with pid [69868] [INFO] [rviz2-66]: process started with pid [69873] [component_container_mt-2] [INFO] [1670569892.025776326] [pointcloud_container]: Load Library: /autoware/install/compare_map_segmentation/lib/libcompare_map_segmentation.so [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map/lanelet2_map_loader' in container '/map/map_container' [component_container_mt-2] [INFO] [1670569892.228430059] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<compare_map_segmentation::CompareElevationMapFilterComponent> [component_container_mt-2] [INFO] [1670569892.228468682] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<compare_map_segmentation::DistanceBasedCompareMapFilterComponent> [component_container_mt-2] [INFO] [1670569892.228474833] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<compare_map_segmentation::VoxelBasedApproximateCompareMapFilterComponent> [component_container_mt-2] [INFO] [1670569892.228478730] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<compare_map_segmentation::VoxelBasedCompareMapFilterComponent> [component_container_mt-2] [INFO] [1670569892.228482618] [pointcloud_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<compare_map_segmentation::VoxelBasedCompareMapFilterComponent> [component_container_mt-2] [INFO] [1670569892.297935444] [perception.object_recognition.detection.voxel_based_compare_map_filter]: Filter (as Component) successfully created with the following parameters: [component_container_mt-2] - approximate_sync : false [component_container_mt-2] - use_indices : false [component_container_mt-2] - latched_indices : false [component_container_mt-2] - max_queue_size : 5 [component_container_mt-2] [INFO] [1670569892.302835843] [pointcloud_container]: Load Library: /autoware/install/pointcloud_preprocessor/lib/libpointcloud_preprocessor_filter.so [component_container_mt-2] [INFO] [1670569892.337712608] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::ApproximateDownsampleFilterComponent> [component_container_mt-2] [INFO] [1670569892.337742875] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::BlockageDiagComponent> [component_container_mt-2] [INFO] [1670569892.337748375] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::CropBoxFilterComponent> [component_container_mt-2] [INFO] [1670569892.337752683] [pointcloud_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::CropBoxFilterComponent> [component_container_mt-2] [INFO] [1670569892.355147649] [perception.obstacle_segmentation.crop_box_filter]: Filter (as Component) successfully created with the following parameters: [component_container_mt-2] - approximate_sync : false [component_container_mt-2] - use_indices : false [component_container_mt-2] - latched_indices : false [component_container_mt-2] - max_queue_size : 5 [component_container_mt-2] [INFO] [1670569892.361525348] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::ApproximateDownsampleFilterComponent> [component_container_mt-2] [INFO] [1670569892.361552769] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::BlockageDiagComponent> [component_container_mt-2] [INFO] [1670569892.361558340] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::CropBoxFilterComponent> [component_container_mt-2] [INFO] [1670569892.361562497] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::DistortionCorrectorComponent> [component_container_mt-2] [INFO] [1670569892.361566275] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::DualReturnOutlierFilterComponent> [component_container_mt-2] [INFO] [1670569892.361570062] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::Lanelet2MapFilterComponent> [component_container_mt-2] [INFO] [1670569892.361573819] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PassThroughFilterComponent> [component_container_mt-2] [INFO] [1670569892.361577456] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PassThroughFilterUInt16Component> [component_container_mt-2] [INFO] [1670569892.361580982] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent> [component_container_mt-2] [INFO] [1670569892.361584569] [pointcloud_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent> [component_container_mt-2] [INFO] [1670569892.391255132] [sensing.lidar.concatenate_data]: Subscribing to 3 user given topics as inputs: [component_container_mt-2] [INFO] [1670569892.391316417] [sensing.lidar.concatenate_data]: - /sensing/lidar/top/outlier_filtered/pointcloud [component_container_mt-2] [INFO] [1670569892.391324703] [sensing.lidar.concatenate_data]: - /sensing/lidar/left/outlier_filtered/pointcloud [component_container_mt-2] [INFO] [1670569892.391329652] [sensing.lidar.concatenate_data]: - /sensing/lidar/right/outlier_filtered/pointcloud [robot_state_publisher-3] Link sensor_kit_base_link had 13 children [robot_state_publisher-3] Link camera0/camera_link had 1 children [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/trajectory_follower/controller_node_exe' in container '/control/control_container' [robot_state_publisher-3] Link camera0/camera_optical_link had 0 children [robot_state_publisher-3] Link camera1/camera_link had 1 children [robot_state_publisher-3] Link camera1/camera_optical_link had 0 children [robot_state_publisher-3] Link camera2/camera_link had 1 children [robot_state_publisher-3] Link camera2/camera_optical_link had 0 children [robot_state_publisher-3] Link camera3/camera_link had 1 children [robot_state_publisher-3] Link camera3/camera_optical_link had 0 children [robot_state_publisher-3] Link camera4/camera_link had 1 children [robot_state_publisher-3] Link camera4/camera_optical_link had 0 children [robot_state_publisher-3] Link camera5/camera_link had 1 children [robot_state_publisher-3] Link camera5/camera_optical_link had 0 children [robot_state_publisher-3] Link gnss_link had 0 children [robot_state_publisher-3] Link tamagawa/imu_link had 0 children [robot_state_publisher-3] Link traffic_light_left_camera/camera_link had 1 children [robot_state_publisher-3] Link traffic_light_left_camera/camera_optical_link had 0 children [robot_state_publisher-3] Link traffic_light_right_camera/camera_link had 1 children [robot_state_publisher-3] Link traffic_light_right_camera/camera_optical_link had 0 children [robot_state_publisher-3] Link velodyne_left_base_link had 1 children [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/sensing/lidar/left/crop_box_filter_self' in container '/sensing/lidar/left/pointcloud_preprocessor/velodyne_node_container' [robot_state_publisher-3] Link velodyne_left had 0 children [robot_state_publisher-3] Link velodyne_right_base_link had 1 children [robot_state_publisher-3] Link velodyne_right had 0 children [robot_state_publisher-3] Link velodyne_top_base_link had 1 children [robot_state_publisher-3] Link velodyne_top had 0 children [robot_state_publisher-3] Link velodyne_rear_base_link had 1 children [robot_state_publisher-3] Link velodyne_rear had 0 children [robot_state_publisher-3] [INFO] [1670569892.009332062] [robot_state_publisher]: got segment base_link [robot_state_publisher-3] [INFO] [1670569892.009390552] [robot_state_publisher]: got segment camera0/camera_link [robot_state_publisher-3] [INFO] [1670569892.009396764] [robot_state_publisher]: got segment camera0/camera_optical_link [robot_state_publisher-3] [INFO] [1670569892.009400611] [robot_state_publisher]: got segment camera1/camera_link [robot_state_publisher-3] [INFO] [1670569892.009403827] [robot_state_publisher]: got segment camera1/camera_optical_link [robot_state_publisher-3] [INFO] [1670569892.009406812] [robot_state_publisher]: got segment camera2/camera_link [robot_state_publisher-3] [INFO] [1670569892.009409768] [robot_state_publisher]: got segment camera2/camera_optical_link [robot_state_publisher-3] [INFO] [1670569892.009412954] [robot_state_publisher]: got segment camera3/camera_link [robot_state_publisher-3] [INFO] [1670569892.009416170] [robot_state_publisher]: got segment camera3/camera_optical_link [robot_state_publisher-3] [INFO] [1670569892.009419386] [robot_state_publisher]: got segment camera4/camera_link [robot_state_publisher-3] [INFO] [1670569892.009422432] [robot_state_publisher]: got segment camera4/camera_optical_link [robot_state_publisher-3] [INFO] [1670569892.009425497] [robot_state_publisher]: got segment camera5/camera_link [robot_state_publisher-3] [INFO] [1670569892.009428573] [robot_state_publisher]: got segment camera5/camera_optical_link [robot_state_publisher-3] [INFO] [1670569892.009431689] [robot_state_publisher]: got segment gnss_link [robot_state_publisher-3] [INFO] [1670569892.009434805] [robot_state_publisher]: got segment sensor_kit_base_link [robot_state_publisher-3] [INFO] [1670569892.009437901] [robot_state_publisher]: got segment tamagawa/imu_link [robot_state_publisher-3] [INFO] [1670569892.009441067] [robot_state_publisher]: got segment traffic_light_left_camera/camera_link [robot_state_publisher-3] [INFO] [1670569892.009444213] [robot_state_publisher]: got segment traffic_light_left_camera/camera_optical_link [robot_state_publisher-3] [INFO] [1670569892.009447328] [robot_state_publisher]: got segment traffic_light_right_camera/camera_link [robot_state_publisher-3] [INFO] [1670569892.009450384] [robot_state_publisher]: got segment traffic_light_right_camera/camera_optical_link [robot_state_publisher-3] [INFO] [1670569892.009453550] [robot_state_publisher]: got segment velodyne_left [robot_state_publisher-3] [INFO] [1670569892.009456716] [robot_state_publisher]: got segment velodyne_left_base_link [robot_state_publisher-3] [INFO] [1670569892.009459832] [robot_state_publisher]: got segment velodyne_rear [robot_state_publisher-3] [INFO] [1670569892.009462868] [robot_state_publisher]: got segment velodyne_rear_base_link [robot_state_publisher-3] [INFO] [1670569892.009465923] [robot_state_publisher]: got segment velodyne_right [robot_state_publisher-3] [INFO] [1670569892.009468969] [robot_state_publisher]: got segment velodyne_right_base_link [robot_state_publisher-3] [INFO] [1670569892.009472435] [robot_state_publisher]: got segment velodyne_top [robot_state_publisher-3] [INFO] [1670569892.009475521] [robot_state_publisher]: got segment velodyne_top_base_link [component_container_mt-4] [INFO] [1670569892.048983200] [system.system_monitor.system_monitor.system_monitor_container]: Load Library: /autoware/install/system_monitor/lib/libcpu_monitor_lib.so [component_container_mt-4] [INFO] [1670569892.052366634] [system.system_monitor.system_monitor.system_monitor_container]: Found class: rclcpp_components::NodeFactoryTemplate<CPUMonitor> [component_container_mt-4] [INFO] [1670569892.052391049] [system.system_monitor.system_monitor.system_monitor_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<CPUMonitor> [system_error_monitor-7] [WARN] [1670569892.022902117] [system.system_error_monitor]: waiting for diag_array msg... [system_error_monitor-7] [WARN] [1670569892.022971667] [system.system_error_monitor]: input data is timeout [system_error_monitor-7] [ERROR] [1670569892.023007294] [system_error_monitor system_error_monitor/input_data_timeout]: [Single Point Fault]: [system_error_monitor-7] [INFO] [1670569892.473456994] [system.system_error_monitor]: waiting for current_gate_mode msg... [emergency_handler-8] [INFO] [1670569892.022930891] [system.emergency_handler]: waiting for hazard_status_stamped msg... [emergency_handler-8] [INFO] [1670569892.059353184] [system.emergency_handler]: EmergencyState changed: NORMAL -> MRM_OPERATING [emergency_handler-8] [INFO] [1670569892.175831395] [system.emergency_handler]: EmergencyState changed: MRM_OPERATING -> MRM_SUCCEEDED [component_container-9] [INFO] [1670569892.014666034] [map.map_container]: Load Library: /autoware/install/map_loader/lib/liblanelet2_map_loader_node.so [component_container-9] [INFO] [1670569892.031146355] [map.map_container]: Found class: rclcpp_components::NodeFactoryTemplate<Lanelet2MapLoaderNode> [component_container-9] [INFO] [1670569892.031170831] [map.map_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<Lanelet2MapLoaderNode> [component_container-11] [INFO] [1670569892.084621433] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Load Library: /autoware/install/pointcloud_preprocessor/lib/libpointcloud_preprocessor_filter.so [component_container-12] [INFO] [1670569892.110337772] [sensing.lidar.left.pointcloud_preprocessor.velodyne_node_container]: Load Library: /autoware/install/pointcloud_preprocessor/lib/libpointcloud_preprocessor_filter.so [component_container-13] [INFO] [1670569892.144365204] [sensing.lidar.right.pointcloud_preprocessor.velodyne_node_container]: Load Library: /opt/ros/galactic/lib/librelay_node.so [component_container-13] [INFO] [1670569892.144717876] [sensing.lidar.right.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-13] [INFO] [1670569892.144728506] [sensing.lidar.right.pointcloud_preprocessor.velodyne_node_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-13] [INFO] [1670569892.151399644] [sensing.lidar.right.pointcloud_preprocessor.velodyne_node_container]: Load Library: /autoware/install/pointcloud_preprocessor/lib/libpointcloud_preprocessor_filter.so [ndt_scan_matcher-19] [INFO] [1670569892.088938347] [localization.pose_estimator.ndt_scan_matcher]: NDT Implement Type is 2 [ndt_scan_matcher-19] [INFO] [1670569892.089050317] [localization.pose_estimator.ndt_scan_matcher]: points_queue_size: 1 [ndt_scan_matcher-19] [INFO] [1670569892.089069072] [localization.pose_estimator.ndt_scan_matcher]: base_frame_id: base_link [ndt_scan_matcher-19] [INFO] [1670569892.089079882] [localization.pose_estimator.ndt_scan_matcher]: ndt_base_frame_id: ndt_base_link [ndt_scan_matcher-19] [INFO] [1670569892.089108346] [localization.pose_estimator.ndt_scan_matcher]: trans_epsilon: 0.010000, step_size: 0.100000, resolution: 2.000000, max_iterations: 30 [gyro_odometer-20] [WARN] [1670569892.089780356] [localization.twist_estimator.gyro_odometer]: Twist msg is not subscribed [component_container_mt-25] [INFO] [1670569892.181528307] [perception.occupancy_grid_map.occupancy_grid_map_container]: Load Library: /autoware/install/probabilistic_occupancy_grid_map/lib/libpointcloud_based_occupancy_grid_map.so [component_container_mt-25] [INFO] [1670569892.192979979] [perception.occupancy_grid_map.occupancy_grid_map_container]: Found class: rclcpp_components::NodeFactoryTemplate<occupancy_grid_map::PointcloudBasedOccupancyGridMapNode> [component_container_mt-25] [INFO] [1670569892.193010306] [perception.occupancy_grid_map.occupancy_grid_map_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<occupancy_grid_map::PointcloudBasedOccupancyGridMapNode> [component_container-26] [INFO] [1670569892.329575571] [perception.object_recognition.detection.clustering.euclidean_cluster_container]: Load Library: /autoware/install/pointcloud_preprocessor/lib/libpointcloud_preprocessor_filter.so [shape_estimation-27] [INFO] [1670569892.087934956] [perception.object_recognition.detection.clustering.shape_estimation]: using boost shape estimation : 0 [component_container_mt-38] [INFO] [1670569892.474741372] [perception.traffic_light_recognition.traffic_light_node_container]: Load Library: /autoware/install/image_transport_decompressor/lib/libimage_transport_decompressor.so [motion_velocity_smoother-44] [WARN] [1670569892.307250671] [planning.scenario_planning.motion_velocity_smoother]: failed to get transform from map to base_link: "map" passed to lookupTransform argument target_frame does not exist. [motion_velocity_smoother-44] [INFO] [1670569892.307543289] [planning.scenario_planning.motion_velocity_smoother]: waiting for self pose... [component_container_mt-45] [INFO] [1670569892.343711496] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Load Library: /autoware/install/behavior_path_planner/lib/libbehavior_path_planner_node.so [component_container_mt-45] [INFO] [1670569892.442367099] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate<behavior_path_planner::BehaviorPathPlannerNode> [component_container_mt-45] [INFO] [1670569892.442430037] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<behavior_path_planner::BehaviorPathPlannerNode> [component_container_mt-47] [INFO] [1670569892.360736759] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Load Library: /autoware/install/obstacle_avoidance_planner/lib/libobstacle_avoidance_planner.so [component_container_mt-47] [INFO] [1670569892.377590450] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate<ObstacleAvoidancePlanner> [component_container_mt-47] [INFO] [1670569892.377657506] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ObstacleAvoidancePlanner> [component_container-48] [INFO] [1670569892.350775451] [planning.scenario_planning.parking.parking_container]: Load Library: /autoware/install/costmap_generator/lib/libcostmap_generator_node.so [component_container-50] [INFO] [1670569892.316756625] [control.control_container]: Load Library: /autoware/install/external_cmd_converter/lib/libexternal_cmd_converter.so [component_container-50] [INFO] [1670569892.327891543] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate<external_cmd_converter::ExternalCmdConverterNode> [component_container-50] [INFO] [1670569892.327928693] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<external_cmd_converter::ExternalCmdConverterNode> [component_container-50] [INFO] [1670569892.404833081] [control.control_container]: Load Library: /autoware/install/trajectory_follower_nodes/lib/libcontroller_node.so [component_container-50] [INFO] [1670569892.410448370] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::motion::control::trajectory_follower_nodes::Controller> [component_container-50] [INFO] [1670569892.410476533] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<autoware::motion::control::trajectory_follower_nodes::Controller> [component_container_mt-2] [WARN] [1670569892.510427825] [sensing.lidar.concatenate_data]: concat_cloud_ptr_ is nullptr, skipping pointcloud publish. [lidar_centerpoint_node-30] terminate called after throwing an instance of 'thrust::system::detail::bad_alloc' [lidar_centerpoint_node-30] what(): std::bad_alloc: cudaErrorUnsupportedPtxVersion: the provided PTX was compiled with an unsupported toolchain. [component_container-12] [INFO] [1670569892.575405200] [sensing.lidar.left.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::ApproximateDownsampleFilterComponent> [component_container-12] [INFO] [1670569892.575435247] [sensing.lidar.left.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::BlockageDiagComponent> [component_container-12] [INFO] [1670569892.575441258] [sensing.lidar.left.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::CropBoxFilterComponent> [component_container-12] [INFO] [1670569892.575445757] [sensing.lidar.left.pointcloud_preprocessor.velodyne_node_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::CropBoxFilterComponent> [component_container-12] [INFO] [1670569892.597550384] [sensing.lidar.left.crop_box_filter_self]: Filter (as Component) successfully created with the following parameters: [component_container-12] - approximate_sync : false [component_container-12] - use_indices : false [component_container-12] - latched_indices : false [component_container-12] - max_queue_size : 5 [component_container-12] [INFO] [1670569892.619454274] [sensing.lidar.left.pointcloud_preprocessor.velodyne_node_container]: Load Library: /opt/ros/galactic/lib/librelay_node.so [component_container-12] [INFO] [1670569892.619886715] [sensing.lidar.left.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-12] [INFO] [1670569892.619902925] [sensing.lidar.left.pointcloud_preprocessor.velodyne_node_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container_mt-47] [WARN] [1670569892.613042552] [planning.scenario_planning.lane_driving.motion_planning.obstacle_avoidance_planner]: [ObstacleAvoidancePlanner] Reset planning [component_container_mt-47] [WARN] [1670569892.613799672] [planning.scenario_planning.lane_driving.motion_planning.obstacle_avoidance_planner]: failed to get transform from map to base_link: "map" passed to lookupTransform argument target_frame does not exist. [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/sensing/lidar/left/pointcloud_distortion_relay' in container '/sensing/lidar/left/pointcloud_preprocessor/velodyne_node_container' [component_container_mt-47] [INFO] [1670569892.613823777] [planning.scenario_planning.lane_driving.motion_planning.obstacle_avoidance_planner]: waiting for self pose... [component_container_mt-51] [INFO] [1670569892.614774249] [default_ad_api.container]: Load Library: /autoware/install/default_ad_api/lib/libdefault_ad_api.so [component_container_mt-51] [INFO] [1670569892.617649560] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate<default_ad_api::InterfaceNode> [component_container_mt-51] [INFO] [1670569892.617672002] [default_ad_api.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<default_ad_api::InterfaceNode> [component_container_mt-4] [INFO] [1670569892.621114878] [system.system_monitor.system_monitor.system_monitor_container]: Load Library: /autoware/install/system_monitor/lib/libhdd_monitor_lib.so [component_container_mt-4] [INFO] [1670569892.623697080] [system.system_monitor.system_monitor.system_monitor_container]: Found class: rclcpp_components::NodeFactoryTemplate<HDDMonitor> [component_container_mt-4] [INFO] [1670569892.623718390] [system.system_monitor.system_monitor.system_monitor_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<HDDMonitor> [component_container-56] [INFO] [1670569892.621270500] [awapi.awapi_relay_container]: Load Library: /opt/ros/galactic/lib/librelay_node.so [component_container-56] [INFO] [1670569892.621604235] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-56] [INFO] [1670569892.621614955] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container_mt-2] [INFO] [1670569892.639598495] [pointcloud_container]: Load Library: /autoware/install/ground_segmentation/lib/libground_segmentation.so [component_container_mt-2] [INFO] [1670569892.641733218] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<ground_segmentation::RANSACGroundFilterComponent> [component_container_mt-2] [INFO] [1670569892.641760619] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<ground_segmentation::RayGroundFilterComponent> [component_container_mt-2] [INFO] [1670569892.641766631] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<ground_segmentation::ScanGroundFilterComponent> [component_container_mt-2] [INFO] [1670569892.641771109] [pointcloud_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ground_segmentation::ScanGroundFilterComponent> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/interface' in container '/default_ad_api/container' [component_container-9] [INFO] [1670569892.649890253] [map.map_container]: Load Library: /autoware/install/map_loader/lib/liblanelet2_map_visualization_node.so [component_container-9] [INFO] [1670569892.651155014] [map.map_container]: Found class: rclcpp_components::NodeFactoryTemplate<Lanelet2MapVisualizationNode> [component_container-9] [INFO] [1670569892.651172888] [map.map_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<Lanelet2MapVisualizationNode> [component_container_mt-2] [INFO] [1670569892.661448665] [perception.obstacle_segmentation.common_ground_filter]: Filter (as Component) successfully created with the following parameters: [component_container_mt-2] - approximate_sync : false [component_container_mt-2] - use_indices : false [component_container_mt-2] - latched_indices : false [component_container_mt-2] - max_queue_size : 5 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map/lanelet2_map_visualization' in container '/map/map_container' [component_container-26] [INFO] [1670569892.664833382] [perception.object_recognition.detection.clustering.euclidean_cluster_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::ApproximateDownsampleFilterComponent> [component_container-26] [INFO] [1670569892.664873747] [perception.object_recognition.detection.clustering.euclidean_cluster_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::BlockageDiagComponent> [component_container-26] [INFO] [1670569892.664880009] [perception.object_recognition.detection.clustering.euclidean_cluster_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::CropBoxFilterComponent> [component_container-26] [INFO] [1670569892.664884187] [perception.object_recognition.detection.clustering.euclidean_cluster_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::DistortionCorrectorComponent> [component_container-26] [INFO] [1670569892.664888295] [perception.object_recognition.detection.clustering.euclidean_cluster_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::DualReturnOutlierFilterComponent> [component_container-26] [INFO] [1670569892.664892402] [perception.object_recognition.detection.clustering.euclidean_cluster_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::Lanelet2MapFilterComponent> [component_container-26] [INFO] [1670569892.664896290] [perception.object_recognition.detection.clustering.euclidean_cluster_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PassThroughFilterComponent> [component_container-26] [INFO] [1670569892.664900107] [perception.object_recognition.detection.clustering.euclidean_cluster_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PassThroughFilterUInt16Component> [component_container-26] [INFO] [1670569892.664903804] [perception.object_recognition.detection.clustering.euclidean_cluster_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent> [component_container-26] [INFO] [1670569892.664907861] [perception.object_recognition.detection.clustering.euclidean_cluster_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PointcloudAccumulatorComponent> [component_container-26] [INFO] [1670569892.664911769] [perception.object_recognition.detection.clustering.euclidean_cluster_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PolygonRemoverComponent> [component_container-26] [INFO] [1670569892.664915616] [perception.object_recognition.detection.clustering.euclidean_cluster_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::RadiusSearch2DOutlierFilterComponent> [component_container-26] [INFO] [1670569892.664919433] [perception.object_recognition.detection.clustering.euclidean_cluster_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::RandomDownsampleFilterComponent> [component_container-26] [INFO] [1670569892.664923501] [perception.object_recognition.detection.clustering.euclidean_cluster_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::RingOutlierFilterComponent> [component_container-26] [INFO] [1670569892.664927538] [perception.object_recognition.detection.clustering.euclidean_cluster_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::VectorMapInsideAreaFilterComponent> [component_container-26] [INFO] [1670569892.664931315] [perception.object_recognition.detection.clustering.euclidean_cluster_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::VoxelGridDownsampleFilterComponent> [component_container-26] [INFO] [1670569892.664935102] [perception.object_recognition.detection.clustering.euclidean_cluster_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::VoxelGridOutlierFilterComponent> [component_container-26] [INFO] [1670569892.664939120] [perception.object_recognition.detection.clustering.euclidean_cluster_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::VoxelGridOutlierFilterComponent> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/route_relay' in container '/awapi/awapi_relay_container' [component_container_mt-58] [INFO] [1670569892.680129533] [autoware_api.internal.autoware_iv_adaptor]: Load Library: /autoware/install/autoware_iv_internal_api_adaptor/lib/libautoware_iv_internal_api_adaptor.so [component_container-26] [INFO] [1670569892.680216245] [perception.object_recognition.detection.clustering.outlier_filter]: Filter (as Component) successfully created with the following parameters: [component_container-26] - approximate_sync : false [component_container-26] - use_indices : false [component_container-26] - latched_indices : false [component_container-26] - max_queue_size : 5 [component_container-12] [INFO] [1670569892.680818875] [sensing.lidar.left.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::ApproximateDownsampleFilterComponent> [component_container-12] [INFO] [1670569892.680989645] [sensing.lidar.left.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::BlockageDiagComponent> [component_container-12] [INFO] [1670569892.681000876] [sensing.lidar.left.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::CropBoxFilterComponent> [component_container-12] [INFO] [1670569892.681006697] [sensing.lidar.left.pointcloud_preprocessor.velodyne_node_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::CropBoxFilterComponent> [component_container_mt-58] [INFO] [1670569892.687139607] [autoware_api.internal.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<internal_api::IVMsgs> [component_container_mt-58] [INFO] [1670569892.687725435] [autoware_api.internal.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate<internal_api::IVMsgs> [component_container-12] [INFO] [1670569892.697496596] [sensing.lidar.left.crop_box_filter_mirror]: Filter (as Component) successfully created with the following parameters: [component_container-12] - approximate_sync : false [component_container-12] - use_indices : false [component_container-12] - latched_indices : false [component_container-12] - max_queue_size : 5 [component_container-11] [INFO] [1670569892.699830122] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::ApproximateDownsampleFilterComponent> [component_container-11] [INFO] [1670569892.700652995] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::BlockageDiagComponent> [component_container-11] [INFO] [1670569892.701102147] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::CropBoxFilterComponent> [component_container-11] [INFO] [1670569892.701521754] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::CropBoxFilterComponent> [component_container_mt-4] [ERROR] [1670569892.717932885] [system.system_monitor.hdd_monitor]: Failed to execute findmnt. /dev/sda3 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/system/system_monitor/hdd_monitor' in container '/system/system_monitor/system_monitor/system_monitor_container' [component_container_mt-51] [INFO] [1670569892.723619858] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate<default_ad_api::InterfaceNode> [component_container_mt-51] [INFO] [1670569892.723651638] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate<default_ad_api::LocalizationNode> [component_container_mt-51] [INFO] [1670569892.723656918] [default_ad_api.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<default_ad_api::LocalizationNode> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/sensing/lidar/left/crop_box_filter_mirror' in container '/sensing/lidar/left/pointcloud_preprocessor/velodyne_node_container' [component_container-11] [INFO] [1670569892.729880598] [localization.util.crop_box_filter_measurement_range]: Filter (as Component) successfully created with the following parameters: [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/perception/object_recognition/detection/clustering/outlier_filter' in container '/perception/object_recognition/detection/clustering/euclidean_cluster_container' [component_container-11] - approximate_sync : false [component_container-11] - use_indices : false [component_container-11] - latched_indices : false [component_container-11] - max_queue_size : 5 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/localization' in container '/default_ad_api/container' [component_container-56] [INFO] [1670569892.739825895] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-56] [INFO] [1670569892.739858456] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container_mt-4] [INFO] [1670569892.739920192] [system.system_monitor.system_monitor.system_monitor_container]: Load Library: /autoware/install/system_monitor/lib/libmem_monitor_lib.so [component_container_mt-4] [INFO] [1670569892.740338296] [system.system_monitor.system_monitor.system_monitor_container]: Found class: rclcpp_components::NodeFactoryTemplate<MemMonitor> [component_container_mt-4] [INFO] [1670569892.740350299] [system.system_monitor.system_monitor.system_monitor_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<MemMonitor> [ERROR] [lidar_centerpoint_node-30]: process has died [pid 69258, exit code -6, cmd '/autoware/install/lidar_centerpoint/lib/lidar_centerpoint/lidar_centerpoint_node --ros-args -r __node:=lidar_centerpoint -r __ns:=/perception/object_recognition/detection/centerpoint --params-file /tmp/launch_params_u2eircrf --params-file /tmp/launch_params_7eycteus --params-file /tmp/launch_params_c6b4waia --params-file /tmp/launch_params_poo79dim --params-file /tmp/launch_params_v4anio37 --params-file /tmp/launch_params_ykjt_at2 --params-file /tmp/launch_params_h9sdt429 --params-file /tmp/launch_params_umysj6vo --params-file /tmp/launch_params_2cx7acaf --params-file /tmp/launch_params__m_psx3e --params-file /autoware/install/lidar_centerpoint/share/lidar_centerpoint/config/centerpoint_tiny.param.yaml --params-file /autoware/install/lidar_centerpoint/share/lidar_centerpoint/config/detection_class_remapper.param.yaml -r ~/input/pointcloud:=/sensing/lidar/concatenated/pointcloud -r ~/output/objects:=objects']. [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/system/system_monitor/mem_monitor' in container '/system/system_monitor/system_monitor/system_monitor_container' [component_container-26] [INFO] [1670569892.755498963] [perception.object_recognition.detection.clustering.euclidean_cluster_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::ApproximateDownsampleFilterComponent> [component_container-12] [INFO] [1670569892.756685348] [sensing.lidar.left.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::ApproximateDownsampleFilterComponent> [component_container-26] [INFO] [1670569892.756879391] [perception.object_recognition.detection.clustering.euclidean_cluster_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::ApproximateDownsampleFilterComponent> [component_container-12] [INFO] [1670569892.757919041] [sensing.lidar.left.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::BlockageDiagComponent> [component_container-12] [INFO] [1670569892.758684746] [sensing.lidar.left.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::CropBoxFilterComponent> [component_container-12] [INFO] [1670569892.759240218] [sensing.lidar.left.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::DistortionCorrectorComponent> [component_container-12] [INFO] [1670569892.760025811] [sensing.lidar.left.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::DualReturnOutlierFilterComponent> [component_container-12] [INFO] [1670569892.761227594] [sensing.lidar.left.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::Lanelet2MapFilterComponent> [component_container-12] [INFO] [1670569892.762001876] [sensing.lidar.left.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PassThroughFilterComponent> [component_container-12] [INFO] [1670569892.762837343] [sensing.lidar.left.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PassThroughFilterUInt16Component> [component_container-48] [INFO] [1670569892.763090507] [planning.scenario_planning.parking.parking_container]: Found class: rclcpp_components::NodeFactoryTemplate<CostmapGenerator> [component_container-48] [INFO] [1670569892.763129170] [planning.scenario_planning.parking.parking_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<CostmapGenerator> [component_container-12] [INFO] [1670569892.764991261] [sensing.lidar.left.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/perception/obstacle_segmentation/common_ground_filter' in container 'pointcloud_container' [component_container-12] [INFO] [1670569892.765876491] [sensing.lidar.left.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PointcloudAccumulatorComponent> [component_container-12] [INFO] [1670569892.765897551] [sensing.lidar.left.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PolygonRemoverComponent> [component_container-12] [INFO] [1670569892.765902590] [sensing.lidar.left.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::RadiusSearch2DOutlierFilterComponent> [component_container-12] [INFO] [1670569892.765965178] [sensing.lidar.left.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::RandomDownsampleFilterComponent> [component_container-12] [INFO] [1670569892.765971570] [sensing.lidar.left.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::RingOutlierFilterComponent> [component_container-12] [INFO] [1670569892.765976078] [sensing.lidar.left.pointcloud_preprocessor.velodyne_node_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::RingOutlierFilterComponent> [component_container_mt-57] [INFO] [1670569892.789416490] [autoware_api.external.autoware_iv_adaptor]: Load Library: /autoware/install/autoware_iv_external_api_adaptor/lib/libautoware_iv_external_api_adaptor.so [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/localization/util/crop_box_filter_measurement_range' in container '/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container' [component_container_mt-51] [INFO] [1670569892.799383288] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate<default_ad_api::InterfaceNode> [component_container_mt-51] [INFO] [1670569892.799418524] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate<default_ad_api::LocalizationNode> [component_container_mt-51] [INFO] [1670569892.799423894] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate<default_ad_api::RoutingNode> [component_container_mt-51] [INFO] [1670569892.799428062] [default_ad_api.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<default_ad_api::RoutingNode> [component_container-11] [INFO] [1670569892.809497963] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Load Library: /opt/ros/galactic/lib/librelay_node.so [component_container-11] [INFO] [1670569892.809861174] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-11] [INFO] [1670569892.809872295] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-12] [INFO] [1670569892.812050359] [sensing.lidar.left.ring_outlier_filter]: Filter (as Component) successfully created with the following parameters: [component_container-12] - approximate_sync : false [component_container-12] - use_indices : false [component_container-12] - latched_indices : false [component_container-12] - max_queue_size : 5 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner' in container '/planning/scenario_planning/lane_driving/behavior_planning/behavior_planning_container' [component_container_mt-4] [INFO] [1670569892.820151188] [system.system_monitor.system_monitor.system_monitor_container]: Load Library: /autoware/install/system_monitor/lib/libnet_monitor_lib.so [component_container_mt-4] [INFO] [1670569892.821107471] [system.system_monitor.system_monitor.system_monitor_container]: Found class: rclcpp_components::NodeFactoryTemplate<NetMonitor> [component_container_mt-4] [INFO] [1670569892.821120907] [system.system_monitor.system_monitor.system_monitor_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<NetMonitor> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/internal/iv_msgs' in container '/autoware_api/internal/autoware_iv_adaptor' [component_container_mt-2] [INFO] [1670569892.828052554] [pointcloud_container]: Load Library: /autoware/install/occupancy_grid_map_outlier_filter/lib/liboccupancy_grid_map_outlier_filter.so [component_container_mt-57] [INFO] [1670569892.828817949] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CalibrationStatus> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/sensing/lidar/left/ring_outlier_filter' in container '/sensing/lidar/left/pointcloud_preprocessor/velodyne_node_container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/routing' in container '/default_ad_api/container' [component_container_mt-2] [INFO] [1670569892.829656962] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent> [component_container_mt-2] [INFO] [1670569892.829676849] [pointcloud_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent> [component_container_mt-57] [INFO] [1670569892.832526112] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CpuUsage> [component_container_mt-57] [INFO] [1670569892.832562440] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Diagnostics> [component_container_mt-57] [INFO] [1670569892.832567479] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Door> [component_container_mt-57] [INFO] [1670569892.832666966] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Emergency> [component_container_mt-57] [INFO] [1670569892.832674320] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Engage> [component_container_mt-57] [INFO] [1670569892.832678267] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::FailSafeState> [component_container_mt-57] [INFO] [1670569892.832681714] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::InitialPose> [component_container_mt-57] [INFO] [1670569892.832685240] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::LocalizationScore> [component_container_mt-57] [INFO] [1670569892.832690109] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Map> [component_container_mt-57] [INFO] [1670569892.832693536] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::MetadataPackages> [component_container_mt-57] [INFO] [1670569892.832696972] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Operator> [component_container_mt-57] [INFO] [1670569892.832700328] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::RTCController> [component_container_mt-57] [INFO] [1670569892.832703635] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::RosbagLoggingMode> [component_container_mt-57] [INFO] [1670569892.832706931] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Route> [component_container_mt-57] [INFO] [1670569892.832710357] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Service> [component_container_mt-57] [INFO] [1670569892.832879354] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Start> [component_container_mt-57] [INFO] [1670569892.832892789] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate<external_api::Start> [component_container_mt-45] [INFO] [1670569892.854448537] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Load Library: /autoware/install/behavior_velocity_planner/lib/libbehavior_velocity_planner.so [component_container-9] [INFO] [1670569892.863218611] [map.lanelet2_map_visualization]: Map is loaded [component_container-9] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/sensing/lidar/top/pointcloud_distortion_relay' in container '/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container' [component_container-50] [INFO] [1670569892.865986231] [control.control_container]: Load Library: /autoware/install/external_cmd_selector/lib/libexternal_cmd_selector_node.so [component_container-50] [INFO] [1670569892.867553249] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate<ExternalCmdSelector> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/external_cmd_selector' in container '/control/control_container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/system/system_monitor/net_monitor' in container '/system/system_monitor/system_monitor/system_monitor_container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/perception/obstacle_segmentation/occupancy_grid_map_outlier_filter' in container 'pointcloud_container' [component_container-50] [INFO] [1670569892.867573457] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ExternalCmdSelector> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/start' in container '/autoware_api/external/autoware_iv_adaptor' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/predict_object_relay' in container '/awapi/awapi_relay_container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/perception/object_recognition/detection/clustering/voxel_grid_filter_tsukuba2_desktop_68864_1053787858592517963' in container '/perception/object_recognition/detection/clustering/euclidean_cluster_container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/internal/operator' in container '/autoware_api/internal/autoware_iv_adaptor' [component_container_mt-58] [INFO] [1670569892.869207851] [autoware_api.internal.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<internal_api::IVMsgs> [component_container_mt-58] [INFO] [1670569892.869237637] [autoware_api.internal.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<internal_api::InitialPose> [component_container_mt-58] [INFO] [1670569892.869243178] [autoware_api.internal.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<internal_api::Operator> [component_container_mt-58] [INFO] [1670569892.869247265] [autoware_api.internal.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate<internal_api::Operator> [component_container_mt-58] [INFO] [1670569892.923666163] [autoware_api.internal.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<internal_api::IVMsgs> [component_container_mt-58] [INFO] [1670569892.923697752] [autoware_api.internal.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<internal_api::InitialPose> [component_container_mt-58] [INFO] [1670569892.923703763] [autoware_api.internal.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<internal_api::Operator> [component_container_mt-58] [INFO] [1670569892.923707861] [autoware_api.internal.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<internal_api::Route> [component_container_mt-58] [INFO] [1670569892.923711808] [autoware_api.internal.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate<internal_api::Route> [component_container-9] Could not find valid vertex for ear clipping triangulation. Triangulation result might be invalid [component_container-9] Could not find valid vertex for ear clipping triangulation. Triangulation result might be invalid [component_container-9] Could not find valid vertex for ear clipping triangulation. Triangulation result might be invalid [component_container-9] Could not find valid vertex for ear clipping triangulation. Triangulation result might be invalid [component_container-9] Could not find valid vertex for ear clipping triangulation. Triangulation result might be invalid [component_container-9] Could not find valid vertex for ear clipping triangulation. Triangulation result might be invalid [component_container-9] Could not find valid vertex for ear clipping triangulation. Triangulation result might be invalid [component_container-9] Could not find valid vertex for ear clipping triangulation. Triangulation result might be invalid [component_container-9] Could not find valid vertex for ear clipping triangulation. Triangulation result might be invalid [component_container-9] Could not find valid vertex for ear clipping triangulation. Triangulation result might be invalid [component_container-9] Could not find valid vertex for ear clipping triangulation. Triangulation result might be invalid [component_container-11] [INFO] [1670569892.886180556] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::ApproximateDownsampleFilterComponent> [component_container-11] [INFO] [1670569892.886307965] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::BlockageDiagComponent> [component_container-11] [INFO] [1670569892.886315669] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::CropBoxFilterComponent> [component_container-11] [INFO] [1670569892.886320348] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::CropBoxFilterComponent> [component_container-48] [INFO] [1670569892.892673140] [planning.scenario_planning.parking.costmap_generator]: waiting for initial pose... [component_container-26] [INFO] [1670569892.893331965] [perception.object_recognition.detection.clustering.voxel_grid_filter_tsukuba2_desktop_68864_1053787858592517963]: Filter (as Component) successfully created with the following parameters: [component_container-26] - approximate_sync : false [component_container-26] - use_indices : false [component_container-26] - latched_indices : false [component_container-26] - max_queue_size : 5 [component_container-26] [INFO] [1670569892.917853955] [perception.object_recognition.detection.clustering.euclidean_cluster_container]: Load Library: /autoware/install/euclidean_cluster/lib/libvoxel_grid_based_euclidean_cluster_node_core.so [component_container-26] [INFO] [1670569892.920328635] [perception.object_recognition.detection.clustering.euclidean_cluster_container]: Found class: rclcpp_components::NodeFactoryTemplate<euclidean_cluster::VoxelGridBasedEuclideanClusterNode> [component_container-26] [INFO] [1670569892.920398506] [perception.object_recognition.detection.clustering.euclidean_cluster_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<euclidean_cluster::VoxelGridBasedEuclideanClusterNode> [component_container-50] [INFO] [1670569892.893480674] [control.control_container]: Load Library: /autoware/install/lane_departure_checker/lib/liblane_departure_checker.so [component_container_mt-57] [INFO] [1670569892.913337155] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CalibrationStatus> [component_container_mt-57] [INFO] [1670569892.913366460] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CpuUsage> [component_container_mt-57] [INFO] [1670569892.913373484] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate<external_api::CpuUsage> [component_container_mt-4] [INFO] [1670569892.917344990] [system.system_monitor.system_monitor.system_monitor_container]: Load Library: /autoware/install/system_monitor/lib/libntp_monitor_lib.so [component_container_mt-4] [INFO] [1670569892.917798330] [system.system_monitor.system_monitor.system_monitor_container]: Found class: rclcpp_components::NodeFactoryTemplate<NTPMonitor> [component_container_mt-4] [INFO] [1670569892.917808910] [system.system_monitor.system_monitor.system_monitor_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<NTPMonitor> [component_container-56] [INFO] [1670569892.924435646] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-56] [INFO] [1670569892.924463959] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/cpu_usage' in container '/autoware_api/external/autoware_iv_adaptor' [component_container_mt-57] [INFO] [1670569892.931784795] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CalibrationStatus> [component_container_mt-57] [INFO] [1670569892.931814962] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CpuUsage> [component_container_mt-57] [INFO] [1670569892.931820713] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Diagnostics> [component_container_mt-57] [INFO] [1670569892.931824941] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate<external_api::Diagnostics> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/nearest_traffic_signal_relay' in container '/awapi/awapi_relay_container' [component_container-56] [INFO] [1670569892.945347256] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-56] [INFO] [1670569892.945385628] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/system/system_monitor/ntp_monitor' in container '/system/system_monitor/system_monitor/system_monitor_container' [component_container_mt-4] [INFO] [1670569892.950508623] [system.system_monitor.system_monitor.system_monitor_container]: Load Library: /autoware/install/system_monitor/lib/libprocess_monitor_lib.so [component_container_mt-4] [INFO] [1670569892.950951384] [system.system_monitor.system_monitor.system_monitor_container]: Found class: rclcpp_components::NodeFactoryTemplate<ProcessMonitor> [component_container_mt-4] [INFO] [1670569892.950961102] [system.system_monitor.system_monitor.system_monitor_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ProcessMonitor> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/internal/route' in container '/autoware_api/internal/autoware_iv_adaptor' [component_container_mt-58] [INFO] [1670569892.960066314] [autoware_api.internal.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<internal_api::IVMsgs> [component_container_mt-58] [INFO] [1670569892.960101611] [autoware_api.internal.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<internal_api::InitialPose> [component_container_mt-58] [INFO] [1670569892.960107522] [autoware_api.internal.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<internal_api::Operator> [component_container_mt-58] [INFO] [1670569892.960111499] [autoware_api.internal.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<internal_api::Route> [component_container_mt-58] [INFO] [1670569892.960115406] [autoware_api.internal.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<internal_api::Velocity> [component_container_mt-58] [INFO] [1670569892.960118853] [autoware_api.internal.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate<internal_api::Velocity> [rviz2-66] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-tsukuba2' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/diagnostics' in container '/autoware_api/external/autoware_iv_adaptor' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/system/system_monitor/process_monitor' in container '/system/system_monitor/system_monitor/system_monitor_container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/door' in container '/autoware_api/external/autoware_iv_adaptor' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/internal/velocity' in container '/autoware_api/internal/autoware_iv_adaptor' [component_container_mt-57] [INFO] [1670569892.982817213] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CalibrationStatus> [component_container_mt-57] [INFO] [1670569892.982869000] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CpuUsage> [component_container_mt-57] [INFO] [1670569892.982875462] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Diagnostics> [component_container_mt-57] [INFO] [1670569892.982879490] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Door> [component_container_mt-57] [INFO] [1670569892.982883447] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate<external_api::Door> [component_container-11] [INFO] [1670569892.986685516] [sensing.lidar.top.crop_box_filter_self]: Filter (as Component) successfully created with the following parameters: [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/sensing/lidar/top/crop_box_filter_self' in container '/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/system/system_monitor/gpu_monitor' in container '/system/system_monitor/system_monitor/system_monitor_container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/perception/traffic_light_recognition/traffic_light_image_decompressor' in container '/perception/traffic_light_recognition/traffic_light_node_container' [component_container-11] - approximate_sync : false [component_container-11] - use_indices : false [component_container-11] - latched_indices : false [component_container-11] - max_queue_size : 5 [component_container_mt-4] [INFO] [1670569892.987590583] [system.system_monitor.system_monitor.system_monitor_container]: Load Library: /autoware/install/system_monitor/lib/libgpu_monitor_lib.so [component_container_mt-4] [INFO] [1670569892.987931423] [system.system_monitor.system_monitor.system_monitor_container]: Found class: rclcpp_components::NodeFactoryTemplate<GPUMonitor> [component_container_mt-4] [INFO] [1670569892.987944427] [system.system_monitor.system_monitor.system_monitor_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<GPUMonitor> [component_container-9] [INFO] [1670569893.003334694] [map.map_container]: Load Library: /autoware/install/map_loader/lib/libpointcloud_map_loader_node.so [component_container_mt-57] [INFO] [1670569893.010143601] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CalibrationStatus> [component_container_mt-57] [INFO] [1670569893.010180721] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CpuUsage> [component_container_mt-57] [INFO] [1670569893.010187664] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Diagnostics> [component_container_mt-57] [INFO] [1670569893.010191681] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Door> [component_container_mt-57] [INFO] [1670569893.010195448] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Emergency> [component_container_mt-57] [INFO] [1670569893.010199095] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate<external_api::Emergency> [web_server.py-52] * Running on http://localhost:8888/ (Press CTRL+C to quit) [component_container_mt-38] [INFO] [1670569893.015972511] [perception.traffic_light_recognition.traffic_light_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<image_preprocessor::ImageTransportDecompressor> [component_container_mt-38] [INFO] [1670569893.016008087] [perception.traffic_light_recognition.traffic_light_node_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<image_preprocessor::ImageTransportDecompressor> [component_container-11] [INFO] [1670569893.028251685] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::ApproximateDownsampleFilterComponent> [component_container-11] [INFO] [1670569893.028293483] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::BlockageDiagComponent> [component_container-11] [INFO] [1670569893.028299705] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::CropBoxFilterComponent> [component_container-11] [INFO] [1670569893.028304614] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::DistortionCorrectorComponent> [component_container-11] [INFO] [1670569893.028308741] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::DualReturnOutlierFilterComponent> [component_container-11] [INFO] [1670569893.028312929] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::Lanelet2MapFilterComponent> [component_container-11] [INFO] [1670569893.028316867] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PassThroughFilterComponent> [component_container-11] [INFO] [1670569893.028334680] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PassThroughFilterUInt16Component> [component_container-11] [INFO] [1670569893.028339619] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent> [component_container-11] [INFO] [1670569893.028343697] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PointcloudAccumulatorComponent> [component_container-11] [INFO] [1670569893.028347444] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PolygonRemoverComponent> [component_container-11] [INFO] [1670569893.028351231] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::RadiusSearch2DOutlierFilterComponent> [component_container-11] [INFO] [1670569893.028354968] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::RandomDownsampleFilterComponent> [component_container-11] [INFO] [1670569893.028358705] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::RingOutlierFilterComponent> [component_container-11] [INFO] [1670569893.028362422] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::VectorMapInsideAreaFilterComponent> [component_container-11] [INFO] [1670569893.028366189] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::VoxelGridDownsampleFilterComponent> [component_container-11] [INFO] [1670569893.028370076] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::VoxelGridDownsampleFilterComponent> [web_server.py-52] * Restarting with stat [component_container_mt-38] [INFO] [1670569893.030872669] [perception.traffic_light_recognition.traffic_light_node_container]: Load Library: /autoware/install/traffic_light_classifier/lib/libtraffic_light_classifier_nodelet.so [traffic_light_map_visualizer_node-39] [INFO] [1670569893.043645869] [perception.traffic_light_recognition.traffic_light_map_visualizer]: Map is loaded [traffic_light_map_visualizer_node-39] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/ready_module_relay' in container '/awapi/awapi_relay_container' [component_container-56] [INFO] [1670569893.066927313] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-56] [INFO] [1670569893.066965264] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/emergency' in container '/autoware_api/external/autoware_iv_adaptor' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/perception/object_recognition/detection/clustering/euclidean_cluster' in container '/perception/object_recognition/detection/clustering/euclidean_cluster_container' [system_error_monitor-7] [WARN] [1670569893.084415023] [system.system_error_monitor]: input data is timeout [component_container_mt-57] [INFO] [1670569893.085955271] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CalibrationStatus> [component_container_mt-57] [INFO] [1670569893.085988173] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CpuUsage> [component_container_mt-57] [INFO] [1670569893.085993372] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Diagnostics> [component_container_mt-57] [INFO] [1670569893.085997290] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Door> [component_container_mt-57] [INFO] [1670569893.086001207] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Emergency> [component_container_mt-57] [INFO] [1670569893.086005114] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Engage> [component_container_mt-57] [INFO] [1670569893.086008841] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate<external_api::Engage> [automatic_pose_initializer-18] [INFO] [1670569893.087017042] [localization.util.default_ad_api.helpers.automatic_pose_initializer]: client call: /api/localization/initialize [automatic_pose_initializer-18] pose: [] [automatic_pose_initializer-18] [component_container-50] [INFO] [1670569893.087279063] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate<lane_departure_checker::LaneDepartureCheckerNode> [component_container-50] [INFO] [1670569893.087310873] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<lane_departure_checker::LaneDepartureCheckerNode> [component_container_mt-51] [INFO] [1670569893.087978815] [default_ad_api.node.localization]: service call: /api/localization/initialize [component_container_mt-51] pose: [] [component_container_mt-51] [component_container_mt-51] [INFO] [1670569893.088275401] [default_ad_api.node.localization]: client call: /localization/initialize [component_container_mt-51] pose: [] [component_container_mt-51] [pose_initializer_node-17] [INFO] [1670569893.088370379] [localization.util.pose_initializer_node]: service call: /localization/initialize [pose_initializer_node-17] pose: [] [pose_initializer_node-17] [pose_initializer_node-17] [INFO] [1670569893.088471920] [localization.util.pose_initializer_node]: service exit: /localization/initialize [pose_initializer_node-17] status: [pose_initializer_node-17] success: false [pose_initializer_node-17] code: 1 [pose_initializer_node-17] message: "The vehicle is not stopped." [pose_initializer_node-17] [component_container_mt-51] [INFO] [1670569893.089112210] [default_ad_api.node.localization]: client exit: /localization/initialize [component_container_mt-51] status: [component_container_mt-51] success: false [component_container_mt-51] code: 1 [component_container_mt-51] message: "The vehicle is not stopped." [component_container_mt-51] [component_container_mt-51] [INFO] [1670569893.089194735] [default_ad_api.node.localization]: service exit: /api/localization/initialize [component_container_mt-51] status: [component_container_mt-51] success: false [component_container_mt-51] code: 1 [component_container_mt-51] message: "The vehicle is not stopped." [component_container_mt-51] [automatic_pose_initializer-18] [INFO] [1670569893.089552726] [localization.util.default_ad_api.helpers.automatic_pose_initializer]: client exit: /api/localization/initialize [automatic_pose_initializer-18] status: [automatic_pose_initializer-18] success: false [automatic_pose_initializer-18] code: 1 [automatic_pose_initializer-18] message: "The vehicle is not stopped." [automatic_pose_initializer-18] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/force_available_relay' in container '/awapi/awapi_relay_container' [component_container-56] [INFO] [1670569893.098257258] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-56] [INFO] [1670569893.098288065] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/running_modules_relay' in container '/awapi/awapi_relay_container' [component_container-9] [INFO] [1670569893.110152672] [map.map_container]: Found class: rclcpp_components::NodeFactoryTemplate<PointCloudMapLoaderNode> [component_container-9] [INFO] [1670569893.110194340] [map.map_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<PointCloudMapLoaderNode> [component_container-56] [INFO] [1670569893.111659748] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-56] [INFO] [1670569893.111684654] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/engage' in container '/autoware_api/external/autoware_iv_adaptor' [component_container-11] [INFO] [1670569893.136745244] [localization.util.voxel_grid_downsample_filter]: Filter (as Component) successfully created with the following parameters: [component_container-11] - approximate_sync : false [component_container-11] - use_indices : false [component_container-11] - latched_indices : false [component_container-11] - max_queue_size : 5 [component_container_mt-57] [INFO] [1670569893.137324500] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CalibrationStatus> [component_container_mt-57] [INFO] [1670569893.137355939] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CpuUsage> [component_container_mt-57] [INFO] [1670569893.137361840] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Diagnostics> [component_container_mt-57] [INFO] [1670569893.137365627] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Door> [component_container_mt-57] [INFO] [1670569893.137369404] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Emergency> [component_container_mt-57] [INFO] [1670569893.137372901] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Engage> [component_container_mt-57] [INFO] [1670569893.137376808] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::FailSafeState> [component_container_mt-57] [INFO] [1670569893.137380525] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate<external_api::FailSafeState> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/localization/util/voxel_grid_downsample_filter' in container '/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container' [component_container-11] [INFO] [1670569893.145397898] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::ApproximateDownsampleFilterComponent> [component_container-11] [INFO] [1670569893.146317613] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::BlockageDiagComponent> [component_container-11] [INFO] [1670569893.146825645] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::CropBoxFilterComponent> [component_container-11] [INFO] [1670569893.147232728] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::CropBoxFilterComponent> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/fail_safe_state' in container '/autoware_api/external/autoware_iv_adaptor' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/sensing/lidar/top/crop_box_filter_mirror' in container '/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/initial_pose' in container '/autoware_api/external/autoware_iv_adaptor' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/localization/util/random_downsample_filter' in container '/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container' [ad_service_state_monitor-5] [WARN] [1670569893.149431511] [system.ad_service_state_monitor]: Fail lookupTransform base_link to map [component_container_mt-57] [INFO] [1670569893.153818267] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CalibrationStatus> [component_container_mt-57] [INFO] [1670569893.153858762] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CpuUsage> [component_container_mt-57] [INFO] [1670569893.153886975] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Diagnostics> [component_container_mt-57] [INFO] [1670569893.153891925] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Door> [component_container_mt-57] [INFO] [1670569893.153896062] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Emergency> [component_container_mt-57] [INFO] [1670569893.153899990] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Engage> [component_container_mt-57] [INFO] [1670569893.153904178] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::FailSafeState> [component_container_mt-57] [INFO] [1670569893.153907734] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::InitialPose> [component_container_mt-57] [INFO] [1670569893.153911431] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate<external_api::InitialPose> [component_container_mt-57] [INFO] [1670569893.181330052] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CalibrationStatus> [component_container_mt-57] [INFO] [1670569893.181359878] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CpuUsage> [component_container_mt-57] [INFO] [1670569893.181365178] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Diagnostics> [component_container_mt-57] [INFO] [1670569893.181369115] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Door> [component_container_mt-57] [INFO] [1670569893.181375397] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Emergency> [component_container_mt-57] [INFO] [1670569893.181379084] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Engage> [component_container_mt-57] [INFO] [1670569893.181382611] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::FailSafeState> [component_container_mt-57] [INFO] [1670569893.181386147] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::InitialPose> [component_container_mt-57] [INFO] [1670569893.181389584] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::LocalizationScore> [component_container_mt-57] [INFO] [1670569893.181392900] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Map> [component_container_mt-57] [INFO] [1670569893.181396286] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate<external_api::Map> [component_container-11] [INFO] [1670569893.159692591] [sensing.lidar.top.crop_box_filter_mirror]: Filter (as Component) successfully created with the following parameters: [component_container-11] - approximate_sync : false [component_container-11] - use_indices : false [component_container-11] - latched_indices : false [component_container-11] - max_queue_size : 5 [component_container-11] [INFO] [1670569893.163939755] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::ApproximateDownsampleFilterComponent> [component_container-11] [INFO] [1670569893.163992824] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::BlockageDiagComponent> [component_container-11] [INFO] [1670569893.163999447] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::CropBoxFilterComponent> [component_container-11] [INFO] [1670569893.164031857] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::DistortionCorrectorComponent> [component_container-11] [INFO] [1670569893.164036686] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::DualReturnOutlierFilterComponent> [component_container-11] [INFO] [1670569893.164040894] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::Lanelet2MapFilterComponent> [component_container-11] [INFO] [1670569893.164068847] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PassThroughFilterComponent> [component_container-11] [INFO] [1670569893.164074708] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PassThroughFilterUInt16Component> [component_container-11] [INFO] [1670569893.164078565] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent> [component_container-11] [INFO] [1670569893.164082863] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PointcloudAccumulatorComponent> [component_container-11] [INFO] [1670569893.164086570] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PolygonRemoverComponent> [component_container-11] [INFO] [1670569893.164090638] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::RadiusSearch2DOutlierFilterComponent> [component_container-11] [INFO] [1670569893.164094906] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::RandomDownsampleFilterComponent> [component_container-11] [INFO] [1670569893.164099194] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::RandomDownsampleFilterComponent> [component_container-11] [INFO] [1670569893.172934901] [localization.util.random_downsample_filter]: Filter (as Component) successfully created with the following parameters: [component_container-11] - approximate_sync : false [component_container-11] - use_indices : false [component_container-11] - latched_indices : false [component_container-11] - max_queue_size : 5 [component_container_mt-45] [INFO] [1670569893.169315575] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate<behavior_velocity_planner::BehaviorVelocityPlannerNode> [component_container_mt-45] [INFO] [1670569893.169351382] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<behavior_velocity_planner::BehaviorVelocityPlannerNode> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/autoware_engage_relay' in container '/awapi/awapi_relay_container' [component_container-56] [INFO] [1670569893.212995526] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-56] [INFO] [1670569893.213025993] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner' in container '/planning/scenario_planning/lane_driving/behavior_planning/behavior_planning_container' [component_container-50] [WARN] [1670569893.257799495] [control.trajectory_follower.lane_departure_checker_node]: failed to get transform from map to base_link: "map" passed to lookupTransform argument target_frame does not exist. [component_container-50] [INFO] [1670569893.258783240] [control.trajectory_follower.lane_departure_checker_node]: waiting for self pose... [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/map' in container '/autoware_api/external/autoware_iv_adaptor' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/vehicle_engage_relay' in container '/awapi/awapi_relay_container' [component_container-56] [INFO] [1670569893.279948976] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-56] [INFO] [1670569893.279979704] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/put_route_relay' in container '/awapi/awapi_relay_container' [component_container-56] [INFO] [1670569893.299571780] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-56] [INFO] [1670569893.299606375] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container_mt-38] [INFO] [1670569893.302860035] [perception.traffic_light_recognition.traffic_light_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<traffic_light::TrafficLightClassifierNodelet> [component_container_mt-38] [INFO] [1670569893.302892336] [perception.traffic_light_recognition.traffic_light_node_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<traffic_light::TrafficLightClassifierNodelet> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/put_goal_relay' in container '/awapi/awapi_relay_container' [map_based_prediction-36] [INFO] [1670569893.308873321] [perception.object_recognition.prediction.map_based_prediction]: [Map Based Prediction]: Start loading lanelet [component_container-56] [INFO] [1670569893.319305962] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-56] [INFO] [1670569893.319337892] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/lane_change_approval_relay' in container '/awapi/awapi_relay_container' [component_container-56] [INFO] [1670569893.352503980] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-56] [INFO] [1670569893.352531281] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/force_lane_change_relay' in container '/awapi/awapi_relay_container' [component_container-11] [INFO] [1670569893.373986570] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::ApproximateDownsampleFilterComponent> [component_container-11] [INFO] [1670569893.374026906] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::BlockageDiagComponent> [component_container-11] [INFO] [1670569893.374033639] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::CropBoxFilterComponent> [component_container-11] [INFO] [1670569893.374038257] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::DistortionCorrectorComponent> [component_container-11] [INFO] [1670569893.374042766] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::DualReturnOutlierFilterComponent> [component_container-11] [INFO] [1670569893.374047304] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::Lanelet2MapFilterComponent> [component_container-11] [INFO] [1670569893.374051632] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PassThroughFilterComponent> [component_container-11] [INFO] [1670569893.374072111] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PassThroughFilterUInt16Component> [component_container-11] [INFO] [1670569893.374076920] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent> [component_container-11] [INFO] [1670569893.374081428] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PointcloudAccumulatorComponent> [component_container-11] [INFO] [1670569893.374085496] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PolygonRemoverComponent> [component_container-11] [INFO] [1670569893.374090956] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::RadiusSearch2DOutlierFilterComponent> [component_container-11] [INFO] [1670569893.374094913] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::RandomDownsampleFilterComponent> [component_container-11] [INFO] [1670569893.374098841] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::RingOutlierFilterComponent> [component_container-11] [INFO] [1670569893.374102808] [sensing.lidar.top.pointcloud_preprocessor.velodyne_node_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::RingOutlierFilterComponent> [component_container-56] [INFO] [1670569893.382698976] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-56] [INFO] [1670569893.382735124] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container_mt-57] [INFO] [1670569893.395940905] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CalibrationStatus> [component_container_mt-57] [INFO] [1670569893.395973687] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CpuUsage> [component_container_mt-57] [INFO] [1670569893.395979638] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Diagnostics> [component_container_mt-57] [INFO] [1670569893.395983616] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Door> [component_container_mt-57] [INFO] [1670569893.395987703] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Emergency> [component_container_mt-57] [INFO] [1670569893.395991550] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Engage> [component_container_mt-57] [INFO] [1670569893.395995478] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::FailSafeState> [component_container_mt-57] [INFO] [1670569893.395999024] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::InitialPose> [component_container_mt-57] [INFO] [1670569893.396019002] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::LocalizationScore> [component_container_mt-57] [INFO] [1670569893.396023911] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Map> [component_container_mt-57] [INFO] [1670569893.396027768] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::MetadataPackages> [component_container_mt-57] [INFO] [1670569893.396031355] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Operator> [component_container_mt-57] [INFO] [1670569893.396034892] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate<external_api::Operator> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/external_approval_relay' in container '/awapi/awapi_relay_container' [component_container-56] [INFO] [1670569893.419600829] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-56] [INFO] [1670569893.419633951] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-13] [INFO] [1670569893.438544990] [sensing.lidar.right.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::ApproximateDownsampleFilterComponent> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/operator' in container '/autoware_api/external/autoware_iv_adaptor' [component_container-13] [INFO] [1670569893.446539660] [sensing.lidar.right.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::BlockageDiagComponent> [component_container-13] [INFO] [1670569893.446553095] [sensing.lidar.right.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::CropBoxFilterComponent> [component_container-13] [INFO] [1670569893.446558125] [sensing.lidar.right.pointcloud_preprocessor.velodyne_node_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::CropBoxFilterComponent> [component_container-11] [INFO] [1670569893.450579465] [sensing.lidar.top.ring_outlier_filter]: Filter (as Component) successfully created with the following parameters: [component_container-11] - approximate_sync : false [component_container-11] - use_indices : false [component_container-11] - latched_indices : false [component_container-11] - max_queue_size : 5 [component_container_mt-57] [INFO] [1670569893.455502516] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CalibrationStatus> [component_container_mt-57] [INFO] [1670569893.455532292] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CpuUsage> [component_container_mt-57] [INFO] [1670569893.455537772] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Diagnostics> [component_container_mt-57] [INFO] [1670569893.455541589] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Door> [component_container_mt-57] [INFO] [1670569893.455545436] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Emergency> [component_container_mt-57] [INFO] [1670569893.455549073] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Engage> [component_container_mt-57] [INFO] [1670569893.455552469] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::FailSafeState> [component_container_mt-57] [INFO] [1670569893.455555976] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::InitialPose> [component_container_mt-57] [INFO] [1670569893.455559643] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::LocalizationScore> [component_container_mt-57] [INFO] [1670569893.455563119] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Map> [component_container_mt-57] [INFO] [1670569893.455566726] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::MetadataPackages> [component_container_mt-57] [INFO] [1670569893.455570433] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate<external_api::MetadataPackages> [component_container-13] [INFO] [1670569893.465912966] [sensing.lidar.right.crop_box_filter_self]: Filter (as Component) successfully created with the following parameters: [component_container-13] - approximate_sync : false [component_container-13] - use_indices : false [component_container-13] - latched_indices : false [component_container-13] - max_queue_size : 5 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/sensing/lidar/top/ring_outlier_filter' in container '/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/sensing/lidar/right/crop_box_filter_self' in container '/sensing/lidar/right/pointcloud_preprocessor/velodyne_node_container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/force_approval_relay' in container '/awapi/awapi_relay_container' [component_container-13] [INFO] [1670569893.485341094] [sensing.lidar.right.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::ApproximateDownsampleFilterComponent> [component_container-56] [INFO] [1670569893.485477861] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-56] [INFO] [1670569893.485526822] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-13] [INFO] [1670569893.491185262] [sensing.lidar.right.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::BlockageDiagComponent> [component_container-13] [INFO] [1670569893.491198998] [sensing.lidar.right.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::CropBoxFilterComponent> [component_container-13] [INFO] [1670569893.491204839] [sensing.lidar.right.pointcloud_preprocessor.velodyne_node_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::CropBoxFilterComponent> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/metadata_packages' in container '/autoware_api/external/autoware_iv_adaptor' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/obstacle_avoid_approval_relay' in container '/awapi/awapi_relay_container' [component_container_mt-57] [INFO] [1670569893.497467281] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CalibrationStatus> [component_container_mt-57] [INFO] [1670569893.497501275] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CpuUsage> [component_container_mt-57] [INFO] [1670569893.497506765] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Diagnostics> [component_container_mt-57] [INFO] [1670569893.497511133] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Door> [component_container_mt-57] [INFO] [1670569893.497515692] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Emergency> [component_container_mt-57] [INFO] [1670569893.497521002] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Engage> [component_container_mt-57] [INFO] [1670569893.497526182] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::FailSafeState> [component_container_mt-57] [INFO] [1670569893.497529478] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::InitialPose> [component_container_mt-57] [INFO] [1670569893.497532984] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::LocalizationScore> [component_container_mt-57] [INFO] [1670569893.497536501] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Map> [component_container_mt-57] [INFO] [1670569893.497560205] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::MetadataPackages> [component_container_mt-57] [INFO] [1670569893.497564383] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Operator> [component_container_mt-57] [INFO] [1670569893.497567960] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::RTCController> [component_container_mt-57] [INFO] [1670569893.497571447] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::RosbagLoggingMode> [component_container_mt-57] [INFO] [1670569893.497575174] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Route> [component_container_mt-57] [INFO] [1670569893.497578840] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate<external_api::Route> [component_container-56] [INFO] [1670569893.502467316] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-56] [INFO] [1670569893.502495690] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [ndt_scan_matcher-19] [WARN] [1670569893.507471199] [localization.pose_estimator.ndt_scan_matcher]: No Pose! [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/traffic_signal_relay' in container '/awapi/awapi_relay_container' [component_container-56] [INFO] [1670569893.525190974] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-56] [INFO] [1670569893.525224778] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/route' in container '/autoware_api/external/autoware_iv_adaptor' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/overwrite_traffic_signals_relay' in container '/awapi/awapi_relay_container' [component_container_mt-57] [INFO] [1670569893.535486168] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CalibrationStatus> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/sensing/lidar/right/crop_box_filter_mirror' in container '/sensing/lidar/right/pointcloud_preprocessor/velodyne_node_container' [component_container_mt-57] [INFO] [1670569893.535519380] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CpuUsage> [component_container_mt-57] [INFO] [1670569893.535524941] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Diagnostics> [component_container_mt-57] [INFO] [1670569893.535529099] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Door> [component_container_mt-57] [INFO] [1670569893.535533046] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Emergency> [component_container_mt-57] [INFO] [1670569893.535536953] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Engage> [component_container_mt-57] [INFO] [1670569893.535540710] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::FailSafeState> [component_container_mt-57] [INFO] [1670569893.535544618] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::InitialPose> [component_container_mt-57] [INFO] [1670569893.535548274] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::LocalizationScore> [component_container_mt-57] [INFO] [1670569893.535551861] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Map> [component_container_mt-57] [INFO] [1670569893.535555488] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::MetadataPackages> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/speed_exceeded_relay' in container '/awapi/awapi_relay_container' [component_container_mt-57] [INFO] [1670569893.535559065] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Operator> [component_container_mt-57] [INFO] [1670569893.535562712] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::RTCController> [component_container_mt-57] [INFO] [1670569893.535566298] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate<external_api::RTCController> [component_container-13] [INFO] [1670569893.540659558] [sensing.lidar.right.crop_box_filter_mirror]: Filter (as Component) successfully created with the following parameters: [component_container-13] - approximate_sync : false [component_container-13] - use_indices : false [component_container-13] - latched_indices : false [component_container-13] - max_queue_size : 5 [component_container-56] [INFO] [1670569893.551700120] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-56] [INFO] [1670569893.551734685] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-56] [INFO] [1670569893.591607818] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-56] [INFO] [1670569893.591666959] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-13] [INFO] [1670569893.565269343] [sensing.lidar.right.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::ApproximateDownsampleFilterComponent> [component_container-13] [INFO] [1670569893.565303256] [sensing.lidar.right.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::BlockageDiagComponent> [component_container-13] [INFO] [1670569893.565309648] [sensing.lidar.right.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::CropBoxFilterComponent> [component_container-13] [INFO] [1670569893.565314137] [sensing.lidar.right.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::DistortionCorrectorComponent> [component_container-13] [INFO] [1670569893.565318044] [sensing.lidar.right.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::DualReturnOutlierFilterComponent> [component_container-13] [INFO] [1670569893.565322212] [sensing.lidar.right.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::Lanelet2MapFilterComponent> [component_container-13] [INFO] [1670569893.565353320] [sensing.lidar.right.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PassThroughFilterComponent> [component_container-13] [INFO] [1670569893.565723344] [sensing.lidar.right.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PassThroughFilterUInt16Component> [component_container-13] [INFO] [1670569893.565729145] [sensing.lidar.right.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent> [component_container-13] [INFO] [1670569893.565733683] [sensing.lidar.right.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PointcloudAccumulatorComponent> [component_container-13] [INFO] [1670569893.565737721] [sensing.lidar.right.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PolygonRemoverComponent> [component_container-13] [INFO] [1670569893.565741578] [sensing.lidar.right.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::RadiusSearch2DOutlierFilterComponent> [component_container-13] [INFO] [1670569893.565745505] [sensing.lidar.right.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::RandomDownsampleFilterComponent> [component_container-13] [INFO] [1670569893.565749343] [sensing.lidar.right.pointcloud_preprocessor.velodyne_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::RingOutlierFilterComponent> [component_container-13] [INFO] [1670569893.565753270] [sensing.lidar.right.pointcloud_preprocessor.velodyne_node_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::RingOutlierFilterComponent> [ndt_scan_matcher-19] [WARN] [1670569893.588621519] [localization.pose_estimator.ndt_scan_matcher]: No Pose! [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/rtc_controller' in container '/autoware_api/external/autoware_iv_adaptor' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/crosswalk_status_relay' in container '/awapi/awapi_relay_container' [component_container-56] [INFO] [1670569893.658232883] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-56] [INFO] [1670569893.658276474] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-13] [INFO] [1670569893.658829341] [sensing.lidar.right.ring_outlier_filter]: Filter (as Component) successfully created with the following parameters: [component_container-13] - approximate_sync : false [component_container-13] - use_indices : false [component_container-13] - latched_indices : false [component_container-13] - max_queue_size : 5 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/sensing/lidar/right/ring_outlier_filter' in container '/sensing/lidar/right/pointcloud_preprocessor/velodyne_node_container' [ndt_scan_matcher-19] [WARN] [1670569893.694143096] [localization.pose_estimator.ndt_scan_matcher]: No Pose! [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/intersection_status_relay' in container '/awapi/awapi_relay_container' [component_container-56] [INFO] [1670569893.719076617] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-56] [INFO] [1670569893.719122914] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [rosbridge_websocket-62] [INFO] [1670569893.738614551] [rosbridge_websocket]: Rosbridge WebSocket server started on port 9090 [component_container_mt-57] [INFO] [1670569893.752853841] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CalibrationStatus> [component_container_mt-57] [INFO] [1670569893.752887093] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CpuUsage> [component_container_mt-57] [INFO] [1670569893.752897092] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Diagnostics> [component_container_mt-57] [INFO] [1670569893.752901630] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Door> [component_container_mt-57] [INFO] [1670569893.752905457] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Emergency> [component_container_mt-57] [INFO] [1670569893.752909284] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Engage> [component_container_mt-57] [INFO] [1670569893.752913021] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::FailSafeState> [component_container_mt-57] [INFO] [1670569893.752938068] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::InitialPose> [component_container_mt-57] [INFO] [1670569893.752942256] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::LocalizationScore> [component_container_mt-57] [INFO] [1670569893.752945733] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Map> [component_container_mt-57] [INFO] [1670569893.752949330] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::MetadataPackages> [component_container_mt-57] [INFO] [1670569893.752952716] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Operator> [component_container_mt-57] [INFO] [1670569893.752956032] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::RTCController> [component_container_mt-57] [INFO] [1670569893.752959428] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::RosbagLoggingMode> [component_container_mt-57] [INFO] [1670569893.752962825] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Route> [component_container_mt-57] [INFO] [1670569893.752966101] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Service> [component_container_mt-57] [INFO] [1670569893.752969497] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate<external_api::Service> [component_container_mt-4] [ERROR] [1670569893.763262828] [system.system_monitor.hdd_monitor]: Failed to execute findmnt. /dev/sda3 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/expand_stop_range_relay' in container '/awapi/awapi_relay_container' [ndt_scan_matcher-19] [WARN] [1670569893.769598437] [localization.pose_estimator.ndt_scan_matcher]: No Pose! [component_container-56] [INFO] [1670569893.771383414] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [component_container-56] [INFO] [1670569893.771410325] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<topic_tools::RelayNode> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/pose_initialization_request_relay' in container '/awapi/awapi_relay_container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/service' in container '/autoware_api/external/autoware_iv_adaptor' [component_container_mt-57] [INFO] [1670569893.843945421] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CalibrationStatus> [component_container_mt-57] [INFO] [1670569893.843974485] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CpuUsage> [component_container_mt-57] [INFO] [1670569893.843980005] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Diagnostics> [component_container_mt-57] [INFO] [1670569893.843984354] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Door> [component_container_mt-57] [INFO] [1670569893.843988431] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Emergency> [component_container_mt-57] [INFO] [1670569893.843992359] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Engage> [component_container_mt-57] [INFO] [1670569893.843995945] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::FailSafeState> [component_container_mt-57] [INFO] [1670569893.843999602] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::InitialPose> [component_container_mt-57] [INFO] [1670569893.844002959] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::LocalizationScore> [component_container_mt-57] [INFO] [1670569893.844006235] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Map> [component_container_mt-57] [INFO] [1670569893.844009671] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::MetadataPackages> [component_container_mt-57] [INFO] [1670569893.844013087] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Operator> [component_container_mt-57] [INFO] [1670569893.844016434] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::RTCController> [component_container_mt-57] [INFO] [1670569893.844019750] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::RosbagLoggingMode> [component_container_mt-57] [INFO] [1670569893.844023136] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Route> [component_container_mt-57] [INFO] [1670569893.844026513] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Service> [component_container_mt-57] [INFO] [1670569893.844041881] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Start> [component_container_mt-57] [INFO] [1670569893.844046039] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::VehicleStatus> [component_container_mt-57] [INFO] [1670569893.844049626] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate<external_api::VehicleStatus> [ndt_scan_matcher-19] [WARN] [1670569893.868904660] [localization.pose_estimator.ndt_scan_matcher]: No Pose! [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/vehicle_status' in container '/autoware_api/external/autoware_iv_adaptor' [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-57] [INFO] [1670569893.934587468] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CalibrationStatus> [component_container_mt-57] [INFO] [1670569893.934616833] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CpuUsage> [component_container_mt-57] [INFO] [1670569893.934622483] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Diagnostics> [component_container_mt-57] [INFO] [1670569893.934626471] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Door> [component_container_mt-57] [INFO] [1670569893.934630318] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Emergency> [component_container_mt-57] [INFO] [1670569893.934633985] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Engage> [component_container_mt-57] [INFO] [1670569893.934637902] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::FailSafeState> [component_container_mt-57] [INFO] [1670569893.934641850] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::InitialPose> [component_container_mt-57] [INFO] [1670569893.934645567] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::LocalizationScore> [component_container_mt-57] [INFO] [1670569893.934649003] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Map> [component_container_mt-57] [INFO] [1670569893.934652690] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::MetadataPackages> [component_container_mt-57] [INFO] [1670569893.934656197] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Operator> [component_container_mt-57] [INFO] [1670569893.934660154] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::RTCController> [component_container_mt-57] [INFO] [1670569893.934663470] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::RosbagLoggingMode> [component_container_mt-57] [INFO] [1670569893.934667187] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Route> [component_container_mt-57] [INFO] [1670569893.934670764] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Service> [component_container_mt-57] [INFO] [1670569893.934674220] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Start> [component_container_mt-57] [INFO] [1670569893.934677497] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::VehicleStatus> [component_container_mt-57] [INFO] [1670569893.934681214] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Velocity> [component_container_mt-57] [INFO] [1670569893.934684991] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate<external_api::Velocity> [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [web_server.py-52] * Debugger is active! [web_server.py-52] * Debugger PIN: 327-034-783 [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/velocity' in container '/autoware_api/external/autoware_iv_adaptor' [ndt_scan_matcher-19] [WARN] [1670569893.970457546] [localization.pose_estimator.ndt_scan_matcher]: No Pose! [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-57] [INFO] [1670569893.979073851] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CalibrationStatus> [component_container_mt-57] [INFO] [1670569893.979106553] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::CpuUsage> [component_container_mt-57] [INFO] [1670569893.979112133] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Diagnostics> [component_container_mt-57] [INFO] [1670569893.979116441] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Door> [component_container_mt-57] [INFO] [1670569893.979137701] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Emergency> [component_container_mt-57] [INFO] [1670569893.979142580] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Engage> [component_container_mt-57] [INFO] [1670569893.979146007] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::FailSafeState> [component_container_mt-57] [INFO] [1670569893.979150044] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::InitialPose> [component_container_mt-57] [INFO] [1670569893.979153591] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::LocalizationScore> [component_container_mt-57] [INFO] [1670569893.979157007] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Map> [component_container_mt-57] [INFO] [1670569893.979160504] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::MetadataPackages> [component_container_mt-57] [INFO] [1670569893.979164131] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Operator> [component_container_mt-57] [INFO] [1670569893.979167748] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::RTCController> [component_container_mt-57] [INFO] [1670569893.979171214] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::RosbagLoggingMode> [component_container_mt-57] [INFO] [1670569893.979174600] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Route> [component_container_mt-57] [INFO] [1670569893.979178027] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Service> [component_container_mt-57] [INFO] [1670569893.979181714] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Start> [component_container_mt-57] [INFO] [1670569893.979185080] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::VehicleStatus> [component_container_mt-57] [INFO] [1670569893.979188336] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Velocity> [component_container_mt-57] [INFO] [1670569893.979191682] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate<external_api::Version> [component_container_mt-57] [INFO] [1670569893.979194959] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate<external_api::Version> [aggregator_node-6] [ERROR] [1670569893.982258853] [generic_analyzer_base]: Attempting to convert 111 into DiagnosticLevel. [aggregator_node-6] Values are: {0: OK, 1: Warning, 2: Error, 3: Stale} [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-4] [INFO] [1670569894.014752721] [system.system_monitor.gpu_monitor]: GPUMonitorBase::checkTemp not implemented. [component_container_mt-4] [INFO] [1670569894.014801252] [system.system_monitor.gpu_monitor]: GPUMonitorBase::checkUsage not implemented. [component_container_mt-4] [INFO] [1670569894.014810820] [system.system_monitor.gpu_monitor]: GPUMonitorBase::checkMemoryUsage not implemented. [component_container_mt-4] [INFO] [1670569894.014817322] [system.system_monitor.gpu_monitor]: GPUMonitorBase::checkThrottling not implemented. [component_container_mt-4] [INFO] [1670569894.014840155] [system.system_monitor.gpu_monitor]: GPUMonitorBase::checkFrequency not implemented. [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/version' in container '/autoware_api/external/autoware_iv_adaptor' [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [ndt_scan_matcher-19] [WARN] [1670569894.080774474] [localization.pose_estimator.ndt_scan_matcher]: No Pose! [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] [WARN] [1670569894.091481039] [perception.traffic_light_recognition.traffic_light_map_based_detector]: cannot get transform from map frame to camera frame [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [automatic_pose_initializer-18] [INFO] [1670569894.095677448] [localization.util.default_ad_api.helpers.automatic_pose_initializer]: client call: /api/localization/initialize [automatic_pose_initializer-18] pose: [] [automatic_pose_initializer-18] [component_container_mt-51] [INFO] [1670569894.095793435] [default_ad_api.node.localization]: service call: /api/localization/initialize [component_container_mt-51] pose: [] [component_container_mt-51] [component_container_mt-51] [INFO] [1670569894.096144243] [default_ad_api.node.localization]: client call: /localization/initialize [component_container_mt-51] pose: [] [component_container_mt-51] [component_container_mt-51] [INFO] [1670569894.096400894] [default_ad_api.node.localization]: client exit: /localization/initialize [component_container_mt-51] status: [component_container_mt-51] success: false [component_container_mt-51] code: 1 [component_container_mt-51] message: "The vehicle is not stopped." [component_container_mt-51] [pose_initializer_node-17] [INFO] [1670569894.096222279] [localization.util.pose_initializer_node]: service call: /localization/initialize [pose_initializer_node-17] pose: [] [pose_initializer_node-17] [pose_initializer_node-17] [INFO] [1670569894.096270149] [localization.util.pose_initializer_node]: service exit: /localization/initialize [pose_initializer_node-17] status: [pose_initializer_node-17] success: false [pose_initializer_node-17] code: 1 [pose_initializer_node-17] message: "The vehicle is not stopped." [pose_initializer_node-17] [component_container_mt-51] [INFO] [1670569894.096448614] [default_ad_api.node.localization]: service exit: /api/localization/initialize [component_container_mt-51] status: [component_container_mt-51] success: false [component_container_mt-51] code: 1 [component_container_mt-51] message: "The vehicle is not stopped." [component_container_mt-51] [automatic_pose_initializer-18] [INFO] [1670569894.096579018] [localization.util.default_ad_api.helpers.automatic_pose_initializer]: client exit: /api/localization/initialize [automatic_pose_initializer-18] status: [automatic_pose_initializer-18] success: false [automatic_pose_initializer-18] code: 1 [automatic_pose_initializer-18] message: "The vehicle is not stopped." [automatic_pose_initializer-18] [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [map_based_prediction-36] [INFO] [1670569894.118601651] [perception.object_recognition.prediction.map_based_prediction]: [Map Based Prediction]: Map is loaded [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [ndt_scan_matcher-19] [WARN] [1670569894.183132229] [localization.pose_estimator.ndt_scan_matcher]: No Pose! [system_error_monitor-7] [WARN] [1670569894.183165341] [system.system_error_monitor]: input data is timeout [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-38] [TRT_COMMON][INFO]: [MemUsageChange] Init CUDA: CPU +329, GPU +0, now: CPU 357, GPU 769 (MiB) [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-38] [TRT_COMMON][INFO]: Loaded engine size: 4 MiB [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [rviz2-66] [INFO] [1670569894.261357133] [rviz2]: Stereo is NOT SUPPORTED [rviz2-66] [INFO] [1670569894.261505902] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [rviz2-66] [INFO] [1670569894.358554602] [rviz2]: Stereo is NOT SUPPORTED [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [ndt_scan_matcher-19] [WARN] [1670569894.367353099] [localization.pose_estimator.ndt_scan_matcher]: No Pose! [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [ndt_scan_matcher-19] [WARN] [1670569894.466576687] [localization.pose_estimator.ndt_scan_matcher]: No Pose! [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-2] [WARN] [1670569894.534637554] [sensing.lidar.concatenate_data]: New subscription discovered on topic '/sensing/lidar/concatenated/pointcloud', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [ndt_scan_matcher-19] [WARN] [1670569894.570222607] [localization.pose_estimator.ndt_scan_matcher]: No Pose! [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-2] [WARN] [1670569894.578674375] [perception.obstacle_segmentation.occupancy_grid_map_outlier_filter]: New subscription discovered on topic '/perception/obstacle_segmentation/pointcloud', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [rviz2-66] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [rviz2-66] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [ndt_scan_matcher-19] [WARN] [1670569894.728003993] [localization.pose_estimator.ndt_scan_matcher]: No Pose! [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-4] [ERROR] [1670569894.742263030] [system.system_monitor.hdd_monitor]: Failed to execute findmnt. /dev/sda3 [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [rviz2-66] [INFO] [1670569894.758686274] [rviz2]: Stereo is NOT SUPPORTED [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [ndt_scan_matcher-19] [WARN] [1670569894.867172139] [localization.pose_estimator.ndt_scan_matcher]: No Pose! [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-38] [TRT_COMMON][INFO]: [MemUsageChange] Init cuBLAS/cuBLASLt: CPU +872, GPU +532, now: CPU 1262, GPU 1308 (MiB) [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map/pointcloud_map_loader' in container '/map/map_container' [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container-9] [INFO] [1670569894.941544500] [map.map_container]: Load Library: /autoware/install/map_tf_generator/lib/libvector_map_tf_generator_node.so [component_container-9] [INFO] [1670569894.944245695] [map.map_container]: Found class: rclcpp_components::NodeFactoryTemplate<VectorMapTFGeneratorNode> [component_container-9] [INFO] [1670569894.944267255] [map.map_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<VectorMapTFGeneratorNode> [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map/vector_map_tf_generator' in container '/map/map_container' [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [ndt_scan_matcher-19] [WARN] [1670569894.970496225] [localization.pose_estimator.ndt_scan_matcher]: No Pose! [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] [WARN] [1670569894.979501360] [perception.occupancy_grid_map.occupancy_grid_map_node]: "map" passed to lookupTransform argument target_frame does not exist. [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-38] [TRT_COMMON][INFO]: [MemUsageChange] Init cuDNN: CPU +127, GPU +60, now: CPU 1389, GPU 1368 (MiB) [component_container_mt-38] [TRT_COMMON][INFO]: [MemUsageChange] TensorRT-managed allocation in engine deserialization: CPU +0, GPU +4, now: CPU 0, GPU 4 (MiB) [component_container_mt-38] [TRT_COMMON][INFO]: [MemUsageChange] Init cuBLAS/cuBLASLt: CPU +0, GPU +10, now: CPU 1377, GPU 1360 (MiB) [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-38] [TRT_COMMON][INFO]: [MemUsageChange] Init cuDNN: CPU +0, GPU +8, now: CPU 1377, GPU 1368 (MiB) [component_container_mt-38] [TRT_COMMON][INFO]: [MemUsageChange] TensorRT-managed allocation in IExecutionContext creation: CPU +0, GPU +4, now: CPU 0, GPU 8 (MiB) [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/perception/traffic_light_recognition/traffic_light_classifier' in container '/perception/traffic_light_recognition/traffic_light_node_container' [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-38] [INFO] [1670569895.003296257] [perception.traffic_light_recognition.traffic_light_node_container]: Load Library: /autoware/install/traffic_light_visualization/lib/libtraffic_light_roi_visualizer_nodelet.so [component_container_mt-38] [INFO] [1670569895.004865459] [perception.traffic_light_recognition.traffic_light_node_container]: Found class: rclcpp_components::NodeFactoryTemplate<traffic_light::TrafficLightRoiVisualizerNodelet> [component_container_mt-38] [INFO] [1670569895.004877782] [perception.traffic_light_recognition.traffic_light_node_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<traffic_light::TrafficLightRoiVisualizerNodelet> [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/perception/traffic_light_recognition/traffic_light_roi_visualizer' in container '/perception/traffic_light_recognition/traffic_light_node_container' [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container_mt-25] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_mt-25] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container-9] [INFO] [1670569895.026848067] [map.vector_map_tf_generator]: broadcast static tf. map_frame:map, viewer_frame:viewer, x:81606.8, y:50295.4, z:38.729 [traffic_light_map_based_detector_node-37] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [traffic_light_map_based_detector_node-37] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [ndt_scan_matcher-19] [WARN] [1670569895.107715236] [localization.pose_estimator.ndt_scan_matcher]: No Pose! [automatic_pose_initializer-18] [INFO] [1670569895.109851742] [localization.util.default_ad_api.helpers.automatic_pose_initializer]: client call: /api/localization/initialize [automatic_pose_initializer-18] pose: [] [automatic_pose_initializer-18] [component_container_mt-51] [INFO] [1670569895.110110868] [default_ad_api.node.localization]: service call: /api/localization/initialize [component_container_mt-51] pose: [] [component_container_mt-51] [component_container_mt-51] [INFO] [1670569895.110485561] [default_ad_api.node.localization]: client call: /localization/initialize [component_container_mt-51] pose: [] [component_container_mt-51] [pose_initializer_node-17] [INFO] [1670569895.110555171] [localization.util.pose_initializer_node]: service call: /localization/initialize [pose_initializer_node-17] pose: [] [pose_initializer_node-17] [pose_initializer_node-17] [INFO] [1670569895.111160807] [localization.util.pose_initializer_node]: Call NDT align server. [ndt_scan_matcher-19] [WARN] [1670569895.111324053] [localization.pose_estimator.ndt_scan_matcher]: Could not find a connection between 'map' and 'gnss_link' because they are not part of the same tree.Tf has two or more unconnected trees. [ndt_scan_matcher-19] [ERROR] [1670569895.111348759] [localization.pose_estimator.ndt_scan_matcher]: Please publish TF map to gnss_link [ndt_scan_matcher-19] [WARN] [1670569895.111365931] [localization.pose_estimator.ndt_scan_matcher]: No InputTarget [pose_initializer_node-17] [INFO] [1670569895.111447304] [localization.util.pose_initializer_node]: NDT align server failed. [pose_initializer_node-17] [INFO] [1670569895.111485035] [localization.util.pose_initializer_node]: service exit: /localization/initialize [pose_initializer_node-17] status: [pose_initializer_node-17] success: false [pose_initializer_node-17] code: 4 [pose_initializer_node-17] message: "NDT align server failed." [pose_initializer_node-17] [component_container_mt-51] [INFO] [1670569895.111568561] [default_ad_api.node.localization]: client exit: /localization/initialize [component_container_mt-51] status: [component_container_mt-51] success: false [component_container_mt-51] code: 4 [component_container_mt-51] message: "NDT align server failed." [component_container_mt-51] [component_container_mt-51] [INFO] [1670569895.111570685] [default_ad_api.node.localization]: service exit: /api/localization/initialize [component_container_mt-51] status: [component_container_mt-51] success: false [component_container_mt-51] code: 4 [component_container_mt-51] message: "NDT align server failed." [component_container_mt-51] [automatic_pose_initializer-18] [INFO] [1670569895.111707081] [localization.util.default_ad_api.helpers.automatic_pose_initializer]: client exit: /api/localization/initialize [automatic_pose_initializer-18] status: [automatic_pose_initializer-18] success: false [automatic_pose_initializer-18] code: 4 [automatic_pose_initializer-18] message: "NDT align server failed." [automatic_pose_initializer-18] [ndt_scan_matcher-19] [WARN] [1670569895.192535056] [localization.pose_estimator.ndt_scan_matcher]: No Pose! [ndt_scan_matcher-19] [WARN] [1670569895.299651814] [localization.pose_estimator.ndt_scan_matcher]: No Pose! [system_error_monitor-7] [WARN] [1670569895.301136117] [system.system_error_monitor]: input data is timeout [ndt_scan_matcher-19] [WARN] [1670569895.371280631] [localization.pose_estimator.ndt_scan_matcher]: No Pose! [ndt_scan_matcher-19] [WARN] [1670569895.483897822] [localization.pose_estimator.ndt_scan_matcher]: No Pose! [component_container_mt-25] [WARN] [1670569895.513685025] [perception.occupancy_grid_map.occupancy_grid_map_node]: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees. [ndt_scan_matcher-19] [WARN] [1670569895.600178112] [localization.pose_estimator.ndt_scan_matcher]: No Pose! [component_container_mt-4] [ERROR] [1670569895.739079898] [system.system_monitor.hdd_monitor]: Failed to execute findmnt. /dev/sda3 [component_container_mt-25] [WARN] [1670569895.997192399] [perception.occupancy_grid_map.occupancy_grid_map_node]: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees. [automatic_pose_initializer-18] [INFO] [1670569896.151195130] [localization.util.default_ad_api.helpers.automatic_pose_initializer]: client call: /api/localization/initialize [automatic_pose_initializer-18] pose: [] [automatic_pose_initializer-18] [component_container_mt-51] [INFO] [1670569896.151375267] [default_ad_api.node.localization]: service call: /api/localization/initialize [component_container_mt-51] pose: [] [component_container_mt-51] [component_container_mt-51] [INFO] [1670569896.151839348] [default_ad_api.node.localization]: client call: /localization/initialize [component_container_mt-51] pose: [] [component_container_mt-51] [pose_initializer_node-17] [INFO] [1670569896.151922514] [localization.util.pose_initializer_node]: service call: /localization/initialize [pose_initializer_node-17] pose: [] [pose_initializer_node-17] [map_height_fitter-16] [WARN] [1670569896.152424966] [localization.util.map_height_fitter]: failed to lookup transform: Could not find a connection between 'map' and 'gnss_link' because they are not part of the same tree.Tf has two or more unconnected trees. [pose_initializer_node-17] [INFO] [1670569896.153002098] [localization.util.pose_initializer_node]: Call NDT align server. [system_error_monitor-7] [WARN] [1670569896.402036126] [system.system_error_monitor]: input data is timeout [component_container_mt-25] [WARN] [1670569896.501479546] [perception.occupancy_grid_map.occupancy_grid_map_node]: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees. [component_container_mt-4] [ERROR] [1670569896.722945513] [system.system_monitor.hdd_monitor]: Failed to execute findmnt. /dev/sda3 [ndt_scan_matcher-19] [WARN] [1670569896.746732975] [localization.pose_estimator.ndt_scan_matcher]: No Pose! [ndt_scan_matcher-19] [WARN] [1670569896.746838092] [localization.pose_estimator.ndt_scan_matcher]: Could not find a connection between 'map' and 'gnss_link' because they are not part of the same tree.Tf has two or more unconnected trees. [ndt_scan_matcher-19] [ERROR] [1670569896.746866786] [localization.pose_estimator.ndt_scan_matcher]: Please publish TF map to gnss_link [rviz2-66] [INFO] [1670569896.888380139] [rviz2]: Message Filter dropping message: frame 'base_link' at time 708.790 for reason 'discarding message because the queue is full' [component_container_mt-25] [WARN] [1670569897.045041665] [perception.occupancy_grid_map.occupancy_grid_map_node]: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees. [system_error_monitor-7] [ERROR] [1670569897.088615317] [system_error_monitor system_error_monitor/input_data_timeout]: [Single Point Fault]: [rviz2-66] [INFO] [1670569897.112480966] [rviz2]: Message Filter dropping message: frame 'base_link' at time 708.990 for reason 'discarding message because the queue is full' [pose_initializer_node-17] [INFO] [1670569897.185254680] [localization.util.pose_initializer_node]: NDT align server succeeded. [ndt_scan_matcher-19] [WARN] [1670569897.185293392] [localization.pose_estimator.ndt_scan_matcher]: No Pose! [pose_initializer_node-17] [INFO] [1670569897.185502454] [localization.util.pose_initializer_node]: service exit: /localization/initialize [pose_initializer_node-17] status: [pose_initializer_node-17] success: true [pose_initializer_node-17] code: 0 [pose_initializer_node-17] message: "" [pose_initializer_node-17] [component_container_mt-51] [INFO] [1670569897.185662515] [default_ad_api.node.localization]: client exit: /localization/initialize [component_container_mt-51] status: [component_container_mt-51] success: true [component_container_mt-51] code: 0 [component_container_mt-51] message: "" [component_container_mt-51] [component_container_mt-51] [INFO] [1670569897.185724050] [default_ad_api.node.localization]: service exit: /api/localization/initialize [component_container_mt-51] status: [component_container_mt-51] success: true [component_container_mt-51] code: 0 [component_container_mt-51] message: "" [component_container_mt-51] [automatic_pose_initializer-18] [INFO] [1670569897.185890813] [localization.util.default_ad_api.helpers.automatic_pose_initializer]: client exit: /api/localization/initialize [automatic_pose_initializer-18] status: [automatic_pose_initializer-18] success: true [automatic_pose_initializer-18] code: 0 [automatic_pose_initializer-18] message: "" [automatic_pose_initializer-18] [ndt_scan_matcher-19] [WARN] [1670569897.194836927] [localization.pose_estimator.ndt_scan_matcher]: No Pose! [ekf_localizer-21] [WARN] [1670569897.290964880] [localization.pose_twist_fusion_filter.ekf_localizer]: Twist delay exceeds the compensation limit, ignored. delay: 0.000000[s], limit = extend_state_step * ekf_dt : 0.000000 [s] [scenario_selector-42] [INFO] [1670569897.300441369] [planning.scenario_planning.scenario_selector]: Waiting for lanelet map. [rviz2-66] [INFO] [1670569897.400098740] [rviz2]: Message Filter dropping message: frame 'base_link' at time 709.290 for reason 'discarding message because the queue is full' [rviz2-66] [INFO] [1670569897.464081731] [rviz2]: Message Filter dropping message: frame 'base_link' at time 709.490 for reason 'discarding message because the queue is full' [system_error_monitor-7] [INFO] [1670569897.498848630] [system.system_error_monitor]: waiting for current_gate_mode msg... [system_error_monitor-7] [WARN] [1670569897.498891711] [system.system_error_monitor]: input data is timeout [component_container_mt-25] [WARN] [1670569897.606104569] [perception.occupancy_grid_map.occupancy_grid_map_node]: Lookup would require extrapolation into the past. Requested time 710.789984 but the earliest data is at time 711.349984, when looking up transform from frame [base_link] to frame [map] [component_container-26] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [component_container_mt-47] [INFO] [1670569897.614599998] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Load Library: /autoware/install/obstacle_stop_planner/lib/libobstacle_stop_planner.so [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner' in container '/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container' [component_container_mt-47] [INFO] [1670569897.627995866] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate<motion_planning::ObstacleStopPlannerNode> [component_container_mt-47] [INFO] [1670569897.628026654] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<motion_planning::ObstacleStopPlannerNode> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner' in container '/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container' [component_container_mt-47] [INFO] [1670569897.663140804] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Load Library: /autoware/install/surround_obstacle_checker/lib/libsurround_obstacle_checker.so [component_container_mt-47] [INFO] [1670569897.664960506] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate<surround_obstacle_checker::SurroundObstacleCheckerNode> [component_container_mt-47] [INFO] [1670569897.664974713] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<surround_obstacle_checker::SurroundObstacleCheckerNode> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker' in container '/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container' [component_container_mt-4] [ERROR] [1670569897.723779544] [system.system_monitor.hdd_monitor]: Failed to execute findmnt. /dev/sda3 [component_container_mt-47] [WARN] [1670569897.798450946] [planning.scenario_planning.lane_driving.motion_planning.surround_obstacle_checker]: waiting for pointcloud info... [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/parking/costmap_generator' in container '/planning/scenario_planning/parking/parking_container' [component_container-48] [INFO] [1670569897.903858058] [planning.scenario_planning.parking.parking_container]: Load Library: /autoware/install/freespace_planner/lib/libfreespace_planner_node.so [component_container-48] [INFO] [1670569897.906142040] [planning.scenario_planning.parking.parking_container]: Found class: rclcpp_components::NodeFactoryTemplate<freespace_planner::FreespacePlannerNode> [component_container-48] [INFO] [1670569897.906157459] [planning.scenario_planning.parking.parking_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<freespace_planner::FreespacePlannerNode> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/parking/freespace_planner' in container '/planning/scenario_planning/parking/parking_container' [scenario_selector-42] [INFO] [1670569897.969662003] [planning.scenario_planning.scenario_selector]: Waiting for route. [component_container_mt-45] [INFO] [1670569898.022263192] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner]: waiting for scenario_topic [component_container-26] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [rviz2-66] [INFO] [1670569898.104618461] [rviz2]: Message Filter dropping message: frame 'base_link' at time 709.690 for reason 'discarding message because the queue is full' [component_container_mt-47] [WARN] [1670569898.188143774] [planning.scenario_planning.lane_driving.motion_planning.surround_obstacle_checker]: waiting for dynamic object info... [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/trajectory_follower/lane_departure_checker_node' in container '/control/control_container' [component_container-26] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [awapi_awiv_adapter-55] [INFO] [1670569898.324415348] [awapi.awapi_awiv_adapter_node]: waiting for node: /control/vehicle_cmd_gate, param: use_external_emergency_stop [awapi_awiv_adapter-55] [component_container-50] [INFO] [1670569898.503035708] [control.trajectory_follower.lane_departure_checker_node]: waiting for route msg... [component_container-50] [INFO] [1670569898.503989026] [control.control_container]: Load Library: /autoware/install/shift_decider/lib/libshift_decider_node.so [component_container-50] [INFO] [1670569898.504887721] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate<ShiftDecider> [component_container-50] [INFO] [1670569898.504899954] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ShiftDecider> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/shift_decider' in container '/control/control_container' [component_container-50] [INFO] [1670569898.528450041] [control.control_container]: Load Library: /autoware/install/vehicle_cmd_gate/lib/libvehicle_cmd_gate_node.so [component_container-50] [INFO] [1670569898.531216889] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate<vehicle_cmd_gate::VehicleCmdGate> [component_container-50] [INFO] [1670569898.531230986] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<vehicle_cmd_gate::VehicleCmdGate> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/vehicle_cmd_gate' in container '/control/control_container' [component_container-50] [INFO] [1670569898.570661770] [control.control_container]: Load Library: /autoware/install/operation_mode_transition_manager/lib/liboperation_mode_transition_manager_node.so [component_container-50] [INFO] [1670569898.571891475] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate<operation_mode_transition_manager::OperationModeTransitionManager> [component_container-50] [INFO] [1670569898.571902847] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<operation_mode_transition_manager::OperationModeTransitionManager> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/operation_mode_transition_manager' in container '/control/control_container' [system_error_monitor-7] [WARN] [1670569898.608721623] [system.system_error_monitor]: input data is timeout [component_container-26] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [system_error_monitor-7] [WARN] [1670569898.700511292] [system_error_monitor /autoware/sensing/node_alive_monitoring]: [Latent Fault]: Warning [system_error_monitor-7] [WARN] [1670569898.700538884] [system_error_monitor /autoware/sensing/node_alive_monitoring/topic_status/ad_service_state_monitor: sensing_topic_status]: [Latent Fault]: Warn [system_error_monitor-7] [ERROR] [1670569898.700544435] [system_error_monitor /autoware/control/autonomous_driving/node_alive_monitoring]: [Single Point Fault]: Error [system_error_monitor-7] [ERROR] [1670569898.700550516] [system_error_monitor /autoware/control/autonomous_driving/node_alive_monitoring/topic_status/ad_service_state_monitor: control_topic_status]: [Single Point Fault]: Error [system_error_monitor-7] [ERROR] [1670569898.700553762] [system_error_monitor /autoware/perception/node_alive_monitoring]: [Single Point Fault]: Error [system_error_monitor-7] [ERROR] [1670569898.700556177] [system_error_monitor /autoware/perception/node_alive_monitoring/topic_status/ad_service_state_monitor: perception_topic_status]: [Single Point Fault]: Error [system_error_monitor-7] [ERROR] [1670569898.700558641] [system_error_monitor /autoware/planning/node_alive_monitoring]: [Single Point Fault]: Error [system_error_monitor-7] [ERROR] [1670569898.700560905] [system_error_monitor /autoware/planning/node_alive_monitoring/topic_status/ad_service_state_monitor: planning_topic_status]: [Single Point Fault]: Error [component_container_mt-4] [ERROR] [1670569898.720285830] [system.system_monitor.hdd_monitor]: Failed to execute findmnt. /dev/sda3 [emergency_handler-8] [INFO] [1670569898.799294535] [system.emergency_handler]: EmergencyState changed: MRM_SUCCEEDED -> NORMAL [component_container-26] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [component_container-26] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [component_container-26] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [component_container-26] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [component_container-26] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [component_container_mt-4] [ERROR] [1670569899.720344427] [system.system_monitor.hdd_monitor]: Failed to execute findmnt. /dev/sda3 [component_container-26] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [component_container-26] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [component_container-26] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [component_container-26] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [component_container-26] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [component_container-26] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [component_container_mt-4] [ERROR] [1670569900.722260948] [system.system_monitor.hdd_monitor]: Failed to execute findmnt. /dev/sda3 [component_container-26] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [component_container-26] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [component_container-26] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [component_container-26] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [component_container-26] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [component_container_mt-4] [ERROR] [1670569901.720619087] [system.system_monitor.hdd_monitor]: Failed to execute findmnt. /dev/sda3 [component_container-26] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [component_container-26] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [component_container-26] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [component_container-26] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [component_container-26] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [component_container_mt-4] [ERROR] [1670569902.717786824] [system.system_monitor.hdd_monitor]: Failed to execute findmnt. /dev/sda3 [component_container-26] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [scenario_selector-42] [INFO] [1670569903.009565990] [planning.scenario_planning.scenario_selector]: Waiting for route. [component_container-26] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [component_container_mt-45] [INFO] [1670569903.114973333] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner]: waiting for scenario_topic [component_container_mt-47] [WARN] [1670569903.202860635] [planning.scenario_planning.lane_driving.motion_planning.surround_obstacle_checker]: waiting for dynamic object info... [component_container-26] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [component_container-26] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [component_container-50] [INFO] [1670569903.470008096] [control.trajectory_follower.lane_departure_checker_node]: waiting for route msg... [component_container-26] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud!Autowareのログ内に”Not Covered”がないかの確認
ログを確認したところ、"Not Covered"の文字はありませんでした。
自己位置推定後、数分程度様子見
15分程度様子見をしましたが、変化はありませんでした。
以上です、よろしくおねがいします。
Reee009876
commented
1 year ago 大変お待たせしました。
一度、docker imageを更新してお試しいただけないでしょうか？ 先程、自己位置推定がうまくいかない問題に対応したautowareのイメージを公開しました。 https://github.com/AutomotiveAIChallenge/aichallenge2022-sim/issues/1
Kenzo-Fujisaki
commented
1 year ago 本日確認したところ無事走り出しました。 ご対応いただきありがとうございます。
