Closed karabunar closed 1 month ago
Maleeka-f
commented
1 month ago Hello! did you start the carla simulator on the default port or with the rpc port i.e. 1403? If you have started carla on the default port (which is 2000) it might be the reason that it cannot connect to it.
karabunar
commented
1 month ago @Maleeka-f Hello! I started with the rpc port. The command i was using is here:
docker run --privileged --gpus all --net=host -e DISPLAY=$DISPLAY carlasim/carla:0.9.15 /bin/bash ./CarlaUE4.sh -carla-rpc-port=1403
But I realized that the problem was timeout. When I added timeout "timeout:=10" parameter, it is solved.
Hello developers,
First of all, thank you for your efforts. I am a newbie in ROS, so I followed your video step by step to build and run the project. When I run
ros2 launch carla_autoware_bridge carla_aw_bridge.launch.py port:=1403 town:=Town10HDI recieved this error:
root@sebla:/tum# ros2 launch carla_autoware_bridge carla_aw_bridge.launch.py port:=1403 town:=Town10HD [INFO] [launch]: All log files can be found below /root/.ros/log/2024-05-07-13-14-34-932809-sebla-418 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [bridge-1]: process started with pid [419] [INFO] [carla_spawn_objects-3]: process started with pid [423] [INFO] [set_initial_pose-4]: process started with pid [425] [INFO] [carla_autoware_bridge-2]: process started with pid [421] [INFO] [carla_ackermann_control_node-5]: process started with pid [427] [bridge-1] [INFO] [1715087675.573591676] [carla_ros_bridge]: Trying to connect to localhost:1403 [bridge-1] [WARN] [1715087675.579357745] [carla_ros_bridge]: Version mismatch detected: You are trying to connect to a simulator that might be incompatible with this API. Client API version: 0.9.13-20.04-1-gb428f20-dirty. Simulator API version: 0.9.15 [bridge-1] WARNING: Version mismatch detected: You are trying to connect to a simulator that might be incompatible with this API [bridge-1] WARNING: Client API version = 0.9.13-20.04-1-gb428f20-dirty [bridge-1] WARNING: Simulator API version = 0.9.15 [bridge-1] [INFO] [1715087677.420100570] [carla_ros_bridge]: Trying to create a Traffic Manager server in 8000 with synchronous mode set to: True [bridge-1] [INFO] [1715087679.636941157] [carla_ros_bridge]: Loading town 'Town10HD' (previous: 'Carla/Maps/Town10HD_Opt'). [bridge-1] terminate called after throwing an instance of 'carla::client::TimeoutException' [bridge-1] what(): time-out of 5000ms while waiting for the simulator, make sure the simulator is ready and connected to localhost:1403 [ERROR] [bridge-1]: process has died [pid 419, exit code -6, cmd '/tum/install/carla_ros_bridge/lib/carla_ros_bridge/bridge --ros-args -r __node:=carla_ros_bridge --params-file /tmp/launch_params_smeomh10 --params-file /tmp/launch_params_kgfsefg8 --params-file /tmp/launch_params_nxb9mhp0 --params-file /tmp/launch_params_4vvsa8dn --params-file /tmp/launch_params_yv0zrvxg --params-file /tmp/launch_params_g9nleb8h --params-file /tmp/launch_params_rwqjxcyr --params-file /tmp/launch_params_4wpc8vcz --params-file /tmp/launch_params_76sryu98 --params-file /tmp/launch_params_ndc29za4 --params-file /tmp/launch_params_mjkopeh5 -r /carla/ego_vehicle/sensing/camera/traffic_light/image:=/sensing/camera/traffic_light/image_raw -r /carla/ego_vehicle/sensing/camera/traffic_light/camera_info:=/sensing/camera/traffic_light/camera_info -r /carla/ego_vehicle/sensor/lidar/front:=/sensor/lidar/front -r /carla/ego_vehicle/sensor/lidar/rear:=/sensor/lidar/rear -r /carla/ego_vehicle/sensor/gnss:=/sensor/gnss -r /carla/ego_vehicle/sensor/imu:=/sensor/imu']. [INFO] [launch]: process[bridge-1] was required: shutting down launched system [INFO] [carla_ackermann_control_node-5]: sending signal 'SIGINT' to process[carla_ackermann_control_node-5] [INFO] [set_initial_pose-4]: sending signal 'SIGINT' to process[set_initial_pose-4] [INFO] [carla_spawn_objects-3]: sending signal 'SIGINT' to process[carla_spawn_objects-3] [INFO] [carla_autoware_bridge-2]: sending signal 'SIGINT' to process[carla_autoware_bridge-2] [carla_ackermann_control_node-5] Traceback (most recent call last): [carla_ackermann_control_node-5] File "/tum/install/carla_ackermann_control/lib/carla_ackermann_control/carla_ackermann_control_node", line 33, in <module> [carla_ackermann_control_node-5] sys.exit(load_entry_point('carla-ackermann-control', 'console_scripts', 'carla_ackermann_control_node')()) [carla_ackermann_control_node-5] File "/tum/build/carla_ackermann_control/src/carla_ackermann_control/carla_ackermann_control_node.py", line 595, in main [carla_ackermann_control_node-5] roscomp.shutdown() [carla_ackermann_control_node-5] File "/tum/build/ros_compatibility/src/ros_compatibility/__init__.py", line 84, in shutdown [carla_ackermann_control_node-5] rclpy.shutdown() [carla_ackermann_control_node-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 126, in shutdown [carla_ackermann_control_node-5] _shutdown(context=context) [carla_ackermann_control_node-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown [carla_ackermann_control_node-5] return context.shutdown() [carla_ackermann_control_node-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown [carla_ackermann_control_node-5] self.__context.shutdown() [carla_ackermann_control_node-5] rclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 [carla_autoware_bridge-2] Traceback (most recent call last): [carla_autoware_bridge-2] File "/tum/install/carla_autoware_bridge/lib/carla_autoware_bridge/carla_autoware_bridge", line 33, in <module> [carla_autoware_bridge-2] sys.exit(load_entry_point('carla-autoware-bridge', 'console_scripts', 'carla_autoware_bridge')()) [carla_autoware_bridge-2] File "/tum/build/carla_autoware_bridge/carla_autoware_bridge/carla_autoware_bridge.py", line 24, in main [carla_autoware_bridge-2] rclpy.spin(carla_autoware_bridge) [carla_autoware_bridge-2] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin [carla_autoware_bridge-2] executor.spin_once() [carla_autoware_bridge-2] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once [carla_autoware_bridge-2] self._spin_once_impl(timeout_sec) [carla_autoware_bridge-2] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl [carla_autoware_bridge-2] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) [carla_autoware_bridge-2] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks [carla_autoware_bridge-2] return next(self._cb_iter) [carla_autoware_bridge-2] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks [carla_autoware_bridge-2] wait_set.wait(timeout_nsec) [carla_autoware_bridge-2] KeyboardInterrupt [set_initial_pose-4] [INFO] [1715087685.701706057] [default]: Cancelled by user. [set_initial_pose-4] Traceback (most recent call last): [set_initial_pose-4] File "/tum/install/carla_spawn_objects/lib/carla_spawn_objects/set_initial_pose", line 33, in <module> [set_initial_pose-4] sys.exit(load_entry_point('carla-spawn-objects', 'console_scripts', 'set_initial_pose')()) [set_initial_pose-4] File "/tum/build/carla_spawn_objects/src/carla_spawn_objects/set_initial_pose.py", line 65, in main [set_initial_pose-4] roscomp.shutdown() [set_initial_pose-4] File "/tum/build/ros_compatibility/src/ros_compatibility/__init__.py", line 84, in shutdown [set_initial_pose-4] rclpy.shutdown() [set_initial_pose-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 126, in shutdown [set_initial_pose-4] _shutdown(context=context) [set_initial_pose-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown [set_initial_pose-4] return context.shutdown() [set_initial_pose-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown [set_initial_pose-4] self.__context.shutdown() [set_initial_pose-4] rclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 [carla_spawn_objects-3] [ERROR] [1715087685.703310463] [default]: Could not initialize CarlaSpawnObjects. Shutting down. [ERROR] [carla_ackermann_control_node-5]: process has died [pid 427, exit code 1, cmd '/tum/install/carla_ackermann_control/lib/carla_ackermann_control/carla_ackermann_control_node --ros-args -r __node:=carla_ackermann_control --params-file /tum/install/carla_ackermann_control/share/carla_ackermann_control/settings.yaml --params-file /tmp/launch_params_9xp6y8_5']. [ERROR] [carla_autoware_bridge-2]: process has died [pid 421, exit code -2, cmd '/tum/install/carla_autoware_bridge/lib/carla_autoware_bridge/carla_autoware_bridge --ros-args -r __node:=carla_autoware_bridge --params-file /tmp/launch_params_pj91b36j --params-file /tmp/launch_params_yzzk7lph']. [INFO] [launch]: process[carla_autoware_bridge-2] was required: shutting down launched system [ERROR] [set_initial_pose-4]: process has died [pid 425, exit code 1, cmd '/tum/install/carla_spawn_objects/lib/carla_spawn_objects/set_initial_pose --ros-args -r __node:=set_initial_pose --params-file /tmp/launch_params_vbmvu47x --params-file /tmp/launch_params_sfva7zj2']. [INFO] [carla_spawn_objects-3]: process has finished cleanly [pid 423]CARLA is running and it doesnt give any errors. What can I do for it?
Thank you in advance.