Issues with carla point clound and vehicle not able to localize

[rahilhamid]

llo Sir I am a student in Technical School of Ingolstadt. I have faced these two issues. I appreciate all the help. thank you in advance.

I am using ros galactic and autoware from repo provided by zatitech and CARLA_0.9.13. I have done everything according to video all normal features of autoware works normal but i have issues with open-planner.

issue 1 - while running command "rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO" i got an error stating

ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies: carla_pointcloud: Cannot locate rosdep definition for [velodyne_rawdata]

issue 2 I still built autoware and when i tried to run "run_exploration_mode.sh" as described in the video i am able to load map in carla and a point cloud map in autoware rviz but vehicle is not able to localize itself and it as not working. For reference I have uploaded screenshot of all these in the given link for google drive.

https://drive.google.com/drive/folders/1S3qo2leYKh58PnL16PT4VvcjWpfqj0rV?usp=sharing

[gaokao123]

I have the same error when building open_planner,how to solve the problem?

ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies: carla_pointcloud: Cannot locate rosdep definition for [velodyne_rawdata]

[hatem-darweesh]

I will check the issue for rosdep install about localization please try again, it might be a performance issue. if not can you record a video and share it with showing your results

[gaokao123]

I tried many times, but I had the same problem,my version of ROS is galactic, and the autoware.universe source code is from the official website

[hatem-darweesh]

can you share a video of your experiment steps and results ?

[gaokao123]

@hatem-darweesh okay, I will make a video later, but I found velodyne_rawdata is in velodyne_pointcloud, Is that the reason?

[hatem-darweesh]

yes, you need to use the new launch file so it will run the point cloud mapping node.

[gaokao123]

where is the new launch file? Have you uploaded it yet?

[gaokao123]

delete what I've underlined in package.xml ?(https://github.com/ZATiTech/open_planner/blob/main/op_carla_bridge/carla_pointcloud/package.xml)

[rahilhamid]

Hello Sir As shown in this picture by removing velodyne_rawdata from package.xml and cmake file we can solve issue 1. Issue 2 is still there for your clarification i have uploaded a video. Please look at the video by opening the link

https://drive.google.com/file/d/1gwzx65HbDsncJJKcPIjXeoAxWHnH9fXm/view?usp=sharing

@hatem-darweesh Thank you for your help.

[gaokao123]

@rahilhamid there is no point_cloud_map to be relaoded in rviz2, i am not able to load map in carla and a point cloud map in autoware rviz, this is my log when run the run_exploration_mode_ros2.sh. I appreciate all the help. thank you in advance

[rahilhamid]

please check start_ros2.sh (responsible for launching auto ware )and check path of the maps in run_explorationmode_ros2.sh file because i did everything according to video and it works only problem is localisation. @hatem-darweesh please look at the video and i am using a good system with 64 gb ram and 8gb rtx2080 graphics card. @hatem-darweesh sir also the problem is car is perpendicular to the road. but still i was able to give a origin pose and goal pose to it but it did not work well because car was perpendicular to road. Thank you.

[gaokao123]

the path of the maps is alright, I checked it many times, any other suggestions? first, I run ./CarlaUE4.sh second, run ./run_exploration_mode_ros2.sh are there any other files to run?

[hatem-darweesh]

@rahilhamid @gaokao123 Have you changed gnss.launch.xml, sensors_calibration.yaml and sensor__kit_calibration.yaml ? Maybe I have missed this part in the tutorials ! If you are using the original values inside these files the localization won't work. please confirm

[gaokao123]

I have changed gnss.launch.xml,but sensors_calibration.yaml and sensor__kit_calibration.yaml do not change,How do I modify these files?

[rahilhamid]

i have only changed gnss.launch.xml but i have not changed sensors_calibration.yaml and sensor__kit_calibration.yaml could you please share those file or tell us how to change those @hatem-darweesh

[hatem-darweesh]

sensors_calibration.yaml: base_link: sensor_kit_base_link: x: 0.0 y: 0.0 z: 1.6 roll: 0.0 pitch: 0.0 yaw: 0.0 velodyne_rear_base_link: x: 0.0 y: 0.0 z: 0.0 roll: 0.0 pitch: 0.0 yaw: 0.0

sensor_kit_calibration.yaml: sensor_kit_base_link: camera0/camera_link: x: 0.7 y: 0.0 z: 0.0 roll: 0.0 pitch: 0.0 yaw: 0.0 camera1/camera_link: x: 0.0 y: 0.0 z: 0.0 roll: 0.0 pitch: 0.0 yaw: 0.0 camera2/camera_link: x: 0.0 y: 0.0 z: 0.0 roll: 0.0 pitch: 0.0 yaw: 0.0 camera3/camera_link: x: 0.0 y: 0.0 z: 0.0 roll: 0.0 pitch: 0.0 yaw: 0.0 camera4/camera_link: x: 0.0 y: 0.0 z: 0.0 roll: 0.0 pitch: 0.0 yaw: 0.0 camera5/camera_link: x: 0.0 y: 0.0 z: 0.0 roll: 0.0 pitch: 0.0 yaw: 0.0 traffic_light_right_camera/camera_link: x: 0.0 y: 0.0 z: 0.0 roll: 0.0 pitch: 0.0 yaw: 0.0 traffic_light_left_camera/camera_link: x: 0.0 y: 0.0 z: 0.0 roll: 0.0 pitch: 0.0 yaw: 0.0 velodyne_top_base_link: x: 0.0 y: 0.0 z: 0.8 roll: 0.0 pitch: 0.0 yaw: 0.0 velodyne_left_base_link: x: -0.5 y: 0.0 z: 0.8 roll: 0.0 pitch: 0.0 yaw: 0.0 velodyne_right_base_link: x: 0.5 y: 0.0 z: 0.8 roll: 0.0 pitch: 0.0 yaw: 0.0 gnss_link: x: 0.0 y: 0.0 z: 0.8 roll: 0.0 pitch: 0.0 yaw: 0.0 tamagawa/imu_link: x: 0.0 y: 0.0 z: 0.8 roll: 0.0 pitch: 0.0 yaw: 0.0

[gaokao123]

@rahilhamid @hatem-darweesh I am also not able to load a point cloud map in autoware rviz, are there any other files besides CarlaUE4.sh and run_exploration_mode_ros2.sh that need to be run manually? thank you

[hatem-darweesh]

@rahilhamid I can see from your video that you actually can load the pointcloud map ?!

[yuting-fu]

There's a very nice post by Hatem explaining how to configure those launch files: https://github.com/autowarefoundation/autoware/discussions/2667 Indeed, some part of the changes is not mentioned in the new tutorial videos.

[rahilhamid]

@hatem-darweesh thank you for the help. Everything is working properly (carla and autoware are able to work and i am able to get proper visualization of lidadr data. I am also able to plan a trajectory using Autoware.) I have one question i am not able to get camera stream as you are getting in the youtube video. Can you please help me with this problem.

[hatem-darweesh]

@rahilhamid I am not sure, check the image_raw topic in the op_bridge python code.

[rahilhamid]

@hatem-darweesh thank you sir i am able to get image stream. Everything is working properly in the bridge.

[Gowtham-Raj-M]

Hello @hatem-darweesh, I followed the CARLA-Autoware tutorial and made the recommended changes to the "gnss_launch.xml" file by setting the coordinate system to plane 0. Additionally, I updated the "sensors_calibration.yaml" and "sensor_kit_calibration.yaml" files as instructed. However, despite these modifications, I observed that the vehicle orientation is still rotated by 90 degrees with respect to the lane center. I have attached some snapshots for reference. I am seeking assistance and would appreciate any suggestions to resolve this issue.