Missing parameters required in perception.launch.xml file, called from tier4_perception_component.launch.xml

maitelorente commented 9 months ago

Checklist

[X] I've read the contribution guidelines.
[X] I've searched other issues and no duplicate issues were found.
[X] I'm convinced that this is not my fault but a bug.

Description

I just updated Autoware to the current version. When running autoware with "ros2 launch autoware_launch e2e_simulator.launch.xml map_path:=$HOME/my_workspaces/my_project_ws/maps/carla vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit", I get this error message: [ERROR] [launch]: Caught exception in launch (see debug for traceback): Included launch description missing required argument 'object_recognition_detection_roi_cluster_fusion_param_path' (description: 'no description given')...

I have checked the perception.launch.xml file and apart from object_recognition_detection_roi_cluster_fusion_param_path, these other parameters are also missing: object_recognition_detection_roi_pointcloud_fusion_param_path object_recognition_detection_roi_detected_object_fusion_param_path object_recognition_detection_radar_lanelet_filtering_range_param_path object_recognition_detection_radar_crossing_objects_noise_filter_param_path object_recognition_detection_object_velocity_splitter_radar_fusion_param_path object_recognition_detection_object_range_splitter_radar_param_path object_recognition_detection_object_range_splitter_radar_fusion_param_path

Also, when trying to launch other examples like "ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit", the same error occurs.

I do not know which values they should have as default values or if i have missed something from the update. Please, could anyone advise me on this matter?

Thanks!

Expected behavior

Being able to launch "ros2 launch autoware_launch e2e_simulator.launch.xml map_path:=$HOME/my_workspaces/my_project_ws/maps/carla vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit", and having autoware running.

Actual behavior

I do not get to launch autoware from the launch file (autoware.launch.xml) provided in the repository code.

Steps to reproduce

Update Autoware following the step in the documentation page (https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/), and launch autoware.

Versions

OS: Ubuntu 22
ROS Humble

Possible causes

No response

Additional context

No response

maitelorente commented 9 months ago

The problem was that the repository of autoware_launch package had not been updated correctly, now it is solved. Sorry for the inconvenience!

cyn-liu commented 9 months ago

The problem was that the repository of autoware_launch package had not been updated correctly, now it is solved. Sorry for the inconvenience!

@maitelorente Are you sure the problem already solved? I update my code, but when I run the command: ros2 launch autoware_launch planning_simulator.launch.xml map_path:=../sample-map-planning/ vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit I get same error:

[INFO] [launch]: All log files can be found below /root/.ros/log/2024-02-07-16-41-57-742203-cynthia-liu-278041
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Included launch description missing required argument 'crop_box_filter_measurement_range_param_path' (description: 'no description given'), given: [map_path, map_path, vehicle_model, sensor_model, data_path, planning_module_preset, launch_sensing, launch_localization, launch_perception, use_pointcloud_container, launch_vehicle_interface, system_run_mode, launch_system_monitor, launch_dummy_diag_publisher, lanelet2_map_file, pointcloud_map_file, rviz, rviz_config, rviz_respawn, enable_all_modules_auto_mode, use_sim_time, vehicle_model, use_multithread, container_name, vehicle_model, sensor_model, vehicle_id, launch_vehicle_interface, config_dir, ...

cyn-liu commented 9 months ago

I no idea about this error, how to solve it? @maitelorente if you could help me, I would greatly appreciate it.

maitelorente commented 9 months ago

Hi @cyn-liu,

Did you manage to solve the error? I have checked that the parameter crop_box_filter_measurement_range_param_path is required from launch file localization.launch.xml in package tier4_localization_launch, which is called from tier4_localization_component.launch.xml in package autoware_launch. You may need to add the argument in tier4_localization_component.launch.xml or if you just updated your repository, as in my case, maybe the autoware_launch package could not properly update. To solve the problem, I did "git checkout" to discard any changes I had made in the original repository (in my case, the configuration file for RViz) and "git pull". Then, the autoware_launch package was updated correctly and the problem solved.

cyn-liu commented 9 months ago

Hi @cyn-liu,

Did you manage to solve the error? I have checked that the parameter crop_box_filter_measurement_range_param_path is required from launch file localization.launch.xml in package tier4_localization_launch, which is called from tier4_localization_component.launch.xml in package autoware_launch. You may need to add the argument in tier4_localization_component.launch.xml or if you just updated your repository, as in my case, maybe the autoware_launch package could not properly update. To solve the problem, I did "git checkout" to discard any changes I had made in the original repository (in my case, the configuration file for RViz) and "git pull". Then, the autoware_launch package was updated correctly and the problem solved.

thanks for your reply, I no idea to solve this error? the origin version work well, the latest version is not work, but I need update my branch to latest version.

idorobotics commented 9 months ago

cc: @xmfcx

xmfcx commented 9 months ago

cc. @cyn-liu

Please make sure you updated everything. For these kind of issues, my recommended route:

cd autoware
git pull # make sure it succeeds and says "Already up to date."

Pull the sub repositories to latest:

vcs pull src

The output should look like:

Click Me

```bash mfc@mfc-leo:~/projects/autoware$ vcs pull src ............................ === src/core/autoware.core (git) === Already up to date. === src/core/autoware_adapi_msgs (git) === Already up to date. === src/core/autoware_common (git) === Already up to date. === src/core/autoware_msgs (git) === Already up to date. === src/core/external/autoware_auto_msgs (git) === Already up to date. === src/launcher/autoware_launch (git) === Already up to date. === src/param/autoware_individual_params (git) === Already up to date. === src/sensor_component/external/nebula (git) === Already up to date. === src/sensor_component/external/sensor_component_description (git) === Already up to date. === src/sensor_component/external/tamagawa_imu_driver (git) === Already up to date. === src/sensor_component/external/transport_drivers (git) === Already up to date. === src/sensor_kit/external/awsim_sensor_kit_launch (git) === Already up to date. === src/sensor_kit/sample_sensor_kit_launch (git) === Already up to date. === src/simulator/scenario_simulator (git) === Already up to date. === src/universe/autoware.universe (git) === Already up to date. === src/universe/external/ament_cmake (git) === Already up to date. === src/universe/external/data_tamer (git) === Already up to date. === src/universe/external/eagleye (git) === Already up to date. === src/universe/external/llh_converter (git) === Already up to date. === src/universe/external/morai_msgs (git) === Already up to date. === src/universe/external/muSSP (git) === Already up to date. === src/universe/external/ndt_omp (git) === Already up to date. === src/universe/external/pointcloud_to_laserscan (git) === Already up to date. === src/universe/external/rtklib_ros_bridge (git) === Already up to date. === src/universe/external/tier4_ad_api_adaptor (git) === Already up to date. === src/universe/external/tier4_autoware_msgs (git) === Already up to date. === src/vehicle/external/pacmod_interface (git) === Already up to date. === src/vehicle/sample_vehicle_launch (git) === Already up to date. ```

Repeat this command one more time to see it cleanly.

Make sure all returns "Already up to date" and you are not on any other branch.

Make sure you have all the necessary repositories pulled:

vcs import src < autoware.repos

The output should look like this:

Click Me

```bash mfc@mfc-leo:~/projects/autoware$ vcs import src < autoware.repos .......................... === src/core/autoware.core (git) === Already on 'main' Your branch is up to date with 'origin/main'. === src/core/autoware_adapi_msgs (git) === Already on 'main' Your branch is up to date with 'origin/main'. === src/core/autoware_common (git) === Already on 'main' Your branch is up to date with 'origin/main'. === src/core/autoware_msgs (git) === Already on 'main' Your branch is up to date with 'origin/main'. === src/core/external/autoware_auto_msgs (git) === Already on 'tier4/main' Your branch is up to date with 'origin/tier4/main'. === src/launcher/autoware_launch (git) === Already on 'main' Your branch is up to date with 'origin/main'. === src/param/autoware_individual_params (git) === Already on 'main' Your branch is up to date with 'origin/main'. === src/sensor_component/external/nebula (git) === Already on 'main' Your branch is ahead of 'xmfcx/main' by 13 commits. (use "git push" to publish your local commits) === src/sensor_component/external/sensor_component_description (git) === Already on 'main' Your branch is up to date with 'origin/main'. === src/sensor_component/external/tamagawa_imu_driver (git) === Already on 'ros2' Your branch is up to date with 'origin/ros2'. === src/sensor_component/external/transport_drivers (git) === Already on 'boost' Your branch is up to date with 'origin/boost'. === src/sensor_kit/external/awsim_sensor_kit_launch (git) === Already on 'main' Your branch is up to date with 'origin/main'. === src/sensor_kit/sample_sensor_kit_launch (git) === Already on 'main' Your branch is up to date with 'origin/main'. === src/universe/autoware.universe (git) === Already on 'main' Your branch is up to date with 'origin/main'. === src/universe/external/ament_cmake (git) === Already on 'feat/faster_ament_libraries_deduplicate' Your branch is up to date with 'origin/feat/faster_ament_libraries_deduplicate'. === src/universe/external/eagleye (git) === Already on 'autoware-main' Your branch is up to date with 'origin/autoware-main'. === src/universe/external/llh_converter (git) === Already on 'ros2' Your branch is up to date with 'origin/ros2'. === src/universe/external/morai_msgs (git) === Already on 'main' Your branch is up to date with 'origin/main'. === src/universe/external/muSSP (git) === Already on 'tier4/main' Your branch is up to date with 'origin/tier4/main'. === src/universe/external/ndt_omp (git) === Already on 'tier4/main' Your branch is up to date with 'origin/tier4/main'. === src/universe/external/pointcloud_to_laserscan (git) === Already on 'tier4/main' Your branch is up to date with 'origin/tier4/main'. === src/universe/external/rtklib_ros_bridge (git) === Already on 'ros2-v0.1.0' Your branch is up to date with 'origin/ros2-v0.1.0'. === src/universe/external/tier4_ad_api_adaptor (git) === Already on 'tier4/universe' Your branch is up to date with 'origin/tier4/universe'. === src/universe/external/tier4_autoware_msgs (git) === Already on 'tier4/universe' Your branch is up to date with 'origin/tier4/universe'. === src/vehicle/external/pacmod_interface (git) === Already on 'main' Your branch is up to date with 'origin/main'. === src/vehicle/sample_vehicle_launch (git) === Already on 'main' Your branch is up to date with 'origin/main'. ```

Here you want to see "Already on" for each of them, make sure you are on the recommended branches.

Then clean your workspace:

rm -rf build install log

Then to clear up your shell environment variables, open up a new terminal tab with CTRL+Shift+T and close the current terminal tab (you will still be on the same directory).

Update your system and rosdep and then install rosdep dependencies if they are missing.

sudo apt update
sudo apt dist-upgrade # always be careful when upgrading your packages
rosdep update
rosdep install -y --from-paths src --ignore-src --rosdistro humble

Then build the Autoware and hopefully it should work:

colcon build --symlink-install  --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_EXPORT_COMPILE_COMMANDS=1

autowarefoundation / autoware.universe