[Autoware-03] Subscribers not recovered

[tobiasduerschmid]

Input:

https://github.com/Autoware-AI/autoware.ai/blob/30eed1453e97eb4beb7b696ff22f5312ad80f5f6/ros/src/computing/planning/motion/packages/driving_planner/nodes/velocity_set/velocity_set.cpp

Output:

- action-clients: []
  action-servers: []
  filename: /ros_ws/src/autoware/ros/src/computing/planning/motion/packages/driving_planner/launch/velocity_set.launch
  fullname: /velocity_set
  kind: velocity_set
  name: velocity_set
  namespace: /
  nodelet: false
  package: driving_planner
  provenance: recovered
  provides: []
  pubs: []
  reads: []
  subs: []
  uses: []
  writes: []

Expected outputs: subs to base_waypoint

[ChrisTimperley]

Minimal reproduction:

# rosdiscover recover recovery.fixed.rosdiscover.yml driving_planner velocity_set

[ChrisTimperley]

The output here is incredibly strange:

context {
function main [0:argc:integer; ] {
(@ (ros-init "velocity_set") </ros_ws/src/autoware/ros/src/computing/planning/motion/packages/driving_planner/nodes/velocity_set/velocity_set.cpp:841:3, col:39>)
}
}
{
  "program": {
    "functions": [
      {
        "body": {
          "kind": "compound",
          "statements": [
            {
              "kind": "ros-init",
              "name": {
                "kind": "string-literal",
                "literal": "velocity_set"
              },
              "source-location": "</ros_ws/src/autoware/ros/src/computing/planning/motion/packages/driving_planner/nodes/velocity_set/velocity_set.cpp:841:3, col:39>"
            }
          ]
        },
        "name": "main",
        "parameters": [
          {
            "index": 0,
            "name": "argc",
            "type": "integer"
          }
        ],
        "source-location": "/ros_ws/src/autoware/ros/src/computing/planning/motion/packages/driving_planner/nodes/velocity_set/velocity_set.cpp:838:5"
      }
    ]

I'm really surprised that the subscriber API calls don't even get recognized.

[ChrisTimperley]

Having said that, a fatal error does occur while attempting to parse the AST, which may be responsible for corrupting the results:

In file included from /ros_ws/src/autoware/ros/src/computing/planning/motion/packages/driving_planner/nodes/velocity_set/velocity_set.cpp:40:
In file included from /opt/ros/indigo/include/pcl_conversions/pcl_conversions.h:44:
In file included from /usr/include/pcl-1.7/pcl/conversions.h:50:
In file included from /usr/include/pcl-1.7/pcl/point_cloud.h:46:
In file included from /usr/include/eigen3/Eigen/StdVector:14:
/usr/include/eigen3/Eigen/Core:138:10: fatal error: 'omp.h' file not found
#include <omp.h>
         ^~~~~~~
built 1 ASTs
successfully merged 1 ASTs into a single AST for analysis