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evshary / zenoh_autoware_v2x

Autoware V2X module with Zenoh
https://autoware-carla-launch.readthedocs.io/en/latest/scenarios/v2x.html
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Some errors about 'run-bridge-v2x.sh' #16

Closed TianYifan-Vincent closed 1 month ago

TianYifan-Vincent commented 2 months ago

Sorry to bother you @evshary . Recently I am trying to use this project about v2x, but when I follow the instructions:

Step2. Entering bridge container then executing…

cd autoware_carla_launch
source env.sh
./script/run-bridge-v2x.sh

After i run ./script/run-bridge-v2x.sh, it will throw errors as follow: (but i run ./script/run-bridge.sh is ok.)

sleep 5 && RUST_LOG=z=info /home/ubuntu/autoware_carla_launch/external/zenoh_carla_bridge/target/release/zenoh_carla_bridge                 --mode ros2 --zenoh-listen tcp/0.0.0.0:7447                 --zenoh-config /home/ubuntu/autoware_carla_launch/config/zenoh-carla-bridge-conf.json5                 --carla-address 127.0.0.1 2>&1                 | tee bridge_log/2024-09-03_18:58:19//bridge.log
sleep 1 && poetry -C /home/ubuntu/autoware_carla_launch/external/zenoh_carla_bridge/carla_agent run python3 /home/ubuntu/autoware_carla_launch/external/zenoh_carla_bridge/carla_agent/main.py                 --host 127.0.0.1 --rolename v1                 --position 87.784805,20.787275,0.881736,16.499052,90.000053,0.000000                 2>&1 | tee bridge_log/2024-09-03_18:58:19//vehicle.log
sleep 5 && poetry -C /home/ubuntu/autoware_carla_launch/external/zenoh_autoware_v2x/ run python3 /home/ubuntu/autoware_carla_launch/external/zenoh_autoware_v2x//traffic_manager/main.py
sleep 5 && poetry -C /home/ubuntu/autoware_carla_launch/external/zenoh_autoware_v2x/ run python3 /home/ubuntu/autoware_carla_launch/external/zenoh_autoware_v2x//intersection_manager/main.py
INFO: listening to server 127.0.0.1:2000
ALSA lib confmisc.c:855:(parse_card) cannot find card '0'
ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_card_inum returned error: No such file or directory
ALSA lib confmisc.c:422:(snd_func_concat) error evaluating strings
ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
ALSA lib confmisc.c:1334:(snd_func_refer) error evaluating name
ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
ALSA lib conf.c:5701:(snd_config_expand) Evaluate error: No such file or directory
ALSA lib pcm.c:2664:(snd_pcm_open_noupdate) Unknown PCM default
 INFO  zenoh_carla_bridge > Running Carla Autoware Zenoh bridge...
 INFO  zenoh::net::runtime > Using ZID: 2d5f866b3f19069a0f3ad58406b0f31a
 INFO  zenoh::net::runtime::orchestrator > Zenoh can be reached at: tcp/10.177.21.105:7447
 INFO  zenoh::net::runtime::orchestrator > Zenoh can be reached at: tcp/172.17.0.1:7447
 INFO  zenoh::net::runtime::orchestrator > zenohd listening scout messages on 224.0.0.224:7446
INFO: [traffic manager] Get Carla traffic lights
INFO: [intersection manager] Get Carla traffic lights
INFO: Opening session...
 INFO  zenoh_carla_bridge::bridge::sensor_bridge > Detected a sensor 'tamagawa' on 'v1'
 INFO  zenoh_carla_bridge                        > Actor 382 created
 INFO  zenoh_carla_bridge::bridge::sensor_bridge > Detected a sensor 'lane_invasion' on 'v1'
 WARN  zenoh_carla_bridge::bridge::sensor_bridge > Unsupported sensor type 'sensor.other.lane_invasion'
 INFO  zenoh_carla_bridge                        > Actor 380 created
 INFO  zenoh_carla_bridge::bridge::sensor_bridge > Detected a sensor 'traffic_light' on 'v1'
 INFO  zenoh_carla_bridge                        > Actor 384 created
 INFO  zenoh_carla_bridge::bridge::sensor_bridge > Detected a sensor 'top' on 'v1'
 INFO  zenoh_carla_bridge                        > Actor 383 created
 INFO  zenoh_carla_bridge::bridge::sensor_bridge > Detected a sensor 'collision' on 'v1'
 WARN  zenoh_carla_bridge::bridge::sensor_bridge > Collision sensor is not supported yet
 INFO  zenoh_carla_bridge                        > Actor 379 created
 INFO  zenoh_carla_bridge::bridge::vehicle_bridge > Detect a vehicle v1
 INFO  zenoh_carla_bridge                         > Actor 378 created
 INFO  zenoh_carla_bridge::bridge::sensor_bridge  > Detected a sensor 'ublox' on 'v1'
 INFO  zenoh_carla_bridge                         > Actor 381 created
 INFO  zenoh_carla_bridge::bridge::sensor_bridge  > Detected a sensor 'godview' on 'v1'
 INFO  zenoh_carla_bridge                         > Actor 385 created
 ERROR zenoh_transport::unicast::establishment::open > Received a close message (reason INVALID) in response to an InitSyn on: tcp/10.177.21.105:53006 => tcp/10.177.21.105:40493 at /home/ubuntu/autoware_carla_launch/rust/registry/src/index.crates.io-6f17d22bba15001f/zenoh-transport-1.0.0-alpha.6/src/unicast/establishment/open.rs:239.
 ERROR zenoh_transport::unicast::establishment::open > Received a close message (reason INVALID) in response to an InitSyn on: tcp/10.177.21.105:53016 => tcp/10.177.21.105:40493 at /home/ubuntu/autoware_carla_launch/rust/registry/src/index.crates.io-6f17d22bba15001f/zenoh-transport-1.0.0-alpha.6/src/unicast/establishment/open.rs:239.
 WARN  zenoh::net::runtime::orchestrator             > Unable to connect to any locator of scouted peer a0c5ff19f9ca4884609fbc31c83f268e: [tcp/[2001:da8:8001:7a20:5c5d:15be:41ba:3dd4]:40493, tcp/[2001:da8:8001:7a20:ebee:e6cb:33d0:1e8b]:40493, tcp/[2001:da8:8001:7a20:8065:26a8:a5ee:1a39]:40493, tcp/[2001:da8:8001:7a20:f5e2:3814:eca6:1345]:40493, tcp/[2001:da8:8001:7a20:560a:b667:d360:68cf]:40493, tcp/[2001:da8:8001:7a20:b131:2cef:3640:fe62]:40493, tcp/[2001:da8:8001:7a20:58e2:37fe:54fa:31a]:40493, tcp/[2001:da8:8001:7a20:ce96:e5ff:fe47:fee0]:40493, tcp/[fe80::ce96:e5ff:fe47:fee0]:40493, tcp/[fe80::42:4fff:fe11:b6ad]:40493, tcp/[fe80::88fb:79ff:feb0:7380]:40493, tcp/[fe80::607d:c8ff:feef:2cde]:40493, tcp/[fe80::30c4:36ff:febb:50c4]:40493, tcp/10.177.21.105:40493, tcp/172.17.0.1:40493]
 ERROR zenoh_transport::unicast::establishment::open > Received a close message (reason INVALID) in response to an InitSyn on: tcp/172.17.0.1:59794 => tcp/172.17.0.1:40493 at /home/ubuntu/autoware_carla_launch/rust/registry/src/index.crates.io-6f17d22bba15001f/zenoh-transport-1.0.0-alpha.6/src/unicast/establishment/open.rs:239.
 WARN  zenoh::net::runtime::orchestrator             > Unable to connect to any locator of scouted peer a0c5ff19f9ca4884609fbc31c83f268e: [tcp/[2001:da8:8001:7a20:5c5d:15be:41ba:3dd4]:40493, tcp/[2001:da8:8001:7a20:ebee:e6cb:33d0:1e8b]:40493, tcp/[2001:da8:8001:7a20:8065:26a8:a5ee:1a39]:40493, tcp/[2001:da8:8001:7a20:f5e2:3814:eca6:1345]:40493, tcp/[2001:da8:8001:7a20:560a:b667:d360:68cf]:40493, tcp/[2001:da8:8001:7a20:b131:2cef:3640:fe62]:40493, tcp/[2001:da8:8001:7a20:58e2:37fe:54fa:31a]:40493, tcp/[2001:da8:8001:7a20:ce96:e5ff:fe47:fee0]:40493, tcp/[fe80::ce96:e5ff:fe47:fee0]:40493, tcp/[fe80::42:4fff:fe11:b6ad]:40493, tcp/[fe80::88fb:79ff:feb0:7380]:40493, tcp/[fe80::607d:c8ff:feef:2cde]:40493, tcp/[fe80::30c4:36ff:febb:50c4]:40493, tcp/10.177.21.105:40493, tcp/172.17.0.1:40493]
 ERROR zenoh_transport::unicast::establishment::open > Received a close message (reason INVALID) in response to an InitSyn on: tcp/[2001:da8:8001:7a20:5c5d:15be:41ba:3dd4]:50936 => tcp/[2001:da8:8001:7a20:5c5d:15be:41ba:3dd4]:41971 at /home/ubuntu/autoware_carla_launch/rust/registry/src/index.crates.io-6f17d22bba15001f/zenoh-transport-1.0.0-alpha.6/src/unicast/establishment/open.rs:239.
 ERROR zenoh_transport::unicast::establishment::open > Received a close message (reason INVALID) in response to an InitSyn on: tcp/[2001:da8:8001:7a20:5c5d:15be:41ba:3dd4]:50948 => tcp/[2001:da8:8001:7a20:5c5d:15be:41ba:3dd4]:41971 at /home/ubuntu/autoware_carla_launch/rust/registry/src/index.crates.io-6f17d22bba15001f/zenoh-transport-1.0.0-alpha.6/src/unicast/establishment/open.rs:239.
 ERROR zenoh_transport::unicast::estasleep 5 && RUST_LOG=z=info /home/ubuntu/autoware_carla_launch/external/zenoh_carla_bridge/target/release/zenoh_carla_bridge                 --mode ros2 --zenoh-listen tcp/0.0.0.0:7447                 --zenoh-config /home/ubuntu/autoware_carla_launch/config/zenoh-carla-bridge-conf.json5                 --carla-address 127.0.0.1 2>&1                 | tee bridge_log/2024-09-03_18:58:19//bridge.log
sleep 1 && poetry -C /home/ubuntu/autoware_carla_launch/external/zenoh_carla_bridge/carla_agent run python3 /home/ubuntu/autoware_carla_launch/external/zenoh_carla_bridge/carla_agent/main.py                 --host 127.0.0.1 --rolename v1                 --position 87.784805,20.787275,0.881736,16.499052,90.000053,0.000000                 2>&1 | tee bridge_log/2024-09-03_18:58:19//vehicle.log
sleep 5 && poetry -C /home/ubuntu/autoware_carla_launch/external/zenoh_autoware_v2x/ run python3 /home/ubuntu/autoware_carla_launch/external/zenoh_autoware_v2x//traffic_manager/main.py
sleep 5 && poetry -C /home/ubuntu/autoware_carla_launch/external/zenoh_autoware_v2x/ run python3 /home/ubuntu/autoware_carla_launch/external/zenoh_autoware_v2x//intersection_manager/main.py
INFO: listening to server 127.0.0.1:2000
ALSA lib confmisc.c:855:(parse_card) cannot find card '0'
ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_card_inum returned error: No such file or directory
ALSA lib confmisc.c:422:(snd_func_concat) error evaluating strings
ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
ALSA lib confmisc.c:1334:(snd_func_refer) error evaluating name
ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
ALSA lib conf.c:5701:(snd_config_expand) Evaluate error: No such file or directory
ALSA lib pcm.c:2664:(snd_pcm_open_noupdate) Unknown PCM default
 INFO  zenoh_carla_bridge > Running Carla Autoware Zenoh bridge...
 INFO  zenoh::net::runtime > Using ZID: 2d5f866b3f19069a0f3ad58406b0f31a
 INFO  zenoh::net::runtime::orchestrator > Zenoh can be reached at: tcp/10.177.21.105:7447
 INFO  zenoh::net::runtime::orchestrator > Zenoh can be reached at: tcp/172.17.0.1:7447
 INFO  zenoh::net::runtime::orchestrator > zenohd listening scout messages on 224.0.0.224:7446
INFO: [traffic manager] Get Carla traERROR zenoh_transport::unicast::establishment::open > Received a close message (reason INVALID) in response to an InitSyn on: tcp/[2001:da8:8001:7a20:58e2:37fe:54fa:31a]:57682 => tcp/[2001:da8:8001:7a20:58e2:37fe:54fa:31a]:40493 at /home/ubuntu/autoware_carla_launch/rust/registry/src/index.crates.io-6f17d22bba15001f/zenoh-transport-1.0.0-alpha.6/src/unicast/establishment/open.rs:239.
 ERROR zenoh_transport::unicast::establishment::open > Received a close message (reason INVALID) in response to an InitSyn on: tcp/[2001:da8:8001:7a20:ce96:e5ff:fe47:fee0]:36166 => tcp/[2001:da8:8001:7a20:ce96:e5ff:fe47:fee0]:40493 at /home/ubuntu/autoware_carla_launch/rust/registry/src/index.crates.io-6f17d22bba15001f/zenoh-transport-1.0.0-alpha.6/src/unicast/establishment/open.rs:239.
 ERROR zenoh_transport::unicast::establishment::open > Received a close message (reason INVALID) in response to an InitSyn on: tcp/[2001:da8:8001:7a20:ce96:e5ff:fe47:fee0]:36178 => tcp/[2001:da8:8001:7a20:ce96:e5ff:fe47:fee0]:40493 at /home/ubuntu/autoware_carla_launch/rust/registry/src/index.crates.io-6f17d22bba15001f/zenoh-transport-1.0.0-alpha.6/src/unicast/establishment/open.rs:239.
 ERROR zenoh_transport::unicast::establishment::open > Received a close message (reason INVALID) in response to an InitSyn on: tcp/10.177.21.105:53006 => tcp/10.177.21.105:40493 at /home/ubuntu/autoware_carla_launch/rust/registry/src/index.crates.io-6f17d22bba15001f/zenoh-transport-1.0.0-alpha.6/src/unicast/establishment/open.rs:239.
 ERROR zenoh_transport::unicast::establishment::open > Received a close message (reason INVALID) in response to an InitSyn on: tcp/10.177.21.105:53016 => tcp/10.177.21.105:40493 at /home/ubuntu/autoware_carla_launch/rust/registry/src/index.crates.io-6f17d22bba15001f/zenoh-transport-1.0.0-alpha.6/src/unicast/establishment/open.rs:239.ffic lights
INFO: [intersection manager] Get Carla traffic lights
INFO: Opening session...
 INFO  zenoh_carla_bridge::bridge::sensor_bridge > Detected a sensor 'tamagawa' on 'v1'
 INFO  zenoh_carla_bridge                        > Actor 382 created
 INFO  zenoh_carla_bridge::bridge::sensor_bridge > Detected a sensor 'lane_invasion' on 'v1'
 WARN  zenoh_carla_bridge::bridge::sensor_bridge > Unsupported sensor type 'sensor.other.lane_invasion'
 INFO  zenoh_carla_bridge                        > Actor 380 created
 INFO  zenoh_carla_bridge::bridge::sensor_bridge > Detected a sensor 'traffic_light' on 'v1'
 INFO  zenoh_carla_bridge                        > Actor 384 created
 INFO  zenoh_carla_bridge::bridge::sensor_bridge > Detected a sensor 'top' on 'v1'
 INFO  zenoh_carla_bridge                        > Actor 383 created
 INFO  zenoh_carla_bridge::bridge::sensor_bridge > Detected a sensor 'collision' on 'v1'
 WARN  zenoh_carla_bridge::bridge::sensor_bridge > Collision sensor is not supported yet
 INFO  zenoh_carla_bridge                        > Actor 379 created
 INFO  zenoh_carla_bridge::bridge::vehicle_bridge > Detect a vehicle v1
 INFO  zenoh_carla_bridge                         > Actor 378 created
 INFO  zenoh_carla_bridge::bridge::sensor_bridge  > Detected a sensor 'ublox' on 'v1'
 INFO  zenoh_carla_bridge                         > Actor 381 created
 INFO  zenoh_carla_bridge::bridge::sensor_bridge  > Detected a sensor 'godview' on 'v1'
 INFO  zenoh_carla_bridge                         > Actor 385 created
 ERROR zenoh_transport::unicast::establishment::open > Received a close message (reason INVALID) in response to an InitSyn on: tcp/172.17.0.1:59788 => tcp/172.17.0.1:40493 at /home/ubuntu/autoware_carla_launch/rust/registry/src/index.crates.io-6f17d22bba15001f/zenoh-transport-1.0.0-alpha.6/src/unicast/establishment/open.rs:239.
 WARN  zenoh::net::runtime::orchestrator             > Unable to connect to any locator of scouted peer a0c5ff19f9ca4884609fbc31c83f268e: [tcp/[2001:da8:8001:7a20:5c5d:15be:41ba:3dd4]:40493, tcp/[2001:da8:8001:7a20:ebee:e6cb:33d0:1e8b]:40493, tcp/[2001:da8:8001:7a20:8065:26a8:a5ee:1a39]:40493, tcp/[2001:da8:8001:7a20:f5e2:3814:eca6:1345]:40493, tcp/[2001:da8:8001:7a20:560a:b667:d360:68cf]:40493, tcp/[2001:da8:8001:7a20:b131:2cef:3640:fe62]:40493, tcp/[2001:da8:8001:7a20:58e2:37fe:54fa:31a]:40493, tcp/[2001:da8:8001:7a20:ce96:e5ff:fe47:fee0]:40493, tcp/[fe80::ce96:e5ff:fe47:fee0]:40493, tcp/[fe80::42:4fff:fe11:b6ad]:40493, tcp/[fe80::88fb:79ff:feb0:7380]:40493, tcp/[fe80::607d:c8ff:feef:2cde]:40493, tcp/[fe80::30c4:36ff:febb:50c4]:40493, tcp/10.177.21.105:40493, tcp/172.17.0.1:40493]
 ERROR zenoh_transport::unicast::establishment::open > Received a close message (reason INVALID) in response to an InitSyn on: tcp/172.17.0.1:59794 => tcp/172.17.0.1:40493 at /home/ubuntu/autoware_carla_launch/rust/registry/src/index.crates.io-6f17d22bba15001f/zenoh-transport-1.0.0-alpha.6/src/unicast/establishment/open.rs:239.
 WARN  zenoh::net::runtime::orchestrator             > Unable to connect to any locator of scouted peer a0c5ff19f9ca4884609fbc31c83f268e: [tcp/[2001:da8:8001:7a20:5c5d:15be:41ba:3dd4]:40493, tcp/[2001:da8:8001:7a20:ebee:e6cb:33d0:1e8b]:40493, tcp/[2001:da8:8001:7a20:8065:26a8:a5ee:1a39]:40493, tcp/[2001:da8:8001:7a20:f5e2:3814:eca6:1345]:40493, tcp/[2001:da8:8001:7a20:560a:b667:d360:68cf]:40493, tcp/[2001:da8:8001:7a20:b131:2cef:3640:fe62]:40493, tcp/[2001:da8:8001:7a20:58e2:37fe:54fa:31a]:40493, tcp/[2001:da8:8001:7a20:ce96:e5ff:fe47:fee0]:40493, tcp/[fe80::ce96:e5ff:fe47:fee0]:40493, tcp/[fe80::42:4fff:fe11:b6ad]:40493, tcp/[fe80::88fb:79ff:feb0:7380]:40493, tcp/[fe80::607d:c8ff:feef:2cde]:40493, tcp/[fe80::30c4:36ff:febb:50c4]:40493, tcp/10.177.21.105:40493, tcp/172.17.0.1:40493]
 ERROR zenoh_transport::unicast::establishment::open > Received a close message (reason INVALID) in response to an InitSyn on: tcp/172.17.0.1:57848 => tcp/172.17.0.1:41971 at /home/ubuntu/autoware_carla_launch/rust/registry/src/index.crates.io-6f17d22bba15001f/zenoh-transport-1.0.0-alpha.6/src/unicast/establishment/open.rs:239.
 WARN  zenoh::net::runtime::orchestrator             > Unable to connect to any locator of scouted peer f34958cf310b757762928858a06418d0: [tcp/[2001:da8:8001:7a20:5c5d:15be:41ba:3dd4]:41971, tcp/[2001:da8:8001:7a20:ebee:e6cb:33d0:1e8b]:41971, tcp/[2001:da8:8001:7a20:8065:26a8:a5ee:1a39]:41971, tcp/[2001:da8:8001:7a20:f5e2:3814:eca6:1345]:41971, tcp/[2001:da8:8001:7a20:560a:b667:d360:68cf]:41971, tcp/[2001:da8:8001:7a20:b131:2cef:3640:fe62]:41971, tcp/[2001:da8:8001:7a20:58e2:37fe:54fa:31a]:41971, tcp/[2001:da8:8001:7a20:ce96:e5ff:fe47:fee0]:41971, tcp/[fe80::ce96:e5ff:fe47:fee0]:41971, tcp/[fe80::42:4fff:fe11:b6ad]:41971, tcp/[fe80::88fb:79ff:feb0:7380]:41971, tcp/[fe80::607d:c8ff:feef:2cde]:41971, tcp/[fe80::30c4:36ff:febb:50c4]:41971, tcp/10.177.21.105:41971, tcp/172.17.0.:7a20:58e2:37fe:54fa:31a]:40493, tcp/[2001:da8:8001:7a20:ce96:e5ff:fe47:fee0]:40493, tcp/[fe80::ce96:e5ff:fe47:fee0]:40493, tcp/[fe80::42:4fff:fe11:b6ad]:40493, tcp/[fe80::88fb:79ff:feb0:7380]:40493, tcp/[fe80::607d:c8ff:feef:2cde]:40493, tcp/[fe80::30c4:36ff:febb:50c4]:40493, tcp/10.177.21.105:40493, tcp/172.17.0.1:40493]
1:41971]
 ERROR zenoh_transport::unicast::establishment::open > Received a close message (reason INVALID) in response to an InitSyn on: tcp/172.17.0.1:57862 => tcp/172.17.0.1:41971 at /home/ubuntu/autoware_carla_launch/rust/registry/src/index.crates.io-6f17d22bba15001f/zenoh-transport-1.0.0-alpha.6/src/unicast/establishment/open.rs:239.
 WARN  zenoh::net::runtime::orchestrator             > Unable to connect to any locator of scouted peer f34958cf310b757762928858a06418d0: [tcp/[2001:da8:8001:7a20:5c5d:15be:41ba:3dd4]:41971, tcp/[2001:da8:8001:7a20:ebee:e6cb:33d0:1e8b]:41971, tcp/[2001:da8:8001:7a20:8065:26a8:a5ee:1a39]:41971, tcp/[2001:da8:8001:7a20:f5e2:3814:eca6:1345]:41971, tcp/[2001:da8:8001:7a20:560a:b667:d360:68cf]:41971, tcp/[2001:da8:8001:7a20:b131:2cef:3640:fe62]:41971, tcp/[2001:da8:8001:7a20:58e2:37fe:54fa:31a]:41971, tcp/[2001:da8:8001:7a20:ce96:e5ff:fe47:fee0]:41971, tcp/[fe80::ce96:e5ff:fe47:fee0]:41971, tcp/[fe80::42:4fff:fe11:b6ad]:41971, tcp/[fe80::88fb:79ff:feb0:7380]:41971, tcp/[fe80::607d:c8ff:feef:2cde]:41971, tcp/[fe80::30c4:36ff:febb:50c4]:41971, tcp/10.177.21.105:41971, tcp/172.17.0.1:41971]
INFO: Connection Successed
INFO: Declaring Queryable on 'intersection/**/traffic_light/**'...
 ERROR zenoh_transport::unicast::establishment::open > Received a close message (reason INVALID) in response to an InitSyn on: tcp/172.17.0.1:57848 => tcp/172.17.0.1:41971 at /home/ubuntu/autoware_carla_launch/rust/registry/src/index.crates.io-6f17d22bba15001f/zenoh-transport-1.0.0-alpha.6/src/unicast/establishment/open.rs:239.
 WARN  zenoh::net::runtime::orchestrator             > Unable to connect to any locator of scouted peer f34958cf310b757762928858a06418d0: [tcp/[2001:da8:8001:7a20:5c5d:15be:41ba:3dd4]:41971, tcp/[2001:da8:8001:7a20:ebee:e6cb:33d0:1e8b]:41971, tcp/[2001:da8:8001:7a20:8065:26a8:a5ee:1a39]:41971, tcp/[2001:da8:8001:7a20:f5e2:3814:eca6:1345]:41971, tcp/[2001:da8:8001:7a20:560a:b667:d360:68cf]:41971, tcp/[2001:da8:8001:7a20:b131:2cef:3640:fe62]:41971, tcp/[2001:da8:8001:7a20:58e2:37fe:54fa:31a]:41971, tcp/[2001:da8:8001:7a20:ce96:e5ff:fe47:fee0]:41971, tcp/[fe80::ce96:e5ff:fe47:fee0]:41971, tcp/[fe80::42:4fff:fe11:b6ad]:41971, tcp/[fe80::88fb:79ff:feb0:7380]:41971, tcp/[fe80::607d:c8ff:feef:2cde]:41971, tcp/[fe80::30c4:36ff:febb:50c4]:41971, tcp/10.177.21.105:41971, tcp/172.17.0.1:41971]
 ERROR zenoh_transport::unicast::establishment::open > Received a close message (reason INVALID) in response to an InitSyn on: tcp/172.17.0.1:57862 => tcp/172.17.0.1:41971 at /home/ubuntu/autoware_carla_launch/rust/registry/src/index.crates.io-6f17d22bba15001f/zenoh-transport-1.0.0-alpha.6/src/unicast/establishment/open.rs:239.
 WARN  zenoh::net::runtime::orchestrator             > Unable to connect to any locator of scouted peer f34958cf310b757762928858a06418d0: [tcp/[2001:da8:8001:7a20:5c5d:15be:41ba:3dd4]:41971, tcp/[2001:da8:8001:7a20:ebee:e6cb:33d0:1e8b]:41971, tcp/[2001:da8:8001:7a20:8065:26a8:a5ee:1a39]:41971, tcp/[2001:da8:8001:7a20:f5e2:3814:eca6:1345]:41971, tcp/[2001:da8:8001:7a20:560a:b667:d360:68cf]:41971, tcp/[2001:da8:8001:7a20:b131:2cef:3640:fe62]:41971, tcp/[2001:da8:8001:7a20:58e2:37fe:54fa:31a]:41971, tcp/[2001:da8:8001:7a20:ce96:e5ff:fe47:fee0]:41971, tcp/[fe80::ce96:e5ff:fe47:fee0]:41971, tcp/[fe80::42:4fff:fe11:b6ad]:41971, tcp/[fe80::88fb:79ff:feb0:7380]:41971, tcp/[fe80::607d:c8ff:feef:2cde]:41971, tcp/[fe80::30c4:36ff:febb:50c4]:41971, tcp/10.177.21.105:41971, tcp/172.17.0.1:41971]
INFO: Connection Successed
INFO: Declaring Queryable on 'intersection/**/traffic_light/**'...
 ERROR zenoh_transport::unicast::establishment::open > Received a close message (reason INVALID) in response to an InitSyn on: tcp/[2001:da8:8001:7a20:5c5d:15be:41ba:3dd4]:36624 => tcp/[2001:da8:8001:7a20:5c5d:15be:41ba:3dd4]:40493 at /home/ubuntu/autoware_carla_launch/rust/registry/src/index.crates.io-6f17d22bba15001f/zenoh-transport-1.0.0-alpha.6/src/unicast/establishment/open.rs:239.
 ERROR zenoh_transport::unicast::establishment::open > Received a close message (reason INVALID) in response to an InitSyn on: tcp/[2001:da8:8001:7a20:5c5d:15be:41ba:3dd4]:36622 => tcp/[2001:da8:8001:7a20:5c5d:15be:41ba:3dd4]:40493 at /home/ubuntu/autoware_carla_launch/rust/registry/src/index.crates.io-6f17d22bba15001f/zenoh-transport-1.0.0-alpha.6/src/unicast/establishment/open.rs:239.
 ERROR zenoh_transport::unicast::establishment::open > Received a close message (reason INVALID) in response to an InitSyn on: tcp/[2001:da8:8001:7a20:ebee:e6cb:33d0:1e8b]:53286 => tcp/[2001:da8:8001:7a20:ebee:e6cb:33d0:1e8b]:40493 at /home/ubuntu/autoware_carla_launch/rust/registry/src/index.crates.io-6f17d22bba15001f/zenoh-transport-1.0.0-alpha.6/src/unicast/establishment/open.rs:239.
evshary commented 1 month ago

Hi @TianYifan-Vincent The reason it can't work is the incompatible Zenoh version. Now we have migrated to Zenoh 1.0 in the main branch of autoware_carla_launch, but we still need to update the V2X project. This will be updated recently. Before that, you can switch to https://github.com/evshary/autoware_carla_launch/tree/humble-0.9.14 for running the project.