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guardstrikelab / carla_apollo_bridge

This project aims to provide a data and control bridge for the communication between the latest version of Apollo and Carla.
Apache License 2.0
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Trying Town04 & Town10HD in Apollo Causes Problem #169

Closed cfs4819 closed 10 months ago

cfs4819 commented 11 months ago

Describe the bug

When changing town in config/setting.yaml, the Dreamview shows nothing but 'Please send car initial position and map data'. As shown as follow : image Apollo logs as follow:

[/apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/common/data/global_flagfile.txt]  E1215 10:49:12.738828 34410 hdmap_common.cc:166] [map]lane_[id = id: "road_267_lane_0_-4"
[/apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/common/data/global_flagfile.txt]  ] type is NONE.
[/apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/common/data/global_flagfile.txt]  E1215 10:49:12.755041 34410 hdmap_common.cc:166] [map]lane_[id = id: "road_760_lane_0_-4"
[/apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/common/data/global_flagfile.txt]  ] type is NONE.
[/apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/common/data/global_flagfile.txt]  E1215 10:49:12.758217 34410 hdmap_common.cc:166] [map]lane_[id = id: "road_779_lane_0_5"
[/apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/common/data/global_flagfile.txt]  ] type is NONE.
[/apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/common/data/global_flagfile.txt]  E1215 10:49:12.758445 34410 hdmap_common.cc:166] [map]lane_[id = id: "road_779_lane_0_4"
...
...
...
[/apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/common/data/global_flagfile.txt]  ] type is NONE.
[/apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/common/data/global_flagfile.txt]  E1215 10:49:13.637171 34410 hdmap_common.cc:166] [map]lane_[id = id: "road_1191_lane_1_-1"
[/apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/common/data/global_flagfile.txt]  ] type is NONE.
[/apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/common/data/global_flagfile.txt]  E1215 10:49:13.637722 34410 hdmap_common.cc:166] [map]lane_[id = id: "road_1194_lane_0_5"
[/apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/common/data/global_flagfile.txt]  ] type is NONE.
[/apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/common/data/global_flagfile.txt]  E1215 10:49:13.637852 34410 hdmap_common.cc:166] [map]lane_[id = id: "road_1194_lane_0_4"
[/apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/common/data/global_flagfile.txt]  ] type is NONE.
[/apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/common/data/global_flagfile.txt]  E1215 10:49:13.637971 34410 hdmap_common.cc:166] [map]lane_[id = id: "road_1194_lane_0_3"
[/apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/common/data/global_flagfile.txt]  ] type is NONE.
[/apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/common/data/global_flagfile.txt]  E1215 10:49:13.638087 34410 hdmap_common.cc:166] [map]lane_[id = id: "road_1194_lane_0_2"
[/apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/common/data/global_flagfile.txt]  ] type is NONE.
[/apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/common/data/global_flagfile.txt]  E1215 10:49:13.638198 34410 hdmap_common.cc:166] [map]lane_[id = id: "road_1194_lane_0_1"
[/apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/common/data/global_flagfile.txt]  ] type is NONE.
[/apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/common/data/global_flagfile.txt]  E1215 10:49:13.638593 34410 hdmap_common.cc:166] [map]lane_[id = id: "road_1194_lane_1_1"
[/apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/common/data/global_flagfile.txt]  ] type is NONE.
[/apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/common/data/global_flagfile.txt]  E1215 10:49:13.888022 34410 file.cc:76] [dreamview]Failed to open file /apollo/modules/map/data/carla_town04/default_end_way_point.txt in text mode.
[/apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/common/data/global_flagfile.txt]  E1215 10:49:13.888831 34410 file.cc:76] [dreamview]Failed to open file /apollo/modules/map/data/carla_town04_default_cycle_routing.txt in text mode.

In what area(s)?

/area runtime

Steps to Reproduce the Problem

  1. Run this command in the container to start Dreamview: ./scripts/bootstrap.sh start
  2. Modify Town01 into Town04 in file config/setting.yaml
  3. Start the bridge and spawn the ego vehicle: python carla_cyber_bridge/bridge.py
  4. Start a co-simulation: Open apollo client: http://localhost:8888
  5. Change Maps in Dreamview from 'Carla Town01' to 'Carla Town04'

Actual Behavior

image

when i check logs by tail -f nohup.out

I get

image

Environments (please complete the following information):

What version of carla_apollo_bridge?

0.3.0

Release Note

RELEASE NOTE:

cfs4819 commented 11 months ago

After regenerating the maps of these Towns refering to instruction, problem exists still. So problem may not caused by maps. By checking cyber_monitor, the channel /apollo/localization/pose has been published properly. That confuses me a lot. I don't know if someone else meet this issue.

cfs4819 commented 10 months ago

I noticed that my version of apollo is apollo-v8.0.0 instead of the release version apollo-r8.0.0. After changing the version to apollo-r8.0.0, the problem did not occur again. Therefore this issue can be closed.