How to fix this error

[Ruben0407]

Hi, when i ran exploration_made_ros2.sh gave this error i don't know how fix it

a@a:~/op_carla/op_bridge/op_scripts(ros2)$ ./run_exploration_mode_ros2.sh Ego Vehicle: hero Executing stack... hero Town01

Starting OpenPlanner .. hero Town01 true

---

[INFO] [launch]: All log files can be found below /home/a/.ros/log/2023-01-04-15-50-48-939164-a-227460 [INFO] [launch]: Default logging verbosity is set to INFO Task exception was never retrieved future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/galactic/lib/python3.8/site-packages/launch/launch_service.py:226> exception=SubstitutionFailure("executed command failed. Command: xacro /home/a/carla-autoware-universe/autoware.universe.openplanner/install/tier4_vehicle_launch/share/tier4_vehicle_launch/urdf/vehicle.xacro vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit config_dir:=/home/a/carla-autoware-universe/autoware.universe.openplanner/install/sample_sensor_kit_description/share/sample_sensor_kit_description/config\nCaptured stderr output: error: name 'xacro' is not defined \nwhen evaluating expression 'xacro.load_yaml('$(find sample_vehicle_description)/config/vehicle_info.param.yaml')' \nwhen evaluating expression 'vehicle_info['/']['rosparameters']['wheel_base']/2.0'\nwhen processing file: /home/a/carla-autoware-universe/autoware.universe.openplanner/install/sample_vehicle_description/share/sample_vehicle_description/urdf/vehicle.xacro\nincluded from: /home/a/carla-autoware-universe/autoware.universe.openplanner/install/tier4_vehicle_launch/share/tier4_vehicle_launch/urdf/vehicle.xacro\n")> Traceback (most recent call last): File "/opt/ros/galactic/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event await self.__process_event(next_event) File "/opt/ros/galactic/lib/python3.8/site-packages/launch/launch_service.py", line 248, in process_event visit_all_entities_and_collect_futures(entity, self.context)) File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context) File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context) File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context) [Previous line repeated 5 more times] File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures sub_entities = entity.visit(context) File "/opt/ros/galactic/lib/python3.8/site-packages/launch/action.py", line 108, in visit return self.execute(context) File "/opt/ros/galactic/lib/python3.8/site-packages/launch_ros/actions/node.py", line 465, in execute self._perform_substitutions(context) File "/opt/ros/galactic/lib/python3.8/site-packages/launch_ros/actions/node.py", line 420, in _perform_substitutions evaluated_parameters = evaluate_parameters(context, self.__parameters) File "/opt/ros/galactic/lib/python3.8/site-packages/launch_ros/utilities/evaluate_parameters.py", line 164, in evaluate_parameters output_params.append(evaluate_parameter_dict(context, param)) File "/opt/ros/galactic/lib/python3.8/site-packages/launch_ros/utilities/evaluate_parameters.py", line 133, in evaluate_parameter_dict evaluated_value = value.evaluate(context) File "/opt/ros/galactic/lib/python3.8/site-packages/launch_ros/parameter_descriptions.py", line 91, in evaluate self.evaluated_parameter_value = perform_typed_substitution( File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/type_utils.py", line 546, in perform_typed_substitution perform_substitutions(context, cast(List[Substitution], value)), File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions return ''.join([context.perform_substitution(sub) for sub in subs]) File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in return ''.join([context.perform_substitution(sub) for sub in subs]) File "/opt/ros/galactic/lib/python3.8/site-packages/launch/launch_context.py", line 232, in perform_substitution return substitution.perform(self) File "/opt/ros/galactic/lib/python3.8/site-packages/launch/substitutions/command.py", line 119, in perform raise SubstitutionFailure(on_error_message) launch.substitutions.substitution_failure.SubstitutionFailure: executed command failed. Command: xacro /home/a/carla-autoware-universe/autoware.universe.openplanner/install/tier4_vehicle_launch/share/tier4_vehicle_launch/urdf/vehicle.xacro vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit config_dir:=/home/a/carla-autoware-universe/autoware.universe.openplanner/install/sample_sensor_kit_description/share/sample_sensor_kit_description/config Captured stderr output: error: name 'xacro' is not defined when evaluating expression 'xacro.load_yaml('$(find sample_vehicle_description)/config/vehicle_info.param.yaml')' when evaluating expression 'vehicle_info['/']['ros__parameters']['wheel_base']/2.0' when processing file: /home/a/carla-autoware-universe/autoware.universe.openplanner/install/sample_vehicle_description/share/sample_vehicle_description/urdf/vehicle.xacro included from: /home/a/carla-autoware-universe/autoware.universe.openplanner/install/tier4_vehicle_launch/share/tier4_vehicle_launch/urdf/vehicle.xacro

Traceback (most recent call last): File "/home/a/op_carla/op_bridge/op_bridge/op_bridge_ros2.py", line 61, in _tick_agent ego_action = self.agent() File "/home/a/op_carla/op_bridge/leaderboard/autoagents/agent_wrapper.py", line 75, in call return self._agent() File "/home/a/op_carla/op_bridge/leaderboard/autoagents/autonomous_agent.py", line 115, in call control = self.run_step(input_data, timestamp) File "/home/a/op_carla/op_bridge/op_bridge/op_ros2_agent.py", line 531, in run_step raise RuntimeError("Stack exited with: {} {}".format( RuntimeError: Stack exited with: 1 None

During handling of the above exception, another exception occurred:

Traceback (most recent call last): File "/home/a/op_carla/op_bridge/op_bridge/op_bridge_ros2.py", line 171, in run_agent self.agent_loop._tick_agent(timestamp) File "/home/a/op_carla/op_bridge/op_bridge/op_bridge_ros2.py", line 67, in _tick_agent raise AgentError(e) leaderboard.autoagents.agent_wrapper.AgentError: Stack exited with: 1 None Scenario Ended , Hero has fallen, Sayonara ERROR: failed to destroy actor 197 : unable to destroy actor: not found

[hatem-darweesh]

The error source could be anything. Could you narrow it down? Have you tried autoware.universe planning tutorial first. ? Make sure that CARLA simulator is working and try to call any command line python such as changing the environment or loading new actors. Make sure the paths to maps and other resources are set correctly. Check previous closed issues related to the CARLA autoware bridge.

[Ruben0407]

I checked the tutorial and followed the process. However, in the process of modifying autoware.launch, I did not write this code, and the autoware was executed. But it didn't work with carla and nothing worked. When I inserted the <--carla --> code again, I got the error "failed to destroy acotor" and I thought it was wrong somewhere. Thank you.

2023년 1월 11일 (수) 오전 1:08, Hatem Darweesh @.***>님이 작성:

The error source could be anything. Could you narrow it down? Have you tried autoware.universe planning tutorial first. ? Make sure that CARLA simulator is working and try to call any command line python such as changing the environment or loading new actors. Make sure the paths to maps and other resources are set correctly. Check previous closed issues related to the CARLA autoware bridge.

— Reply to this email directly, view it on GitHub https://github.com/hatem-darweesh/op_bridge/issues/10#issuecomment-1377499796, or unsubscribe https://github.com/notifications/unsubscribe-auth/AVULOG5MIA74U4YXVK37CYDWRWCO7ANCNFSM6AAAAAATQOO45U . You are receiving this because you authored the thread.Message ID: @.***>

[AditiShelke]

It's hard to give a definitive answer without knowing more about the context and the codebase, but it seems that there is an issue in the self.agent() function that is causing it to exit with an error code of 1 and None, which is then causing the code to raise a runtime error.

[Ruben0407]

The error is continuing now. Looking at the tick_agent function, it seems to be related to timestamp, so I want to modify that part. If carla and autoware modify sim_time modified in autoware.launch elsewhere, will the error be fixed? If that's right, which part should I modify?

[yaoweixiao-ux]

hi I meet this problem too, we using offical module, but when we change xml add Carla, err shows no xxx agent; I solve this problem by at autoware/src/universe/external git clone hatem-darweesh open_planning module and colcon build again , launch again right

[Ruben0407]

hi I meet this problem too, we using offical module, but when we change xml add Carla, err shows no xxx agent; I solve this problem by at autoware/src/universe/external git clone hatem-darweesh open_planning module and colcon build again , launch again right

Thanks comment, I'm sorry i can't found open_planning hatem-darweesh github could you give me a link please?

[yaoweixiao-ux]

https://github.com/ZATiTech/open_planner

[1MingC]

make sure in file xxx/op_agent/start_ros2.sh that map_path:=$HOME/xxx refer to: https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/planning-simulation/#how-to-run-a-planning-simulation