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jchengai / gpir

[ICRA'22] Real-Time Trajectory Planning for Autonomous Driving with Gaussian Process and Incremental Refinement
https://arxiv.org/pdf/2205.11853.pdf
MIT License
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Error occured when roslaunch keyboard.launch #8

Closed badaolaziang closed 1 year ago

badaolaziang commented 1 year ago

Hi, Thank a lot for open sourcing this great work! When attempting to apply this work, I encounter some difficulty and hope to get some suggestions.

When I try roslaunch planning_core planning.launch, I get the following:

SUMMARY

PARAMETERS

  • /carla_controller/kd: 0.4
  • /carla_controller/ki: 0.15
  • /carla_controller/kp: 3.5
  • /planning/map_path: /home/luoteng/cat...
  • /planning/random_drive_mode: True
  • /planning/simulator: Carla
  • /planning/town: Town05
  • /robot_description: <?xml version="1....
  • /rosdistro: noetic
  • /rosversion: 1.15.14

NODES / carla_controller (planning_core/carla_controller) planning (planning_core/planning) planning_rviz (rviz/rviz) vehicle (robot_state_publisher/robot_state_publisher)

ROS_MASTER_URI=http://localhost:11311

process[planning-1]: started with pid [644605] process[carla_controller-2]: started with pid [644606] process[planning_rviz-3]: started with pid [644607] process[vehicle-4]: started with pid [644613] [pcl::PCDReader::read] Could not find file '/home/luoteng/catkin_gpir/src/gpir/hdmap/maps/pcd/Town05.pcd'. Fail to load pcd file: /home/luoteng/catkin_gpir/src/gpir/hdmap/maps/pcd/Town05.pcd W1127 16:04:53.694373 644605 carla_ego_info.cc:87] cannot receive ego info from carla W1127 16:04:53.694741 644605 carla_adapter.cc:40] fail to get vehicle param from Carla, Retry: 0 I1127 16:04:55.695619 644605 carla_adapter.cc:37] length: 4.79178 width: 2.16345 height: 1.48832 wheel_base: 3.00465 front_to_front_axle: 0.777641 back_to_rear_axle: 1.00949 rear_axle_to_center: 1.3864 I1127 16:04:55.695652 644605 planning_core.cc:45] Init simulator Carla OK

And when I try roslaunch planning_core keyboard.launch, I get the following:

SUMMARY

PARAMETERS

  • /rosdistro: noetic
  • /rosversion: 1.15.14

NODES / keyboard (planning_core/keyboard.py)

ROS_MASTER_URI=http://localhost:11311

process[keyboard-1]: started with pid [645243] pygame 2.1.2 (SDL 2.0.16, Python 3.7.15) Hello from the pygame community. https://www.pygame.org/contribute.html Traceback (most recent call last): File "/home/luoteng/catkin_gpir/src/gpir/planning_core/keyboard.py", line 321, in main() File "/home/luoteng/catkin_gpir/src/gpir/planning_core/keyboard.py", line 307, in main keyboard_handler = KeyboardHandler(args) File "/home/luoteng/catkin_gpir/src/gpir/planning_core/keyboard.py", line 170, in init self.agent_generator = AgentGenerator(args) File "/home/luoteng/catkin_gpir/src/gpir/planning_core/keyboard.py", line 53, in init self.ego = actors[0] IndexError: vector::_M_range_check: n (which is 0) >= this->size() (which is 0) **[keyboard-1] process has died [pid 645243, exit code 1, cmd /home/luoteng/catkin_gpir/src/gpir/planning_core/keyboard.py --img=/home/luoteng/catkin_gpir/src/gpir/planning_core/keyboard.png name:=keyboard __log:=/home/luoteng/.ros/log/b1045c60-6a5c-11ed-997a-434582c5cbfd/keyboard-1.log].* log file: /home/luoteng/.ros/log/b1045c60-6a5c-11ed-997a-434582c5cbfd/keyboard-1.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done

I am tring to solve the encountered problem, and I may wonder if there is something I missed that leads to the situation, or someone have met the similar situation. Thanks again for the sharing of the excellent work.

jchengai commented 1 year ago

Hi, it looks like the client cannot extract actors from simulator. You may try to comment out the filter in line 51 to see if there is any actor.

https://github.com/jchengai/gpir/blob/1bed4d500a5df55531379f13a65c5c14d3fef921/planning_core/keyboard.py#L50-L57

badaolaziang commented 1 year ago

Thanks for the reply. You are right that I found out that when I roslaunch planning_core carla_setup.launch, I get

Exception in thread Thread-7: Traceback (most recent call last): File "/home/zza/miniconda3/envs/carla_py37/lib/python3.7/threading.py", line 926, in _bootstrap_inner self.run() File "/home/zza/miniconda3/envs/carla_py37/lib/python3.7/threading.py", line 870, in run self._target(*self._args, **self._kwargs) File "/home/zza/catkin_gpir/src/gpir/ros-bridge/carla_ros_bridge/src/carla_ros_bridge/bridge.py", line 271, in _synchronous_mode_update self._update(frame, world_snapshot.timestamp.elapsed_seconds) File "/home/zza/catkin_gpir/src/gpir/ros-bridge/carla_ros_bridge/src/carla_ros_bridge/bridge.py", line 312, in _update self.actor_factory.update_actor_states(frame_id, timestamp) File "/home/zza/catkin_gpir/src/gpir/ros-bridge/carla_ros_bridge/src/carla_ros_bridge/actor_factory.py", line 143, in update_actor_states self.actors[actor_id].update(frame_id, timestamp) File "/home/zza/catkin_gpir/src/gpir/ros-bridge/carla_ros_bridge/src/carla_ros_bridge/sensor.py", line 253, in update self._update_synchronous_sensor(frame, timestamp) File "/home/zza/catkin_gpir/src/gpir/ros-bridge/carla_ros_bridge/src/carla_ros_bridge/sensor.py", line 234, in _update_synchronous_sensor self.sensor_data_updated(carla_sensor_data) File "/home/zza/catkin_gpir/src/gpir/ros-bridge/carla_ros_bridge/src/carla_ros_bridge/camera.py", line 121, in sensor_data_updated img_msg = self.get_ros_image(carla_camera_data) File "/home/zza/catkin_gpir/src/gpir/ros-bridge/carla_ros_bridge/src/carla_ros_bridge/camera.py", line 163, in get_ros_image img_msg = Camera.cv_bridge.cv2_to_imgmsg(image_data_array, encoding=encoding) File "/opt/ros/noetic/lib/python3/dist-packages/cv_bridge/core.py", line 266, in cv2_to_imgmsg if self.cvtype_to_name[self.encoding_to_cvtype2(encoding)] != cv_type: File "/opt/ros/noetic/lib/python3/dist-packages/cv_bridge/core.py", line 91, in encoding_to_cvtype2 from cv_bridge.boost.cv_bridge_boost import getCvType ImportError: /lib/x86_64-linux-gnu/libp11-kit.so.0: undefined symbol: ffi_type_pointer, version LIBFFI_BASE_7.0

[INFO] [1669715562.487306, 1.901501]: Object (type='sensor.other.lane_invasion', id='lane_invasion') spawned successfully as 247. [INFO] [1669715562.489062, 1.901501]: Object (type='sensor.pseudo.tf', id='tf') spawned successfully as 10005. [INFO] [1669715562.490352, 1.901501]: Object (type='sensor.pseudo.odom', id='odometry') spawned successfully as 10006. [INFO] [1669715562.490864, 1.901501]: All objects spawned.

So it seems that I didnot make the carla_ros_bridge right. I will try to figure it out. Thanks again.