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A ROS/ROS2 Multi-robot Simulator for Autonomous Vehicles
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Apollo 5.0 doesn't detect the traffic light #821

Open gyp199009 opened 4 years ago

gyp199009 commented 4 years ago

Hello there, I run LG simulator and Apollo 5.0 on two machines, everything seems fine but the vehicle doesn't recongnize the traffic lights and stops whenever it runs into an intersection, it shows "NO SIGNAL" all the time in Dreamview as below: image I ran perception.sh in a terminnal, I got these information:

_[cyber_launch_9586] INFO ========================================================================================================================
[cyber_launch_9585] INFO Launch file [/apollo/modules/transform/launch/static_transform.launch]
[cyber_launch_9585] INFO ========================================================================================================================
[cyber_launch_9586] INFO Load module [image_decompress] library: [mainboard_default_9586] [CYBER_DEFAULT] conf: [/apollo/modules/drivers/tools/image_decompress/dag/image_decompress.dag] exception_handler: []
[cyber_launch_9585] INFO Load module [static_transform] library: [mainboard_default_9585] [CYBER_DEFAULT] conf: [/apollo/modules/transform/dag/static_transform.dag] exception_handler: []
[cyber_launch_9586] INFO Start process [mainboard_default_9586] successfully. pid: 9609
[cyber_launch_9586] INFO ------------------------------------------------------------------------------------------------------------------------
[cyber_launch_9585] INFO Start process [mainboard_default_9585] successfully. pid: 9610
[cyber_launch_9585] INFO ------------------------------------------------------------------------------------------------------------------------
[cyber_launch_9587] INFO Launch file [/apollo/modules/perception/production/launch/perception_all.launch]
[cyber_launch_9587] INFO ========================================================================================================================
[cyber_launch_9587] INFO Load module [perception] library: [perception] [CYBER_DEFAULT] conf: [/apollo/modules/perception/production/dag/dag_streaming_perception.dag] exception_handler: []
[cyber_launch_9587] INFO Start process [perception] successfully. pid: 9613
[cyber_launch_9587] INFO ------------------------------------------------------------------------------------------------------------------------
[cyber_launch_9587] INFO Load module [perception_camera] library: [perception] [CYBER_DEFAULT] conf: [/apollo/modules/perception/production/dag/dag_streaming_perception_camera.dag] exception_handler: []
[cyber_launch_9587] INFO Load module [perception_traffic_light] library: [perception_trafficlights] [CYBER_DEFAULT] conf: [/apollo/modules/perception/production/dag/dag_streaming_perception_trafficlights.dag] exception_handler: []
[cyber_launch_9587] INFO Start process [perception_trafficlights] successfully. pid: 9615
[cyber_launch_9587] INFO ------------------------------------------------------------------------------------------------------------------------
[cyber_launch_9587] INFO Load module [motion_service] library: [motion_service] [CYBER_DEFAULT] conf: [/apollo/modules/perception/production/dag/dag_motion_service.dag] exception_handler: []
[cyber_launch_9587] INFO Start process [motion_service] successfully. pid: 9617
[cyber_launch_9587] INFO ------------------------------------------------------------------------------------------------------------------------
[mainboard_default_9586]  WARNING: Logging before InitGoogleLogging() is written to STDERR
[mainboard_default_9586]  I0624 11:29:14.859428  9609 module_argument.cc:81] [] command: mainboard -d /apollo/modules/drivers/tools/image_decompress/dag/image_decompress.dag -p mainboard_default_9586 -s CYBER_DEFAULT
[mainboard_default_9586]  I0624 11:29:14.864145  9609 global_data.cc:150] [] host ip: 192.168.19.150
[mainboard_default_9586]  I0624 11:29:14.864920  9609 module_argument.cc:57] [] binary_name_ is mainboard, process_group_ is mainboard_default_9586, has 1 dag conf
[mainboard_default_9586]  I0624 11:29:14.865720  9609 module_argument.cc:60] [] dag_conf: /apollo/modules/drivers/tools/image_decompress/dag/image_decompress.dag
[mainboard_default_9585]  WARNING: Logging before InitGoogleLogging() is written to STDERR
[mainboard_default_9585]  I0624 11:29:15.038100  9610 module_argument.cc:81] [] command: mainboard -d /apollo/modules/transform/dag/static_transform.dag -p mainboard_default_9585 -s CYBER_DEFAULT
[mainboard_default_9585]  I0624 11:29:15.045693  9610 global_data.cc:150] [] host ip: 192.168.19.150
[mainboard_default_9585]  I0624 11:29:15.046353  9610 module_argument.cc:57] [] binary_name_ is mainboard, process_group_ is mainboard_default_9585, has 1 dag conf
[mainboard_default_9585]  I0624 11:29:15.046746  9610 module_argument.cc:60] [] dag_conf: /apollo/modules/transform/dag/static_transform.dag
[perception]  WARNING: Logging before InitGoogleLogging() is written to STDERR
[perception]  I0624 11:29:15.085429  9613 module_argument.cc:81] [] command: mainboard -d /apollo/modules/perception/production/dag/dag_streaming_perception.dag /apollo/modules/perception/production/dag/dag_streaming_perception_camera.dag -p perception -s CYBER_DEFAULT
[perception]  I0624 11:29:15.090770  9613 global_data.cc:150] [] host ip: 192.168.19.150
[perception]  I0624 11:29:15.091852  9613 module_argument.cc:57] [] binary_name_ is mainboard, process_group_ is perception, has 2 dag conf
[perception]  I0624 11:29:15.092339  9613 module_argument.cc:60] [] dag_conf: /apollo/modules/perception/production/dag/dag_streaming_perception.dag
[perception]  I0624 11:29:15.092813  9613 module_argument.cc:60] [] dag_conf: /apollo/modules/perception/production/dag/dag_streaming_perception_camera.dag
[mainboard_default_9585]  E0624 11:29:15.159862  9610 static_transform_component.cc:59] [static_transform] Extrinsic yaml file is noe exists: /apollo/modules/drivers/velodyne/params/lidar16_front_up_novatel_extrinsics.yaml
[mainboard_default_9585]  E0624 11:29:15.163136  9610 static_transform_component.cc:59] [static_transform] Extrinsic yaml file is noe exists: /apollo/modules/drivers/velodyne/params/lidar16_front_novatel_extrinsics.yaml
[mainboard_default_9585]  E0624 11:29:15.164430  9610 static_transform_component.cc:59] [static_transform] Extrinsic yaml file is noe exists: /apollo/modules/drivers/velodyne/params/lidar16_rear_left_novatel_extrinsics.yaml
[mainboard_default_9585]  E0624 11:29:15.165503  9610 static_transform_component.cc:59] [static_transform] Extrinsic yaml file is noe exists: /apollo/modules/drivers/velodyne/params/lidar16_rear_right_novatel_extrinsics.yaml
[mainboard_default_9585]  E0624 11:29:15.168264  9610 static_transform_component.cc:59] [static_transform] Extrinsic yaml file is noe exists: /apollo/modules/perception/data/params/radar_rear_extrinsics.yaml
[perception_trafficlights]  WARNING: Logging before InitGoogleLogging() is written to STDERR
[perception_trafficlights]  I0624 11:29:15.222303  9615 module_argument.cc:81] [] command: mainboard -d /apollo/modules/perception/production/dag/dag_streaming_perception_trafficlights.dag -p perception_trafficlights -s CYBER_DEFAULT
[perception_trafficlights]  I0624 11:29:15.224007  9615 global_data.cc:150] [] host ip: 192.168.19.150
[perception_trafficlights]  I0624 11:29:15.224853  9615 module_argument.cc:57] [] binary_name_ is mainboard, process_group_ is perception_trafficlights, has 1 dag conf
[perception_trafficlights]  I0624 11:29:15.225977  9615 module_argument.cc:60] [] dag_conf: /apollo/modules/perception/production/dag/dag_streaming_perception_trafficlights.dag
[motion_service]  WARNING: Logging before InitGoogleLogging() is written to STDERR
[motion_service]  I0624 11:29:15.287858  9617 module_argument.cc:81] [] command: mainboard -d /apollo/modules/perception/production/dag/dag_motion_service.dag -p motion_service -s CYBER_DEFAULT
[motion_service]  I0624 11:29:15.288811  9617 global_data.cc:150] [] host ip: 192.168.19.150
[motion_service]  I0624 11:29:15.289201  9617 module_argument.cc:57] [] binary_name_ is mainboard, process_group_ is motion_service, has 1 dag conf
[motion_service]  I0624 11:29:15.289377  9617 module_argument.cc:60] [] dag_conf: /apollo/modules/perception/production/dag/dag_motion_service.dag
[mainboard_default_9585]  E0624 11:29:15.379429  9703 node_manager.cc:101] [mainboard] this process will be terminated due to duplicated node[static_transform], please ensure that each node has a unique name.
[mainboard_default_9585]
[cyber_launch_9585] ERROR Process [mainboard_default_9585] has finished. [pid 9610, cmd mainboard -d /apollo/modules/transform/dag/static_transform.dag -p mainboard_default_9585 -s CYBER_DEFAULT].
[cyber_launch_9585] INFO All processes has died.
[cyber_launch_9585] INFO Cyber exit.
[cyber_launch_9585] INFO All processes have been stopped.
[motion_service]  [NVBLAS] NVBLAS_CONFIG_FILE environment variable is NOT set : relying on default config filename 'nvblas.conf'
[motion_service]  [NVBLAS] Cannot open default config file 'nvblas.conf'
[motion_service]  [NVBLAS] Config parsed
[motion_service]  [NVBLAS] CPU Blas library need to be provided
[mainboard_default_9586]  E0624 11:29:16.264791  9679 node_manager.cc:101] [mainboard] this process will be terminated due to duplicated node[camera_front_6mm_decompress], please ensure that each node has a unique name.
[mainboard_default_9586]  E0624 11:29:16.264873  9679 node_manager.cc:101] [mainboard] this process will be terminated due to duplicated node[camera_front_12mm_decompress], please ensure that each node has a unique name.
[mainboard_default_9586]  E0624 11:29:16.264891  9679 node_manager.cc:101] [mainboard] this process will be terminated due to duplicated node[camera_left_fisheye_decompress], please ensure that each node has a unique name.
[mainboard_default_9586]  E0624 11:29:16.264905  9679 node_manager.cc:101] [mainboard] this process will be terminated due to duplicated node[camera_right_fisheye_decompress], please ensure that each node has a unique name.
[mainboard_default_9586]  E0624 11:29:16.264919  9679 node_manager.cc:101] [mainboard] this process will be terminated due to duplicated node[camera_rear_6mm_decompress], please ensure that each node has a unique name.
[mainboard_default_9586]
[cyber_launch_9586] ERROR Process [mainboard_default_9586] has finished. [pid 9609, cmd mainboard -d /apollo/modules/drivers/tools/image_decompress/dag/image_decompress.dag -p mainboard_default_9586 -s CYBER_DEFAULT].
[cyber_launch_9586] INFO All processes has died.
[cyber_launch_9586] INFO Cyber exit.
[cyber_launch_9586] INFO All processes have been stopped.
[perception_trafficlights]  [NVBLAS] NVBLAS_CONFIG_FILE environment variable is NOT set : relying on default config filename 'nvblas.conf'
[perception_trafficlights]  [NVBLAS] Cannot open default config file 'nvblas.conf'
[perception_trafficlights]  [NVBLAS] Config parsed
[perception_trafficlights]  [NVBLAS] CPU Blas library need to be provided
[perception_trafficlights]  E0624 11:29:17.675006  9782 node_manager.cc:101] [mainboard] this process will be terminated due to duplicated node[TrafficLightsComponent], please ensure that each node has a unique name.
[perception]  [NVBLAS] NVBLAS_CONFIG_FILE environment variable is NOT set : relying on default config filename 'nvblas.conf'
[perception]  [NVBLAS] Cannot open default config file 'nvblas.conf'
[perception]  [NVBLAS] Config parsed
[perception]  [NVBLAS] CPU Blas library need to be provided
[perception]  E0624 11:29:20.148695  9798 node_manager.cc:101] [mainboard] this process will be terminated due to duplicated node[Velodyne128Segmentation], please ensure that each node has a unique name.
[perception_trafficlights]
[perception]  E0624 11:29:35.360985  9613 node_manager.cc:101] [mainboard] this process will be terminated due to duplicated node[Velodyne16Segmentation], please ensure that each node has a unique name.
[perception]  E0624 11:29:40.577662  9613 node_manager.cc:101] [mainboard] this process will be terminated due to duplicated node[RecognitionComponent], please ensure that each node has a unique name.
[perception]  E0624 11:29:40.587472  9613 node_manager.cc:101] [mainboard] this process will be terminated due to duplicated node[FrontRadarDetection], please ensure that each node has a unique name.
[perception]  E0624 11:29:40.590945  9613 cyber.cc:37] [mainboard] please initialize cyber firstly._

So, what is the problem? Thank you in advance!

EricBoiseLGSVL commented 4 years ago

Please see this issue #812