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ouster-lidar / ouster-ros

Official ROS drivers for Ouster sensors (OS0, OS1, OS2, OSDome)
https://ouster.com
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Not able to cooperate with Autoware under the namespace "sensing" #383

Open Michael-Mo0116 opened 1 month ago

Michael-Mo0116 commented 1 month ago

Describe the bug I installed the ouster driver and it works fine when I launch it individually. However, when I try to add it into the autoware launch file, the ouster will crash. After some research, I discovered that as long as I put the ouster launcher under the Autoware namespace "sensing", the ouster driver will crash. But it works fine outside that namespace. So, what is the problem with it and how can I solve it?

Platform (please complete the following information):

Samahu commented 2 weeks ago

Can you provide any logs that may help us resolve the issue? Thanks

Michael-Mo0116 commented 2 weeks ago

Sorry for the late reply. Here is the debug log when I'm running autoware with ouster:

auto2204@auto:~/ACRL/autoware$ ros2 launch autoware_launch autoware.launch.xml map_path:=$HOME/ACRL/map/test_map vehicle_model:=my_vehicle sensor_model:=my_sensor_kit --debug
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.IncludeLaunchDescription'
[INFO] [launch]: All log files can be found below /home/auto2204/.ros/log/2024-10-19-15-46-07-998255-auto-211075
[INFO] [launch]: Default logging verbosity is set to DEBUG
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x7522b9db7ee0>'
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x7522b9db7ee0>' ✓ '<launch.event_handlers.on_include_launch_description.OnIncludeLaunchDescription object at 0x7522b9dbc880>'
[DEBUG] [launch.launch_description_source]: Traceback (most recent call last):
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 68, in try_get_launch_description_without_context
    perform_substitutions(context, self.__location)
  File "/opt/ros/humble/lib/python3.10/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/humble/lib/python3.10/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_context.py", line 240, in perform_substitution
    return substitution.perform(self)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/substitutions/launch_configuration.py", line 98, in perform
    raise SubstitutionFailure(
launch.substitutions.substitution_failure.SubstitutionFailure: launch configuration 'vehicle_launch_pkg' does not exist

[DEBUG] [launch.launch_description_source]: Failed to load the launch file without a context: launch configuration 'vehicle_launch_pkg' does not exist
[DEBUG] [launch.launch_description_source]: Traceback (most recent call last):
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 68, in try_get_launch_description_without_context
    perform_substitutions(context, self.__location)
  File "/opt/ros/humble/lib/python3.10/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/humble/lib/python3.10/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_context.py", line 240, in perform_substitution
    return substitution.perform(self)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/substitutions/launch_configuration.py", line 98, in perform
    raise SubstitutionFailure(
launch.substitutions.substitution_failure.SubstitutionFailure: launch configuration 'sensor_launch_pkg' does not exist

[DEBUG] [launch.launch_description_source]: Failed to load the launch file without a context: launch configuration 'sensor_launch_pkg' does not exist
[DEBUG] [launch.launch_description_source]: Traceback (most recent call last):
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 68, in try_get_launch_description_without_context
    perform_substitutions(context, self.__location)
  File "/opt/ros/humble/lib/python3.10/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/humble/lib/python3.10/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_context.py", line 240, in perform_substitution
    return substitution.perform(self)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/substitutions/launch_configuration.py", line 98, in perform
    raise SubstitutionFailure(
launch.substitutions.substitution_failure.SubstitutionFailure: launch configuration 'directory_with_related_launches' does not exist

[DEBUG] [launch.launch_description_source]: Failed to load the launch file without a context: launch configuration 'directory_with_related_launches' does not exist
[DEBUG] [launch.launch_description_source]: Traceback (most recent call last):
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 68, in try_get_launch_description_without_context
    perform_substitutions(context, self.__location)
  File "/opt/ros/humble/lib/python3.10/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/humble/lib/python3.10/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_context.py", line 240, in perform_substitution
    return substitution.perform(self)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/substitutions/launch_configuration.py", line 98, in perform
    raise SubstitutionFailure(
launch.substitutions.substitution_failure.SubstitutionFailure: launch configuration 'module_preset' does not exist

[DEBUG] [launch.launch_description_source]: Failed to load the launch file without a context: launch configuration 'module_preset' does not exist
[DEBUG] [launch.launch_description_source]: Traceback (most recent call last):
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 68, in try_get_launch_description_without_context
    perform_substitutions(context, self.__location)
  File "/opt/ros/humble/lib/python3.10/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/humble/lib/python3.10/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_context.py", line 240, in perform_substitution
    return substitution.perform(self)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/substitutions/launch_configuration.py", line 98, in perform
    raise SubstitutionFailure(
launch.substitutions.substitution_failure.SubstitutionFailure: launch configuration 'vehicle_launch_pkg' does not exist

[DEBUG] [launch.launch_description_source]: Failed to load the launch file without a context: launch configuration 'vehicle_launch_pkg' does not exist
[DEBUG] [launch.launch_description_source]: Traceback (most recent call last):
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 68, in try_get_launch_description_without_context
    perform_substitutions(context, self.__location)
  File "/opt/ros/humble/lib/python3.10/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/humble/lib/python3.10/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_context.py", line 240, in perform_substitution
    return substitution.perform(self)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/substitutions/launch_configuration.py", line 98, in perform
    raise SubstitutionFailure(
launch.substitutions.substitution_failure.SubstitutionFailure: launch configuration 'sensor_launch_pkg' does not exist

[DEBUG] [launch.launch_description_source]: Failed to load the launch file without a context: launch configuration 'sensor_launch_pkg' does not exist
[DEBUG] [launch.launch_description_source]: Traceback (most recent call last):
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 68, in try_get_launch_description_without_context
    perform_substitutions(context, self.__location)
  File "/opt/ros/humble/lib/python3.10/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/humble/lib/python3.10/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_context.py", line 240, in perform_substitution
    return substitution.perform(self)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/substitutions/launch_configuration.py", line 98, in perform
    raise SubstitutionFailure(
launch.substitutions.substitution_failure.SubstitutionFailure: launch configuration 'sensor_launch_pkg' does not exist

[DEBUG] [launch.launch_description_source]: Failed to load the launch file without a context: launch configuration 'sensor_launch_pkg' does not exist
[WARNING] [static_transform_publisher-18]: there are now at least 2 nodes with the name /sensing/front_lidar_link_to_livox_frame created within this launch context
[DEBUG] [launch.launch_description_source]: Traceback (most recent call last):
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 68, in try_get_launch_description_without_context
    perform_substitutions(context, self.__location)
  File "/opt/ros/humble/lib/python3.10/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/humble/lib/python3.10/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_context.py", line 240, in perform_substitution
    return substitution.perform(self)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/substitutions/launch_configuration.py", line 98, in perform
    raise SubstitutionFailure(
launch.substitutions.substitution_failure.SubstitutionFailure: launch configuration 'directory_with_related_launches' does not exist

[DEBUG] [launch.launch_description_source]: Failed to load the launch file without a context: launch configuration 'directory_with_related_launches' does not exist
[DEBUG] [launch.launch_description_source]: Traceback (most recent call last):
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 68, in try_get_launch_description_without_context
    perform_substitutions(context, self.__location)
  File "/opt/ros/humble/lib/python3.10/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/humble/lib/python3.10/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_context.py", line 240, in perform_substitution
    return substitution.perform(self)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/substitutions/launch_configuration.py", line 98, in perform
    raise SubstitutionFailure(
launch.substitutions.substitution_failure.SubstitutionFailure: launch configuration 'directory_with_related_launches' does not exist

[DEBUG] [launch.launch_description_source]: Failed to load the launch file without a context: launch configuration 'directory_with_related_launches' does not exist
[DEBUG] [launch.launch_description_source]: Traceback (most recent call last):
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 68, in try_get_launch_description_without_context
    perform_substitutions(context, self.__location)
  File "/opt/ros/humble/lib/python3.10/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/humble/lib/python3.10/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_context.py", line 240, in perform_substitution
    return substitution.perform(self)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/substitutions/launch_configuration.py", line 98, in perform
    raise SubstitutionFailure(
launch.substitutions.substitution_failure.SubstitutionFailure: launch configuration 'directory_with_related_launches' does not exist

[DEBUG] [launch.launch_description_source]: Failed to load the launch file without a context: launch configuration 'directory_with_related_launches' does not exist
Executing <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:228> result=None created at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:318> took 12.951 seconds
[DEBUG] [launch_ros.actions.load_composable_nodes]: Calling the '/map/map_container/_container/load_node' service with request 'composition_interfaces.srv.LoadNode_Request(package_name='map_loader', plugin_name='PointCloudMapLoaderNode', node_name='pointcloud_map_loader', node_namespace='/map', log_level=0, remap_rules=['output/pointcloud_map:=pointcloud_map', 'output/pointcloud_map_metadata:=pointcloud_map_metadata', 'service/get_partial_pcd_map:=/map/get_partial_pointcloud_map', 'service/get_differential_pcd_map:=/map/get_differential_pointcloud_map', 'service/get_selected_pcd_map:=/map/get_selected_pointcloud_map'], parameters=[rcl_interfaces.msg.Parameter(name='use_sim_time', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_radius', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.55, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_width', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.2, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_base', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=2.56, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_tread', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=1.4, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='front_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.7, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='rear_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.7, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='left_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.1, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='right_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.1, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='vehicle_height', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=2.58, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='max_steer_angle', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.7, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='enable_whole_load', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=True, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='enable_downsampled_whole_load', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='enable_partial_load', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=True, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='enable_selected_load', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='leaf_size', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=3.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='pcd_paths_or_directory', value=rcl_interfaces.msg.ParameterValue(type=9, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=('$(var pointcloud_map_path)',))), rcl_interfaces.msg.Parameter(name='pcd_metadata_path', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='$(var pointcloud_map_metadata_path)', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='pcd_paths_or_directory', value=rcl_interfaces.msg.ParameterValue(type=9, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=['/home/auto2204/ACRL/map/test_map/map.pcd'])), rcl_interfaces.msg.Parameter(name='pcd_metadata_path', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='/home/auto2204/ACRL/map/test_map/pointcloud_map_metadata.yaml', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[]))], extra_arguments=[rcl_interfaces.msg.Parameter(name='use_intra_process_comms', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[]))])'
[DEBUG] [launch_ros.actions.load_composable_nodes]: Calling the '/sensing/septentrio_gnss_driver/septentrio_gnss_driver_container/_container/load_node' service with request 'composition_interfaces.srv.LoadNode_Request(package_name='septentrio_gnss_driver', plugin_name='rosaic_node::ROSaicNode', node_name='septentrio_gnss_driver', node_namespace='/sensing', log_level=0, remap_rules=[], parameters=[rcl_interfaces.msg.Parameter(name='use_sim_time', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_radius', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.55, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_width', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.2, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_base', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=2.56, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_tread', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=1.4, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='front_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.7, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='rear_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.7, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='left_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.1, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='right_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.1, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='vehicle_height', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=2.58, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='max_steer_angle', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.7, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='device', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='tcp://10.42.0.127:28784', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='serial.baudrate', value=rcl_interfaces.msg.ParameterValue(type=2, bool_value=False, integer_value=921600, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='serial.hw_flow_control', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='off', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='stream_device.tcp.ip_server', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='stream_device.tcp.port', value=rcl_interfaces.msg.ParameterValue(type=2, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='stream_device.udp.ip_server', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='stream_device.udp.port', value=rcl_interfaces.msg.ParameterValue(type=2, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='stream_device.udp.unicast_ip', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='configure_rx', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='login.user', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='login.password', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='osnma.mode', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='loose', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='osnma.ntp_server', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='osnma.keep_open', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=True, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='frame_id', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='gnss', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='imu_frame_id', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='imu', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='poi_frame_id', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='sensor_kit_base_link', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='vsm_frame_id', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='vsm', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='aux1_frame_id', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='aux1', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='vehicle_frame_id', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='sensor_kit_base_link', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='local_frame_id', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='odom', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='insert_local_frame', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='get_spatial_config_from_tf', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=True, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='lock_utm_zone', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=True, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='use_ros_axis_orientation', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='receiver_type', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='ins', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='multi_antenna', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=True, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='datum', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='WGS84', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='att_offset.heading', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=90.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='att_offset.pitch', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='ant_type', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='TWI7972+GP NONE', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='ant_serial_nr', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='Unknown', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='ant_aux1_type', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='TWI7972+GP NONE', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='ant_aux1_serial_nr', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='Unknown', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='polling_period.pvt', value=rcl_interfaces.msg.ParameterValue(type=2, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='polling_period.rest', value=rcl_interfaces.msg.ParameterValue(type=2, bool_value=False, integer_value=500, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='use_gnss_time', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='latency_compensation', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='rtk_settings.keep_open', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=True, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='rtk_settings.ntrip_1.id', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='rtk_settings.ntrip_1.caster', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='rtk_settings.ntrip_1.caster_port', value=rcl_interfaces.msg.ParameterValue(type=2, bool_value=False, integer_value=2101, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='rtk_settings.ntrip_1.username', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='rtk_settings.ntrip_1.password', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='rtk_settings.ntrip_1.mountpoint', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='rtk_settings.ntrip_1.version', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='v2', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='rtk_settings.ntrip_1.tls', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='rtk_settings.ntrip_1.fingerprint', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='rtk_settings.ntrip_1.rtk_standard', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='auto', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='rtk_settings.ntrip_1.send_gga', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='auto', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='rtk_settings.ip_server_1.id', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='rtk_settings.ip_server_1.port', value=rcl_interfaces.msg.ParameterValue(type=2, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='rtk_settings.ip_server_1.rtk_standard', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='auto', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='rtk_settings.ip_server_1.send_gga', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='auto', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='rtk_settings.serial_1.port', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='rtk_settings.serial_1.baud_rate', value=rcl_interfaces.msg.ParameterValue(type=2, bool_value=False, integer_value=115200, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='rtk_settings.serial_1.rtk_standard', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='auto', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='rtk_settings.serial_1.send_gga', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='auto', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.navsatfix', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=True, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.gpsfix', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.gpgga', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.gprmc', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.gpst', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.measepoch', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.pvtcartesian', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.pvtgeodetic', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=True, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.basevectorcart', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.basevectorgeod', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.poscovcartesian', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.poscovgeodetic', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.velcovcartesian', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.velcovgeodetic', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.atteuler', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.attcoveuler', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.pose', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.twist', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.diagnostics', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.aimplusstatus', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.galauthstatus', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.insnavcart', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.insnavgeod', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=True, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.extsensormeas', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.imusetup', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.velsensorsetup', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.exteventinsnavcart', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.exteventinsnavgeod', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.imu', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=True, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.localization', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.tf', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.localization_ecef', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='publish.tf_ecef', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='ins_spatial_config.imu_orientation.theta_x', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=180.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='ins_spatial_config.imu_orientation.theta_y', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='ins_spatial_config.imu_orientation.theta_z', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='ins_spatial_config.poi_lever_arm.delta_x', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='ins_spatial_config.poi_lever_arm.delta_y', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='ins_spatial_config.poi_lever_arm.delta_z', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='ins_spatial_config.ant_lever_arm.x', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='ins_spatial_config.ant_lever_arm.y', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=-0.635, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='ins_spatial_config.ant_lever_arm.z', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=-1.58, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='ins_spatial_config.vsm_lever_arm.vsm_x', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='ins_spatial_config.vsm_lever_arm.vsm_y', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='ins_spatial_config.vsm_lever_arm.vsm_z', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='ins_initial_heading', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='auto', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='ins_std_dev_mask.att_std_dev', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=5.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='ins_std_dev_mask.pos_std_dev', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=10.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='ins_use_poi', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=True, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='ins_vsm.ros.source', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='ins_vsm.ros.config', value=rcl_interfaces.msg.ParameterValue(type=6, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=(False, False, False), integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='ins_vsm.ros.variances_by_parameter', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='ins_vsm.ros.variances', value=rcl_interfaces.msg.ParameterValue(type=8, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[0.0, 0.0, 0.0], string_array_value=[])), rcl_interfaces.msg.Parameter(name='ins_vsm.ip_server.id', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='ins_vsm.ip_server.port', value=rcl_interfaces.msg.ParameterValue(type=2, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='ins_vsm.ip_server.keep_open', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=True, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='ins_vsm.serial.port', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='ins_vsm.serial.baud_rate', value=rcl_interfaces.msg.ParameterValue(type=2, bool_value=False, integer_value=115200, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='ins_vsm.serial.keep_open', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=True, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='activate_debug_log', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[]))], extra_arguments=[])'
[INFO] [component_container-11]: process started with pid [211250]
[DEBUG] [launch_ros.actions.load_composable_nodes]: Calling the '/pointcloud_container/_container/load_node' service with request 'composition_interfaces.srv.LoadNode_Request(package_name='glog_component', plugin_name='GlogComponent', node_name='glog_component', node_namespace='/pointcloud_container', log_level=0, remap_rules=[], parameters=[rcl_interfaces.msg.Parameter(name='use_sim_time', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_radius', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.55, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_width', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.2, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_base', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=2.56, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_tread', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=1.4, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='front_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.7, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='rear_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.7, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='left_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.1, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='right_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.1, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='vehicle_height', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=2.58, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='max_steer_angle', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.7, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[]))], extra_arguments=[])'
[INFO] [component_container_mt-1]: process started with pid [211230]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [robot_state_publisher-2]: process started with pid [211232]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [component_container_mt-3]: process started with pid [211234]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [map_hash_generator-4]: process started with pid [211236]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [map_projection_loader_node-5]: process started with pid [211238]
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout'
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [os_driver-6]: process started with pid [211240]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [bash-7]: process started with pid [211242]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [bash-8]: process started with pid [211244]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [bash-9]: process started with pid [211246]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [static_transform_publisher-10]: process started with pid [211248]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [static_transform_publisher-12]: process started with pid [211252]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [static_transform_publisher-13]: process started with pid [211254]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [static_transform_publisher-14]: process started with pid [211257]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [static_transform_publisher-15]: process started with pid [211259]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [vehicle_velocity_converter_node-16]: process started with pid [211262]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [static_transform_publisher-17]: process started with pid [211265]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [static_transform_publisher-18]: process started with pid [211267]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [ndt_scan_matcher_node-19]: process started with pid [211269]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [gyro_odometer_node-20]: process started with pid [211271]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [pose_initializer_node-21]: process started with pid [211287]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [automatic_pose_initializer_node-22]: process started with pid [211295]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [ekf_localizer_node-23]: process started with pid [211306]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [autoware_stop_filter_node-24]: process started with pid [211331]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [autoware_twist2accel_node-25]: process started with pid [211351]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [pose_instability_detector_node-26]: process started with pid [211390]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [localization_error_monitor_node-27]: process started with pid [211405]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [rviz2-28]: process started with pid [211408]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7522b80a1270>'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch_ros.actions.load_composable_nodes]: Calling the '/pointcloud_container/_container/load_node' service with request 'composition_interfaces.srv.LoadNode_Request(package_name='autoware_pointcloud_preprocessor', plugin_name='autoware::pointcloud_preprocessor::CropBoxFilterComponent', node_name='crop_box_filter_measurement_range', node_namespace='/localization/util', log_level=0, remap_rules=['input:=/sensing/lidar/concatenated/pointcloud', 'output:=measurement_range/pointcloud'], parameters=[rcl_interfaces.msg.Parameter(name='use_sim_time', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_radius', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.55, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_width', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.2, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_base', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=2.56, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_tread', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=1.4, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='front_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.7, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='rear_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.7, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='left_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.1, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='right_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.1, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='vehicle_height', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=2.58, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='max_steer_angle', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.7, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='input_frame', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='base_link', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='output_frame', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='base_link', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='min_x', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=-60.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='max_x', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=60.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='min_y', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=-60.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='max_y', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=60.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='min_z', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=-30.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='max_z', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=50.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='negative', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[]))], extra_arguments=[rcl_interfaces.msg.Parameter(name='use_intra_process_comms', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=True, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[]))])'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7522b80490c0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7522b80b56c0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7522b80b5330>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7522b80b7640>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7522b80b7640>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7ecd2a0>'
[map_projection_loader_node-5] Load /home/auto2204/ACRL/map/test_map/test.osm
[map_projection_loader_node-5] DEPRECATED WARNING: Loading map projection info from lanelet2 map may soon be deleted. Please use map_projector_info.yaml instead. For more info, visit https://github.com/autowarefoundation/autoware.universe/blob/main/map/map_projection_loader/README.md
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7522b80b5f90>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7522b80b6680>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7522b80b7130>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7522b80b7e50>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7522b80b54b0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7522b80b6440>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7522b80b77f0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7522b80b7370>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7522b80b7f70>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7522b80b7f10>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7522b7f1e440>'
[DEBUG] [launch_ros.actions.load_composable_nodes]: Received response 'composition_interfaces.srv.LoadNode_Response(success=True, error_message='', full_node_name='/pointcloud_container/glog_component', unique_id=1)'
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/pointcloud_container/glog_component' in container '/pointcloud_container'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7522b7f1f010>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7522b7f1ead0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7522b7f1cac0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7522b7f1d540>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7522b7f1fac0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7522b7f1f5e0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7522b7f1d8d0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7522b7f1c9a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7522b7f1ee90>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7522b7f1eec0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7522b7f1d990>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7522b7f1c700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7522b7f1ebc0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7f1eb30>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7f1eb30>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7e47190>'
[robot_state_publisher-2] Error:   link 'base_link' is not unique.
[robot_state_publisher-2]       at line 178 in ./urdf_parser/src/model.cpp
[robot_state_publisher-2] Failed to parse robot description using: urdf_xml_parser/URDFXMLParser
[robot_state_publisher-2] terminate called after throwing an instance of 'std::runtime_error'
[robot_state_publisher-2]   what():  Unable to initialize urdf::model from robot description
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7f1d090>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7f1d090>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7e63f40>'
[component_container_mt-3] [INFO] [1729370781.076782650] [map.map_container]: Load Library: /home/auto2204/ACRL/autoware/install/map_loader/lib/libpointcloud_map_loader_node.so
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7f1c5b0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7f1c5b0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7e57670>'
[static_transform_publisher-10] 1729370781.011098599: [] [WARN] Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-10] 1729370781.059254208: [sensing.top_lidar_link_to_os_sensor] [INFO]  Spinning until stopped - publishing transform
[static_transform_publisher-10] translation: ('0.000000', '0.000000', '0.040000')
[static_transform_publisher-10] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-10] from 'top_lidar_link' to 'os_sensor'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7f1c190>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7f1c190>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7f31240>'
[static_transform_publisher-12] 1729370781.023999016: [] [WARN] Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-12] 1729370781.058384943: [sensing.static_transform_publisher_IbncCK78L7VXQKXr] [INFO]  Spinning until stopped - publishing transform
[static_transform_publisher-12] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-12] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-12] from 'sensor_kit_base_link' to 'imu'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7f1dab0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7f1dab0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7f32380>'
[static_transform_publisher-13] 1729370781.014751890: [] [WARN] Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-13] 1729370781.046408888: [sensing.static_transform_publisher_Qgj6vGMffYa4MY6A] [INFO]  Spinning until stopped - publishing transform
[static_transform_publisher-13] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-13] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-13] from 'imu' to 'gnss'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7f1ec50>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7f1ec50>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7e57f40>'
[static_transform_publisher-14] 1729370781.016268536: [] [WARN] Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-14] 1729370781.032121882: [sensing.static_transform_publisher_E9W5ufvWhJnx3XId] [INFO]  Spinning until stopped - publishing transform
[static_transform_publisher-14] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-14] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-14] from 'imu' to 'vsm'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7f1c670>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7f1c670>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7f47460>'
[static_transform_publisher-15] 1729370781.034835475: [] [WARN] Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-15] 1729370781.052785003: [sensing.static_transform_publisher_FBM04BNv7TuUpaap] [INFO]  Spinning until stopped - publishing transform
[static_transform_publisher-15] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-15] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-15] from 'imu' to 'aux1'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7f1ea70>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7f1ea70>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7f285b0>'
[static_transform_publisher-17] 1729370781.077981991: [] [WARN] Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-17] 1729370781.127858314: [sensing.front_lidar_link_to_livox_frame] [INFO]  Spinning until stopped - publishing transform
[static_transform_publisher-17] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-17] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-17] from 'sensor_kit_base_link' to 'front_lidar_link'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7f1cc40>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7f1cc40>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7f2ae00>'
[static_transform_publisher-18] 1729370781.063270419: [] [WARN] Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-18] 1729370781.093416464: [sensing.front_lidar_link_to_livox_frame] [INFO]  Spinning until stopped - publishing transform
[static_transform_publisher-18] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-18] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-18] from 'sensor_kit_base_link' to 'top_lidar_link'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7f1fdc0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7f1fdc0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370781.120851498] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7f1d420>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7f1d420>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80935b0>'
[component_container-11] 1729370781.109083549: [sensing.septentrio_gnss_driver.septentrio_gnss_driver_container] [INFO] Load Library: /home/auto2204/ACRL/hardware/septentrio/install/septentrio_gnss_driver/lib/libseptentrio_gnss_driver_core.so
[component_container-11] 1729370781.144029845: [sensing.septentrio_gnss_driver.septentrio_gnss_driver_container] [INFO] Found class: rclcpp_components::NodeFactoryTemplate<rosaic_node::ROSaicNode>
[component_container-11] 1729370781.144103211: [sensing.septentrio_gnss_driver.septentrio_gnss_driver_container] [INFO] Instantiate class: rclcpp_components::NodeFactoryTemplate<rosaic_node::ROSaicNode>
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a1270>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a1270>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b800bb50>'
[component_container_mt-1] [INFO] [1729370781.154309845] [pointcloud_container]: Load Library: /home/auto2204/ACRL/autoware/install/glog_component/lib/libglog_component.so
[component_container_mt-1] [INFO] [1729370781.162597188] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<GlogComponent>
[component_container_mt-1] [INFO] [1729370781.162648037] [pointcloud_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<GlogComponent>
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a1e40>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b800bb50>'
[component_container_mt-1] [INFO] [1729370781.193347354] [pointcloud_container]: Load Library: /home/auto2204/ACRL/autoware/install/autoware_pointcloud_preprocessor/lib/libpointcloud_preprocessor_filter.so
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7f2b070>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7f2b070>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7e63f40>'
[component_container_mt-3] [INFO] [1729370781.220876657] [map.map_container]: Found class: rclcpp_components::NodeFactoryTemplate<PointCloudMapLoaderNode>
[component_container_mt-3] [INFO] [1729370781.220920287] [map.map_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<PointCloudMapLoaderNode>
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7f2b070>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7f2b070>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b800bb50>'
[component_container_mt-1] [INFO] [1729370781.460667626] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::ApproximateDownsampleFilterComponent>
[component_container_mt-1] [INFO] [1729370781.460705888] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::BlockageDiagComponent>
[component_container_mt-1] [INFO] [1729370781.460713517] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::CropBoxFilterComponent>
[component_container_mt-1] [INFO] [1729370781.460719713] [pointcloud_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::CropBoxFilterComponent>
[DEBUG] [launch_ros.actions.load_composable_nodes]: Received response 'composition_interfaces.srv.LoadNode_Response(success=True, error_message='', full_node_name='/localization/util/crop_box_filter_measurement_range', unique_id=2)'
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/localization/util/crop_box_filter_measurement_range' in container '/pointcloud_container'
[DEBUG] [launch_ros.actions.load_composable_nodes]: Calling the '/pointcloud_container/_container/load_node' service with request 'composition_interfaces.srv.LoadNode_Request(package_name='autoware_pointcloud_preprocessor', plugin_name='autoware::pointcloud_preprocessor::VoxelGridDownsampleFilterComponent', node_name='voxel_grid_downsample_filter', node_namespace='/localization/util', log_level=0, remap_rules=['input:=measurement_range/pointcloud', 'output:=voxel_grid_downsample/pointcloud'], parameters=[rcl_interfaces.msg.Parameter(name='use_sim_time', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_radius', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.55, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_width', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.2, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_base', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=2.56, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_tread', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=1.4, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='front_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.7, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='rear_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.7, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='left_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.1, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='right_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.1, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='vehicle_height', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=2.58, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='max_steer_angle', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.7, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='voxel_size_x', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=3.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='voxel_size_y', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=3.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='voxel_size_z', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=3.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[]))], extra_arguments=[rcl_interfaces.msg.Parameter(name='use_intra_process_comms', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=True, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[]))])'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80b49a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80b49a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b800bb50>'
[component_container_mt-1] [INFO] [1729370781.473799664] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::ApproximateDownsampleFilterComponent>
[component_container_mt-1] [INFO] [1729370781.473841488] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::BlockageDiagComponent>
[component_container_mt-1] [INFO] [1729370781.473854094] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::CropBoxFilterComponent>
[component_container_mt-1] [INFO] [1729370781.473864410] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::DistortionCorrectorComponent>
[component_container_mt-1] [INFO] [1729370781.473874414] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::DualReturnOutlierFilterComponent>
[component_container_mt-1] [INFO] [1729370781.473884390] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::Lanelet2MapFilterComponent>
[component_container_mt-1] [INFO] [1729370781.473894019] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::PassThroughFilterComponent>
[component_container_mt-1] [INFO] [1729370781.473903769] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::PassThroughFilterUInt16Component>
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80b6d70>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80b6d70>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b800bb50>'
[component_container_mt-1] [INFO] [1729370781.473913591] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::PickupBasedVoxelGridDownsampleFilterComponent>
[component_container_mt-1] [INFO] [1729370781.473923666] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent>
[component_container_mt-1] [INFO] [1729370781.473933507] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::PointCloudConcatenationComponent>
[component_container_mt-1] [INFO] [1729370781.473943377] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::PointCloudDataSynchronizerComponent>
[component_container_mt-1] [INFO] [1729370781.473953468] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::PointcloudAccumulatorComponent>
[component_container_mt-1] [INFO] [1729370781.473963379] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::PolygonRemoverComponent>
[component_container_mt-1] [INFO] [1729370781.473973201] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::RadiusSearch2DOutlierFilterComponent>
[component_container_mt-1] [INFO] [1729370781.473983251] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::RandomDownsampleFilterComponent>
[component_container_mt-1] [INFO] [1729370781.473993659] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::RingOutlierFilterComponent>
[component_container_mt-1] [INFO] [1729370781.474021683] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::VectorMapInsideAreaFilterComponent>
[component_container_mt-1] [INFO] [1729370781.474034674] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::VoxelGridDownsampleFilterComponent>
[component_container_mt-1] [INFO] [1729370781.474044933] [pointcloud_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::VoxelGridDownsampleFilterComponent>
[DEBUG] [launch_ros.actions.load_composable_nodes]: Received response 'composition_interfaces.srv.LoadNode_Response(success=True, error_message='', full_node_name='/localization/util/voxel_grid_downsample_filter', unique_id=3)'
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/localization/util/voxel_grid_downsample_filter' in container '/pointcloud_container'
[DEBUG] [launch_ros.actions.load_composable_nodes]: Calling the '/pointcloud_container/_container/load_node' service with request 'composition_interfaces.srv.LoadNode_Request(package_name='autoware_pointcloud_preprocessor', plugin_name='autoware::pointcloud_preprocessor::RandomDownsampleFilterComponent', node_name='random_downsample_filter', node_namespace='/localization/util', log_level=0, remap_rules=['input:=voxel_grid_downsample/pointcloud', 'output:=downsample/pointcloud'], parameters=[rcl_interfaces.msg.Parameter(name='use_sim_time', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_radius', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.55, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_width', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.2, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_base', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=2.56, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_tread', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=1.4, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='front_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.7, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='rear_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.7, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='left_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.1, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='right_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.1, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='vehicle_height', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=2.58, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='max_steer_angle', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.7, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='sample_num', value=rcl_interfaces.msg.ParameterValue(type=2, bool_value=False, integer_value=1500, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[]))], extra_arguments=[rcl_interfaces.msg.Parameter(name='use_intra_process_comms', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=True, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[]))])'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80b4880>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80b4880>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b800bb50>'
[component_container_mt-1] [INFO] [1729370781.496206568] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::ApproximateDownsampleFilterComponent>
[component_container_mt-1] [INFO] [1729370781.496253865] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::BlockageDiagComponent>
[component_container_mt-1] [INFO] [1729370781.496265931] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::CropBoxFilterComponent>
[component_container_mt-1] [INFO] [1729370781.496276026] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::DistortionCorrectorComponent>
[component_container_mt-1] [INFO] [1729370781.496286030] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::DualReturnOutlierFilterComponent>
[component_container_mt-1] [INFO] [1729370781.496297339] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::Lanelet2MapFilterComponent>
[component_container_mt-1] [INFO] [1729370781.496306980] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::PassThroughFilterComponent>
[component_container_mt-1] [INFO] [1729370781.496316523] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::PassThroughFilterUInt16Component>
[component_container_mt-1] [INFO] [1729370781.496326477] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::PickupBasedVoxelGridDownsampleFilterComponent>
[component_container_mt-1] [INFO] [1729370781.496336607] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent>
[component_container_mt-1] [INFO] [1729370781.496346498] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::PointCloudConcatenationComponent>
[component_container_mt-1] [INFO] [1729370781.496356421] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::PointCloudDataSynchronizerComponent>
[component_container_mt-1] [INFO] [1729370781.496366155] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::PointcloudAccumulatorComponent>
[component_container_mt-1] [INFO] [1729370781.496375857] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::PolygonRemoverComponent>
[component_container_mt-1] [INFO] [1729370781.496385759] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::RadiusSearch2DOutlierFilterComponent>
[component_container_mt-1] [INFO] [1729370781.496395270] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::RandomDownsampleFilterComponent>
[component_container_mt-1] [INFO] [1729370781.496405373] [pointcloud_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<autoware::pointcloud_preprocessor::RandomDownsampleFilterComponent>
[DEBUG] [launch_ros.actions.load_composable_nodes]: Received response 'composition_interfaces.srv.LoadNode_Response(success=True, error_message='', full_node_name='/localization/util/random_downsample_filter', unique_id=4)'
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/localization/util/random_downsample_filter' in container '/pointcloud_container'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80acfd0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80acfd0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80a2560>'
[rviz2-28] [INFO] [1729370781.658253283] [rviz2]: Stereo is NOT SUPPORTED
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80acfd0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80acfd0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80a2560>'
[rviz2-28] [INFO] [1729370781.658380629] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a1270>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a1270>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80a2560>'
[rviz2-28] [INFO] [1729370781.684056013] [rviz2]: Stereo is NOT SUPPORTED
[DEBUG] [launch_ros.actions.load_composable_nodes]: Received response 'composition_interfaces.srv.LoadNode_Response(success=True, error_message='', full_node_name='/map/pointcloud_map_loader', unique_id=1)'
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map/pointcloud_map_loader' in container '/map/map_container'
[DEBUG] [launch_ros.actions.load_composable_nodes]: Calling the '/map/map_container/_container/load_node' service with request 'composition_interfaces.srv.LoadNode_Request(package_name='map_loader', plugin_name='Lanelet2MapLoaderNode', node_name='lanelet2_map_loader', node_namespace='/map', log_level=0, remap_rules=['output/lanelet2_map:=vector_map'], parameters=[rcl_interfaces.msg.Parameter(name='use_sim_time', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_radius', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.55, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_width', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.2, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_base', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=2.56, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_tread', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=1.4, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='front_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.7, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='rear_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.7, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='left_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.1, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='right_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.1, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='vehicle_height', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=2.58, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='max_steer_angle', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.7, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='allow_unsupported_version', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=True, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='center_line_resolution', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=5.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='use_waypoints', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=True, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='lanelet2_map_path', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='$(var lanelet2_map_path)', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='lanelet2_map_path', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='/home/auto2204/ACRL/map/test_map/test.osm', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[]))], extra_arguments=[rcl_interfaces.msg.Parameter(name='use_intra_process_comms', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[]))])'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7e60580>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7e60580>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7e63f40>'
[component_container_mt-3] [INFO] [1729370782.148759243] [map.map_container]: Load Library: /home/auto2204/ACRL/autoware/install/map_loader/lib/liblanelet2_map_loader_node.so
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80ad810>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80ad810>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7e63f40>'
[component_container_mt-3] [INFO] [1729370782.159589773] [map.map_container]: Found class: rclcpp_components::NodeFactoryTemplate<Lanelet2MapLoaderNode>
[component_container_mt-3] [INFO] [1729370782.159631498] [map.map_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<Lanelet2MapLoaderNode>
[DEBUG] [launch_ros.actions.load_composable_nodes]: Received response 'composition_interfaces.srv.LoadNode_Response(success=True, error_message='', full_node_name='/map/lanelet2_map_loader', unique_id=2)'
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map/lanelet2_map_loader' in container '/map/map_container'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch_ros.actions.load_composable_nodes]: Calling the '/map/map_container/_container/load_node' service with request 'composition_interfaces.srv.LoadNode_Request(package_name='map_loader', plugin_name='Lanelet2MapVisualizationNode', node_name='lanelet2_map_visualization', node_namespace='/map', log_level=0, remap_rules=['input/lanelet2_map:=vector_map', 'output/lanelet2_map_marker:=vector_map_marker'], parameters=[rcl_interfaces.msg.Parameter(name='use_sim_time', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_radius', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.55, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_width', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.2, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_base', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=2.56, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_tread', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=1.4, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='front_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.7, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='rear_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.7, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='left_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.1, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='right_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.1, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='vehicle_height', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=2.58, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='max_steer_angle', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.7, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[]))], extra_arguments=[rcl_interfaces.msg.Parameter(name='use_intra_process_comms', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[]))])'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7e61ed0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7e61ed0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7e63f40>'
[component_container_mt-3] [INFO] [1729370782.170955845] [map.lanelet2_map_loader]: Loaded map format_version: 1
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7e61ed0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7e61ed0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7e63f40>'
[component_container_mt-3] [INFO] [1729370782.171553228] [map.lanelet2_map_loader]: Succeeded to load lanelet2_map. Map is published.
[component_container_mt-3] [INFO] [1729370782.171864940] [map.lanelet2_map_loader]: Loaded map format_version: 1
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a1e40>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7e63f40>'
[component_container_mt-3] [INFO] [1729370782.172844650] [map.lanelet2_map_loader]: Succeeded to load lanelet2_map. Map is published.
[component_container_mt-3] [INFO] [1729370782.174429553] [map.map_container]: Load Library: /home/auto2204/ACRL/autoware/install/map_loader/lib/liblanelet2_map_visualization_node.so
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7e63250>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7e63250>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7e63f40>'
[component_container_mt-3] [INFO] [1729370782.176178799] [map.map_container]: Found class: rclcpp_components::NodeFactoryTemplate<Lanelet2MapVisualizationNode>
[component_container_mt-3] [INFO] [1729370782.176206007] [map.map_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<Lanelet2MapVisualizationNode>
[DEBUG] [launch_ros.actions.load_composable_nodes]: Received response 'composition_interfaces.srv.LoadNode_Response(success=True, error_message='', full_node_name='/map/lanelet2_map_visualization', unique_id=3)'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map/lanelet2_map_visualization' in container '/map/map_container'
[DEBUG] [launch_ros.actions.load_composable_nodes]: Calling the '/map/map_container/_container/load_node' service with request 'composition_interfaces.srv.LoadNode_Request(package_name='map_tf_generator', plugin_name='VectorMapTFGeneratorNode', node_name='vector_map_tf_generator', node_namespace='/map', log_level=0, remap_rules=[], parameters=[rcl_interfaces.msg.Parameter(name='use_sim_time', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_radius', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.55, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_width', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.2, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_base', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=2.56, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='wheel_tread', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=1.4, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='front_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.7, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='rear_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.7, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='left_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.1, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='right_overhang', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.1, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='vehicle_height', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=2.58, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='max_steer_angle', value=rcl_interfaces.msg.ParameterValue(type=3, bool_value=False, integer_value=0, double_value=0.7, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='map_frame', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='map', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='viewer_frame', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='viewer', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[]))], extra_arguments=[rcl_interfaces.msg.Parameter(name='use_intra_process_comms', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[]))])'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80add20>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80add20>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7e63f40>'
[component_container_mt-3] [INFO] [1729370782.184804689] [map.lanelet2_map_visualization]: Map is loaded
[component_container_mt-3]
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80add20>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80add20>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7e63f40>'
[component_container_mt-3] [INFO] [1729370782.189306336] [map.map_container]: Load Library: /home/auto2204/ACRL/autoware/install/map_tf_generator/lib/libvector_map_tf_generator_node.so
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7e60c10>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7e60c10>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80935b0>'
[DEBUG] [launch_ros.actions.load_composable_nodes]: Received response 'composition_interfaces.srv.LoadNode_Response(success=True, error_message='', full_node_name='/sensing/septentrio_gnss_driver', unique_id=1)'
[component_container-11] 1729370782.189373852: [sensing.septentrio_gnss_driver] [INFO]  Connecting to tcp://10.42.0.127:28784...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/sensing/septentrio_gnss_driver' in container '/sensing/septentrio_gnss_driver/septentrio_gnss_driver_container'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7e61090>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7e61090>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80935b0>'
[component_container-11] 1729370782.190101163: [sensing.septentrio_gnss_driver] [INFO]  Connected to 10.42.0.127:28784.
[component_container-11] 1729370782.190239701: [sensing.septentrio_gnss_driver] [INFO]  Setup complete.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc0880>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc0880>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7e63f40>'
[component_container_mt-3] [INFO] [1729370782.193486677] [map.map_container]: Found class: rclcpp_components::NodeFactoryTemplate<VectorMapTFGeneratorNode>
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc0880>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc0880>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7e63f40>'
[component_container_mt-3] [INFO] [1729370782.193517395] [map.map_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<VectorMapTFGeneratorNode>
[DEBUG] [launch_ros.actions.load_composable_nodes]: Received response 'composition_interfaces.srv.LoadNode_Response(success=True, error_message='', full_node_name='/map/vector_map_tf_generator', unique_id=4)'
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map/vector_map_tf_generator' in container '/map/map_container'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc0520>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc0520>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80935b0>'
[component_container-11] Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "viewer" from authority "Authority undetectable" because of a nan value in the transform (-nan -nan -nan) (0.000000 0.000000 0.000000 1.000000)
[component_container-11]        at line 235 in ./src/buffer_core.cpp
[component_container-11] Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "viewer" from authority "Authority undetectable" because of a nan value in the transform (-nan -nan -nan) (0.000000 0.000000 0.000000 1.000000)
[component_container-11]        at line 235 in ./src/buffer_core.cpp
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7e63f40>'
[component_container_mt-3] [INFO] [1729370782.200823537] [map.vector_map_tf_generator]: broadcast static tf. map_frame:map, viewer_frame:viewer, x:-nan, y:-nan, z:-nan
[ERROR] [robot_state_publisher-2]: process has died [pid 211232, exit code -6, cmd '/opt/ros/humble/lib/robot_state_publisher/robot_state_publisher --ros-args -r __node:=robot_state_publisher -p use_sim_time:=False -p wheel_radius:=0.55 -p wheel_width:=0.2 -p wheel_base:=2.56 -p wheel_tread:=1.4 -p front_overhang:=0.7 -p rear_overhang:=0.7 -p left_overhang:=0.1 -p right_overhang:=0.1 -p vehicle_height:=2.58 -p max_steer_angle:=0.7 --params-file /tmp/launch_params_2ae7486g'].
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc3850>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc3850>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b81edf60>'
[ndt_scan_matcher_node-19] Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "viewer" from authority "Authority undetectable" because of a nan value in the transform (-nan -nan -nan) (0.000000 0.000000 0.000000 1.000000)
[ndt_scan_matcher_node-19]          at line 235 in ./src/buffer_core.cpp
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a2920>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a2920>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80957b0>'
[gyro_odometer_node-20] Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "viewer" from authority "Authority undetectable" because of a nan value in the transform (-nan -nan -nan) (0.000000 0.000000 0.000000 1.000000)
[gyro_odometer_node-20]         at line 235 in ./src/buffer_core.cpp
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a27a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a27a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80a2560>'
[rviz2-28] Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "viewer" from authority "Authority undetectable" because of a nan value in the transform (-nan -nan -nan) (0.000000 0.000000 0.000000 1.000000)
[rviz2-28]          at line 235 in ./src/buffer_core.cpp
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a07f0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a07f0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7fc4550>'
[pose_initializer_node-21] Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "viewer" from authority "Authority undetectable" because of a nan value in the transform (-nan -nan -nan) (0.000000 0.000000 0.000000 1.000000)
[pose_initializer_node-21]          at line 235 in ./src/buffer_core.cpp
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7522b7fc0520>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7522b7fc0520>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x7522b7e7b370>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7522b7fc0520>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x7522b7e44d00>'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7ec1510>'
[bash-7] Node not found
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80a2560>'
[rviz2-28] [INFO] [1729370782.435425678] [rviz2]: Stereo is NOT SUPPORTED
[ERROR] [bash-7]: process has died [pid 211242, exit code 1, cmd 'bash -c sleep 0; $0 $@ /opt/ros/humble/bin/ros2 lifecycle set /ouster/os_driver configure'].
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7522b7fc21a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7522b7fc21a0>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x7522b7ec0970>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7522b7fc21a0>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x7522b7ec2860>'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc3850>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc3850>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7ec06d0>'
[bash-8] Node not found
[ERROR] [bash-8]: process has died [pid 211244, exit code 1, cmd 'bash -c sleep 1; $0 $@ /opt/ros/humble/bin/ros2 lifecycle set /ouster/os_driver activate'].
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7522b7fc3850>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7522b7fc3850>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x7522b7ec0370>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7522b7fc3850>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x7522b7ec1f00>'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc3850>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc3850>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370783.138458604] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a0c70>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a0c70>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370785.138471535] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7ec3820>'
[bash-9] 1729370786.361748895: [rviz2] [INFO]   Stereo is NOT SUPPORTED
[bash-9] 1729370786.361795875: [rviz2] [INFO]   OpenGl version: 4.6 (GLSL 4.6)
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7ec3820>'
[bash-9] 1729370786.380495836: [rviz2] [INFO]   Stereo is NOT SUPPORTED
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7ec3820>'
[bash-9] Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "viewer" from authority "Authority undetectable" because of a nan value in the transform (-nan -nan -nan) (0.000000 0.000000 0.000000 1.000000)
[bash-9]        at line 235 in ./src/buffer_core.cpp
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7ec3820>'
[bash-9] 1729370786.985885200: [rviz2] [INFO]   Stereo is NOT SUPPORTED
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370787.158400295] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370789.158417432] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370791.158468539] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370793.178470184] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370795.198469969] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370797.218454727] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370799.218472085] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370801.238473044] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370803.238476834] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370805.258470577] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370807.278474816] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370809.298465295] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370811.298472959] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370813.318446653] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370815.338464812] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370817.358394852] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370819.358466265] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370821.358473962] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370823.378472278] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc21a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370825.398471491] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a3e80>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a3e80>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370827.418480735] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc0520>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc0520>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370829.438467610] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc0520>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc0520>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370831.458418644] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc0520>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc0520>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370833.458475061] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc0520>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc0520>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370835.478457018] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc0520>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc0520>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370837.478456670] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc0520>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc0520>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370839.478476197] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc0520>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc0520>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370841.498612338] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc0520>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc0520>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370843.518521353] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc0520>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b7fc0520>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370845.538432293] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a2080>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a2080>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370847.538459999] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a1e40>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370849.558451265] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a0760>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a0760>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370851.558468996] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a2080>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a2080>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370853.558473961] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a1e40>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370855.578425183] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a0760>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a0760>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370857.598437019] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a0760>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a0760>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370859.618400068] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a07f0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a07f0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370861.638403022] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a1e40>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370863.638462527] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a0760>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a0760>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [WARN] [1729370865.658471092] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.Shutdown'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7522b80a2ef0>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7522b7fc3dc0>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7522b804b520>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7522b8049d80>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7522b7fc2950>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7522b80ffc70>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7522b7f4dcc0>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7522b7fc79a0>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7522b80947f0>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7522b81ee620>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7522b7f2a3e0>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7522b7f2b040>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7522b7f2aa10>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7522b7f45420>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7522b7e57b50>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7522b7f317e0>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7522b7f31e40>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7522b8090d00>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7522b7e54040>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7522b7ec08e0>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7522b7ec0ac0>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7522b7ec2b00>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7522b8167910>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7522b7ecd870>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7522b7edf850>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7522b7e63e50>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7522b7e478e0>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7522b5714d00>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7522b8009a80>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7522b80a1e40>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7522b9dbd300>'
Executing <Task finished name='Task-179' coro=<LaunchService._process_one_event() done, defined at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:228> result=None created at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:318> took 2.060 seconds
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a07f0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a07f0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80a2560>'
[rviz2-28] [INFO] [1729370867.116930938] [rclcpp]: signal_handler(signum=2)
[ERROR] [os_driver-6]: process has died [pid 211240, exit code -11, cmd '/home/auto2204/ACRL/hardware/ouster/install/ouster_ros/lib/ouster_ros/os_driver --ros-args -r __node:=os_driver -r __ns:=/sensing/ouster -p use_sim_time:=False -p wheel_radius:=0.55 -p wheel_width:=0.2 -p wheel_base:=2.56 -p wheel_tread:=1.4 -p front_overhang:=0.7 -p rear_overhang:=0.7 -p left_overhang:=0.1 -p right_overhang:=0.1 -p vehicle_height:=2.58 -p max_steer_angle:=0.7 --params-file /tmp/launch_params_ruplj4bq --params-file /tmp/launch_params_ks3jxicr --params-file /tmp/launch_params_eqntqgd5 --params-file /tmp/launch_params_zl6r_g19 --params-file /tmp/launch_params__mn1hez_ --params-file /tmp/launch_params_lo6h_yf5 --params-file /tmp/launch_params_l_9vuuhd --params-file /tmp/launch_params_llt_aw8o --params-file /tmp/launch_params_aytjzshh --params-file /tmp/launch_params_eq6iqk43 --params-file /tmp/launch_params_cobyx7te --params-file /tmp/launch_params_41364y3v --params-file /tmp/launch_params_gkqhdbjp --params-file /tmp/launch_params_zjro67j4 --params-file /tmp/launch_params_lj6qhav5 --params-file /tmp/launch_params_78ox8oda --params-file /tmp/launch_params_r0azhqhl --params-file /tmp/launch_params_fijuiodk --params-file /tmp/launch_params_i6ja9sga'].
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[INFO] [static_transform_publisher-18]: process has finished cleanly [pid 211267]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[INFO] [static_transform_publisher-17]: process has finished cleanly [pid 211265]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[INFO] [static_transform_publisher-10]: process has finished cleanly [pid 211248]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[INFO] [static_transform_publisher-14]: process has finished cleanly [pid 211257]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[INFO] [localization_error_monitor_node-27]: process has finished cleanly [pid 211405]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[INFO] [static_transform_publisher-12]: process has finished cleanly [pid 211252]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[INFO] [automatic_pose_initializer_node-22]: process has finished cleanly [pid 211295]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[INFO] [pose_initializer_node-21]: process has finished cleanly [pid 211287]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[INFO] [bash-9]: process has finished cleanly [pid 211246]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[INFO] [map_hash_generator-4]: process has finished cleanly [pid 211236]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[INFO] [map_projection_loader_node-5]: process has finished cleanly [pid 211238]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[INFO] [component_container_mt-3]: process has finished cleanly [pid 211234]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[INFO] [autoware_twist2accel_node-25]: process has finished cleanly [pid 211351]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[INFO] [ndt_scan_matcher_node-19]: process has finished cleanly [pid 211269]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[INFO] [static_transform_publisher-15]: process has finished cleanly [pid 211259]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[INFO] [ekf_localizer_node-23]: process has finished cleanly [pid 211306]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[INFO] [autoware_stop_filter_node-24]: process has finished cleanly [pid 211331]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[INFO] [pose_instability_detector_node-26]: process has finished cleanly [pid 211390]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[INFO] [vehicle_velocity_converter_node-16]: process has finished cleanly [pid 211262]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[INFO] [component_container_mt-1]: process has finished cleanly [pid 211230]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[INFO] [gyro_odometer_node-20]: process has finished cleanly [pid 211271]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[INFO] [rviz2-28]: process has finished cleanly [pid 211408]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[INFO] [static_transform_publisher-13]: process has finished cleanly [pid 211254]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[INFO] [component_container-11]: process has finished cleanly [pid 211250]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a1b70>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b80a1b70>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80fd660>'
[ekf_localizer_node-23] [INFO] [1729370867.116992030] [rclcpp]: signal_handler(signum=2)
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b8386e30>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b8386e30>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7fc4550>'
[pose_initializer_node-21] [INFO] [1729370867.116971173] [rclcpp]: signal_handler(signum=2)
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b8386fe0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b8386fe0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7fc3af0>'
[localization_error_monitor_node-27] [INFO] [1729370867.116971216] [rclcpp]: signal_handler(signum=2)
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b8386bc0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b8386bc0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7f285b0>'
[static_transform_publisher-17] 1729370867.117020186: [rclcpp] [INFO]   signal_handler(signum=2)
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b8386350>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b8386350>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b7f2ae00>'
[static_transform_publisher-18] 1729370867.117024047: [rclcpp] [INFO]   signal_handler(signum=2)
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b83842b0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b83842b0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b804a680>'
[autoware_twist2accel_node-25] [INFO] [1729370867.116980983] [rclcpp]: signal_handler(signum=2)
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b8384d00>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b8384d00>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7522b80957b0>'
[gyro_odometer_node-20] [INFO] [1729370867.117012167] [rclcpp]: signal_handler(signum=2)
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7522b8385ff0>'
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[vehicle_velocity_converter_node-16] 1729370867.117006769: [rclcpp] [INFO]  signal_handler(signum=2)
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[autoware_stop_filter_node-24] [INFO] [1729370867.117021561] [rclcpp]: signal_handler(signum=2)
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[pose_instability_detector_node-26] [INFO] [1729370867.117026076] [rclcpp]: signal_handler(signum=2)
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[ndt_scan_matcher_node-19] [INFO] [1729370867.117035005] [rclcpp]: signal_handler(signum=2)
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[automatic_pose_initializer_node-22] [INFO] [1729370867.117035393] [rclcpp]: signal_handler(signum=2)
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[static_transform_publisher-15] 1729370867.117139405: [rclcpp] [INFO]   signal_handler(signum=2)
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[os_driver-6] 1729370867.117237642: [rclcpp] [INFO] signal_handler(signum=2)
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[component_container_mt-1] [INFO] [1729370867.117273830] [rclcpp]: signal_handler(signum=2)
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[bash-9] 1729370867.118954847: [rclcpp] [INFO]  signal_handler(signum=2)
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[component_container_mt-3] [INFO] [1729370867.119139317] [rclcpp]: signal_handler(signum=2)
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[static_transform_publisher-13] 1729370867.119859659: [rclcpp] [INFO]   signal_handler(signum=2)
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Autoware has the following structure of launch files: image I found it on the following website: https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/integrating-autoware/launch-autoware/sensing/

And my sensing.launch.xml in tier4_sensing_launch looks like this:

<launch>
  <arg name="launch_driver" default="true" description="do launch driver"/>
  <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
  <arg name="vehicle_mirror_param_file" default="$(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_mirror.param.yaml" description="path to the file of vehicle mirror position yaml"/>
  <arg name="pointcloud_container_name" default="pointcloud_container"/>
  <arg name="sensor_launch_pkg" default="$(find-pkg-share $(var sensor_model)_launch)"/>

  <group>
    <push-ros-namespace namespace="sensing"/>
    <!-- Driver -->
    <include file="$(var sensor_launch_pkg)/launch/sensing.launch.xml">
      <arg name="launch_driver" value="$(var launch_driver)"/>
      <!-- <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/> -->
      <!-- <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/> -->
    </include>
  </group>
</launch>

And my sensing.launch.xml in my_sensor_kit_launch (the blue block in the picture) looks like this:

<launch>
  <arg name="launch_driver" default="true" description="do launch driver"/>
  <!-- <arg name="vehicle_mirror_param_file" description="path to the file of vehicle mirror position yaml"/> -->
  <arg name="pointcloud_container_name" default="pointcloud_container"/>
  <arg name="vehicle_id" default="$(env VEHICLE_ID default)"/>

  <group>
      <!-- LiDAR Driver -->
    <!-- <include file="$(find-pkg-share my_sensor_kit_launch)/launch/lidar.launch.xml">
      <arg name="launch_driver" value="$(var launch_driver)"/>
      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
    </include> -->
    <!-- Top LiDAR -->
    <include file="$(find-pkg-share ouster_ros)/launch/sensor.launch.xml">
      <arg name="sensor_hostname" value="os-122344001164.local"/>
      <arg name="point_type" value="native"/>
      <arg name="udp_profile_lidar" value="LEGACY"/>
      <arg name="launch_driver" value="$(var launch_driver)"/>
    </include>
    <node pkg="tf2_ros" exec="static_transform_publisher" name="top_lidar_link_to_os_sensor" args="0 0 0.04 0 0 0 top_lidar_link os_sensor" />

    <!-- Front LiDAR -->
    <!-- <include file="$(find-pkg-share livox_ros_driver2)/launch_ROS2/rviz_HAP_launch.py">
      <arg name="launch_driver" value="$(var launch_driver)"/>
    </include>
    <node pkg="tf2_ros" exec="static_transform_publisher" name="front_lidar_link_to_livox_frame" args="0 0 0.03 0 0.28 0 front_lidar_link livox_frame" /> -->

    <!-- GNSS -->
    <include file="$(find-pkg-share septentrio_gnss_driver)/launch/ins.launch.py">
      <arg name="launch_driver" value="$(var launch_driver)"/>
    </include>

    <!-- <include file="$(find-pkg-share my_sensor_kit_launch)/launch/pointcloud_preprocessor.launch.py">
      <arg name="base_frame" value="base_link"/>
      <arg name="use_intra_process" value="true"/>
      <arg name="use_multithread" value="true"/>
      <arg name="pointcloud_container_name" value="$(arg pointcloud_container_name)"/>
    </include> -->

    <!-- Vehicle Velocity Converter -->
    <include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
      <arg name="input_vehicle_velocity_topic" value="/vehicle/status/velocity_status"/>
      <arg name="output_twist_with_covariance" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
    </include>

    <node pkg="tf2_ros" exec="static_transform_publisher" name="front_lidar_link_to_livox_frame" args="0 0 0 0 0 0 sensor_kit_base_link front_lidar_link" />
    <node pkg="tf2_ros" exec="static_transform_publisher" name="front_lidar_link_to_livox_frame" args="0 0 0 0 0 0 sensor_kit_base_link top_lidar_link" />
  </group>
</launch>
Samahu commented 1 week ago

Based on a brief look to the log I can see you have a problem with your robot setup. It appears that base_link is declared in more than place in your setup but you may have already had this issue before integrating the driver.

Regarding the ouster ROS driver itself, I can't pinpoint the exact problem (it is not clear if the ouster-ros log is written to the console window or a separate file). But I can suggest two that you can try (before we delve deeper into this):

Hope this helps!

Michael-Mo0116 commented 1 week ago

I'm sorry. But I think we are using the branch ros2-humble-sparse-neighbor-culling, which seems doesn't have the launch parameter organized. Should we change our drive to master branch? Also, it seems that we are also encountering a issue like pointcloud layout compatablility. It seems that autoware is using PointXYZIRCAEDT and our ouster driver is using PointXYZIRC. Can changing to master branch also solve that problem or we need another way to solve it?

Samahu commented 1 week ago

@Michael-Mo0116 does your work depend on the prototyped sparse-neighbor-culling? This was implemented as a quick prototype and not intended for production. But it will be integrated into the mainline eventually. If your work doesn't need the sparse-neighbor-culling filter I would recommend that you switch to the ros2 branch (the mainline for ros2).

Regarding the support for PointXYZIRCAEDT, this was brought up by others https://github.com/ouster-lidar/ouster-ros/issues/217 and you can see my notes on it. It definitely further work from us to support all the fields of PointXYZIRCAEDT but if you merely creating the PointXYZIRCAEDT type and filling non-supported fields with zeros then this PR - which I intend to integrate soon - gives you the steps needed to adapt the sensor native format to the PointXYZIRCAEDT format