warningの発生箇所特定

nyxrobotics commented 1 year ago

概要実行中にwarningが発生しているので、原因かわかっているものはメモに残しておこうと思います。作業中にwarningが見られた場合は、該当ファイルと発生状況をわかる範囲で記載してコメントいただけると幸いです。

目的 提案内容 タスク

[ ] 細かいタスクに分解できているなら書き出す

nyxrobotics commented 1 year ago

実行直後、Quaternionのノルムが１になっていない場所がありそう

QObject::connect: Cannot queue arguments of type 'QVector<int>'
(Make sure 'QVector<int>' is registered using qRegisterMetaType().)
QObject::connect: Cannot queue arguments of type 'QVector<int>'
(Make sure 'QVector<int>' is registered using qRegisterMetaType().)
[ WARN] [1679055731.702484465, 1658.439000000]: The last timestamp is wrong, skip localization
[ERROR] [1679055732.733375768, 1658.808000000]: Invalid argument passed to lookupTransform argument target_frame in tf2 frame_ids cannot be empty
[ WARN] [1679055732.733416018, 1658.808000000]: TF to MSG: Quaternion Not Properly Normalized

nyxrobotics commented 1 year ago

おそらくinitialpose設定直後、どこかでframe_idが正しく入っていない処理がある様子

Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
     at line 126 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp
[ INFO] [1679055733.493435568, 1659.045000000]: initial pose received!!
Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty

nyxrobotics commented 1 year ago

定期的にframe_idが正しく入っていない処理がある様子

Could not obtain transform from  to map. Error was Invalid argument passed to lookupTransform argument source_frame in tf2 frame_ids cannot be empty

nyxrobotics commented 1 year ago

asterでの回避動作中、下記のwarning Invalid input index range https://github.com/sbgisen/autoware_ai_planning/blob/be56f15de2f670cb808a4ba1e16ee4b92d70cdcc/waypoint_planner/src/velocity_set/velocity_set_path.cpp#L196

デバッグ情報追加して表示すると下記→endがおかしいようです

[ INFO] [1681191206.078246121, 1411.590000000]: PLANNING -> STOPPING, Cannot find path
[ INFO] [1681191206.443538471, 1411.692000000]: STOPPING -> PLANNING, Start A* planning
[ INFO] [1681191208.315942409, 1412.196000000]: Found obstacle while AVOIDING -> replanning
[ INFO] [1681191208.328846176, 1412.202000000]: Found GOAL at goal_waypoint_index = 436
[ INFO] [1681191208.352237752, 1412.202000000]: PLANNING -> AVOIDING, Found path
[ INFO] [1681191211.991163505, 1413.192000000]: AVOIDING -> STOPPING, Abort avoiding
[ INFO] [1681191213.859748837, 1413.690000000]: STOPPING -> PLANNING, Start A* planning
[ INFO] [1681191215.685226616, 1414.197000000]: Found obstacle while AVOIDING -> replanning
[ INFO] [1681191215.701872843, 1414.215000000]: Found GOAL at goal_waypoint_index = 436
[ INFO] [1681191215.721180679, 1414.233000000]: PLANNING -> AVOIDING, Found path
[ WARN] [1681191217.936359789, 1414.773000000]: Waiting for current_pose topic ...
[ WARN] [1681191217.936401797, 1414.773000000]: Waiting for current_velocity topic ...
[ WARN] [1681191217.958148214, 1414.791000000]: Invalid input index range: begin = 13, end = 9, PrevWaypointsSize = 200
[ WARN] [1681191217.958178045, 1414.791000000]: Invalid input index range: begin = 12, end = 9, PrevWaypointsSize = 200
[ WARN] [1681191217.958190379, 1414.791000000]: Invalid input index range: begin = 11, end = 9, PrevWaypointsSize = 200
[ WARN] [1681191217.958201229, 1414.791000000]: Invalid input index range: begin = 10, end = 9, PrevWaypointsSize = 200
[ WARN] [1681191219.765059476, 1415.271000000]: Invalid input index range: begin = 13, end = 9, PrevWaypointsSize = 200
[ WARN] [1681191219.765104541, 1415.271000000]: Invalid input index range: begin = 12, end = 9, PrevWaypointsSize = 200
[ WARN] [1681191219.765115811, 1415.271000000]: Invalid input index range: begin = 11, end = 9, PrevWaypointsSize = 200
[ WARN] [1681191219.765125157, 1415.271000000]: Invalid input index range: begin = 10, end = 9, PrevWaypointsSize = 200
[ WARN] [1681191221.614062210, 1415.772000000]: Invalid input index range: begin = 12, end = 8, PrevWaypointsSize = 200
[ WARN] [1681191221.614097783, 1415.772000000]: Invalid input index range: begin = 11, end = 8, PrevWaypointsSize = 200
[ WARN] [1681191221.614109293, 1415.772000000]: Invalid input index range: begin = 10, end = 8, PrevWaypointsSize = 200
[ WARN] [1681191221.614114783, 1415.772000000]: Invalid input index range: begin = 9, end = 8, PrevWaypointsSize = 200
[ WARN] [1681191223.170295891, 1416.270000000]: Invalid input index range: begin = 11, end = 7, PrevWaypointsSize = 200
[ WARN] [1681191223.170344212, 1416.270000000]: Invalid input index range: begin = 10, end = 7, PrevWaypointsSize = 200
[ WARN] [1681191223.170354327, 1416.270000000]: Invalid input index range: begin = 9, end = 7, PrevWaypointsSize = 200
[ WARN] [1681191223.170362144, 1416.270000000]: Invalid input index range: begin = 8, end = 7, PrevWaypointsSize = 200
[ WARN] [1681191225.019371965, 1416.771000000]: Invalid input index range: begin = 10, end = 6, PrevWaypointsSize = 200
[ WARN] [1681191225.019404648, 1416.771000000]: Invalid input index range: begin = 9, end = 6, PrevWaypointsSize = 200
[ WARN] [1681191225.019412233, 1416.771000000]: Invalid input index range: begin = 8, end = 6, PrevWaypointsSize = 200
[ WARN] [1681191225.019419127, 1416.771000000]: Invalid input index range: begin = 7, end = 6, PrevWaypointsSize = 200
[ WARN] [1681191226.841554214, 1417.272000000]: Invalid input index range: begin = 9, end = 5, PrevWaypointsSize = 200
[ WARN] [1681191226.841591114, 1417.272000000]: Invalid input index range: begin = 8, end = 5, PrevWaypointsSize = 200
[ WARN] [1681191226.841600781, 1417.272000000]: Invalid input index range: begin = 7, end = 5, PrevWaypointsSize = 200
[ WARN] [1681191226.841608263, 1417.272000000]: Invalid input index range: begin = 6, end = 5, PrevWaypointsSize = 200
[ WARN] [1681191228.677989050, 1417.770000000]: Invalid input index range: begin = 9, end = 5, PrevWaypointsSize = 200
[ WARN] [1681191228.678018746, 1417.770000000]: Invalid input index range: begin = 8, end = 5, PrevWaypointsSize = 200
[ WARN] [1681191228.678028902, 1417.770000000]: Invalid input index range: begin = 7, end = 5, PrevWaypointsSize = 200
[ WARN] [1681191228.678036840, 1417.770000000]: Invalid input index range: begin = 6, end = 5, PrevWaypointsSize = 200
[ INFO] [1681191233.744515934, 1419.186000000]: [getClosestWaypoint] current_path.waypoints.size() < 2
[ WARN] [1681191233.744544867, 1419.186000000]: [AstarAvoid::updateClosestWaypoint] getClosestWaypoint failed, -> RELAYING
[ INFO] [1681191233.751979578, 1419.195000000]: RELAYING -> STOPPING, Decelerate for stopping

sbgisen / autoware_ai_planning

warningの発生箇所特定 #11