No Image from image_raw showing in Rviz

[tomaslieven]

awsim will list all topics ie

/clock
/control/command/control_cmd
/control/command/emergency_cmd
/control/command/gear_cmd
/control/command/hazard_lights_cmd
/control/command/turn_indicators_cmd
/parameter_events
/rosout
/sensing/camera/traffic_light/camera_info
/sensing/camera/traffic_light/image_raw
/sensing/gnss/pose
/sensing/gnss/pose_with_covariance
/sensing/imu/tamagawa/imu_raw
/sensing/lidar/top/pointcloud_raw
/sensing/lidar/top/pointcloud_raw_ex
/vehicle/status/control_mode
/vehicle/status/gear_status
/vehicle/status/hazard_lights_status
/vehicle/status/steering_status
/vehicle/status/turn_indicators_status
/vehicle/status/velocity_status

also /sensing/camera/traffic_light/image_raw

is echoing and streaming data:

---
header:
  stamp:
    sec: 386
    nanosec: 89991370
  frame_id: traffic_light_left_camera/camera_optical_link
height: 720
width: 1280
encoding: bgr8
is_bigendian: 0
step: 3840
data:
- 78
- 70
- 69
- 79
- 72
- 69
- 78
- 72
- '...'
---

but i cant get any image in Rviz inside: /perception/traffic_light_recognition/debug/rois or /sensing/camera/traffic_light/image_raw on map/base_link or sensor_kit_base_link

also topic /sensing/camera/traffic_light/camera_info seems ok

header:
  stamp:
    sec: 894
    nanosec: 289980011
  frame_id: traffic_light_left_camera/camera_optical_link
height: 720
width: 1280
distortion_model: plumb_bob
d:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
k:
- 365.71429443359375
- 0.0
- 640.5
- 0.0
- 365.4822082519531
- 360.5
- 0.0
- 0.0
- 1.0
r:
- 1.0
- 0.0
- 0.0
- 0.0
- 1.0
- 0.0
- 0.0
- 0.0
- 1.0
p:
- 365.71429443359375
- 0.0
- 640.5
- 0.0
- 0.0
- 365.4822082519531
- 360.5
- 0.0
- 0.0
- 0.0
- 1.0
- 0.0
binning_x: 0
binning_y: 0
roi:
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: false
---

running ros galactic, tried main or even awsim-stable branches, also unity project all same results not processing camera stream

[mackierx111]

@tomaslieven Thanks for the topic list. What are your PC specs?

[shmpwk]

@tomaslieven

1. Is there the topic /perception/traffic_light_recognition/debug/rois ?

2. Could you check the RViz setting of /perception/traffic_light_recognition/debug/rois ?

              Depth: 5
              Durability Policy: Volatile
              History Policy: Keep Last
              Reliability Policy: Best Effort

[tomaslieven]

@tomaslieven Thanks for the topic list. What are your PC specs?

running mobile RTX3060 (CUDA 11.8 but also 11.6 before) with i7 just did clean install of Ubuntu 20.04 just to make sure im running all right frameworks , opencv_version is 4.2.0

[tomaslieven]

@tomaslieven

1. Is there the topic /perception/traffic_light_recognition/debug/rois ?
2. Could you check the RViz setting of /perception/traffic_light_recognition/debug/rois ?

           Depth: 5
           Durability Policy: Volatile
           History Policy: Keep Last
           Reliability Policy: Best Effort

yes this are default settings within /perception/traffic_light_recognition/debug/rois , ros2 echo on topic is not showing anything

[shmpwk]

@tomaslieven Thank you for your checking. Could you share your log files of the console output under ~/.ros/log/[DATE, etc] (e.x. ~/.ros/log/2022-10-27-10-09-39-837180-npc2201036-2629664/).

[shmpwk]

@tomaslieven Did you succeed the Autoware tutorial such as planning simulation and rosbag replay simulation?

[tomaslieven]

sure attaching default launch log without any code changes,

@shmpwk i completed planning, but because of perception not streaming image data had to set use_empty_dynamic_object_publisher to True and comment out some logic otherwise planning would not work, all other topics are streaming ok as image above showing with lidar or vehicle state data ie blinkers in sim

launch.log

[shmpwk]

@tomaslieven Could you try to add pcl_ros in universe/autoware.universe/sensing/pointcloud_preprocessor/CMakeLists.txt following https://github.com/autowarefoundation/autoware.universe/pull/2101/files and colcon build again?

[tomaslieven]

thanks! this seems to resolve the issues, i stashed all the changes and added pcl_ros seems to work even without use_empty_dynamic_object_publisher

[shmpwk]

Thank you for your checking. I will update the Autoware awsim-stable branch ASAP to reflect https://github.com/autowarefoundation/autoware.universe/pull/2101/files :bow:

[shmpwk]

I updated the awsim-stable branch by https://github.com/autowarefoundation/autoware/pull/2982.