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tier4 / scenario_simulator_v2

A scenario-based simulation framework for Autoware
Apache License 2.0
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The position of kinematic_state topic is not updated #1302

Closed brkay54 closed 1 week ago

brkay54 commented 3 months ago

Describe the bug When I run the scenario simulator, the position of the ego stays in the initial position:

https://github.com/tier4/scenario_simulator_v2/assets/45468306/31b1f26f-2248-4840-ae32-a03680ba65a3

As you can see in the video, although the velocity is increasing, the ego stays in the same position. When I checked the /localization/kinematic_state, the velocity message was changing but the position info stayed the same value.

I also run Autoware without scenario_simulator, I didn't see this problem.

To Reproduce Steps to reproduce the behavior:

Expected behavior The position of the ego should be updated.

Screenshots If applicable, add screenshots to help explain your problem.

Desktop (please complete the following information):

kyoichi-sugahara commented 3 months ago

@brkay54 Hello, Although I'm not very knowledgeable about scenario simulators, I sometimes waste time by not noticing simple mistakes, so I'd like to comment. I'd like to try reproducing this on my environment. Would it be possible for you to share the files and maps used during the simulator execution? At the very least, I haven't encountered this issue when using a different scenario and map in my own environment. Also, if possible, I'd like to see the logs output to the terminal.

Additionally, with the default RViz settings, the control outputs should be visualized, but it seems they're not included, which concerns me a bit.

brkay54 commented 3 months ago

@kyoichi-sugahara -san, thanks for your reply,

Although I'm not very knowledgeable about scenario simulators, I sometimes waste time by not noticing simple mistakes, so I'd like to comment.

I totally understand your concerns and feelings about the simple mistakes ๐Ÿฅฒ

sample-scenario.tar.gz

I added the map and scenario file.

At the very least, I haven't encountered this issue when using a different scenario and map in my own environment.

I tested with different scenario and map file too, but the same problem occurred.

Here is my terminal log:

Click to expand ```bash berkay@victus:~/projects/autoware$ ros2 launch scenario_test_runner scenario_test_runner.launch.py record:=false scenario:='/home/berkay/projects/awf-evaluation-scenarios/scenarios/Urban_Scenarios/tutorial-scenario.yaml' sensor_model:=sample_sensor_kit vehicle_model:=sample_vehicle [INFO] [launch]: All log files can be found below /home/berkay/.ros/log/2024-06-25-20-16-43-270830-victus-393837 [INFO] [launch]: Default logging verbosity is set to INFO architecture_type := awf/universe/20240605 autoware_launch_file := planning_simulator.launch.xml autoware_launch_package := autoware_launch consider_acceleration_by_road_slope := False consider_pose_by_road_slope := True enable_perf := False global_frame_rate := 30.0 global_real_time_factor := 1.0 global_timeout := 180 initialize_duration := 30 launch_autoware := True launch_rviz := False output_directory := /tmp port := 5555 record := false rviz_config := scenario := /home/berkay/projects/awf-evaluation-scenarios/scenarios/Urban_Scenarios/tutorial-scenario.yaml sensor_model := sample_sensor_kit sigterm_timeout := 8 use_sim_time := False vehicle_model := sample_vehicle [INFO] [scenario_test_runner.py-1]: process started with pid [393838] [INFO] [simple_sensor_simulator_node-2]: process started with pid [393840] [INFO] [openscenario_interpreter_node-3]: process started with pid [393842] [INFO] [openscenario_preprocessor_node-4]: process started with pid [393844] [INFO] [visualization_node-5]: process started with pid [393846] [scenario_test_runner.py-1] [INFO 1719335803.733213172] [simulation.scenario_test_runner]: connection established with preprocessor (print_debug() at /home/berkay/projects/autoware/install/scenario_test_runner/lib/scenario_test_runner/scenario_test_runner.py:268) [scenario_test_runner.py-1] [INFO 1719335805.001877205] [simulation.scenario_test_runner]: Result of /simulation/openscenario_preprocessor/load: success (print_debug() at /home/berkay/projects/autoware/install/scenario_test_runner/lib/scenario_test_runner/scenario_test_runner.py:268) [scenario_test_runner.py-1] [INFO 1719335805.003416599] [simulation.scenario_test_runner]: Result of /simulation/openscenario_preprocessor/check: True (print_debug() at /home/berkay/projects/autoware/install/scenario_test_runner/lib/scenario_test_runner/scenario_test_runner.py:268) [scenario_test_runner.py-1] [INFO 1719335805.004905183] [simulation.scenario_test_runner]: derived : /tmp/scenario_test_runner/tutorial-scenario/tutorial-scenario.xosc (print_debug() at /home/berkay/projects/autoware/install/scenario_test_runner/lib/scenario_test_runner/scenario_test_runner.py:268) [scenario_test_runner.py-1] [INFO 1719335805.006232899] [simulation.scenario_test_runner]: Result of /simulation/openscenario_preprocessor/check: False (print_debug() at /home/berkay/projects/autoware/install/scenario_test_runner/lib/scenario_test_runner/scenario_test_runner.py:268) [scenario_test_runner.py-1] [INFO 1719335805.007060121] [simulation.scenario_test_runner]: finish derivation (print_debug() at /home/berkay/projects/autoware/install/scenario_test_runner/lib/scenario_test_runner/scenario_test_runner.py:268) [scenario_test_runner.py-1] [INFO 1719335805.007872517] [simulation.scenario_test_runner]: /tmp/scenario_test_runner/tutorial-scenario/tutorial-scenario.xosc (print_debug() at /home/berkay/projects/autoware/install/scenario_test_runner/lib/scenario_test_runner/scenario_test_runner.py:268) [scenario_test_runner.py-1] [INFO 1719335805.008603584] [simulation.scenario_test_runner]: Run tutorial-scenario.xosc (1 of 1) (run_preprocessed_scenarios() at /home/berkay/projects/autoware/install/scenario_test_runner/lib/scenario_test_runner/scenario_test_runner.py:199) [openscenario_interpreter_node-3] [INFO] [launch]: All log files can be found below /home/berkay/.ros/log/2024-06-25-20-16-47-497642-victus-394130 [openscenario_interpreter_node-3] [INFO] [launch]: Default logging verbosity is set to INFO [simple_sensor_simulator_node-2] [WARN 1719335807.600356836] [tf2_buffer]: Detected time source change. Clearing TF buffer. (onTimeJump() at ./src/buffer.cpp:105) [openscenario_interpreter_node-3] [INFO 1719335807.678291409] [simulation.concealer_user]: /api/autoware/set/velocity_limit service is not ready. (validateAvailability() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/service_with_validation.hpp:159) [openscenario_interpreter_node-3] [INFO 1719335808.388095678] [simulation.concealer_user]: /api/autoware/set/velocity_limit service is not ready. (validateAvailability() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/service_with_validation.hpp:159) [openscenario_interpreter_node-3] [INFO 1719335809.388128671] [simulation.concealer_user]: /api/autoware/set/velocity_limit service is not ready. (validateAvailability() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/service_with_validation.hpp:159) [openscenario_interpreter_node-3] [INFO 1719335810.388120775] [simulation.concealer_user]: /api/autoware/set/velocity_limit service is not ready. (validateAvailability() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/service_with_validation.hpp:159) [openscenario_interpreter_node-3] [INFO 1719335811.388115595] [simulation.concealer_user]: /api/autoware/set/velocity_limit service is not ready. (validateAvailability() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/service_with_validation.hpp:159) [openscenario_interpreter_node-3] [INFO 1719335812.388130379] [simulation.concealer_user]: /api/autoware/set/velocity_limit service is not ready. (validateAvailability() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/service_with_validation.hpp:159) [openscenario_interpreter_node-3] [INFO 1719335813.388006571] [simulation.concealer_user]: /api/autoware/set/velocity_limit service is not ready. (validateAvailability() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/service_with_validation.hpp:159) [openscenario_interpreter_node-3] [INFO 1719335814.388087254] [simulation.concealer_user]: /api/autoware/set/velocity_limit service is not ready. (validateAvailability() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/service_with_validation.hpp:159) [openscenario_interpreter_node-3] [INFO 1719335815.388028335] [simulation.concealer_user]: /api/autoware/set/velocity_limit service is not ready. (validateAvailability() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/service_with_validation.hpp:159) [openscenario_interpreter_node-3] [INFO 1719335816.388008167] [simulation.concealer_user]: /api/autoware/set/velocity_limit service is not ready. (validateAvailability() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/service_with_validation.hpp:159) [openscenario_interpreter_node-3] [INFO 1719335817.388062863] [simulation.concealer_user]: /api/autoware/set/velocity_limit service is not ready. (validateAvailability() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/service_with_validation.hpp:159) [openscenario_interpreter_node-3] [INFO 1719335818.388032981] [simulation.concealer_user]: /api/autoware/set/velocity_limit service is not ready. (validateAvailability() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/service_with_validation.hpp:159) [openscenario_interpreter_node-3] [INFO 1719335819.388120417] [simulation.concealer_user]: /api/autoware/set/velocity_limit service is not ready. (validateAvailability() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/service_with_validation.hpp:159) [openscenario_interpreter_node-3] [INFO 1719335820.388031153] [simulation.concealer_user]: /api/autoware/set/velocity_limit service is not ready. (validateAvailability() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/service_with_validation.hpp:159) [openscenario_interpreter_node-3] [INFO 1719335821.388091673] [simulation.concealer_user]: /api/autoware/set/velocity_limit service is not ready. (validateAvailability() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/service_with_validation.hpp:159) [openscenario_interpreter_node-3] [INFO 1719335822.388117603] [simulation.concealer_user]: /api/autoware/set/velocity_limit service is not ready. (validateAvailability() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/service_with_validation.hpp:159) [openscenario_interpreter_node-3] [INFO 1719335823.388043433] [simulation.concealer_user]: /api/autoware/set/velocity_limit service is not ready. (validateAvailability() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/service_with_validation.hpp:159) [openscenario_interpreter_node-3] [INFO 1719335824.388034009] [simulation.concealer_user]: /api/autoware/set/velocity_limit service is not ready. (validateAvailability() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/service_with_validation.hpp:159) [openscenario_interpreter_node-3] [WARN 1719335824.575390930] [simulation.openscenario_interpreter]: Your machine is not powerful enough to run the scenario at the specified frame rate (30 Hz). We recommend that you reduce the frame rate to 29.4118 or less. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp:217) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/pointcloud_container/glog_component' in container '/pointcloud_container' [openscenario_interpreter_node-3] [WARN 1719335824.775239124] [simulation.openscenario_interpreter]: Your machine is not powerful enough to run the scenario at the specified frame rate (30 Hz). We recommend that you reduce the frame rate to 28.5714 or less. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp:217) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/system/mrm_comfortable_stop_operator' in container '/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_container' [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/system/component_state_monitor/component' in container '/system/component_state_monitor/container' [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/system/mrm_emergency_stop_operator' in container '/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator_container' [openscenario_interpreter_node-3] [WARN 1719335824.908260121] [simulation.openscenario_interpreter]: Your machine is not powerful enough to run the scenario at the specified frame rate (30 Hz). We recommend that you reduce the frame rate to 16.129 or less. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp:217) [openscenario_interpreter_node-3] [WARN 1719335825.112630519] [simulation.openscenario_interpreter]: Your machine is not powerful enough to run the scenario at the specified frame rate (30 Hz). We recommend that you reduce the frame rate to 7.04225 or less. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp:217) [openscenario_interpreter_node-3] [WARN 1719335825.204210419] [simulation.openscenario_interpreter]: Your machine is not powerful enough to run the scenario at the specified frame rate (30 Hz). We recommend that you reduce the frame rate to 7.04225 or less. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp:217) [openscenario_interpreter_node-3] [WARN 1719335825.308260761] [simulation.openscenario_interpreter]: Your machine is not powerful enough to run the scenario at the specified frame rate (30 Hz). We recommend that you reduce the frame rate to 7.04225 or less. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp:217) [openscenario_interpreter_node-3] [INFO 1719335825.388283701] [simulation.concealer_user]: /api/autoware/set/velocity_limit service is not ready. (validateAvailability() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/service_with_validation.hpp:159) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/mission_planning/mission_planner' in container '/planning/mission_planning/mission_planner_container' [openscenario_interpreter_node-3] [WARN 1719335825.638915901] [simulation.openscenario_interpreter]: Your machine is not powerful enough to run the scenario at the specified frame rate (30 Hz). We recommend that you reduce the frame rate to 3.78788 or less. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp:217) [openscenario_interpreter_node-3] [WARN 1719335825.716766644] [simulation.openscenario_interpreter]: Your machine is not powerful enough to run the scenario at the specified frame rate (30 Hz). We recommend that you reduce the frame rate to 3.78788 or less. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp:217) [openscenario_interpreter_node-3] [WARN 1719335825.769472727] [simulation.openscenario_interpreter]: Your machine is not powerful enough to run the scenario at the specified frame rate (30 Hz). We recommend that you reduce the frame rate to 3.78788 or less. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp:217) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/mission_planning/route_selector' in container '/planning/mission_planning/mission_planner_container' [openscenario_interpreter_node-3] [WARN 1719335825.884754035] [simulation.openscenario_interpreter]: Your machine is not powerful enough to run the scenario at the specified frame rate (30 Hz). We recommend that you reduce the frame rate to 3.78788 or less. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp:217) [openscenario_interpreter_node-3] [INFO] [component_container_mt-1]: process started with pid [396835] [openscenario_interpreter_node-3] [INFO] [robot_state_publisher-2]: process started with pid [396837] [openscenario_interpreter_node-3] [INFO] [duplicated_node_checker_node-3]: process started with pid [396843] [openscenario_interpreter_node-3] [INFO] [service_log_checker_node-4]: process started with pid [396845] [openscenario_interpreter_node-3] [INFO] [component_container-5]: process started with pid [396847] [openscenario_interpreter_node-3] [INFO] [topic_state_monitor_node-6]: process started with pid [396851] [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/velocity_smoother' in container '/planning/scenario_planning/velocity_smoother_container' [openscenario_interpreter_node-3] [WARN 1719335825.971953368] [simulation.openscenario_interpreter]: Your machine is not powerful enough to run the scenario at the specified frame rate (30 Hz). We recommend that you reduce the frame rate to 3.78788 or less. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp:217) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/mission_planning/glog_component' in container '/planning/mission_planning/mission_planner_container' [openscenario_interpreter_node-3] [INFO] [topic_state_monitor_node-7]: process started with pid [396855] [openscenario_interpreter_node-3] [INFO] [topic_state_monitor_node-8]: process started with pid [396857] [openscenario_interpreter_node-3] [INFO] [topic_state_monitor_node-9]: process started with pid [396859] [openscenario_interpreter_node-3] [INFO] [topic_state_monitor_node-10]: process started with pid [396861] [openscenario_interpreter_node-3] [INFO] [topic_state_monitor_node-11]: process started with pid [396863] [openscenario_interpreter_node-3] [INFO] [topic_state_monitor_node-12]: process started with pid [396865] [openscenario_interpreter_node-3] [INFO] [topic_state_monitor_node-13]: process started with pid [396867] [openscenario_interpreter_node-3] [INFO] [topic_state_monitor_node-14]: process started with pid [396908] [openscenario_interpreter_node-3] [INFO] [topic_state_monitor_node-15]: process started with pid [396917] [openscenario_interpreter_node-3] [INFO] [topic_state_monitor_node-16]: process started with pid [396922] [openscenario_interpreter_node-3] [INFO] [component_container-17]: process started with pid [396925] [openscenario_interpreter_node-3] [INFO] [component_container-18]: process started with pid [396960] [openscenario_interpreter_node-3] [INFO] [aggregator_node-19]: process started with pid [396991] [openscenario_interpreter_node-3] [INFO] [system_error_monitor_node-20]: process started with pid [397001] [openscenario_interpreter_node-3] [INFO] [emergency_handler_node-21]: process started with pid [397016] [openscenario_interpreter_node-3] [INFO] [aggregator_node-22]: process started with pid [397023] [openscenario_interpreter_node-3] [INFO] [component_state_diagnostics-23]: process started with pid [397026] [openscenario_interpreter_node-3] [INFO] [component_container_mt-24]: process started with pid [397046] [openscenario_interpreter_node-3] [INFO] [map_hash_generator-25]: process started with pid [397049] [openscenario_interpreter_node-3] [INFO] [map_projection_loader_node-26]: process started with pid [397051] [openscenario_interpreter_node-3] [INFO] [component_container_mt-27]: process started with pid [397064] [openscenario_interpreter_node-3] [INFO] [goal_pose_visualizer-28]: process started with pid [397067] [openscenario_interpreter_node-3] [INFO] [autoware_scenario_selector_node-29]: process started with pid [397104] [openscenario_interpreter_node-3] [INFO] [external_velocity_limit_selector-30]: process started with pid [397121] [openscenario_interpreter_node-3] [INFO] [component_container-31]: process started with pid [397140] [openscenario_interpreter_node-3] [INFO] [component_container_mt-32]: process started with pid [397153] [openscenario_interpreter_node-3] [INFO] [component_container_mt-33]: process started with pid [397156] [openscenario_interpreter_node-3] [INFO] [component_container_mt-34]: process started with pid [397186] [openscenario_interpreter_node-3] [INFO] [planning_validator_node-35]: process started with pid [397277] [openscenario_interpreter_node-3] [INFO] [planning_evaluator-36]: process started with pid [397369] [openscenario_interpreter_node-3] [INFO] [autoware_remaining_distance_time_calculator_node-37]: process started with pid [397413] [openscenario_interpreter_node-3] [INFO] [component_container_mt-38]: process started with pid [397422] [openscenario_interpreter_node-3] [INFO] [component_container_mt-39]: process started with pid [397425] [openscenario_interpreter_node-3] [INFO] [awapi_awiv_adapter-40]: process started with pid [397429] [openscenario_interpreter_node-3] [INFO] [component_container_mt-41]: process started with pid [397461] [openscenario_interpreter_node-3] [INFO] [component_container_mt-42]: process started with pid [397472] [openscenario_interpreter_node-3] [INFO] [component_container_mt-43]: process started with pid [397474] [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/lane_driving/motion_planning/glog_component' in container '/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container' [openscenario_interpreter_node-3] [INFO] [relay-44]: process started with pid [397477] [openscenario_interpreter_node-3] [INFO] [relay-45]: process started with pid [397479] [openscenario_interpreter_node-3] [INFO] [relay-46]: process started with pid [397481] [openscenario_interpreter_node-3] [INFO] [path_distance_calculator_node-47]: process started with pid [397486] [openscenario_interpreter_node-3] [INFO] [component_container_mt-48]: process started with pid [397492] [openscenario_interpreter_node-3] [INFO] [web_server.py-49]: process started with pid [397517] [openscenario_interpreter_node-3] [INFO] [initial_pose_adaptor_node-50]: process started with pid [397545] [openscenario_interpreter_node-3] [INFO] [routing_adaptor_node-51]: process started with pid [397548] [openscenario_interpreter_node-3] [INFO] [component_container_mt-52]: process started with pid [397551] [openscenario_interpreter_node-3] [INFO] [rviz2-53]: process started with pid [397565] [openscenario_interpreter_node-3] [INFO] [fault_injection_node-54]: process started with pid [397570] [openscenario_interpreter_node-3] [INFO] [multi_object_tracker_node-55]: process started with pid [397574] [openscenario_interpreter_node-3] [INFO] [map_based_prediction-56]: process started with pid [397642] [openscenario_interpreter_node-3] [INFO] [traffic_light_occlusion_predictor_node-57]: process started with pid [397680] [openscenario_interpreter_node-3] [INFO] [traffic_light_multi_camera_fusion_node-58]: process started with pid [397822] [openscenario_interpreter_node-3] [INFO] [component_container-59]: process started with pid [397834] [openscenario_interpreter_node-3] [INFO] [crosswalk_traffic_light_estimator_node-60]: process started with pid [397838] [openscenario_interpreter_node-3] [INFO] [traffic_light_map_visualizer_node-61]: process started with pid [397841] [openscenario_interpreter_node-3] [INFO] [pose_initializer_node-62]: process started with pid [397843] [openscenario_interpreter_node-3] [INFO] [dummy_doors-63]: process started with pid [397858] [openscenario_interpreter_node-3] [INFO] [diagnostic_converter-64]: process started with pid [397888] [openscenario_interpreter_node-3] [component_container_mt-1] [INFO 1719335824.565732150] [pointcloud_container]: Load Library: /home/berkay/projects/autoware/install/glog_component/lib/libglog_component.so (create_component_factory() at ./src/component_manager.cpp:118) [openscenario_interpreter_node-3] [component_container_mt-1] [INFO 1719335824.572763779] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-1] [INFO 1719335824.572827805] [pointcloud_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [topic_state_monitor_node-6] [INFO 1719335824.575420158] [system.topic_state_monitor_vector_map]: /map/vector_map has not received. Set ERROR in diagnostics. (operator()() at /home/berkay/projects/autoware/src/universe/autoware.universe/system/topic_state_monitor/src/topic_state_monitor_core.cpp:158) [openscenario_interpreter_node-3] [topic_state_monitor_node-7] [INFO 1719335824.575270112] [system.topic_state_monitor_initialpose3d]: /initialpose3d has not received. Set ERROR in diagnostics. (operator()() at /home/berkay/projects/autoware/src/universe/autoware.universe/system/topic_state_monitor/src/topic_state_monitor_core.cpp:158) [openscenario_interpreter_node-3] [topic_state_monitor_node-8] [INFO 1719335824.512661090] [system.topic_state_monitor_object_recognition_objects]: /perception/object_recognition/objects has not received. Set ERROR in diagnostics. (operator()() at /home/berkay/projects/autoware/src/universe/autoware.universe/system/topic_state_monitor/src/topic_state_monitor_core.cpp:158) [openscenario_interpreter_node-3] [topic_state_monitor_node-9] [INFO 1719335824.575031666] [system.topic_state_monitor_mission_planning_route]: /planning/mission_planning/route has not received. Set ERROR in diagnostics. (operator()() at /home/berkay/projects/autoware/src/universe/autoware.universe/system/topic_state_monitor/src/topic_state_monitor_core.cpp:158) [openscenario_interpreter_node-3] [topic_state_monitor_node-10] [INFO 1719335824.579794413] [system.topic_state_monitor_scenario_planning_trajectory]: /planning/scenario_planning/trajectory has not received. Set ERROR in diagnostics. (operator()() at /home/berkay/projects/autoware/src/universe/autoware.universe/system/topic_state_monitor/src/topic_state_monitor_core.cpp:158) [openscenario_interpreter_node-3] [topic_state_monitor_node-11] [INFO 1719335824.517845459] [system.topic_state_monitor_trajectory_follower_control_cmd]: /control/trajectory_follower/control_cmd has not received. Set ERROR in diagnostics. (operator()() at /home/berkay/projects/autoware/src/universe/autoware.universe/system/topic_state_monitor/src/topic_state_monitor_core.cpp:158) [openscenario_interpreter_node-3] [topic_state_monitor_node-12] [INFO 1719335824.588900558] [system.topic_state_monitor_control_command_control_cmd]: /control/command/control_cmd has not received. Set ERROR in diagnostics. (operator()() at /home/berkay/projects/autoware/src/universe/autoware.universe/system/topic_state_monitor/src/topic_state_monitor_core.cpp:158) [openscenario_interpreter_node-3] [topic_state_monitor_node-13] [INFO 1719335824.575925174] [system.topic_state_monitor_vehicle_status_velocity_status]: /vehicle/status/velocity_status has not received. Set ERROR in diagnostics. (operator()() at /home/berkay/projects/autoware/src/universe/autoware.universe/system/topic_state_monitor/src/topic_state_monitor_core.cpp:158) [openscenario_interpreter_node-3] [topic_state_monitor_node-14] [WARN 1719335824.678467409] [system.topic_state_monitor_vehicle_status_steering_status]: /vehicle/status/steering_status topic is timeout. Set ERROR in diagnostics. (operator()() at /home/berkay/projects/autoware/src/universe/autoware.universe/system/topic_state_monitor/src/topic_state_monitor_core.cpp:155) [openscenario_interpreter_node-3] [topic_state_monitor_node-15] [INFO 1719335824.678959430] [system.topic_state_monitor_system_emergency_control_cmd]: /system/emergency/control_cmd has not received. Set ERROR in diagnostics. (operator()() at /home/berkay/projects/autoware/src/universe/autoware.universe/system/topic_state_monitor/src/topic_state_monitor_core.cpp:158) [openscenario_interpreter_node-3] [topic_state_monitor_node-16] [INFO 1719335824.619279181] [system.topic_state_monitor_transform_map_to_base_link]: /tf has not received. Set ERROR in diagnostics. (operator()() at /home/berkay/projects/autoware/src/universe/autoware.universe/system/topic_state_monitor/src/topic_state_monitor_core.cpp:158) [openscenario_interpreter_node-3] [component_container-17] [INFO 1719335824.716318213] [system.mrm_comfortable_stop_operator.mrm_comfortable_stop_operator_container]: Load Library: /home/berkay/projects/autoware/install/mrm_comfortable_stop_operator/lib/libmrm_comfortable_stop_operator_component.so (create_component_factory() at ./src/component_manager.cpp:118) [openscenario_interpreter_node-3] [component_container-17] [INFO 1719335824.718581735] [system.mrm_comfortable_stop_operator.mrm_comfortable_stop_operator_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container-17] [INFO 1719335824.718634927] [system.mrm_comfortable_stop_operator.mrm_comfortable_stop_operator_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [component_container-18] [INFO 1719335824.726157281] [system.mrm_emergency_stop_operator.mrm_emergency_stop_operator_container]: Load Library: /home/berkay/projects/autoware/install/mrm_emergency_stop_operator/lib/libmrm_emergency_stop_operator_component.so (create_component_factory() at ./src/component_manager.cpp:118) [openscenario_interpreter_node-3] [component_container-18] [INFO 1719335824.736106595] [system.mrm_emergency_stop_operator.mrm_emergency_stop_operator_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container-18] [INFO 1719335824.738577338] [system.mrm_emergency_stop_operator.mrm_emergency_stop_operator_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [system_error_monitor_node-20] [INFO 1719335824.908286840] [system.system_error_monitor]: waiting for diag_array msg... (isDataReady() at /home/berkay/projects/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:384) [openscenario_interpreter_node-3] [system_error_monitor_node-20] [WARN 1719335824.908432925] [system.system_error_monitor]: input data is timeout (onTimer() at /home/berkay/projects/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:445) [openscenario_interpreter_node-3] [system_error_monitor_node-20] [ERROR 1719335824.908562879] [system_error_monitor system_error_monitor/input_data_timeout]: [Single Point Fault]: (logThrottledNamed() at /home/berkay/projects/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [openscenario_interpreter_node-3] [emergency_handler_node-21] [INFO 1719335824.774834013] [system.emergency_handler]: waiting for hazard_status_stamped msg... (isDataReady() at /home/berkay/projects/autoware/src/universe/autoware.universe/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp:249) [openscenario_interpreter_node-3] [WARN 1719335826.083924806] [simulation.openscenario_interpreter]: Your machine is not powerful enough to run the scenario at the specified frame rate (30 Hz). We recommend that you reduce the frame rate to 3.78788 or less. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp:217) [openscenario_interpreter_node-3] [emergency_handler_node-21] [WARN 1719335825.114617043] [system.emergency_handler]: Emergency stop is operated (callMrmBehavior() at /home/berkay/projects/autoware/src/universe/autoware.universe/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp:204) [openscenario_interpreter_node-3] [component_container_mt-24] [INFO 1719335824.781249544] [map.map_container]: Load Library: /home/berkay/projects/autoware/install/map_loader/lib/libpointcloud_map_loader_node.so (create_component_factory() at ./src/component_manager.cpp:118) [openscenario_interpreter_node-3] [component_container_mt-24] [INFO 1719335825.681666335] [map.map_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-24] [INFO 1719335825.681736287] [map.map_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [map_projection_loader_node-26] Load /home/berkay/projects/awf-evaluation-scenarios/maps/LEO-VM-00001/lanelet2_map.osm [openscenario_interpreter_node-3] [map_projection_loader_node-26] 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 [openscenario_interpreter_node-3] [autoware_scenario_selector_node-29] [INFO 1719335825.115670670] [planning.scenario_planning.scenario_selector]: Waiting for route handler. (isDataReady() at /home/berkay/projects/autoware/src/universe/autoware.universe/planning/autoware_scenario_selector/src/node.cpp:235) [openscenario_interpreter_node-3] [component_container_mt-32] [INFO 1719335825.749015437] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Load Library: /home/berkay/projects/autoware/install/autoware_behavior_path_planner/lib/libautoware_behavior_path_planner_lib.so (create_component_factory() at ./src/component_manager.cpp:118) [openscenario_interpreter_node-3] [component_container_mt-33] [INFO 1719335825.951484301] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Load Library: /home/berkay/projects/autoware/install/glog_component/lib/libglog_component.so (create_component_factory() at ./src/component_manager.cpp:118) [openscenario_interpreter_node-3] [component_container_mt-33] [INFO 1719335825.961589384] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-33] [INFO 1719335825.961710468] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [component_container_mt-33] [INFO 1719335826.017577980] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Load Library: /home/berkay/projects/autoware/install/autoware_path_smoother/lib/libautoware_path_smoother.so (create_component_factory() at ./src/component_manager.cpp:118) [openscenario_interpreter_node-3] [component_container_mt-33] [INFO 1719335826.066814670] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-33] [INFO 1719335826.066876243] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/glog_component' in container '/planning/scenario_planning/velocity_smoother_container' [openscenario_interpreter_node-3] [WARN 1719335826.194858587] [simulation.openscenario_interpreter]: Your machine is not powerful enough to run the scenario at the specified frame rate (30 Hz). We recommend that you reduce the frame rate to 3.78788 or less. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp:217) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map/pointcloud_map_loader' in container '/map/map_container' [openscenario_interpreter_node-3] [component_container_mt-24] [INFO 1719335826.249303883] [map.map_container]: Load Library: /home/berkay/projects/autoware/install/map_loader/lib/liblanelet2_map_loader_node.so (create_component_factory() at ./src/component_manager.cpp:118) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/lane_driving/motion_planning/elastic_band_smoother' in container '/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container' [openscenario_interpreter_node-3] [component_container_mt-33] [INFO 1719335826.255513758] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Load Library: /home/berkay/projects/autoware/install/autoware_path_optimizer/lib/libautoware_path_optimizer.so (create_component_factory() at ./src/component_manager.cpp:118) [openscenario_interpreter_node-3] [component_container_mt-33] [INFO 1719335826.263295921] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-33] [INFO 1719335826.263359411] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [component_container_mt-32] [INFO 1719335826.271998764] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [WARN 1719335826.293938747] [simulation.openscenario_interpreter]: Your machine is not powerful enough to run the scenario at the specified frame rate (30 Hz). We recommend that you reduce the frame rate to 3.78788 or less. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp:217) [openscenario_interpreter_node-3] [component_container_mt-24] [INFO 1719335826.303469289] [map.map_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-24] [INFO 1719335826.303601901] [map.map_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [multi_object_tracker_node-55] [INFO 1719335826.311893821] [perception.object_recognition.tracking.multi_object_tracker]: InputManager::init Initializing detected_objects input stream from /perception/object_recognition/detection/objects (init() at /home/berkay/projects/autoware/src/universe/autoware.universe/perception/multi_object_tracker/src/processor/input_manager.cpp:212) [openscenario_interpreter_node-3] [component_container_mt-32] [INFO 1719335826.317982048] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335826.330908772] [autoware_api.external.autoware_iv_adaptor]: Load Library: /home/berkay/projects/autoware/install/autoware_iv_external_api_adaptor/lib/libautoware_iv_external_api_adaptor.so (create_component_factory() at ./src/component_manager.cpp:118) [openscenario_interpreter_node-3] [INFO 1719335826.388106891] [simulation.concealer_user]: /api/autoware/set/velocity_limit service is not ready. (validateAvailability() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/service_with_validation.hpp:159) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335826.368857720] [awapi.awapi_relay_container]: Load Library: /opt/ros/humble/lib/librelay_node.so (create_component_factory() at ./src/component_manager.cpp:118) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335826.369446776] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335826.369486358] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [WARN 1719335826.403708995] [simulation.openscenario_interpreter]: Your machine is not powerful enough to run the scenario at the specified frame rate (30 Hz). We recommend that you reduce the frame rate to 3.78788 or less. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp:217) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/route_relay' in container '/awapi/awapi_relay_container' [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335826.434117222] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335826.434366949] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map/lanelet2_map_loader' in container '/map/map_container' [openscenario_interpreter_node-3] [component_container_mt-24] [INFO 1719335826.480400252] [map.lanelet2_map_loader]: Succeeded to load lanelet2_map. Map is published. (on_map_projector_info() at /home/berkay/projects/autoware/src/universe/autoware.universe/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp:97) [openscenario_interpreter_node-3] [WARN 1719335826.498478199] [simulation.openscenario_interpreter]: Your machine is not powerful enough to run the scenario at the specified frame rate (30 Hz). We recommend that you reduce the frame rate to 3.78788 or less. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp:217) [openscenario_interpreter_node-3] [component_container_mt-24] [INFO 1719335826.491517511] [map.map_container]: Load Library: /home/berkay/projects/autoware/install/map_loader/lib/liblanelet2_map_visualization_node.so (create_component_factory() at ./src/component_manager.cpp:118) [openscenario_interpreter_node-3] [component_container_mt-24] [INFO 1719335826.493954776] [map.map_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-24] [INFO 1719335826.494004449] [map.map_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/calibration_status' in container '/autoware_api/external/autoware_iv_adaptor' [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/lane_driving/motion_planning/path_optimizer' in container '/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container' [openscenario_interpreter_node-3] [autoware_scenario_selector_node-29] [INFO 1719335826.506671459] [planning.scenario_planning.scenario_selector]: Waiting for route. (isDataReady() at /home/berkay/projects/autoware/src/universe/autoware.universe/planning/autoware_scenario_selector/src/node.cpp:241) [openscenario_interpreter_node-3] [component_container_mt-34] [INFO 1719335826.525192245] [planning.scenario_planning.parking.parking_container]: Load Library: /home/berkay/projects/autoware/install/autoware_costmap_generator/lib/libcostmap_generator_node.so (create_component_factory() at ./src/component_manager.cpp:118) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/perception/traffic_light_recognition/traffic_light_arbiter/arbiter' in container '/perception/traffic_light_recognition/traffic_light_arbiter/container' [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335826.543769226] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335826.543828131] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335826.543843150] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [WARN 1719335826.591615771] [simulation.openscenario_interpreter]: Your machine is not powerful enough to run the scenario at the specified frame rate (30 Hz). We recommend that you reduce the frame rate to 3.78788 or less. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp:217) [openscenario_interpreter_node-3] [component_container_mt-33] [INFO 1719335826.550772042] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Load Library: /home/berkay/projects/autoware/install/autoware_motion_velocity_planner_node/lib/libautoware_motion_velocity_planner_node_lib.so (create_component_factory() at ./src/component_manager.cpp:118) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335826.595123406] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335826.595184600] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/control_evaluator' in container '/control/control_container' [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/cpu_usage' in container '/autoware_api/external/autoware_iv_adaptor' [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335826.643660297] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335826.643719602] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335826.643739690] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335826.643754802] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/control_validator' in container '/control/control_validator_container' [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map/lanelet2_map_visualization' in container '/map/map_container' [openscenario_interpreter_node-3] [component_container_mt-24] [INFO 1719335826.689230932] [map.lanelet2_map_visualization]: Map is loaded [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/diagnostics' in container '/autoware_api/external/autoware_iv_adaptor' [openscenario_interpreter_node-3] [component_container_mt-24] (onMapBin() at /home/berkay/projects/autoware/src/universe/autoware.universe/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp:90) [openscenario_interpreter_node-3] [component_container_mt-24] [INFO 1719335826.699614586] [map.map_container]: Load Library: /home/berkay/projects/autoware/install/map_tf_generator/lib/libvector_map_tf_generator_node.so (create_component_factory() at ./src/component_manager.cpp:118) [openscenario_interpreter_node-3] [component_container_mt-33] [INFO 1719335826.713390204] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-33] [INFO 1719335826.713443813] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [component_container_mt-24] [INFO 1719335826.717980921] [map.map_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-24] [INFO 1719335826.718257309] [map.map_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335826.718647311] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335826.718698664] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [WARN 1719335826.742837407] [simulation.openscenario_interpreter]: Your machine is not powerful enough to run the scenario at the specified frame rate (30 Hz). We recommend that you reduce the frame rate to 3.78788 or less. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp:217) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/predict_object_relay' in container '/awapi/awapi_relay_container' [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335826.718711912] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335826.718721747] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335826.718731891] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335826.750790179] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335826.751441759] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/glog_validator_component' in container '/control/control_validator_container' [openscenario_interpreter_node-3] [component_container_mt-43] [INFO 1719335826.790457562] [autoware_api.internal.autoware_iv_adaptor]: Load Library: /home/berkay/projects/autoware/install/autoware_iv_internal_api_adaptor/lib/libautoware_iv_internal_api_adaptor.so (create_component_factory() at ./src/component_manager.cpp:118) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/autoware_state' in container '/default_ad_api/container' [openscenario_interpreter_node-3] [WARN 1719335826.852240359] [simulation.openscenario_interpreter]: Your machine is not powerful enough to run the scenario at the specified frame rate (30 Hz). We recommend that you reduce the frame rate to 3.78788 or less. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp:217) [openscenario_interpreter_node-3] [component_container_mt-43] [INFO 1719335826.857715526] [autoware_api.internal.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-43] [INFO 1719335826.859489318] [autoware_api.internal.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/door' in container '/autoware_api/external/autoware_iv_adaptor' [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335826.865021788] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335826.865085203] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335826.865100349] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335826.865111233] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335826.865160267] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335826.865171144] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/nearest_traffic_signal_relay' in container '/awapi/awapi_relay_container' [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335826.883919133] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335826.883984621] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/diagnostics' in container '/default_ad_api/container' [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map/vector_map_tf_generator' in container '/map/map_container' [openscenario_interpreter_node-3] [component_container_mt-24] [INFO 1719335826.921787519] [map.vector_map_tf_generator]: broadcast static tf. map_frame:map, viewer_frame:viewer, x:1.5, y:500, z:100 (on_vector_map() at /home/berkay/projects/autoware/src/universe/autoware.universe/map/map_tf_generator/src/vector_map_tf_generator_node.cpp:90) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/ready_module_relay' in container '/awapi/awapi_relay_container' [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335826.969223890] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335826.969278288] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/emergency' in container '/autoware_api/external/autoware_iv_adaptor' [openscenario_interpreter_node-3] [WARN 1719335826.989110492] [simulation.openscenario_interpreter]: Your machine is not powerful enough to run the scenario at the specified frame rate (30 Hz). We recommend that you reduce the frame rate to 3.78788 or less. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp:217) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335826.993781441] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335826.993844303] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335826.993859518] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335826.993870585] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335826.993881648] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335826.993891448] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335826.993901074] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [WARN 1719335827.098649451] [simulation.openscenario_interpreter]: Your machine is not powerful enough to run the scenario at the specified frame rate (30 Hz). We recommend that you reduce the frame rate to 3.78788 or less. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp:217) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/fail_safe' in container '/default_ad_api/container' [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/engage' in container '/autoware_api/external/autoware_iv_adaptor' [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.134956615] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.135024634] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.135038870] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.135049488] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.135060201] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.135072550] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.135082180] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.135090988] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/force_available_relay' in container '/awapi/awapi_relay_container' [openscenario_interpreter_node-3] [web_server.py-49] * Running on http://localhost:8888/ (Press CTRL+C to quit) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335827.169054098] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335827.169117298] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/fail_safe_state' in container '/autoware_api/external/autoware_iv_adaptor' [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.196405690] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.196466902] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.196912750] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.196950625] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.196969308] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.196983893] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.196997751] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.197011568] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.197025246] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/heartbeat' in container '/default_ad_api/container' [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/internal/iv_msgs' in container '/autoware_api/internal/autoware_iv_adaptor' [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/running_modules_relay' in container '/awapi/awapi_relay_container' [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335827.339194379] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335827.339264556] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/trajectory_follower/controller_node_exe' in container '/control/control_container' [openscenario_interpreter_node-3] [WARN 1719335827.353735641] [simulation.openscenario_interpreter]: Your machine is not powerful enough to run the scenario at the specified frame rate (30 Hz). We recommend that you reduce the frame rate to 3.78788 or less. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp:217) [openscenario_interpreter_node-3] [INFO 1719335827.388197013] [simulation.concealer_user]: /api/autoware/set/velocity_limit service is not ready. (validateAvailability() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/service_with_validation.hpp:159) [openscenario_interpreter_node-3] [WARN 1719335827.401226369] [simulation.openscenario_interpreter]: Your machine is not powerful enough to run the scenario at the specified frame rate (30 Hz). We recommend that you reduce the frame rate to 3.78788 or less. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp:217) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/initial_pose' in container '/autoware_api/external/autoware_iv_adaptor' [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.445071537] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.445141707] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/interface' in container '/default_ad_api/container' [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.445162814] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.445177723] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.445250459] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.445271868] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.445302289] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.445317578] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.445331123] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.445395343] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [WARN 1719335827.479207037] [simulation.openscenario_interpreter]: Your machine is not powerful enough to run the scenario at the specified frame rate (30 Hz). We recommend that you reduce the frame rate to 3.78788 or less. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp:217) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/autoware_engage_relay' in container '/awapi/awapi_relay_container' [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335827.506557959] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335827.506628202] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/localization_score' in container '/autoware_api/external/autoware_iv_adaptor' [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/rtc_controller/node' in container '/autoware_api/external/rtc_controller/container' [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.524947636] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.525008550] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.525050035] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.525061830] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.525071635] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.525080793] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.525090922] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.525101093] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.525111234] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.525121216] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.525132631] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [topic_state_monitor_node-11] [INFO 1719335827.540870585] [system.topic_state_monitor_trajectory_follower_control_cmd]: /control/trajectory_follower/control_cmd has not received. Set ERROR in diagnostics. (operator()() at /home/berkay/projects/autoware/src/universe/autoware.universe/system/topic_state_monitor/src/topic_state_monitor_core.cpp:158) [openscenario_interpreter_node-3] [WARN 1719335827.546321042] [simulation.openscenario_interpreter]: Your machine is not powerful enough to run the scenario at the specified frame rate (30 Hz). We recommend that you reduce the frame rate to 3.78788 or less. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp:217) [openscenario_interpreter_node-3] [component_container_mt-43] [INFO 1719335827.566279885] [autoware_api.internal.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-43] [INFO 1719335827.566345143] [autoware_api.internal.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-43] [INFO 1719335827.566359006] [autoware_api.internal.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/map' in container '/autoware_api/external/autoware_iv_adaptor' [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/vehicle_engage_relay' in container '/awapi/awapi_relay_container' [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.594016001] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.594081636] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.594106161] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.594122597] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.594137914] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.594152554] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.594166558] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.594180707] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.594194330] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.594208450] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.594253991] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.594276252] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.594290901] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335827.600423059] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335827.600485984] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [WARN 1719335827.633961306] [simulation.openscenario_interpreter]: Your machine is not powerful enough to run the scenario at the specified frame rate (30 Hz). We recommend that you reduce the frame rate to 3.78788 or less. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp:217) [openscenario_interpreter_node-3] [topic_state_monitor_node-10] [INFO 1719335827.634009830] [system.topic_state_monitor_scenario_planning_trajectory]: /planning/scenario_planning/trajectory has not received. Set ERROR in diagnostics. (operator()() at /home/berkay/projects/autoware/src/universe/autoware.universe/system/topic_state_monitor/src/topic_state_monitor_core.cpp:158) [openscenario_interpreter_node-3] [topic_state_monitor_node-12] [INFO 1719335827.634538390] [system.topic_state_monitor_control_command_control_cmd]: /control/command/control_cmd has not received. Set ERROR in diagnostics. (operator()() at /home/berkay/projects/autoware/src/universe/autoware.universe/system/topic_state_monitor/src/topic_state_monitor_core.cpp:158) [openscenario_interpreter_node-3] [topic_state_monitor_node-7] [INFO 1719335827.634814699] [system.topic_state_monitor_initialpose3d]: /initialpose3d has not received. Set ERROR in diagnostics. (operator()() at /home/berkay/projects/autoware/src/universe/autoware.universe/system/topic_state_monitor/src/topic_state_monitor_core.cpp:158) [openscenario_interpreter_node-3] [topic_state_monitor_node-9] [INFO 1719335827.635261157] [system.topic_state_monitor_mission_planning_route]: /planning/mission_planning/route has not received. Set ERROR in diagnostics. (operator()() at /home/berkay/projects/autoware/src/universe/autoware.universe/system/topic_state_monitor/src/topic_state_monitor_core.cpp:158) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/external_cmd_selector' in container '/control/control_container' [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/localization' in container '/default_ad_api/container' [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/internal/operator' in container '/autoware_api/internal/autoware_iv_adaptor' [openscenario_interpreter_node-3] [component_container_mt-43] [INFO 1719335827.699426792] [autoware_api.internal.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-43] [INFO 1719335827.699486962] [autoware_api.internal.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-43] [INFO 1719335827.699499649] [autoware_api.internal.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-43] [INFO 1719335827.699510717] [autoware_api.internal.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [component_container_mt-34] [INFO 1719335827.726080556] [planning.scenario_planning.parking.parking_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-34] [INFO 1719335827.726149648] [planning.scenario_planning.parking.parking_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [WARN 1719335827.732716328] [simulation.openscenario_interpreter]: Your machine is not powerful enough to run the scenario at the specified frame rate (30 Hz). We recommend that you reduce the frame rate to 3.78788 or less. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp:217) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/put_route_relay' in container '/awapi/awapi_relay_container' [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335827.750436064] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335827.750503994] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/internal/velocity' in container '/autoware_api/internal/autoware_iv_adaptor' [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/motion' in container '/default_ad_api/container' [openscenario_interpreter_node-3] [WARN 1719335827.829613770] [simulation.openscenario_interpreter]: Your machine is not powerful enough to run the scenario at the specified frame rate (30 Hz). We recommend that you reduce the frame rate to 3.78788 or less. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp:217) [openscenario_interpreter_node-3] [system_error_monitor_node-20] [INFO 1719335827.830317526] [system.system_error_monitor]: waiting for current_gate_mode msg... (isDataReady() at /home/berkay/projects/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:389) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/operator' in container '/autoware_api/external/autoware_iv_adaptor' [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.862862891] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.862925622] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.862938783] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.862950440] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.862960649] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.862970749] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.862980722] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.862990965] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.863002181] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.863012821] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.863022825] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.863031807] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.863040339] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.863049596] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335827.863058933] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [component_container_mt-34] [INFO 1719335827.865764782] [planning.scenario_planning.parking.costmap_generator]: waiting for initial pose... (CostmapGenerator() at /home/berkay/projects/autoware/src/universe/autoware.universe/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/costmap_generator_node.cpp:194) [openscenario_interpreter_node-3] [WARN 1719335827.882410973] [simulation.openscenario_interpreter]: Your machine is not powerful enough to run the scenario at the specified frame rate (30 Hz). We recommend that you reduce the frame rate to 3.78788 or less. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp:217) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/put_goal_relay' in container '/awapi/awapi_relay_container' [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/external_cmd_converter' in container '/control/control_container' [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335827.919476957] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335827.919539316] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [awapi_awiv_adapter-40] [INFO 1719335827.945083428] [awapi.awapi_awiv_adapter_node]: waiting for node: /control/vehicle_cmd_gate, param: check_external_emergency_heartbeat [openscenario_interpreter_node-3] [awapi_awiv_adapter-40] (waitForParam() at /home/berkay/projects/autoware/src/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_autoware_util.hpp:106) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/operation_mode' in container '/default_ad_api/container' [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/rosbag_logging_mode' in container '/autoware_api/external/autoware_iv_adaptor' [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.004400286] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.005794774] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.005831495] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.005849602] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.005866408] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.005880830] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.005895525] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.005910818] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.005926273] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.005941660] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.005955012] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.005972616] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/lane_change_approval_relay' in container '/awapi/awapi_relay_container' [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335828.042999762] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335828.043044814] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner' in container '/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container' [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/metadata_packages' in container '/autoware_api/external/autoware_iv_adaptor' [openscenario_interpreter_node-3] [component_container_mt-33] [INFO 1719335828.078179404] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Load Library: /home/berkay/projects/autoware/install/autoware_obstacle_cruise_planner/lib/libautoware_obstacle_cruise_planner_core.so (create_component_factory() at ./src/component_manager.cpp:118) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.083418323] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.083490492] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.083514929] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.083531684] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.083546875] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.083562363] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.083577559] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.083591723] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.083636081] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.083656398] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.083670238] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.083683439] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.083696983] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.083709937] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.083723229] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.083736533] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [component_container_mt-33] [INFO 1719335828.096260241] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/perception' in container '/default_ad_api/container' [openscenario_interpreter_node-3] [component_container_mt-33] [INFO 1719335828.099151461] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/force_lane_change_relay' in container '/awapi/awapi_relay_container' [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335828.150147881] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335828.150210460] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner' in container '/planning/scenario_planning/lane_driving/behavior_planning/behavior_planning_container' [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/route' in container '/autoware_api/external/autoware_iv_adaptor' [openscenario_interpreter_node-3] [component_container_mt-32] [INFO 1719335828.206600739] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Load Library: /home/berkay/projects/autoware/install/autoware_behavior_velocity_planner/lib/libautoware_behavior_velocity_planner_lib.so (create_component_factory() at ./src/component_manager.cpp:118) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.214340778] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.214393213] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.214407423] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.214418306] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.214429609] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.214439623] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.214449945] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.214463922] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.214473991] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.214484439] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.214494184] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.214533463] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.214543909] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.214553622] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.214563887] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/external_approval_relay' in container '/awapi/awapi_relay_container' [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.214572299] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.214578951] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335828.254372412] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335828.254430759] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/service' in container '/autoware_api/external/autoware_iv_adaptor' [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/planning' in container '/default_ad_api/container' [openscenario_interpreter_node-3] [component_container_mt-32] [INFO 1719335828.284043840] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-32] [INFO 1719335828.284107048] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.296152546] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.296216519] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.296240029] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.296256265] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.296271454] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.296285410] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.296299982] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.296314009] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.296327709] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.296342224] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.296356632] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.296370749] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.296384243] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.296425295] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.296447133] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.296463095] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.296477615] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.296491618] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/force_approval_relay' in container '/awapi/awapi_relay_container' [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335828.351304456] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335828.351368484] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [component_container_mt-43] [INFO 1719335828.388509936] [autoware_api.internal.velocity]: service request (operator()() at /home/berkay/projects/autoware/install/tier4_api_utils/include/tier4_api_utils/rclcpp/service.hpp:36) [openscenario_interpreter_node-3] [component_container_mt-43] [INFO 1719335828.388619415] [autoware_api.internal.velocity]: service response (operator()() at /home/berkay/projects/autoware/install/tier4_api_utils/include/tier4_api_utils/rclcpp/service.hpp:38) [openscenario_interpreter_node-3] [rviz2-53] [INFO 1719335828.402758632] [rviz2]: Stereo is NOT SUPPORTED (operator()() at ./src/main.cpp:62) [openscenario_interpreter_node-3] [rviz2-53] [INFO 1719335828.405037966] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) (operator()() at ./src/main.cpp:62) [openscenario_interpreter_node-3] [WARN 1719335828.407327059] [simulation.openscenario_interpreter]: Your machine is not powerful enough to run the scenario at the specified frame rate (30 Hz). We recommend that you reduce the frame rate to 3.78788 or less. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp:217) [openscenario_interpreter_node-3] [INFO 1719335828.418366434] [simulation.concealer_user]: /api/autoware/set/velocity_limit service request has been accepted. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/service_with_validation.hpp:92) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner' in container '/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container' [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/autonomous_emergency_braking' in container '/control/control_container' [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/routing' in container '/default_ad_api/container' [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/start' in container '/autoware_api/external/autoware_iv_adaptor' [openscenario_interpreter_node-3] [INFO 1719335828.439767529] [simulation.concealer_user]: /api/localization/initialize service request has been accepted. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/service_with_validation.hpp:111) [openscenario_interpreter_node-3] [INFO 1719335828.439831972] [simulation.concealer_user]: Simulator waiting for Autoware state to be WaitingForRoute (remain: 8). (waitForAutowareStateToBeWaitingForRoute() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/transition_assertion.hpp:120) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.445631341] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.445703743] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.445729091] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.445745999] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.445761450] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.445776449] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.445790277] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.445803719] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.445816952] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.445830341] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.445843391] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.445856049] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.445868977] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.445882294] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.445928337] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.445948739] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.445962732] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.445975229] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.445988753] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/obstacle_avoid_approval_relay' in container '/awapi/awapi_relay_container' [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335828.469918311] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335828.469980176] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [rviz2-53] [INFO 1719335828.478213409] [rviz2]: Stereo is NOT SUPPORTED (operator()() at ./src/main.cpp:62) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/vehicle' in container '/default_ad_api/container' [openscenario_interpreter_node-3] [component_container_mt-42] [WARN 1719335828.539818537] [autoware_api.external.vehicle_status]: The velocity topic is not subscribed (onTimer() at /home/berkay/projects/autoware/src/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/vehicle_status' in container '/autoware_api/external/autoware_iv_adaptor' [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.554882768] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.554952806] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.554975939] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.554992441] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.555006412] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.555020878] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.555034211] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.555047852] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.555060825] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.555073664] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.555086957] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.555100458] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.555113641] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.555161714] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.555183322] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.555197254] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/traffic_signal_relay' in container '/awapi/awapi_relay_container' [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.555209969] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.555223625] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.556829759] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.556944390] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335828.575509437] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335828.575555871] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/trajectory_follower/lane_departure_checker_node' in container '/control/control_container' [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/vehicle_info' in container '/default_ad_api/container' [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/velocity' in container '/autoware_api/external/autoware_iv_adaptor' [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/overwrite_traffic_signals_relay' in container '/awapi/awapi_relay_container' [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.655585729] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.655645226] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.655659038] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.655670126] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.655679797] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.655689580] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.655700575] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.655710682] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.655719423] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.655728818] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.655739164] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.655748972] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.655785871] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.655795375] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.655804869] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.655814471] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.655824280] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.655833373] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.655842552] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.655853690] [autoware_api.external.autoware_iv_adaptor]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335828.655863160] [autoware_api.external.autoware_iv_adaptor]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335828.666003052] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335828.666062433] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/autoware_shift_decider' in container '/control/control_container' [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/version' in container '/autoware_api/external/autoware_iv_adaptor' [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/vehicle_door' in container '/default_ad_api/container' [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/speed_exceeded_relay' in container '/awapi/awapi_relay_container' [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335828.752499021] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335828.752562368] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/crosswalk_status_relay' in container '/awapi/awapi_relay_container' [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335828.814579489] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335828.815265596] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/vehicle_cmd_gate' in container '/control/control_container' [openscenario_interpreter_node-3] [awapi_awiv_adapter-40] [WARN 1719335828.884456357] [awapi.awapi_awiv_adapter_node]: parameter[check_external_emergency_heartbeat] is false. (emergencyParamCheck() at /home/berkay/projects/autoware/src/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp:137) [openscenario_interpreter_node-3] [awapi_awiv_adapter-40] [WARN 1719335828.884514465] [awapi.awapi_awiv_adapter_node]: autoware/put/emergency is not valid (emergencyParamCheck() at /home/berkay/projects/autoware/src/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp:138) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/intersection_status_relay' in container '/awapi/awapi_relay_container' [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335828.903786451] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335828.903845258] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/expand_stop_range_relay' in container '/awapi/awapi_relay_container' [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335829.028364667] [awapi.awapi_relay_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335829.029005860] [awapi.awapi_relay_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/autoware_operation_mode_transition_manager' in container '/control/control_container' [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/awapi/pose_initialization_request_relay' in container '/awapi/awapi_relay_container' [openscenario_interpreter_node-3] [emergency_handler_node-21] [WARN 1719335829.133744985] [system.emergency_handler]: Emergency stop is canceled (cancelMrmBehavior() at /home/berkay/projects/autoware/src/universe/autoware.universe/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp:237) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/glog_component' in container '/control/control_container' [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner' in container '/planning/scenario_planning/lane_driving/behavior_planning/behavior_planning_container' [openscenario_interpreter_node-3] [component_container_mt-32] [INFO 1719335829.241086356] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Load Library: /home/berkay/projects/autoware/install/glog_component/lib/libglog_component.so (create_component_factory() at ./src/component_manager.cpp:118) [openscenario_interpreter_node-3] [component_container_mt-32] [INFO 1719335829.243230372] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-32] [INFO 1719335829.243265144] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [rviz2-53] [ERROR 1719335829.267553718] [rviz2]: PluginlibFactory: The plugin for class 'autoware_auto_perception_rviz_plugin/DetectedObjects' failed to load. Error: According to the loaded plugin descriptions the class autoware_auto_perception_rviz_plugin/DetectedObjects with base class type rviz_common::Display does not exist. Declared types are autoware_mission_details_overlay_rviz_plugin/MissionDetailsDisplay autoware_overlay_rviz_plugin/SignalDisplay autoware_perception_rviz_plugin/DetectedObjects autoware_perception_rviz_plugin/PredictedObjects autoware_perception_rviz_plugin/TrackedObjects grid_map_rviz_plugin/GridMap openscenario_visualization/VisualizationConditionGroups rviz_default_plugins/AccelStamped rviz_default_plugins/Axes rviz_default_plugins/Camera rviz_default_plugins/DepthCloud rviz_default_plugins/Effort rviz_default_plugins/FluidPressure rviz_default_plugins/Grid rviz_default_plugins/GridCells rviz_default_plugins/Illuminance rviz_default_plugins/Image rviz_default_plugins/InteractiveMarkers rviz_default_plugins/LaserScan rviz_default_plugins/Map rviz_default_plugins/Marker rviz_default_plugins/MarkerArray rviz_default_plugins/Odometry rviz_default_plugins/Path rviz_default_plugins/PointCloud rviz_default_plugins/PointCloud2 rviz_default_plugins/PointStamped rviz_default_plugins/Polygon rviz_default_plugins/Pose rviz_default_plugins/PoseArray rviz_default_plugins/PoseWithCovariance rviz_default_plugins/Range rviz_default_plugins/RelativeHumidity rviz_default_plugins/RobotModel rviz_default_plugins/TF rviz_default_plugins/Temperature rviz_default_plugins/TwistStamped rviz_default_plugins/Wrench rviz_plugins/AccelerationMeter rviz_plugins/ConsoleMeter rviz_plugins/MaxVelocity rviz_plugins/MrmSummaryOverlayDisplay rviz_plugins/Path rviz_plugins/PathWithLaneId rviz_plugins/PolarGridDisplay rviz_plugins/PoseWithUuidStamped rviz_plugins/SteeringAngle rviz_plugins/Trajectory rviz_plugins/TurnSignal rviz_plugins/VelocityHistory rviz_plugins::PoseHistory rviz_plugins::PoseHistoryFootprint (operator()() at ./src/main.cpp:68) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/lane_driving/behavior_planning/glog_component' in container '/planning/scenario_planning/lane_driving/behavior_planning/behavior_planning_container' [openscenario_interpreter_node-3] [INFO 1719335829.418512956] [simulation.concealer_user]: Autoware is WAITING_FOR_ROUTE now. (waitForAutowareStateToBeWaitingForRoute() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/transition_assertion.hpp:120) [openscenario_interpreter_node-3] [INFO 1719335829.418575751] [simulation.concealer_user]: Autoware is WAITING_FOR_ROUTE now. (waitForAutowareStateToBeWaitingForRoute() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/transition_assertion.hpp:120) [openscenario_interpreter_node-3] [INFO 1719335829.427082628] [simulation.concealer_user]: /api/routing/set_route_points service request has been accepted. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/service_with_validation.hpp:111) [openscenario_interpreter_node-3] [INFO 1719335829.427138261] [simulation.concealer_user]: Simulator waiting for Autoware state to be WaitingForEngage (remain: 7). (waitForAutowareStateToBeWaitingForEngage() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/transition_assertion.hpp:122) [openscenario_interpreter_node-3] [rviz2-53] [ERROR 1719335829.431608442] [rviz2]: PluginlibFactory: The plugin for class 'autoware_auto_perception_rviz_plugin/DetectedObjects' failed to load. Error: According to the loaded plugin descriptions the class autoware_auto_perception_rviz_plugin/DetectedObjects with base class type rviz_common::Display does not exist. Declared types are autoware_mission_details_overlay_rviz_plugin/MissionDetailsDisplay autoware_overlay_rviz_plugin/SignalDisplay autoware_perception_rviz_plugin/DetectedObjects autoware_perception_rviz_plugin/PredictedObjects autoware_perception_rviz_plugin/TrackedObjects grid_map_rviz_plugin/GridMap openscenario_visualization/VisualizationConditionGroups rviz_default_plugins/AccelStamped rviz_default_plugins/Axes rviz_default_plugins/Camera rviz_default_plugins/DepthCloud rviz_default_plugins/Effort rviz_default_plugins/FluidPressure rviz_default_plugins/Grid rviz_default_plugins/GridCells rviz_default_plugins/Illuminance rviz_default_plugins/Image rviz_default_plugins/InteractiveMarkers rviz_default_plugins/LaserScan rviz_default_plugins/Map rviz_default_plugins/Marker rviz_default_plugins/MarkerArray rviz_default_plugins/Odometry rviz_default_plugins/Path rviz_default_plugins/PointCloud rviz_default_plugins/PointCloud2 rviz_default_plugins/PointStamped rviz_default_plugins/Polygon rviz_default_plugins/Pose rviz_default_plugins/PoseArray rviz_default_plugins/PoseWithCovariance rviz_default_plugins/Range rviz_default_plugins/RelativeHumidity rviz_default_plugins/RobotModel rviz_default_plugins/TF rviz_default_plugins/Temperature rviz_default_plugins/TwistStamped rviz_default_plugins/Wrench rviz_plugins/AccelerationMeter rviz_plugins/ConsoleMeter rviz_plugins/MaxVelocity rviz_plugins/MrmSummaryOverlayDisplay rviz_plugins/Path rviz_plugins/PathWithLaneId rviz_plugins/PolarGridDisplay rviz_plugins/PoseWithUuidStamped rviz_plugins/SteeringAngle rviz_plugins/Trajectory rviz_plugins/TurnSignal rviz_plugins/VelocityHistory rviz_plugins::PoseHistory rviz_plugins::PoseHistoryFootprint (operator()() at ./src/main.cpp:68) [openscenario_interpreter_node-3] [rviz2-53] [ERROR 1719335829.431819633] [rviz2]: PluginlibFactory: The plugin for class 'autoware_auto_perception_rviz_plugin/PredictedObjects' failed to load. Error: According to the loaded plugin descriptions the class autoware_auto_perception_rviz_plugin/PredictedObjects with base class type rviz_common::Display does not exist. Declared types are autoware_mission_details_overlay_rviz_plugin/MissionDetailsDisplay autoware_overlay_rviz_plugin/SignalDisplay autoware_perception_rviz_plugin/DetectedObjects autoware_perception_rviz_plugin/PredictedObjects autoware_perception_rviz_plugin/TrackedObjects grid_map_rviz_plugin/GridMap openscenario_visualization/VisualizationConditionGroups rviz_default_plugins/AccelStamped rviz_default_plugins/Axes rviz_default_plugins/Camera rviz_default_plugins/DepthCloud rviz_default_plugins/Effort rviz_default_plugins/FluidPressure rviz_default_plugins/Grid rviz_default_plugins/GridCells rviz_default_plugins/Illuminance rviz_default_plugins/Image rviz_default_plugins/InteractiveMarkers rviz_default_plugins/LaserScan rviz_default_plugins/Map rviz_default_plugins/Marker rviz_default_plugins/MarkerArray rviz_default_plugins/Odometry rviz_default_plugins/Path rviz_default_plugins/PointCloud rviz_default_plugins/PointCloud2 rviz_default_plugins/PointStamped rviz_default_plugins/Polygon rviz_default_plugins/Pose rviz_default_plugins/PoseArray rviz_default_plugins/PoseWithCovariance rviz_default_plugins/Range rviz_default_plugins/RelativeHumidity rviz_default_plugins/RobotModel rviz_default_plugins/TF rviz_default_plugins/Temperature rviz_default_plugins/TwistStamped rviz_default_plugins/Wrench rviz_plugins/AccelerationMeter rviz_plugins/ConsoleMeter rviz_plugins/MaxVelocity rviz_plugins/MrmSummaryOverlayDisplay rviz_plugins/Path rviz_plugins/PathWithLaneId rviz_plugins/PolarGridDisplay rviz_plugins/PoseWithUuidStamped rviz_plugins/SteeringAngle rviz_plugins/Trajectory rviz_plugins/TurnSignal rviz_plugins/VelocityHistory rviz_plugins::PoseHistory rviz_plugins::PoseHistoryFootprint (operator()() at ./src/main.cpp:68) [openscenario_interpreter_node-3] [rviz2-53] [ERROR 1719335829.432011146] [rviz2]: PluginlibFactory: The plugin for class 'autoware_auto_perception_rviz_plugin/TrackedObjects' failed to load. Error: According to the loaded plugin descriptions the class autoware_auto_perception_rviz_plugin/TrackedObjects with base class type rviz_common::Display does not exist. Declared types are autoware_mission_details_overlay_rviz_plugin/MissionDetailsDisplay autoware_overlay_rviz_plugin/SignalDisplay autoware_perception_rviz_plugin/DetectedObjects autoware_perception_rviz_plugin/PredictedObjects autoware_perception_rviz_plugin/TrackedObjects grid_map_rviz_plugin/GridMap openscenario_visualization/VisualizationConditionGroups rviz_default_plugins/AccelStamped rviz_default_plugins/Axes rviz_default_plugins/Camera rviz_default_plugins/DepthCloud rviz_default_plugins/Effort rviz_default_plugins/FluidPressure rviz_default_plugins/Grid rviz_default_plugins/GridCells rviz_default_plugins/Illuminance rviz_default_plugins/Image rviz_default_plugins/InteractiveMarkers rviz_default_plugins/LaserScan rviz_default_plugins/Map rviz_default_plugins/Marker rviz_default_plugins/MarkerArray rviz_default_plugins/Odometry rviz_default_plugins/Path rviz_default_plugins/PointCloud rviz_default_plugins/PointCloud2 rviz_default_plugins/PointStamped rviz_default_plugins/Polygon rviz_default_plugins/Pose rviz_default_plugins/PoseArray rviz_default_plugins/PoseWithCovariance rviz_default_plugins/Range rviz_default_plugins/RelativeHumidity rviz_default_plugins/RobotModel rviz_default_plugins/TF rviz_default_plugins/Temperature rviz_default_plugins/TwistStamped rviz_default_plugins/Wrench rviz_plugins/AccelerationMeter rviz_plugins/ConsoleMeter rviz_plugins/MaxVelocity rviz_plugins/MrmSummaryOverlayDisplay rviz_plugins/Path rviz_plugins/PathWithLaneId rviz_plugins/PolarGridDisplay rviz_plugins/PoseWithUuidStamped rviz_plugins/SteeringAngle rviz_plugins/Trajectory rviz_plugins/TurnSignal rviz_plugins/VelocityHistory rviz_plugins::PoseHistory rviz_plugins::PoseHistoryFootprint (operator()() at ./src/main.cpp:68) [openscenario_interpreter_node-3] [rviz2-53] [ERROR 1719335829.881718133] [rviz2]: PluginlibFactory: The plugin for class 'tier4_localization_rviz_plugin/InitialPoseButtonPanel' failed to load. Error: According to the loaded plugin descriptions the class tier4_localization_rviz_plugin/InitialPoseButtonPanel with base class type rviz_common::Panel does not exist. Declared types are AutowareDateTimePanel openscenario_visualization/ContextPanel real_time_factor_control_rviz_plugin/RealTimeFactorSliderPanel rviz_plugins::AutowareStatePanel rviz_plugins::BagTimeManagerPanel rviz_plugins::TrafficLightPublishPanel rviz_plugins::VelocitySteeringFactorsPanel tier4_adapi_rviz_plugins::DoorPanel tier4_adapi_rviz_plugins::RoutePanel tier4_adapi_rviz_plugins::StatePanel (operator()() at ./src/main.cpp:68) [openscenario_interpreter_node-3] [rviz2-53] [WARN 1719335830.425052484] [rviz2]: Failed to get vehicle_info: parameter 'wheel_radius' has invalid type: Wrong parameter type, parameter {wheel_radius} is of type {double}, setting it to {string} is not allowed. (preProcessMessageDetail() at /home/berkay/projects/autoware/src/universe/autoware.universe/common/tier4_planning_rviz_plugin/src/path/display.cpp:130) [openscenario_interpreter_node-3] [INFO 1719335830.427225904] [simulation.concealer_user]: Autoware is WAITING_FOR_ENGAGE now. (waitForAutowareStateToBeWaitingForEngage() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/transition_assertion.hpp:122) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335830.427945144] [autoware_api.external.engage]: service request (operator()() at /home/berkay/projects/autoware/install/tier4_api_utils/include/tier4_api_utils/rclcpp/service.hpp:36) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335830.428727384] [autoware_api.external.engage]: service response (operator()() at /home/berkay/projects/autoware/install/tier4_api_utils/include/tier4_api_utils/rclcpp/service.hpp:38) [openscenario_interpreter_node-3] [rviz2-53] [WARN 1719335830.431662710] [rviz2]: Failed to get vehicle_info: parameter 'wheel_radius' has invalid type: Wrong parameter type, parameter {wheel_radius} is of type {double}, setting it to {string} is not allowed. (preProcessMessageDetail() at /home/berkay/projects/autoware/src/universe/autoware.universe/common/tier4_planning_rviz_plugin/src/path/display.cpp:113) [openscenario_interpreter_node-3] [INFO 1719335830.450201929] [simulation.concealer_user]: /api/external/set/engage service request has been accepted. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/service_with_validation.hpp:92) [openscenario_interpreter_node-3] [INFO 1719335830.450273690] [simulation.concealer_user]: Simulator waiting for Autoware state to be Driving (remain: 6). (waitForAutowareStateToBeDriving() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/transition_assertion.hpp:123) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335830.450905938] [autoware_api.external.engage]: service request (operator()() at /home/berkay/projects/autoware/install/tier4_api_utils/include/tier4_api_utils/rclcpp/service.hpp:36) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335830.451681292] [autoware_api.external.engage]: service response (operator()() at /home/berkay/projects/autoware/install/tier4_api_utils/include/tier4_api_utils/rclcpp/service.hpp:38) [openscenario_interpreter_node-3] [INFO 1719335830.482804552] [simulation.concealer_user]: /api/external/set/engage service request has been accepted. (operator()() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/service_with_validation.hpp:92) [openscenario_interpreter_node-3] [INFO 1719335831.427382002] [simulation.concealer_user]: Autoware is DRIVING now. (waitForAutowareStateToBeDriving() at /home/berkay/projects/autoware/src/simulator/scenario_simulator/external/concealer/include/concealer/transition_assertion.hpp:123) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/parking/costmap_generator' in container '/planning/scenario_planning/parking/parking_container' [openscenario_interpreter_node-3] [component_container_mt-34] [INFO 1719335832.885065150] [planning.scenario_planning.parking.parking_container]: Load Library: /home/berkay/projects/autoware/install/autoware_freespace_planner/lib/libfreespace_planner_node.so (create_component_factory() at ./src/component_manager.cpp:118) [openscenario_interpreter_node-3] [component_container_mt-34] [INFO 1719335832.890733869] [planning.scenario_planning.parking.parking_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-34] [INFO 1719335832.890768900] [planning.scenario_planning.parking.parking_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [component_container_mt-34] [INFO 1719335832.916228678] [planning.scenario_planning.parking.freespace_planner]: initialize planning algorithm: astar (initializePlanningAlgorithm() at /home/berkay/projects/autoware/src/universe/autoware.universe/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp:584) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/parking/freespace_planner' in container '/planning/scenario_planning/parking/parking_container' [openscenario_interpreter_node-3] [component_container_mt-34] [INFO 1719335832.933497347] [planning.scenario_planning.parking.parking_container]: Load Library: /home/berkay/projects/autoware/install/glog_component/lib/libglog_component.so (create_component_factory() at ./src/component_manager.cpp:118) [openscenario_interpreter_node-3] [component_container_mt-34] [INFO 1719335832.935429751] [planning.scenario_planning.parking.parking_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:131) [openscenario_interpreter_node-3] [component_container_mt-34] [INFO 1719335832.935455931] [planning.scenario_planning.parking.parking_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:133) [openscenario_interpreter_node-3] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/parking/glog_component' in container '/planning/scenario_planning/parking/parking_container' [openscenario_interpreter_node-3] [component_container_mt-42] [WARN 1719335833.621873685] [autoware_api.external.vehicle_status]: The hazard_lights_ topic is not subscribed (onTimer() at /home/berkay/projects/autoware/src/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp:133) [openscenario_interpreter_node-3] [component_container_mt-42] [WARN 1719335838.833024199] [autoware_api.external.vehicle_status]: The hazard_lights_ topic is not subscribed (onTimer() at /home/berkay/projects/autoware/src/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp:133) [openscenario_interpreter_node-3] [component_container_mt-42] [WARN 1719335844.016369866] [autoware_api.external.vehicle_status]: The hazard_lights_ topic is not subscribed (onTimer() at /home/berkay/projects/autoware/src/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp:133) [openscenario_interpreter_node-3] [component_container_mt-42] [WARN 1719335849.029603243] [autoware_api.external.vehicle_status]: The hazard_lights_ topic is not subscribed (onTimer() at /home/berkay/projects/autoware/src/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp:133) [openscenario_interpreter_node-3] [component_container_mt-42] [WARN 1719335854.212256848] [autoware_api.external.vehicle_status]: The hazard_lights_ topic is not subscribed (onTimer() at /home/berkay/projects/autoware/src/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp:133) [openscenario_interpreter_node-3] [component_container_mt-42] [WARN 1719335859.227615897] [autoware_api.external.vehicle_status]: The hazard_lights_ topic is not subscribed (onTimer() at /home/berkay/projects/autoware/src/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp:133) [openscenario_interpreter_node-3] [component_container_mt-42] [WARN 1719335864.411497919] [autoware_api.external.vehicle_status]: The hazard_lights_ topic is not subscribed (onTimer() at /home/berkay/projects/autoware/src/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp:133) ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [openscenario_preprocessor_node-4] [INFO 1719335866.426854492] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [scenario_test_runner.py-1] [WARN 1719335866.427742337] [simulation.scenario_test_runner]: KeyboardInterrupt (run_preprocessed_scenarios() at /home/berkay/projects/autoware/install/scenario_test_runner/lib/scenario_test_runner/scenario_test_runner.py:225) [visualization_node-5] [INFO 1719335866.428156028] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [simple_sensor_simulator_node-2] [INFO 1719335866.430555265] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [INFO 1719335866.430991564] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [INFO] [visualization_node-5]: process has finished cleanly [pid 393846] [INFO] [scenario_test_runner.py-1]: process has finished cleanly [pid 393838] [INFO] [launch]: process[scenario_test_runner.py-1] was required: shutting down launched system [openscenario_interpreter_node-3] [INFO] [service_log_checker_node-4]: process has finished cleanly [pid 396845] [openscenario_interpreter_node-3] [INFO] [robot_state_publisher-2]: process has finished cleanly [pid 396837] [openscenario_interpreter_node-3] [INFO] [component_state_diagnostics-23]: process has finished cleanly [pid 397026] [openscenario_interpreter_node-3] [INFO] [emergency_handler_node-21]: process has finished cleanly [pid 397016] [openscenario_interpreter_node-3] [INFO] [relay-44]: process has finished cleanly [pid 397477] [openscenario_interpreter_node-3] [INFO] [component_container-59]: process has finished cleanly [pid 397834] [openscenario_interpreter_node-3] [INFO] [fault_injection_node-54]: process has finished cleanly [pid 397570] [openscenario_interpreter_node-3] [INFO] [web_server.py-49]: process has finished cleanly [pid 397517] [openscenario_interpreter_node-3] [INFO] [rviz2-53]: process has finished cleanly [pid 397565] [openscenario_interpreter_node-3] [INFO] [external_velocity_limit_selector-30]: process has finished cleanly [pid 397121] [openscenario_interpreter_node-3] [INFO] [pose_initializer_node-62]: process has finished cleanly [pid 397843] [openscenario_interpreter_node-3] [INFO] [map_projection_loader_node-26]: process has finished cleanly [pid 397051] [openscenario_interpreter_node-3] [INFO] [component_container-31]: process has finished cleanly [pid 397140] [openscenario_interpreter_node-3] [INFO] [component_container_mt-39]: process has finished cleanly [pid 397425] [openscenario_interpreter_node-3] [INFO] [autoware_remaining_distance_time_calculator_node-37]: process has finished cleanly [pid 397413] [openscenario_interpreter_node-3] [INFO] [topic_state_monitor_node-7]: process has finished cleanly [pid 396855] [openscenario_interpreter_node-3] [INFO] [component_container_mt-24]: process has finished cleanly [pid 397046] [openscenario_interpreter_node-3] [INFO] [relay-45]: process has finished cleanly [pid 397479] [openscenario_interpreter_node-3] [INFO] [duplicated_node_checker_node-3]: process has finished cleanly [pid 396843] [openscenario_interpreter_node-3] [INFO] [system_error_monitor_node-20]: process has finished cleanly [pid 397001] [openscenario_interpreter_node-3] [INFO] [autoware_scenario_selector_node-29]: process has finished cleanly [pid 397104] [openscenario_interpreter_node-3] [INFO] [relay-46]: process has finished cleanly [pid 397481] [openscenario_interpreter_node-3] [INFO] [multi_object_tracker_node-55]: process has finished cleanly [pid 397574] [openscenario_interpreter_node-3] [INFO] [topic_state_monitor_node-9]: process has finished cleanly [pid 396859] [openscenario_interpreter_node-3] [INFO] [component_container_mt-52]: process has finished cleanly [pid 397551] [openscenario_interpreter_node-3] [ERROR] [component_container_mt-41]: process has died [pid 397461, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args -r __node:=awapi_relay_container -r __ns:=/awapi -p use_sim_time:=True -p wheel_radius:=0.383 -p wheel_width:=0.235 -p wheel_base:=2.79 -p wheel_tread:=1.64 -p front_overhang:=1.0 -p rear_overhang:=1.1 -p left_overhang:=0.128 -p right_overhang:=0.128 -p vehicle_height:=2.5 -p max_steer_angle:=0.7']. [openscenario_interpreter_node-3] [INFO] [component_container_mt-43]: process has finished cleanly [pid 397474] [openscenario_interpreter_node-3] [INFO] [topic_state_monitor_node-16]: process has finished cleanly [pid 396922] [openscenario_interpreter_node-3] [INFO] [component_container-17]: process has finished cleanly [pid 396925] [openscenario_interpreter_node-3] [INFO] [initial_pose_adaptor_node-50]: process has finished cleanly [pid 397545] [openscenario_interpreter_node-3] [INFO] [awapi_awiv_adapter-40]: process has finished cleanly [pid 397429] [openscenario_interpreter_node-3] [INFO] [component_container-18]: process has finished cleanly [pid 396960] [openscenario_interpreter_node-3] [INFO] [traffic_light_multi_camera_fusion_node-58]: process has finished cleanly [pid 397822] [openscenario_interpreter_node-3] [INFO] [planning_evaluator-36]: process has finished cleanly [pid 397369] [openscenario_interpreter_node-3] [INFO] [map_based_prediction-56]: process has finished cleanly [pid 397642] [openscenario_interpreter_node-3] [INFO] [topic_state_monitor_node-11]: process has finished cleanly [pid 396863] [openscenario_interpreter_node-3] [INFO] [topic_state_monitor_node-10]: process has finished cleanly [pid 396861] [openscenario_interpreter_node-3] [INFO] [dummy_doors-63]: process has finished cleanly [pid 397858] [openscenario_interpreter_node-3] [INFO] [path_distance_calculator_node-47]: process has finished cleanly [pid 397486] [openscenario_interpreter_node-3] [INFO] [component_container_mt-27]: process has finished cleanly [pid 397064] [openscenario_interpreter_node-3] [INFO] [goal_pose_visualizer-28]: process has finished cleanly [pid 397067] [openscenario_interpreter_node-3] [INFO] [map_hash_generator-25]: process has finished cleanly [pid 397049] [openscenario_interpreter_node-3] [INFO] [traffic_light_occlusion_predictor_node-57]: process has finished cleanly [pid 397680] [openscenario_interpreter_node-3] [INFO] [component_container_mt-34]: process has finished cleanly [pid 397186] [openscenario_interpreter_node-3] [INFO] [component_container_mt-33]: process has finished cleanly [pid 397156] [openscenario_interpreter_node-3] [INFO] [aggregator_node-22]: process has finished cleanly [pid 397023] [openscenario_interpreter_node-3] [INFO] [traffic_light_map_visualizer_node-61]: process has finished cleanly [pid 397841] [openscenario_interpreter_node-3] [INFO] [topic_state_monitor_node-13]: process has finished cleanly [pid 396867] [openscenario_interpreter_node-3] [INFO] [topic_state_monitor_node-12]: process has finished cleanly [pid 396865] [openscenario_interpreter_node-3] [INFO] [diagnostic_converter-64]: process has finished cleanly [pid 397888] [openscenario_interpreter_node-3] [INFO] [topic_state_monitor_node-8]: process has finished cleanly [pid 396857] [openscenario_interpreter_node-3] [INFO] [component_container_mt-1]: process has finished cleanly [pid 396835] [openscenario_interpreter_node-3] [INFO] [topic_state_monitor_node-15]: process has finished cleanly [pid 396917] [openscenario_interpreter_node-3] [INFO] [aggregator_node-19]: process has finished cleanly [pid 396991] [openscenario_interpreter_node-3] [INFO] [component_container-5]: process has finished cleanly [pid 396847] [openscenario_interpreter_node-3] [INFO] [topic_state_monitor_node-6]: process has finished cleanly [pid 396851] [openscenario_interpreter_node-3] [INFO] [topic_state_monitor_node-14]: process has finished cleanly [pid 396908] [openscenario_interpreter_node-3] [INFO] [routing_adaptor_node-51]: process has finished cleanly [pid 397548] [openscenario_interpreter_node-3] [INFO] [planning_validator_node-35]: process has finished cleanly [pid 397277] [openscenario_interpreter_node-3] [rviz2-53] [INFO 1719335866.426605255] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [multi_object_tracker_node-55] [INFO 1719335866.426617751] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [map_based_prediction-56] [INFO 1719335866.426601907] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [diagnostic_converter-64] [INFO 1719335866.426591222] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [traffic_light_occlusion_predictor_node-57] [INFO 1719335866.426600441] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [crosswalk_traffic_light_estimator_node-60] [INFO 1719335866.426603167] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [component_container_mt-43] [INFO 1719335866.426669649] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [traffic_light_multi_camera_fusion_node-58] [INFO 1719335866.426605900] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [pose_initializer_node-62] [INFO 1719335866.426604763] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [planning_validator_node-35] [INFO 1719335866.426729700] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [component_container_mt-34] [INFO 1719335866.426757543] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [emergency_handler_node-21] [INFO 1719335866.426772226] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [topic_state_monitor_node-15] [INFO 1719335866.426793968] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [topic_state_monitor_node-9] [INFO 1719335866.426841307] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [topic_state_monitor_node-13] [INFO 1719335866.426865686] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [INFO] [crosswalk_traffic_light_estimator_node-60]: sending signal 'SIGINT' to process[crosswalk_traffic_light_estimator_node-60] [openscenario_interpreter_node-3] [INFO] [component_container_mt-32]: process has finished cleanly [pid 397153] [openscenario_interpreter_node-3] [INFO] [component_container_mt-48]: sending signal 'SIGINT' to process[component_container_mt-48] [openscenario_interpreter_node-3] [INFO] [component_container_mt-42]: sending signal 'SIGINT' to process[component_container_mt-42] [openscenario_interpreter_node-3] [INFO] [component_container_mt-38]: sending signal 'SIGINT' to process[component_container_mt-38] [INFO] [simple_sensor_simulator_node-2]: process has finished cleanly [pid 393840] [INFO] [openscenario_preprocessor_node-4]: process has finished cleanly [pid 393844] [openscenario_interpreter_node-3] [INFO] [component_container_mt-38]: process has finished cleanly [pid 397422] [openscenario_interpreter_node-3] [INFO] [crosswalk_traffic_light_estimator_node-60]: process has finished cleanly [pid 397838] [openscenario_interpreter_node-3] [INFO] [component_container_mt-48]: process has finished cleanly [pid 397492] [openscenario_interpreter_node-3] [component_container-18] [INFO 1719335866.426927028] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [component_container_mt-41] [INFO 1719335866.426949769] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [component_container_mt-32] [INFO 1719335866.427229759] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [component_container_mt-32] [INFO 1719335867.030042766] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner.goal_planner]: lane parking and freespace parking callbacks finished (~GoalPlannerModule() at /home/berkay/projects/autoware/src/universe/autoware.universe/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp:333) [openscenario_interpreter_node-3] [component_container_mt-32] [INFO 1719335867.079411989] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner.start_planner]: freespace planner callback finished (~StartPlannerModule() at /home/berkay/projects/autoware/src/universe/autoware.universe/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp:105) [openscenario_interpreter_node-3] [map_projection_loader_node-26] [INFO 1719335866.427231969] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [component_container_mt-1] [INFO 1719335866.427250573] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [topic_state_monitor_node-14] [INFO 1719335866.427255202] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [autoware_remaining_distance_time_calculator_node-37] [INFO 1719335866.427244730] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [external_velocity_limit_selector-30] [INFO 1719335866.427281271] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [autoware_scenario_selector_node-29] [INFO 1719335866.427318090] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [component_container_mt-24] [INFO 1719335866.427357505] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [component_container-17] [INFO 1719335866.427403133] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [goal_pose_visualizer-28] [INFO 1719335866.427420252] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [topic_state_monitor_node-10] [INFO 1719335866.427445199] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [topic_state_monitor_node-11] [INFO 1719335866.428231072] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [fault_injection_node-54] [INFO 1719335866.428885409] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [component_container_mt-33] [INFO 1719335866.430886560] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [topic_state_monitor_node-7] [INFO 1719335866.431089202] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [topic_state_monitor_node-16] [INFO 1719335866.431133070] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [topic_state_monitor_node-8] [INFO 1719335866.433945053] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [duplicated_node_checker_node-3] [INFO 1719335866.437407547] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [topic_state_monitor_node-12] [INFO 1719335866.438766302] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [topic_state_monitor_node-6] [INFO 1719335866.439774067] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [awapi_awiv_adapter-40] [INFO 1719335866.444375239] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335866.445182715] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [component_container_mt-41] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [openscenario_interpreter_node-3] [component_container_mt-41] what(): Failed to get information by topic for publishers:rcl node's context is invalid, at ./src/rcl/node.c:428: error not set [openscenario_interpreter_node-3] [system_error_monitor_node-20] [INFO 1719335866.474421642] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [component_container_mt-32] Warning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. [openscenario_interpreter_node-3] [component_container_mt-32] at line 127 in ./src/class_loader.cpp [openscenario_interpreter_node-3] [component_container_mt-32] Warning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. [openscenario_interpreter_node-3] [component_container_mt-32] at line 127 in ./src/class_loader.cpp [openscenario_interpreter_node-3] [component_container_mt-32] Warning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. [openscenario_interpreter_node-3] [component_container_mt-32] at line 127 in ./src/class_loader.cpp [openscenario_interpreter_node-3] [component_container_mt-32] Warning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. [openscenario_interpreter_node-3] [component_container_mt-32] at line 127 in ./src/class_loader.cpp [openscenario_interpreter_node-3] [component_container_mt-32] Warning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. [openscenario_interpreter_node-3] [component_container_mt-32] at line 127 in ./src/class_loader.cpp [openscenario_interpreter_node-3] [component_container_mt-32] Warning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. [openscenario_interpreter_node-3] [component_container_mt-32] at line 127 in ./src/class_loader.cpp [openscenario_interpreter_node-3] [crosswalk_traffic_light_estimator_node-60] [INFO 1719335868.200109228] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [component_container_mt-42] [INFO 1719335868.362248858] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] [INFO] [component_container_mt-42]: process has finished cleanly [pid 397472] [ERROR] [openscenario_interpreter_node-3]: process[openscenario_interpreter_node-3] failed to terminate '8' seconds after receiving 'SIGINT', escalating to 'SIGTERM' [INFO] [openscenario_interpreter_node-3]: sending signal 'SIGTERM' to process[openscenario_interpreter_node-3] [openscenario_interpreter_node-3] [INFO 1719335874.435416146] [rclcpp]: signal_handler(signum=15) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71) [openscenario_interpreter_node-3] *** Aborted at 1719335874 (unix time) try "date -d @1719335874" if you are using GNU date *** [openscenario_interpreter_node-3] PC: @ 0x0 (unknown) [openscenario_interpreter_node-3] *** SIGTERM (@0x3e80006026d) received by PID 393842 (TID 0x7a92c83d5900) from PID 393837; stack trace: *** [openscenario_interpreter_node-3] @ 0x7a92ca95f046 (unknown) [openscenario_interpreter_node-3] @ 0x7a92cab42acd rclcpp::SignalHandler::signal_handler() [openscenario_interpreter_node-3] @ 0x7a92c9a42520 (unknown) [openscenario_interpreter_node-3] @ 0x7a92c9b18bcf __poll [openscenario_interpreter_node-3] @ 0x7a92ca199206 (unknown) [openscenario_interpreter_node-3] @ 0x7a92ca1b5b04 (unknown) [openscenario_interpreter_node-3] @ 0x7a92ca1b6059 (unknown) [openscenario_interpreter_node-3] @ 0x7a92ca1cbd14 zmq_msg_recv [openscenario_interpreter_node-3] @ 0x7a92ca910c3a zmqpp::socket::receive() [openscenario_interpreter_node-3] @ 0x7a92cac57e30 zeromq::MultiClient::call() [openscenario_interpreter_node-3] @ 0x7a92cac58735 zeromq::MultiClient::call() [openscenario_interpreter_node-3] @ 0x7a92c9337d46 traffic_simulator::API::updateEntitiesStatusInSim() [openscenario_interpreter_node-3] @ 0x7a92c9338e8d traffic_simulator::API::updateFrame() [openscenario_interpreter_node-3] @ 0x7a92ca700863 _ZN6rclcpp12GenericTimerIZN24openscenario_interpreter11Interpreter11on_activateERKN16rclcpp_lifecycle5StateEEUlvE_LPv0EE16execute_callbackEv [openscenario_interpreter_node-3] @ 0x7a92caacb031 rclcpp::Executor::execute_any_executable() [openscenario_interpreter_node-3] @ 0x7a92caacca01 rclcpp::Executor::spin_once_impl() [openscenario_interpreter_node-3] @ 0x7a92caac2c64 rclcpp::Executor::spin_once() [openscenario_interpreter_node-3] @ 0x58d7c4474b53 main [openscenario_interpreter_node-3] @ 0x7a92c9a29d90 (unknown) [openscenario_interpreter_node-3] @ 0x7a92c9a29e40 __libc_start_main [openscenario_interpreter_node-3] @ 0x58d7c4475015 _start [openscenario_interpreter_node-3] @ 0x0 (unknown) [ERROR] [openscenario_interpreter_node-3]: process has died [pid 393842, exit code -15, cmd '/home/berkay/projects/autoware/install/openscenario_interpreter/lib/openscenario_interpreter/openscenario_interpreter_node --ros-args -r __ns:=/simulation --params-file /tmp/launch_params_k29yn1cb --params-file /tmp/launch_params_7nkr0_c6 --params-file /tmp/launch_params_2gjwp9qv --params-file /tmp/launch_params_ggo9i6zs --params-file /tmp/launch_params_x28pmr8t --params-file /tmp/launch_params_3722373n --params-file /tmp/launch_params_golsa3ni --params-file /tmp/launch_params_6eqds5m5 --params-file /tmp/launch_params_0s76d4lq --params-file /tmp/launch_params_b2_ticdo --params-file /tmp/launch_params_ifxa8f5e --params-file /tmp/launch_params_35dm56jk --params-file /tmp/launch_params_9gjnsomm --params-file /tmp/launch_params_9n_csl34 --params-file /home/berkay/projects/autoware/install/sample_vehicle_description/share/sample_vehicle_description/config/vehicle_info.param.yaml --params-file /home/berkay/projects/autoware/install/sample_vehicle_description/share/sample_vehicle_description/config/simulator_model.param.yaml']. ```

Additionally, with the default RViz settings, the control outputs should be visualized, but it seems they're not included, which concerns me a bit.

Actually, I was creating scenarios by using Scenario Simulator and I didn't update my Autoware work environment for a month. Today I pulled all the updates. By default, I am on RJD-736/autoware_msgs_support branch, and I didn't do any change on code base.

hakuturu583 commented 3 months ago

@brkay54 Could you provide branch or commit hash of the Autoware you used.

brkay54 commented 2 months ago

Hi, @hakuturu583 -san, thank you for your reply. This week I updated my workspace to the latest commit again. Today I tried to run the scenario simulator again but I couldn't play the same scenario because of the error: [simulation.concealer_user]: Simulator waiting for Autoware state to be WaitingForRoute (remain: 211)..

It is because of the mrm_handler initialized the vehicle with EMERGENCY, so I couldn't run. Created an issue about it:

However, the behavior was same, the kinematic_state does not update the position. I can see the velocity increasing but position is same. My commit sha in universe: ce099071716d57abb19d7eb10c6e0b4e65bbe0db

ahmeddesokyebrahim commented 2 months ago

Thanks for opening this issue @brkay54 . Regarding your comment @kyoichi-sugahara -san

At the very least, I haven't encountered this issue when using a different scenario and map in my own environment.

I confirm having the same issue like @brkay54 and the following video shows the vehicle position is not updated while the /localization/kinematic_state topic is updated.

I am using a similar configuration like Berkay's

click to expand ``` architecture_type := awf/universe/20240605 autoware_launch_file := planning_simulator.launch.xml autoware_launch_package := autoware_launch consider_acceleration_by_road_slope := False consider_pose_by_road_slope := True enable_perf := False global_frame_rate := 30.0 global_real_time_factor := 1.0 global_timeout := 180 initialize_duration := 60 launch_autoware := True launch_rviz := False output_directory := /tmp port := 5555 record := false rviz_config := scenario := /workspace/scenarios/UC-NTR-003-0004_case1.yaml sensor_model := sample_sensor_kit sigterm_timeout := 8 use_sim_time := False vehicle_model := sample_vehicle ```

Please let us know if you have any thoughts as this is considered as a blocker for Berkay currently and it will be a blocker for me very soon.

kyoichi-sugahara commented 2 months ago

@brkay54

I added the map and scenario file.

So sorry I mised your mention :bow: I will try to reproduce the issue tomorrow. cc: @ahmeddesokyebrahim

It is because of the mrm_handler initialized the vehicle with EMERGENCY, so I couldn't run. Created an issue about it:

I faced the same problem and solved in the PR and this is caused by the change which is merged last Friday. So my pr is not the solution for this kinemtic_state issue I guess.

kyoichi-sugahara commented 2 months ago

@brkay54 @ahmeddesokyebrahim By the way, does the simulator mentioned in the tutorial work in your environment? I've only looked at the downloaded files, but I'm a bit concerned that in sample.yaml, there are definitions like ego_dimensions_length that aren't defined in the file, and they're given a value of 0.0. However, I'm not certain whether this is directly related to the issue.

Again, I'm not a simulator developer, and since my simulator environment is different, there's a high possibility that my observations lack accuracy.

kyoichi-sugahara commented 2 months ago

As a premise, while my environment differs in directory structure, the vehicle_model used, and sensor models, I believe we are referring to the same repositories for autoware.universe, autoware_launch, and scenario_simulator_v2. With that in mind, I performed the following checks in order and was unable to reproduce the issue you reported:

I confirmed that both ran without any issues :thinking:

https://github.com/tier4/scenario_simulator_v2/assets/32741405/bc0a4b53-cfe7-4cc5-878a-85b1d5950624

My proposal for now is to update all the repository and build and run simulation.

brkay54 commented 2 months ago

@kyoichi-sugahara -san, thank you for the effort.

By the way, does the simulator mentioned in the tutorial work in your environment?

I haven't tried before, but today I tried this scenario. I faced very weird behavior:

https://github.com/tier4/scenario_simulator_v2/assets/45468306/e3bdfff8-1e90-409d-9576-e5b4e43af671

As a premise, while my environment differs in directory structure, the vehicle_model used, and sensor models, I believe we are referring to the same repositories for autoware.universe, autoware_launch, and scenario_simulator_v2.

My current Autoware workspace is the default files which come with the autoware.repos and simulator.repos.

I've only looked at the downloaded files, but I'm a bit concerned that in sample.yaml, there are definitions like ego_dimensions_length that aren't defined in the file, and they're given a value of 0.0.

After this comment, I updated the vehicle dimensions by using the Scenario Editor: image

But, behavior hasn't changed ๐Ÿ˜ž .

kyoichi-sugahara commented 2 months ago

@brkay54 I'd like to reproduce the situation as it would help debug whether the cause of the issue lies with autoware or with the simulator. Therefore, I set up autoware from scratch in a separate workspace without using ccache or other tools, and ran the sample scenario. with following command

ros2 launch scenario_test_runner scenario_test_runner.launch.py   architecture_type:=awf/universe/20240605   record:=false   scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample.yaml'   sensor_model:=sample_sensor_kit   vehicle_model:=sample_vehicle initialize_duration:=90

It works also fine :cry:

Again I tried your scenario file with same command

Screencast from 2024ๅนด07ๆœˆ05ๆ—ฅ 01ๆ™‚41ๅˆ†47็ง’.webm

It also workded :cry:

ahmeddesokyebrahim commented 2 months ago

Thanks @kyoichi-sugahara -san a lot for your efforts supporting us. Are you using autoware with source or docker installation ?

ahmeddesokyebrahim commented 2 months ago

@mitsudome-r -san : I would like to raise your attention here that this problem is representing a blocker for me and @brkay54 to test the changes needed for our tasks.

ahmeddesokyebrahim commented 2 months ago

Here is the output I see when testing with this tutorial.

brkay54 commented 2 months ago

@kyoichi-sugahara -san, I really appreciate your effort in identifying the problem. ๐Ÿ™๐Ÿผ

After you mentioned ccache, I suspected that the cache on my computer might be causing this issue. I cleared all caches and builds, and then rebuilt the environment, but the problem wasn't resolved.

I tried the exact command you shared:

berkay@victus:~/projects/autoware$ ros2 launch scenario_test_runner scenario_test_runner.launch.py   architecture_type:=awf/universe/20240605   record:=false   scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample.yaml'   sensor_model:=sample_sensor_kit   vehicle_model:=sample_vehicle initialize_duration:=90
[INFO] [launch]: All log files can be found below /home/berkay/.ros/log/2024-07-05-03-12-44-068761-victus-2511435
[INFO] [launch]: Default logging verbosity is set to INFO
architecture_type                   := awf/universe/20240605
autoware_launch_file                := planning_simulator.launch.xml
autoware_launch_package             := autoware_launch
consider_acceleration_by_road_slope := False
consider_pose_by_road_slope         := True
enable_perf                         := False
global_frame_rate                   := 30.0
global_real_time_factor             := 1.0
global_timeout                      := 180
initialize_duration                 := 90
launch_autoware                     := True
launch_rviz                         := False
output_directory                    := /tmp
port                                := 5555
record                              := false
rviz_config                         := 
scenario                            := $(find-pkg-share scenario_test_runner)/scenario/sample.yaml
sensor_model                        := sample_sensor_kit
sigterm_timeout                     := 8
use_sim_time                        := False
vehicle_model                       := sample_vehicle

https://github.com/tier4/scenario_simulator_v2/assets/45468306/7cb1df56-557f-4337-9119-ed8d88712bc9

It's quite strange that you don't have this problem, but we do. I'm unsure how to proceed. Tomorrow, I will also kindly ask my colleagues to try it.

kyoichi-sugahara commented 2 months ago

@ahmeddesokyebrahim

Are you using autoware with source or docker installation ?

I'm following source installtion step :thinking:

I can't debug this because I can't reproduce the problem sorry for this :pray: But you guys are having same issue, it's strange... From my side, I will wait for other people's report to this issue...

kyoichi-sugahara commented 2 months ago

@maxime-clem I heard from other members that you're setting up the development environment for autoware. Is that true? If you have the environment at hand, could you please run the following command and check if the phenomenon reported in this issue can be reproduced?

ros2 launch scenario_test_runner scenario_test_runner.launch.py   architecture_type:=awf/universe/20240605   record:=false   scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample.yaml'   sensor_model:=sample_sensor_kit   vehicle_model:=sample_vehicle initialize_duration:=90
maxime-clem commented 2 months ago

I just built the latest version and I am able to successfully run the scenarios. Could it be a network configuration issue ? I know the DDS configuration for example can sometimes cause issues.

beyzanurkaya commented 2 months ago

@brkay54 I built the latest version but I'm facing the same problem.

https://github.com/tier4/scenario_simulator_v2/assets/32412808/20a69b9e-f6d4-4095-bd94-31be22fd0be7

I ran the same scenario 3-4 times. I also experienced the incident in this video.

2024-07-05.03-13-01.mp4 It's quite strange that you don't have this problem, but we do. I'm unsure how to proceed. Tomorrow, I will also kindly ask my colleagues to try it.

MertClk commented 2 months ago

@brkay54 @ahmeddesokyebrahim @beyzanurkaya I created an issue to fix the bug. I'll create the PR soon.

https://github.com/tier4/scenario_simulator_v2/issues/1312

ahmeddesokyebrahim commented 2 months ago

@brkay54 @ahmeddesokyebrahim @beyzanurkaya I created an issue to fix the bug. I'll create the PR soon.

1312

I have tested it for now using multiple scenarios and I can confirm that the mentioned problem is no longer occurring after applying the proposed change.

FYI, I am using latest autoware repos and added this change on top of scenario simulator branch RJD-736/autoware_msgs_support

Thanks a lot @MertClk :clap:

kyoichi-sugahara commented 2 months ago

I apologize for not being able to assist with analyzing the cause :bow: @MertClk For future troubleshooting and development reference, I'd like to know: How did you notice this error? I want to know how to identify the cause when I suspect something might be the reason.

MertClk commented 2 months ago

@kyoichi-sugahara I had this issue on my local as well and debugged it. I realized that accessing the elements of the matrix was problematic. They were 0 when you try to reach 1-by-1 however it was correct when you try to print the object. After this step, I started to review Eigen documentation and saw the warning related to the usage of "auto". Considering that, I changed the type of the variable.

zulfaqar-azmi-t4 commented 2 months ago

@kyoichi-sugahara @MertClk I was having similar issues, and confirmed that with Mert's solution,the problem is solved.

hakuturu583 commented 1 week ago

Sorry for waiting long time. This problem was fixed in master branch.

Thank you very much.