search

usdot-fhwa-stol / carma-platform

CARMA Platform is built on robot operating system (ROS) and utilizes open source software (OSS) that enables Cooperative Driving Automation (CDA) features to allow Automated Driving Systems to interact and cooperate with infrastructure and other vehicles through communication. Doxygen Source Code Documentation :
https://usdot-fhwa-stol.github.io/documentation/carma-platform/
399 stars 122 forks source link

Strategic platooning IHP node's service call failing, which causes significant planning delay #2013

Open MishkaMN opened 1 year ago

MishkaMN commented 1 year ago

Summary

During TSMO UC3 testing, service calls to strategic platooning IHP node were failing. Sometimes arbitrator requests twice the plugin in the same iteration, which causes double timeout (each is 0.5s wait). This causes other plugins to miss planning more than 2s while the intended rate is 1hz. ERROR: WARN | multiplex_service_call_for_capability:54 | failed...: /guidance/plugins/platoon_strategic_ihp_node/plan_maneuvers

  1. Platooning plugin's service call should be fixed.
  2. Revisit 0.5s wait time for arbitrator.

Commit

aefb8a657fe89801a31301f881973ac81d32507c

Expected Behavior

Strategic service call should not fail (platooning is turned off in the referenced commit)

Actual Behavior

See above.

Steps to Reproduce the Actual Behavior

platooning turned on, engage carma and notice from logs the following error consistently appearing:

WARN | multiplex_service_call_for_capability:54 | failed...: /guidance/plugins/platoon_strategic_ihp_node/plan_maneuvers

Related Work

No response

MishkaMN commented 6 months ago

This has not been resolved so far yet I believe. This is possibly due to fauly plugin's service callback. However, it could also be resolved by improvement in the arbitrator where it is more efficient now and no longer has RCL error: mostly due to this: https://github.com/usdot-fhwa-stol/carma-platform/pull/2231

MishkaMN commented 6 months ago

Accidentally closed.