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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/
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Blue Lexus and Black Pacifica GPS failure #2025

Open MishkaMN opened 1 year ago

MishkaMN commented 1 year ago

Summary

During the start of UC3 verification testing, Blue Lexus and Black Pacifica novatel started power recycling itself, which results in GPS losing and platform shutting as it is a required driver/node.

Despite having no power issue in the morning, the lights on the device started flickering and restarting around 12pm.

Black Pacifica in the morning had different offset as well as shifting a little during testing when it was working. That is why new offsets were being calibrated before it going unusable.

No config changed from the morning. And white fusion and silver lexus did not have this problem with same image. They havent been used that much before compared to the other cars which may indicate over usage for the other two vehicles

Vehicle power recycling had no effect. However, later in the day, when the vehicles were plugged in, after some while it started working again around 3pm.

Plugging in ghost computer with novatel app to see the voltages and its status was working again after they were plugged in. Before vehicles were charging, somehow the device was not recognizing the ghost computer.

Commit

a46031f6222b83857b06b28f47ef5ea11a5bedf0

Expected Behavior

platform should not crash

Actual Behavior

see above.

Steps to Reproduce the Actual Behavior

Only difference between when it started working vs when it wasn't seem to be time difference in the day 12pm vs 3pm and when whether if they were plugged in or not. Otherwise, not much information is available to reproduce the behavior.

Related Work

No response

MishkaMN commented 1 year ago

Logs from novatel is retrieved and sent to Astuff to investigate