autowarefoundation/autoware

Obstacle_Stop_planner doesn't working

RezaHosseini80 opened this issue · 6 comments

RezaHosseini80 commented

Checklist

  • I've read the contribution guidelines.
  • I've searched other issues and no duplicate issues were found.
  • I'm convinced that this is not my fault but a bug.

Description

when using obstacle stop planner instead of obstacle cruise planner it can not change operation mode and show this error :

[service_log_checker_node-5] [ERROR] [1726819007.429075993] [system.service_log_checker]: /api/operation_mode/change_to_autonomous: status code 1 'The target mode is not available. Please check the diagnostics.' (/default_ad_api/node/operation_mode)

and these logs are repeated continuously:

[component_container_mt-38] [INFO] [1726819066.577174532] [control.autonomous_emergency_braking]: [AEB] waiting for control predicted trajectory
[topic_state_monitor_node-13] [INFO] [1726819067.115392865] [system.topic_state_monitor_control_command_control_cmd]: /control/command/control_cmd has not received. Set ERROR in diagnostics.
[topic_state_monitor_node-12] [INFO] [1726819067.381593641] [system.topic_state_monitor_trajectory_follower_control_cmd]: /control/trajectory_follower/control_cmd has not received. Set ERROR in diagnostics.
[topic_state_monitor_node-11] [INFO] [1726819067.576380438] [system.topic_state_monitor_scenario_planning_trajectory]: /planning/scenario_planning/trajectory has not received. Set ERROR in diagnostics.
[topic_state_monitor_node-13] [INFO] [1726819070.115494059] [system.topic_state_monitor_control_command_control_cmd]: /control/command/control_cmd has not received. Set ERROR in diagnostics.
[component_container_mt-38] [INFO] [1726819070.266317108] [control.trajectory_follower.lane_departure_checker_node]: waiting for reference_trajectory msg...
[topic_state_monitor_node-12] [INFO] [1726819070.481496364] [system.topic_state_monitor_trajectory_follower_control_cmd]: /control/trajectory_follower/control_cmd has not received. Set ERROR in diagnostics.
[component_container_mt-38] [INFO] [1726819070.675251791] [control.trajectory_follower.controller_node_exe]: Waiting for trajectory data
[component_container_mt-38] [INFO] [1726819070.675310232] [control.trajectory_follower.controller_node_exe]: Control is skipped since input data is not ready.
[topic_state_monitor_node-11] [INFO] [1726819070.676377590] [system.topic_state_monitor_scenario_planning_trajectory]: /planning/scenario_planning/trajectory has not received. Set ERROR in diagnostics.

Expected behavior

the Auto mode would be available in obstacle_stop_planner mode.

Actual behavior

the Auto mode is not available in obstacle_stop_planner mode.

Steps to reproduce

  1. set the motion_stop_planner_type to obstacle_stop_planner.
  2. run the autoware.
  3. set the initial and goal positions.
  4. THE Auto mode is grayed out.

Versions

No response

Possible causes

No response

Additional context

No response

maxime-clem commented

Which version of Autoware are you using ?
I could not reproduce using a recent version from today.

  • autoware.universe: 59838b6e7552ef1bc61867f9dc65de4dfa472529
  • autoware_launch: 3a08555776df12eadd0e91867d338c4270932a44
RezaHosseini80 commented

Which version of Autoware are you using ? I could not reproduce using a recent version from today.

  • autoware.universe: 59838b6e7552ef1bc61867f9dc65de4dfa472529
  • autoware_launch: 3a08555776df12eadd0e91867d338c4270932a44

i'm using the latest version

maxime-clem commented

I tried on another machine after updating all repositories (vcs pull src) and rebuilding (colcon build) and I still cannot reproduce the issue.
I did have to do a clean build of the autoware_signal_processing package (rm -rf install/autoware_signal_processing build/autoware_signal_processing before rebuilding) to avoid issue.

I tried both changing default_present.yaml.

diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
index 5a3139e4c..2ec0d7ad2 100644
--- a/autoware_launch/config/planning/preset/default_preset.yaml
+++ b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -105,7 +105,7 @@ launch:
 
   - arg:
       name: motion_stop_planner_type
-      default: obstacle_cruise_planner
+      default: obstacle_stop_planner

And also setting the parameter at launch:

ros2 launch autoware_launch planning_simulator.launch.xml [...] motion_stop_planner_type:=obstacle_stop_planner

If you still have the issue after a clean build, please share a full log of the launch (found in $HOME/.ros/log/{DATE-USER-...}/launch.log.

RezaHosseini80 commented

Thanks for your help
but It's still not working for me, and here’s my full log. I entered Autoware with the obstacle_stop_planner module, estimated the car, and added a goal pose. The auto button is grayed out, and when I click on it, I get an error message that says:
the The target mode is not available. Please check the diagnostics.' (/default_ad_api/node/operation_mode)

launch.txt

maxime-clem commented

Thank you for sharing the log file. I can see the following issue:

1727095357.3660553 [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'obstacle_stop_planner' of type 'motion_planning::ObstacleStopPlannerNode' in container '/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container': Could not find requested resource in ament index

The name of the node (obstacle_stop_planner) and the type (motion_planning::ObstacleStopPlannerNode) do not match the current launch file: https://github.com/autowarefoundation/autoware.universe/blob/main/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml#L182

So I think you are missing this commit: autowarefoundation/autoware.universe@a6f218a
Please update and rebuild your workspace and the issue should be fixed.

RezaHosseini80 commented

Thank you for sharing the log file. I can see the following issue:

1727095357.3660553 [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'obstacle_stop_planner' of type 'motion_planning::ObstacleStopPlannerNode' in container '/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container': Could not find requested resource in ament index

The name of the node (obstacle_stop_planner) and the type (motion_planning::ObstacleStopPlannerNode) do not match the current launch file: https://github.com/autowarefoundation/autoware.universe/blob/main/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml#L182

So I think you are missing this commit: autowarefoundation/autoware.universe@a6f218a Please update and rebuild your workspace and the issue should be fixed.

Thank you so much, it worked perfectly!

  • 👍1