autoware.universe [pose_initializer_node-52]: process has died

[dong12356]

ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_ws/autoware_map/parking_lot/ vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit

1729159546.0166528 [ERROR] [pose_initializer_node-52]: process has died [pid 502462, exit code -6, cmd '/home/t/autoware_ws/install/pose_initializer/lib/pose_initializer/pose_initializer_node --ros-args -r __node:=pose_initializer_node -p use_sim_time:=False -p wheel_radius:=0.235 -p wheel_width:=0.22 -p wheel_base:=1.11 -p wheel_tread:=0.9 -p front_overhang:=0.32 -p rear_overhang:=0.29 -p left_overhang:=0.0 -p right_overhang:=0.0 -p vehicle_height:=1.5 -p max_steer_angle:=0.64 --params-file /home/t/autoware_ws/install/autoware_launch/share/autoware_launch/config/localization/pose_initializer.param.yaml --params-file /tmp/launch_params_lry8bf36 --params-file /tmp/launch_params_s1_53wrz --params-file /tmp/launch_params_ciwg9d_p --params-file /tmp/launch_params_866lz7h2 --params-file /tmp/launch_params_swjezq8b --params-file /tmp/launch_params_a7qf_joy -r yabloc_align:=/localization/pose_estimator/yabloc/initializer/yabloc_align_srv -r ndt_align:=/localization/pose_estimator/ndt_align_srv -r stop_check_twist:=/sensing/vehicle_velocity_converter/twist_with_covariance -r gnss_pose_cov:=sub_gnss_pose_cov -r pose_reset:=/initialpose3d -r ekf_trigger_node:=/localization/pose_twist_fusion_filter/trigger_node -r ndt_trigger_node:=/localization/pose_estimator/trigger_node -r ~/pointcloud_map:=/map/pointcloud_map -r ~/partial_map_load:=/map/get_partial_pointcloud_map'].

1729159641.1170595 [service_log_checker-2] [ERROR] [1729159641.115653230] [system.service_log_checker]: /localization/initialize: not ready (/default_ad_api/node/localization)
1729159641.1181309 [service_log_checker-2] [ERROR] [1729159641.116110507] [system.service_log_checker]: /api/localization/initialize: status code 50001 '/localization/initialize' (/default_ad_api/node/localization)
1729159641.1183300 [service_log_checker-2] [ERROR] [1729159641.116222592] [system.service_log_checker]: /api/localization/initialize: status code 50001 '/localization/initialize' (/default_ad_api/helpers/initial_pose_adaptor)

I cannot perform initialization in both simulation and real vehicle scenarios. The real vehicle is equipped with a LiDAR and IMU, while another industrial computer can successfully initialize. What could be the problem, and how can I modify it? Thank you very much!

[SakodaShintaro]

What version of autoware are you using?
Could you share your autoware.repos?

[dong12356]

I'm sorry for replying so late.Please forgive me.After following your suggestions,i still cannot solve the problem.

[liuXinGangChina]

你编译的时候用的指令是什么，编译有没有报错？一般编译过了之后，这个节点不会报错，特别是在planning simulator 模式下

what is the compile command you used，did you encountered errors during compiling

@dong12356

happy hacking！

[dong12356]

this is my compile command i used "colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release"
The compilation passed perfectly

[liuXinGangChina]

since compile passed and you have source install/setup.bash
have you tried using AW official map to launch simulator？

if you can provide screen cast , it can speed up our debug process

@dong12356

[dong12356]

2024.10.23.14.19.36.webm

2024.10.23.14.22.10.webm

this is my screeen cast,i have tried using official map to launch simulator.

[dong12356]

this is my gdb testing.
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7ffff6800640 (LWP 717342)]
[New Thread 0x7ffff5e00640 (LWP 717343)]
[New Thread 0x7ffff5400640 (LWP 717344)]
[New Thread 0x7ffff4a00640 (LWP 717345)]
[New Thread 0x7fffefe00640 (LWP 717346)]
[New Thread 0x7fffef400640 (LWP 717347)]
[New Thread 0x7fffeea00640 (LWP 717348)]
[New Thread 0x7fffee000640 (LWP 717349)]
terminate called after throwing an instance of 'rclcpp::exceptions::UninitializedStaticallyTypedParameterException'
what(): Statically typed parameter 'ekf_enabled' must be initialized.

Thread 1 "pose_initialize" received signal SIGABRT, Aborted.
__pthread_kill_implementation (no_tid=0, signo=6, threadid=140737338548224) at ./nptl/pthread_kill.c:44

[liuXinGangChina]

Morning Dong， @dong12356

it looks that there are more than one node crashs at the begin of the autoware starting point ，highly likely those node cause localization failure， will you provide a detail log of the terminal you pull up autoware

happy hacking

lucas

[dong12356]

Morning Mr liu, @liuXinGangChina
I reinstalled the system, but I'm still experiencing some node loading errors. Here are the error log messages. Thank you very much for your response.

1730682879.4617670 [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'lanelet2_map_loader' of type 'Lanelet2MapLoaderNode' in container '/map/map_container': Failed to load library: Could not load library dlopen error: liblanelet2_io.so.1: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99

1730682880.3763485 [ERROR] [map_projection_loader-23]: process has died [pid 25524, exit code 127, cmd '/home/srai/autoware/install/map_projection_loader/lib/map_projection_loader/map_projection_loader --ros-args -r __node:=map_projection_loader -r __ns:=/map -p use_sim_time:=False -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 --params-file /tmp/launch_params_dq3g0qr4 --params-file /tmp/launch_params_s0t_62wz'].

1730682883.3523576 [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'mission_planner' of type 'mission_planner::MissionPlanner' in container '/planning/mission_planning/mission_planner_container': Failed to load library: Could not load library dlopen error: liblanelet2_core.so.1: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99

1730682883.4116848 [ERROR] [crosswalk_traffic_light_estimator_node-49]: process has died [pid 25756, exit code -6, cmd '/home/srai/autoware/install/crosswalk_traffic_light_estimator/lib/crosswalk_traffic_light_estimator/crosswalk_traffic_light_estimator_node --ros-args -r __node:=crosswalk_traffic_light_estimator -r __ns:=/perception/traffic_light_recognition -p use_sim_time:=False -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 --params-file /home/srai/autoware/install/crosswalk_traffic_light_estimator/share/crosswalk_traffic_light_estimator/config/crosswalk_traffic_light_estimator.param.yaml -r ~/input/vector_map:=/map/vector_map -r ~/input/route:=/planning/mission_planning/route -r ~/input/classified/traffic_signals:=/perception/traffic_light_recognition/fusion/traffic_signals -r ~/output/traffic_signals:=/perception/traffic_light_recognition/internal/traffic_signals'].

1730682883.4133856 [ERROR] [scenario_selector-26]: process has died [pid 25562, exit code -6, cmd '/home/srai/autoware/install/scenario_selector/lib/scenario_selector/scenario_selector --ros-args -r __node:=scenario_selector -r __ns:=/planning/scenario_planning -p use_sim_time:=False -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 --params-file /home/srai/autoware/install/scenario_selector/share/scenario_selector/config/scenario_selector.param.yaml -r input/lane_driving/trajectory:=/planning/scenario_planning/lane_driving/trajectory -r input/parking/trajectory:=/planning/scenario_planning/parking/trajectory -r input/lanelet_map:=/map/vector_map -r input/route:=/planning/mission_planning/route -r input/odometry:=/localization/kinematic_state -r is_parking_completed:=/planning/scenario_planning/parking/is_completed -r output/scenario:=/planning/scenario_planning/scenario -r output/trajectory:=/planning/scenario_planning/scenario_selector/trajectory'].

1730682884.3852677 [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'autoware_state' of type 'default_ad_api::AutowareStateNode' in container '/default_ad_api/container': Failed to load library: Could not load library dlopen error: liblanelet2_projection.so.1: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99

This is part of the error messages.
happy hacking！

[liuXinGangChina]

hi @dong12356 ， according to the error msg that you provide ， it seems that lanelet2_map_loader node crashed during autoware starting process，please check whether you have successfully installed lanelet2 related packages before you compile the code

i also suggest you use AW official docker to comple and run the code

xingang

[dong12356]

Thank you very much. I found this issue while recompiling, and I have resolved it, but the vehicle still cannot initialize and is reporting the following error.

1730701712.5715494 [ERROR] [web_server.py-87]: process has died [pid 16408, exit code -2, cmd '/home/srai/autoware/install/default_ad_api/lib/default_ad_api/web_server.py --ros-args -r __node:=web_server -r __ns:=/default_ad_api -p use_sim_time:=False -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'].
1730701712.5753746 [ERROR] [pose_instability_detector-52]: process has died [pid 16112, exit code -2, cmd '/home/srai/autoware/install/pose_instability_detector/lib/pose_instability_detector/pose_instability_detector --ros-args -r __node:=pose_instability_detector -r __ns:=/localization/pose_twist_fusion_filter -p use_sim_time:=False -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 --params-file /home/srai/autoware/install/pose_instability_detector/share/pose_instability_detector/config/pose_instability_detector.param.yaml -r ~/input/odometry:=/localization/kinematic_state -r ~/input/twist:=/localization/twist_estimator/twist_with_covariance'].

1730701712.6021729 [ERROR] [map_hash_generator-29]: process has died [pid 15937, exit code -2, cmd '/home/srai/autoware/install/map_loader/lib/map_loader/map_hash_generator --ros-args -r __node:=map_hash_generator -r ns:=/map -p use_sim_time:=False -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 --params-file /tmp/launch_params_ha_sa6'].

1730701712.6855581 [ERROR] [initial_pose_adaptor-88]: process has died [pid 16420, exit code -2, cmd '/home/srai/autoware/install/ad_api_adaptors/lib/ad_api_adaptors/initial_pose_adaptor --ros-args -r __node:=initial_pose_adaptor -r __ns:=/default_ad_api/helpers -p use_sim_time:=False -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 --params-file /home/srai/autoware/install/ad_api_adaptors/share/ad_api_adaptors/config/initial_pose.param.yaml --params-file /tmp/launch_params_b7ya9trh -r ~/initialpose:=/initialpose -r ~/pointcloud_map:=/map/pointcloud_map -r ~/partial_map_load:=/map/get_partial_pointcloud_map'].

1730701713.2063956 [ERROR] [rviz2-91]: process has died [pid 16443, exit code -2, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /home/srai/autoware/install/autoware_launch/share/autoware_launch/rviz/autoware.rviz -s /home/srai/autoware/install/autoware_launch/share/autoware_launch/rviz/image/autoware.png --ros-args -r __node:=rviz2 -p use_sim_time:=False -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'].