I tried to draw a vector map in my own point cloud map and simulate it, but failed #5603

xcg340122 · 2024-12-23T13:44:26Z

xcg340122
Dec 23, 2024

I drew my own vector map on autoware tool, and then prepared the file according to the contents of the sample-map-planning folder, but the map did not load, the following is my file information:

map_projector_info.yaml:

projector_type: MGRS
vertical_datum: WGS84
mgrs_grid: 49QGF

map_config.yaml:

/**:
  ros__parameters:
    map_origin:
      latitude: 22.59506759483
      longitude: 112.94555022019
      elevation: 0.0
      roll: 0.0
      pitch: 0.0
      yaw: 0.0

ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/test2 vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit

run log:

1734960467.3048155 [INFO] [launch]: All log files can be found below /home/bylike/.ros/log/2024-12-23-21-27-47-303904-bylike-Default-string-11864
1734960467.3049486 [INFO] [launch]: Default logging verbosity is set to INFO
1734960488.0666811 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/pointcloud_container/glog_component' in container '/pointcloud_container'
1734960488.4363780 [INFO] [component_container_mt-1]: process started with pid [11893]
1734960488.4388599 [INFO] [robot_state_publisher-2]: process started with pid [11895]
1734960488.4390812 [INFO] [duplicated_node_checker_node-3]: process started with pid [11897]
1734960488.4430230 [INFO] [processing_time_checker_node-4]: process started with pid [11899]
1734960488.4432340 [INFO] [service_log_checker_node-5]: process started with pid [11901]
1734960488.4454989 [INFO] [component_container-6]: process started with pid [11903]
1734960488.4495413 [INFO] [topic_state_monitor_node-7]: process started with pid [11905]
1734960488.4497659 [INFO] [topic_state_monitor_node-8]: process started with pid [11907]
1734960488.4547625 [INFO] [topic_state_monitor_node-9]: process started with pid [11909]
1734960488.4549959 [INFO] [topic_state_monitor_node-10]: process started with pid [11911]
1734960488.4552026 [INFO] [topic_state_monitor_node-11]: process started with pid [11913]
1734960488.4553819 [INFO] [topic_state_monitor_node-12]: process started with pid [11915]
1734960488.4555509 [INFO] [topic_state_monitor_node-13]: process started with pid [11917]
1734960488.4557192 [INFO] [topic_state_monitor_node-14]: process started with pid [11919]
1734960488.4558859 [INFO] [topic_state_monitor_node-15]: process started with pid [11921]
1734960488.4560518 [INFO] [topic_state_monitor_node-16]: process started with pid [11923]
1734960488.4562185 [INFO] [topic_state_monitor_node-17]: process started with pid [11925]
1734960488.4563913 [INFO] [component_container-18]: process started with pid [11927]
1734960488.4565568 [INFO] [component_container-19]: process started with pid [11929]
1734960488.4569008 [INFO] [aggregator_node-20]: process started with pid [11931]
1734960488.4604893 [INFO] [component_state_diagnostics-21]: process started with pid [11934]
1734960488.4606848 [INFO] [converter-22]: process started with pid [11949]
1734960488.4608417 [INFO] [mrm_handler_node-23]: process started with pid [11958]
1734960488.4610064 [INFO] [component_container_mt-24]: process started with pid [11965]
1734960488.4611697 [INFO] [map_hash_generator-25]: process started with pid [11986]
1734960488.4641283 [INFO] [autoware_map_projection_loader_node-26]: process started with pid [11988]
1734960488.4644175 [INFO] [component_container_mt-27]: process started with pid [11992]
1734960488.4646831 [INFO] [goal_pose_visualizer-28]: process started with pid [12001]
1734960488.4649947 [INFO] [autoware_scenario_selector_node-29]: process started with pid [12004]
1734960488.4660418 [INFO] [external_velocity_limit_selector-30]: process started with pid [12014]
1734960488.4680824 [INFO] [component_container-31]: process started with pid [12030]
1734960488.4688492 [INFO] [component_container_mt-32]: process started with pid [12041]
1734960488.4690640 [INFO] [component_container_mt-33]: process started with pid [12049]
1734960488.4735050 [INFO] [component_container_mt-34]: process started with pid [12064]
1734960488.4737234 [INFO] [planning_validator_node-35]: process started with pid [12067]
1734960488.4739006 [INFO] [planning_evaluator-36]: process started with pid [12077]
1734960488.4740636 [INFO] [autoware_remaining_distance_time_calculator_node-37]: process started with pid [12081]
1734960488.4742205 [INFO] [component_container_mt-38]: process started with pid [12102]
1734960488.4743848 [INFO] [component_container_mt-39]: process started with pid [12106]
1734960488.4745302 [INFO] [component_container_mt-40]: process started with pid [12115]
1734960488.4746773 [INFO] [web_server.py-41]: process started with pid [12118]
1734960488.4748354 [INFO] [initial_pose_adaptor_node-42]: process started with pid [12129]
1734960488.4750073 [INFO] [routing_adaptor_node-43]: process started with pid [12138]
1734960488.4751718 [INFO] [component_container_mt-44]: process started with pid [12143]
1734960488.4801877 [INFO] [rviz2-45]: process started with pid [12147]
1734960488.4805303 [INFO] [dummy_perception_publisher_node-46]: process started with pid [12151]
1734960488.4807024 [INFO] [shape_estimation_node-47]: process started with pid [12156]
1734960488.4808567 [INFO] [detected_object_feature_remover_node-48]: process started with pid [12164]
1734960488.4809961 [INFO] [multi_object_tracker_node-49]: process started with pid [12166]
1734960488.4811342 [INFO] [map_based_prediction-50]: process started with pid [12168]
1734960488.4812737 [INFO] [traffic_light_occlusion_predictor_node-51]: process started with pid [12187]
1734960488.4814286 [INFO] [traffic_light_occlusion_predictor_node-52]: process started with pid [12189]
1734960488.4815671 [INFO] [traffic_light_multi_camera_fusion_node-53]: process started with pid [12193]
1734960488.4817028 [INFO] [component_container-54]: process started with pid [12202]
1734960488.4818354 [INFO] [crosswalk_traffic_light_estimator_node-55]: process started with pid [12204]
1734960488.4819679 [INFO] [traffic_light_map_visualizer_node-56]: process started with pid [12211]
1734960488.4820981 [INFO] [autoware_pose_initializer_node-57]: process started with pid [12225]
1734960488.4822280 [INFO] [dummy_doors-58]: process started with pid [12235]
1734960488.4823678 [INFO] [simple_planning_simulator_exe-59]: process started with pid [12253]
1734960488.5753260 [component_container_mt-1] [INFO] [1734960487.934860299] [pointcloud_container]: Load Library: /home/bylike/autoware/install/glog_component/lib/libglog_component.so
1734960488.5755608 [component_container_mt-1] [INFO] [1734960487.953848628] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<GlogComponent>
1734960488.5757110 [component_container_mt-1] [INFO] [1734960487.953901064] [pointcloud_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<GlogComponent>
1734960488.5767107 [robot_state_publisher-2] [INFO] [1734960488.145774281] [robot_state_publisher]: got segment base_link
1734960488.5768635 [robot_state_publisher-2] [INFO] [1734960488.145948948] [robot_state_publisher]: got segment camera0/camera_link
1734960488.5769818 [robot_state_publisher-2] [INFO] [1734960488.145963629] [robot_state_publisher]: got segment camera0/camera_optical_link
1734960488.5770884 [robot_state_publisher-2] [INFO] [1734960488.145973469] [robot_state_publisher]: got segment camera1/camera_link
1734960488.5771902 [robot_state_publisher-2] [INFO] [1734960488.146199074] [robot_state_publisher]: got segment camera1/camera_optical_link
1734960488.5772967 [robot_state_publisher-2] [INFO] [1734960488.146208968] [robot_state_publisher]: got segment camera2/camera_link
1734960488.5774007 [robot_state_publisher-2] [INFO] [1734960488.146217764] [robot_state_publisher]: got segment camera2/camera_optical_link
1734960488.5775006 [robot_state_publisher-2] [INFO] [1734960488.146226418] [robot_state_publisher]: got segment camera3/camera_link
1734960488.5776014 [robot_state_publisher-2] [INFO] [1734960488.146235000] [robot_state_publisher]: got segment camera3/camera_optical_link
1734960488.5777044 [robot_state_publisher-2] [INFO] [1734960488.146243714] [robot_state_publisher]: got segment camera4/camera_link
1734960488.5778053 [robot_state_publisher-2] [INFO] [1734960488.146252346] [robot_state_publisher]: got segment camera4/camera_optical_link
1734960488.5779276 [robot_state_publisher-2] [INFO] [1734960488.146261114] [robot_state_publisher]: got segment camera5/camera_link
1734960488.5780447 [robot_state_publisher-2] [INFO] [1734960488.146269659] [robot_state_publisher]: got segment camera5/camera_optical_link
1734960488.5781615 [robot_state_publisher-2] [INFO] [1734960488.146287393] [robot_state_publisher]: got segment gnss_link
1734960488.5782628 [robot_state_publisher-2] [INFO] [1734960488.146312624] [robot_state_publisher]: got segment sensor_kit_base_link
1734960488.5783851 [robot_state_publisher-2] [INFO] [1734960488.146322595] [robot_state_publisher]: got segment tamagawa/imu_link
1734960488.5784855 [robot_state_publisher-2] [INFO] [1734960488.146331291] [robot_state_publisher]: got segment traffic_light_left_camera/camera_link
1734960488.5785854 [robot_state_publisher-2] [INFO] [1734960488.146340240] [robot_state_publisher]: got segment traffic_light_left_camera/camera_optical_link
1734960488.5786843 [robot_state_publisher-2] [INFO] [1734960488.146348976] [robot_state_publisher]: got segment traffic_light_right_camera/camera_link
1734960488.5787823 [robot_state_publisher-2] [INFO] [1734960488.146366736] [robot_state_publisher]: got segment traffic_light_right_camera/camera_optical_link
1734960488.5788801 [robot_state_publisher-2] [INFO] [1734960488.146376029] [robot_state_publisher]: got segment velodyne_left
1734960488.5789781 [robot_state_publisher-2] [INFO] [1734960488.146399775] [robot_state_publisher]: got segment velodyne_left_base_link
1734960488.5790963 [robot_state_publisher-2] [INFO] [1734960488.146410744] [robot_state_publisher]: got segment velodyne_rear
1734960488.5791938 [robot_state_publisher-2] [INFO] [1734960488.146419666] [robot_state_publisher]: got segment velodyne_rear_base_link
1734960488.5792973 [robot_state_publisher-2] [INFO] [1734960488.146428374] [robot_state_publisher]: got segment velodyne_right
1734960488.5794094 [robot_state_publisher-2] [INFO] [1734960488.146437068] [robot_state_publisher]: got segment velodyne_right_base_link
1734960488.5795174 [robot_state_publisher-2] [INFO] [1734960488.146445732] [robot_state_publisher]: got segment velodyne_top
1734960488.5796363 [robot_state_publisher-2] [INFO] [1734960488.146454704] [robot_state_publisher]: got segment velodyne_top_base_link
1734960488.5806739 [component_container-6] [INFO] [1734960488.219725126] [system.component_state_monitor.container]: Load Library: /home/bylike/autoware/install/component_state_monitor/lib/libcomponent_state_monitor.so
1734960488.5812688 [component_container-6] [INFO] [1734960488.233020805] [system.component_state_monitor.container]: Found class: rclcpp_components::NodeFactoryTemplate<component_state_monitor::StateMonitor>
1734960488.5814147 [component_container-6] [INFO] [1734960488.233068652] [system.component_state_monitor.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<component_state_monitor::StateMonitor>
1734960488.8010428 [autoware_map_projection_loader_node-26] Load /home/bylike/autoware_map/test2/map_projector_info.yaml
1734960489.2766781 [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'
1734960489.5041215 [component_container_mt-24] [INFO] [1734960489.489516765] [map.map_container]: Load Library: /home/bylike/autoware/install/map_loader/lib/libpointcloud_map_loader_node.so
1734960489.9745698 [component_container_mt-24] [INFO] [1734960489.972641043] [map.map_container]: Found class: rclcpp_components::NodeFactoryTemplate<PointCloudMapLoaderNode>
1734960489.9749081 [component_container_mt-24] [INFO] [1734960489.972696943] [map.map_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<PointCloudMapLoaderNode>
1734960490.4076259 [multi_object_tracker_node-49] [INFO] [1734960490.389465928] [perception.object_recognition.tracking.multi_object_tracker]: InputManager::init Initializing detected_objects input stream from /perception/object_recognition/detection/objects
1734960490.8266556 [web_server.py-41]  * Serving Flask app 'web_server' (lazy loading)
1734960490.8419013 [web_server.py-41]  * Environment: production
1734960490.8420386 [web_server.py-41]    WARNING: This is a development server. Do not use it in a production deployment.
1734960490.8421006 [web_server.py-41]    Use a production WSGI server instead.
1734960490.8421519 [web_server.py-41]  * Debug mode: off
1734960490.8434114 [web_server.py-41]  * Running on http://localhost:8888/ (Press CTRL+C to quit)
1734960491.1840985 [component_container_mt-27] [INFO] [1734960491.150379685] [planning.mission_planning.mission_planner_container]: Load Library: /home/bylike/autoware/install/autoware_mission_planner/lib/libautoware_mission_planner_component.so
1734960491.4424267 [component_container_mt-27] [INFO] [1734960491.429731603] [planning.mission_planning.mission_planner_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::mission_planner::MissionPlanner>
1734960491.4426749 [component_container_mt-27] [INFO] [1734960491.429790997] [planning.mission_planning.mission_planner_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<autoware::mission_planner::MissionPlanner>
1734960491.7290223 [component_container_mt-32] [INFO] [1734960491.722021493] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Load Library: /home/bylike/autoware/install/autoware_behavior_path_planner/lib/libautoware_behavior_path_planner_lib.so
1734960492.0585318 [web_server.py-41] [INFO] [1734960492.057889016] [adapi.web_server]: service not available, waiting again... (/api/interface/version
1734960492.1478925 [component_container-31] [INFO] [1734960492.142606262] [planning.scenario_planning.velocity_smoother_container]: Load Library: /home/bylike/autoware/install/autoware_velocity_smoother/lib/libautoware_velocity_smoother_node.so
1734960492.2664781 [component_container-31] [INFO] [1734960492.254925057] [planning.scenario_planning.velocity_smoother_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::velocity_smoother::VelocitySmootherNode>
1734960492.2667165 [component_container-31] [INFO] [1734960492.254976655] [planning.scenario_planning.velocity_smoother_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<autoware::velocity_smoother::VelocitySmootherNode>
1734960492.3996758 [component_container_mt-32] [INFO] [1734960492.395907383] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::behavior_path_planner::BehaviorPathPlannerNode>
1734960492.4002290 [component_container_mt-32] [INFO] [1734960492.395969854] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<autoware::behavior_path_planner::BehaviorPathPlannerNode>
1734960492.8060620 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/system/component_state_monitor/component' in container '/system/component_state_monitor/container'
1734960493.0917234 [web_server.py-41] [INFO] [1734960493.086459340] [adapi.web_server]: service not available, waiting again... (/api/interface/version
1734960493.2695620 [component_container_mt-38] [INFO] [1734960493.250435773] [control.control_container]: Load Library: /home/bylike/autoware/install/autoware_lane_departure_checker/lib/libautoware_lane_departure_checker.so
1734960493.5503125 [component_container_mt-38] [INFO] [1734960493.540234867] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::lane_departure_checker::LaneDepartureCheckerNode>
1734960493.5528548 [component_container_mt-38] [INFO] [1734960493.540311595] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<autoware::lane_departure_checker::LaneDepartureCheckerNode>
1734960493.7288177 [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'
1734960493.7486269 [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'
1734960493.7631221 [component_container_mt-39] [INFO] [1734960493.753483828] [control.control_validator_container]: Load Library: /home/bylike/autoware/install/autoware_control_validator/lib/libautoware_control_validator_component.so
1734960493.8244581 [component_container_mt-39] [INFO] [1734960493.820517556] [control.control_validator_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::control_validator::ControlValidator>
1734960493.8280694 [component_container_mt-39] [INFO] [1734960493.821131489] [control.control_validator_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<autoware::control_validator::ControlValidator>
1734960493.9977252 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/mission_planning/mission_planner' in container '/planning/mission_planning/mission_planner_container'
1734960494.0819600 [component_container_mt-27] [INFO] [1734960494.077617539] [planning.mission_planning.mission_planner]: waiting lanelet map... Route API is not ready.
1734960494.1108091 [web_server.py-41] [INFO] [1734960494.105213158] [adapi.web_server]: service not available, waiting again... (/api/interface/version
1734960494.1955354 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/trajectory_follower/lane_departure_checker_node' in container '/control/control_container'
1734960494.2088768 [component_container_mt-38] [INFO] [1734960494.195422631] [control.control_container]: Load Library: /home/bylike/autoware/install/autoware_external_cmd_converter/lib/libautoware_external_cmd_converter.so
1734960494.2300823 [component_container_mt-38] [INFO] [1734960494.220847956] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::external_cmd_converter::ExternalCmdConverterNode>
1734960494.2317550 [component_container_mt-38] [INFO] [1734960494.221691182] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<autoware::external_cmd_converter::ExternalCmdConverterNode>
1734960494.2606347 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/control_validator' in container '/control/control_validator_container'
1734960494.2840426 [component_container_mt-1] [INFO] [1734960494.281908499] [pointcloud_container]: Load Library: /home/bylike/autoware/install/pointcloud_to_laserscan/lib/libpointcloud_to_laserscan.so
1734960494.2890441 [component_container_mt-38] [INFO] [1734960494.288076747] [control.trajectory_follower.lane_departure_checker_node]: waiting for current_twist msg...
1734960494.3324232 [component_container_mt-1] [INFO] [1734960494.330152828] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_to_laserscan::PointCloudToLaserScanNode>
1734960494.3333597 [component_container_mt-1] [INFO] [1734960494.330224443] [pointcloud_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<pointcloud_to_laserscan::PointCloudToLaserScanNode>
1734960494.3673401 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/velocity_smoother' in container '/planning/scenario_planning/velocity_smoother_container'
1734960494.3940785 [component_container-54] [INFO] [1734960494.379410431] [perception.traffic_light_recognition.traffic_light_arbiter.container]: Load Library: /home/bylike/autoware/install/autoware_traffic_light_arbiter/lib/libautoware_traffic_light_arbiter.so
1734960494.4643190 [component_container-54] [INFO] [1734960494.458481430] [perception.traffic_light_recognition.traffic_light_arbiter.container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::TrafficLightArbiter>
1734960494.4655144 [component_container-54] [INFO] [1734960494.458553822] [perception.traffic_light_recognition.traffic_light_arbiter.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<autoware::TrafficLightArbiter>
1734960494.7264838 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/external_cmd_converter' in container '/control/control_container'
1734960494.7422576 [component_container_mt-38] [INFO] [1734960494.729757742] [control.control_container]: Load Library: /home/bylike/autoware/install/autoware_external_cmd_selector/lib/libautoware_external_cmd_selector_node.so
1734960494.7523742 [component_container_mt-27] [INFO] [1734960494.735421520] [planning.mission_planning.mission_planner_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::mission_planner::MissionPlanner>
1734960494.7527039 [component_container_mt-27] [INFO] [1734960494.735513388] [planning.mission_planning.mission_planner_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::mission_planner::RouteSelector>
1734960494.7528539 [component_container_mt-27] [INFO] [1734960494.735534125] [planning.mission_planning.mission_planner_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<autoware::mission_planner::RouteSelector>
1734960494.7539682 [component_container_mt-38] [INFO] [1734960494.735690121] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::external_cmd_selector::ExternalCmdSelector>
1734960494.7586665 [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'
1734960494.7592320 [component_container_mt-38] [INFO] [1734960494.735746496] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<autoware::external_cmd_selector::ExternalCmdSelector>
1734960494.7699797 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/occupancy_grid_map/pointcloud_to_laserscan_node' in container 'pointcloud_container'
1734960494.7947001 [component_container_mt-39] [INFO] [1734960494.788165879] [control.control_validator_container]: Load Library: /home/bylike/autoware/install/glog_component/lib/libglog_component.so
1734960494.7980735 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/adapi/node/autoware_state' in container '/adapi/container'
1734960494.8080196 [component_container-31] [INFO] [1734960494.807135086] [planning.scenario_planning.velocity_smoother_container]: Load Library: /home/bylike/autoware/install/glog_component/lib/libglog_component.so
1734960494.8110993 [component_container_mt-39] [INFO] [1734960494.810419505] [control.control_validator_container]: Found class: rclcpp_components::NodeFactoryTemplate<GlogComponent>
1734960494.8144701 [component_container_mt-39] [INFO] [1734960494.810596250] [control.control_validator_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<GlogComponent>
1734960494.8369598 [component_container-31] [INFO] [1734960494.832886786] [planning.scenario_planning.velocity_smoother_container]: Found class: rclcpp_components::NodeFactoryTemplate<GlogComponent>
1734960494.8379402 [component_container-31] [INFO] [1734960494.832976004] [planning.scenario_planning.velocity_smoother_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<GlogComponent>
1734960495.0835116 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/glog_component' in container '/planning/scenario_planning/velocity_smoother_container'
1734960495.1154070 [web_server.py-41] [INFO] [1734960495.114195564] [adapi.web_server]: service not available, waiting again... (/api/interface/version
1734960495.2627742 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/glog_validator_component' in container '/control/control_validator_container'
1734960495.2750790 [component_container_mt-38] [INFO] [1734960495.272697037] [control.control_container]: Load Library: /home/bylike/autoware/install/autoware_trajectory_follower_node/lib/libcontroller_node.so
1734960495.2813706 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/external_cmd_selector' in container '/control/control_container'
1734960495.2892587 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/mission_planning/route_selector' in container '/planning/mission_planning/mission_planner_container'
1734960495.3128464 [component_container_mt-27] [INFO] [1734960495.308059725] [planning.mission_planning.mission_planner_container]: Load Library: /home/bylike/autoware/install/glog_component/lib/libglog_component.so
1734960495.3357093 [component_container_mt-27] [INFO] [1734960495.334495297] [planning.mission_planning.mission_planner_container]: Found class: rclcpp_components::NodeFactoryTemplate<GlogComponent>
1734960495.3359921 [component_container_mt-27] [INFO] [1734960495.334578854] [planning.mission_planning.mission_planner_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<GlogComponent>
1734960495.3712122 [component_container_mt-38] [INFO] [1734960495.361371008] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::motion::control::trajectory_follower_node::Controller>
1734960495.3722281 [component_container_mt-38] [INFO] [1734960495.361435661] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<autoware::motion::control::trajectory_follower_node::Controller>
1734960495.3901761 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map/pointcloud_map_loader' in container '/map/map_container'
1734960495.5529535 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/mission_planning/glog_component' in container '/planning/mission_planning/mission_planner_container'
1734960495.5543516 [component_container_mt-24] [INFO] [1734960495.550896876] [map.map_container]: Load Library: /home/bylike/autoware/install/map_loader/lib/liblanelet2_map_loader_node.so
1734960495.5797734 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/adapi/node/diagnostics' in container '/adapi/container'
1734960495.6184249 [component_container_mt-24] [INFO] [1734960495.616430743] [map.map_container]: Found class: rclcpp_components::NodeFactoryTemplate<Lanelet2MapLoaderNode>
1734960495.6187792 [component_container_mt-24] [INFO] [1734960495.616521463] [map.map_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<Lanelet2MapLoaderNode>
1734960495.6310174 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/rtc_controller/node' in container '/autoware_api/external/rtc_controller/container'
1734960495.8142333 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/adapi/node/fail_safe' in container '/adapi/container'
1734960495.9420807 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/trajectory_follower/controller_node_exe' in container '/control/control_container'
1734960495.9462283 [component_container_mt-38] [INFO] [1734960495.941331384] [control.control_container]: Load Library: /home/bylike/autoware/install/autoware_autonomous_emergency_braking/lib/libautoware_autonomous_emergency_braking_node.so
1734960495.9597726 [component_container_mt-38] [INFO] [1734960495.952773055] [control.trajectory_follower.controller_node_exe]: Waiting for acceleration data
1734960495.9611754 [component_container_mt-38] [INFO] [1734960495.952909271] [control.trajectory_follower.controller_node_exe]: Control is skipped since input data is not ready.
1734960495.9851103 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map/lanelet2_map_loader' in container '/map/map_container'
1734960495.9967213 [component_container_mt-24] [INFO] [1734960495.993738725] [map.map_container]: Load Library: /home/bylike/autoware/install/map_loader/lib/liblanelet2_map_visualization_node.so
1734960496.0102611 [component_container_mt-24] [INFO] [1734960496.005498625] [map.map_container]: Found class: rclcpp_components::NodeFactoryTemplate<Lanelet2MapVisualizationNode>
1734960496.0124695 [component_container_mt-24] [INFO] [1734960496.005598980] [map.map_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<Lanelet2MapVisualizationNode>
1734960496.0179005 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/adapi/node/heartbeat' in container '/adapi/container'
1734960496.1277945 [web_server.py-41] [INFO] [1734960496.126166730] [adapi.web_server]: service not available, waiting again... (/api/interface/version
1734960496.2492962 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/adapi/node/interface' in container '/adapi/container'
1734960496.2563403 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map/lanelet2_map_visualization' in container '/map/map_container'
1734960496.2717953 [component_container_mt-24] [INFO] [1734960496.270381747] [map.map_container]: Load Library: /home/bylike/autoware/install/autoware_map_tf_generator/lib/libvector_map_tf_generator_node.so
1734960496.2952328 [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'
1734960496.2969377 [component_container_mt-24] [INFO] [1734960496.295420659] [map.map_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::map_tf_generator::VectorMapTFGeneratorNode>
1734960496.2985060 [component_container_mt-24] [INFO] [1734960496.295493581] [map.map_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<autoware::map_tf_generator::VectorMapTFGeneratorNode>
1734960496.3994451 [component_container_mt-38] [INFO] [1734960496.393282553] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::motion::control::autonomous_emergency_braking::AEB>
1734960496.3999226 [component_container_mt-38] [INFO] [1734960496.393372973] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<autoware::motion::control::autonomous_emergency_braking::AEB>
1734960496.5231609 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/adapi/node/localization' in container '/adapi/container'
1734960496.6238494 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map/vector_map_tf_generator' in container '/map/map_container'
1734960496.8824697 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/autonomous_emergency_braking' in container '/control/control_container'
1734960496.8827925 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/adapi/node/motion' in container '/adapi/container'
1734960496.8835638 [component_container_mt-38] [INFO] [1734960496.879421270] [control.control_container]: Load Library: /home/bylike/autoware/install/autoware_control_evaluator/lib/libcontrol_evaluator_node.so
1734960496.9176342 [component_container_mt-38] [INFO] [1734960496.911344724] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate<control_diagnostics::ControlEvaluatorNode>
1734960496.9190285 [component_container_mt-38] [INFO] [1734960496.911435416] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<control_diagnostics::ControlEvaluatorNode>
1734960497.0137298 [component_container_mt-32] added a slot with 1 modules
1734960497.0140750 [component_container_mt-32] external_request_lane_change_left registered in slot_configuration is not registered, skipping
1734960497.0224047 [component_container_mt-32] external_request_lane_change_right registered in slot_configuration is not registered, skipping
1734960497.0252059 [component_container_mt-32] added a slot with 5 modules
1734960497.0257337 [component_container_mt-32] added a slot with 1 modules
1734960497.0259140 [component_container_mt-32] dynamic_obstacle_avoidance registered in slot_configuration is not registered, skipping
1734960497.1617730 [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'
1734960497.2027001 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/control_evaluator' in container '/control/control_container'
1734960497.2068069 [component_container_mt-38] [INFO] [1734960497.190269553] [control.control_container]: Load Library: /home/bylike/autoware/install/autoware_shift_decider/lib/libautoware_shift_decider_node.so
1734960497.2133901 [component_container_mt-38] [INFO] [1734960497.197865690] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::shift_decider::ShiftDecider>
1734960497.2137625 [component_container_mt-38] [INFO] [1734960497.197954215] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<autoware::shift_decider::ShiftDecider>
1734960497.2275689 [component_container_mt-32] [INFO] [1734960497.224984098] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Load Library: /home/bylike/autoware/install/autoware_behavior_velocity_planner/lib/libautoware_behavior_velocity_planner_lib.so
1734960497.2908483 [component_container_mt-1] [INFO] [1734960497.285518698] [pointcloud_container]: Load Library: /home/bylike/autoware/install/autoware_probabilistic_occupancy_grid_map/lib/liblaserscan_based_occupancy_grid_map.so
1734960497.3449733 [component_container_mt-32] [INFO] [1734960497.342590887] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::behavior_velocity_planner::BehaviorVelocityPlannerNode>
1734960497.3453445 [component_container_mt-32] [INFO] [1734960497.342684998] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<autoware::behavior_velocity_planner::BehaviorVelocityPlannerNode>
1734960497.3577456 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/adapi/node/operation_mode' in container '/adapi/container'
1734960497.3676531 [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'
1734960497.4110236 [component_container_mt-1] [INFO] [1734960497.400671088] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::occupancy_grid_map::LaserscanBasedOccupancyGridMapNode>
1734960497.4114313 [component_container_mt-1] [INFO] [1734960497.400791879] [pointcloud_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<autoware::occupancy_grid_map::LaserscanBasedOccupancyGridMapNode>
1734960497.5293565 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/autoware_shift_decider' in container '/control/control_container'
1734960497.5524285 [component_container_mt-38] [INFO] [1734960497.549900009] [control.control_container]: Load Library: /home/bylike/autoware/install/autoware_vehicle_cmd_gate/lib/libvehicle_cmd_gate_node.so
1734960497.6032386 [component_container_mt-38] [INFO] [1734960497.588182299] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::vehicle_cmd_gate::VehicleCmdGate>
1734960497.6036150 [component_container_mt-38] [INFO] [1734960497.588284004] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<autoware::vehicle_cmd_gate::VehicleCmdGate>
1734960497.7309277 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/adapi/node/perception' in container '/adapi/container'
1734960497.7665718 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/occupancy_grid_map/occupancy_grid_map_node' in container 'pointcloud_container'
1734960497.9854813 [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'
1734960498.1845210 [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'
1734960498.2892122 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/adapi/node/planning' in container '/adapi/container'
1734960498.3628480 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/vehicle_cmd_gate' in container '/control/control_container'
1734960498.3709204 [component_container_mt-38] [INFO] [1734960498.368815886] [control.control_container]: Load Library: /home/bylike/autoware/install/autoware_operation_mode_transition_manager/lib/libautoware_operation_mode_transition_manager_node.so
1734960498.3837707 [component_container_mt-38] [INFO] [1734960498.383077375] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate<autoware::operation_mode_transition_manager::OperationModeTransitionManager>
1734960498.3840754 [component_container_mt-38] [INFO] [1734960498.383138064] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<autoware::operation_mode_transition_manager::OperationModeTransitionManager>
1734960498.5341070 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/adapi/node/routing' in container '/adapi/container'
1734960498.6931734 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/autoware_operation_mode_transition_manager' in container '/control/control_container'
1734960498.7093773 [component_container_mt-38] [INFO] [1734960498.706855281] [control.control_container]: Load Library: /home/bylike/autoware/install/glog_component/lib/libglog_component.so
1734960498.7220800 [component_container_mt-38] [INFO] [1734960498.717976297] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate<GlogComponent>
1734960498.7230422 [component_container_mt-38] [INFO] [1734960498.718052287] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<GlogComponent>
1734960498.8225586 [component_container_mt-24] Projected MGRS Grid changed from last projection. Projected pointmight be far away from previously projected point.
1734960498.8254449 [component_container_mt-24] You may want to use different projector.Projected MGRS Grid changed from last projection. Projected pointmight be far away from previously projected point.
1734960498.8303385 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/adapi/node/vehicle' in container '/adapi/container'
1734960498.8317504 [component_container_mt-24] You may want to use different projector.Projected MGRS Grid changed from last projection. Projected pointmight be far away from previously projected point.
1734960498.8412101 [component_container_mt-24] You may want to use different projector.Projected MGRS Grid changed from last projection. Projected pointmight be far away from previously projected point.
1734960498.8420281 [component_container_mt-24] You may want to use different projector.Projected MGRS Grid changed from last projection. Projected pointmight be far away from previously projected point.
1734960498.8429575 [component_container_mt-24] You may want to use different projector.Projected MGRS Grid changed from last projection. Projected pointmight be far away from previously projected point.
1734960498.8432188 [component_container_mt-24] You may want to use different projector.Projected MGRS Grid changed from last projection. Projected pointmight be far away from previously projected point.
1734960498.8499115 [component_container_mt-24] You may want to use different projector.Projected MGRS Grid changed from last projection. Projected pointmight be far away from previously projected point.
1734960498.8512003 [component_container_mt-24] You may want to use different projector.Projected MGRS Grid changed from last projection. Projected pointmight be far away from previously projected point.
1734960498.8528643 [component_container_mt-24] You may want to use different projector.Projected MGRS Grid changed from last projection. Projected pointmight be far away from previously projected point.
1734960498.8540483 [component_container_mt-24] You may want to use different projector.Projected MGRS Grid changed from last projection. Projected pointmight be far away from previously projected point.
1734960498.8542619 [component_container_mt-24] You may want to use different projector.Projected MGRS Grid changed from last projection. Projected pointmight be far away from previously projected point.
1734960498.8544157 [component_container_mt-24] You may want to use different projector.Projected MGRS Grid changed from last projection. Projected pointmight be far away from previously projected point.
1734960498.8609371 [component_container_mt-24] You may want to use different projector.[INFO] [1734960498.826079054] [map.lanelet2_map_loader]: Loaded map format_version: 1
1734960498.8853371 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/glog_component' in container '/control/control_container'
1734960499.0425205 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/adapi/node/vehicle_info' in container '/adapi/container'
1734960499.2019980 [component_container_mt-27] [INFO] [1734960499.190327259] [planning.mission_planning.mission_planner]: waiting lanelet map... Route API is not ready.
1734960499.2112281 [component_container_mt-24] [INFO] [1734960499.196045351] [map.lanelet2_map_loader]: Succeeded to load lanelet2_map. Map is published.
1734960499.2906759 [component_container_mt-38] [INFO] [1734960499.289412115] [control.trajectory_follower.lane_departure_checker_node]: waiting for current_twist msg...
1734960499.4254031 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/adapi/node/vehicle_door' in container '/adapi/container'
1734960499.6245430 [component_container_mt-24] [INFO] [1734960499.617892982] [map.lanelet2_map_visualization]: Map is loaded
1734960499.6248019 [component_container_mt-24] 
1734960499.7729299 [component_container_mt-24] [INFO] [1734960499.765137095] [map.vector_map_tf_generator]: broadcast static tf. map_frame:map, viewer_frame:viewer, x:65904.6, y:28430.2, z:-0.204513
1734960499.9824998 [component_container_mt-27] [INFO] [1734960499.980737088] [planning.mission_planning.mission_planner]: waiting odometry... Route API is not ready.
1734960499.9851003 [component_container_mt-24] �[1;33mCould not find valid vertex for ear clipping triangulation. Triangulation result might be invalid�[0m
1734960499.9855940 [component_container_mt-24] �[1;33mCould not find valid vertex for ear clipping triangulation. Triangulation result might be invalid�[0m
1734960499.9857631 [component_container_mt-24] �[1;33mCould not find valid vertex for ear clipping triangulation. Triangulation result might be invalid�[0m
1734960499.9864287 [component_container_mt-24] �[1;33mCould not find valid vertex for ear clipping triangulation. Triangulation result might be invalid�[0m
1734960499.9865723 [component_container_mt-24] �[1;33mCould not find valid vertex for ear clipping triangulation. Triangulation result might be invalid�[0m
1734960499.9870415 [component_container_mt-24] �[1;33mCould not find valid vertex for ear clipping triangulation. Triangulation result might be invalid�[0m
1734960499.9871387 [component_container_mt-24] �[1;33mCould not find valid vertex for ear clipping triangulation. Triangulation result might be invalid�[0m
1734960499.9872675 [component_container_mt-24] �[1;33mCould not find valid vertex for ear clipping triangulation. Triangulation result might be invalid�[0m
1734960499.9874461 [component_container_mt-24] �[1;33mCould not find valid vertex for ear clipping triangulation. Triangulation result might be invalid�[0m
1734960499.9875481 [component_container_mt-24] �[1;33mCould not find valid vertex for ear clipping triangulation. Triangulation result might be invalid�[0m
1734960499.9877117 [component_container_mt-24] �[1;33mCould not find valid vertex for ear clipping triangulation. Triangulation result might be invalid�[0m
1734960499.9878483 [component_container_mt-24] �[1;33mCould not find valid vertex for ear clipping triangulation. Triangulation result might be invalid�[0m
1734960499.9879928 [component_container_mt-24] �[1;33mCould not find valid vertex for ear clipping triangulation. Triangulation result might be invalid�[0m
1734960499.9901774 [component_container_mt-24] �[1;33mCould not find valid vertex for ear clipping triangulation. Triangulation result might be invalid�[0m
1734960500.2643542 [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'
1734960500.2685826 [component_container_mt-32] [INFO] [1734960500.268171516] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Load Library: /home/bylike/autoware/install/glog_component/lib/libglog_component.so
1734960500.2714450 [component_container_mt-32] [INFO] [1734960500.270846055] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate<GlogComponent>
1734960500.2717471 [component_container_mt-32] [INFO] [1734960500.270876885] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<GlogComponent>
1734960500.3342998 [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'
1734960500.9630048 [component_container_mt-38] [INFO] [1734960500.962654990] [control.trajectory_follower.controller_node_exe]: Waiting for acceleration data
1734960500.9631364 [component_container_mt-38] [INFO] [1734960500.962707419] [control.trajectory_follower.controller_node_exe]: Control is skipped since input data is not ready.
1734960502.0538292 [component_container_mt-38] [INFO] [1734960502.053185879] [control.autonomous_emergency_braking]: [AEB] waiting for ego velocity
1734960502.3480964 [component_container_mt-32] [INFO] [1734960502.347327696] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner]: waiting for scenario_topic
1734960504.3878732 [component_container_mt-38] [INFO] [1734960504.386958738] [control.trajectory_follower.lane_departure_checker_node]: waiting for current_twist msg...
1734960505.0778317 [component_container_mt-27] [INFO] [1734960505.077092356] [planning.mission_planning.mission_planner]: waiting odometry... Route API is not ready.
1734960505.9736333 [component_container_mt-38] [INFO] [1734960505.972859673] [control.trajectory_follower.controller_node_exe]: Waiting for acceleration data
1734960505.9739478 [component_container_mt-38] [INFO] [1734960505.972952647] [control.trajectory_follower.controller_node_exe]: Control is skipped since input data is not ready.
1734960507.1536620 [component_container_mt-38] [INFO] [1734960507.152848181] [control.autonomous_emergency_braking]: [AEB] waiting for ego velocity
1734960507.4478669 [component_container_mt-32] [INFO] [1734960507.447067880] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner]: waiting for scenario_topic
1734960509.3878894 [component_container_mt-38] [INFO] [1734960509.387236129] [control.trajectory_follower.lane_departure_checker_node]: waiting for current_twist msg...
1734960510.1772656 [component_container_mt-27] [INFO] [1734960510.176852618] [planning.mission_planning.mission_planner]: waiting odometry... Route API is not ready.
1734960510.9833636 [component_container_mt-38] [INFO] [1734960510.982727033] [control.trajectory_follower.controller_node_exe]: Waiting for acceleration data
1734960510.9835956 [component_container_mt-38] [INFO] [1734960510.982797215] [control.trajectory_follower.controller_node_exe]: Control is skipped since input data is not ready.
1734960512.1539075 [component_container_mt-38] [INFO] [1734960512.153064583] [control.autonomous_emergency_braking]: [AEB] waiting for ego velocity
1734960512.5478139 [component_container_mt-32] [INFO] [1734960512.547155588] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner]: waiting for scenario_topic

maxime-clem · 2024-12-24T00:52:19Z

maxime-clem
Dec 24, 2024
Collaborator

It looks like the map was correctly loaded.

1734960499.2112281 [component_container_mt-24] [INFO] [1734960499.196045351] [map.lanelet2_map_loader]: Succeeded to load lanelet2_map. Map is published.

I suspect your map origin is not properly defined.
Try to switch the rviz view Target frame to map and enter some X/Y values where you expect to find your map.

2 replies

xcg340122 Dec 26, 2024
Author

Yes, when I switched TopDownOrtho's Target frame to map, I found that x and y already had values, and when I zeroed them out, it was normal to show what affected their default coordinates. In addition, I noticed that the vector graphs were drifting chaotically

maxime-clem Dec 26, 2024
Collaborator

Part of the lanelet map looks correct. Can you double check your map file with the vector map builder ? Maybe you are using an outdated lanelet map file.

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I tried to draw a vector map in my own point cloud map and simulate it, but failed #5603

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The Autoware Foundation

I tried to draw a vector map in my own point cloud map and simulate it, but failed #5603

xcg340122 Dec 23, 2024

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Dec 23, 2024

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maxime-clem
Dec 24, 2024
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xcg340122 Dec 26, 2024
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