Fail to launch the pointcloud_container component using default velodyne and nebula setup

[TZECHIN6]

Environment

• OS: Ubuntu 22.04
• ROS: Humble
• Autoware: Universe (fec9d42)

Description

When trying to launch autoware.launch.xml, the rviz could start up, however the sensing module could not be started. There is no ros2 topic related to any pointcloud preprocessor... I believe the component container cannot be loaded successfully, thus those nodes are not started and no related ros2 topic is published.

Error log

[component_container_mt-31] Error on ParseJson:<unspecified file>(1): expected value
[component_container_mt-31] [ERROR] [1722410696.249737750] [sensing.lidar.top.pointcloud_preprocessor.pointcloud_container]: Component constructor threw an exception: No such node (config.returns)
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'velodyne_hw_interface_ros_wrapper_node' of type 'VelodyneHwInterfaceRosWrapper' in container '/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container': Component constructor threw an exception: No such node (config.returns)
[component_container_mt-31] [INFO] [1722410696.251436761] [sensing.lidar.top.pointcloud_preprocessor.pointcloud_container]: Load Library: /home/thomas/Code/autoware.hunter_se/install/nebula_ros/lib/libvelodyne_driver_ros_wrapper.so
[component_container_mt-31] [INFO] [1722410696.253943157] [sensing.lidar.top.pointcloud_preprocessor.pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<VelodyneDriverRosWrapper>
[component_container_mt-31] [INFO] [1722410696.253963413] [sensing.lidar.top.pointcloud_preprocessor.pointcloud_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<VelodyneDriverRosWrapper>
[component_container_mt-31] [INFO] [1722410696.270111418] [sensing.lidar.top.velodyne_driver_ros_wrapper_node]: Sensor model: VLS128, Return mode: SingleStrongest, Scan Phase: 300
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/sensing/lidar/top/velodyne_driver_ros_wrapper_node' in container '/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container'
[component_container_mt-31] [ERROR] [1722410696.277019215] [sensing.lidar.top.pointcloud_preprocessor.pointcloud_container]: Could not find requested resource in ament index
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'crop_box_filter_self' of type 'pointcloud_preprocessor::CropBoxFilterComponent' in container '/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container': Could not find requested resource in ament index
[component_container_mt-31] [ERROR] [1722410696.279829138] [sensing.lidar.top.pointcloud_preprocessor.pointcloud_container]: Could not find requested resource in ament index
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'crop_box_filter_mirror' of type 'pointcloud_preprocessor::CropBoxFilterComponent' in container '/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container': Could not find requested resource in ament index
[component_container_mt-31] [ERROR] [1722410696.282400122] [sensing.lidar.top.pointcloud_preprocessor.pointcloud_container]: Could not find requested resource in ament index
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'distortion_corrector_node' of type 'pointcloud_preprocessor::DistortionCorrectorComponent' in container '/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container': Could not find requested resource in ament index
[component_container_mt-31] [ERROR] [1722410696.285099866] [sensing.lidar.top.pointcloud_preprocessor.pointcloud_container]: Could not find requested resource in ament index
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'ring_outlier_filter' of type 'pointcloud_preprocessor::RingOutlierFilterComponent' in container '/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container': Could not find requested resource in ament index

$ ros2 component list

/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container
  1  /sensing/lidar/top/glog_component
  3  /sensing/lidar/top/velodyne_driver_ros_wrapper_node

This is the first time I counter this issue... I would be appreciated if someone could guide me to solve this issue. Also except launching autoware.launch.xml is that any good way to test the lidar preprocessor workflow (from raw_input to concatenated point)? I am working with Livox mid360 lidar, and have been already modified the driver so that it publish the PointCloud2 struct required by Autoware.

[knzo25]

@TZECHIN6
Are you using a recent universe with an old-ish launcher? Most nodes are in the autoware::... namespace now

EDIT: apologies. You had provided the hash

Please check the following line:

autoware/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt

Line 116 in fec9d42

PLUGIN "autoware::pointcloud_preprocessor::CropBoxFilterComponent"

[TZECHIN6]

Thanks for the quick reply. Sorry I am not so familiar with the component and composable node. Would u mind explaining a bit more and point out which part is causing the error?

Edit:
Oh… my sensor kit launch template is too old, and the plugin namespace is not updated. Thanks I will test it in tmr. Appreciated

[TZECHIN6]

@knzo25 Thanks. The problem is solved.