1732175657.9443400 [INFO] [launch]: All log files can be found below /home/wheeltec/.ros/log/2024-11-21-15-54-17-941125-wheeltec-6926 1732175657.9448426 [INFO] [launch]: Default logging verbosity is set to INFO 1732175679.8381243 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/pointcloud_container/glog_component' in container '/pointcloud_container' 1732175698.8823242 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/localization/util/crop_box_filter_measurement_range' in container '/pointcloud_container' 1732175698.9254141 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/localization/util/voxel_grid_downsample_filter' in container '/pointcloud_container' 1732175698.9653754 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/localization/util/random_downsample_filter' in container '/pointcloud_container' 1732175702.5860417 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/system/component_state_monitor/component' in container '/system/component_state_monitor/container' 1732175704.3433588 [INFO] [component_container_mt-1]: process started with pid [6949] 1732175704.3530433 [INFO] [robot_state_publisher-2]: process started with pid [6951] 1732175704.3671029 [INFO] [joint_state_publisher-3]: process started with pid [6953] 1732175704.3962126 [INFO] [autoware_wheeltec_interface-4]: process started with pid [6955] 1732175704.4424529 [INFO] [service_log_checker-5]: process started with pid [6957] 1732175704.4477005 [INFO] [component_container-6]: process started with pid [6959] 1732175704.4875894 [INFO] [topic_state_monitor_node-7]: process started with pid [6961] 1732175704.4940877 [INFO] [topic_state_monitor_node-8]: process started with pid [6963] 1732175704.5066166 [INFO] [topic_state_monitor_node-9]: process started with pid [6965] 1732175704.5230813 [INFO] [topic_state_monitor_node-10]: process started with pid [6967] 1732175704.5289118 [INFO] [topic_state_monitor_node-11]: process started with pid [6969] 1732175704.5297816 [INFO] [topic_state_monitor_node-12]: process started with pid [6981] 1732175704.5301056 [INFO] [topic_state_monitor_node-13]: process started with pid [6992] 1732175704.5303378 [INFO] [topic_state_monitor_node-14]: process started with pid [7002] 1732175704.5305581 [INFO] [topic_state_monitor_node-15]: process started with pid [7004] 1732175704.5308006 [INFO] [topic_state_monitor_node-16]: process started with pid [7015] 1732175704.5495856 [INFO] [topic_state_monitor_node-17]: process started with pid [7018] 1732175704.5593040 [INFO] [topic_state_monitor_node-18]: process started with pid [7022] 1732175704.6012492 [INFO] [topic_state_monitor_node-19]: process started with pid [7040] 1732175704.6097150 [INFO] [topic_state_monitor_node-20]: process started with pid [7049] 1732175704.6236894 [INFO] [topic_state_monitor_node-21]: process started with pid [7060] 1732175704.6378977 [INFO] [aggregator_node-22]: process started with pid [7070] 1732175704.6468682 [INFO] [system_error_monitor-23]: process started with pid [7072] 1732175704.6579092 [INFO] [emergency_handler-24]: process started with pid [7074] 1732175704.6782365 [INFO] [duplicated_node_checker_node-25]: process started with pid [7076] 1732175704.6880536 [INFO] [component_container-26]: process started with pid [7078] 1732175704.7479951 [INFO] [component_container-27]: process started with pid [7083] 1732175704.8035254 [INFO] [component_container_mt-28]: process started with pid [7106] 1732175704.8314452 [INFO] [map_hash_generator-29]: process started with pid [7121] 1732175704.8411405 [INFO] [map_projection_loader-30]: process started with pid [7131] 1732175704.8618279 [INFO] [ndt_scan_matcher-31]: process started with pid [7133] 1732175704.9327035 [INFO] [pose_initializer_node-32]: process started with pid [7145] 1732175704.9775896 [INFO] [automatic_pose_initializer-33]: process started with pid [7148] 1732175705.0310059 [INFO] [ekf_localizer-34]: process started with pid [7152] 1732175705.0447609 [INFO] [stop_filter-35]: process started with pid [7163] 1732175705.0495181 [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' 1732175705.0554256 [INFO] [twist2accel-36]: process started with pid [7196] 1732175705.0718648 [INFO] [pose_instability_detector-37]: process started with pid [7200] 1732175705.1403687 [INFO] [localization_error_monitor-38]: process started with pid [7211] 1732175705.1560621 [INFO] [component_container_mt-39]: process started with pid [7214] 1732175705.1824331 [INFO] [web_server.py-40]: process started with pid [7232] 1732175705.2283118 [INFO] [initial_pose_adaptor-41]: process started with pid [7234] 1732175705.2411644 [INFO] [routing_adaptor-42]: process started with pid [7237] 1732175705.3059163 [INFO] [component_container_mt-43]: process started with pid [7246] 1732175706.0414133 [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' 1732175706.4018841 [robot_state_publisher-2] [WARN] [1732175702.760321563] [robot_state_publisher]: No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future. 1732175706.4040210 [robot_state_publisher-2] [INFO] [1732175702.955647850] [robot_state_publisher]: got segment base_link 1732175706.4051671 [robot_state_publisher-2] [INFO] [1732175702.955818544] [robot_state_publisher]: got segment left_front_link 1732175706.4054306 [robot_state_publisher-2] [INFO] [1732175702.955840400] [robot_state_publisher]: got segment left_wheel_link 1732175706.4082527 [robot_state_publisher-2] [INFO] [1732175702.955852689] [robot_state_publisher]: got segment right_front_link 1732175706.4085464 [robot_state_publisher-2] [INFO] [1732175702.955866225] [robot_state_publisher]: got segment right_wheel_link 1732175706.4436166 [component_container-6] [INFO] [1732175702.453988584] [system.component_state_monitor.container]: Load Library: /home/wheeltec/autoware/install/component_state_monitor/lib/libcomponent_state_monitor.so 1732175706.4450450 [component_container-6] [INFO] [1732175702.465972396] [system.component_state_monitor.container]: Found class: rclcpp_components::NodeFactoryTemplate 1732175706.4671907 [component_container-6] [INFO] [1732175702.466156018] [system.component_state_monitor.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate 1732175712.3940313 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/autoware_state' in container '/default_ad_api/container' 1732175712.6139829 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/rtc_controller/node' in container '/autoware_api/external/rtc_controller/container' 1732175712.6689634 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/fail_safe' in container '/default_ad_api/container' 1732175712.8415310 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/interface' in container '/default_ad_api/container' 1732175712.9693174 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/localization' in container '/default_ad_api/container' 1732175713.1323884 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/motion' in container '/default_ad_api/container' 1732175713.2896006 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/operation_mode' in container '/default_ad_api/container' 1732175713.4875178 [component_container_mt-39] [INFO] [1732175713.486161848] [default_ad_api.node.operation_mode]: vehicle, control, planning, localization, map, perception component state is unhealthy. Autonomous is not available. 1732175713.5367827 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/perception' in container '/default_ad_api/container' 1732175713.7732303 [pose_initializer_node-32] [INFO] [1732175713.771574689] [localization.util.pose_initializer_node]: EKF triggering service is not available, waiting... 1732175714.0759938 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/planning' in container '/default_ad_api/container' 1732175714.7744284 [pose_initializer_node-32] [INFO] [1732175714.772876480] [localization.util.pose_initializer_node]: EKF triggering service is available! 1732175714.7771230 [pose_initializer_node-32] [INFO] [1732175714.774843834] [localization.util.pose_initializer_node]: EKF Deactivation succeeded 1732175714.8274498 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/routing' in container '/default_ad_api/container' 1732175715.2026763 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/vehicle' in container '/default_ad_api/container' 1732175715.3517313 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/vehicle_info' in container '/default_ad_api/container' 1732175715.5334494 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/vehicle_door' in container '/default_ad_api/container' 1732175715.8177154 [pose_initializer_node-32] [INFO] [1732175715.775902952] [localization.util.pose_initializer_node]: NDT triggering service is not available, waiting... 1732175715.8304739 [web_server.py-40] * Serving Flask app 'web_server' (lazy loading) 1732175715.8352656 [web_server.py-40] * Environment: production 1732175715.8355229 [web_server.py-40] WARNING: This is a development server. Do not use it in a production deployment. 1732175715.8356199 [web_server.py-40] Use a production WSGI server instead. 1732175715.8357029 [web_server.py-40] * Debug mode: off 1732175715.9060533 [web_server.py-40] * Running on http://localhost:8888/ (Press CTRL+C to quit) 1732175716.0823491 [pose_initializer_node-32] [INFO] [1732175716.081012787] [localization.util.pose_initializer_node]: NDT triggering service is available! 1732175716.0897563 [pose_initializer_node-32] [INFO] [1732175716.082582401] [localization.util.pose_initializer_node]: NDT Deactivation succeeded 1732175716.0904019 [pose_initializer_node-32] [INFO] [1732175716.082917547] [localization.util.pose_initializer_node]: EKF triggering service is available! 1732175716.0905793 [pose_initializer_node-32] [INFO] [1732175716.085191438] [localization.util.pose_initializer_node]: EKF Activation succeeded 1732175716.0946255 [pose_initializer_node-32] [INFO] [1732175716.085652956] [localization.util.pose_initializer_node]: NDT triggering service is available! 1732175716.0950096 [pose_initializer_node-32] [INFO] [1732175716.087519059] [localization.util.pose_initializer_node]: NDT Activation succeeded 1732175716.0951431 [pose_initializer_node-32] [INFO] [1732175716.088168646] [localization.util.pose_initializer_node]: Set user defined initial pose 1732175716.1962683 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map/pointcloud_map_loader' in container '/map/map_container' 1732175716.3919446 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map/lanelet2_map_loader' in container '/map/map_container' 1732175716.5025265 [component_container_mt-39] [INFO] [1732175716.500981283] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175716.5282791 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map/lanelet2_map_visualization' in container '/map/map_container' 1732175716.7013934 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map/vector_map_tf_generator' in container '/map/map_container' 1732175719.6878326 [component_container_mt-39] [INFO] [1732175719.686561688] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175722.6901414 [component_container_mt-39] [INFO] [1732175722.688913580] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175725.8875885 [component_container_mt-39] [INFO] [1732175725.886278063] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175728.8882313 [component_container_mt-39] [INFO] [1732175728.886962127] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175732.0879369 [component_container_mt-39] [INFO] [1732175732.086631528] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175735.0889535 [component_container_mt-39] [INFO] [1732175735.087635248] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175738.2884974 [component_container_mt-39] [INFO] [1732175738.286737357] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175741.4870968 [component_container_mt-39] [INFO] [1732175741.486278465] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175744.6874132 [component_container_mt-39] [INFO] [1732175744.686622229] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175747.8871806 [component_container_mt-39] [INFO] [1732175747.886277375] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175750.8871269 [component_container_mt-39] [INFO] [1732175750.886334553] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175754.0870144 [component_container_mt-39] [INFO] [1732175754.086244325] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175757.2879641 [component_container_mt-39] [INFO] [1732175757.286414883] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175760.4870639 [component_container_mt-39] [INFO] [1732175760.486272836] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175763.6871052 [component_container_mt-39] [INFO] [1732175763.686289590] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175766.6871231 [component_container_mt-39] [INFO] [1732175766.686309834] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175769.8875859 [component_container_mt-39] [INFO] [1732175769.886465184] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175773.0884471 [component_container_mt-39] [INFO] [1732175773.087631937] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175776.2870400 [component_container_mt-39] [INFO] [1732175776.286189379] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175779.2870021 [component_container_mt-39] [INFO] [1732175779.286225289] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175782.2871418 [component_container_mt-39] [INFO] [1732175782.286356715] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175785.2872393 [component_container_mt-39] [INFO] [1732175785.286422820] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175788.2873230 [component_container_mt-39] [INFO] [1732175788.286532697] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175791.4888184 [component_container_mt-39] [INFO] [1732175791.488029076] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175794.6881959 [component_container_mt-39] [INFO] [1732175794.686233826] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175797.6870792 [component_container_mt-39] [INFO] [1732175797.686325149] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175800.6877041 [component_container_mt-39] [INFO] [1732175800.686962148] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175803.8869219 [component_container_mt-39] [INFO] [1732175803.886145263] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175806.8873789 [component_container_mt-39] [INFO] [1732175806.886581188] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175810.0871675 [component_container_mt-39] [INFO] [1732175810.086360971] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175813.0872681 [component_container_mt-39] [INFO] [1732175813.086473260] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175816.0879140 [component_container_mt-39] [INFO] [1732175816.086816754] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175819.2870114 [component_container_mt-39] [INFO] [1732175819.286233173] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175822.2881670 [component_container_mt-39] [INFO] [1732175822.287336008] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175825.4872482 [component_container_mt-39] [INFO] [1732175825.486471956] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175828.6872399 [component_container_mt-39] [INFO] [1732175828.686433198] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175831.8880022 [component_container_mt-39] [INFO] [1732175831.886379199] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175834.2984543 [pose_initializer_node-32] [INFO] [1732175834.297526803] [localization.util.pose_initializer_node]: Set user defined initial pose on_initialize() 1732175834.3001657 [pose_initializer_node-32] [INFO] [1732175834.298158885] [localization.util.pose_initializer_node]: EKF triggering service is available! 1732175834.3004131 [pose_initializer_node-32] [INFO] [1732175834.299202819] [localization.util.pose_initializer_node]: EKF Deactivation succeeded 1732175834.3005548 [pose_initializer_node-32] [INFO] [1732175834.299473867] [localization.util.pose_initializer_node]: NDT triggering service is available! 1732175835.0870256 [component_container_mt-39] [INFO] [1732175835.086207075] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175835.1404252 [pose_initializer_node-32] [INFO] [1732175835.138967499] [localization.util.pose_initializer_node]: NDT Deactivation succeeded 1732175835.1406913 [pose_initializer_node-32] [INFO] [1732175835.139136752] [localization.util.pose_initializer_node]: fit_target: pointcloud_map, frame: map 1732175835.1408250 [pose_initializer_node-32] [INFO] [1732175835.139276692] [localization.util.pose_initializer_node]: position_x: 97850.7 1732175835.1409445 [pose_initializer_node-32] [INFO] [1732175835.139307861] [localization.util.pose_initializer_node]: position_y: 43134.1 1732175835.1410527 [pose_initializer_node-32] [INFO] [1732175835.139326389] [localization.util.pose_initializer_node]: position_z: 20.682 1732175835.1411607 [pose_initializer_node-32] [INFO] [1732175835.139340822] [localization.util.pose_initializer_node]: position_ poinxyz  1732175835.1419828 [pose_initializer_node-32] position 1732175835.1420858 [pose_initializer_node-32] position x 1732175835.1421609 [pose_initializer_node-32] position x y 1732175835.1428473 [pose_initializer_node-32] Failed to find match for field 'x'. 1732175835.1429963 [pose_initializer_node-32] Failed to find match for field 'y'. 1732175835.1431136 [pose_initializer_node-32] Failed to find match for field 'z'. 1732175835.1432176 [pose_initializer_node-32] [INFO] [1732175835.141565973] [localization.util.pose_initializer_node]: Call NDT align server. 1732175835.4350610 [ERROR] [ndt_scan_matcher-31]: process has died [pid 7133, exit code -11, cmd '/home/wheeltec/autoware/install/ndt_scan_matcher/lib/ndt_scan_matcher/ndt_scan_matcher --ros-args -r __node:=ndt_scan_matcher -r __ns:=/localization/pose_estimator -p use_sim_time:=False -p wheel_radius:=0.062 -p wheel_width:=0.04 -p wheel_base:=0.322 -p wheel_tread:=0.312 -p front_overhang:=0.062 -p rear_overhang:=0.062 -p left_overhang:=0.05 -p right_overhang:=0.05 -p vehicle_height:=0.35 -p max_steer_angle:=1.2 --params-file /home/wheeltec/autoware/install/autoware_launch/share/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml -r points_raw:=/localization/util/downsample/pointcloud -r ekf_pose_with_covariance:=/localization/pose_twist_fusion_filter/biased_pose_with_covariance -r regularization_pose_with_covariance:=/sensing/gnss/pose_with_covariance -r trigger_node_srv:=/localization/pose_estimator/trigger_node -r ndt_pose:=/localization/pose_estimator/pose -r ndt_pose_with_covariance:=/localization/pose_estimator/pose_with_covariance -r pcd_loader_service:=/map/get_differential_pointcloud_map']. 1732175838.0879049 [component_container_mt-39] [INFO] [1732175838.086379432] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175841.0877190 [component_container_mt-39] [INFO] [1732175841.086787862] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175844.2878196 [component_container_mt-39] [INFO] [1732175844.286889491] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175847.4878151 [component_container_mt-39] [INFO] [1732175847.486937319] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175850.6870701 [component_container_mt-39] [INFO] [1732175850.686287489] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175853.6880143 [component_container_mt-39] [INFO] [1732175853.686768267] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175856.6875939 [component_container_mt-39] [INFO] [1732175856.686858797] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175859.6878128 [component_container_mt-39] [INFO] [1732175859.686877295] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175862.6883752 [component_container_mt-39] [INFO] [1732175862.687631210] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175865.8870704 [component_container_mt-39] [INFO] [1732175865.886326313] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175868.8876274 [component_container_mt-39] [INFO] [1732175868.886891811] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available. 1732175869.4546878 [WARNING] [launch]: user interrupted with ctrl-c (SIGINT) 1732175870.5524991 [WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring... 1732175870.5662286 [INFO] [topic_state_monitor_node-19]: process has finished cleanly [pid 7040] 1732175870.5722637 [INFO] [component_container_mt-1]: process has finished cleanly [pid 6949] 1732175870.5735641 [INFO] [duplicated_node_checker_node-25]: process has finished cleanly [pid 7076] 1732175870.5744815 [INFO] [twist2accel-36]: process has finished cleanly [pid 7196] 1732175870.5753949 [INFO] [map_projection_loader-30]: process has finished cleanly [pid 7131] 1732175870.5759301 [INFO] [topic_state_monitor_node-18]: process has finished cleanly [pid 7022] 1732175870.5766931 [INFO] [topic_state_monitor_node-11]: process has finished cleanly [pid 6969] 1732175870.5773785 [INFO] [robot_state_publisher-2]: process has finished cleanly [pid 6951] 1732175870.5781643 [INFO] [pose_instability_detector-37]: process has finished cleanly [pid 7200] 1732175870.5789340 [INFO] [topic_state_monitor_node-13]: process has finished cleanly [pid 6992] 1732175870.5807672 [INFO] [topic_state_monitor_node-21]: process has finished cleanly [pid 7060] 1732175870.5869479 [INFO] [topic_state_monitor_node-17]: process has finished cleanly [pid 7018] 1732175870.5877852 [INFO] [stop_filter-35]: process has finished cleanly [pid 7163] 1732175870.5886371 [INFO] [topic_state_monitor_node-14]: process has finished cleanly [pid 7002] 1732175870.5897708 [INFO] [service_log_checker-5]: process has finished cleanly [pid 6957] 1732175870.5904911 [INFO] [topic_state_monitor_node-10]: process has finished cleanly [pid 6967] 1732175870.5910101 [INFO] [routing_adaptor-42]: process has finished cleanly [pid 7237] 1732175870.5917335 [INFO] [topic_state_monitor_node-9]: process has finished cleanly [pid 6965] 1732175870.5926697 [INFO] [topic_state_monitor_node-8]: process has finished cleanly [pid 6963] 1732175870.5930595 [INFO] [topic_state_monitor_node-16]: process has finished cleanly [pid 7015] 1732175870.5943766 [INFO] [topic_state_monitor_node-12]: process has finished cleanly [pid 6981] 1732175870.5954027 [ERROR] [system_error_monitor-23]: process has died [pid 7072, exit code -2, cmd '/home/wheeltec/autoware/install/system_error_monitor/lib/system_error_monitor/system_error_monitor --ros-args -r __node:=system_error_monitor -r __ns:=/system -p use_sim_time:=False -p wheel_radius:=0.062 -p wheel_width:=0.04 -p wheel_base:=0.322 -p wheel_tread:=0.312 -p front_overhang:=0.062 -p rear_overhang:=0.062 -p left_overhang:=0.05 -p right_overhang:=0.05 -p vehicle_height:=0.35 -p max_steer_angle:=1.2 --params-file /home/wheeltec/autoware/install/autoware_launch/share/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml --params-file /tmp/launch_params_ew67mj_y --params-file /tmp/launch_params_p3r21s6k --params-file /tmp/launch_params_4agr0ot4 --params-file /tmp/launch_params_hyz2io59 --params-file /tmp/launch_params_vlmj7ll2 --params-file /tmp/launch_params_mh08tu2b --params-file /tmp/launch_params_fawufmh9 --params-file /tmp/launch_params_04zin61n --params-file /tmp/launch_params_yzk9fone -r input/diag_array:=/diagnostics_agg -r ~/input/autoware_state:=/autoware/state -r ~/input/current_gate_mode:=/control/current_gate_mode -r ~/input/control_mode:=/vehicle/status/control_mode -r ~/output/hazard_status:=/system/emergency/hazard_status -r ~/output/diagnostics_err:=/diagnostics_err -r service/clear_emergency:=/system/clear_emergency']. 1732175870.5961001 [ERROR] [aggregator_node-22]: process has died [pid 7070, exit code -2, cmd '/opt/ros/humble/lib/diagnostic_aggregator/aggregator_node --ros-args --log-level WARN --ros-args -r __node:=aggregator_node -r __ns:=/ -p use_sim_time:=False -p wheel_radius:=0.062 -p wheel_width:=0.04 -p wheel_base:=0.322 -p wheel_tread:=0.312 -p front_overhang:=0.062 -p rear_overhang:=0.062 -p left_overhang:=0.05 -p right_overhang:=0.05 -p vehicle_height:=0.35 -p max_steer_angle:=1.2 --params-file /tmp/launch_params_0ni1edox --params-file /tmp/launch_params_wm2pjlo1 --params-file /home/wheeltec/autoware/install/system_error_monitor/share/system_error_monitor/config/diagnostic_aggregator/control.param.yaml --params-file /home/wheeltec/autoware/install/system_error_monitor/share/system_error_monitor/config/diagnostic_aggregator/localization.param.yaml --params-file /home/wheeltec/autoware/install/system_error_monitor/share/system_error_monitor/config/diagnostic_aggregator/map.param.yaml --params-file /home/wheeltec/autoware/install/system_error_monitor/share/system_error_monitor/config/diagnostic_aggregator/perception.param.yaml --params-file /home/wheeltec/autoware/install/system_error_monitor/share/system_error_monitor/config/diagnostic_aggregator/planning.param.yaml --params-file /home/wheeltec/autoware/install/system_error_monitor/share/system_error_monitor/config/diagnostic_aggregator/sensing.param.yaml --params-file /home/wheeltec/autoware/install/system_error_monitor/share/system_error_monitor/config/diagnostic_aggregator/system.param.yaml --params-file /home/wheeltec/autoware/install/system_error_monitor/share/system_error_monitor/config/diagnostic_aggregator/vehicle.param.yaml --params-file /home/wheeltec/autoware/install/wheeltec_sensor_kit_launch/share/wheeltec_sensor_kit_launch/config/diagnostic_aggregator/sensor_kit.param.yaml --params-file /home/wheeltec/autoware/install/autoware_launch/share/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml --params-file /home/wheeltec/autoware/install/autoware_launch/share/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml']. 1732175870.5968120 [ERROR] [automatic_pose_initializer-33]: process has died [pid 7148, exit code -2, cmd '/home/wheeltec/autoware/install/automatic_pose_initializer/lib/automatic_pose_initializer/automatic_pose_initializer --ros-args -r __node:=automatic_pose_initializer -r __ns:=/localization/util/default_ad_api/helpers -p use_sim_time:=False -p wheel_radius:=0.062 -p wheel_width:=0.04 -p wheel_base:=0.322 -p wheel_tread:=0.312 -p front_overhang:=0.062 -p rear_overhang:=0.062 -p left_overhang:=0.05 -p right_overhang:=0.05 -p vehicle_height:=0.35 -p max_steer_angle:=1.2']. 1732175870.5973437 [INFO] [component_container-26]: process has finished cleanly [pid 7078] 1732175870.6004541 [ERROR] [map_hash_generator-29]: process has died [pid 7121, exit code -2, cmd '/home/wheeltec/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:=0.062 -p wheel_width:=0.04 -p wheel_base:=0.322 -p wheel_tread:=0.312 -p front_overhang:=0.062 -p rear_overhang:=0.062 -p left_overhang:=0.05 -p right_overhang:=0.05 -p vehicle_height:=0.35 -p max_steer_angle:=1.2 --params-file /tmp/launch_params_nc8w3c23 --params-file /tmp/launch_params_7n84q0pl']. 1732175870.6015878 [ERROR] [localization_error_monitor-38]: process has died [pid 7211, exit code -2, cmd '/home/wheeltec/autoware/install/localization_error_monitor/lib/localization_error_monitor/localization_error_monitor --ros-args -r __node:=localization_error_monitor -r __ns:=/localization -p use_sim_time:=False -p wheel_radius:=0.062 -p wheel_width:=0.04 -p wheel_base:=0.322 -p wheel_tread:=0.312 -p front_overhang:=0.062 -p rear_overhang:=0.062 -p left_overhang:=0.05 -p right_overhang:=0.05 -p vehicle_height:=0.35 -p max_steer_angle:=1.2 --params-file /home/wheeltec/autoware/install/autoware_launch/share/autoware_launch/config/localization/localization_error_monitor.param.yaml -r input/odom:=/localization/kinematic_state']. 1732175870.6023171 [ERROR] [emergency_handler-24]: process has died [pid 7074, exit code -2, cmd '/home/wheeltec/autoware/install/emergency_handler/lib/emergency_handler/emergency_handler --ros-args -r __node:=emergency_handler -r __ns:=/system -p use_sim_time:=False -p wheel_radius:=0.062 -p wheel_width:=0.04 -p wheel_base:=0.322 -p wheel_tread:=0.312 -p front_overhang:=0.062 -p rear_overhang:=0.062 -p left_overhang:=0.05 -p right_overhang:=0.05 -p vehicle_height:=0.35 -p max_steer_angle:=1.2 --params-file /home/wheeltec/autoware/install/autoware_launch/share/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml -r ~/input/hazard_status:=/system/emergency/hazard_status -r ~/input/prev_control_command:=/control/command/control_cmd -r ~/input/odometry:=/localization/kinematic_state -r ~/input/control_mode:=/vehicle/status/control_mode -r ~/input/mrm/comfortable_stop/status:=/system/mrm/comfortable_stop/status -r ~/input/mrm/emergency_stop/status:=/system/mrm/emergency_stop/status -r ~/output/gear:=/system/emergency/gear_cmd -r ~/output/hazard:=/system/emergency/hazard_lights_cmd -r ~/output/mrm/state:=/system/fail_safe/mrm_state -r ~/output/mrm/comfortable_stop/operate:=/system/mrm/comfortable_stop/operate -r ~/output/mrm/emergency_stop/operate:=/system/mrm/emergency_stop/operate']. 1732175870.6028695 [INFO] [topic_state_monitor_node-15]: process has finished cleanly [pid 7004] 1732175870.6040957 [ERROR] [initial_pose_adaptor-41]: process has died [pid 7234, exit code -2, cmd '/home/wheeltec/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:=0.062 -p wheel_width:=0.04 -p wheel_base:=0.322 -p wheel_tread:=0.312 -p front_overhang:=0.062 -p rear_overhang:=0.062 -p left_overhang:=0.05 -p right_overhang:=0.05 -p vehicle_height:=0.35 -p max_steer_angle:=1.2 --params-file /home/wheeltec/autoware/install/ad_api_adaptors/share/ad_api_adaptors/config/initial_pose.param.yaml --params-file /tmp/launch_params_ttkbzxvv --params-file /tmp/launch_params_k9cb45ta -r ~/initialpose:=/initialpose -r ~/pointcloud_map:=/map/pointcloud_map -r ~/partial_map_load:=/map/get_partial_pointcloud_map -r ~/vector_map:=/map/vector_map']. 1732175870.6048002 [ERROR] [web_server.py-40]: process has died [pid 7232, exit code -2, cmd '/home/wheeltec/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:=0.062 -p wheel_width:=0.04 -p wheel_base:=0.322 -p wheel_tread:=0.312 -p front_overhang:=0.062 -p rear_overhang:=0.062 -p left_overhang:=0.05 -p right_overhang:=0.05 -p vehicle_height:=0.35 -p max_steer_angle:=1.2']. 1732175870.6058931 [ERROR] [autoware_wheeltec_interface-4]: process has died [pid 6955, exit code -2, cmd '/home/wheeltec/autoware/install/autoware_wheeltec_interface/lib/autoware_wheeltec_interface/autoware_wheeltec_interface --ros-args -r __node:=autoware_wheeltec_interface -p use_sim_time:=False -p wheel_radius:=0.062 -p wheel_width:=0.04 -p wheel_base:=0.322 -p wheel_tread:=0.312 -p front_overhang:=0.062 -p rear_overhang:=0.062 -p left_overhang:=0.05 -p right_overhang:=0.05 -p vehicle_height:=0.35 -p max_steer_angle:=1.2']. 1732175870.6070662 [component_container_mt-43] [INFO] [1732175869.439756007] [rclcpp]: signal_handler(signum=2) 1732175870.6172364 [routing_adaptor-42] [INFO] [1732175869.439855466] [rclcpp]: signal_handler(signum=2) 1732175870.6232164 [initial_pose_adaptor-41] [INFO] [1732175869.440016463] [rclcpp]: signal_handler(signum=2) 1732175870.6508973 [robot_state_publisher-2] [INFO] [1732175869.440057488] [rclcpp]: signal_handler(signum=2) 1732175870.6583016 [component_container_mt-39] [INFO] [1732175869.440182931] [rclcpp]: signal_handler(signum=2) 1732175870.6592569 [pose_instability_detector-37] [INFO] [1732175869.440177267] [rclcpp]: signal_handler(signum=2) 1732175870.6607091 [automatic_pose_initializer-33] [INFO] [1732175869.440335064] [rclcpp]: signal_handler(signum=2) 1732175870.6659701 [component_container_mt-1] [INFO] [1732175869.441385302] [rclcpp]: signal_handler(signum=2) 1732175870.6676228 [pose_initializer_node-32] [INFO] [1732175869.446068955] [rclcpp]: signal_handler(signum=2) 1732175870.6678493 [pose_initializer_node-32] [INFO] [1732175870.473093314] [rclcpp]: signal_handler(signum=2) 1732175870.6687269 [component_container-6] [INFO] [1732175869.454127072] [rclcpp]: signal_handler(signum=2) 1732175870.6689367 [component_container-6] [INFO] [1732175870.473400747] [rclcpp]: signal_handler(signum=2) 1732175870.6730571 [service_log_checker-5] [INFO] [1732175869.475987917] [rclcpp]: signal_handler(signum=2) 1732175870.6776056 [component_container_mt-43] [INFO] [1732175870.472836955] [rclcpp]: signal_handler(signum=2) 1732175870.6783752 [component_container_mt-39] [INFO] [1732175870.472854843] [rclcpp]: signal_handler(signum=2) 1732175870.6812944 [joint_state_publisher-3] Traceback (most recent call last): 1732175870.6815317 [joint_state_publisher-3] File "/opt/ros/humble/lib/joint_state_publisher/joint_state_publisher", line 33, in 1732175870.6816642 [joint_state_publisher-3] sys.exit(load_entry_point('joint-state-publisher==2.3.0', 'console_scripts', 'joint_state_publisher')()) 1732175870.6817763 [joint_state_publisher-3] File "/opt/ros/humble/lib/python3.10/site-packages/joint_state_publisher/joint_state_publisher.py", line 423, in main 1732175870.6818819 [joint_state_publisher-3] rclpy.shutdown() 1732175870.6819861 [joint_state_publisher-3] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 126, in shutdown 1732175870.6820872 [joint_state_publisher-3] _shutdown(context=context) 1732175870.6821856 [joint_state_publisher-3] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown 1732175870.6822798 [joint_state_publisher-3] return context.shutdown() 1732175870.6823742 [joint_state_publisher-3] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown 1732175870.6824658 [joint_state_publisher-3] self.__context.shutdown() 1732175870.6825573 [joint_state_publisher-3] rclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 1732175870.6826684 [joint_state_publisher-3] Error in sys.excepthook: 1732175870.6827698 [joint_state_publisher-3] Traceback (most recent call last): 1732175870.6829023 [joint_state_publisher-3] File "/usr/lib/python3/dist-packages/apport_python_hook.py", line 55, in apport_excepthook 1732175870.6830013 [joint_state_publisher-3] import apt_pkg 1732175870.6830957 [joint_state_publisher-3] KeyboardInterrupt 1732175870.6831872 [joint_state_publisher-3] 1732175870.6832819 [joint_state_publisher-3] Original exception was: 1732175870.6833761 [joint_state_publisher-3] Traceback (most recent call last): 1732175870.6834714 [joint_state_publisher-3] File "/opt/ros/humble/lib/joint_state_publisher/joint_state_publisher", line 33, in 1732175870.6835651 [joint_state_publisher-3] sys.exit(load_entry_point('joint-state-publisher==2.3.0', 'console_scripts', 'joint_state_publisher')()) 1732175870.6836612 [joint_state_publisher-3] File "/opt/ros/humble/lib/python3.10/site-packages/joint_state_publisher/joint_state_publisher.py", line 423, in main 1732175870.6837504 [joint_state_publisher-3] rclpy.shutdown() 1732175870.6838398 [joint_state_publisher-3] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 126, in shutdown 1732175870.6839309 [joint_state_publisher-3] _shutdown(context=context) 1732175870.6840205 [joint_state_publisher-3] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown 1732175870.6841106 [joint_state_publisher-3] return context.shutdown() 1732175870.6842022 [joint_state_publisher-3] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown 1732175870.6842928 [joint_state_publisher-3] self.__context.shutdown() 1732175870.6843824 [joint_state_publisher-3] rclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 1732175870.7302482 [ERROR] [joint_state_publisher-3]: process has died [pid 6953, exit code 1, cmd '/opt/ros/humble/lib/joint_state_publisher/joint_state_publisher /home/wheeltec/wheeltec_ros2/install/wheeltec_robot_urdf/share/wheeltec_robot_urdf/urdf/senior_akm_robot.urdf --ros-args -r __node:=joint_state_publisher -p use_sim_time:=False -p wheel_radius:=0.062 -p wheel_width:=0.04 -p wheel_base:=0.322 -p wheel_tread:=0.312 -p front_overhang:=0.062 -p rear_overhang:=0.062 -p left_overhang:=0.05 -p right_overhang:=0.05 -p vehicle_height:=0.35 -p max_steer_angle:=1.2']. 1732175871.2925532 [INFO] [topic_state_monitor_node-20]: process has finished cleanly [pid 7049] 1732175871.3083143 [INFO] [component_container-27]: process has finished cleanly [pid 7083] 1732175871.3210337 [INFO] [ekf_localizer-34]: process has finished cleanly [pid 7152] 1732175871.3593500 [INFO] [topic_state_monitor_node-7]: process has finished cleanly [pid 6961] 1732175871.4200499 [INFO] [component_container-6]: process has finished cleanly [pid 6959] 1732175871.6607206 [INFO] [component_container_mt-43]: process has finished cleanly [pid 7246] 1732175871.6993377 [INFO] [component_container_mt-28]: process has finished cleanly [pid 7106] 1732175874.2542057 [WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring... 1732175874.2554698 [component_container_mt-39] [INFO] [1732175874.253707625] [rclcpp]: signal_handler(signum=2) 1732175874.2571900 [pose_initializer_node-32] [INFO] [1732175874.253702921] [rclcpp]: signal_handler(signum=2) 1732175875.4974525 [ERROR] [component_container_mt-39]: process[component_container_mt-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' 1732175875.5033174 [INFO] [component_container_mt-39]: sending signal 'SIGTERM' to process[component_container_mt-39] 1732175875.5298598 [component_container_mt-39] [INFO] [1732175875.503780300] [rclcpp]: signal_handler(signum=15) 1732175875.5314953 [ERROR] [pose_initializer_node-32]: process[pose_initializer_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' 1732175875.5383110 [INFO] [pose_initializer_node-32]: sending signal 'SIGTERM' to process[pose_initializer_node-32] 1732175875.5511265 [pose_initializer_node-32] [INFO] [1732175875.538626729] [rclcpp]: signal_handler(signum=15) 1732175880.5002763 [ERROR] [component_container_mt-39]: process[component_container_mt-39] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' 1732175880.5033643 [INFO] [component_container_mt-39]: sending signal 'SIGKILL' to process[component_container_mt-39] 1732175880.5188656 [ERROR] [pose_initializer_node-32]: process[pose_initializer_node-32] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' 1732175880.5208316 [ERROR] [component_container_mt-39]: process has died [pid 7214, exit code -9, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args --log-level default_ad_api.container:=WARN --ros-args -r __node:=container -r __ns:=/default_ad_api -p use_sim_time:=False -p wheel_radius:=0.062 -p wheel_width:=0.04 -p wheel_base:=0.322 -p wheel_tread:=0.312 -p front_overhang:=0.062 -p rear_overhang:=0.062 -p left_overhang:=0.05 -p right_overhang:=0.05 -p vehicle_height:=0.35 -p max_steer_angle:=1.2']. 1732175880.5260973 [INFO] [pose_initializer_node-32]: sending signal 'SIGKILL' to process[pose_initializer_node-32] 1732175880.5394261 [ERROR] [pose_initializer_node-32]: process has died [pid 7145, exit code -9, cmd '/home/wheeltec/autoware/install/pose_initializer/lib/pose_initializer/pose_initializer_node --ros-args -r __node:=pose_initializer_node -r __ns:=/localization/util -p use_sim_time:=False -p wheel_radius:=0.062 -p wheel_width:=0.04 -p wheel_base:=0.322 -p wheel_tread:=0.312 -p front_overhang:=0.062 -p rear_overhang:=0.062 -p left_overhang:=0.05 -p right_overhang:=0.05 -p vehicle_height:=0.35 -p max_steer_angle:=1.2 --params-file /tmp/launch_params_n9uu8pzk --params-file /tmp/launch_params_9fu373y_ --params-file /tmp/launch_params_w39k8z71 -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:=/sensing/gnss/pose_with_covariance -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 -r ~/vector_map:=/map/vector_map'].