fix(ndt_scan_matcher): added coping input_source when rebuilding ndt #6464

SakodaShintaro · 2024-02-21T00:32:53Z

Description

I found that there was a problem with Driving Log Replayer not working properly, so fix it.

[ndt_scan_matcher-39] [WARN 1708474992.863786247] [localization.pose_estimator.ndt_scan_matcher]: No InputSource. Please check the input lidar topic (service_ndt_align() at /home/shintarosakoda/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:864)
[pose_initializer_node-41] [INFO 1708474992.864026735] [localization.util.pose_initializer_node]: NDT align server failed. (align_pose() at /home/shintarosakoda/autoware/src/universe/autoware.universe/localization/pose_initializer/src/pose_initializer/ndt_module.cpp:43)
[service_log_checker-4] [ERROR 1708474992.864308161] [system.service_log_checker]: /localization/initialize: status code 4 'NDT align server failed.' (/localization/util/pose_initializer_node) (set_error() at /home/shintarosakoda/autoware/src/universe/autoware.universe/common/component_interface_tools/src/service_log_checker.cpp:83)
[service_log_checker-4] [ERROR 1708474992.865189695] [system.service_log_checker]: /localization/initialize: status code 4 'NDT align server failed.' (/default_ad_api/node/localization) (set_error() at /home/shintarosakoda/autoware/src/universe/autoware.universe/common/component_interface_tools/src/service_log_checker.cpp:83)
[service_log_checker-4] [ERROR 1708474992.865347276] [system.service_log_checker]: /api/localization/initialize: status code 4 'NDT align server failed.' (/default_ad_api/node/localization) (set_error() at /home/shintarosakoda/autoware/src/universe/autoware.universe/common/component_interface_tools/src/service_log_checker.cpp:83)

Related PR

feat(ndt_scan_matcher): smooth ndt map update #6394

Tests performed

https://tier4.github.io/driving_log_replayer/quick_start/installation/
Driving Log Replayer works fine

driving_log_replayer simulation run -p localization --rate 0.5

Logging Simulator works fine

# terminal 1
ros2 launch autoware_launch logging_simulator.launch.xml \
    map_path:=$HOME/autoware_map/sample-map-rosbag \
    vehicle_model:=sample_vehicle \
    sensor_model:=sample_sensor_kit

# terminal 2
ros2 bag play $HOME/autoware_map/sample-rosbag/sample.db3 -r 0.5 -s sqlite3

Effects on system behavior

There are no effects on system behavior.

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Signed-off-by: Shintaro SAKODA <[email protected]>

codecov · 2024-02-21T00:39:17Z

Codecov Report

Attention: 1 lines in your changes are missing coverage. Please review.

Comparison is base (1ed6fac) 15.07% compared to head (3504e2e) 15.07%.

Files	Patch %	Lines
...ization/ndt_scan_matcher/src/map_update_module.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6464      +/-   ##
==========================================
- Coverage   15.07%   15.07%   -0.01%     
==========================================
  Files        1832     1832              
  Lines      126556   126557       +1     
  Branches    38214    38217       +3     
==========================================
  Hits        19076    19076              
- Misses      86089    86090       +1     
  Partials    21391    21391

Flag	Coverage Δ		*Carryforward flag
differential	`3.66% <0.00%> (?)`
total	`15.07% <ø> (ø)`		Carriedforward from 1ed6fac

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anhnv3991 · 2024-02-21T14:06:44Z

@SakodaShintaro The logging simulator is OK, but the Driving Log Replayer is not. I tried to install the Driving Log Replayer but when colcon build, the below error showed up
/home/anh/Work/autoware/src/simulator/scenario_simulator/common/math/geometry/src/bounding_box.cpp:15:10: fatal error: quaternion_operation/quaternion_operation.h: No such file or directory 15 | #include <quaternion_operation/quaternion_operation.h>
I could not find that header anywhere in the system. Do you know how to fix it? This error belongs to the scenario_simulator_v2.

SakodaShintaro · 2024-02-22T00:11:37Z

@anhnv3991

In my environment, ros-humble-quaternion-operation has been installed.

$ sudo apt list | grep quaternion-operation

WARNING: apt does not have a stable CLI interface. Use with caution in scripts.

ros-humble-quaternion-operation-dbgsym/jammy 0.0.11-1jammy.20240126.001735 amd64
ros-humble-quaternion-operation/jammy,now 0.0.11-1jammy.20240126.001735 amd64 [インストール済み]
ros-iron-quaternion-operation-dbgsym/jammy 0.0.7-4jammy.20240207.210444 amd64
ros-iron-quaternion-operation/jammy 0.0.7-4jammy.20240207.210444 amd64

This dependency is described in common/math/geometry/package.xml.

https://github.com/tier4/scenario_simulator_v2/blob/master/common/math/geometry/package.xml#L15

So, I think the commands below seem to work.

rosdep update
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

anhnv3991 · 2024-02-22T04:24:02Z

@SakodaShintaro This is the terminal output of my Driving Log Replayer.
terminal_output.txt
This looks OK to me. No 'No InputSource' error detected.

anhnv3991 · 2024-02-22T04:37:42Z

@SakodaShintaro This is the output of the logging simulator.
logging_simulator_output.txt
The 'No InputSource' error is not found here, so I think it should be OK.
The run looks OK to me.
Screencast from 22-02-2024 11:41:19.webm

SakodaShintaro · 2024-02-22T04:47:07Z

@anhnv3991
This is normal behavior.
Thank you for confirming!

anhnv3991

LGTM! Sorry for my late response.

…utowarefoundation#6464) Added coping input_source when rebuilding ndt Signed-off-by: Shintaro SAKODA <[email protected]> Co-authored-by: Anh Nguyen <[email protected]>

…6464) Added coping input_source when rebuilding ndt Signed-off-by: Shintaro SAKODA <[email protected]> Co-authored-by: Anh Nguyen <[email protected]> Signed-off-by: Kotaro Yoshimoto <[email protected]>

…utowarefoundation#6464) Added coping input_source when rebuilding ndt Signed-off-by: Shintaro SAKODA <[email protected]> Co-authored-by: Anh Nguyen <[email protected]>

Added coping input_source when rebuilding ndt

3088d04

Signed-off-by: Shintaro SAKODA <[email protected]>

SakodaShintaro self-assigned this Feb 21, 2024

SakodaShintaro requested review from anhnv3991, KYabuuchi, kminoda, Motsu-san, RyuYamamoto, TaikiYamada4 and YamatoAndo as code owners February 21, 2024 00:32

SakodaShintaro added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Feb 21, 2024

github-actions bot added the component:localization Vehicle's position determination in its environment. (auto-assigned) label Feb 21, 2024

Merge branch 'main' into fix/copy_input_source_when_rebuilding_ndt

3504e2e

anhnv3991 approved these changes Feb 22, 2024

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SakodaShintaro merged commit 6af3496 into autowarefoundation:main Feb 22, 2024
21 of 23 checks passed

SakodaShintaro deleted the fix/copy_input_source_when_rebuilding_ndt branch February 22, 2024 04:59

SakodaShintaro mentioned this pull request Feb 26, 2024

ndt_scan_matcher sometimes crashes when performing dynamic_map_loading #5973

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SakodaShintaro mentioned this pull request Mar 19, 2024

test(ndt_scan_matcher): added an unit test to ndt_scan_matcher #6649

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fix(ndt_scan_matcher): added coping input_source when rebuilding ndt #6464

fix(ndt_scan_matcher): added coping input_source when rebuilding ndt #6464

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fix(ndt_scan_matcher): added coping input_source when rebuilding ndt #6464

fix(ndt_scan_matcher): added coping input_source when rebuilding ndt #6464

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