Sometimes the sensing module doesn't publish concatenated pointcloud #1009

yukkysaito · 2022-05-31T10:29:56Z

Checklist

I've read the contribution guidelines.
I've searched other issues and no duplicate issues were found.
I'm convinced that this is not my fault but a bug.

Description

sometimes the sensing module cannot launch concatenated and cropbox filter with the following error

[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'concatenate_data' of type 'pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent' in container 'pointcloud_container': Failed to find class with the requested plugin name.
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'crop_box_filter' of type 'pointcloud_preprocessor::CropBoxFilterComponent' in container 'pointcloud_container': Failed to find class with the requested plugin name.

Expected behavior

launch concatenated and cropbox filter without error

Actual behavior

launch concatenated and cropbox filter without error

Steps to reproduce

play rosbag replay simulator in tutorials

Versions

No response

Possible causes

No response

Additional context

No response

Temporary fix

Separate point cloud container into a different launch file #1797

The text was updated successfully, but these errors were encountered:

wep21 · 2022-05-31T17:00:21Z

Could you confirm that the requested plugins above are in the list which is shown with ros2 component types?

yukkysaito · 2022-06-01T02:06:26Z

ros2 component types

@wep21 This is the result of ros2 component types

wep21 · 2022-06-01T21:00:11Z

@yukkysaito Could you confirm that pointcloud_container exists?

miursh · 2022-06-02T02:04:04Z

I tried launching the sensing module 10 times each on 2 PCs, but have not been able to reproduce it here

mitsudome-r · 2022-06-07T08:14:42Z

We will wait another week for further reports if any other developers can reproduce the error.
@yukkysaito If no one can reproduce the error, we might have to close this issue since we have no way of doing further investigation.

esteve · 2022-06-07T09:10:31Z

I'll look into this as well

esteve · 2022-06-09T13:20:10Z

@yukkysaito how are you launching the sensing module? Separately via ros2 launch tier4_sensing_launch sensing.launch.xml ?

esteve · 2022-06-09T14:03:22Z

@yukkysaito I've been able to launch autoware via ros2 launch autoware_launch logging_simulator.launch.xml ..., with both modules loaded.

yukkysaito · 2022-06-10T08:38:55Z

@esteve I launch it following the tutorial
https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/rosbag-replay-simulation/
In TIER IV, some people get this error.

xmfcx · 2022-06-14T15:41:32Z

I launch it following the tutorial https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/rosbag-replay-simulation/ In TIER IV, some people get this error.

sometimes the sensing module cannot launch concatenated and cropbox filter with the following error

@yukkysaito When this error happens, if you restart the computer, does it start working again?

mitsudome-r · 2022-06-21T08:32:29Z

@yukkysaito ping

VRichardJP · 2022-06-27T09:00:45Z

Hi,

I recently started to have this very error using autoware_launch.launch.xml. It does not occur every single time, but when it does it can be very frustrating.

Although the message seems to point out there is an issue with the plugin, it seems to me the problem appears when the plugin is tried to be loaded before the container is actually started.

The way I have found to fix that problem is to move the launch of the container from autoware.launch.xml to a separate launch file, which is to be started before autoware.launch.xml (same for other launch files). I have been using this for a few days and have not encountered the issue anymore since.

Like this pointcloud_container.launch.xml:

<?xml version="1.0" encoding="UTF-8"?>
<launch>
  <!-- Pointcloud container -->
  <arg name="pointcloud_container_name" default="pointcloud_container"/>
  <group>
    <include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py">
      <arg name="use_multithread" value="true"/>
      <arg name="container_name" value="$(var pointcloud_container_name)"/>
    </include>
  </group>
</launch>

xmfcx · 2022-07-19T08:29:07Z

We should further investigate why this happens in https://github.com/autowarefoundation/sample_sensor_kit_launch/blob/main/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py

Also we need to test and see if it happens in humble too.

miursh · 2022-07-25T12:34:34Z

The reason why this happens is because sensing.launch and perception.launch could start before the pointcloud container start, I think.
In autoware_launch.launch.xml/logging_simulator.launch.xml, pointcloud container must be launched before the other components are launched, but I suspect current launcher does not guarantee the launch order.

yukkysaito · 2022-07-26T10:59:39Z

@yukkysaito When this error happens, if you restart the computer, does it start working again?

yes
sorry for late reply. 🙏

xmfcx · 2022-07-27T21:28:41Z

@miursh is right, here is the launch call graph.

It is absolutely too complicated and parameters passed around are basically a mess. It's very tedious to figure out where a parameter is set when the launch file graph is this deep.

What I figured out is,

If use_pointcloud_container == true
- pointcloud_preprocessor.launch.py will try to put its components into pointcloud_container.launch.py's component container instead of its own.
- If the pointcloud_container.launch.py hasn't started correctly by chance, it will give the error.

How do we fix this?

Non-performant solution:
- https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/launch/logging_simulator.launch.xml#L49 set this use_pointcloud_container to false. It won't try to use that container. It will have more network overhead but at least it will work.
Performant but hacky solution:
- @VRichardJP 's solution: Sometimes the sensing module doesn't publish concatenated pointcloud #1009 (comment) of running the container before the components.
Right solution:
- Somehow wait until the container starts, load the components once it happens.

I just don't like current launch system of Autoware. How can we make it better, I don't have an answer yet.

wep21 · 2022-07-27T22:10:00Z

The reason why this happens is because sensing.launch and perception.launch could start before the pointcloud container start, I think.

LoadComposableNodes can load nodes even if the target container is launched after it, so I think the order of launch has nothing to do with this issue.

wep21 · 2022-07-27T22:13:59Z

Here is some test snippets. You can see burger image regardless of the launch order.

from launch import LaunchDescription
from launch_ros.actions import LoadComposableNodes, Node
from launch_ros.descriptions import ComposableNode

def generate_launch_description():
    container = Node(
        name='image_container',
        package='rclcpp_components',
        executable='component_container',
        output='both',
    )

    load_composable_nodes = LoadComposableNodes(
        target_container='image_container',
        composable_node_descriptions=[
            ComposableNode(
                 package='image_tools',
                plugin='image_tools::Cam2Image',
                name='cam2image',
                remappings=[('/image', '/burgerimage')],
                parameters=[{'width': 320, 'height': 240, 'burger_mode': True, 'history': 'keep_last'}],
                extra_arguments=[{'use_intra_process_comms': True}],
            ),
            ComposableNode(
                package='image_tools',
                plugin='image_tools::ShowImage',
                name='showimage',
                remappings=[('/image', '/burgerimage')],
                parameters=[{'history': 'keep_last'}],
                extra_arguments=[{'use_intra_process_comms': True}]
            ),
        ],
    )

    return LaunchDescription([load_composable_nodes])

from launch import LaunchDescription
from launch_ros.actions import LoadComposableNodes, Node
from launch_ros.descriptions import ComposableNode

def generate_launch_description():
    container = Node(
        name='image_container',
        package='rclcpp_components',
        executable='component_container',
        output='both',
    )

    load_composable_nodes = LoadComposableNodes(
        target_container='image_container',
        composable_node_descriptions=[
            ComposableNode(
                 package='image_tools',
                plugin='image_tools::Cam2Image',
                name='cam2image',
                remappings=[('/image', '/burgerimage')],
                parameters=[{'width': 320, 'height': 240, 'burger_mode': True, 'history': 'keep_last'}],
                extra_arguments=[{'use_intra_process_comms': True}],
            ),
            ComposableNode(
                package='image_tools',
                plugin='image_tools::ShowImage',
                name='showimage',
                remappings=[('/image', '/burgerimage')],
                parameters=[{'history': 'keep_last'}],
                extra_arguments=[{'use_intra_process_comms': True}]
            ),
        ],
    )

    return LaunchDescription([container])

xmfcx · 2022-07-27T23:10:48Z

@wep21 were you able to reproduce this issue?

For me this error occurs 80% of the times I run the logging simulator launch file, do you know why it might be happening like this then?

mitsudome-r · 2022-08-02T08:30:40Z

@miursh @wep21 Did you make any progress on this issue?

wep21 · 2022-08-02T08:49:34Z

I can't reproduce the issue, but from the log my colleague shared, I guess some components which are supposed to exist aren't found as below.

[component_container_mt-1] [ERROR] [1658719110.290187926] [pointcloud_container]: Failed to find class with the requested plugin name 'pointcloud_preprocessor::CropBoxFilterComponent' in the loaded library
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'crop_box_filter' of type 'pointcloud_preprocessor::CropBoxFilterComponent' in container 'pointcloud_container': Failed to find class with the requested plugin name.
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/perception/object_recognition/detection/clustering/euclidean_cluster' in container '/perception/object_recognition/detection/clustering/euclidean_cluster_container'
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'voxel_grid_downsample_filter' of type 'pointcloud_preprocessor::VoxelGridDownsampleFilterComponent' in container 'pointcloud_container': Failed to find class with the requested plugin name.
[component_container_mt-1] [ERROR] [1658719110.292822374] [pointcloud_container]: Failed to find class with the requested plugin name

miursh · 2022-08-02T23:55:06Z

I made the environment to reproduce this and am debugging, but still can't figure it out.

mitsudome-r · 2022-08-16T07:59:38Z

@miursh is off for a week and won't be able to work on this until next week.

mitsudome-r · 2022-08-30T07:59:11Z

I'm looking for the root cause, but there might not be a quick fix.
As a current workaround, LeoDrive is launching the container launch and component launch separately.

miursh · 2022-08-30T08:10:07Z

I'm sorry I couldn't find enough time to work for this.
If someone else can handle this, please help.

lchojnack · 2022-09-14T14:22:37Z

We find a way how to reproduce the issue. On my PC with 8 cores / 16 threads CPU when I'm running the command

stress --cpu 4

and then autoware, the issue almost always appears. Without stress command the issue doesn't occur. I'm not sure how exactly the CPU load can affect launching autoware. I will continue to work on this issue.

lchojnack · 2022-09-28T16:34:35Z

During debugging I noticed that launch sequence is not a root cause. For whatever reason, when the failure occurs when libcompare_map_segmentation.so is loaded before libpointcloud_preprocessor_filter.so

[INFO] [component_container_mt-1]: process started with pid [1359167]
[component_container_mt-1] [INFO] [1664351258.345340026] [pointcloud_container]: Load Library: /home/lukasz/projects/autoware_official_main/autoware/install/compare_map_segmentation/lib/libcompare_map_segmentation.so
[component_container_mt-1] [INFO] [1664351266.708360676] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<compare_map_segmentation::CompareElevationMapFilterComponent>
[component_container_mt-1] [INFO] [1664351266.708518922] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<compare_map_segmentation::DistanceBasedCompareMapFilterComponent>
[component_container_mt-1] [INFO] [1664351266.708557455] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<compare_map_segmentation::VoxelBasedApproximateCompareMapFilterComponent>
[component_container_mt-1] [INFO] [1664351266.708591027] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<compare_map_segmentation::VoxelBasedCompareMapFilterComponent>
[component_container_mt-1] [INFO] [1664351266.708623150] [pointcloud_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<compare_map_segmentation::VoxelBasedCompareMapFilterComponent>
[component_container_mt-1] [INFO] [1664351267.132734306] [perception.object_recognition.detection.voxel_based_compare_map_filter]: Filter (as Component) successfully created with the following parameters:
[component_container_mt-1]  - approximate_sync : false
[component_container_mt-1]  - use_indices      : false
[component_container_mt-1]  - latched_indices  : false
[component_container_mt-1]  - max_queue_size   : 5

[component_container_mt-1] [INFO] [1664351267.385921052] [pointcloud_container]: Load Library: /home/lukasz/projects/autoware_official_main/autoware/install/pointcloud_preprocessor/lib/libpointcloud_preprocessor_filter.so
[component_container_mt-1] [ERROR] [1664351267.430029960] [pointcloud_container]: Failed to find class with the requested plugin name 'pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent' in the loaded library
[component_container_mt-1] [ERROR] [1664351267.436821745] [pointcloud_container]: Failed to find class with the requested plugin name 'pointcloud_preprocessor::CropBoxFilterComponent' in the loaded library

[component_container_mt-1] [INFO] [1664351267.774941134] [pointcloud_container]: Load Library: /home/lukasz/projects/autoware_official_main/autoware/install/ground_segmentation/lib/libground_segmentation.so
[component_container_mt-1] [INFO] [1664351267.826568706] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<ground_segmentation::RANSACGroundFilterComponent>
[component_container_mt-1] [INFO] [1664351267.826816182] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<ground_segmentation::RayGroundFilterComponent>
[component_container_mt-1] [INFO] [1664351267.826862295] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<ground_segmentation::ScanGroundFilterComponent>
[component_container_mt-1] [INFO] [1664351267.826898226] [pointcloud_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ground_segmentation::ScanGroundFilterComponent>
[component_container_mt-1] [INFO] [1664351268.760633951] [perception.obstacle_segmentation.common_ground_filter]: Filter (as Component) successfully created with the following parameters:
[component_container_mt-1]  - approximate_sync : false
[component_container_mt-1]  - use_indices      : false
[component_container_mt-1]  - latched_indices  : false
[component_container_mt-1]  - max_queue_size   : 5
[component_container_mt-1] [INFO] [1664351269.408068814] [pointcloud_container]: Load Library: /home/lukasz/projects/autoware_official_main/autoware/install/occupancy_grid_map_outlier_filter/lib/liboccupancy_grid_map_outlier_filter.so
[component_container_mt-1] [INFO] [1664351269.419959183] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent>
[component_container_mt-1] [INFO] [1664351269.420117594] [pointcloud_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent>
[component_container_mt-1] [WARN] [1664351283.256087367] [perception.obstacle_segmentation.occupancy_grid_map_outlier_filter]: New subscription discovered on topic '/perception/obstacle_segmentation/point cloud, requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY

When libpointcloud_preprocessor_filter.so is loaded before libcompare_map_segmentation.so then everything is ok.

[INFO] [component_container_mt-1]: process started with pid [1345975]

[component_container_mt-1] [INFO] [1664350962.225026369] [pointcloud_container]: Load Library: /home/lukasz/projects/autoware_official_main/autoware/install/pointcloud_preprocessor/lib/libpointcloud_preprocessor_filter.so
[component_container_mt-1] [INFO] [1664350969.753593880] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::ApproximateDownsampleFilterComponent>
[component_container_mt-1] [INFO] [1664350969.761015939] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::BlockageDiagComponent>
[component_container_mt-1] [INFO] [1664350969.761086550] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::CropBoxFilterComponent>
[component_container_mt-1] [INFO] [1664350969.761123733] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::DistortionCorrectorComponent>
[component_container_mt-1] [INFO] [1664350969.761157587] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::DualReturnOutlierFilterComponent>
[component_container_mt-1] [INFO] [1664350969.761191740] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::Lanelet2MapFilterComponent>
[component_container_mt-1] [INFO] [1664350969.761225317] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PassThroughFilterComponent>
[component_container_mt-1] [INFO] [1664350969.761258883] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PassThroughFilterUInt16Component>
[component_container_mt-1] [INFO] [1664350969.761293253] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent>
[component_container_mt-1] [INFO] [1664350969.761327833] [pointcloud_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent>


[component_container_mt-1] [INFO] [1664350970.970393159] [sensing.lidar.concatenate_data]: Subscribing to 3 user given topics as inputs:
[component_container_mt-1] [INFO] [1664350970.977884115] [sensing.lidar.concatenate_data]:  - /sensing/lidar/top/outlier_filtered/pointcloud
[component_container_mt-1] [INFO] [1664350970.979455088] [sensing.lidar.concatenate_data]:  - /sensing/lidar/left/outlier_filtered/pointcloud
[component_container_mt-1] [INFO] [1664350970.979509090] [sensing.lidar.concatenate_data]:  - /sensing/lidar/right/outlier_filtered/pointcloud

[component_container_mt-1] [INFO] [1664350971.151433649] [pointcloud_container]: Load Library: /home/lukasz/projects/autoware_official_main/autoware/install/compare_map_segmentation/lib/libcompare_map_segmentation.so
[component_container_mt-1] [INFO] [1664350971.579233393] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<compare_map_segmentation::CompareElevationMapFilterComponent>
[component_container_mt-1] [INFO] [1664350971.579409082] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<compare_map_segmentation::DistanceBasedCompareMapFilterComponent>
[component_container_mt-1] [INFO] [1664350971.581189423] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<compare_map_segmentation::VoxelBasedApproximateCompareMapFilterComponent>
[component_container_mt-1] [INFO] [1664350971.582902671] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<compare_map_segmentation::VoxelBasedCompareMapFilterComponent>
[component_container_mt-1] [INFO] [1664350971.582951453] [pointcloud_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<compare_map_segmentation::VoxelBasedCompareMapFilterComponent>
[component_container_mt-1] [INFO] [1664350972.569075844] [perception.object_recognition.detection.voxel_based_compare_map_filter]: Filter (as Component) successfully created with the following parameters:
[component_container_mt-1]  - approximate_sync : false
[component_container_mt-1]  - use_indices      : false
[component_container_mt-1]  - latched_indices  : false
[component_container_mt-1]  - max_queue_size   : 5
[component_container_mt-1] [INFO] [1664350972.898912106] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::ApproximateDownsampleFilterComponent>
[component_container_mt-1] [INFO] [1664350972.899934429] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::BlockageDiagComponent>
[component_container_mt-1] [INFO] [1664350972.899980698] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::CropBoxFilterComponent>
[component_container_mt-1] [INFO] [1664350972.901752718] [pointcloud_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<pointcloud_preprocessor::CropBoxFilterComponent>
[component_container_mt-1] [INFO] [1664350973.984691344] [perception.obstacle_segmentation.crop_box_filter]: Filter (as Component) successfully created with the following parameters:
[component_container_mt-1]  - approximate_sync : false
[component_container_mt-1]  - use_indices      : false
[component_container_mt-1]  - latched_indices  : false
[component_container_mt-1]  - max_queue_size   : 5
[component_container_mt-1] [INFO] [1664350974.160625220] [pointcloud_container]: Load Library: /home/lukasz/projects/autoware_official_main/autoware/install/ground_segmentation/lib/libground_segmentation.so
[component_container_mt-1] [INFO] [1664350974.334012500] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<ground_segmentation::RANSACGroundFilterComponent>
[component_container_mt-1] [INFO] [1664350974.334175819] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<ground_segmentation::RayGroundFilterComponent>
[component_container_mt-1] [INFO] [1664350974.334214552] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<ground_segmentation::ScanGroundFilterComponent>
[component_container_mt-1] [INFO] [1664350974.336807913] [pointcloud_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ground_segmentation::ScanGroundFilterComponent>
[component_container_mt-1] [INFO] [1664350975.661686566] [perception.obstacle_segmentation.common_ground_filter]: Filter (as Component) successfully created with the following parameters:
[component_container_mt-1]  - approximate_sync : false
[component_container_mt-1]  - use_indices      : false
[component_container_mt-1]  - latched_indices  : false
[component_container_mt-1]  - max_queue_size   : 5
[component_container_mt-1] [INFO] [1664350976.050537905] [pointcloud_container]: Load Library: /home/lukasz/projects/autoware_official_main/autoware/install/occupancy_grid_map_outlier_filter/lib/liboccupancy_grid_map_outlier_filter.so
[component_container_mt-1] [INFO] [1664350976.092318710] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent>
[component_container_mt-1] [INFO] [1664350976.092452991] [pointcloud_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent>
[component_container_mt-1] [WARN] [1664350983.999561958] [sensing.lidar.concatenate_data]: New subscription discovered on topic '/sensing/lidar/concatenated/point cloud, requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY
[component_container_mt-1] [WARN] [1664350984.264477043] [perception.obstacle_segmentation.occupancy_grid_map_outlier_filter]: New subscription discovered on topic '/perception/obstacle_segmentation/point cloud, requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY

The main question is what determines the order of loading .so modules?
Whoever knows about this topic?
Unfortunately, I don't know the answer yet but I'll look into this.

xmfcx · 2022-10-04T15:24:06Z

@lchojnack can you check if this #1982 solves this issue?

lchojnack · 2022-10-07T12:22:02Z

@xmfcx I can confirm that #1982 solves the issue

…t_path fix(lane_change): do not cut abort path

yukkysaito added type:bug Software flaws or errors. component:sensing Data acquisition from sensors, drivers, preprocessing. (auto-assigned) labels May 31, 2022

miursh added the status:help-wanted Assistance or contributors needed. label Jun 24, 2022

xmfcx added this to the Bus ODD July-Aug Milestone milestone Jul 19, 2022

xmfcx added the priority:high High urgency and importance. label Jul 19, 2022

xmfcx assigned miursh Jul 26, 2022

BonoloAWF assigned mitsudome-r Aug 30, 2022

BonoloAWF modified the milestones: Bus ODD July-Aug Milestone, Bus ODD Sep-Oct Milestone Aug 30, 2022

xmfcx added priority:low Lower urgency, can be addressed later. and removed priority:high High urgency and importance. labels Sep 6, 2022

mitsudome-r assigned piotr-zyskowski-rai and unassigned miursh Sep 13, 2022

piotr-zyskowski-rai assigned lchojnack Sep 14, 2022

wep21 mentioned this issue Sep 28, 2022

fix(pointcloud_preprocessor): separate targets for base class #1982

Merged

4 tasks

shmpwk closed this as completed in #1982 Oct 13, 2022

tkimura4 mentioned this issue Oct 28, 2022

fix: compare map segmentation load tier4/autoware.universe#165

Merged

4 tasks

miursh mentioned this issue Nov 14, 2022

Separate point cloud container into a different launch file #1797

Closed

mitsudome-r mentioned this issue Feb 28, 2023

Pointcloud Container Not Working with More than 5 Lidars #2940

Closed

3 tasks

satoshi-ota pushed a commit to satoshi-ota/autoware.universe that referenced this issue Nov 29, 2023

Merge pull request autowarefoundation#1009 from tier4/fix/extend_abor…

0012834

…t_path fix(lane_change): do not cut abort path

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Sometimes the sensing module doesn't publish concatenated pointcloud #1009

Sometimes the sensing module doesn't publish concatenated pointcloud #1009

yukkysaito commented May 31, 2022 •

edited by xmfcx

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wep21 commented May 31, 2022

yukkysaito commented Jun 1, 2022 •

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wep21 commented Jun 1, 2022

miursh commented Jun 2, 2022

mitsudome-r commented Jun 7, 2022 •

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esteve commented Jun 7, 2022

esteve commented Jun 9, 2022

esteve commented Jun 9, 2022

yukkysaito commented Jun 10, 2022 •

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xmfcx commented Jun 14, 2022

mitsudome-r commented Jun 21, 2022

VRichardJP commented Jun 27, 2022 •

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xmfcx commented Jul 19, 2022

miursh commented Jul 25, 2022 •

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yukkysaito commented Jul 26, 2022 •

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xmfcx commented Jul 27, 2022

wep21 commented Jul 27, 2022

wep21 commented Jul 27, 2022 •

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xmfcx commented Jul 27, 2022 •

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mitsudome-r commented Aug 2, 2022

wep21 commented Aug 2, 2022

miursh commented Aug 2, 2022

mitsudome-r commented Aug 16, 2022

mitsudome-r commented Aug 30, 2022

miursh commented Aug 30, 2022

lchojnack commented Sep 14, 2022

lchojnack commented Sep 28, 2022 •

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xmfcx commented Oct 4, 2022

lchojnack commented Oct 7, 2022

Sometimes the sensing module doesn't publish concatenated pointcloud #1009

Sometimes the sensing module doesn't publish concatenated pointcloud #1009

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yukkysaito commented May 31, 2022 • edited by xmfcx Loading

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Temporary fix

wep21 commented May 31, 2022

yukkysaito commented Jun 1, 2022 • edited Loading

wep21 commented Jun 1, 2022

miursh commented Jun 2, 2022

mitsudome-r commented Jun 7, 2022 • edited Loading

esteve commented Jun 7, 2022

esteve commented Jun 9, 2022

esteve commented Jun 9, 2022

yukkysaito commented Jun 10, 2022 • edited Loading

xmfcx commented Jun 14, 2022

mitsudome-r commented Jun 21, 2022

VRichardJP commented Jun 27, 2022 • edited Loading

xmfcx commented Jul 19, 2022

miursh commented Jul 25, 2022 • edited Loading

yukkysaito commented Jul 26, 2022 • edited Loading

xmfcx commented Jul 27, 2022

wep21 commented Jul 27, 2022

wep21 commented Jul 27, 2022 • edited Loading

xmfcx commented Jul 27, 2022 • edited Loading

mitsudome-r commented Aug 2, 2022

wep21 commented Aug 2, 2022

miursh commented Aug 2, 2022

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mitsudome-r commented Aug 30, 2022

miursh commented Aug 30, 2022

lchojnack commented Sep 14, 2022

lchojnack commented Sep 28, 2022 • edited Loading

xmfcx commented Oct 4, 2022

lchojnack commented Oct 7, 2022

yukkysaito commented May 31, 2022 •

edited by xmfcx

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yukkysaito commented Jun 1, 2022 •

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mitsudome-r commented Jun 7, 2022 •

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yukkysaito commented Jun 10, 2022 •

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VRichardJP commented Jun 27, 2022 •

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miursh commented Jul 25, 2022 •

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yukkysaito commented Jul 26, 2022 •

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wep21 commented Jul 27, 2022 •

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xmfcx commented Jul 27, 2022 •

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lchojnack commented Sep 28, 2022 •

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