Known issues and possible workarounds - AD-EYE/AD-EYE_Core GitHub Wiki

What are the symptoms?

The simulation started (you see the car and sensor data in Rviz) and you have changed the world_name parameter in the launch files my_map.launch and SSMP.launch. The car is not moving and you get an error about the global planner being unable to find a path. In Rviz you do not see any vector map / point cloud map or you see the wrong one.

How to know if I have this specific issue?

Stop the roslaunch adeye manager_simulation.launch with a ctrl + c and run the command rosnode list. Two outcomes are possible:

• you see ERROR: Unable to communicate with master!. You co not have this issue
• you see a list of node: you have this issue, see below to fix it

How do I fix it?

Run the following two commands:

rosnode kill -a   #kills all nodes
killall rosmaster #kills the roscore

What are the symptoms?

The simulation started (you see the car and sensor data in Rviz) and you have changed the world_name parameter in the launch files my_map.launch and SSMP.launch. The car is not moving and you can see the blue planning path. The state of the car is forward.

How to know if I have this specific issue?

Check if you have all the nodes that should be running, use command rqt_graph for base map and one for your map and see if there are any differences. Run the command rosnode info /pure_pursuit and rostopic echo /TwistS. If the node is alive and you can see message on /TwistS, you are likely to have this issue.

How do I fix it?

From the Simulink side, enter the dynamic empty block in ego car, double click the MuxState block and untick the position mode.

What are the symptoms?

The simulation has started and is visible in Rviz but it shows another road map. There is no blue planning path since the road map is not the good one.

How to know if I have this specific issue?

Rviz shows a road map but it is the wrong map.

How do I fix it?

Update the world_name parameter in the launch files my_map.launch and SSMP.launch with the name of your world.

What are the symptoms?

When you run a simulation for the first time you get an error saying "Error in port widths or dimensions. Output port X is a one dimensional vector with Y elements." "Error in port widths or dimensions. Input port Z is a one dimensional vector with W elements." where ports X and Z are connected.

How to know if I have this specific issue?

Simulation stops due to the above error.

How do I fix it?

Some of the messages sent in Simulink exceed the maximum array size and have to be manually modified the first time that the simulation is going to be executed in a computer. The message length can be modified in tools > Robotic Operating System > Manage array sizes. To modify the parameters, untick Use default limits for this message types. The parameters that need to be changed are:

What are the symptoms?

When you run the simulation, you notice on Rviz that the blue path doesn't follow the road lane untill the goal.

How to know if I have this specific issue?

Rviz opens correctly and shows the car sensors data and the car moves but the blue path to the goal is incorrect and doesn't follow the road lane near the goal.

How do I fix it?

Make sure that the orientation of the goal that you set in the ROS Send Goal block is correct. In Prescan, the x axis is to the right, the y axis is up and the z axis is coming out of the screen. To set the car orientation, only the Euler angle around z has should be non zero. To get the quaternions, check the following website. Enter the x, y and z values as the Euler Angles and click on Apply Rotation to get the Quaternion values. To make sure that the goal orientation is correct, check that the blue path is drawn correctly on the road lane till the goal point.

What are the symptoms?

You have created the world in Prescan and are trying to generate the vector map from the Ubuntu system. You have modified the variable PEX_FILE_LOCATION in the file main.py in AD-EYE_Core/Pex_Data_Extraction/pex2csv to add the path to the pex file that should be transformed into a vector map. But still, the vector map is not generated.

How to know if I have this specific issue?

While you are trying to run the command python3 main.py, you are getting an error similar to the figure below.

How do I fix it?

Ensure that you have followed the rules for creating the vector map given in https://gits-15.sys.kth.se/AD-EYE/AD-EYE_Core/wiki/VectorMapper-Rules. Check whether the roads connected to roundabouts and spiral roads are aligned properly according to the rules.

What are the symptoms?

When you need to open MATLAB & Simulink from PreScan by clicking on Invoke Simulation Run Mode.

How to know if I have this specific issue?

Try to open MATLAB through Start Button.

How do I fix it?

There are two possible ways to solve this issue.

1. • Restart the system. If this method doesn't work then jump to the second possible way.
2. • First, Browse to the following folder: C:\Users\adeye\AppData\Roaming\MathWorks\MATLAB
   • Second, Delete or rename the folder for your release of MATLAB, e.g R2020b. Do not remove any folder that ends with "_licenses".
   • Third, Restart MATLAB.

For more information, visit this website: https://www.mathworks.com/matlabcentral/answers/97167-why-will-matlab-not-start-up-properly-on-my-windows-based-system#answer_106517

What are the symptoms?

On simulink, you can't generate compilation sheet.

How to know if I have this specific issue?

Matlab send you the error as follow on the picture (it can also be in the terminal):

How do I fix it?

On Matlab, you have to go in the folder of the simulink file you are about to run. To do so, you just have to double click on the folder in the left section.

What are the symptoms ?

While running the mapping experiment, Simulink prints the following error stating that the pcd file cannot be opened:

How to know if I have this specific issue?

The Pointcloud_Files folder does not exists in your simulation world folder.

How do I fix it?

Create a folder named Pointcloud_Files with the same path as the mapping folder to generate the pcd files.

What are the symptoms ?

You get an error while trying to use pip.

How to know if I have this specific issue?

You get the same error as shown on this picture:

How do I fix it?

Pip latest version uses "f-strings" which is only supported in python 3.6 and above. To fix it, you can download pip here for the version of python you are using. The setup script should be ran with python get-pip.py for Python 2 or python3 get-pip.py for Python 3. It will install pip and the problem should be solved.

What are the symptoms ?

You get an error when you try to build Autoware.

How to know if I have this specific issue?

You get this specific error :

--- stderr: lattice_planner
CMake Error at /usr/share/cmake-3.5/Modules/FindPackageHandleStandardArgs.cmake:148 (message):
  Could NOT find Armadillo (missing: ARMADILLO_LIBRARY ARMADILLO_INCLUDE_DIR)
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindPackageHandleStandardArgs.cmake:388 (_FPHSA_FAILURE_MESSAGE)
  /usr/share/cmake-3.5/Modules/FindArmadillo.cmake:92 (find_package_handle_standard_args)
  CMakeLists.txt:22 (find_package)

How do I fix it?

You can fix it by using the command sudo apt-get install libarmadillo-dev If you have the same error message with another library, just replace armadillo by the name of the other library in the command lines

What are the symptoms ?

Have the following error with catkin_make when building the ROS workspace inside AD-EYE workspace (right after installing autoware):

How to know if I have this specific issue?

Configuring incomplete, errors occurred!
See also "/home/adeye/AD-EYE_Core/AD-EYE/ROS_Packages/build/CMakeFiles/CMakeOutput.log".
See also "/home/adeye/AD-EYE_Core/AD-EYE/ROS_Packages/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

How do I fix it?

The bashrc file was not properly sourced, in fact, when sourcing the environment variables of the ROS installation, it was deleting the source of the autoware workspace:

# source ROS environment variables
source /opt/ros/kinetic/setup.bash

# source autoware workspace
source /home/adeye/AD-EYE_Core/autoware.ai/install/setup.bash --extend

# source AD-EYE workspace
source $HOME/AD-EYE_Core/AD-EYE/ROS_Packages/devel/setup.bash --extend

NOTE: -- extend makes sure that the environment variables from the previous source are not overwritten / deleted (if they come from 2 different workspaces. Check this explanation: Ros commands no longer working after source catkin_ws/devel/setup.bash - ROS Answers: Open Source Q&A Forum )

What are the symptoms ?

Failed to install ndt_cpu & pcl_omp_registration packages (due to wrong link of libEGL & libGL)

How to know if I have this specific issue?

After building autoware with the following command on freshly set-up desktop:

AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

Failed `  <<< ndt_cpu [3.06s, exited with code 1]`
--- stderr: ndt_cpu                                                                                                                                                                              
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
CMake Error at /usr/lib/x86_64-linux-gnu/cmake/Qt5Gui/Qt5GuiConfig.cmake:27 (message):
  The imported target "Qt5::Gui" references the file

Failed  ` <<< pcl_omp_registration [3.05s, exited with code 1]`
--- stderr: pcl_omp_registration
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
CMake Error at /usr/lib/x86_64-linux-gnu/cmake/Qt5Gui/Qt5GuiConfig.cmake:27 (message):

How do I fix it?

• The error prompt says that files libEGL.so and libGL.so are not found. However, if one runs the commands: ls -la | grep libEGL ls -la | grep libGL both files are in the system, but linked to the mesa library (which is part of OpenGL). This link has to be removed and remade to the correct .so file (with the correct version):

1. remove link sudo rm libEGL.so sudo rm libGL.so
2. create new link (with correct version of the files - one can see that all references of libEGL and libGL point to the libGL.so.1.1.0 and libGL.so.1.7.0, respectively): sudo ln -s libEGL.so.1.1.0 libEGL.so sudo ln -s libGL.so.1.7.0 libGL.so

What are the symptoms ?

After resetting the computer and installing AD-EYE, the following error prompt is shown when running the W01 Base world

How to know if I have this specific issue?

adeye@adeye:~$ roslaunch adeye manager_simulation.launch

(...)

[INFO] [1660570205.560096, 0.000000]: /manager: Started feature - Map
[pcl::PCDReader::readHeader] No points to read
load failed /home/adeye/AD-EYE_Core/AD-EYE/ROS_Packages/src/AD-EYE/../../../../AD-EYE/Experiments/W01_Base_World/Pointcloud_Files/pcd10355871.pcd

[pcl::PCDReader::readHeader] No points to read
load failed /home/adeye/AD-EYE_Core/AD-EYE/ROS_Packages/src/AD-EYE/../../../../AD-EYE/Experiments/W01_Base_World/Pointcloud_Files/pcd10544217.pcd
... logging to /home/adeye/.ros/log/5ed23f5e-1c9e-11ed-8d03-a4bb6d5b8d96/roslaunch-adeye-29334.log
started roslaunch server http://adeye:33367/

(...)

How do I fix it?

Do git pull . If any .pcd files are missing, fetch them by doing git lfs pull in the AD-EYE Core repository Some of the PCD files stored on the git large file storage are not fetched when you call only git pull. This is because git lfs is not installed on Ubuntu by default.

What are the symptoms ?

The pip error prompt is as follows:

How to know if I have this specific issue?

Error processing line 1 of /home/adeye/.local/lib/python3.5/site-packages/distutils-precedence.pth:

  Traceback (most recent call last):
    File "/usr/lib/python3.5/site.py", line 173, in addpackage
      exec(line)
    File "<string>", line 1, in <module>
    File "/home/adeye/.local/lib/python3.5/site-packages/_distutils_hack/__init__.py", line 194
      f'spec_for_{name}',
                       ^
  SyntaxError: invalid syntax

Remainder of file ignored
Traceback (most recent call last):
  File "/home/adeye/.local/bin/pip3", line 5, in <module>
    from pip._internal.cli.main import main
  File "/home/adeye/.local/lib/python3.5/site-packages/pip/_internal/cli/main.py", line 57
    sys.stderr.write(f"ERROR: {exc}")

How do I fix it?

1. Remove all traces of pip and pip3 from the system:

• sudo apt-get --purge autoremove python-pip
• sudo apt-get --purge autoremove python3-pip
• check with ubuntu commands whereis and which if there are alternative binaries/locations where the command pip or pip3 is called and remove all of them. For us, we had to remove the following path, because every time we typed pip3.5 or even 3.5, it would reproduce an error with the following prompt:

Error processing line 1 of /home/adeye/.local/lib/python3.5/site-packages/distutils-precedence.pth: Therefore, we also removed the site-packages folder from the path /home/adeye/.local/lib/python3.5/ (or similar).

2. Install pip through the for both python 2 and python 3:

• sudo curl -fsSL https://bootstrap.pypa.io/pip/2.7/get-pip.py | sudo python
• sudo curl -fsSL https://bootstrap.pypa.io/pip/3.5/get-pip.py | sudo python3

With this, one has a pip version of 20.3.4 for python2 and also for python 3 (with pip3).`

What are the symptoms ?

Can block some of the communication channels on Windows, in particular, the port 3389 (a remote desktop protocol default port).

How to know if I have this specific issue?

After using the ping on both Ubuntu and Windows, realized that Windows VM (guest) is able to communicate with the host (Ubuntu), but not the other way around.

How do I fix it?

Disable windows Firewall

Also,there is another solution on the Wiki with IP tables.

What are the symptoms ?

PX2 - Autoware fails to build due to autoware_bag_tools object_map package

How to know if I have this specific issue?

Starting >>> op_simu
--- stderr: object_map
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
  Could not find a package configuration file provided by "grid_map_ros" with
  any of the following names:

    grid_map_rosConfig.cmake
    grid_map_ros-config.cmake

Failed   <<< object_map [9.72s, exited with code 1]

--- stderr: autoware_bag_tools
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
  Could not find a package configuration file provided by "nmea_msgs" with
  any of the following names:

    nmea_msgsConfig.cmake
    nmea_msgs-config.cmake

Failed   <<< autoware_bag_tools [9.69s, exited with code 1]

How do I fix it?

First solution tried was to install ros-kinetic-jsk-rviz-plugins but it did was not possible, because it has unmet dependencies.

Most of the ros packages were not correctly installed when using the command sudo apt-get install ros-kinetic-desktop-full. This happens because thelibssl-dev library was not downgraded to the required version. The instructions are actually stated in the Wiki.

Now it should be solved, since the package ros-kinetic-jsk-rviz-plugins was still missing. So it was installed via sudo apt-get install ros-kinetic-jsk-rviz-plugins

What are the symptoms ?

PX2 ‐ Fails to load pcd files from W01_Base_World after running simulation launch file

How to know if I have this specific issue?

adeye@tegra-ubuntu:~/AD-EYE_Core$ roslaunch adeye manager_simulation.launch
... logging to /home/adeye/.ros/log/35fef9fa-abb9-11ed-9c32-00044bc46fae/roslaunch-tegra-ubuntu-9176.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://tegra-ubuntu:43475/


ROS_MASTER_URI=http://localhost:11311
process[world_to_map-1]: started with pid [9277]
process[points_map_loader-2]: started with pid [9278]
process[config_voxel_grid_filter_rostopic-3]: started with pid [9296]
process[map_voxel_grid_filter-4]: started with pid [9297]
process[vector_map_loader-5]: started with pid [9298]
[INFO] [1676304756.167730, 0.000000]: /manager: Started feature - Map
[pcl::PCDReader::readHeader] No points to read
load failed /home/adeye/AD-EYE_Core/AD-EYE/ROS_Packages/src/AD-EYE/../../../../AD-EYE/Experiments/W01_Base_World/Pointcloud_Files/pcd10530109.pcd

How do I fix it?

Follow the steps bellow:

1. Download git lfs from here: https://github.com/git-lfs/git-lfs/releases for arm64 architecture
2. tar -xf git-lfs-linux-arm64-vx.x.x.tar.gz 3. cd git-lfs-vx.x.x
3. sudo ./install.sh
4. Go go the AD-EYE_Core repo
5. git lfs install
6. git lfs pull (you might need to introduce the github credentials)

What are the symptoms ?

PX2 ‐ Autoware fails to build due to autoware_bag_tools object_map package

How to know if I have this specific issue?

Starting >>> op_simu
--- stderr: object_map
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
  Could not find a package configuration file provided by "grid_map_ros" with
  any of the following names:

    grid_map_rosConfig.cmake
    grid_map_ros-config.cmake

Failed   <<< object_map [9.72s, exited with code 1]
--- stderr: autoware_bag_tools
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
  Could not find a package configuration file provided by "nmea_msgs" with
  any of the following names:

    nmea_msgsConfig.cmake
    nmea_msgs-config.cmake

Failed   <<< autoware_bag_tools [9.69s, exited with code 1]

How do I fix it?

The following command was executed: sudo apt-get -y install ros-kinetic-costmap-2d ros-kinetic-navigation ros-kinetic-grid-map which installs the required ros packages mentioned in the error statement. End up doing sudo apt-get install ros-kinetic-nmea-msgs, which is the dependency missing. The grid-map package was installed with the previous command.

What are the symptoms ?

PX2 ‐ Autoware fails to build due to points_downsamplerpackage

How to know if I have this specific issue?

Starting >>> obj_db
--- stderr: mqtt_socket
'libmosquitto-dev' is not installed. 'mqtt_sender' and 'mqtt_receiver' will not be built.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by
  "velodyne_pointcloud" with any of the following names:

    velodyne_pointcloudConfig.cmake
    velodyne_pointcloud-config.cmake

How do I fix it?

The package velodyne-pointcloud was missing. This was installed via sudo apt-get -y install ros-kinetic-velodyne-pointcloud

What are the symptoms ?

PX2 ‐ ssdCaffe make runtestfail

How to know if I have this specific issue?

[ RUN      ] CPUBBoxUtilTest.TestMatchBBoxLableAllPerPrediction
[       OK ] CPUBBoxUtilTest.TestMatchBBoxLableAllPerPrediction (0 ms)
[ RUN      ] CPUBBoxUtilTest.TestOutputBBox
F0209 03:07:51.534565 17816 test_bbox_util.cpp:279] Check failed: out_bbox.xmax() == 50. (50 vs. 50)
*** Check failure stack trace: ***
    @       0x7f7c3c3718  google::LogMessage::Fail()
    @       0x7f7c3c5614  google::LogMessage::SendToLog()

Makefile:526: recipe for target 'runtest' failed
make: *** [runtest] Aborted (core dumped)

How do I fix it?

The corrected Makefiles are in /AD-EYE_Core/Helper_Scripts/DRIVE PX2/installation . One can copy from there and use them to build SSDCaffe.

What are the symptoms?

No Internet connection. ip addr shows only loop device:

1: lo: <LOOPBACK,UP,LOWER_UP> mtu 65536 qdisc noqueue state UNKNOWN group default qlen 1000
    link/loopback 00:00:00:00:00:00 brd 00:00:00:00:00:00
    inet 127.0.0.1/8 scope host lo
       valid_lft forever preferred_lft forever
    inet6 ::1/128 scope host 
       valid_lft forever preferred_lft forever

lspci -v doesn't show Kernel driver in use: line for Ethernet controller

Reason

Ethernet controller is too new and is not supported in your version of Linux kernel.

How do I fix it?

Find out in which version of kernel support for the device is added. Download it from kernel.org build and install. You also might be needed to update package with firmware. Download it from Ubuntu server:

wget http://archive.ubuntu.com/ubuntu/pool/main/l/linux-firmware/linux-firmware_1.187.39_all.deb

and install with

dpkg -i linux-firmware_1.187.39_all.deb

What are the symptoms?

$> AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

usage: colcon [-h] [--log-base LOG_BASE] [--log-level LOG_LEVEL]
              {build,extension-points,extensions,graph,info,list,metadata,test,test-result,version-check}
              ...
colcon: error: unrecognized arguments: --cmake-args -DCMAKE_BUILD_TYPE=Release

Reason

Extension for colcon to support CMake packages is not installed

How do I fix it?

$> sudo apt install python3-colcon-cmake

If you have a issue that is probably listed somewhere on the wiki but you cannot find where use the one page wiki. It is a concatenation of all the other pages to allow easy search using ctrl-f. Once you find the interesting part, the preceding underlined text indicates which pages it comes from.

Visual C++ Runtime Library: Runtime Error

Installation of Autoware: Bugs and how to fix them

Many of the issues encountered on Ubuntu connected to the drivers are listed here