The Autoware Foundation
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I use docker(devel) to launch autoware,and i faced this problem. |
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Same error |
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Check whether the map_path is correctly pointing to a valid map file:
Ensure that the specified path contains necessary map data such as lanelet2 map and pointcloud_map. |
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root@q-B460MD2V:~# source ~/autoware/install/setup.bash
ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
not found: "/root/autoware/install/tensorrt_common/share/tensorrt_common/local_setup.bash"
not found: "/root/autoware/install/autoware_tensorrt_classifier/share/autoware_tensorrt_classifier/local_setup.bash"
[INFO] [launch]: All log files can be found below /root/.ros/log/2024-10-13-14-21-49-304536-q-B460MD2V-252446
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): executable 'map_hash_generator' not found on the libexec directory '/root/autoware/install/map_loader/lib/map_loader'
Future exception was never retrieved
future: <Future finished exception=InvalidHandle('cannot use Destroyable because destruction was requested')>
Traceback (most recent call last):
File "/usr/lib/python3.10/concurrent/futures/thread.py", line 58, in run
result = self.fn(*self.args, **self.kwargs)
File "/opt/ros/humble/lib/python3.10/site-packages/launch_ros/actions/load_composable_nodes.py", line 197, in _load_in_sequence
self._load_node(next_load_node_request, context)
File "/opt/ros/humble/lib/python3.10/site-packages/launch_ros/actions/load_composable_nodes.py", line 119, in _load_node
while not self.__rclpy_load_node_client.wait_for_service(timeout_sec=1.0):
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/client.py", line 176, in wait_for_service
while self.context.ok() and not self.service_is_ready() and timeout_sec > 0.0:
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/client.py", line 159, in service_is_ready
with self.handle:
rclpy._rclpy_pybind11.InvalidHandle: cannot use Destroyable because destruction was requested
Future exception was never retrieved
future: <Future finished exception=InvalidHandle('cannot use Destroyable because destruction was requested')>
Traceback (most recent call last):
File "/usr/lib/python3.10/concurrent/futures/thread.py", line 58, in run
result = self.fn(*self.args, **self.kwargs)
File "/opt/ros/humble/lib/python3.10/site-packages/launch_ros/actions/load_composable_nodes.py", line 197, in _load_in_sequence
self._load_node(next_load_node_request, context)
File "/opt/ros/humble/lib/python3.10/site-packages/launch_ros/actions/load_composable_nodes.py", line 119, in _load_node
while not self.__rclpy_load_node_client.wait_for_service(timeout_sec=1.0):
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/client.py", line 176, in wait_for_service
while self.context.ok() and not self.service_is_ready() and timeout_sec > 0.0:
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/client.py", line 159, in service_is_ready
with self.handle:
rclpy._rclpy_pybind11.InvalidHandle: cannot use Destroyable because destruction was requested
Future exception was never retrieved
future: <Future finished exception=InvalidHandle('cannot use Destroyable because destruction was requested')>
Traceback (most recent call last):
File "/usr/lib/python3.10/concurrent/futures/thread.py", line 58, in run
result = self.fn(*self.args, **self.kwargs)
File "/opt/ros/humble/lib/python3.10/site-packages/launch_ros/actions/load_composable_nodes.py", line 197, in _load_in_sequence
self._load_node(next_load_node_request, context)
File "/opt/ros/humble/lib/python3.10/site-packages/launch_ros/actions/load_composable_nodes.py", line 119, in _load_node
while not self.__rclpy_load_node_client.wait_for_service(timeout_sec=1.0):
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/client.py", line 176, in wait_for_service
while self.context.ok() and not self.service_is_ready() and timeout_sec > 0.0:
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/client.py", line 159, in service_is_ready
with self.handle:
rclpy._rclpy_pybind11.InvalidHandle: cannot use Destroyable because destruction was requested
[INFO] [component_container_mt-1]: process started with pid [252463]
[INFO] [robot_state_publisher-2]: process started with pid [252465]
[INFO] [duplicated_node_checker_node-3]: process started with pid [252467]
[INFO] [processing_time_checker_node-4]: process started with pid [252469]
[INFO] [service_log_checker_node-5]: process started with pid [252471]
[INFO] [component_container-6]: process started with pid [252473]
[INFO] [topic_state_monitor_node-7]: process started with pid [252475]
[INFO] [topic_state_monitor_node-8]: process started with pid [252477]
[INFO] [topic_state_monitor_node-9]: process started with pid [252479]
[INFO] [topic_state_monitor_node-10]: process started with pid [252481]
[INFO] [topic_state_monitor_node-11]: process started with pid [252483]
[INFO] [topic_state_monitor_node-12]: process started with pid [252485]
[INFO] [topic_state_monitor_node-13]: process started with pid [252487]
[INFO] [topic_state_monitor_node-14]: process started with pid [252489]
[INFO] [topic_state_monitor_node-15]: process started with pid [252491]
[INFO] [topic_state_monitor_node-16]: process started with pid [252493]
[INFO] [topic_state_monitor_node-17]: process started with pid [252507]
[INFO] [component_container-18]: process started with pid [252638]
[INFO] [component_container-19]: process started with pid [252649]
[INFO] [aggregator_node-20]: process started with pid [252651]
[INFO] [component_state_diagnostics-21]: process started with pid [252653]
[INFO] [converter-22]: process started with pid [252655]
[INFO] [mrm_handler_node-23]: process started with pid [252657]
[INFO] [component_container_mt-24]: process started with pid [252678]
[component_container_mt-1] [INFO] [1728829325.382430071] [pointcloud_container]: Load Library: /root/autoware/install/glog_component/lib/libglog_component.so
[component_container_mt-1] [INFO] [1728829325.396448762] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container_mt-1] [INFO] [1728829325.396522400] [pointcloud_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate
[robot_state_publisher-2] [INFO] [1728829325.351030139] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1728829325.351125658] [robot_state_publisher]: got segment camera0/camera_link
[robot_state_publisher-2] [INFO] [1728829325.351138857] [robot_state_publisher]: got segment camera0/camera_optical_link
[robot_state_publisher-2] [INFO] [1728829325.351146745] [robot_state_publisher]: got segment camera1/camera_link
[robot_state_publisher-2] [INFO] [1728829325.351153394] [robot_state_publisher]: got segment camera1/camera_optical_link
[robot_state_publisher-2] [INFO] [1728829325.351159949] [robot_state_publisher]: got segment camera2/camera_link
[robot_state_publisher-2] [INFO] [1728829325.351166609] [robot_state_publisher]: got segment camera2/camera_optical_link
[robot_state_publisher-2] [INFO] [1728829325.351173448] [robot_state_publisher]: got segment camera3/camera_link
[robot_state_publisher-2] [INFO] [1728829325.351180216] [robot_state_publisher]: got segment camera3/camera_optical_link
[robot_state_publisher-2] [INFO] [1728829325.351186941] [robot_state_publisher]: got segment camera4/camera_link
[robot_state_publisher-2] [INFO] [1728829325.351193888] [robot_state_publisher]: got segment camera4/camera_optical_link
[robot_state_publisher-2] [INFO] [1728829325.351200500] [robot_state_publisher]: got segment camera5/camera_link
[robot_state_publisher-2] [INFO] [1728829325.351207242] [robot_state_publisher]: got segment camera5/camera_optical_link
[robot_state_publisher-2] [INFO] [1728829325.351213901] [robot_state_publisher]: got segment gnss_link
[robot_state_publisher-2] [INFO] [1728829325.351220491] [robot_state_publisher]: got segment sensor_kit_base_link
[robot_state_publisher-2] [INFO] [1728829325.351227375] [robot_state_publisher]: got segment tamagawa/imu_link
[robot_state_publisher-2] [INFO] [1728829325.351234305] [robot_state_publisher]: got segment traffic_light_left_camera/camera_link
[robot_state_publisher-2] [INFO] [1728829325.351241491] [robot_state_publisher]: got segment traffic_light_left_camera/camera_optical_link
[robot_state_publisher-2] [INFO] [1728829325.351248352] [robot_state_publisher]: got segment traffic_light_right_camera/camera_link
[robot_state_publisher-2] [INFO] [1728829325.351255446] [robot_state_publisher]: got segment traffic_light_right_camera/camera_optical_link
[robot_state_publisher-2] [INFO] [1728829325.351262158] [robot_state_publisher]: got segment velodyne_left
[robot_state_publisher-2] [INFO] [1728829325.351268934] [robot_state_publisher]: got segment velodyne_left_base_link
[robot_state_publisher-2] [INFO] [1728829325.351275604] [robot_state_publisher]: got segment velodyne_rear
[robot_state_publisher-2] [INFO] [1728829325.351282351] [robot_state_publisher]: got segment velodyne_rear_base_link
[robot_state_publisher-2] [INFO] [1728829325.351289129] [robot_state_publisher]: got segment velodyne_right
[robot_state_publisher-2] [INFO] [1728829325.351295891] [robot_state_publisher]: got segment velodyne_right_base_link
[robot_state_publisher-2] [INFO] [1728829325.351302891] [robot_state_publisher]: got segment velodyne_top
[robot_state_publisher-2] [INFO] [1728829325.351309715] [robot_state_publisher]: got segment velodyne_top_base_link
[component_container-6] [INFO] [1728829325.350240299] [system.component_state_monitor.container]: Load Library: /root/autoware/install/component_state_monitor/lib/libcomponent_state_monitor.so
[component_container-6] [INFO] [1728829325.351690711] [system.component_state_monitor.container]: Found class: rclcpp_components::NodeFactoryTemplate<component_state_monitor::StateMonitor>
[component_container-6] [INFO] [1728829325.351715704] [system.component_state_monitor.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<component_state_monitor::StateMonitor>
[topic_state_monitor_node-7] [INFO] [1728829325.407198488] [system.topic_state_monitor_vector_map]: /map/vector_map has not received. Set ERROR in diagnostics.
[topic_state_monitor_node-8] [INFO] [1728829325.395474919] [system.topic_state_monitor_initialpose3d]: /initialpose3d has not received. Set ERROR in diagnostics.
[topic_state_monitor_node-9] [INFO] [1728829325.403198809] [system.topic_state_monitor_object_recognition_objects]: /perception/object_recognition/objects has not received. Set ERROR in diagnostics.
[topic_state_monitor_node-10] [INFO] [1728829325.401736255] [system.topic_state_monitor_mission_planning_route]: /planning/mission_planning/route has not received. Set ERROR in diagnostics.
[topic_state_monitor_node-11] [INFO] [1728829325.398068620] [system.topic_state_monitor_scenario_planning_trajectory]: /planning/scenario_planning/trajectory has not received. Set ERROR in diagnostics.
[topic_state_monitor_node-12] [INFO] [1728829325.420382956] [system.topic_state_monitor_trajectory_follower_control_cmd]: /control/trajectory_follower/control_cmd has not received. Set ERROR in diagnostics.
[topic_state_monitor_node-13] [INFO] [1728829325.400941967] [system.topic_state_monitor_control_command_control_cmd]: /control/command/control_cmd has not received. Set ERROR in diagnostics.
[topic_state_monitor_node-14] [INFO] [1728829325.403568479] [system.topic_state_monitor_vehicle_status_velocity_status]: /vehicle/status/velocity_status has not received. Set ERROR in diagnostics.
[topic_state_monitor_node-15] [INFO] [1728829325.419039405] [system.topic_state_monitor_vehicle_status_steering_status]: /vehicle/status/steering_status has not received. Set ERROR in diagnostics.
[topic_state_monitor_node-16] [INFO] [1728829325.459228443] [system.topic_state_monitor_system_emergency_control_cmd]: /system/emergency/control_cmd has not received. Set ERROR in diagnostics.
[topic_state_monitor_node-17] [INFO] [1728829325.451010724] [system.topic_state_monitor_transform_map_to_base_link]: /tf has not received. Set ERROR in diagnostics.
[INFO] [component_container_mt-1]: sending signal 'SIGINT' to process[component_container_mt-1]
[INFO] [robot_state_publisher-2]: sending signal 'SIGINT' to process[robot_state_publisher-2]
[INFO] [duplicated_node_checker_node-3]: sending signal 'SIGINT' to process[duplicated_node_checker_node-3]
[INFO] [processing_time_checker_node-4]: sending signal 'SIGINT' to process[processing_time_checker_node-4]
[INFO] [service_log_checker_node-5]: sending signal 'SIGINT' to process[service_log_checker_node-5]
[INFO] [component_container-6]: sending signal 'SIGINT' to process[component_container-6]
[INFO] [topic_state_monitor_node-7]: sending signal 'SIGINT' to process[topic_state_monitor_node-7]
[INFO] [topic_state_monitor_node-8]: sending signal 'SIGINT' to process[topic_state_monitor_node-8]
[INFO] [topic_state_monitor_node-9]: sending signal 'SIGINT' to process[topic_state_monitor_node-9]
[INFO] [topic_state_monitor_node-10]: sending signal 'SIGINT' to process[topic_state_monitor_node-10]
[INFO] [topic_state_monitor_node-11]: sending signal 'SIGINT' to process[topic_state_monitor_node-11]
[INFO] [topic_state_monitor_node-12]: sending signal 'SIGINT' to process[topic_state_monitor_node-12]
[INFO] [topic_state_monitor_node-13]: sending signal 'SIGINT' to process[topic_state_monitor_node-13]
[INFO] [topic_state_monitor_node-14]: sending signal 'SIGINT' to process[topic_state_monitor_node-14]
[INFO] [topic_state_monitor_node-15]: sending signal 'SIGINT' to process[topic_state_monitor_node-15]
[INFO] [topic_state_monitor_node-16]: sending signal 'SIGINT' to process[topic_state_monitor_node-16]
[INFO] [topic_state_monitor_node-17]: sending signal 'SIGINT' to process[topic_state_monitor_node-17]
[INFO] [component_container-18]: sending signal 'SIGINT' to process[component_container-18]
[INFO] [component_container-19]: sending signal 'SIGINT' to process[component_container-19]
[INFO] [aggregator_node-20]: sending signal 'SIGINT' to process[aggregator_node-20]
[INFO] [component_state_diagnostics-21]: sending signal 'SIGINT' to process[component_state_diagnostics-21]
[INFO] [converter-22]: sending signal 'SIGINT' to process[converter-22]
[INFO] [mrm_handler_node-23]: sending signal 'SIGINT' to process[mrm_handler_node-23]
[INFO] [component_container_mt-24]: sending signal 'SIGINT' to process[component_container_mt-24]
[mrm_handler_node-23] [INFO] [1728829325.549953098] [system.mrm_handler]: waiting for operation_mode_availability msg...
[component_container_mt-1] [INFO] [1728829325.557838894] [rclcpp]: signal_handler(signum=2)
[robot_state_publisher-2] [INFO] [1728829325.561170044] [rclcpp]: signal_handler(signum=2)
[duplicated_node_checker_node-3] [INFO] [1728829325.565478246] [rclcpp]: signal_handler(signum=2)
[processing_time_checker_node-4] [INFO] [1728829325.570948435] [rclcpp]: signal_handler(signum=2)
[service_log_checker_node-5] [INFO] [1728829325.574103941] [rclcpp]: signal_handler(signum=2)
[component_container-6] [INFO] [1728829325.577540765] [rclcpp]: signal_handler(signum=2)
[topic_state_monitor_node-7] [INFO] [1728829325.580928139] [rclcpp]: signal_handler(signum=2)
[topic_state_monitor_node-8] [INFO] [1728829325.584220427] [rclcpp]: signal_handler(signum=2)
[topic_state_monitor_node-9] [INFO] [1728829325.587703017] [rclcpp]: signal_handler(signum=2)
[topic_state_monitor_node-10] [INFO] [1728829325.590962016] [rclcpp]: signal_handler(signum=2)
[topic_state_monitor_node-11] [INFO] [1728829325.596235740] [rclcpp]: signal_handler(signum=2)
[topic_state_monitor_node-12] [INFO] [1728829325.602706655] [rclcpp]: signal_handler(signum=2)
[topic_state_monitor_node-13] [INFO] [1728829325.606591679] [rclcpp]: signal_handler(signum=2)
[topic_state_monitor_node-14] [INFO] [1728829325.610596531] [rclcpp]: signal_handler(signum=2)
[topic_state_monitor_node-15] [INFO] [1728829325.614385094] [rclcpp]: signal_handler(signum=2)
[topic_state_monitor_node-16] [INFO] [1728829325.617518963] [rclcpp]: signal_handler(signum=2)
[topic_state_monitor_node-17] [INFO] [1728829325.620900144] [rclcpp]: signal_handler(signum=2)
[component_container-18] [INFO] [1728829325.626932887] [rclcpp]: signal_handler(signum=2)
[component_container-19] [INFO] [1728829325.633516083] [rclcpp]: signal_handler(signum=2)
[aggregator_node-20] [INFO] [1728829325.639734167] [rclcpp]: signal_handler(signum=2)
[component_state_diagnostics-21] Traceback (most recent call last):
[component_state_diagnostics-21] File "/root/autoware/install/system_diagnostic_monitor/lib/system_diagnostic_monitor/component_state_diagnostics", line 21, in
[component_state_diagnostics-21] import rclpy
[component_state_diagnostics-21] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/init.py", line 48, in
[component_state_diagnostics-21] from rclpy.parameter import Parameter
[component_state_diagnostics-21] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/parameter.py", line 18, in
[component_state_diagnostics-21] from rcl_interfaces.msg import Parameter as ParameterMsg
[component_state_diagnostics-21] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rcl_interfaces/msg/init.py", line 7, in
[component_state_diagnostics-21] from rcl_interfaces.msg._parameter_event import ParameterEvent # noqa: F401
[component_state_diagnostics-21] File "", line 1027, in _find_and_load
[component_state_diagnostics-21] File "", line 1002, in _find_and_load_unlocked
[component_state_diagnostics-21] File "", line 945, in _find_spec
[component_state_diagnostics-21] File "", line 1439, in find_spec
[component_state_diagnostics-21] File "", line 1411, in _get_spec
[component_state_diagnostics-21] File "", line 1578, in find_spec
[component_state_diagnostics-21] KeyboardInterrupt
[converter-22] [INFO] [1728829325.647091013] [rclcpp]: signal_handler(signum=2)
[mrm_handler_node-23] [INFO] [1728829325.649965012] [system.mrm_handler]: waiting for mrm emergency stop to become available...
[mrm_handler_node-23] [INFO] [1728829325.651274951] [rclcpp]: signal_handler(signum=2)
[component_container_mt-24] [INFO] [1728829325.656471745] [rclcpp]: signal_handler(signum=2)
[ERROR] [component_state_diagnostics-21]: process has died [pid 252653, exit code -2, cmd '/root/autoware/install/system_diagnostic_monitor/lib/system_diagnostic_monitor/component_state_diagnostics --ros-args -r __node:=component_state_diagnostics -r __ns:=/system -p use_sim_time:=False -p wheel_radius:=0.383 -p wheel_width:=0.235 -p wheel_base:=2.79 -p wheel_tread:=1.64 -p front_overhang:=1.0 -p rear_overhang:=1.1 -p left_overhang:=0.128 -p right_overhang:=0.128 -p vehicle_height:=2.5 -p max_steer_angle:=0.7'].
[INFO] [topic_state_monitor_node-11]: process has finished cleanly [pid 252483]
[INFO] [topic_state_monitor_node-16]: process has finished cleanly [pid 252493]
[INFO] [topic_state_monitor_node-13]: process has finished cleanly [pid 252487]
[INFO] [component_container-18]: process has finished cleanly [pid 252638]
[INFO] [duplicated_node_checker_node-3]: process has finished cleanly [pid 252467]
[INFO] [service_log_checker_node-5]: process has finished cleanly [pid 252471]
[INFO] [topic_state_monitor_node-7]: process has finished cleanly [pid 252475]
[INFO] [topic_state_monitor_node-10]: process has finished cleanly [pid 252481]
[INFO] [component_container-6]: process has finished cleanly [pid 252473]
[INFO] [component_container_mt-1]: process has finished cleanly [pid 252463]
[INFO] [robot_state_publisher-2]: process has finished cleanly [pid 252465]
[INFO] [topic_state_monitor_node-14]: process has finished cleanly [pid 252489]
[INFO] [processing_time_checker_node-4]: process has finished cleanly [pid 252469]
[INFO] [topic_state_monitor_node-8]: process has finished cleanly [pid 252477]
[INFO] [topic_state_monitor_node-9]: process has finished cleanly [pid 252479]
[INFO] [topic_state_monitor_node-12]: process has finished cleanly [pid 252485]
[INFO] [topic_state_monitor_node-15]: process has finished cleanly [pid 252491]
[INFO] [component_container-19]: process has finished cleanly [pid 252649]
[INFO] [topic_state_monitor_node-17]: process has finished cleanly [pid 252507]
[INFO] [aggregator_node-20]: process has finished cleanly [pid 252651]
[INFO] [converter-22]: process has finished cleanly [pid 252655]
[INFO] [mrm_handler_node-23]: process has finished cleanly [pid 252657]
[INFO] [component_container_mt-24]: process has finished cleanly [pid 252678]
[WARNING] [launch_ros.actions.load_composable_nodes]: Abandoning wait for the '/system/component_state_monitor/container/_container/load_node' service response, due to shutdown.
[WARNING] [launch_ros.actions.load_composable_nodes]: Abandoning wait for the '/pointcloud_container/_container/load_node' service response, due to shutdown.
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