fatal error: component_interface_utils/rclcpp.hpp does not exist

[xcg340122]

Hello, recently I was learning autoware.universe. I followed the tutorial and got an error when compiling autoware_iv_external_api_adaptor

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Error message:fatal error: component_interface_utils/rclcpp.hpp does not exist

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When I update with 'rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO', the following message appears:

[NickYang-Turing]

Do you setup your environment by "./setup-dev-env.sh"? Besides, to make sure that you have download every repository by:
vcs import src < autoware.repos

Make sure you have sourced as bellow showing:

source /opt/ros/humble/setup.bash
# Make sure all previously installed ros-$ROS_DISTRO-* packages are upgraded to their latest version
sudo apt update && sudo apt upgrade
rosdep update
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO 

[xcg340122]

Hi, I switched to docker and still have some questions

[liuXinGangChina]

你好，春贵 @xcg340122

我看你是php300的维护者，那么你应该对docker不陌生吧，作为autoware的资深开发者，我推荐你使用 AWF的官方docker来编译和运行autoware，这将会极大的节省你的开发时间，请follow这个链接

Taking the fact that you are the maintainer of project php300， i assume that you are well familiar with docker usage， i suggest you try using AWF‘s official docker to compile and run the code，it will save you a lot of time

happy hacking！

欢迎加入 Autoware大家庭

心刚

[xcg340122]

When I tried to launch in the container, I downloaded the map and data in docker, due to the path problem, I tried:

sudo ln -s /workspace ~/autoware`
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

The result is an infinite refresh error:

[component_container_mt-35] [ERROR] [1731682458.371403182] [planning.scenario_planning.parking.costmap_generator]: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[component_container_mt-35] [ERROR] [1731682458.471267312] [planning.scenario_planning.parking.costmap_generator]: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[component_container_mt-35] [ERROR] [1731682458.571292909] [planning.scenario_planning.parking.costmap_generator]: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[component_container_mt-35] [ERROR] [1731682458.671303784] [planning.scenario_planning.parking.costmap_generator]: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[component_container_mt-35] [ERROR] [1731682458.771211131] [planning.scenario_planning.parking.costmap_generator]: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[component_container_mt-35] [ERROR] [1731682458.871079966] [planning.scenario_planning.parking.costmap_generator]: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[component_container_mt-35] [ERROR] [1731682458.971047899] [planning.scenario_planning.parking.costmap_generator]: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[component_container_mt-35] [ERROR] [1731682459.071058878] [planning.scenario_planning.parking.costmap_generator]: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.

Directory structure:

bylike@bylike-G3-3590:~/autoware$ ls ~
autoware  autoware_data  autoware_map

bylike@bylike-G3-3590:~/autoware$ ls
CODE_OF_CONDUCT.md  README.md                         build             simulator.repos
CONTRIBUTING.md     amd64.env                         docker            src
CPPLINT.cfg         ansible                           install           tools.repos
DISCLAIMER.md       ansible-galaxy-requirements.yaml  log
LICENSE             arm64.env                         setup-dev-env.sh
NOTICE              autoware.repos                    setup.cfg

bylike@bylike-G3-3590:~/autoware_data$ ls ~/autoware_data/
image_projection_based_fusion       lidar_transfusion         traffic_light_fine_detector
lidar_apollo_instance_segmentation  tensorrt_yolox            yabloc_pose_initializer
lidar_centerpoint                   traffic_light_classifier

bylike@bylike-G3-3590:~/autoware_data$ ls ~/autoware_map/sample-map-planning
lanelet2_map.osm  map_config.yaml  map_projector_info.yaml  pointcloud_map.pcd

[xcg340122]

It was recompiled again today

Log of the failed package:

Starting >>> hazard_status_converter
--- stderr: autoware_carla_interface                                                                                         
/usr/local/lib/python3.10/dist-packages/setuptools/command/easy_install.py:157: EasyInstallDeprecationWarning: easy_install command is deprecated. Use build and pip and other standards-based tools.
  warnings.warn(
---
Finished <<< autoware_carla_interface [4.62s]

Then I tried to run a planning simulation test:

root@bylike-G3-3590:/home/autoware# ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/home/maps/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_ki
[INFO] [launch]: All log files can be found below /root/.ros/log/2024-11-17-00-33-24-109004-bylike-G3-3590-469115
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): executed command failed. Command: xacro /home/autoware/install/tier4_vehicle_launch/share/tier4_vehicle_launch/urdf/vehicle.xacro vehicle_model:=sample_vehicle sensor_model:=sample_sensor_ki config_dir:=/home/autoware/install/individual_params/share/individual_params/config/default/sample_sensor_ki
Captured stderr output: error: package not found: "package 'sample_sensor_ki_description' not found, searching: ['/home/autoware/install/autoware_launch', '/home/autoware/install/tier4_localization_launch', '/home/autoware/install/yabloc_pose_initializer', '/home/autoware/install/yabloc_particle_filter', '/home/autoware/install/yabloc_monitor', '/home/autoware/install/yabloc_image_processing', '/home/autoware/install/yabloc_common', '/home/autoware/install/vls_description', '/home/autoware/install/single_lidar_sensor_kit_launch', '/home/autoware/install/single_lidar_common_launch', '/home/autoware/install/sample_sensor_kit_launch', '/home/autoware/install/awsim_sensor_kit_launch', '/home/autoware/install/awsim_labs_sensor_kit_launch', '/home/autoware/install/common_sensor_launch', '/home/autoware/install/common_awsim_labs_sensor_launch', '/home/autoware/install/velodyne_monitor', '/home/autoware/install/single_lidar_sensor_kit_description', '/home/autoware/install/sample_sensor_kit_description', '/home/autoware/install/awsim_sensor_kit_description', '/home/autoware/install/awsim_labs_sensor_kit_description', '/home/autoware/install/velodyne_description', '/home/autoware/install/vehicle_velocity_converter', '/home/autoware/install/vehicle_door_simulator', '/home/autoware/install/tier4_planning_launch', '/home/autoware/install/tier4_perception_launch', '/home/autoware/install/autoware_traffic_light_occlusion_predictor', '/home/autoware/install/autoware_static_centerline_generator', '/home/autoware/install/autoware_motion_velocity_out_of_lane_module', '/home/autoware/install/autoware_behavior_velocity_traffic_light_module', '/home/autoware/install/autoware_behavior_path_avoidance_by_lane_change_module', '/home/autoware/install/autoware_behavior_path_static_obstacle_avoidance_module', '/home/autoware/install/autoware_behavior_path_start_planner_module', '/home/autoware/install/autoware_behavior_path_side_shift_module', '/home/autoware/install/autoware_behavior_path_sampling_planner_module', '/home/autoware/install/autoware_behavior_path_external_request_lane_change_module', '/home/autoware/install/autoware_behavior_path_lane_change_module', '/home/autoware/install/autoware_behavior_path_goal_planner_module', '/home/autoware/install/autoware_behavior_path_dynamic_obstacle_avoidance_module', '/home/autoware/install/autoware_behavior_path_planner', '/home/autoware/install/autoware_behavior_path_planner_common', '/home/autoware/install/traffic_light_utils', '/home/autoware/install/traffic_light_recognition_marker_publisher', '/home/autoware/install/tier4_system_launch', '/home/autoware/install/component_state_monitor', '/home/autoware/install/topic_state_monitor', '/home/autoware/install/tier4_vehicle_rviz_plugin', '/home/autoware/install/tier4_simulator_launch', '/home/autoware/install/tier4_map_launch', '/home/autoware/install/tier4_control_launch', '/home/autoware/install/tier4_autoware_api_launch', '/home/autoware/install/awapi_awiv_adapter', '/home/autoware/install/autoware_iv_internal_api_adaptor', '/home/autoware/install/autoware_iv_external_api_adaptor', '/home/autoware/install/autoware_external_cmd_selector', '/home/autoware/install/tier4_auto_msgs_converter', '/home/autoware/install/simple_planning_simulator', '/home/autoware/install/predicted_path_checker', '/home/autoware/install/pacmod_interface', '/home/autoware/install/map_loader', '/home/autoware/install/autoware_motion_velocity_planner_node', '/home/autoware/install/autoware_motion_velocity_obstacle_velocity_limiter_module', '/home/autoware/install/autoware_motion_velocity_dynamic_obstacle_stop_module', '/home/autoware/install/autoware_motion_velocity_planner_common', '/home/autoware/install/autoware_behavior_velocity_walkway_module', '/home/autoware/install/autoware_behavior_velocity_virtual_traffic_light_module', '/home/autoware/install/autoware_behavior_velocity_template_module', '/home/autoware/install/autoware_behavior_velocity_stop_line_module', '/home/autoware/install/autoware_behavior_velocity_speed_bump_module', '/home/autoware/install/autoware_behavior_velocity_run_out_module', '/home/autoware/install/autoware_behavior_velocity_planner', '/home/autoware/install/autoware_behavior_velocity_occlusion_spot_module', '/home/autoware/install/autoware_behavior_velocity_no_stopping_area_module', '/home/autoware/install/autoware_behavior_velocity_no_drivable_lane_module', '/home/autoware/install/autoware_behavior_velocity_intersection_module', '/home/autoware/install/autoware_behavior_velocity_detection_area_module', '/home/autoware/install/autoware_behavior_velocity_crosswalk_module', '/home/autoware/install/autoware_behavior_velocity_blind_spot_module', '/home/autoware/install/autoware_behavior_velocity_planner_common', '/home/autoware/install/autoware_velocity_smoother', '/home/autoware/install/autoware_smart_mpc_trajectory_follower', '/home/autoware/install/autoware_vehicle_cmd_gate', '/home/autoware/install/autoware_traffic_light_arbiter', '/home/autoware/install/autoware_surround_obstacle_checker', '/home/autoware/install/autoware_scenario_selector', '/home/autoware/install/autoware_remaining_distance_time_calculator', '/home/autoware/install/autoware_planning_validator', '/home/autoware/install/autoware_path_smoother', '/home/autoware/install/autoware_path_optimizer', '/home/autoware/install/autoware_obstacle_stop_planner', '/home/autoware/install/autoware_obstacle_cruise_planner', '/home/autoware/install/autoware_freespace_planner', '/home/autoware/install/autoware_planning_test_manager', '/home/autoware/install/autoware_planning_evaluator', '/home/autoware/install/autoware_mission_planner', '/home/autoware/install/autoware_control_evaluator', '/home/autoware/install/autoware_route_handler', '/home/autoware/install/autoware_raindrop_cluster_filter', '/home/autoware/install/autoware_external_cmd_converter', '/home/autoware/install/autoware_detected_object_validation', '/home/autoware/install/autoware_costmap_generator', '/home/autoware/install/autoware_compare_map_segmentation', '/home/autoware/install/autoware_cluster_merger', '/home/autoware/install/autoware_autonomous_emergency_braking', '/home/autoware/install/autoware_test_utils', '/home/autoware/install/autoware_accel_brake_map_calibrator', '/home/autoware/install/autoware_raw_vehicle_cmd_converter', '/home/autoware/install/autoware_pose_initializer', '/home/autoware/install/autoware_operation_mode_transition_manager', '/home/autoware/install/autoware_map_projection_loader', '/home/autoware/install/autoware_gnss_poser', '/home/autoware/install/autoware_geo_pose_projector', '/home/autoware/install/autoware_default_adapi', '/home/autoware/install/autoware_component_interface_specs', '/home/autoware/install/autoware_carla_interface', '/home/autoware/install/tier4_vehicle_msgs', '/home/autoware/install/tier4_vehicle_launch', '/home/autoware/install/dummy_infrastructure', '/home/autoware/install/tier4_v2x_msgs', '/home/autoware/install/tier4_traffic_light_rviz_plugin', '/home/autoware/install/tier4_system_rviz_plugin', '/home/autoware/install/tier4_camera_view_rviz_plugin', '/home/autoware/install/tier4_api_msgs', '/home/autoware/install/tier4_adapi_rviz_plugin', '/home/autoware/install/system_diagnostic_monitor', '/home/autoware/install/mrm_handler', '/home/autoware/install/mrm_emergency_stop_operator', '/home/autoware/install/mrm_comfortable_stop_operator', '/home/autoware/install/hazard_status_converter', '/home/autoware/install/diagnostic_graph_utils', '/home/autoware/install/diagnostic_graph_aggregator', '/home/autoware/install/automatic_pose_initializer', '/home/autoware/install/ad_api_adaptors', '/home/autoware/install/autoware_component_interface_utils', '/home/autoware/install/autoware_component_interface_tools', '/home/autoware/install/tier4_system_msgs', '/home/autoware/install/tier4_state_rviz_plugin', '/home/autoware/install/tier4_dummy_object_rviz_plugin', '/home/autoware/install/scenario_simulator_v2_adapter', '/home/autoware/install/fault_injection', '/home/autoware/install/dummy_perception_publisher', '/home/autoware/install/tier4_simulation_msgs', '/home/autoware/install/tier4_sensing_launch', '/home/autoware/install/autoware_rtc_interface', '/home/autoware/install/tier4_rtc_msgs', '/home/autoware/install/tier4_planning_rviz_plugin', '/home/autoware/install/tier4_localization_rviz_plugin', '/home/autoware/install/system_monitor', '/home/autoware/install/reaction_analyzer', '/home/autoware/install/perception_online_evaluator', '/home/autoware/install/localization_evaluator', '/home/autoware/install/kinematic_evaluator', '/home/autoware/install/control_performance_analysis', '/home/autoware/install/autoware_steer_offset_estimator', '/home/autoware/install/global_parameter_loader', '/home/autoware/install/dummy_diag_publisher', '/home/autoware/install/autoware_trajectory_follower_node', '/home/autoware/install/autoware_pure_pursuit', '/home/autoware/install/autoware_pid_longitudinal_controller', '/home/autoware/install/autoware_mpc_lateral_controller', '/home/autoware/install/autoware_trajectory_follower_base', '/home/autoware/install/autoware_path_sampler', '/home/autoware/install/autoware_obstacle_collision_checker', '/home/autoware/install/autoware_lane_departure_checker', '/home/autoware/install/autoware_ground_segmentation', '/home/autoware/install/autoware_freespace_planning_algorithms', '/home/autoware/install/autoware_control_validator', '/home/autoware/install/autoware_collision_detector', '/home/autoware/install/autoware_vehicle_info_utils', '/home/autoware/install/autoware_traffic_light_map_based_detector', '/home/autoware/install/autoware_traffic_light_fine_detector', '/home/autoware/install/autoware_tracking_object_merger', '/home/autoware/install/autoware_simple_object_merger', '/home/autoware/install/autoware_shift_decider', '/home/autoware/install/autoware_detection_by_tracker', '/home/autoware/install/autoware_shape_estimation', '/home/autoware/install/autoware_frenet_planner', '/home/autoware/install/autoware_bezier_sampler', '/home/autoware/install/autoware_sampler_common', '/home/autoware/install/autoware_radar_tracks_msgs_converter', '/home/autoware/install/autoware_radar_static_pointcloud_filter', '/home/autoware/install/autoware_radar_object_tracker', '/home/autoware/install/autoware_radar_object_clustering', '/home/autoware/install/autoware_radar_fusion_to_detected_object', '/home/autoware/install/autoware_radar_crossing_objects_noise_filter', '/home/autoware/install/autoware_probabilistic_occupancy_grid_map', '/home/autoware/install/autoware_pose_instability_detector', '/home/autoware/install/autoware_pose_estimator_arbiter', '/home/autoware/install/autoware_pose_covariance_modifier', '/home/autoware/install/autoware_occupancy_grid_map_outlier_filter', '/home/autoware/install/autoware_pointcloud_preprocessor', '/home/autoware/install/autoware_planning_topic_converter', '/home/autoware/install/autoware_path_distance_calculator', '/home/autoware/install/autoware_objects_of_interest_marker_interface', '/home/autoware/install/autoware_object_velocity_splitter', '/home/autoware/install/autoware_object_merger', '/home/autoware/install/autoware_multi_object_tracker', '/home/autoware/install/autoware_lidar_transfusion', '/home/autoware/install/autoware_image_projection_based_fusion', '/home/autoware/install/autoware_lidar_centerpoint', '/home/autoware/install/autoware_object_recognition_utils', '/home/autoware/install/autoware_ndt_scan_matcher', '/home/autoware/install/autoware_map_based_prediction', '/home/autoware/install/autoware_motion_utils', '/home/autoware/install/autoware_localization_error_monitor', '/home/autoware/install/autoware_lidar_marker_localizer', '/home/autoware/install/autoware_lidar_apollo_instance_segmentation', '/home/autoware/install/autoware_ar_tag_based_localizer', '/home/autoware/install/autoware_landmark_manager', '/home/autoware/install/autoware_joy_controller', '/home/autoware/install/autoware_interpolation', '/home/autoware/install/autoware_imu_corrector', '/home/autoware/install/autoware_image_diagnostics', '/home/autoware/install/autoware_gyro_odometer', '/home/autoware/install/autoware_elevation_map_loader', '/home/autoware/install/autoware_grid_map_utils', '/home/autoware/install/autoware_goal_distance_calculator', '/home/autoware/install/autoware_euclidean_cluster', '/home/autoware/install/autoware_ekf_localizer', '/home/autoware/install/autoware_detected_object_feature_remover', '/home/autoware/install/autoware_crosswalk_traffic_light_estimator', '/home/autoware/install/autoware_universe_utils', '/home/autoware/install/autoware_trajectory', '/home/autoware/install/autoware_overlay_rviz_plugin', '/home/autoware/install/autoware_external_velocity_limit_selector', '/home/autoware/install/tier4_planning_msgs', '/home/autoware/install/autoware_traffic_light_visualization', '/home/autoware/install/autoware_traffic_light_multi_camera_fusion', '/home/autoware/install/autoware_traffic_light_classifier', '/home/autoware/install/autoware_bytetrack', '/home/autoware/install/tier4_perception_msgs', '/home/autoware/install/autoware_processing_time_checker', '/home/autoware/install/tier4_metric_msgs', '/home/autoware/install/autoware_geography_utils', '/home/autoware/install/tier4_map_msgs', '/home/autoware/install/autoware_map_height_fitter', '/home/autoware/install/tier4_localization_msgs', '/home/autoware/install/tier4_hmi_msgs', '/home/autoware/install/tier4_api_utils', '/home/autoware/install/autoware_external_api_msgs', '/home/autoware/install/tier4_external_api_msgs', '/home/autoware/install/autoware_twist2accel', '/home/autoware/install/autoware_stop_filter', '/home/autoware/install/autoware_pose2twist', '/home/autoware/install/tier4_debug_msgs', '/home/autoware/install/tier4_datetime_rviz_plugin', '/home/autoware/install/tier4_control_msgs', '/home/autoware/install/tamagawa_imu_driver', '/home/autoware/install/sample_vehicle_launch', '/home/autoware/install/sample_vehicle_description', '/home/autoware/install/rtklib_bridge', '/home/autoware/install/eagleye_rt', '/home/autoware/install/eagleye_gnss_converter', '/home/autoware/install/eagleye_geo_pose_converter', '/home/autoware/install/eagleye_navigation', '/home/autoware/install/eagleye_geo_pose_fusion', '/home/autoware/install/eagleye_fix2kml', '/home/autoware/install/eagleye_msgs', '/home/autoware/install/rtklib_msgs', '/home/autoware/install/nebula_sensor_driver', '/home/autoware/install/nebula_examples', '/home/autoware/install/nebula_ros', '/home/autoware/install/nebula_hw_interfaces', '/home/autoware/install/ros2_socketcan', '/home/autoware/install/ros2_socketcan_msgs', '/home/autoware/install/nebula_tests', '/home/autoware/install/nebula_decoders', '/home/autoware/install/robosense_msgs', '/home/autoware/install/radar_description', '/home/autoware/install/pointcloud_to_laserscan', '/home/autoware/install/perception_utils', '/home/autoware/install/pandar_msgs', '/home/autoware/install/pandar_description', '/home/autoware/install/nebula_msgs', '/home/autoware/install/nebula_common', '/home/autoware/install/mussp', '/home/autoware/install/morai_msgs', '/home/autoware/install/llh_converter', '/home/autoware/install/livox_description', '/home/autoware/install/learning_based_vehicle_model', '/home/autoware/install/lanelet2_extension_python', '/home/autoware/install/lanelet2_extension', '/home/autoware/install/individual_params', '/home/autoware/install/imu_description', '/home/autoware/install/glog_component', '/home/autoware/install/glog', '/home/autoware/install/eagleye_tf', '/home/autoware/install/eagleye_coordinate', '/home/autoware/install/eagleye_can_velocity_converter', '/home/autoware/install/duplicated_node_checker', '/home/autoware/install/continental_srvs', '/home/autoware/install/continental_msgs', '/home/autoware/install/camera_description', '/home/autoware/install/boost_udp_driver', '/home/autoware/install/boost_tcp_driver', '/home/autoware/install/boost_serial_driver', '/home/autoware/install/boost_io_context', '/home/autoware/install/bluetooth_monitor', '/home/autoware/install/bag_time_manager_rviz_plugin', '/home/autoware/install/awsim_labs_vehicle_launch', '/home/autoware/install/awsim_labs_vehicle_description', '/home/autoware/install/autoware_vehicle_msgs', '/home/autoware/install/autoware_v2x_msgs', '/home/autoware/install/autoware_map_tf_generator', '/home/autoware/install/autoware_lanelet2_extension_python', '/home/autoware/install/autoware_lanelet2_extension', '/home/autoware/install/autoware_utils', '/home/autoware/install/autoware_time_utils', '/home/autoware/install/autoware_testing', '/home/autoware/install/autoware_system_msgs', '/home/autoware/install/autoware_signal_processing', '/home/autoware/install/autoware_sensing_msgs', '/home/autoware/install/autoware_radar_tracks_noise_filter', '/home/autoware/install/autoware_radar_threshold_filter', '/home/autoware/install/autoware_radar_scan_to_pointcloud2', '/home/autoware/install/autoware_qp_interface', '/home/autoware/install/autoware_polar_grid', '/home/autoware/install/autoware_point_types', '/home/autoware/install/autoware_planning_msgs', '/home/autoware/install/autoware_perception_rviz_plugin', '/home/autoware/install/autoware_object_range_splitter', '/home/autoware/install/autoware_perception_msgs', '/home/autoware/install/autoware_pcl_extensions', '/home/autoware/install/autoware_osqp_interface', '/home/autoware/install/autoware_mission_details_overlay_rviz_plugin', '/home/autoware/install/autoware_map_msgs', '/home/autoware/install/autoware_localization_util', '/home/autoware/install/autoware_localization_msgs', '/home/autoware/install/autoware_livox_tag_filter', '/home/autoware/install/autoware_lint_common', '/home/autoware/install/autoware_kalman_filter', '/home/autoware/install/autoware_component_monitor', '/home/autoware/install/autoware_internal_msgs', '/home/autoware/install/autoware_image_transport_decompressor', '/home/autoware/install/autoware_fake_test_node', '/home/autoware/install/autoware_cuda_utils', '/home/autoware/install/autoware_control_msgs', '/home/autoware/install/autoware_common_msgs', '/home/autoware/install/autoware_cmake', '/home/autoware/install/autoware_auto_common', '/home/autoware/install/autoware_adapi_version_msgs', '/home/autoware/install/ad_api_visualizers', '/home/autoware/install/autoware_adapi_v1_msgs', '/home/autoware/install/autoware_adapi_specs', '/opt/autoware', '/opt/ros/humble']"
when processing file: /home/autoware/install/tier4_vehicle_launch/share/tier4_vehicle_launch/urdf/vehicle.xacro

[INFO] [component_container_mt-1]: process started with pid [469127]
[component_container_mt-1] [INFO] [1731803620.001785063] [pointcloud_container]: Load Library: /home/autoware/install/glog_component/lib/libglog_component.so
[component_container_mt-1] [INFO] [1731803620.005108417] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplate<GlogComponent>
[component_container_mt-1] [INFO] [1731803620.005125986] [pointcloud_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<GlogComponent>
[INFO] [component_container_mt-1]: sending signal 'SIGINT' to process[component_container_mt-1]
[component_container_mt-1] [INFO] [1731803620.168271020] [rclcpp]: signal_handler(signum=2)
[INFO] [component_container_mt-1]: process has finished cleanly [pid 469127]
[WARNING] [launch_ros.actions.load_composable_nodes]: Abandoning wait for the '/pointcloud_container/_container/load_node' service response, due to shutdown.

[liuXinGangChina]

hi @xcg340122

you miss a letter at the end of your command
it should be ”ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/home/maps/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit“

once you enter the command above and drag a init pose manually， i believe everthing will be fine

happy hacking

Xingang