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.

[Somdit]

Hi everyone,

I recently updated my Autoware src workspace. Unfortunately, after this update, I am unable to properly launch the Carla-Autoware interface anymore. While Autoware can bridge with the simulator (e.g., camera sensor data is visible in Rviz), the vehicle is not initializing as expected as before.

From the logs, the following error seems relevant:
[component_container_mt-74] [ERROR] [1733189528.413800837] [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.

Here are the relevant logs, tf tree, and screenshots

• the full logs for reference: logs.txt
• the full tf tree: frames_2024-12-02_18.39.34.pdf and part of it attached below.
• attached a screenshot of Rviz below, the vehicle did not initialize properly.

I also attempted to revert to the previous version of my workspace. However, it seems that the autoware.repos file does not fix the versions of the individual repositories, so the errors persist.

Does anyone know how to solve this issue, or where I should look further?

Thank you!

[TaikiYamada4]

@Somdit

The log

[component_container_mt-74] [ERROR] [1733189528.413800837] [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.

generally appears when the initialization of localization haven't been done or didn't succeeded.

I found the log

[autoware_ndt_scan_matcher_node-41] [WARN] [1733189468.752173063] [localization.pose_estimator.ndt_scan_matcher]: No InputSource. Please check the input lidar topic

which means the LiDAR points are not reaching the localization component. So you should figure out why the pointclouds are not being published. I'm not familiar with the Carla-Autoware interface but maybe the information of the previous version and the current version might be helpful.

[maxime-clem]

I reproduced the issue with the latest Autoware. I suspect some recent change to the lidar processing may have broken the carla_autoware interface. I will need to investigate further when I find the time.

[Somdit]

Hi @TaikiYamada4 and @maxime-clem

Thank you for confirming that this is indeed the case with the latest Autoware. I will also look into it to see if I can identify the source of the problem. Hope to hear good news from you.

[maxime-clem]

I opened a fix PR: autowarefoundation/autoware.universe#9645

[Somdit]

I opened a fix PR: autowarefoundation/autoware.universe#9645

Thanks for the help! I will mark this as the answer.