autoware.launch.xml Unable to start automatic driving #6071
Description
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
ros2 launch autoware_launch autoware.launch.xml map_path:=$HOME/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
Expected behavior
I don't know how to solve this
Actual behavior
1745305227.8631806 [INFO] [launch]: All log files can be found below /home/pixkit/.ros/log/2025-04-22-15-00-27-862564-pixkit-Nuvo-8111-187148
1745305227.8632658 [INFO] [launch]: Default logging verbosity is set to INFO
1745305232.8581259 [ERROR] [launch]: Caught exception in launch (see debug for traceback): Caught multiple exceptions when trying to load file of format [xml]:
- InvalidFrontendLaunchFileError: Caught multiple exceptions when trying to load file of format [xml]:
- ParseError: mismatched tag: line 18, column 4
- RuntimeError: Expected only one root
- SyntaxError: invalid syntax (lidar.launch.xml, line 1)
1745305233.3336010 [INFO] [component_container_mt-1]: process started with pid [187166]
1745305233.3338737 [INFO] [robot_state_publisher-2]: process started with pid [187168]
1745305233.3340874 [INFO] [component_container_mt-3]: process started with pid [187170]
1745305233.3342507 [INFO] [duplicated_node_checker_node-4]: process started with pid [187172]
1745305233.3344054 [INFO] [processing_time_checker_node-5]: process started with pid [187174]
1745305233.3345613 [INFO] [service_log_checker_node-6]: process started with pid [187176]
1745305233.3347118 [INFO] [component_container-7]: process started with pid [187178]
1745305233.3348670 [INFO] [topic_state_monitor_node-8]: process started with pid [187180]
1745305233.3350186 [INFO] [topic_state_monitor_node-9]: process started with pid [187182]
1745305233.3352413 [INFO] [topic_state_monitor_node-10]: process started with pid [187184]
1745305233.3354948 [INFO] [topic_state_monitor_node-11]: process started with pid [187186]
1745305233.3357441 [INFO] [topic_state_monitor_node-12]: process started with pid [187188]
1745305233.3359554 [INFO] [topic_state_monitor_node-13]: process started with pid [187190]
1745305233.3361638 [INFO] [topic_state_monitor_node-14]: process started with pid [187192]
1745305233.3363216 [INFO] [topic_state_monitor_node-15]: process started with pid [187194]
1745305233.3364766 [INFO] [topic_state_monitor_node-16]: process started with pid [187196]
1745305233.3366256 [INFO] [topic_state_monitor_node-17]: process started with pid [187198]
1745305233.3367736 [INFO] [topic_state_monitor_node-18]: process started with pid [187200]
1745305233.3369193 [INFO] [topic_state_monitor_node-19]: process started with pid [187202]
1745305233.3370659 [INFO] [topic_state_monitor_node-20]: process started with pid [187204]
1745305233.3372238 [INFO] [topic_state_monitor_node-21]: process started with pid [187206]
1745305233.3374820 [INFO] [topic_state_monitor_node-22]: process started with pid [187212]
1745305233.3378363 [INFO] [component_container-23]: process started with pid [187244]
1745305233.3380387 [INFO] [component_container-24]: process started with pid [187281]
1745305233.3382342 [INFO] [aggregator_node-25]: process started with pid [187296]
1745305233.3383811 [INFO] [component_state_diagnostics-26]: process started with pid [187302]
1745305233.3385279 [INFO] [converter-27]: process started with pid [187313]
1745305233.3386729 [INFO] [mrm_handler_node-28]: process started with pid [187320]
1745305233.3388147 [INFO] [component_container_mt-29]: process started with pid [187334]
1745305233.3389578 [INFO] [map_hash_generator-30]: process started with pid [187340]
1745305233.3391683 [INFO] [autoware_map_projection_loader_node-31]: process started with pid [187345]
1745305233.4014816 [autoware_map_projection_loader_node-31] Load /home/pixkit/autoware_map/sample-map-planning/map_projector_info.yaml
1745305233.4024167 [component_container_mt-1] [INFO] [1745305233.016610072] [pointcloud_container]: Load Library: /home/pixkit/autoware/install/autoware_glog_component/lib/libautoware_glog_component.so
1745305233.4025183 [component_container_mt-1] [INFO] [1745305233.024395026] [pointcloud_container]: Found class: rclcpp_components::NodeFactoryTemplateautoware::glog_component::GlogComponent
1745305233.4025931 [component_container_mt-1] [INFO] [1745305233.024442658] [pointcloud_container]: Instantiate class: rclcpp_components::NodeFactoryTemplateautoware::glog_component::GlogComponent
1745305233.4029338 [robot_state_publisher-2] [INFO] [1745305233.075533093] [robot_state_publisher]: got segment base_link
1745305233.4030175 [robot_state_publisher-2] [INFO] [1745305233.075694625] [robot_state_publisher]: got segment camera0/camera_link
1745305233.4030926 [robot_state_publisher-2] [INFO] [1745305233.075710543] [robot_state_publisher]: got segment camera0/camera_optical_link
1745305233.4031641 [robot_state_publisher-2] [INFO] [1745305233.075720728] [robot_state_publisher]: got segment camera1/camera_link
1745305233.4032269 [robot_state_publisher-2] [INFO] [1745305233.075730316] [robot_state_publisher]: got segment camera1/camera_optical_link
1745305233.4032910 [robot_state_publisher-2] [INFO] [1745305233.075740048] [robot_state_publisher]: got segment camera2/camera_link
1745305233.4033616 [robot_state_publisher-2] [INFO] [1745305233.075749436] [robot_state_publisher]: got segment camera2/camera_optical_link
1745305233.4034374 [robot_state_publisher-2] [INFO] [1745305233.075758626] [robot_state_publisher]: got segment camera3/camera_link
1745305233.4035251 [robot_state_publisher-2] [INFO] [1745305233.075767723] [robot_state_publisher]: got segment camera3/camera_optical_link
1745305233.4035878 [robot_state_publisher-2] [INFO] [1745305233.075776990] [robot_state_publisher]: got segment camera4/camera_link
1745305233.4036462 [robot_state_publisher-2] [INFO] [1745305233.075785990] [robot_state_publisher]: got segment camera4/camera_optical_link
1745305233.4037049 [robot_state_publisher-2] [INFO] [1745305233.075795368] [robot_state_publisher]: got segment camera5/camera_link
1745305233.4037635 [robot_state_publisher-2] [INFO] [1745305233.075804324] [robot_state_publisher]: got segment camera5/camera_optical_link
1745305233.4038212 [robot_state_publisher-2] [INFO] [1745305233.075813852] [robot_state_publisher]: got segment gnss_link
1745305233.4038811 [robot_state_publisher-2] [INFO] [1745305233.075823839] [robot_state_publisher]: got segment sensor_kit_base_link
1745305233.4039390 [robot_state_publisher-2] [INFO] [1745305233.075833897] [robot_state_publisher]: got segment tamagawa/imu_link
1745305233.4039981 [robot_state_publisher-2] [INFO] [1745305233.075843805] [robot_state_publisher]: got segment traffic_light_left_camera/camera_link
1745305233.4040573 [robot_state_publisher-2] [INFO] [1745305233.075852890] [robot_state_publisher]: got segment traffic_light_left_camera/camera_optical_link
1745305233.4041281 [robot_state_publisher-2] [INFO] [1745305233.075862458] [robot_state_publisher]: got segment traffic_light_right_camera/camera_link
1745305233.4041882 [robot_state_publisher-2] [INFO] [1745305233.075871104] [robot_state_publisher]: got segment traffic_light_right_camera/camera_optical_link
1745305233.4042468 [robot_state_publisher-2] [INFO] [1745305233.075880322] [robot_state_publisher]: got segment velodyne_left
1745305233.4043055 [robot_state_publisher-2] [INFO] [1745305233.075890027] [robot_state_publisher]: got segment velodyne_left_base_link
1745305233.4043643 [robot_state_publisher-2] [INFO] [1745305233.075899547] [robot_state_publisher]: got segment velodyne_rear
1745305233.4044230 [robot_state_publisher-2] [INFO] [1745305233.075908643] [robot_state_publisher]: got segment velodyne_rear_base_link
1745305233.4044819 [robot_state_publisher-2] [INFO] [1745305233.075917117] [robot_state_publisher]: got segment velodyne_right
1745305233.4045584 [robot_state_publisher-2] [INFO] [1745305233.075926587] [robot_state_publisher]: got segment velodyne_right_base_link
1745305233.4046140 [robot_state_publisher-2] [INFO] [1745305233.075936074] [robot_state_publisher]: got segment velodyne_top
1745305233.4046659 [robot_state_publisher-2] [INFO] [1745305233.075944914] [robot_state_publisher]: got segment velodyne_top_base_link
1745305233.4054806 [component_container-7] [INFO] [1745305233.039733574] [system.component_state_monitor.container]: Load Library: /home/pixkit/autoware/install/component_state_monitor/lib/libcomponent_state_monitor.so
1745305233.4056070 [component_container-7] [INFO] [1745305233.062995797] [system.component_state_monitor.container]: Found class: rclcpp_components::NodeFactoryTemplate<component_state_monitor::StateMonitor>
1745305233.4057097 [component_container-7] [INFO] [1745305233.063047235] [system.component_state_monitor.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<component_state_monitor::StateMonitor>
1745305233.4170628 [INFO] [component_container_mt-1]: sending signal 'SIGINT' to process[component_container_mt-1]
1745305233.4259646 [INFO] [robot_state_publisher-2]: sending signal 'SIGINT' to process[robot_state_publisher-2]
1745305233.4360342 [INFO] [component_container_mt-3]: sending signal 'SIGINT' to process[component_container_mt-3]
1745305233.4457421 [INFO] [duplicated_node_checker_node-4]: sending signal 'SIGINT' to process[duplicated_node_checker_node-4]
1745305233.4559712 [INFO] [processing_time_checker_node-5]: sending signal 'SIGINT' to process[processing_time_checker_node-5]
1745305233.4662886 [INFO] [service_log_checker_node-6]: sending signal 'SIGINT' to process[service_log_checker_node-6]
1745305233.4773130 [INFO] [component_container-7]: sending signal 'SIGINT' to process[component_container-7]
1745305233.4880893 [INFO] [topic_state_monitor_node-8]: sending signal 'SIGINT' to process[topic_state_monitor_node-8]
1745305233.4976330 [INFO] [topic_state_monitor_node-9]: sending signal 'SIGINT' to process[topic_state_monitor_node-9]
1745305233.5072980 [INFO] [topic_state_monitor_node-10]: sending signal 'SIGINT' to process[topic_state_monitor_node-10]
1745305233.5184703 [INFO] [topic_state_monitor_node-11]: sending signal 'SIGINT' to process[topic_state_monitor_node-11]
1745305233.5285275 [INFO] [topic_state_monitor_node-12]: sending signal 'SIGINT' to process[topic_state_monitor_node-12]
1745305233.5381408 [INFO] [topic_state_monitor_node-13]: sending signal 'SIGINT' to process[topic_state_monitor_node-13]
1745305233.5475197 [INFO] [topic_state_monitor_node-14]: sending signal 'SIGINT' to process[topic_state_monitor_node-14]
1745305233.5568497 [INFO] [topic_state_monitor_node-15]: sending signal 'SIGINT' to process[topic_state_monitor_node-15]
1745305233.5615871 [INFO] [component_container_mt-1]: process has finished cleanly [pid 187166]
1745305233.5664203 [INFO] [topic_state_monitor_node-16]: sending signal 'SIGINT' to process[topic_state_monitor_node-16]
1745305233.5752206 [INFO] [topic_state_monitor_node-17]: sending signal 'SIGINT' to process[topic_state_monitor_node-17]
1745305233.5804529 [INFO] [robot_state_publisher-2]: process has finished cleanly [pid 187168]
1745305233.5856180 [INFO] [topic_state_monitor_node-18]: sending signal 'SIGINT' to process[topic_state_monitor_node-18]
1745305233.5944049 [INFO] [topic_state_monitor_node-19]: sending signal 'SIGINT' to process[topic_state_monitor_node-19]
1745305233.5984628 [INFO] [component_container_mt-3]: process has finished cleanly [pid 187170]
1745305233.5986805 [INFO] [duplicated_node_checker_node-4]: process has finished cleanly [pid 187172]
1745305233.6011243 [INFO] [topic_state_monitor_node-20]: sending signal 'SIGINT' to process[topic_state_monitor_node-20]
1745305233.6074941 [INFO] [service_log_checker_node-6]: process has finished cleanly [pid 187176]
1745305233.6101851 [INFO] [topic_state_monitor_node-21]: sending signal 'SIGINT' to process[topic_state_monitor_node-21]
1745305233.6165361 [INFO] [topic_state_monitor_node-22]: sending signal 'SIGINT' to process[topic_state_monitor_node-22]
1745305233.6228778 [INFO] [component_container-23]: sending signal 'SIGINT' to process[component_container-23]
1745305233.6275477 [INFO] [topic_state_monitor_node-8]: process has finished cleanly [pid 187180]
1745305233.6290958 [INFO] [component_container-24]: sending signal 'SIGINT' to process[component_container-24]
1745305233.6349754 [INFO] [aggregator_node-25]: sending signal 'SIGINT' to process[aggregator_node-25]
1745305233.6398935 [INFO] [component_container-7]: process has finished cleanly [pid 187178]
1745305233.6413915 [INFO] [component_state_diagnostics-26]: sending signal 'SIGINT' to process[component_state_diagnostics-26]
1745305233.6468992 [INFO] [converter-27]: sending signal 'SIGINT' to process[converter-27]
1745305233.6523962 [INFO] [topic_state_monitor_node-10]: process has finished cleanly [pid 187184]
1745305233.6526887 [INFO] [topic_state_monitor_node-9]: process has finished cleanly [pid 187182]
1745305233.6528533 [INFO] [processing_time_checker_node-5]: process has finished cleanly [pid 187174]
1745305233.6538918 [INFO] [mrm_handler_node-28]: sending signal 'SIGINT' to process[mrm_handler_node-28]
1745305233.6589537 [INFO] [topic_state_monitor_node-12]: process has finished cleanly [pid 187188]
1745305233.6592124 [INFO] [topic_state_monitor_node-11]: process has finished cleanly [pid 187186]
1745305233.6595812 [INFO] [topic_state_monitor_node-13]: process has finished cleanly [pid 187190]
1745305233.6601124 [INFO] [component_container_mt-29]: sending signal 'SIGINT' to process[component_container_mt-29]
1745305233.6653974 [INFO] [map_hash_generator-30]: sending signal 'SIGINT' to process[map_hash_generator-30]
1745305233.6701601 [INFO] [topic_state_monitor_node-14]: process has finished cleanly [pid 187192]
1745305233.6706650 [INFO] [autoware_map_projection_loader_node-31]: sending signal 'SIGINT' to process[autoware_map_projection_loader_node-31]
1745305233.6768472 [component_container_mt-1] [INFO] [1745305233.417235589] [rclcpp]: signal_handler(signum=2)
1745305233.6770561 [INFO] [topic_state_monitor_node-15]: process has finished cleanly [pid 187194]
1745305233.6774909 [INFO] [topic_state_monitor_node-16]: process has finished cleanly [pid 187196]
1745305233.6778383 [robot_state_publisher-2] [INFO] [1745305233.426288614] [rclcpp]: signal_handler(signum=2)
1745305233.6789358 [service_log_checker_node-6] [INFO] [1745305233.466619949] [rclcpp]: signal_handler(signum=2)
1745305233.6792436 [component_container-7] [INFO] [1745305233.477691936] [rclcpp]: signal_handler(signum=2)
1745305233.6853886 [aggregator_node-25] [INFO] [1745305233.635137150] [rclcpp]: signal_handler(signum=2)
1745305233.6868186 [converter-27] [INFO] [1745305233.647063154] [rclcpp]: signal_handler(signum=2)
1745305233.6886749 [component_container_mt-29] [INFO] [1745305233.660241360] [rclcpp]: signal_handler(signum=2)
1745305233.6888783 [INFO] [topic_state_monitor_node-17]: process has finished cleanly [pid 187198]
1745305233.6893351 [autoware_map_projection_loader_node-31] [INFO] [1745305233.670801372] [rclcpp]: signal_handler(signum=2)
1745305233.6967933 [INFO] [topic_state_monitor_node-18]: process has finished cleanly [pid 187200]
1745305233.7033088 [INFO] [topic_state_monitor_node-19]: process has finished cleanly [pid 187202]
1745305233.7109158 [INFO] [topic_state_monitor_node-20]: process has finished cleanly [pid 187204]
1745305233.7208245 [INFO] [topic_state_monitor_node-21]: process has finished cleanly [pid 187206]
1745305233.7269700 [INFO] [topic_state_monitor_node-22]: process has finished cleanly [pid 187212]
1745305233.7308493 [INFO] [component_container-23]: process has finished cleanly [pid 187244]
1745305233.7372229 [INFO] [component_container-24]: process has finished cleanly [pid 187281]
1745305233.7455771 [INFO] [aggregator_node-25]: process has finished cleanly [pid 187296]
1745305233.7576337 [INFO] [converter-27]: process has finished cleanly [pid 187313]
1745305233.7657876 [INFO] [mrm_handler_node-28]: process has finished cleanly [pid 187320]
1745305233.7678607 [INFO] [component_container_mt-29]: process has finished cleanly [pid 187334]
1745305233.7806602 [INFO] [autoware_map_projection_loader_node-31]: process has finished cleanly [pid 187345]
1745305233.7882979 [INFO] [component_state_diagnostics-26]: process has finished cleanly [pid 187302]
1745305233.7936149 [INFO] [map_hash_generator-30]: process has finished cleanly [pid 187340]
1745305234.0071447 [WARNING] [launch_ros.actions.load_composable_nodes]: Abandoning wait for the '/system/system_monitor/system_monitor/system_monitor_container/_container/load_node' service response, due to shutdown.
1745305234.0074854 [WARNING] [launch_ros.actions.load_composable_nodes]: Abandoning wait for the '/pointcloud_container/_container/load_node' service response, due to shutdown.
1745305234.0341127 [WARNING] [launch_ros.actions.load_composable_nodes]: Abandoning wait for the '/system/component_state_monitor/container/_container/load_node' service response, due to shutdown.
Steps to reproduce
how to solve
Versions
ros2 humle
./setup-dev-env.sh is ok
release/2025.02
Possible causes
No response
Additional context
No response