the planning simulation failed

[phoenares]

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Hi, I followed the official documentation to build Autoware from source, and the build was successful.

The installation guide I used is available at:

👉 Autoware Source Installation Guide

I also downloaded the necessary map and simulation data according to the tutorial:

👉 Planning Simulation Tutorial

After that, I launched the planning simulation using the following command:

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

In RViz, I successfully set the start and goal points, and clicked the "Auto" button. The path was generated correctly, but the vehicle did not move.

I encountered some errors in the console output (not included here), and I would appreciate any help with troubleshooting this issue.

🔧 My development environment:

Hardware: NVIDIA Jetson AGX Orin
OS: Ubuntu 22.04
ROS 2 Distribution: Humble Hawksbill
JetPack Version: 6.2

I tried the latest autoware and an older commit "991a4a16a59fe54e985c874908b26b1e9b26beb1", both failed.

[maxime-clem]

Please share the full log (launch.log file located in $HOME/.ros/log/{DATE-USER-...}/).
From the screenshots it seems the operation mode is not published. We may be able to see some error message at the beginning of the logs.

[phoenares]

launch.log
Thanks for the reply. Here's the launch log.

[phoenares]

Thanks. I built another version based on tag 0.44.2, but I'm still getting the same results. Here are the logs.
launch.log

launch_with_smart_mpc.log

[maxime-clem]

1751589974.2266598 [ERROR] [component_container_mt-34]: process has died [pid 2420568, exit code 127, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args -r __node:=motion_planning_container -r __ns:=/planning/scenario_planning/lane_driving/motion_planning -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 -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'].

There are no other messages so it is not clear what could be the issue.
It may be an issue specific to your environment or hardware since, as far as I know, these issues have not been reported by other Jetson users.

If you want to investigate further, you can build the packages that are crashing with debug flags and run them inside gdb to get more details about what issue is occurring.

[phoenares]

OK, thank you. Alternatively, may I just use the Docker image for development? Can the container access CUDA resources as the host machine does?
At first, I used Docker for development — the planning simulation worked well, but the rosbag replay simulation failed. So I switched to building from source. I used this Image "ghcr.io/autowarefoundation/autoware universe-devel-cuda-20250624-arm64"

[maxime-clem]

may I just use the Docker image for development? Can the container access CUDA resources as the host machine does?

Yes and yes. See https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/docker-installation/#development-environment

[phoenares]

Thank you. I will try again.

[phoenares]

I didn't observe significant memory growth. Is it possible for us to check which nodes are associated with this container? After launching, we can still query these nodes.

/adapi/container
/adapi/node/autoware_state
/adapi/node/diagnostics
/adapi/node/fail_safe
/adapi/node/heartbeat
/adapi/node/interface
/adapi/node/localization
/adapi/node/manual/local
/adapi/node/manual/remote
/adapi/node/motion
/adapi/node/operation_mode
/adapi/node/perception
/adapi/node/planning
/adapi/node/routing
/adapi/node/vehicle
/adapi/node/vehicle_door
/adapi/node/vehicle_info
/autoware_api/external/rtc_controller/container
/autoware_api/external/rtc_controller/node
/control/autonomous_emergency_braking
/control/collision_detector
/control/control_check_container
/control/control_evaluator
/control/control_validator
/control/glog_control_check_container_component
/control/trajectory_follower/lane_departure_checker_node
/control/transform_listener_impl_ffff40008b18
/control/transform_listener_impl_ffff4003e898
/default_adapi/helpers/autoware_initial_pose_adaptor
/default_adapi/helpers/autoware_routing_adaptor
/default_adapi/helpers/transform_listener_impl_aaaae9146ed0
/dummy_diag_publisher
/launch_ros_1472318
/map/lanelet2_map_loader
/map/lanelet2_map_visualization
/map/map_container
/map/map_hash_generator
/map/map_projection_loader
/map/pointcloud_map_loader
/map/vector_map_tf_generator
/occupancy_grid_map/occupancy_grid_map_node
/occupancy_grid_map/pointcloud_to_laserscan_node
/perception/object_recognition/prediction/map_based_prediction
/perception/object_recognition/prediction/transform_listener_impl_aaaad26d6660
/perception/object_recognition/tracking/multi_object_tracker
/perception/object_recognition/tracking/transform_listener_impl_aaab15484200
/planning/mission_planning/glog_component
/planning/mission_planning/goal_pose_visualizer
/planning/mission_planning/mission_planner
/planning/mission_planning/mission_planner_container
/planning/mission_planning/route_selector
/planning/mission_planning/transform_listener_impl_ffff5401ccc0
/planning/planning_evaluator
/planning/planning_validator
/planning/remaining_distance_time_calculator
/planning/scenario_planning/external_velocity_limit_selector
/planning/scenario_planning/glog_component
/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner
/planning/scenario_planning/lane_driving/behavior_planning/behavior_planning_container
/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner
/planning/scenario_planning/lane_driving/behavior_planning/glog_component
/planning/scenario_planning/lane_driving/behavior_planning/transform_listener_impl_ffff5402cd48
/planning/scenario_planning/parking/costmap_generator
/planning/scenario_planning/parking/freespace_planner
/planning/scenario_planning/parking/glog_component
/planning/scenario_planning/parking/parking_container
/planning/scenario_planning/parking/transform_listener_impl_aaaac7322d48
/planning/scenario_planning/parking/transform_listener_impl_ffff2008e250
/planning/scenario_planning/scenario_selector
/planning/scenario_planning/velocity_smoother
/planning/scenario_planning/velocity_smoother_container
/planning/transform_listener_impl_aaab09100ff0
/pointcloud_container
/pointcloud_container/glog_component
/pose_initializer
/robot_state_publisher
/rviz2
/simulation/detected_object_feature_remover
/simulation/dummy_perception_publisher
/simulation/shape_estimation
/simulation/simple_planning_simulator
/simulation/transform_listener_impl_aaaad5259228
/simulation/transform_listener_impl_aaaad5df6de8
/system/aggregator
/system/component_state_diagnostics
/system/component_state_monitor/component
/system/component_state_monitor/container
/system/duplicated_node_checker
/system/hazard_status_converter
/system/mrm_comfortable_stop_operator
/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_container
/system/mrm_emergency_stop_operator
/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator_container
/system/mrm_handler
/system/processing_time_checker
/system/service_log_checker
/system/topic_state_monitor_control_command_control_cmd
/system/topic_state_monitor_initialpose3d
/system/topic_state_monitor_mission_planning_route
/system/topic_state_monitor_object_recognition_objects
/system/topic_state_monitor_scenario_planning_trajectory
/system/topic_state_monitor_system_emergency_control_cmd
/system/topic_state_monitor_trajectory_follower_control_cmd
/system/topic_state_monitor_transform_map_to_base_link
/system/topic_state_monitor_vector_map
/system/topic_state_monitor_vehicle_status_steering_status
/system/topic_state_monitor_vehicle_status_velocity_status
/transform_listener_impl_aaaad0a99e20
/transform_listener_impl_ffff4006ad30
/transform_listener_impl_ffff50052d30
/vehicle_door_simulator_node

[phoenares]