Issue with AWSIM2.0 and Autoware

[rt-2pm2]

I am experiencing issues while trying to use AWSIM2.0 and Autoware.

Setup:

1. x86 Ubuntu 24.04 Machine running AWSIM2.0
2. arm64 Machine running Autoware installed from source (commit dc2e3eb)

I am launching the simulator launchfile: ros2 launch autoware_launch e2e_simulator.launch.xml vehicle_model:=${VEHICLE_MODEL} sensor_model:=${SENSOR_MODEL} map_path:=${MAP_PATH} data_path:=${DATA_PATH} rviz:=false

I am disabling the rviz because I am using a visulation container provided with OpenADKit.

Issue

Once Autoware localizes the vehicle on the map, I am able to assing a goal point and the mission starts. Once the car completes the mission I am not able to repeat the process. In the past, with AWSIM Labs, I was able to do it.
In the logs, I see that there is a failure in one of the planning nodes:

[component_container_mt-72] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[component_container_mt-72]   what():  failed to add guard condition to wait set: guard condition implementation is invalid, at ./src/rcl/guard_condition.c:172, at ./src/rcl/wait.c:460
[component_container_mt-72] *** Aborted at 1758746020 (unix time) try "date -d @1758746020" if you are using GNU date ***
[component_container_mt-72] [INFO] [1758746020.177493398] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner.goal_planner]: lane parking and freespace parking callbacks finished
[component_container_mt-72] PC: @                0x0 (unknown)
[component_container_mt-72] *** SIGABRT (@0x3e8000037b5) received by PID 14261 (TID 0xe0cb3da1e460) from PID 14261; stack trace: ***
[component_container_mt-72] [WARN] [1758746020.187060033] [behavior_path_planner.path_shifter]: Acc limit is too small to be applied. Tj: -1.233925, Ta: 4.572164, j: -0.324169, a_max: 1.269103, acc_limit: 0.400000
[component_container_mt-72]     @     0xe0cb0857db08 google::(anonymous namespace)::FailureSignalHandler()
[component_container_mt-82] [INFO] [1758746020.195772381] [adapi.node.autoware_state]: AutowareState: WaitingForRoute => WaitingForEngage
[component_container_mt-72]     @     0xe0cb3dab08f8 ([vdso]+0x8f7)
[component_container_mt-72]     @     0xe0cb3d452008 (unknown)
[component_container_mt-72]     @     0xe0cb3d40a83c raise
[component_container_mt-72]     @     0xe0cb3d3f7134 abort
[component_container_mt-72]     @     0xe0cb3d6553d0 __gnu_cxx::__verbose_terminate_handler()
[component_container_mt-72]     @     0xe0cb3d652b4c (unknown)
[component_container_mt-72]     @     0xe0cb3d652bb0 std::terminate()
[component_container_mt-72]     @     0xe0cb3d652b38 std::rethrow_exception()
[component_container_mt-72]     @     0xe0cb3d8f34c8 rclcpp::exceptions::throw_from_rcl_error()
[component_container_mt-72]     @     0xe0cb3d8f7250 rclcpp::detail::add_guard_condition_to_rcl_wait_set()
[component_container_mt-72]     @     0xe0cb3d90bb54 (unknown)
[component_container_mt-72]     @     0xe0cb3d8f6c4c rclcpp::Executor::wait_for_work()
[component_container_mt-72] [INFO] [1758746020.272154141] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner.bidirectional_traffic]: Found 0 bidirectional lanes
[component_container_mt-72]     @     0xe0cb3d8f9d1c rclcpp::Executor::get_next_executable()
[component_container_mt-72]     @     0xe0cb3d9013a0 rclcpp::executors::MultiThreadedExecutor::run()
[component_container_mt-72]     @     0xe0cb3d9016f0 rclcpp::executors::MultiThreadedExecutor::spin()
[component_container_mt-72]     @     0xad115c7c1d44 (unknown)
[component_container_mt-72] [WARN] [1758746020.288268747] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner.goal_planner]:  [pull_over] postProcess() is called without valid context_data. use dummy context data.
[component_container_mt-72]     @     0xe0cb3d3f7400 (unknown)
[component_container_mt-72]     @     0xe0cb3d3f74d8 __libc_start_main
[component_container_mt-72]     @     0xad115c7c2070 (unknown)
[component_container_mt-72]     @                0x0 (unknown)
[logging_node-29] [WARN] [1758746021.343386990] [logging_diag_graph]: The target mode is not available for the following reasons:
[logging_node-29] - /autoware/modes/autonomous ERROR
[logging_node-29]     - /autoware/planning ERROR
[logging_node-29]         - [anonymous group] ERROR
[logging_node-29]             - /autoware/planning/topic_rate_check/trajectory ERROR
[logging_node-29] 
[component_container_mt-82] [INFO] [1758746021.496158789] [adapi.node.autoware_state]: AutowareState: WaitingForEngage => Planning
[ERROR] [component_container_mt-72]: process has died [pid 14261, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args -r __node:=behavior_planning_container -r __ns:=/planning/scenario_planning/lane_driving/behavior_planning -p use_sim_time:=True -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:=True -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:=True -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:=True -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:=True -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'].

Do you think there is an issue in Autoware?

Notes

I will attach the full log. It's full of warning due to the Autoware configuration for AWSIM that fakes the presence of 3 lidars, whilst the simulator only has 1.
autoware.log

[maxime-clem]

This crash is caused by a bug in rclcpp.
The solution is to build rclcpp in your own workspace.
You can try the main implementation (https://github.com/ros2/rclcpp/tree/humble) or the TIER IV fork (https://github.com/tier4/rclcpp/tree/t4-main).

[Garuda-0103]

I face a similar issue while working on simulation in RViz i am able to give pose and goal but after the planning is completed the vehicle follows the trajectory properly for the first time but then when i try to give a second goal the trajectory is not made and I can't click on automode to start the ego vehicle.

I have attatched some videos below if it can help.
Screencast from 10-07-2025 02:19:24 PM.webm

[maxime-clem]

Did you try the fix described above ?

[Garuda-0103]

So sorry for updating late the rclcpp build of tier IV worked for me.
Thanks for your support will be adding a lot of queries soon.

[rt-2pm2]

Hi @maxime-clem,

Thanks a lot for you feedback. I followed your suggestion and I built the main implementation in my workspace and now it works.