Autowareのインストールテスト

検証環境

2022/6/13

Windows10
- Intel Core i7 7th gen
- メモリ16GB
- Geforce 1050
WSL2環境
- Ubuntu20.04

Installation

Docker installationを選択，

https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/docker-installation/#how-to-update-a-workspace

Install Docker Engine
Install NVIDIA Container Toolkit
Install rocker
コンテナ内でビルド（4h12min）

怪しそうなところ

rocker実行時に下記のようなWarningが出る。調べてないけどGUIのXserverとかのエラー？

xauth:  file /home/yoshiri/.Xauthority does not exist
xauth: (argv):1:  unable to read any entries from file "(stdin)"

Tutorial（Adhoc simulation）

Planning simulation

下記を実行して動作を確認。

source ~/autoware/install/setup.bash
ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/Downloads/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit

GUIが出ないが，ros2 topic listでメッセージそのものは出る。

ROSBag

rockerの起動時に$Home/Downloadsをボリュームとして加えておかないと実行できなかったので--volume $Home/Downloadsを加えて実行，末尾に下記のエラーが出て終了。

[component_container_mt-3] BUG at file position /build/libnl3-Ca3cal/libnl3-3.4.0/./lib/socket.c:134:release_local_port
[component_container_mt-3] component_container_mt: /build/libnl3-Ca3cal/libnl3-3.4.0/./lib/socket.c:134: release_local_port: Assertion `0' failed.
[ERROR] [component_container_mt-3]: process has died [pid 100, exit code -6, cmd '/opt/ros/galactic/lib/rclcpp_components/component_container_mt --ros-args -r __node:=system_monitor_container -r __ns:=/system/system_monitor/system_monitor --params-file /tmp/launch_params_5moo2grt'].

遡っていくと次のような記述もあった。

Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/galactic/lib/python3.8/site-packages/launch/launch_service.py:226> exception=SubstitutionFailure("package 'lidar_apollo_instance_segmentation' found at '/home/yoshiri/autoware/install/lidar_apollo_instance_segmentation', but libexec directory '/home/yoshiri/autoware/install/lidar_apollo_instance_segmentation/lib/lidar_apollo_instance_segmentation' does not exist")>
Traceback (most recent call last):
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  [Previous line repeated 16 more times]
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch_ros/actions/node.py", line 484, in execute
    ret = super().execute(context)
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/actions/execute_process.py", line 837, in execute
    self.__expand_substitutions(context)
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/actions/execute_process.py", line 681, in __expand_substitutions
    cmd = [perform_substitutions(context, x) for x in self.__cmd]
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/actions/execute_process.py", line 681, in <listcomp>
    cmd = [perform_substitutions(context, x) for x in self.__cmd]
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/launch_context.py", line 197, in perform_substitution
    return substitution.perform(self)
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch_ros/substitutions/executable_in_package.py", line 79, in perform
    raise SubstitutionFailure(
launch.substitutions.substitution_failure.SubstitutionFailure: package 'lidar_apollo_instance_segmentation' found at '/home/yoshiri/autoware/install/lidar_apollo_instance_segmentation', but libexec directory '/home/yoshiri/autoware/install/lidar_apollo_instance_segmentation/lib/lidar_apollo_instance_segmentation' does not exist