autoware.launch not working

[HarryMechatron]

Hi, When I try to run the launch file autoware.launch, I am encountering the following error:

How to resolve it? [ I am using ubuntu 18.01, openplanner 1.15]

[hatem-darweesh]

The path to the KML map is wrong. you need to set correct path.

[HarryMechatron]

Hi @hatem-darweesh , Thanks for your reply. I managed to convert the oxdr files into kml files using your mapping tool. Still I am facing the following issue: Am I still missing something?

[hatem-darweesh]

either localization is not working, or you need to run static transformation such as.

<launch>  
  <node pkg="tf"  type="static_transform_publisher" name="world_to_map" args="0 0 0 0 0 0 /world /map 10" />
  <node pkg="tf"  type="static_transform_publisher" name="map_to_mobility" args="0 0 0 0 0 0 /map /mobility 10" />
</launch>

[HarryMechatron]

Hi @hatem-darweesh,

Thank you for your quick response. I finally manage to run without any errors (there are few warning). But when I try to run the rviz file, I am not getting the point cloud map init. This is the view I am getting:

Also, when I try to give the goal position in rviz, The car is not moving and I am getting the following error:

I would very much appreciate if you could help me here. thanks.

[hatem-darweesh]

Because Localization is not working. make sure when you set the initial position that the base_link move to it and you can see the velodyne point cloud data matches the pointcloud map.

[HarryMechatron]

Hi @hatem-darweesh, I was working on that warning, and with your help, I narrowed down to where the problem might be. I guess the ndt_matching is not working as expected and the problem might be in the following lines: Still I am not sure how to rectify that error. Also I am thinking that I might be using a wrong config file to spawn the vehicle and objects. The file I am using is: (in Json format) objects.txt

I would appreciate if you could help me to identify where I am making a mistake. Thank you