Mission planning and Motion Planning nodes not working in autoware

[kanakab]

Bug report

Required information:

• Operating system and version:
  • OS and version (e.g. Ubuntu 18.04, Melodic)
• Autoware installation type:
  • From source, master branch: https://github.com/Autoware-AI/autoware.ai/wiki/Source-Build
• Autoware version or commit hash
  • master latest
• ROS distribution and version:
  • ROS Melodic
• ROS installation type:
  • From source (as per ros wiki)
• Package or library, if applicable:

Description of the bug

I am running the demo files to get started with autoware and following the instruction of the demo videos. I am able to follow the steps until I launch my_detection.launch file. But after I launch mission_planning.launch file, the same behaviour as in the video is not replicated in my rviz. In the terminal I get the error:

[ERROR] [1620618438.843643785]: lane data is something wrong...
[ WARN] [1620618439.118123909, 1427157883.594982407]: Topic current_pose is missing.
[ WARN] [1620618439.119470700, 1427157883.594982407]: Topic current_velocity is missing.
ERROR: No field name [end_point_offset]

Args are: [multi_lane_csv replanning_mode use_decision_maker velocity_max velocity_min accel_limit decel_limit lateral_accel_limit radius_min resample_mode resample_interval replan_curve_mode replan_endpoint_mode realtime_tuning_mode]
[config_waypoint_loader_rostopic-4] process has died [pid 29256, exit code 1, cmd /opt/ros/melodic/lib/rostopic/rostopic pub -l /config/waypoint_replanner autoware_config_msgs/ConfigWaypointReplanner {multi_lane_csv: /home/c301-pc2/.autoware/data/path/moriyama_path.txt, replanning_mode: false, velocity_max: 20.0, velocity_min: 4.0, accel_limit: 0.98, decel_limit: 0.98, radius_thresh: 20.0, radius_min: 6.0, resample_mode: true, resample_interval: 1.0, velocity_offset: 4, end_point_offset: 5} __name:=config_waypoint_loader_rostopic __log:=/home/c301-pc2/.ros/log/2b698410-b142-11eb-ba42-a8a159388bda/config_waypoint_loader_rostopic-4.log].
log file: /home/c301-pc2/.ros/log/2b698410-b142-11eb-ba42-a8a159388bda/config_waypoint_loader_rostopic-4*.log
[ WARN] [1620618439.614943327, 1427157884.098161872]: Cannot get closest waypoints. All closest waypoints are changed to -1 ...

(runtime_manager_dialog.py:28698): Gtk-WARNING **: 05:47:21.490: Negative content height -10 (allocation 2, extents 6x6) while allocating gadget (node button, owner GtkToggleButton)
[ WARN] [1620618441.616389998, 1427157886.100025914]: Cannot get closest waypoints. All closest waypoints are changed to -1 ...
[ WARN] [1620618443.616926924, 1427157888.101129772]: Cannot get closest waypoints. All closest waypoints are changed to -1 ...
[ WARN] [1620618445.619067592, 1427157890.102636904]: Cannot get closest waypoints. All closest waypoints are changed to -1 ...

(runtime_manager_dialog.py:28698): Gtk-WARNING **: 05:47:26.375: Negative content height -10 (allocation 2, extents 6x6) while allocating gadget (node button, owner GtkToggleButton)
[ WARN] [1620618447.620391131, 1427157892.103973146]: Cannot get closest waypoints. All closest waypoints are changed to -1 ...
[ WARN] [1620618449.711630952, 1427157894.195881118]: Cannot get closest waypoints. All closest waypoints are changed to -1 ...
[ WARN] [1620618451.716400039, 1427157896.200775449]: Cannot get closest waypoints. All closest waypoints are changed to -1 ...

Steps to reproduce the bug

Detailed instructions on how to reliably reproduce the bug, e.g.

1. cd autoware.ai/
2. source install/setup.bash
3. roslaunch runtime_manager runtime_manager.launch
4. Start the simulation by loading files from .autoware/sample....
5. Launch rviz using rviz
6. Activate the nodes 'Map', 'Sensing', 'Localization', 'Detection', 'Mission Planning' with launch files in autoware.ai/src/autoware/documentation/autoware_quickstart_examples/launch
7. See the error displayed

I am following the instructions as per : https://github.com/Autoware-AI/autoware.ai/wiki/ROSBAG-Demo

Expected behavior

The mission planning node should generate a path for the ego vehicle

Actual behavior

No path is generated and bounding box in rviz also doesn't have any topic to subscribe to

Screenshots

Additional information

[marcusvinicius178]

Hi my friend. I have also tried these tutorials. However some files to be uploded to these tabs yo have mentioned (Sensing, planning, etc) are not the correct ones. I tried these tutorials months ago, so I do not remember exactly which folder or files is wrong in this tutorial...but if you track the right folder/file it will work.
What I would encourage you to follow is this tutorial:
https://www.svlsimulator.com/docs/system-under-test/autoware-instructions/

You will have the misson planning and motion planning working following the instructions above more easily. However this tutorial does not use a ROSBAG data and is required you have a good pc to run the SVL simulator alongside Autoware...