2D Pose Estimation on AWSIM fails

[tkm2261]

Hi,

I am trying to make AWSIM work with Autoware.universe based on this document
https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/digital-twin-simulation/awsim-tutorial/

I tried to set the initial state on rvis, but the vehicle state was not configured. The error message I got is as follows. Seems like the NDT localizer does not work?

[rviz2-59] [INFO] [1661484927.807650264] [rviz2]: Setting estimate pose: Frame:map, Position(3804.44, 73713, 0), Orientation(0, 0, -0.966837, 0.255393) = Angle: -2.62508                                  
[pose_initializer-17] [INFO] [1661484927.808566634] [localization.util.pose_initializer]: call NDT Align Server                                                                                            [ndt_scan_matcher-18] [WARN] [1661484927.808689808] [localization.pose_estimator.ndt_scan_matcher]: No InputSource                                                      
[pose_initializer-17] [INFO] [1661484927.808832542] [localization.util.pose_initializer]: failed NDT Align Server                          
[component_container_mt-45] [WARN] [1661484928.399918158] [planning.scenario_planning.lane_driving.motion_planning.obstacle_avoidance_planner]: failed to get transform from map to base_link: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.                                                                             
[component_container_mt-45] [INFO] [1661484928.399969513] [planning.scenario_planning.lane_driving.motion_planning.obstacle_avoidance_planner]: waiting for self pose...
[component_container-46] [INFO] [1661484928.890126664] [planning.scenario_planning.parking.costmap_generator]: waiting for initial pose...                                                                 
[component_container-48] [WARN] [1661484929.349837834] [control.trajectory_follower.lane_departure_checker_node]: failed to get transform from map to base_link: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.                                                                                                           
[component_container-48] [INFO] [1661484929.349882268] [control.trajectory_follower.lane_departure_checker_node]: waiting for self pose...                                                                 
[motion_velocity_smoother-42] [WARN] [1661484932.773440655] [planning.scenario_planning.motion_velocity_smoother]: failed to get transform from map to base_link: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.                                                                                                          
[motion_velocity_smoother-42] [INFO] [1661484932.773481744] [planning.scenario_planning.motion_velocity_smoother]: waiting for self pose...
[component_container_mt-45] [WARN] [1661484933.400087888] [planning.scenario_planning.lane_driving.motion_planning.obstacle_avoidance_planner]: failed to get transform from map to base_link: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.                                                                             
[component_container_mt-45] [INFO] [1661484933.400126125] [planning.scenario_planning.lane_driving.motion_planning.obstacle_avoidance_planner]: waiting for self pose...
[component_container-46] [INFO] [1661484933.890240173] [planning.scenario_planning.parking.costmap_generator]: waiting for initial pose...                                                                 
[component_container-48] [WARN] [1661484934.349969279] [control.trajectory_follower.lane_departure_checker_node]: failed to get transform from map to base_link: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.

ROS topics are as follows.

/agents/despawn
/agents/list
/agents/spawn
/clock
/control/command/control_cmd
/control/command/emergency_cmd
/control/command/gear_cmd
/control/command/hazard_lights_cmd
/control/command/turn_indicators_cmd
/ground_truth/objects
/info
/lanelet2/descriptions/traffic_lights
/parameter_events
/prefabs/list
/rosout
/sensing/camera/traffic_light/camera_info
/sensing/camera/traffic_light/image_raw
/sensing/gnss/pose
/sensing/gnss/pose_with_covariance
/sensing/imu/tamagawa/imu_raw
/sensing/lidar/top/pointcloud_raw
/sensing/lidar/top/pointcloud_raw_ex
/set_trajectory
/tf_static
/traffic_lights/status
/vehicle/status/control_mode
/vehicle/status/gear_status
/vehicle/status/hazard_lights_status
/vehicle/status/steering_status
/vehicle/status/turn_indicators_status
/vehicle/status/velocity_status

The planning simulation worked correctly as in the tutorial.

It would be great if I can have community help.
Thanks!

Docker version:

galactic-20220816 (current latest)

Machine Spec

OS: Ubuntu 20.04
GPU: GTX1080
CPU: Intel(R) Core(TM) i9-9900K CPU @ 3.60GHz

[angry-crab]

[ndt_scan_matcher-18] [WARN] [1661484927.808689808] [localization.pose_estimator.ndt_scan_matcher]: No InputSource
This indicates that point cloud input is not detected. Please make sure sensing components are publishing point clouds.

[tkm2261]

Thanks. sensing components should be on the Autoware side, right?
I will check the node.