Scenario planning Not working in autoware.launch.xml launch file

[shpark98]

ros2 launch autoware_launch autoware.launch.xml map_path:=$HOME/autoware_map/paldal vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit'

The first image shows the launch process using the autoware.launch.xml file,

ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/paldal vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit'

while the second image shows the launch process using the planning_simulator.launch.xml file.

In the first image, it can be seen that only mission_planning is being executed, while scenario_planning is not running.

When I check rqt_graph, the scenario_planning node seems to be running properly. However, when I perform a topic echo on topics like planning/scenario_planning/trajectory, no data is being published.

Here, I have included images and showing that topic communication appears to be working correctly when running rqt_graph and rqt.

I want to enable scenario_planning even when launching using the autoware.launch.xml file.

I am using the autoware.launch.xml file because I want to perform autonomous driving based on my robot's odometry.

I would appreciate it if you could tell me which part of which file I need to modify.

[maxime-clem]

It is not clear what the issue could be.
Please share the full log file found in HOME/.ros/log/{DATE-TIME-USER-...}/.

[maxime-clem]

The reason why planning does not run appears to be because the /planning/scenario_planning/scenario is not received by the behavior path planner.

1738635848.3525760 [component_container_mt-48] [INFO] [1738635848.352031018] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner]: waiting for scenario_topic

From the log it is not clear what is the issue. Please make sure if this scenario is being published or if there is an issue with the scenario_selector.

[shpark98]

As you mentioned, I checked the issue thoroughly, starting from the scenario_selector, to verify whether /planning/scenario_planning/scenario is being published from the behavior path planner.

Through this process, I also identified problems with the topics that the behavior path planner receives as inputs.

So far, I have confirmed that the behavior_path_planner node subscribes to 12 topics.
However, when I tried to check their data using ros2 topic echo, many topics did not display any information.

I have noted the topics that did not show any data with (no data received):

1. /planning/scenario_planning/scenario (no data received)
2. /planning/scenario_planning/parking/costmap_generator/occupancy_grid (no data received)
3. /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/input/lateral_offset (no data received)
4. /planning/scenario_planning/max_velocity (no data received)
5. /planning/mission_planning/route
6. /perception/traffic_light_recognition/traffic_signals (no data received)
7. /perception/object_recognition/objects
8. /perception/occupancy_grid_map/map
9. /localization/kinematic_state
10. /localization/acceleration
11. /system/operation_mode/state (no data received)
12. /map/vector_map

https://autowarefoundation.github.io/autoware.universe/pr-6268/planning/behavior_path_planner/

According to the site you referenced, all topics except /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/input/lateral_offset are mandatory.

However, as I mentioned earlier, many of these topics are not being published in my case.

Have I have missed a necessary step..?

[shpark98]

As a side note, my main goal is simply to set a start and goal on the vector map for my robot and use Autoware's localization and planning functions to generate control values that move my robot accordingly.

Therefore, features like traffic light recognition are actually not necessary for my experiment.

[maxime-clem]

For some topics it is enough to publish an empty message if do not need the information (e.g., for traffic lights).

/planning/scenario_planning/scenario (no data received)
/system/operation_mode/state (no data received)

These 2 topics are critical and will block some modules if they are not published.
If you cannot find why they are not published, then you can try publishing them manually to see if it allows you to generate a trajectory.

[shpark98]

It looks like I’ve finally found the problem cause! I sincerely appreciate your help.

The issue was with /system/operation_mode/state.

After publishing /system/operation_mode/state as shown below, the trajectory was successfully generated :)

ros2 topic pub /system/operation_mode/state autoware_adapi_v1_msgs/msg/OperationModeState "stamp:
  sec: 0
  nanosec: 0
mode: 2
is_autoware_control_enabled: true
is_in_transition: false
is_stop_mode_available: true
is_autonomous_mode_available: true
is_local_mode_available: true
is_remote_mode_available: true" --once 

[Minaygt]

hello, I can't draw this path either. As I understand it, how did you solve a similar problem to yours?

[maxime-clem]

Your issue is different. It looks like the path and trajectory are not published.