'glog_component' of type 'GlogComponent' in container '/sensing/lidar/top/autoware_pointcloud_preprocessor/pointcloud_container'

[KJM-N]

Hello everyone
I am trying to run autoware on a real machine.

However, when I launch autoware.launch.xml, I get the following error
Please let me know if there is any way to solve this problem.

[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'glog_component' of type 'GlogComponent' in container '/sensing/lidar/top/autoware_pointcloud_preprocessor/pointcloud_container': Failed to find class with the requested plugin name.

[liuXinGangChina]

hello @KJM-N

what is your env parameters
are there any issue raised during compling

Happy hacking

心刚

[KJM-N]

Thanks for the reply. @liuXinGangChina

The problem did not occur when I ran “colcon build”.
When I ran “autoware.launch.xml”, the lidar topic was not output.

$ ros2 topic echo /sensing/lidar/top/pointcloud_raw_ex
$ ros2 topic echo /sensing/lidar/concatenated/pointcloud

• My PC environment is as follows.

Ubuntu22.04.4 LTS
NVIDIA: 555.42.06

rosdistro=humble
rmw_implementation=rmw_cyclonedds_cpp
base_image=ros:humble-ros-base-jammy
cuda_version=12.5
cudnn_version=8.9.6.50-1+cuda12.2
tensorrt_version=8.6.2.2-1+cuda12.0
pre_commit_clang_format_version=17.0.5

• Sensor information (single_lidar_sensor_kit)

LiDAR: Velodyne VLP-16

[liuXinGangChina]

hi @KJM-N

I see ，please check the driver code of lidar and make sure the output topic name is /sensing/lidar/top/pointcloud_raw_ex

BTW， since log says “Failed to find class with the requested plugin name.” ， better make sure all the package built successfully

Happy haking

心刚

[KJM-N]

Thanks for the reply. @liuXinGangChina

I make sure the output topic name is /sensing/lidar/top/pointcloud_raw_ex

$ ros2 topic info /sensing/lidar/top/pointcloud_raw_ex
Type: sensor_msgs/msg/PointCloud2
Publisher count: 0
Subscription count: 4

I checked the sensing node and could not find any node outputting /sensing/lidar/top/pointcloud_raw_ex.
I am not familiar with Autoware, so if you don't mind, how to publish the message? Also, did I fail to download Autoware?

I have already rebuilt it several times, but the error message is still there.

[liuXinGangChina]

Hello @KJM-N

Sorry for late reply
/sensing/lidar/top/pointcloud_raw_ex is the output topic that autoware takes in
You have to make sure that your lidar's ros2 driver output that topic for autoware

Happy hacking

心刚