Running ISUZU Bus ODD Dataset

[tswie]

Hello,

I am attempting to run part of the ISUZU Bus ODD Dataset provided here: https://autowarefoundation.github.io/autoware-documentation/main/datasets/ on Autoware. I planned on doing this by launching the autoware image I have, supplying the autoware_map I downloaded, and using rosbag to run some of the leo_drive_isuzu bags I downloaded.

I attempt to do this by booting the autoware image while mounting the autoware_map directory I downloaded from this Google Drive: https://drive.google.com/drive/folders/1VnHzEWURthyHKvJvkWoIot-Q-f-yrpba and running ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/home/{my_username}/autoware_map vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit inside the container.

I have 3 main questions so far:

1. I expected I will need vehicle and sensor model definitions for the Bus? I saw the Rosbags contain their own transforms for the sensors so I'm not entirely sure on that. If I do need Bus-specific ones, where can I find them?
2. Running the bags in Foxglove showed that the included calibrations cause significant distortions and artifacts when applied to the raw_image topics. I was able to just start running the bag inside Rviz while booting up a different map, and I am not able to display rectified images. Is there additional data I need?
3. I ran into an issue booting the Istanbul map:

When launching planning_simulator.launch.xml, I encounter the following error:

1742933639.3461926 [ERROR] [autoware_map_projection_loader_node-26]: process has died [pid 453, exit code -6, cmd '/opt/autoware/lib/autoware_map_projection_loader/autoware_map_projection_loader_node --ros-args -r __ns:=/map -p use_sim_time:=False -p wheel_radius:=0.383 -p wheel_width:=0.235 -p wheel_base:=2.79 -p wheel_tread:=1.64 -p front_overhang:=1.0 -p rear_overhang:=1.1 -p left_overhang:=0.128 -p right_overhang:=0.128 -p vehicle_height:=2.5 -p max_steer_angle:=0.7 --params-file /tmp/launch_params_5qs40scd']

Is there additional information I need in addition to the .pcd included with the Istanbul map dataset?

Thank you for any assistance.

[YamatoAndo]

@tswie Hi,
Yesterday, autoware_map_projection_loader was ported from autoware_universe to autoware_core, so that might be the cause.
autowarefoundation/autoware_core#125

Could you try updating the repository and rebuilding it?

[tswie]

Hello!

Thank you for your response.

I apologize for not including this context earlier, but in my earlier attempts to build autoware, I ended up following these instructions to avoid various build/run issues: #5783 (comment)

As a result, I am running the 20240903-devel-cuda-amd64 and using this script to run it: https://github.com/YuqiHuai/better_autoware_launch/blob/main/docker/scripts/dev_start.sh

In addition, the sample-map-planning map seems to work correctly. I see some additional files included with the sample-map-planning map, are these required to launch the Istanbul map? I will proceed with the instructions on generating my own lanelet map today and see if that addresses the issue.

[YamatoAndo]

@tswie Hi,
I see... Does the following error message appear, given that there are only PCD files inside the map folder?

[autoware_map_projection_loader_node-30]   what():  No map projector info files found. Please provide either map_projector_info.yaml or lanelet2_map.osm

[YamatoAndo]

If this error message appears, you will need to prepare a Lanelet2 map.
I am not the person who published this dataset, so I am unsure if a Lanelet2 map for this environment exists.
However, you can create a Lanelet2 map yourself.
Please refer to the following instructions to create one.
https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/lanelet2/

[tswie]

Thank you for the clarification; no that message does not appear. The error message I shared earlier is the first error to pop up as I run autoware, so that was where I figured the issue was coming from. I will finish creating a Lanelet2 map and update when I am done.