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Example scenario - no localization state #8

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Themaksiest opened this issue Mar 27, 2024 · 6 comments
Open

Example scenario - no localization state #8

Themaksiest opened this issue Mar 27, 2024 · 6 comments

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@Themaksiest
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Themaksiest commented Mar 27, 2024 •
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Hi!

I am trying to run the example scenario by following the adore_if_carla Readme, however I run into a problem, where a message "no localization state" is printed repeatedly. I get the Tesla Cybertruck imported into the default CARLA city, judging by carla_scenarious readme I am still missing all the other windows.

Prerequisites

Hopefully I have all the Prerequisites installed

$ make --version
GNU Make 4.3
$ docker --version
Docker version 25.0.4, build 1a576c5
$ dpkg -l | grep nvidia-docker2
ii  nvidia-docker2                                    2.14.0-1                                all          NVIDIA Container Toolkit meta-package

Launching the example

I built the adore_if_carla with make build_all command from adore.
Based on reading the Makefile and docker-compose.yaml files I am not sure if the approach described in readme is up to date, but I have tried both:

$ make up
$ cd ..
$ make cli
$ cd adore_scenarios
$ roslaunch demo014_adore_if_carla.launch

and

make up 
make run_demo_carla_scenario

Both approaches result with the similar result and the same output of no localization state at the end.

Outputs

make up output:

docker compose rm --force || true
Going to remove adore_if_carla, carla
[+] Removing 2/0
 ✔ Container carla           Removed                                                                                                                                                                          0.0s 
 ✔ Container adore_if_carla  Removed                                                                                                                                                                          0.0s 
xhost + 1> /dev/null && xhost - 1> /dev/null || true
xhost + 1> /dev/null && \
    docker compose up --force-recreate -d adore_if_carla; \
    xhost - 1> /dev/null; \
    docker compose rm --force
[+] Running 3/3
 ✔ Container carla             Started                                                                                                                                                                        0.5s 
 ✔ Container carla_ros_bridge  Running                                                                                                                                                                        0.0s 
 ✔ Container adore_if_carla    Started                                                                                                                                                                        0.6s 
No stopped containers

This Results in docker containers being launched:

$ docker container ls
CONTAINER ID   IMAGE                   COMMAND                  CREATED          STATUS          PORTS     NAMES
81ece5878eb5   carla_ros_bridge:main   "/ros_entrypoint.sh …"   16 seconds ago   Up 13 seconds             carla_ros_bridge
aaa9304e2453   carlasim/carla:0.9.13   "/bin/bash ./CarlaUE…"   16 seconds ago   Up 15 seconds             carla
Then when I try to run the example scenario the full output is collapsed below: 
$ make run_demo_carla_scenario

docker compose rm --force || true
Going to remove adore_if_carla
[+] Removing 1/1
 ✔ Container adore_if_carla  Removed                                                                                                                                                                          0.2s 
xhost + 1> /dev/null && xhost - 1> /dev/null || true
docker compose down -t 0
[+] Running 2/2
 ✔ Container carla_ros_bridge  Removed                                                                                                                                                                        0.4s 
 ✔ Container carla             Removed                                                                                                                                                                        0.9s 
docker compose rm -f
No stopped containers
xhost + 1> /dev/null && \
    docker compose up --force-recreate -d adore_if_carla; \
    xhost - 1> /dev/null; \
    docker compose rm --force
[+] Running 3/3
 ✔ Container carla             Started                                                                                                                                                                        0.8s 
 ✔ Container carla_ros_bridge  Started                                                                                                                                                                        6.3s 
 ✔ Container adore_if_carla    Started                                                                                                                                                                        6.4s 
No stopped containers
cd ../ && make run_test_scenarios TEST_SCENARIOS=adore_scenarios/demo014_adore_if_carla.launch
Running adore_cli setup... SOURCE_DIRECTORY: /home/adore
make --file=/home/adore/adore_cli/adore_cli.mk build_fast_adore_cli
Docker image: adore_cli:master already build, skipping build.
cd /home/adore/catkin_docker && make initialize_catkin_workspace
Catkin workspace already exists at: /home/adore/catkin_workspace, skipping creation of catkin workspace.

cd /home/adore/plotlabserver && \
    make down || true
make stop_plotlabserver
docker compose down
[+] Running 1/1
 ✔ Container plotlabserver  Removed                                                                                                                                                                           0.0s 
docker compose rm -f
No stopped containers
docker stop plotlabserver 2> /dev/null || true
docker rm plotlabserver 2> /dev/null || true
docker compose rm -f
No stopped containers
export DISPLAY_MODE=headless && make --file=/home/adore/adore_cli/adore_cli.mk adore_cli_start 
Running adore_cli start... SOURCE_DIRECTORY: /home/adore
cd /home/adore/plotlabserver && make up-detached 
make start_plotlabserver_detached
docker compose down
Warning: No resource found to remove for project "plotlabserver".
docker compose rm -f
No stopped containers
docker stop plotlabserver 2> /dev/null || true
docker rm plotlabserver 2> /dev/null || true
Docker image: plotlabserver_build:0fad7e5 already build, skipping build.
Docker image: plotlabserver:0fad7e5 already build, skipping build.
docker cp $(docker create --rm plotlabserver_build:0fad7e5):/tmp/plotlabserver/plotlabserver/build "/home/adore/plotlabserver/plotlabserver"
Successfully copied 5.91MB to /home/adore/plotlabserver/plotlabserver
mkdir -p .log
docker compose up --force-recreate -d &
cd /home/adore/adore_cli && \
    docker compose -f /home/adore/docker-compose.yaml up adore_cli_x11_display \
      --force-recreate \
      --renew-anon-volumes \
      --detach;
[+] Running 0/0
 ⠋ Container plotlabserver  Starting                                                                                                                                                                          0.1s 
[+] Running 1/1
 ✔ Container adore_cli  Started                                                                                                                                                                               0.3s 
docker exec --user adore_cli adore_cli /bin/zsh -c "ADORE_CLI_WORKING_DIRECTORY=/home/adore bash /home/adore/adore_cli/tools/run_test_scenarios.sh" || true
TERM environment variable not set.
  Waiting for plotlab server ..... plotlab server ready 

  Waiting for catkin workspace ... done 
Running scenario: adore_scenarios/demo014_adore_if_carla.launch
... logging to /home/adore/.log/.ros/log/5bc59e0e-ec0f-11ee-b4f4-ac1f6bd60276/roslaunch-ADORe-CLI-55.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://127.0.0.1:44543/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /tcp_no_delay: True
 * /use_scheduler: False
 * /use_sim_time: False
 * /vehicle0/PARAMS/LocalizationModel/drift_deviation_pos: 0.0
 * /vehicle0/PARAMS/LocalizationModel/drift_rate_pos: 0.0
 * /vehicle0/PARAMS/LocalizationModel/jump_deviation_heading: 0.0
 * /vehicle0/PARAMS/LocalizationModel/jump_deviation_pos: 0.0
 * /vehicle0/PARAMS/LocalizationModel/jump_threshold_heading: 0.0
 * /vehicle0/PARAMS/LocalizationModel/jump_threshold_pos: 0.0
 * /vehicle0/PARAMS/OdometryModel/k_e_ax: 0.0
 * /vehicle0/PARAMS/OdometryModel/k_e_omega: 0.0
 * /vehicle0/PARAMS/OdometryModel/k_e_vx: 0.0
 * /vehicle0/PARAMS/OdometryModel/k_e_vy: 0.0
 * /vehicle0/PARAMS/SensorModel/objectDetectionRange: 100.0
 * /vehicle0/PARAMS/SensorModel/objectDiscardAge: 1.0
 * /vehicle0/PARAMS/Vehicle/Iz_m: 1.0
 * /vehicle0/PARAMS/Vehicle/a: 2.03
 * /vehicle0/PARAMS/Vehicle/b: 1.93
 * /vehicle0/PARAMS/Vehicle/bodyWidth: 2.03
 * /vehicle0/PARAMS/Vehicle/c: 0.78
 * /vehicle0/PARAMS/Vehicle/cf: 17.0
 * /vehicle0/PARAMS/Vehicle/cr: 17.0
 * /vehicle0/PARAMS/Vehicle/d: 1.15
 * /vehicle0/PARAMS/Vehicle/g: 9.81
 * /vehicle0/PARAMS/Vehicle/h: 0.55
 * /vehicle0/PARAMS/Vehicle/m: 1800.0
 * /vehicle0/PARAMS/Vehicle/mu: 0.8
 * /vehicle0/PARAMS/Vehicle/observationPointForPosition: 0.0
 * /vehicle0/PARAMS/Vehicle/steeringAngleMax: 1.22173
 * /vehicle0/PARAMS/Vehicle/steeringAngleMin: -1.22173
 * /vehicle0/PARAMS/Vehicle/steeringRatio: 14.0
 * /vehicle0/PARAMS/Vehicle/wf: 1.95
 * /vehicle0/PARAMS/Vehicle/wr: 1.95
 * /vehicle0/PARAMS/adore_if_ibeo/existance_probability_cutoff: -1.0
 * /vehicle0/PARAMS/adore_if_ibeo/size_cutoff: 0.02
 * /vehicle0/PARAMS/checkpoints/clear_distance: 50.0
 * /vehicle0/PARAMS/checkpoints/clear_timeout: 30.0
 * /vehicle0/PARAMS/cooperation/abs_position_uncertainty: 8.0
 * /vehicle0/PARAMS/cooperation/abs_time_uncertainly_for_lc: 1.0
 * /vehicle0/PARAMS/cooperation/abs_velocity_uncertainty: 2.5
 * /vehicle0/PARAMS/cooperation/assumed_chase_acceleration: -2.0
 * /vehicle0/PARAMS/cooperation/cooperation_mode: 1
 * /vehicle0/PARAMS/cooperation/negotiation_time: 0.5
 * /vehicle0/PARAMS/cooperation/send_repetitive_messages: 50
 * /vehicle0/PARAMS/cooperation/utm_zone: 32
 * /vehicle0/PARAMS/emergency_operation/axMaxTerm: 2.0
 * /vehicle0/PARAMS/emergency_operation/axMinPlan: -3.0
 * /vehicle0/PARAMS/emergency_operation/axMinTerm: -3.0
 * /vehicle0/PARAMS/emergency_operation/deltaMaxTerm: 1.0
 * /vehicle0/PARAMS/emergency_operation/deltaMinTerm: -1.0
 * /vehicle0/PARAMS/emergency_operation/emergencyManeuverAMax: -1.0
 * /vehicle0/PARAMS/emergency_operation/emergencyManeuverAMin: -2.5
 * /vehicle0/PARAMS/emergency_operation/emergencyManeuverAStall: -2.5
 * /vehicle0/PARAMS/emergency_operation/emergencyManeuverJMin: -1.33
 * /vehicle0/PARAMS/emergency_operation/emergencyManeuverTStall: 0.0
 * /vehicle0/PARAMS/emergency_operation/kpsiTerm: 0.4
 * /vehicle0/PARAMS/emergency_operation/kyTerm: 0.05
 * /vehicle0/PARAMS/lane_change_view/baseline_fit_smoothness: 0.001
 * /vehicle0/PARAMS/lane_change_view/look_ahead: 150.0
 * /vehicle0/PARAMS/lane_change_view/look_behind: 50.0
 * /vehicle0/PARAMS/lane_change_view/maximum_navcost_loss: 1000.0
 * /vehicle0/PARAMS/lane_following_view/baseline_fit_smoothness: 0.015
 * /vehicle0/PARAMS/lane_following_view/look_ahead: 150.0
 * /vehicle0/PARAMS/lane_following_view/look_behind: 50.0
 * /vehicle0/PARAMS/lane_following_view/planning_time: 10.0
 * /vehicle0/PARAMS/lateral_planner/acc_lb: -8.0
 * /vehicle0/PARAMS/lateral_planner/acc_ub: 8.0
 * /vehicle0/PARAMS/lateral_planner/curvature_lb: -0.5
 * /vehicle0/PARAMS/lateral_planner/curvature_ub: 0.5
 * /vehicle0/PARAMS/lateral_planner/hard_safety_distance_to_lane_boundary: 0.15
 * /vehicle0/PARAMS/lateral_planner/jerk_lb: -100.0
 * /vehicle0/PARAMS/lateral_planner/jerk_ub: 100.0
 * /vehicle0/PARAMS/lateral_planner/lateral_grid_scale: 1.0
 * /vehicle0/PARAMS/lateral_planner/max_cpu_time: 0.05
 * /vehicle0/PARAMS/lateral_planner/merge_constraint_delay: -1.0
 * /vehicle0/PARAMS/lateral_planner/minimum_lateral_control_space: 0.15
 * /vehicle0/PARAMS/lateral_planner/relative_heading_lb: -1.0
 * /vehicle0/PARAMS/lateral_planner/relative_heading_ub: 1.0
 * /vehicle0/PARAMS/lateral_planner/slack_acc: 1.0
 * /vehicle0/PARAMS/lateral_planner/slack_pos: 0.1
 * /vehicle0/PARAMS/lateral_planner/slack_vel: 0.1
 * /vehicle0/PARAMS/lateral_planner/soft_safety_distance_to_lane_boundary: 0.3
 * /vehicle0/PARAMS/lateral_planner/weight_acc: 1.5
 * /vehicle0/PARAMS/lateral_planner/weight_end_acc: 0.0
 * /vehicle0/PARAMS/lateral_planner/weight_end_pos: 0.0
 * /vehicle0/PARAMS/lateral_planner/weight_end_vel: 0.0
 * /vehicle0/PARAMS/lateral_planner/weight_jerk: 1.5
 * /vehicle0/PARAMS/lateral_planner/weight_pos: 1.0
 * /vehicle0/PARAMS/lateral_planner/weight_vel: 1.0
 * /vehicle0/PARAMS/local_road_map/border_trace_length: 120.0
 * /vehicle0/PARAMS/local_road_map/discard_radius: 320.0
 * /vehicle0/PARAMS/local_road_map/navigation_active: False
 * /vehicle0/PARAMS/longitudinal_planner/acc_lat_ub: 1.5
 * /vehicle0/PARAMS/longitudinal_planner/acc_lat_ub_min_velocity: 1.0
 * /vehicle0/PARAMS/longitudinal_planner/acc_lb: -1.75
 * /vehicle0/PARAMS/longitudinal_planner/acc_ub: 0.75
 * /vehicle0/PARAMS/longitudinal_planner/acc_ub_slow: 1.5
 * /vehicle0/PARAMS/longitudinal_planner/comf_acc_lb: -1.0
 * /vehicle0/PARAMS/longitudinal_planner/comf_acc_ub: 1.0
 * /vehicle0/PARAMS/longitudinal_planner/constraint_clearance_pos: 0.1
 * /vehicle0/PARAMS/longitudinal_planner/constraint_clearance_vel: 0.05
 * /vehicle0/PARAMS/longitudinal_planner/jerk_lb: -100.0
 * /vehicle0/PARAMS/longitudinal_planner/jerk_ub: 100.0
 * /vehicle0/PARAMS/longitudinal_planner/max_cpu_time: 0.05
 * /vehicle0/PARAMS/longitudinal_planner/min_width_fast: 2.1
 * /vehicle0/PARAMS/longitudinal_planner/min_width_fast_speed: 14.0
 * /vehicle0/PARAMS/longitudinal_planner/min_width_slow: 2.0
 * /vehicle0/PARAMS/longitudinal_planner/min_width_slow_speed: 14.0
 * /vehicle0/PARAMS/longitudinal_planner/min_width_stop: 2.0
 * /vehicle0/PARAMS/longitudinal_planner/slack_acc: 5.0
 * /vehicle0/PARAMS/longitudinal_planner/slack_pos: 0.5
 * /vehicle0/PARAMS/longitudinal_planner/slack_vel: 0.01
 * /vehicle0/PARAMS/longitudinal_planner/stopAtRedLights_always_before: False
 * /vehicle0/PARAMS/longitudinal_planner/stopAtRedLights_max_connection_length: 10.0
 * /vehicle0/PARAMS/longitudinal_planner/stop_distance_to_conflict_point: 5.0
 * /vehicle0/PARAMS/longitudinal_planner/v_acc_ub_slow: 4.0
 * /vehicle0/PARAMS/longitudinal_planner/weight_acc: 12.0
 * /vehicle0/PARAMS/longitudinal_planner/weight_end_acc: 0.0
 * /vehicle0/PARAMS/longitudinal_planner/weight_end_pos: 0.0
 * /vehicle0/PARAMS/longitudinal_planner/weight_end_vel: 0.0
 * /vehicle0/PARAMS/longitudinal_planner/weight_jerk: 8.0
 * /vehicle0/PARAMS/longitudinal_planner/weight_pos: 2.0
 * /vehicle0/PARAMS/longitudinal_planner/weight_vel: 5.0
 * /vehicle0/PARAMS/map_provider/XODRLoaderPointsPerBorder: 128
 * /vehicle0/PARAMS/map_provider/activate_plotting: True
 * /vehicle0/PARAMS/map_provider/plot_complete_map_in_local_view: False
 * /vehicle0/PARAMS/map_provider/r: 300.0
 * /vehicle0/PARAMS/map_provider/use_scenario_manager_map: False
 * /vehicle0/PARAMS/navigation/active_plotting_global: True
 * /vehicle0/PARAMS/navigation/active_plotting_local: True
 * /vehicle0/PARAMS/navigation/lane_change_penalty: 1000.0
 * /vehicle0/PARAMS/navigation/navigation_goal_stop_tolerance_lateral: 1.0
 * /vehicle0/PARAMS/navigation/use_scenario_mananger_map: False
 * /vehicle0/PARAMS/prediction/area_of_effect_shrink: -0.25
 * /vehicle0/PARAMS/prediction/area_of_interest_shrink: 1.0
 * /vehicle0/PARAMS/prediction/offroad_expected_acc_lb: -1.0
 * /vehicle0/PARAMS/prediction/offroad_expected_acc_ub: 0.0
 * /vehicle0/PARAMS/prediction/offroad_expected_vel_ub: 15.0
 * /vehicle0/PARAMS/prediction/offroad_lat_error: 0.25
 * /vehicle0/PARAMS/prediction/offroad_lat_precision: 0.1
 * /vehicle0/PARAMS/prediction/offroad_lon_error: 0.02
 * /vehicle0/PARAMS/prediction/offroad_prediction_duration: 5.0
 * /vehicle0/PARAMS/prediction/offroad_time_headway: 1.5
 * /vehicle0/PARAMS/prediction/offroad_time_leeway: 1.5
 * /vehicle0/PARAMS/prediction/offroad_worstcase_acc_lb: -3.0
 * /vehicle0/PARAMS/prediction/offroad_worstcase_acc_ub: -1.0
 * /vehicle0/PARAMS/prediction/offroad_worstcase_vel_ub: 15.0
 * /vehicle0/PARAMS/prediction/prediction_width_lb: 0.25
 * /vehicle0/PARAMS/prediction/prediction_width_ub: 2.0
 * /vehicle0/PARAMS/prediction/roadbased_expected_acc_lb: -1.8
 * /vehicle0/PARAMS/prediction/roadbased_expected_acc_ub: 0.0
 * /vehicle0/PARAMS/prediction/roadbased_expected_acc_ub_delay: 3.0
 * /vehicle0/PARAMS/prediction/roadbased_expected_vel_ub: 15.0
 * /vehicle0/PARAMS/prediction/roadbased_heading_deviation_ub: 0.78
 * /vehicle0/PARAMS/prediction/roadbased_lat_error: 0.25
 * /vehicle0/PARAMS/prediction/roadbased_lat_precision: 0.1
 * /vehicle0/PARAMS/prediction/roadbased_lon_error: 0.5
 * /vehicle0/PARAMS/prediction/roadbased_prediction_duration: 10.0
 * /vehicle0/PARAMS/prediction/roadbased_time_headway: 2.0
 * /vehicle0/PARAMS/prediction/roadbased_time_leeway: 0.0
 * /vehicle0/PARAMS/prediction/roadbased_worstcase_acc_lb: -2.5
 * /vehicle0/PARAMS/prediction/roadbased_worstcase_acc_ub: -1.8
 * /vehicle0/PARAMS/prediction/roadbased_worstcase_acc_ub_delay: 1.0
 * /vehicle0/PARAMS/prediction/roadbased_worstcase_vel_ub: 15.0
 * /vehicle0/PARAMS/prediction/setbased_prediction_strategy: 0
 * /vehicle0/PARAMS/prediction/static_object_overapproximation: 0.25
 * /vehicle0/PARAMS/prediction/worstcase_filter_precedence: True
 * /vehicle0/PARAMS/prediction/worstcase_filter_tcd: False
 * /vehicle0/PARAMS/tactical_planner/acc_lat_ub: 2.0
 * /vehicle0/PARAMS/tactical_planner/acc_lat_ub_min_vel: 2.0
 * /vehicle0/PARAMS/tactical_planner/acc_lon_lb: -3.0
 * /vehicle0/PARAMS/tactical_planner/acc_lon_ub: 2.0
 * /vehicle0/PARAMS/tactical_planner/assumed_nominal_acceleration_minimum: -1.9
 * /vehicle0/PARAMS/tactical_planner/chase_reference_offset: 0.0
 * /vehicle0/PARAMS/tactical_planner/coercion_prevention_strategy: 2
 * /vehicle0/PARAMS/tactical_planner/collision_detection_front_buffer_space: 0.0
 * /vehicle0/PARAMS/tactical_planner/collision_detection_lateral_error: 0.0
 * /vehicle0/PARAMS/tactical_planner/collision_detection_lateral_precision: 0.05
 * /vehicle0/PARAMS/tactical_planner/collision_detection_longitudinal_error: 0.0
 * /vehicle0/PARAMS/tactical_planner/enforce_monotonous_navigation_cost: True
 * /vehicle0/PARAMS/tactical_planner/front_reference_offset: 0.0
 * /vehicle0/PARAMS/tactical_planner/front_s_gap: 4.0
 * /vehicle0/PARAMS/tactical_planner/front_time_gap: 2.5
 * /vehicle0/PARAMS/tactical_planner/gap_alignment: 0.5
 * /vehicle0/PARAMS/tactical_planner/global_speed_limit: 13.89
 * /vehicle0/PARAMS/tactical_planner/horizon_stop_reference_distance: 8.0
 * /vehicle0/PARAMS/tactical_planner/indicator_lookahead: 50
 * /vehicle0/PARAMS/tactical_planner/lane_view_reset_velocity: 1.5
 * /vehicle0/PARAMS/tactical_planner/lanechange_suppression_timeout: 0.5
 * /vehicle0/PARAMS/tactical_planner/lead_reference_offset: 0.0
 * /vehicle0/PARAMS/tactical_planner/lower_bound_lf_front_s_gap: 4.0
 * /vehicle0/PARAMS/tactical_planner/max_navcost_loss: 500.0
 * /vehicle0/PARAMS/tactical_planner/nominal_swath_acceleration_error: 0.0
 * /vehicle0/PARAMS/tactical_planner/preferred_lc_by_manual_indicator_timeout: 10
 * /vehicle0/PARAMS/tactical_planner/rear_s_gap: 4.0
 * /vehicle0/PARAMS/tactical_planner/rear_time_gap: 1.0
 * /vehicle0/PARAMS/tactical_planner/reset_radius: 2.0
 * /vehicle0/PARAMS/tactical_planner/terminate_after_first_stop_threshold_speed: 0.1
 * /vehicle0/PARAMS/track: /home/maksis/EDI/...
 * /vehicle0/PARAMS/trajectory_generation/emergency_maneuver_delay: 0.25
 * /vehicle0/PARAMS/trajectory_generation/rho: 3.96
 * /vehicle0/PARAMS/trajectory_generation/set_point_count: 100
 * /vehicle0/PARAMS/trajectory_generation/zd_integration_length: 9.0
 * /vehicle0/PARAMS/trajectory_generation/zd_integration_step: 0.01
 * /vehicle0/PARAMS/trajectory_tracking/axMax: 2.0
 * /vehicle0/PARAMS/trajectory_tracking/axMin: -3.0
 * /vehicle0/PARAMS/trajectory_tracking/brakingTorqueGain: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/dBrakingTorqueMax: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/dDeltaMax: 0.8
 * /vehicle0/PARAMS/trajectory_tracking/deltaMax: 1.5
 * /vehicle0/PARAMS/trajectory_tracking/deltaMin: -1.5
 * /vehicle0/PARAMS/trajectory_tracking/exStatic: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/eyStatic: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/k0x: 1.0
 * /vehicle0/PARAMS/trajectory_tracking/k1x: 2.0
 * /vehicle0/PARAMS/trajectory_tracking/kIepsi_r: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/kIev_r: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/kIex_r: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/kIx: 0.005
 * /vehicle0/PARAMS/trajectory_tracking/kIy: 0.1
 * /vehicle0/PARAMS/trajectory_tracking/kPepsi_r: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/kPev_r: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/kPex_r: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/kPey_r: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/keomega: 0.15
 * /vehicle0/PARAMS/trajectory_tracking/kepsi: 0.5
 * /vehicle0/PARAMS/trajectory_tracking/key: 1.06
 * /vehicle0/PARAMS/trajectory_tracking/muCtrlMax: 1.0
 * /vehicle0/plotoptions/debugTrafficIDs: False
 * /vehicle0/plotoptions/default_lane: FillColor=0.6,0.6...
 * /vehicle0/plotoptions/drive_lane: FillColor=0.3,0.3...
 * /vehicle0/plotoptions/emergency_lane: FillColor=0.9,0.8...
 * /vehicle0/plotoptions/followMode: 1
 * /vehicle0/plotoptions/other_lane: FillColor=0.8,0.7...
 * /vehicle0/plotoptions/outer_border: LineColor=0.6,0.6...
 * /vehicle0/plotoptions/plotoptions/tiles/base_url: https://www.wms.n...
 * /vehicle0/plotoptions/prediction/ego/active: True
 * /vehicle0/plotoptions/prediction/wcp/active: True
 * /vehicle0/plotoptions/prediction/wcp/g_end: 1.0
 * /vehicle0/plotoptions/prediction/wcp/g_start: 0.0
 * /vehicle0/plotoptions/prediction/wcp/r_end: 1.0
 * /vehicle0/plotoptions/prediction/wcp/r_start: 1.0
 * /vehicle0/plotoptions/setpoint: LineWidth=5.6;Lin...
 * /vehicle0/plotoptions/tiles/width_meters: 25.0
 * /vehicle0/plotoptions/viewplotter/lc_gate_plotoptions: LineColor=0.0,1.0...
 * /vehicle0/plotoptions/viewplotter/lc_geometry_narrowing: 0.2
 * /vehicle0/plotoptions/viewplotter/lc_geometry_plotoptions: LineColor=1.0,1.0...
 * /vehicle0/plotoptions/viewplotter/lc_sufficient_width_plotoptions: LineColor=0.0,1.0...
 * /vehicle0/plotoptions/viewplotter/lf_geometry_narrowing: 0.2
 * /vehicle0/plotoptions/viewplotter/lf_geometry_plotoptions: LineColor=0.0,1.0...
 * /vehicle0/plotoptions/viewplotter/number_of_samples_per_boundary: 50
 * /vehicle0/plotoptions/viewplotter/plot_lc_geometry: True
 * /vehicle0/plotoptions/viewplotter/plot_lf_geometry: True
 * /vehicle0/simulationID: 0

NODES
  /vehicle0/
    dash (adore_if_ros/test_control_dashboard)
    lmap (adore_if_ros/adore_mapprovider_node)
    lnav (adore_if_ros/adore_navigation_node)
    lvprovider (adore_if_ros/adore_lvprovider_node)
    planner (adore_if_ros/adore_lfbehavior_node)
    plot_lanes (adore_if_ros/plot_lanes_node)
    plot_traffic (adore_if_ros/plot_traffic_node)
    plot_traj (adore_if_ros/plot_trajectories_node)
    plot_vehicle (adore_if_ros/plot_ego_node)
    plot_views (adore_if_ros/plot_views_node)
    tracker (adore_if_ros/adore_feedbackcontroller_node)
no localization state
no localization state
no localization state
no localization state
no localization state
no localization state
no localization state
no localization state
no localization state
no localization state
no localization state

I cannot find which component is printing no localization state message, and therefore I am out of ideas how to debug this. Maybe someone can advise me on this?

Side note

On the side note, when stopping the example and make down some docker containers are left running

$ docker container ls
CONTAINER ID   IMAGE                          COMMAND                  CREATED          STATUS          PORTS     NAMES
cb4995ab615d   adore_cli_x11_display:master   "/ros_entrypoint.sh …"   17 minutes ago   Up 17 minutes             adore_cli
37c3dc6c19df   plotlabserver:0fad7e5          "/bin/sh -c 'bash pl…"   17 minutes ago   Up 17 minutes             plotlabserver
@Themaksiest
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In addition to my previous comment. After running:

$ make up 
$ make run_demo_carla_scenario

I checked which docker containers are running and it seems that adore_if_carla is missing (which I assume should be there):

$ docker container ls
CONTAINER ID   IMAGE                          COMMAND                  CREATED          STATUS          PORTS     NAMES
bc56b78498f3   adore_cli_x11_display:master   "/ros_entrypoint.sh …"   30 seconds ago   Up 27 seconds             adore_cli
7963bd91492d   plotlabserver:0fad7e5          "/bin/sh -c 'bash pl…"   30 seconds ago   Up 27 seconds             plotlabserver
45a0a732c81c   carla_ros_bridge:main          "/ros_entrypoint.sh …"   51 seconds ago   Up 49 seconds             carla_ros_bridge
c1cbba551d6a   carlasim/carla:0.9.13          "/bin/bash ./CarlaUE…"   51 seconds ago   Up 50 seconds             carla

This would mean that adore_if _carla does not provide message nav_msgs::Odometry with topic /vehicle0/localization, and that would somewhat explain the no localization state terminal output, that I am getting.

@n-mat
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n-mat commented Apr 19, 2024 •
edited
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Hi Themaksiest,

thank you for reporting this.

Could you try the following and report back whether this solves the issue?

  1. Check out the branch n-mat-patch-202308 of adore_if_carla.
  2. Build adore_if_carla by running source adore.env inside the adore directory and make build inside the adore_if_carla directory.
  3. Then try again with make up in the adore_if_carla directory and starting the demo014 in the adore_scenarios directory through the cli.

@Themaksiest
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Themaksiest commented Apr 25, 2024 •
edited
Loading

Hi @n-mat

After checking out n-mat-patch-202308 in adore_if_carla I was able to make build the submodule after source adore.env in the parent directory.

Then running make up results in:

$ docker container ls
CONTAINER ID   IMAGE                          COMMAND                  CREATED       STATUS      PORTS                                       NAMES
63ab0ffab3b4   adore_cli_x11_display:master   "/ros_entrypoint.sh …"   6 days ago    Up 6 days                                               adore_cli
1e98b1362af7   plotlabserver:0fad7e5          "/bin/sh -c 'bash pl…"   6 days ago    Up 6 days                                               plotlabserver
23dd1c417433   apt-cacher-ng:latest           "/bin/sh -c 'chmod 7…"   4 weeks ago   Up 6 days   0.0.0.0:3142->3142/tcp, :::3142->3142/tcp   apt-cacher-ng

Finally running make cli in adore directory and navigating to adore_scenarios afterwards I launched the example scenario.

However, launching the example resulted in the same message "no localization state" being printed out. I included the full print out bellow: 
ADORe CLI: adore_scenarios git:(master)  (0)>  roslaunch demo014_adore_if_carla.launch
... logging to ~/ADORe/adore/.log/.ros/log/2af637da-02fc-11ef-9de7-ac1f6bd60276/roslaunch-ADORe-CLI-300.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://127.0.0.1:40279/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /tcp_no_delay: True
 * /use_scheduler: False
 * /use_sim_time: False
 * /vehicle0/PARAMS/LocalizationModel/drift_deviation_pos: 0.0
 * /vehicle0/PARAMS/LocalizationModel/drift_rate_pos: 0.0
 * /vehicle0/PARAMS/LocalizationModel/jump_deviation_heading: 0.0
 * /vehicle0/PARAMS/LocalizationModel/jump_deviation_pos: 0.0
 * /vehicle0/PARAMS/LocalizationModel/jump_threshold_heading: 0.0
 * /vehicle0/PARAMS/LocalizationModel/jump_threshold_pos: 0.0
 * /vehicle0/PARAMS/OdometryModel/k_e_ax: 0.0
 * /vehicle0/PARAMS/OdometryModel/k_e_omega: 0.0
 * /vehicle0/PARAMS/OdometryModel/k_e_vx: 0.0
 * /vehicle0/PARAMS/OdometryModel/k_e_vy: 0.0
 * /vehicle0/PARAMS/SensorModel/objectDetectionRange: 100.0
 * /vehicle0/PARAMS/SensorModel/objectDiscardAge: 1.0
 * /vehicle0/PARAMS/Vehicle/Iz_m: 1.0
 * /vehicle0/PARAMS/Vehicle/a: 2.03
 * /vehicle0/PARAMS/Vehicle/b: 1.93
 * /vehicle0/PARAMS/Vehicle/bodyWidth: 2.03
 * /vehicle0/PARAMS/Vehicle/c: 0.78
 * /vehicle0/PARAMS/Vehicle/cf: 17.0
 * /vehicle0/PARAMS/Vehicle/cr: 17.0
 * /vehicle0/PARAMS/Vehicle/d: 1.15
 * /vehicle0/PARAMS/Vehicle/g: 9.81
 * /vehicle0/PARAMS/Vehicle/h: 0.55
 * /vehicle0/PARAMS/Vehicle/m: 1800.0
 * /vehicle0/PARAMS/Vehicle/mu: 0.8
 * /vehicle0/PARAMS/Vehicle/observationPointForPosition: 0.0
 * /vehicle0/PARAMS/Vehicle/steeringAngleMax: 1.22173
 * /vehicle0/PARAMS/Vehicle/steeringAngleMin: -1.22173
 * /vehicle0/PARAMS/Vehicle/steeringRatio: 14.0
 * /vehicle0/PARAMS/Vehicle/wf: 1.95
 * /vehicle0/PARAMS/Vehicle/wr: 1.95
 * /vehicle0/PARAMS/adore_if_ibeo/existance_probability_cutoff: -1.0
 * /vehicle0/PARAMS/adore_if_ibeo/size_cutoff: 0.02
 * /vehicle0/PARAMS/checkpoints/clear_distance: 50.0
 * /vehicle0/PARAMS/checkpoints/clear_timeout: 30.0
 * /vehicle0/PARAMS/cooperation/abs_position_uncertainty: 8.0
 * /vehicle0/PARAMS/cooperation/abs_time_uncertainly_for_lc: 1.0
 * /vehicle0/PARAMS/cooperation/abs_velocity_uncertainty: 2.5
 * /vehicle0/PARAMS/cooperation/assumed_chase_acceleration: -2.0
 * /vehicle0/PARAMS/cooperation/cooperation_mode: 1
 * /vehicle0/PARAMS/cooperation/negotiation_time: 0.5
 * /vehicle0/PARAMS/cooperation/send_repetitive_messages: 50
 * /vehicle0/PARAMS/cooperation/utm_zone: 32
 * /vehicle0/PARAMS/emergency_operation/axMaxTerm: 2.0
 * /vehicle0/PARAMS/emergency_operation/axMinPlan: -3.0
 * /vehicle0/PARAMS/emergency_operation/axMinTerm: -3.0
 * /vehicle0/PARAMS/emergency_operation/deltaMaxTerm: 1.0
 * /vehicle0/PARAMS/emergency_operation/deltaMinTerm: -1.0
 * /vehicle0/PARAMS/emergency_operation/emergencyManeuverAMax: -1.0
 * /vehicle0/PARAMS/emergency_operation/emergencyManeuverAMin: -2.5
 * /vehicle0/PARAMS/emergency_operation/emergencyManeuverAStall: -2.5
 * /vehicle0/PARAMS/emergency_operation/emergencyManeuverJMin: -1.33
 * /vehicle0/PARAMS/emergency_operation/emergencyManeuverTStall: 0.0
 * /vehicle0/PARAMS/emergency_operation/kpsiTerm: 0.4
 * /vehicle0/PARAMS/emergency_operation/kyTerm: 0.05
 * /vehicle0/PARAMS/lane_change_view/baseline_fit_smoothness: 0.001
 * /vehicle0/PARAMS/lane_change_view/look_ahead: 150.0
 * /vehicle0/PARAMS/lane_change_view/look_behind: 50.0
 * /vehicle0/PARAMS/lane_change_view/maximum_navcost_loss: 1000.0
 * /vehicle0/PARAMS/lane_following_view/baseline_fit_smoothness: 0.015
 * /vehicle0/PARAMS/lane_following_view/look_ahead: 150.0
 * /vehicle0/PARAMS/lane_following_view/look_behind: 50.0
 * /vehicle0/PARAMS/lane_following_view/planning_time: 10.0
 * /vehicle0/PARAMS/lateral_planner/acc_lb: -8.0
 * /vehicle0/PARAMS/lateral_planner/acc_ub: 8.0
 * /vehicle0/PARAMS/lateral_planner/curvature_lb: -0.5
 * /vehicle0/PARAMS/lateral_planner/curvature_ub: 0.5
 * /vehicle0/PARAMS/lateral_planner/hard_safety_distance_to_lane_boundary: 0.15
 * /vehicle0/PARAMS/lateral_planner/jerk_lb: -100.0
 * /vehicle0/PARAMS/lateral_planner/jerk_ub: 100.0
 * /vehicle0/PARAMS/lateral_planner/lateral_grid_scale: 1.0
 * /vehicle0/PARAMS/lateral_planner/max_cpu_time: 0.05
 * /vehicle0/PARAMS/lateral_planner/merge_constraint_delay: -1.0
 * /vehicle0/PARAMS/lateral_planner/minimum_lateral_control_space: 0.15
 * /vehicle0/PARAMS/lateral_planner/relative_heading_lb: -1.0
 * /vehicle0/PARAMS/lateral_planner/relative_heading_ub: 1.0
 * /vehicle0/PARAMS/lateral_planner/slack_acc: 1.0
 * /vehicle0/PARAMS/lateral_planner/slack_pos: 0.1
 * /vehicle0/PARAMS/lateral_planner/slack_vel: 0.1
 * /vehicle0/PARAMS/lateral_planner/soft_safety_distance_to_lane_boundary: 0.3
 * /vehicle0/PARAMS/lateral_planner/weight_acc: 1.5
 * /vehicle0/PARAMS/lateral_planner/weight_end_acc: 0.0
 * /vehicle0/PARAMS/lateral_planner/weight_end_pos: 0.0
 * /vehicle0/PARAMS/lateral_planner/weight_end_vel: 0.0
 * /vehicle0/PARAMS/lateral_planner/weight_jerk: 1.5
 * /vehicle0/PARAMS/lateral_planner/weight_pos: 1.0
 * /vehicle0/PARAMS/lateral_planner/weight_vel: 1.0
 * /vehicle0/PARAMS/local_road_map/border_trace_length: 120.0
 * /vehicle0/PARAMS/local_road_map/discard_radius: 320.0
 * /vehicle0/PARAMS/local_road_map/navigation_active: False
 * /vehicle0/PARAMS/longitudinal_planner/acc_lat_ub: 1.5
 * /vehicle0/PARAMS/longitudinal_planner/acc_lat_ub_min_velocity: 1.0
 * /vehicle0/PARAMS/longitudinal_planner/acc_lb: -1.75
 * /vehicle0/PARAMS/longitudinal_planner/acc_ub: 0.75
 * /vehicle0/PARAMS/longitudinal_planner/acc_ub_slow: 1.5
 * /vehicle0/PARAMS/longitudinal_planner/comf_acc_lb: -1.0
 * /vehicle0/PARAMS/longitudinal_planner/comf_acc_ub: 1.0
 * /vehicle0/PARAMS/longitudinal_planner/constraint_clearance_pos: 0.1
 * /vehicle0/PARAMS/longitudinal_planner/constraint_clearance_vel: 0.05
 * /vehicle0/PARAMS/longitudinal_planner/jerk_lb: -100.0
 * /vehicle0/PARAMS/longitudinal_planner/jerk_ub: 100.0
 * /vehicle0/PARAMS/longitudinal_planner/max_cpu_time: 0.05
 * /vehicle0/PARAMS/longitudinal_planner/min_width_fast: 2.1
 * /vehicle0/PARAMS/longitudinal_planner/min_width_fast_speed: 14.0
 * /vehicle0/PARAMS/longitudinal_planner/min_width_slow: 2.0
 * /vehicle0/PARAMS/longitudinal_planner/min_width_slow_speed: 14.0
 * /vehicle0/PARAMS/longitudinal_planner/min_width_stop: 2.0
 * /vehicle0/PARAMS/longitudinal_planner/slack_acc: 5.0
 * /vehicle0/PARAMS/longitudinal_planner/slack_pos: 0.5
 * /vehicle0/PARAMS/longitudinal_planner/slack_vel: 0.01
 * /vehicle0/PARAMS/longitudinal_planner/stopAtRedLights_always_before: False
 * /vehicle0/PARAMS/longitudinal_planner/stopAtRedLights_max_connection_length: 10.0
 * /vehicle0/PARAMS/longitudinal_planner/stop_distance_to_conflict_point: 5.0
 * /vehicle0/PARAMS/longitudinal_planner/v_acc_ub_slow: 4.0
 * /vehicle0/PARAMS/longitudinal_planner/weight_acc: 12.0
 * /vehicle0/PARAMS/longitudinal_planner/weight_end_acc: 0.0
 * /vehicle0/PARAMS/longitudinal_planner/weight_end_pos: 0.0
 * /vehicle0/PARAMS/longitudinal_planner/weight_end_vel: 0.0
 * /vehicle0/PARAMS/longitudinal_planner/weight_jerk: 8.0
 * /vehicle0/PARAMS/longitudinal_planner/weight_pos: 2.0
 * /vehicle0/PARAMS/longitudinal_planner/weight_vel: 5.0
 * /vehicle0/PARAMS/map_provider/XODRLoaderPointsPerBorder: 128
 * /vehicle0/PARAMS/map_provider/activate_plotting: True
 * /vehicle0/PARAMS/map_provider/plot_complete_map_in_local_view: False
 * /vehicle0/PARAMS/map_provider/r: 300.0
 * /vehicle0/PARAMS/map_provider/use_scenario_manager_map: False
 * /vehicle0/PARAMS/navigation/active_plotting_global: True
 * /vehicle0/PARAMS/navigation/active_plotting_local: True
 * /vehicle0/PARAMS/navigation/lane_change_penalty: 1000.0
 * /vehicle0/PARAMS/navigation/navigation_goal_stop_tolerance_lateral: 1.0
 * /vehicle0/PARAMS/navigation/use_scenario_mananger_map: False
 * /vehicle0/PARAMS/prediction/area_of_effect_shrink: -0.25
 * /vehicle0/PARAMS/prediction/area_of_interest_shrink: 1.0
 * /vehicle0/PARAMS/prediction/offroad_expected_acc_lb: -1.0
 * /vehicle0/PARAMS/prediction/offroad_expected_acc_ub: 0.0
 * /vehicle0/PARAMS/prediction/offroad_expected_vel_ub: 15.0
 * /vehicle0/PARAMS/prediction/offroad_lat_error: 0.25
 * /vehicle0/PARAMS/prediction/offroad_lat_precision: 0.1
 * /vehicle0/PARAMS/prediction/offroad_lon_error: 0.02
 * /vehicle0/PARAMS/prediction/offroad_prediction_duration: 5.0
 * /vehicle0/PARAMS/prediction/offroad_time_headway: 1.5
 * /vehicle0/PARAMS/prediction/offroad_time_leeway: 1.5
 * /vehicle0/PARAMS/prediction/offroad_worstcase_acc_lb: -3.0
 * /vehicle0/PARAMS/prediction/offroad_worstcase_acc_ub: -1.0
 * /vehicle0/PARAMS/prediction/offroad_worstcase_vel_ub: 15.0
 * /vehicle0/PARAMS/prediction/prediction_width_lb: 0.25
 * /vehicle0/PARAMS/prediction/prediction_width_ub: 2.0
 * /vehicle0/PARAMS/prediction/roadbased_expected_acc_lb: -1.8
 * /vehicle0/PARAMS/prediction/roadbased_expected_acc_ub: 0.0
 * /vehicle0/PARAMS/prediction/roadbased_expected_acc_ub_delay: 3.0
 * /vehicle0/PARAMS/prediction/roadbased_expected_vel_ub: 15.0
 * /vehicle0/PARAMS/prediction/roadbased_heading_deviation_ub: 0.78
 * /vehicle0/PARAMS/prediction/roadbased_lat_error: 0.25
 * /vehicle0/PARAMS/prediction/roadbased_lat_precision: 0.1
 * /vehicle0/PARAMS/prediction/roadbased_lon_error: 0.5
 * /vehicle0/PARAMS/prediction/roadbased_prediction_duration: 10.0
 * /vehicle0/PARAMS/prediction/roadbased_time_headway: 2.0
 * /vehicle0/PARAMS/prediction/roadbased_time_leeway: 0.0
 * /vehicle0/PARAMS/prediction/roadbased_worstcase_acc_lb: -2.5
 * /vehicle0/PARAMS/prediction/roadbased_worstcase_acc_ub: -1.8
 * /vehicle0/PARAMS/prediction/roadbased_worstcase_acc_ub_delay: 1.0
 * /vehicle0/PARAMS/prediction/roadbased_worstcase_vel_ub: 15.0
 * /vehicle0/PARAMS/prediction/setbased_prediction_strategy: 0
 * /vehicle0/PARAMS/prediction/static_object_overapproximation: 0.25
 * /vehicle0/PARAMS/prediction/worstcase_filter_precedence: True
 * /vehicle0/PARAMS/prediction/worstcase_filter_tcd: False
 * /vehicle0/PARAMS/tactical_planner/acc_lat_ub: 2.0
 * /vehicle0/PARAMS/tactical_planner/acc_lat_ub_min_vel: 2.0
 * /vehicle0/PARAMS/tactical_planner/acc_lon_lb: -3.0
 * /vehicle0/PARAMS/tactical_planner/acc_lon_ub: 2.0
 * /vehicle0/PARAMS/tactical_planner/assumed_nominal_acceleration_minimum: -1.9
 * /vehicle0/PARAMS/tactical_planner/chase_reference_offset: 0.0
 * /vehicle0/PARAMS/tactical_planner/coercion_prevention_strategy: 2
 * /vehicle0/PARAMS/tactical_planner/collision_detection_front_buffer_space: 0.0
 * /vehicle0/PARAMS/tactical_planner/collision_detection_lateral_error: 0.0
 * /vehicle0/PARAMS/tactical_planner/collision_detection_lateral_precision: 0.05
 * /vehicle0/PARAMS/tactical_planner/collision_detection_longitudinal_error: 0.0
 * /vehicle0/PARAMS/tactical_planner/enforce_monotonous_navigation_cost: True
 * /vehicle0/PARAMS/tactical_planner/front_reference_offset: 0.0
 * /vehicle0/PARAMS/tactical_planner/front_s_gap: 4.0
 * /vehicle0/PARAMS/tactical_planner/front_time_gap: 2.5
 * /vehicle0/PARAMS/tactical_planner/gap_alignment: 0.5
 * /vehicle0/PARAMS/tactical_planner/global_speed_limit: 13.89
 * /vehicle0/PARAMS/tactical_planner/horizon_stop_reference_distance: 8.0
 * /vehicle0/PARAMS/tactical_planner/indicator_lookahead: 50
 * /vehicle0/PARAMS/tactical_planner/lane_view_reset_velocity: 1.5
 * /vehicle0/PARAMS/tactical_planner/lanechange_suppression_timeout: 0.5
 * /vehicle0/PARAMS/tactical_planner/lead_reference_offset: 0.0
 * /vehicle0/PARAMS/tactical_planner/lower_bound_lf_front_s_gap: 4.0
 * /vehicle0/PARAMS/tactical_planner/max_navcost_loss: 500.0
 * /vehicle0/PARAMS/tactical_planner/nominal_swath_acceleration_error: 0.0
 * /vehicle0/PARAMS/tactical_planner/preferred_lc_by_manual_indicator_timeout: 10
 * /vehicle0/PARAMS/tactical_planner/rear_s_gap: 4.0
 * /vehicle0/PARAMS/tactical_planner/rear_time_gap: 1.0
 * /vehicle0/PARAMS/tactical_planner/reset_radius: 2.0
 * /vehicle0/PARAMS/tactical_planner/terminate_after_first_stop_threshold_speed: 0.1
 * /vehicle0/PARAMS/track: /home/maksis/EDI/...
 * /vehicle0/PARAMS/trajectory_generation/emergency_maneuver_delay: 0.25
 * /vehicle0/PARAMS/trajectory_generation/rho: 3.96
 * /vehicle0/PARAMS/trajectory_generation/set_point_count: 100
 * /vehicle0/PARAMS/trajectory_generation/zd_integration_length: 9.0
 * /vehicle0/PARAMS/trajectory_generation/zd_integration_step: 0.01
 * /vehicle0/PARAMS/trajectory_tracking/axMax: 2.0
 * /vehicle0/PARAMS/trajectory_tracking/axMin: -3.0
 * /vehicle0/PARAMS/trajectory_tracking/brakingTorqueGain: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/dBrakingTorqueMax: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/dDeltaMax: 0.8
 * /vehicle0/PARAMS/trajectory_tracking/deltaMax: 1.5
 * /vehicle0/PARAMS/trajectory_tracking/deltaMin: -1.5
 * /vehicle0/PARAMS/trajectory_tracking/exStatic: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/eyStatic: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/k0x: 1.0
 * /vehicle0/PARAMS/trajectory_tracking/k1x: 2.0
 * /vehicle0/PARAMS/trajectory_tracking/kIepsi_r: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/kIev_r: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/kIex_r: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/kIx: 0.005
 * /vehicle0/PARAMS/trajectory_tracking/kIy: 0.1
 * /vehicle0/PARAMS/trajectory_tracking/kPepsi_r: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/kPev_r: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/kPex_r: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/kPey_r: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/keomega: 0.15
 * /vehicle0/PARAMS/trajectory_tracking/kepsi: 0.5
 * /vehicle0/PARAMS/trajectory_tracking/key: 1.06
 * /vehicle0/PARAMS/trajectory_tracking/muCtrlMax: 1.0
 * /vehicle0/plotoptions/debugTrafficIDs: False
 * /vehicle0/plotoptions/default_lane: FillColor=0.6,0.6...
 * /vehicle0/plotoptions/drive_lane: FillColor=0.3,0.3...
 * /vehicle0/plotoptions/emergency_lane: FillColor=0.9,0.8...
 * /vehicle0/plotoptions/followMode: 1
 * /vehicle0/plotoptions/other_lane: FillColor=0.8,0.7...
 * /vehicle0/plotoptions/outer_border: LineColor=0.6,0.6...
 * /vehicle0/plotoptions/plotoptions/tiles/base_url: https://www.wms.n...
 * /vehicle0/plotoptions/prediction/ego/active: True
 * /vehicle0/plotoptions/prediction/wcp/active: True
 * /vehicle0/plotoptions/prediction/wcp/g_end: 1.0
 * /vehicle0/plotoptions/prediction/wcp/g_start: 0.0
 * /vehicle0/plotoptions/prediction/wcp/r_end: 1.0
 * /vehicle0/plotoptions/prediction/wcp/r_start: 1.0
 * /vehicle0/plotoptions/setpoint: LineWidth=5.6;Lin...
 * /vehicle0/plotoptions/tiles/width_meters: 25.0
 * /vehicle0/plotoptions/viewplotter/lc_gate_plotoptions: LineColor=0.0,1.0...
 * /vehicle0/plotoptions/viewplotter/lc_geometry_narrowing: 0.2
 * /vehicle0/plotoptions/viewplotter/lc_geometry_plotoptions: LineColor=1.0,1.0...
 * /vehicle0/plotoptions/viewplotter/lc_sufficient_width_plotoptions: LineColor=0.0,1.0...
 * /vehicle0/plotoptions/viewplotter/lf_geometry_narrowing: 0.2
 * /vehicle0/plotoptions/viewplotter/lf_geometry_plotoptions: LineColor=0.0,1.0...
 * /vehicle0/plotoptions/viewplotter/number_of_samples_per_boundary: 50
 * /vehicle0/plotoptions/viewplotter/plot_lc_geometry: True
 * /vehicle0/plotoptions/viewplotter/plot_lf_geometry: True
 * /vehicle0/simulationID: 0

NODES
  /vehicle0/
    dash (adore_if_ros/test_control_dashboard)
    lmap (adore_if_ros/adore_mapprovider_node)
    lnav (adore_if_ros/adore_navigation_node)
    lvprovider (adore_if_ros/adore_lvprovider_node)
    planner (adore_if_ros/adore_lfbehavior_node)
    plot_lanes (adore_if_ros/plot_lanes_node)
    plot_traffic (adore_if_ros/plot_traffic_node)
    plot_traj (adore_if_ros/plot_trajectories_node)
    plot_vehicle (adore_if_ros/plot_ego_node)
    plot_views (adore_if_ros/plot_views_node)
    tracker (adore_if_ros/adore_feedbackcontroller_node)

auto-starting new master
process[master]: started with pid [322]
ROS_MASTER_URI=http://127.0.0.1:11311

setting /run_id to 2af637da-02fc-11ef-9de7-ac1f6bd60276
process[rosout-1]: started with pid [346]
started core service [/rosout]
process[vehicle0/plot_vehicle-2]: started with pid [349]
process[vehicle0/plot_lanes-3]: started with pid [351]
process[vehicle0/plot_traffic-4]: started with pid [355]
process[vehicle0/plot_views-5]: started with pid [356]
process[vehicle0/tracker-6]: started with pid [359]
process[vehicle0/lmap-7]: started with pid [372]
process[vehicle0/lnav-8]: started with pid [378]
process[vehicle0/planner-9]: started with pid [385]
process[vehicle0/lvprovider-10]: started with pid [393]
process[vehicle0/dash-11]: started with pid [394]
process[vehicle0/plot_traj-12]: started with pid [405]
no localization state
no localization state
no localization state
no localization state
no localization state
no localization state

@n-mat
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n-mat commented Apr 25, 2024 •
edited
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Currently I cannot reproduce this with the master branch for adore and branch n-mat-patch-202308 for adore_if_carla. After running make up in the adore_if_carla directory, the containers for carla, carla_ros_bridge and adore_if_carla should be running.

After make up in directory adore_if_carla, I get:

$ docker container ls
CONTAINER ID   IMAGE                                 COMMAND                  CREATED         STATUS         PORTS                                       NAMES
c406da801062   adore_if_carla:n-mat-patch-202308     "/ros_entrypoint.sh …"   4 minutes ago   Up 4 minutes                                               adore_if_carla
b375996855e7   carla_ros_bridge:n-mat-patch-202308   "/ros_entrypoint.sh …"   4 minutes ago   Up 4 minutes                                               carla_ros_bridge
0b62e0bc1820   carlasim/carla:0.9.13                 "/bin/bash ./CarlaUE…"   4 minutes ago   Up 4 minutes                                               carla
73c3d7872388   apt-cacher-ng:latest                  "/bin/sh -c 'chmod 7…"   3 days ago      Up 2 days      0.0.0.0:3142->3142/tcp, :::3142->3142/tcp   apt-cacher-ng

I will look into this issue again next week.

@n-mat
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n-mat commented Apr 30, 2024

Hi @Themaksiest,

I finally cannot reproduce the issue. What is the direct output that you get after 'make up' in the adore_if_carla directory?

@Themaksiest
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Hi @n-mat

The good news is that I have some progress, not so good news is that I was not changing anything related to ADORe.

I had to purge everything related to CUDA and NVIDIA so it seems that nvidia_docker too. I noticed it after installing new NVIDIA driver and CUDA toolkit. After once again following the guidelines in the README and make install_nvidia_docker2, source adore.env in adore repository and make build in adore_if_carla repository, the current output of make up is:

$ make up
xhost local:root && \
    docker compose up --force-recreate -d adore_if_carla; \
docker compose rm --force
non-network local connections being added to access control list
WARN[0000] ~/ADORe/adore/adore_if_carla/docker-compose.yaml: `version` is obsolete 
[+] Running 3/3
 ✔ Container carla             Started                                                                                                                                                                        0.1s 
 ✔ Container carla_ros_bridge  Started                                                                                                                                                                        0.1s 
 ✔ Container adore_if_carla    Started                                                                                                                                                                        0.0s 
WARN[0000] ~/ADORe/adore/adore_if_carla/docker-compose.yaml: `version` is obsolete 
No stopped containers

And Docker output:

docker container ls
CONTAINER ID   IMAGE                                 COMMAND                  CREATED              STATUS              PORTS     NAMES
f6b8f929bcbd   adore_if_carla:n-mat-patch-202308     "/ros_entrypoint.sh …"   About a minute ago   Up About a minute             adore_if_carla
71be55ef6686   carla_ros_bridge:n-mat-patch-202308   "/ros_entrypoint.sh …"   About a minute ago   Up About a minute             carla_ros_bridge
a507e8699d2a   carlasim/carla:0.9.13                 "/bin/bash ./CarlaUE…"   About a minute ago   Up About a minute             carla
da4347131a55   adore_cli_x11_display:master          "/ros_entrypoint.sh …"   24 minutes ago       Up 24 minutes                 adore_cli
922e7c9b3aba   plotlabserver:0fad7e5                 "/bin/sh -c 'bash pl…"   24 minutes ago       Up 24 minutes                 plotlabserver
Launching the example with `make run_demo_carla_scenario` now prints: 
NODES
  /vehicle0/
    dash (adore_if_ros/test_control_dashboard)
    lmap (adore_if_ros/adore_mapprovider_node)
    lnav (adore_if_ros/adore_navigation_node)
    lvprovider (adore_if_ros/adore_lvprovider_node)
    planner (adore_if_ros/adore_lfbehavior_node)
    plot_lanes (adore_if_ros/plot_lanes_node)
    plot_traffic (adore_if_ros/plot_traffic_node)
    plot_traj (adore_if_ros/plot_trajectories_node)
    plot_vehicle (adore_if_ros/plot_ego_node)
    plot_views (adore_if_ros/plot_views_node)
    tracker (adore_if_ros/adore_feedbackcontroller_node)
no localization state
reset: manual control
reset: manual control
reset: manual control
reset: manual control
reset: manual control
reset: manual control
reset: manual control
reset: manual control
reset: manual control
reset: spr empty
reset: spr empty
...

Expand this to see the full output of launching the example.

 
$ make run_demo_carla_scenario
xhost local:root && \
    docker compose up --force-recreate -d adore_if_carla; \
docker compose rm --force
non-network local connections being added to access control list
WARN[0000] ~/ADORe/adore/adore_if_carla/docker-compose.yaml: `version` is obsolete 
[+] Running 3/3
 ✔ Container carla             Running                                                                                                                                                                        0.0s 
 ✔ Container carla_ros_bridge  Running                                                                                                                                                                        0.0s 
 ✔ Container adore_if_carla    Started                                                                                                                                                                       10.2s 
WARN[0000] ~/ADORe/adore/adore_if_carla/docker-compose.yaml: `version` is obsolete 
No stopped containers
cd ../ && make run_test_scenarios TEST_SCENARIOS=adore_scenarios/demo014_adore_if_carla.launch
Running adore_cli setup... SOURCE_DIRECTORY: ~/ADORe/adore
make --file=~/ADORe/adore/adore_cli/adore_cli.mk build_fast_adore_cli
Docker image: adore_cli:master already build, skipping build.
cd ~/ADORe/adore/catkin_docker && make initialize_catkin_workspace
Catkin workspace already exists at: ~/ADORe/adore/catkin_workspace, skipping creation of catkin workspace.

cd ~/ADORe/adore/plotlabserver && \
    make down || true
make stop_plotlabserver
docker compose down
WARN[0000] ~/ADORe/adore/plotlabserver/docker-compose.yaml: `version` is obsolete 
[+] Running 1/0
 ✔ Container plotlabserver  Removed                                                                                                                                                                           0.0s 
docker compose rm -f
WARN[0000] ~/ADORe/adore/plotlabserver/docker-compose.yaml: `version` is obsolete 
No stopped containers
docker stop plotlabserver 2> /dev/null || true
docker rm plotlabserver 2> /dev/null || true
docker compose rm -f
WARN[0000] ~/ADORe/adore/plotlabserver/docker-compose.yaml: `version` is obsolete 
No stopped containers
export DISPLAY_MODE=headless && make --file=~/ADORe/adore/adore_cli/adore_cli.mk adore_cli_start 
Running adore_cli start... SOURCE_DIRECTORY: ~/ADORe/adore
cd ~/ADORe/adore/plotlabserver && make up-detached 
make start_plotlabserver_detached
docker compose down
WARN[0000] ~/ADORe/adore/plotlabserver/docker-compose.yaml: `version` is obsolete 
Warning: No resource found to remove for project "plotlabserver".
docker compose rm -f
WARN[0000] ~/ADORe/adore/plotlabserver/docker-compose.yaml: `version` is obsolete 
No stopped containers
docker stop plotlabserver 2> /dev/null || true
docker rm plotlabserver 2> /dev/null || true
Docker image: plotlabserver_build:0fad7e5 already build, skipping build.
Docker image: plotlabserver:0fad7e5 already build, skipping build.
docker cp $(docker create --rm plotlabserver_build:0fad7e5):/tmp/plotlabserver/plotlabserver/build "~/ADORe/adore/plotlabserver/plotlabserver"
Successfully copied 5.91MB to ~/ADORe/adore/plotlabserver/plotlabserver
mkdir -p .log
docker compose up --force-recreate -d &
cd ~/ADORe/adore/adore_cli && \
    docker compose -f ~/ADORe/adore/docker-compose.yaml up adore_cli_x11_display \
      --force-recreate \
      --renew-anon-volumes \
      --detach;
WARN[0000] ~/ADORe/adore/plotlabserver/docker-compose.yaml: `version` is obsolete 
WARN[0000] ~/ADORe/adore/docker-compose.yaml: `version` is obsolete 
[+] Running 1/0
 ✔ Container plotlabserver  Created                                                                                                                                                                           0.0s 
[+] Running 1/1
 ✔ Container adore_cli  Started                                                                                                                                                                               0.1s 
docker exec --user adore_cli adore_cli /bin/zsh -c "ADORE_CLI_WORKING_DIRECTORY=~/ADORe/adore bash ~/ADORe/adore/adore_cli/tools/run_test_scenarios.sh" || true
TERM environment variable not set.
  Waiting for plotlab server ..... plotlab server ready 

  Waiting for catkin workspace ... done 
Running scenario: adore_scenarios/demo014_adore_if_carla.launch
... logging to ~/ADORe/adore/.log/.ros/log/2e25a4ce-087c-11ef-80c9-ac1f6bd60276/roslaunch-ADORe-CLI-55.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://127.0.0.1:40113/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /tcp_no_delay: True
 * /use_scheduler: False
 * /use_sim_time: False
 * /vehicle0/PARAMS/LocalizationModel/drift_deviation_pos: 0.0
 * /vehicle0/PARAMS/LocalizationModel/drift_rate_pos: 0.0
 * /vehicle0/PARAMS/LocalizationModel/jump_deviation_heading: 0.0
 * /vehicle0/PARAMS/LocalizationModel/jump_deviation_pos: 0.0
 * /vehicle0/PARAMS/LocalizationModel/jump_threshold_heading: 0.0
 * /vehicle0/PARAMS/LocalizationModel/jump_threshold_pos: 0.0
 * /vehicle0/PARAMS/OdometryModel/k_e_ax: 0.0
 * /vehicle0/PARAMS/OdometryModel/k_e_omega: 0.0
 * /vehicle0/PARAMS/OdometryModel/k_e_vx: 0.0
 * /vehicle0/PARAMS/OdometryModel/k_e_vy: 0.0
 * /vehicle0/PARAMS/SensorModel/objectDetectionRange: 100.0
 * /vehicle0/PARAMS/SensorModel/objectDiscardAge: 1.0
 * /vehicle0/PARAMS/Vehicle/Iz_m: 1.0
 * /vehicle0/PARAMS/Vehicle/a: 2.03
 * /vehicle0/PARAMS/Vehicle/b: 1.93
 * /vehicle0/PARAMS/Vehicle/bodyWidth: 2.03
 * /vehicle0/PARAMS/Vehicle/c: 0.78
 * /vehicle0/PARAMS/Vehicle/cf: 17.0
 * /vehicle0/PARAMS/Vehicle/cr: 17.0
 * /vehicle0/PARAMS/Vehicle/d: 1.15
 * /vehicle0/PARAMS/Vehicle/g: 9.81
 * /vehicle0/PARAMS/Vehicle/h: 0.55
 * /vehicle0/PARAMS/Vehicle/m: 1800.0
 * /vehicle0/PARAMS/Vehicle/mu: 0.8
 * /vehicle0/PARAMS/Vehicle/observationPointForPosition: 0.0
 * /vehicle0/PARAMS/Vehicle/steeringAngleMax: 1.22173
 * /vehicle0/PARAMS/Vehicle/steeringAngleMin: -1.22173
 * /vehicle0/PARAMS/Vehicle/steeringRatio: 14.0
 * /vehicle0/PARAMS/Vehicle/wf: 1.95
 * /vehicle0/PARAMS/Vehicle/wr: 1.95
 * /vehicle0/PARAMS/adore_if_ibeo/existance_probability_cutoff: -1.0
 * /vehicle0/PARAMS/adore_if_ibeo/size_cutoff: 0.02
 * /vehicle0/PARAMS/checkpoints/clear_distance: 50.0
 * /vehicle0/PARAMS/checkpoints/clear_timeout: 30.0
 * /vehicle0/PARAMS/cooperation/abs_position_uncertainty: 8.0
 * /vehicle0/PARAMS/cooperation/abs_time_uncertainly_for_lc: 1.0
 * /vehicle0/PARAMS/cooperation/abs_velocity_uncertainty: 2.5
 * /vehicle0/PARAMS/cooperation/assumed_chase_acceleration: -2.0
 * /vehicle0/PARAMS/cooperation/cooperation_mode: 1
 * /vehicle0/PARAMS/cooperation/negotiation_time: 0.5
 * /vehicle0/PARAMS/cooperation/send_repetitive_messages: 50
 * /vehicle0/PARAMS/cooperation/utm_zone: 32
 * /vehicle0/PARAMS/emergency_operation/axMaxTerm: 2.0
 * /vehicle0/PARAMS/emergency_operation/axMinPlan: -3.0
 * /vehicle0/PARAMS/emergency_operation/axMinTerm: -3.0
 * /vehicle0/PARAMS/emergency_operation/deltaMaxTerm: 1.0
 * /vehicle0/PARAMS/emergency_operation/deltaMinTerm: -1.0
 * /vehicle0/PARAMS/emergency_operation/emergencyManeuverAMax: -1.0
 * /vehicle0/PARAMS/emergency_operation/emergencyManeuverAMin: -2.5
 * /vehicle0/PARAMS/emergency_operation/emergencyManeuverAStall: -2.5
 * /vehicle0/PARAMS/emergency_operation/emergencyManeuverJMin: -1.33
 * /vehicle0/PARAMS/emergency_operation/emergencyManeuverTStall: 0.0
 * /vehicle0/PARAMS/emergency_operation/kpsiTerm: 0.4
 * /vehicle0/PARAMS/emergency_operation/kyTerm: 0.05
 * /vehicle0/PARAMS/lane_change_view/baseline_fit_smoothness: 0.001
 * /vehicle0/PARAMS/lane_change_view/look_ahead: 150.0
 * /vehicle0/PARAMS/lane_change_view/look_behind: 50.0
 * /vehicle0/PARAMS/lane_change_view/maximum_navcost_loss: 1000.0
 * /vehicle0/PARAMS/lane_following_view/baseline_fit_smoothness: 0.015
 * /vehicle0/PARAMS/lane_following_view/look_ahead: 150.0
 * /vehicle0/PARAMS/lane_following_view/look_behind: 50.0
 * /vehicle0/PARAMS/lane_following_view/planning_time: 10.0
 * /vehicle0/PARAMS/lateral_planner/acc_lb: -8.0
 * /vehicle0/PARAMS/lateral_planner/acc_ub: 8.0
 * /vehicle0/PARAMS/lateral_planner/curvature_lb: -0.5
 * /vehicle0/PARAMS/lateral_planner/curvature_ub: 0.5
 * /vehicle0/PARAMS/lateral_planner/hard_safety_distance_to_lane_boundary: 0.15
 * /vehicle0/PARAMS/lateral_planner/jerk_lb: -100.0
 * /vehicle0/PARAMS/lateral_planner/jerk_ub: 100.0
 * /vehicle0/PARAMS/lateral_planner/lateral_grid_scale: 1.0
 * /vehicle0/PARAMS/lateral_planner/max_cpu_time: 0.05
 * /vehicle0/PARAMS/lateral_planner/merge_constraint_delay: -1.0
 * /vehicle0/PARAMS/lateral_planner/minimum_lateral_control_space: 0.15
 * /vehicle0/PARAMS/lateral_planner/relative_heading_lb: -1.0
 * /vehicle0/PARAMS/lateral_planner/relative_heading_ub: 1.0
 * /vehicle0/PARAMS/lateral_planner/slack_acc: 1.0
 * /vehicle0/PARAMS/lateral_planner/slack_pos: 0.1
 * /vehicle0/PARAMS/lateral_planner/slack_vel: 0.1
 * /vehicle0/PARAMS/lateral_planner/soft_safety_distance_to_lane_boundary: 0.3
 * /vehicle0/PARAMS/lateral_planner/weight_acc: 1.5
 * /vehicle0/PARAMS/lateral_planner/weight_end_acc: 0.0
 * /vehicle0/PARAMS/lateral_planner/weight_end_pos: 0.0
 * /vehicle0/PARAMS/lateral_planner/weight_end_vel: 0.0
 * /vehicle0/PARAMS/lateral_planner/weight_jerk: 1.5
 * /vehicle0/PARAMS/lateral_planner/weight_pos: 1.0
 * /vehicle0/PARAMS/lateral_planner/weight_vel: 1.0
 * /vehicle0/PARAMS/local_road_map/border_trace_length: 120.0
 * /vehicle0/PARAMS/local_road_map/discard_radius: 320.0
 * /vehicle0/PARAMS/local_road_map/navigation_active: False
 * /vehicle0/PARAMS/longitudinal_planner/acc_lat_ub: 1.5
 * /vehicle0/PARAMS/longitudinal_planner/acc_lat_ub_min_velocity: 1.0
 * /vehicle0/PARAMS/longitudinal_planner/acc_lb: -1.75
 * /vehicle0/PARAMS/longitudinal_planner/acc_ub: 0.75
 * /vehicle0/PARAMS/longitudinal_planner/acc_ub_slow: 1.5
 * /vehicle0/PARAMS/longitudinal_planner/comf_acc_lb: -1.0
 * /vehicle0/PARAMS/longitudinal_planner/comf_acc_ub: 1.0
 * /vehicle0/PARAMS/longitudinal_planner/constraint_clearance_pos: 0.1
 * /vehicle0/PARAMS/longitudinal_planner/constraint_clearance_vel: 0.05
 * /vehicle0/PARAMS/longitudinal_planner/jerk_lb: -100.0
 * /vehicle0/PARAMS/longitudinal_planner/jerk_ub: 100.0
 * /vehicle0/PARAMS/longitudinal_planner/max_cpu_time: 0.05
 * /vehicle0/PARAMS/longitudinal_planner/min_width_fast: 2.1
 * /vehicle0/PARAMS/longitudinal_planner/min_width_fast_speed: 14.0
 * /vehicle0/PARAMS/longitudinal_planner/min_width_slow: 2.0
 * /vehicle0/PARAMS/longitudinal_planner/min_width_slow_speed: 14.0
 * /vehicle0/PARAMS/longitudinal_planner/min_width_stop: 2.0
 * /vehicle0/PARAMS/longitudinal_planner/slack_acc: 5.0
 * /vehicle0/PARAMS/longitudinal_planner/slack_pos: 0.5
 * /vehicle0/PARAMS/longitudinal_planner/slack_vel: 0.01
 * /vehicle0/PARAMS/longitudinal_planner/stopAtRedLights_always_before: False
 * /vehicle0/PARAMS/longitudinal_planner/stopAtRedLights_max_connection_length: 10.0
 * /vehicle0/PARAMS/longitudinal_planner/stop_distance_to_conflict_point: 5.0
 * /vehicle0/PARAMS/longitudinal_planner/v_acc_ub_slow: 4.0
 * /vehicle0/PARAMS/longitudinal_planner/weight_acc: 12.0
 * /vehicle0/PARAMS/longitudinal_planner/weight_end_acc: 0.0
 * /vehicle0/PARAMS/longitudinal_planner/weight_end_pos: 0.0
 * /vehicle0/PARAMS/longitudinal_planner/weight_end_vel: 0.0
 * /vehicle0/PARAMS/longitudinal_planner/weight_jerk: 8.0
 * /vehicle0/PARAMS/longitudinal_planner/weight_pos: 2.0
 * /vehicle0/PARAMS/longitudinal_planner/weight_vel: 5.0
 * /vehicle0/PARAMS/map_provider/XODRLoaderPointsPerBorder: 128
 * /vehicle0/PARAMS/map_provider/activate_plotting: True
 * /vehicle0/PARAMS/map_provider/plot_complete_map_in_local_view: False
 * /vehicle0/PARAMS/map_provider/r: 300.0
 * /vehicle0/PARAMS/map_provider/use_scenario_manager_map: False
 * /vehicle0/PARAMS/navigation/active_plotting_global: True
 * /vehicle0/PARAMS/navigation/active_plotting_local: True
 * /vehicle0/PARAMS/navigation/lane_change_penalty: 1000.0
 * /vehicle0/PARAMS/navigation/navigation_goal_stop_tolerance_lateral: 1.0
 * /vehicle0/PARAMS/navigation/use_scenario_mananger_map: False
 * /vehicle0/PARAMS/prediction/area_of_effect_shrink: -0.25
 * /vehicle0/PARAMS/prediction/area_of_interest_shrink: 1.0
 * /vehicle0/PARAMS/prediction/offroad_expected_acc_lb: -1.0
 * /vehicle0/PARAMS/prediction/offroad_expected_acc_ub: 0.0
 * /vehicle0/PARAMS/prediction/offroad_expected_vel_ub: 15.0
 * /vehicle0/PARAMS/prediction/offroad_lat_error: 0.25
 * /vehicle0/PARAMS/prediction/offroad_lat_precision: 0.1
 * /vehicle0/PARAMS/prediction/offroad_lon_error: 0.02
 * /vehicle0/PARAMS/prediction/offroad_prediction_duration: 5.0
 * /vehicle0/PARAMS/prediction/offroad_time_headway: 1.5
 * /vehicle0/PARAMS/prediction/offroad_time_leeway: 1.5
 * /vehicle0/PARAMS/prediction/offroad_worstcase_acc_lb: -3.0
 * /vehicle0/PARAMS/prediction/offroad_worstcase_acc_ub: -1.0
 * /vehicle0/PARAMS/prediction/offroad_worstcase_vel_ub: 15.0
 * /vehicle0/PARAMS/prediction/prediction_width_lb: 0.25
 * /vehicle0/PARAMS/prediction/prediction_width_ub: 2.0
 * /vehicle0/PARAMS/prediction/roadbased_expected_acc_lb: -1.8
 * /vehicle0/PARAMS/prediction/roadbased_expected_acc_ub: 0.0
 * /vehicle0/PARAMS/prediction/roadbased_expected_acc_ub_delay: 3.0
 * /vehicle0/PARAMS/prediction/roadbased_expected_vel_ub: 15.0
 * /vehicle0/PARAMS/prediction/roadbased_heading_deviation_ub: 0.78
 * /vehicle0/PARAMS/prediction/roadbased_lat_error: 0.25
 * /vehicle0/PARAMS/prediction/roadbased_lat_precision: 0.1
 * /vehicle0/PARAMS/prediction/roadbased_lon_error: 0.5
 * /vehicle0/PARAMS/prediction/roadbased_prediction_duration: 10.0
 * /vehicle0/PARAMS/prediction/roadbased_time_headway: 2.0
 * /vehicle0/PARAMS/prediction/roadbased_time_leeway: 0.0
 * /vehicle0/PARAMS/prediction/roadbased_worstcase_acc_lb: -2.5
 * /vehicle0/PARAMS/prediction/roadbased_worstcase_acc_ub: -1.8
 * /vehicle0/PARAMS/prediction/roadbased_worstcase_acc_ub_delay: 1.0
 * /vehicle0/PARAMS/prediction/roadbased_worstcase_vel_ub: 15.0
 * /vehicle0/PARAMS/prediction/setbased_prediction_strategy: 0
 * /vehicle0/PARAMS/prediction/static_object_overapproximation: 0.25
 * /vehicle0/PARAMS/prediction/worstcase_filter_precedence: True
 * /vehicle0/PARAMS/prediction/worstcase_filter_tcd: False
 * /vehicle0/PARAMS/tactical_planner/acc_lat_ub: 2.0
 * /vehicle0/PARAMS/tactical_planner/acc_lat_ub_min_vel: 2.0
 * /vehicle0/PARAMS/tactical_planner/acc_lon_lb: -3.0
 * /vehicle0/PARAMS/tactical_planner/acc_lon_ub: 2.0
 * /vehicle0/PARAMS/tactical_planner/assumed_nominal_acceleration_minimum: -1.9
 * /vehicle0/PARAMS/tactical_planner/chase_reference_offset: 0.0
 * /vehicle0/PARAMS/tactical_planner/coercion_prevention_strategy: 2
 * /vehicle0/PARAMS/tactical_planner/collision_detection_front_buffer_space: 0.0
 * /vehicle0/PARAMS/tactical_planner/collision_detection_lateral_error: 0.0
 * /vehicle0/PARAMS/tactical_planner/collision_detection_lateral_precision: 0.05
 * /vehicle0/PARAMS/tactical_planner/collision_detection_longitudinal_error: 0.0
 * /vehicle0/PARAMS/tactical_planner/enforce_monotonous_navigation_cost: True
 * /vehicle0/PARAMS/tactical_planner/front_reference_offset: 0.0
 * /vehicle0/PARAMS/tactical_planner/front_s_gap: 4.0
 * /vehicle0/PARAMS/tactical_planner/front_time_gap: 2.5
 * /vehicle0/PARAMS/tactical_planner/gap_alignment: 0.5
 * /vehicle0/PARAMS/tactical_planner/global_speed_limit: 13.89
 * /vehicle0/PARAMS/tactical_planner/horizon_stop_reference_distance: 8.0
 * /vehicle0/PARAMS/tactical_planner/indicator_lookahead: 50
 * /vehicle0/PARAMS/tactical_planner/lane_view_reset_velocity: 1.5
 * /vehicle0/PARAMS/tactical_planner/lanechange_suppression_timeout: 0.5
 * /vehicle0/PARAMS/tactical_planner/lead_reference_offset: 0.0
 * /vehicle0/PARAMS/tactical_planner/lower_bound_lf_front_s_gap: 4.0
 * /vehicle0/PARAMS/tactical_planner/max_navcost_loss: 500.0
 * /vehicle0/PARAMS/tactical_planner/nominal_swath_acceleration_error: 0.0
 * /vehicle0/PARAMS/tactical_planner/preferred_lc_by_manual_indicator_timeout: 10
 * /vehicle0/PARAMS/tactical_planner/rear_s_gap: 4.0
 * /vehicle0/PARAMS/tactical_planner/rear_time_gap: 1.0
 * /vehicle0/PARAMS/tactical_planner/reset_radius: 2.0
 * /vehicle0/PARAMS/tactical_planner/terminate_after_first_stop_threshold_speed: 0.1
 * /vehicle0/PARAMS/track: /home/maksis/EDI/...
 * /vehicle0/PARAMS/trajectory_generation/emergency_maneuver_delay: 0.25
 * /vehicle0/PARAMS/trajectory_generation/rho: 3.96
 * /vehicle0/PARAMS/trajectory_generation/set_point_count: 100
 * /vehicle0/PARAMS/trajectory_generation/zd_integration_length: 9.0
 * /vehicle0/PARAMS/trajectory_generation/zd_integration_step: 0.01
 * /vehicle0/PARAMS/trajectory_tracking/axMax: 2.0
 * /vehicle0/PARAMS/trajectory_tracking/axMin: -3.0
 * /vehicle0/PARAMS/trajectory_tracking/brakingTorqueGain: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/dBrakingTorqueMax: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/dDeltaMax: 0.8
 * /vehicle0/PARAMS/trajectory_tracking/deltaMax: 1.5
 * /vehicle0/PARAMS/trajectory_tracking/deltaMin: -1.5
 * /vehicle0/PARAMS/trajectory_tracking/exStatic: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/eyStatic: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/k0x: 1.0
 * /vehicle0/PARAMS/trajectory_tracking/k1x: 2.0
 * /vehicle0/PARAMS/trajectory_tracking/kIepsi_r: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/kIev_r: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/kIex_r: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/kIx: 0.005
 * /vehicle0/PARAMS/trajectory_tracking/kIy: 0.1
 * /vehicle0/PARAMS/trajectory_tracking/kPepsi_r: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/kPev_r: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/kPex_r: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/kPey_r: 0.0
 * /vehicle0/PARAMS/trajectory_tracking/keomega: 0.15
 * /vehicle0/PARAMS/trajectory_tracking/kepsi: 0.5
 * /vehicle0/PARAMS/trajectory_tracking/key: 1.06
 * /vehicle0/PARAMS/trajectory_tracking/muCtrlMax: 1.0
 * /vehicle0/plotoptions/debugTrafficIDs: False
 * /vehicle0/plotoptions/default_lane: FillColor=0.6,0.6...
 * /vehicle0/plotoptions/drive_lane: FillColor=0.3,0.3...
 * /vehicle0/plotoptions/emergency_lane: FillColor=0.9,0.8...
 * /vehicle0/plotoptions/followMode: 1
 * /vehicle0/plotoptions/other_lane: FillColor=0.8,0.7...
 * /vehicle0/plotoptions/outer_border: LineColor=0.6,0.6...
 * /vehicle0/plotoptions/plotoptions/tiles/base_url: https://www.wms.n...
 * /vehicle0/plotoptions/prediction/ego/active: True
 * /vehicle0/plotoptions/prediction/wcp/active: True
 * /vehicle0/plotoptions/prediction/wcp/g_end: 1.0
 * /vehicle0/plotoptions/prediction/wcp/g_start: 0.0
 * /vehicle0/plotoptions/prediction/wcp/r_end: 1.0
 * /vehicle0/plotoptions/prediction/wcp/r_start: 1.0
 * /vehicle0/plotoptions/setpoint: LineWidth=5.6;Lin...
 * /vehicle0/plotoptions/tiles/width_meters: 25.0
 * /vehicle0/plotoptions/viewplotter/lc_gate_plotoptions: LineColor=0.0,1.0...
 * /vehicle0/plotoptions/viewplotter/lc_geometry_narrowing: 0.2
 * /vehicle0/plotoptions/viewplotter/lc_geometry_plotoptions: LineColor=1.0,1.0...
 * /vehicle0/plotoptions/viewplotter/lc_sufficient_width_plotoptions: LineColor=0.0,1.0...
 * /vehicle0/plotoptions/viewplotter/lf_geometry_narrowing: 0.2
 * /vehicle0/plotoptions/viewplotter/lf_geometry_plotoptions: LineColor=0.0,1.0...
 * /vehicle0/plotoptions/viewplotter/number_of_samples_per_boundary: 50
 * /vehicle0/plotoptions/viewplotter/plot_lc_geometry: True
 * /vehicle0/plotoptions/viewplotter/plot_lf_geometry: True
 * /vehicle0/simulationID: 0

NODES
  /vehicle0/
    dash (adore_if_ros/test_control_dashboard)
    lmap (adore_if_ros/adore_mapprovider_node)
    lnav (adore_if_ros/adore_navigation_node)
    lvprovider (adore_if_ros/adore_lvprovider_node)
    planner (adore_if_ros/adore_lfbehavior_node)
    plot_lanes (adore_if_ros/plot_lanes_node)
    plot_traffic (adore_if_ros/plot_traffic_node)
    plot_traj (adore_if_ros/plot_trajectories_node)
    plot_vehicle (adore_if_ros/plot_ego_node)
    plot_views (adore_if_ros/plot_views_node)
    tracker (adore_if_ros/adore_feedbackcontroller_node)
no localization state
reset: manual control
reset: manual control
reset: manual control
reset: manual control
reset: manual control
reset: manual control
reset: manual control
reset: manual control
reset: manual control
reset: spr empty
reset: spr empty
reset: spr empty
reset: spr empty
...

Is this the expected output of the demo?

Additinoaly, it seems that I cannot launch the example through the make cli method, because when I run it in adore repository, I get the following output, without access to the actual cli:

Welcome to the ADORe Development CLI Ubuntu 20.04.6 LTS (GNU/Linux 6.2.0-39-generic x86_64)

            ____ 
         __/  |_\__
        |           -. 
  ......'-(_)---(_)--' 

  Type 'help' for more information.

  Waiting for plotlab server ...................................................................................................................................................................................................................................

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@Themaksiest @n-mat