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Troubleshooting

This section describes how resolve some of the errors while configuring and launching Autoware Universe with CARLA.

Invalid version: '0.23ubuntu1' (package: distro-info)

If you get Invalid version: '0.23ubuntu1' (package: distro-info) exception while building your ros2 packages, you can fix it by installing setuptools==58.3.0 with the following command:

python3 -m pip install --upgrade --user setuptools==58.3.0

More info is here.

carla_ros_bridge time-out Error

If you get Error: time-out of 2000ms while waiting for the simulator, make sure the simulator is ready and connected to localhost:2000, then you need just increase timeout value.

Control does not work because of missing nodes

If you encounter a problem with control not functioning it could be because of missing control node such as shift_decider, vehicle_cmd_gate and operation_mode_transition_manager. If so you can try moving them out from the control_container as a workaround. This workaround help you out only if you have a problem starting shift_decider, vehicle_cmd_gate and operation_mode_transition_manager.

Go to src/universe/autoware.universe/launch/tier4_control_launch/launch/control.launch.py and move out shift_decider, vehicle_cmd_gate and operation_mode_transition_manager nodes from control_container by making the following changes:

    shift_decider_loader = LoadComposableNodes(
        composable_node_descriptions=[shift_decider_component],
        target_container="/control/control_container",
    )

    vehicle_cmd_gate_loader = LoadComposableNodes(
        composable_node_descriptions=[vehicle_cmd_gate_component],
        target_container="/control/control_container",
    )

    operation_mode_transition_manager_loader = LoadComposableNodes(
        composable_node_descriptions=[operation_mode_transition_manager_component],
        target_container="/control/control_container",
    )

    container = ComposableNodeContainer(
        name="control_container",
        namespace="",
        package="rclcpp_components",
        executable=LaunchConfiguration("container_executable"),
        composable_node_descriptions=[
            controller_component,
            lane_departure_component,
            # shift_decider_component,
            # vehicle_cmd_gate_component,
            # operation_mode_transition_manager_component,
        ],
    )

    group = GroupAction(
        [
            PushRosNamespace("control"),
            container,
            external_cmd_selector_loader,
            external_cmd_converter_loader,
            obstacle_collision_checker_loader,
            shift_decider_loader,
            vehicle_cmd_gate_loader,
            operation_mode_transition_manager_loader,
        ]
    )

Launching rviz inside galactic docker

Currently some problems might occur if you are using galactic docker version (such as galactic or foxy rviz error). If so, you can use source installation instead.