$ roslaunch traffic_light_recognition.launch
...
started roslaunch server http://ARC-TaeHyung-19:38169/
SUMMARY
========
PARAMETERS
* /rosdistro: melodic
* /rosversion: 1.14.6
* /tl_switch/ams_light_color_topic: /ams_light_color
* /tl_switch/camera_light_color_topic: //camera_light_color
* /tl_switch/light_color_topic: /light_color
* /traffic_light_recognition/camera_light_color_topic: //camera_light_color
* /traffic_light_recognition/image_raw_topic: //image_raw
NODES
/
tl_switch (trafficlight_recognizer/tl_switch)
traffic_light_recognition (trafficlight_recognizer/region_tlr)
ROS_MASTER_URI=http://localhost:11311
process[traffic_light_recognition-1]: started with pid [8943]
(superimpose result:8943): dbind-WARNING **: 20:21:39.405: Error retrieving accessibility bus address: org.freedesktop.DBus.Error.ServiceUnknown: The name org.a11y.Bus was not provided by any .service files
process[tl_switch-2]: started with pid [8944]
Attempt to unlock mutex that was not locked
[traffic_light_recognition-1] process has died [pid 8943, exit code -6, cmd /home/autoware/Autoware/install/trafficlight_recognizer/lib/trafficlight_recognizer/region_tlr __name:=traffic_light_recognition __log:=/home/autoware/.ros/log/9da67ef8-dc03-11ea-a975-54bf647d3a59/traffic_light_recognition-1.log].
log file: /home/autoware/.ros/log/9da67ef8-dc03-11ea-a975-54bf647d3a59/traffic_light_recognition-1*.log
^C[tl_switch-2] killing on exit
^Cshutting down processing monitor...
... shutting down processing monitor complete
done
1.Download vector, point map.
$ cd ~/shared_dir
$ git clone https://github.com/lgsvl/autoware-data.git
$ git checkout test_0.14.0
# Change directory to docker/generic
$ ./run.sh -t local # in my case, I used local tag. Instead you may use 1.14.0 tag.
$ roslaunch runtime_manager runtime_manager.launch
Map Name: BorregasAve
Map URL: https://assets.lgsvlsimulator.com/65fac0d499d716bb9a7ca89803f672d97b366cf9/environment_BorregasAve
Vehicle Name: Jaguar2015XE
Vehicle URL: https://assets.lgsvlsimulator.com/d49c88a93b11b047a3e21e0c7d4b2ec6964fb16d/vehicle_Jaguar2015XE
[
{
"type": "GPS Device",
"name": "GPS",
"params": {
"Frequency": 12.5,
"Topic": "/nmea_sentence",
"Frame": "gps",
"IgnoreMapOrigin": true
},
"transform": {
"x": 0,
"y": 0,
"z": 0,
"pitch": 0,
"yaw": 0,
"roll": 0
}
},
{
"type": "GPS Odometry",
"name": "GPS Odometry",
"params": {
"Frequency": 12.5,
"Topic": "/odom",
"Frame": "gps",
"IgnoreMapOrigin": true
},
"transform": {
"x": 0,
"y": 0,
"z": 0,
"pitch": 0,
"yaw": 0,
"roll": 0
}
},
{
"type": "IMU",
"name": "IMU",
"params": {
"Topic": "/imu_raw",
"Frame": "imu"
},
"transform": {
"x": 0,
"y": 0,
"z": 0,
"pitch": 0,
"yaw": 0,
"roll": 0
}
},
{
"type": "Lidar",
"name": "Lidar",
"params": {
"LaserCount": 32,
"MinDistance": 0.5,
"MaxDistance": 100,
"RotationFrequency": 10,
"MeasurementsPerRotation": 360,
"FieldOfView": 41.33,
"CenterAngle": 10,
"Compensated": true,
"PointColor": "#ff000000",
"Topic": "/points_raw",
"Frame": "velodyne"
},
"transform": {
"x": 0,
"y": 2.312,
"z": -0.3679201,
"pitch": 0,
"yaw": 0,
"roll": 0
}
},
{
"type": "Color Camera",
"name": "Main Camera",
"params": {
"Width": 1920,
"Height": 1080,
"Frequency": 15,
"JpegQuality": 75,
"FieldOfView": 50,
"MinDistance": 0.1,
"MaxDistance": 1000,
"Topic": "/simulator/camera_node/image/compressed",
"Frame": "camera"
},
"transform": {
"x": 0,
"y": 1.7,
"z": -0.2,
"pitch": 0,
"yaw": 0,
"roll": 0
}
},
{
"type": "Manual Control",
"name": "Manual Car Control"
},
{
"type": "Vehicle Control",
"name": "Autoware Car Control",
"params": {
"Topic": "/vehicle_cmd"
}
}
]
In General tab, Simulation Name: BorregasAve(Autoware)
In General tab, Select Cluster: Local Machine
In Map & Vehicle tab, Select Map: BorregasAve
In Select Vehicles, Select Jaguar2015XE and enter localhost:9090 next to it.
# Click Submit
4-9.Select BorregasAve(Autoware) simulation and click play button in the bottom.
In Quick Start tab,
Map: /home/autoware/shared_dir/autoware-data/BorregasAve/my_launch/my_map.launch
Sensing: /home/autoware/shared_dir/autoware-data/BorregasAve/my_launch/my_sensing_simulator.launch
Localization: /home/autoware/shared_dir/autoware-data/BorregasAve/my_launch/my_localization.launch
In one window,
$ roslaunch trafficlight_recognizer feat_proj_option.launch
In the other window,
$ $ roslaunch trafficlight_recognizer traffic_light_recognition.launch
# You can see error message that traffic_light_recognition died.
traffic_light_recognition node runs without error.
traffic_light_recognition node died.