guardstrikelab / apollo Goto Github PK

Hello team!

My system information
OS Platform and Distribution (e.g., Linux Ubuntu 18.04): Linux Ubuntu 22.04
Apollo installed from (source or binary): source
Apollo version (3.5, 5.0, 5.5, 6.0): your branch apollo_carla_bridge

I have connected the control module, but when I run to a fixed road section, the steering wheel starts to turn in a fixed direction until it deviates from the lane line. I don’t know whether it is the problem of the planning module or the control module, but I printed the planning log:

E0227 18:00:43.567451 323875 lane_follow_stage.cc:203] Fail to aggregate planning trajectory.
E0227 18:00:43.567461 323875 scenario.cc:79] Stage 'LANE_FOLLOW_DEFAULT_STAGE' returns error
E0227 18:00:43.567487 323875 on_lane_planning.cc:619] planner failed to make a driving plan
E0227 18:00:43.567514 323875 on_lane_planning.cc:435] Planning failed:PLANNING_ERROR: planner failed to make a driving plan
E0227 18:00:43.681439 323874 piecewise_jerk_problem.cc:105] failed optimization status: primal infeasible
E0227 18:00:43.681476 323874 piecewise_jerk_path_optimizer.cc:317] piecewise jerk path optimizer failed
E0227 18:00:43.687695 323874 piecewise_jerk_problem.cc:105] failed optimization status: primal infeasible
E0227 18:00:43.687711 323874 piecewise_jerk_path_optimizer.cc:317] piecewise jerk path optimizer failed
E0227 18:00:43.687742 323874 path_optimizer.cc:49] Reference Line 0_1 is not drivable after PIECEWISE_JERK_PATH_OPTIMIZER
E0227 18:00:43.687754 323874 lane_follow_stage.cc:177] Failed to run tasks[PIECEWISE_JERK_PATH_OPTIMIZER], Error message: Path Optimizer failed to generate path
E0227 18:00:43.687790 323874 lane_follow_stage.cc:265] Path fallback due to algorithm failure
E0227 18:00:43.688119 323874 path_data.cc:44] Should NOT set discretized path when reference line is nullptr. Please set reference line first.
E0227 18:00:43.688127 323874 lane_follow_stage.cc:288] Speed fallback due to algorithm failure
E0227 18:00:43.688130 323874 speed_profile_generator.cc:38] Fallback using piecewise jerk speed!
W0227 18:00:43.688134 323874 speed_profile_generator.cc:41] init_v = 6.03612, init_a = 1.12288
E0227 18:00:43.689057 323874 reference_line_info.cc:503] path data is empty

The log of the control module is normal, but when I turn off the control module and only use the planning module to move the vehicle, there are no such error messages and the vehicle runs normally
I found that your configuration of control conf.pb.txt is inconsistent with the configuration of apollo, but the same problem will occur even if I replace the official configuration

here is dreamview pnc_monitor planning pic

Hi team, I'm currently using carla_apollo_bridge for co-simulation of Apollo on Carla.
I'm running the simulation on Town01, which is provided by this repository.
Now I want to run the simulation on more maps, so I have one question regarding the conversion process from carla map to Apollo map.
Could you please tell me the tool that you used for the conversion?

I am trying to use AWS VM to run Carla-Apollo bridge, is the g4dn xlarge machine good enough to run the simulator smoothly?

g4dn xlarge spec :
vCPUs | 4
Memory (GiB) | 16.0
Memory per vCPU (GiB) | 4.0
Physical Processor | Intel Xeon Family
Clock Speed (GHz) | 2.5
CPU Architecture | x86_64
GPU | 1
GPU Architecture | nvidia t4 tensor core
Video Memory (GiB) | 16
GPU Compute Capability (?) | 7.5
FPGA | 0

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System information

• OS Platform and Distribution (e.g., Linux Ubuntu 18.04): 18.04
• Apollo installed from (source or binary): source
• Apollo version (3.5, 5.0, 5.5, 6.0): 6.0
• Output of apollo.sh config if on master branch:

Steps to reproduce the issue:

• Please use bullet points and include as much details as possible:

Supporting materials (screenshots, command lines, code/script snippets):

Dear Guardstrikelab Teams,

I only found the apollo HD map file for town01 in github, but not for other towns. Could you provide me with the map files of other towns? If not, would you mind telling me how the map is converted from carla to apollo HD map? Thank you very much!

Best