usdot-fhwa-stol / autoware.ai Goto Github PK

Summary

The MapParamLoader node tries to load an OSM map file, but the target_frame_ member variable, which appears to contain the filename, never gets set. When the node calls the lanelet::io_handlers::AutowareOsmParser::parseMapParams function, it passes an empty string thus causing an error.

From what I can see, the MapParamLoader node is completely nonfunctional right now.

Commit

carma-develop

Expected Behavior

The node successfully loads and reads the specified OSM file.

Actual Behavior

The node throws an error when trying to open the specified OSM file.

Steps to Reproduce the Actual Behavior

1. Run a MapParamNode instance

   $ ros2 run map_file_ros2 map_param_loaded_exec

2. Configure the node

   $ ros2 lifecycle set /carma_node configure

3. Give the node a valid OSM filepath

   $ ros2 param set /carma_node file_name <osm_filepath>

4. Activate the node

   $ ros2 lifecycle set /carma_node activate

The node should throw an error with a similar log output to

[ERROR] [1694011422.859662625] []: Caught exception in callback for transition 13
[ERROR] [1694011422.859672118] []: Original error: In function parseMapParams:
Errors occured while parsing .osm file: File was not found
[WARN] [1694011422.859706622] []: Error occurred while doing error handling.
[ERROR] [1694011422.859729282] [carma_node]: Exception occurred during lifecycle state transitions. Look for 'Caught exception' in the logs for details.
[ERROR] [1694011422.859768359] [carma_node]: Sent on_error system alert

Related Work

No response

Summary

Currently, when a new push occurs to the carma-develop branch, a new Docker image is built and pushed to the usdotfhwastoldev/autoware.ai DockerHub repository with the tag carma-develop. However, all CARMA Platform repositories that are dependent on this image reference usdotfhwastoldev/autoware.ai:develop in their respective Dockerfile. Due to this tag mis-match, it is common that a dependent repository will attempt to build off of an image that either doesn't exist, or is outdated.

Version

4.3.0 (Current)

Expected Behavior

When a new push occurs to the carma-develop branch, a new Docker image should be built and pushed to the usdotfhwastoldev/autoware.ai DockerHub repository with the tag develop. This will be consistent with how all other repositories use the develop tag for their core development branch, and will eliminate the tag mis-match currently occurring in Dockerfiles located in dependent repositories.

Actual Behavior

Currently, when a new push occurs to the carma-develop branch, a new Docker image is built and pushed to the usdotfhwastoldev/autoware.ai DockerHub repository with the tag carma-develop.

Steps to Reproduce the Actual Behavior

1. Merge a new pull request to the carma-develop branch.
2. Verify that an updated usdotfhwastoldev/autoware.ai:develop Docker image is built and pushed to DockerHub

Related Work

No response