Missing Trajectories and Paths visualization in latest docker image

[smk-robotics]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.

Description

Description

Tested image: latest autoware:universe-cuda docker image (autoware_launch package version is 0.50.0). Full image link: ghcr.io/autowarefoundation/autoware:universe-cuda.

Issue: No planned path and trajectory visualization in the RViz. The visualization for trajectories, pats, signals and the mission checkpoint tool is completely missing in RViz (due to the missing ros-humble-rviz-2d-overlay-plugins package).

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Error log:

[rviz2-39] [ERROR] [1774940244.299388028] [rviz2]: PluginlibFactory: The plugin for class 'autoware_string_stamped_rviz_plugin/StringStampedOverlayDisplay' failed to load. Error: Failed to load library /opt/autoware/lib/libautoware_string_stamped_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: librviz_2d_overlay_plugins.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[rviz2-39] [ERROR] [1774940244.302337948] [rviz2]: PluginlibFactory: The plugin for class 'autoware_overlay_rviz_plugin/SignalDisplay' failed to load. Error: Failed to load library /opt/autoware/lib/libautoware_overlay_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: librviz_2d_overlay_plugins.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[rviz2-39] [ERROR] [1774940244.351696572] [rviz2]: PluginlibFactory: The plugin for class 'rviz_plugins/Trajectory' failed to load. Error: Failed to load library /opt/autoware/lib/libautoware_planning_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: librviz_2d_overlay_plugins.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[rviz2-39] [ERROR] [1774940244.351978664] [rviz2]: PluginlibFactory: The plugin for class 'rviz_plugins/PoseWithUuidStamped' failed to load. Error: Failed to load library /opt/autoware/lib/libautoware_planning_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: librviz_2d_overlay_plugins.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[rviz2-39] [ERROR] [1774940244.352250486] [rviz2]: PluginlibFactory: The plugin for class 'rviz_plugins/Trajectory' failed to load. Error: Failed to load library /opt/autoware/lib/libautoware_planning_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: librviz_2d_overlay_plugins.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[rviz2-39] [WARN] [1774940244.361690376] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-39] [ERROR] [1774940244.414074991] [rviz2]: PluginlibFactory: The plugin for class 'rviz_plugins/Path' failed to load. Error: Failed to load library /opt/autoware/lib/libautoware_planning_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: librviz_2d_overlay_plugins.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[rviz2-39] [ERROR] [1774940244.414337112] [rviz2]: PluginlibFactory: The plugin for class 'rviz_plugins/Path' failed to load. Error: Failed to load library /opt/autoware/lib/libautoware_planning_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: librviz_2d_overlay_plugins.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[rviz2-39] [ERROR] [1774940244.414544373] [rviz2]: PluginlibFactory: The plugin for class 'rviz_plugins/Path' failed to load. Error: Failed to load library /opt/autoware/lib/libautoware_planning_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: librviz_2d_overlay_plugins.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[rviz2-39] [ERROR] [1774940244.414742022] [rviz2]: PluginlibFactory: The plugin for class 'rviz_plugins/Path' failed to load. Error: Failed to load library /opt/autoware/lib/libautoware_planning_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: librviz_2d_overlay_plugins.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[rviz2-39] [ERROR] [1774940244.414945352] [rviz2]: PluginlibFactory: The plugin for class 'rviz_plugins/Path' failed to load. Error: Failed to load library /opt/autoware/lib/libautoware_planning_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: librviz_2d_overlay_plugins.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[rviz2-39] [ERROR] [1774940244.415122187] [rviz2]: PluginlibFactory: The plugin for class 'rviz_plugins/Path' failed to load. Error: Failed to load library /opt/autoware/lib/libautoware_planning_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: librviz_2d_overlay_plugins.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[rviz2-39] [ERROR] [1774940244.415304062] [rviz2]: PluginlibFactory: The plugin for class 'rviz_plugins/Path' failed to load. Error: Failed to load library /opt/autoware/lib/libautoware_planning_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: librviz_2d_overlay_plugins.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[rviz2-39] [ERROR] [1774940244.415479842] [rviz2]: PluginlibFactory: The plugin for class 'rviz_plugins/Path' failed to load. Error: Failed to load library /opt/autoware/lib/libautoware_planning_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: librviz_2d_overlay_plugins.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[rviz2-39] [ERROR] [1774940244.415655764] [rviz2]: PluginlibFactory: The plugin for class 'rviz_plugins/Path' failed to load. Error: Failed to load library /opt/autoware/lib/libautoware_planning_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: librviz_2d_overlay_plugins.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[rviz2-39] [ERROR] [1774940244.415824930] [rviz2]: PluginlibFactory: The plugin for class 'rviz_plugins/Path' failed to load. Error: Failed to load library /opt/autoware/lib/libautoware_planning_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: librviz_2d_overlay_plugins.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[rviz2-39] [ERROR] [1774940244.415996428] [rviz2]: PluginlibFactory: The plugin for class 'rviz_plugins/Path' failed to load. Error: Failed to load library /opt/autoware/lib/libautoware_planning_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: librviz_2d_overlay_plugins.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[rviz2-39] [ERROR] [1774940244.416161138] [rviz2]: PluginlibFactory: The plugin for class 'rviz_plugins/Path' failed to load. Error: Failed to load library /opt/autoware/lib/libautoware_planning_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: librviz_2d_overlay_plugins.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[rviz2-39] [ERROR] [1774940244.416337688] [rviz2]: PluginlibFactory: The plugin for class 'rviz_plugins/Path' failed to load. Error: Failed to load library /opt/autoware/lib/libautoware_planning_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: librviz_2d_overlay_plugins.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[rviz2-39] [ERROR] [1774940244.416518505] [rviz2]: PluginlibFactory: The plugin for class 'rviz_plugins/Path' failed to load. Error: Failed to load library /opt/autoware/lib/libautoware_planning_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: librviz_2d_overlay_plugins.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[rviz2-39] [ERROR] [1774940244.416686764] [rviz2]: PluginlibFactory: The plugin for class 'rviz_plugins/Path' failed to load. Error: Failed to load library /opt/autoware/lib/libautoware_planning_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: librviz_2d_overlay_plugins.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[rviz2-39] [ERROR] [1774940244.416853946] [rviz2]: PluginlibFactory: The plugin for class 'rviz_plugins/Path' failed to load. Error: Failed to load library /opt/autoware/lib/libautoware_planning_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: librviz_2d_overlay_plugins.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[rviz2-39] [ERROR] [1774940244.421845843] [rviz2]: PluginlibFactory: The plugin for class 'autoware_mission_details_overlay_rviz_plugin/MissionDetailsDisplay' failed to load. Error: Failed to load library /opt/autoware/lib/libautoware_mission_details_overlay_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: librviz_2d_overlay_plugins.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[rviz2-39] [ERROR] [1774940244.425248428] [rviz2]: PluginlibFactory: The plugin for class 'rviz_plugins/Trajectory' failed to load. Error: Failed to load library /opt/autoware/lib/libautoware_planning_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: librviz_2d_overlay_plugins.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[rviz2-39] [ERROR] [1774940244.425509199] [rviz2]: PluginlibFactory: The plugin for class 'rviz_plugins/Trajectory' failed to load. Error: Failed to load library /opt/autoware/lib/libautoware_planning_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: librviz_2d_overlay_plugins.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[rviz2-39] [ERROR] [1774940244.451805448] [rviz2]: PluginlibFactory: The plugin for class 'rviz_plugins/MissionCheckpointTool' failed to load. Error: Failed to load library /opt/autoware/lib/libautoware_planning_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: librviz_2d_overlay_plugins.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99

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How to reproduce:

1. Pull ghcr.io/autowarefoundation/autoware:universe-cuda image.
2. Start the planning_simulator.launch.xml in the docker container.
   ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/autoware/map
3. Map is a standard Autoware's sample planning map.
   gdown -O ~/autoware_map/ 'https://docs.google.com/uc?export=download&id=1499_nsbUbIeturZaDj7jhUownh5fvXHd'
4. Check for the trajectories (predicted and reference) and planned path visualization in RViz.

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FIX

Please add sudo apt install ros-humble-rviz-2d-overlay-plugins command to the docker image building pipeline.

[TeleYuhao]

You find the key problem ! it helps me a lot. Thanks!