Autoware_carla_interface does not work

[liuzhiyuan562]

Description:

I'm a newbie. I have searched related blogs and issues but have not found any answers which suit me. Please help me.
I'm testing the co-simulation between autoware.universe and the CARLA simulator. I use the autoware_carla_interface. The launch file is e2e_simulator.launch.xml.
And the question is that I can't set 2D pose estimate normally. Before this one, I ran the planning_simulator.launch.xml successfully.
The command are ros2 launch autoware_launch e2e_simulator.launch.xml map_path:=/autoware_map/Town01 vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit simulator_type:=carla carla_map:=Town01 and ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit respectively.

The error logs are belows:
[rviz2-86] [INFO] [1741679265.206021918] [rviz2]: Setting estimate pose: Frame:map, Position(46.9502, 4.00514, 0), Orientation(0, 0, -0.113297, 0.993561) = Angle: -0.227081
[initial_pose_adaptor_node-83] [INFO] [1741679265.206188809] [default_adapi.helpers.autoware_initial_pose_adaptor]: fit_target: pointcloud_map, frame: map
[service_log_checker_node-9] [ERROR] [1741679266.289661678] [system.service_log_checker]: /localization/initialize: status code 1 'The vehicle is not stopped.' (/localization/util/pose_initializer)
[service_log_checker_node-9] [ERROR] [1741679266.289760184] [system.service_log_checker]: /api/localization/initialize: status code 1 'The vehicle is not stopped.' (/adapi/node/localization)
[service_log_checker_node-9] [ERROR] [1741679266.289807780] [system.service_log_checker]: /localization/initialize: status code 1 'The vehicle is not stopped.' (/adapi/node/localization)
[service_log_checker_node-9] [ERROR] [1741679266.289849553] [system.service_log_checker]: /api/localization/initialize: status code 1 'The vehicle is not stopped.' (/default_adapi/helpers/autoware_initial_pose_adaptor)

and the rviz2 screenshot is (The car is generated by default when I run the command and open rviz2):

Versions

I use docker which followed the document https://autowarefoundation.github.io/autoware-documentation/pr-647/installation/autoware/docker-installation/
Ubuntu 22.04

[maxime-clem]

Please confirm your Python API works correctly.
Open python3 in the same environment where you run Autoware, and try import carla.

[liuzhiyuan562]

Hello! You means try to import carla in docker? Here is some screenshots.
I have pip install carla in conda environment(use whl in this link)

[maxime-clem]

Thank you for checking.
So you are launching Autoware after doing conda activate autoware_carla_interface right ?
If so, the interface with Carla should be fine.
Can you confirm if the map is changing in the Carla simulation ?

[liuzhiyuan562]

Yes, you can see screenshot belows.
And docker runs in conda environment which you can see it in the previous screenshot. and I run the command cd /workspace source install/setup.bash ros2 launch autoware_launch e2e_simulator.launch.xml map_path:=/autoware_map/Town01 vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit simulator_type:=carla carla_map:=Town01
and the car is generated by default. I can't use 2D Pose Estimate
log file
launch.log

and if I run the command ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
it is running normally.

[maxime-clem]

I just tested and confirmed that the interface works fine with the current version of Autoware (without docker).
Please share the full log file otherwise it is not clear what could be the issue.