Localization Initialzation Failed When running Autoware with CARLA simulator

[melonotmelo]

Hi team,

Thank you for nice ADS!

Description

When running a co-simulation using Autoware Universe and CARLA, the vehicle fails to initialize at the correct position. The map loads successfully, but the ego vehicle spawns outside of the map and does not appear at the expected location.

Environment

• Autoware branch: main
• Autoware Docker image: autoware-universe:latest-cuda-devel
• CARLA version: 0.9.15 (Docker image)
• Simulator type: CARLA
• Map used: Town02

Launch Sequence

1. Start the Autoware container:

   ./run.sh --devel

2. Start the CARLA simulator (using the 0.9.15 Docker image).

3. Inside the Autoware container, run:

   ros2 launch autoware_launch e2e_simulator.launch.xml \
     map_path:=/autoware_map/Town02 \
     vehicle_model:=sample_vehicle \
     sensor_model:=awsim_sensor_kit \
     simulator_type:=carla \
     carla_map:=Town02

Log

The File here.
launch.log

1749721719.4549882 [component_container-36] [ERROR] [1749721719.454297700] [sensing.lidar.left.velodyne_ros_wrapper_node]: Due to potential network performance issues when using IP broadcast for sensor data, Nebula disallows use of the broadcast IP. Please specify the concrete host IP instead.
1749721719.4602160 [component_container-37] [ERROR] [1749721719.459346156] [sensing.lidar.right.velodyne_ros_wrapper_node]: Due to potential network performance issues when using IP broadcast for sensor data, Nebula disallows use of the broadcast IP. Please specify the concrete host IP instead.
1749721719.6861851 [component_container-35] [ERROR] [1749721719.685675862] [sensing.lidar.top.velodyne_ros_wrapper_node]: Due to potential network performance issues when using IP broadcast for sensor data, Nebula disallows use of the broadcast IP. Please specify the concrete host IP instead.
1749721719.8690882 [component_container_mt-5] [WARN] [1749721719.868444589] [sensing.lidar.concatenate_data]: New subscription discovered on topic '/sensing/lidar/concatenated/pointcloud', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY
1749721720.0854690 [component_container-36] [ERROR] [1749721720.084794011] [sensing.lidar.left.pointcloud_preprocessor.pointcloud_container]: Component constructor threw an exception: Sensor configuration invalid: Could not set SensorConfiguration
1749721722.1442504 [component_container_mt-78] [WARN] [1749721722.143810277] [control.vehicle_cmd_gate]: emergency_state_heartbeat_received_time_ is false
1749721722.1508734 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/adapi/node/vehicle' in container '/adapi/container'
1749721722.1612024 [component_container_mt-5] [ERROR] [1749721722.160385310] [sensing.lidar.concatenate_data]: Cloud does not contain x, y, z fields. Cannot transform.
1749721722.1613367 [component_container_mt-5] [ERROR] [1749721722.160486034] [sensing.lidar.concatenate_data]: Concatenated cloud is an empty pointcloud.
1749721722.1617198 [component_container_mt-5] [WARN] [1749721722.160561098] [sensing.lidar.concatenate_data]: transformed_raw_points[/sensing/lidar/right/pointcloud_before_sync] is nullptr, skipping pointcloud publish.
1749721722.1617646 [component_container_mt-5] [WARN] [1749721722.160581660] [sensing.lidar.concatenate_data]: transformed_raw_points[/sensing/lidar/left/pointcloud_before_sync] is nullptr, skipping pointcloud publish.
1749721722.1617994 [component_container_mt-5] [ERROR] [1749721722.160590754] [localization.util.crop_box_filter_measurement_range]: The pointcloud layout is not compatible with PointXYZIRCAEDT or PointXYZIRC. Aborting
1749721722.2117708 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/adapi/node/vehicle_info' in container '/adapi/container'
1749721722.2434464 [component_container_mt-78] [WARN] [1749721722.243072386] [control.vehicle_cmd_gate]: emergency_state_heartbeat_received_time_ is false
1749721722.2505889 [component_container_mt-5] [ERROR] [1749721722.249819768] [sensing.lidar.concatenate_data]: Concatenated cloud is an empty pointcloud.
1749721722.2507370 [component_container_mt-5] [WARN] [1749721722.249925219] [sensing.lidar.concatenate_data]: transformed_raw_points[/sensing/lidar/right/pointcloud_before_sync] is nullptr, skipping pointcloud publish.
1749721722.2511501 [component_container_mt-5] [WARN] [1749721722.249942766] [sensing.lidar.concatenate_data]: transformed_raw_points[/sensing/lidar/left/pointcloud_before_sync] is nullptr, skipping pointcloud publish.
1749721722.2512443 [component_container_mt-5] [ERROR] [1749721722.249929276] [localization.util.crop_box_filter_measurement_range]: The pointcloud layout is not compatible with PointXYZIRCAEDT or PointXYZIRC. Aborting
1749721722.3126090 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/adapi/node/vehicle_door' in container '/adapi/container'
1749721722.3851480 [component_container_mt-5] [ERROR] [1749721722.384314536] [sensing.lidar.concatenate_data]: Concatenated cloud is an empty pointcloud.
1749721722.3856442 [component_container_mt-5] [WARN] [1749721722.384440068] [sensing.lidar.concatenate_data]: transformed_raw_points[/sensing/lidar/right/pointcloud_before_sync] is nullptr, skipping pointcloud publish.
1749721722.3856900 [component_container_mt-5] [WARN] [1749721722.384457204] [sensing.lidar.concatenate_data]: transformed_raw_points[/sensing/lidar/left/pointcloud_before_sync] is nullptr, skipping pointcloud publish.
1749721722.3859186 [component_container_mt-5] [ERROR] [1749721722.384696630] [localization.util.crop_box_filter_measurement_range]: The pointcloud layout is not compatible with PointXYZIRCAEDT or PointXYZIRC. Aborting
1749721722.4858255 [component_container_mt-5] [ERROR] [1749721722.484893808] [sensing.lidar.concatenate_data]: Concatenated cloud is an empty pointcloud.
1749721722.4863420 [component_container_mt-5] [WARN] [1749721722.484989955] [sensing.lidar.concatenate_data]: transformed_raw_points[/sensing/lidar/right/pointcloud_before_sync] is nullptr, skipping pointcloud publish.
1749721722.4863937 [component_container_mt-5] [WARN] [1749721722.485002454] [sensing.lidar.concatenate_data]: transformed_raw_points[/sensing/lidar/left/pointcloud_before_sync] is nullptr, skipping pointcloud publish.
1749721722.4866455 [component_container_mt-5] [ERROR] [1749721722.485293970] [localization.util.crop_box_filter_measurement_range]: The pointcloud layout is not compatible with PointXYZIRCAEDT or PointXYZIRC. Aborting
1749721722.5844815 [component_container_mt-5] [ERROR] [1749721722.583752651] [sensing.lidar.concatenate_data]: Concatenated cloud is an empty pointcloud.
1749721722.5846250 [component_container_mt-5] [WARN] [1749721722.583845122] [sensing.lidar.concatenate_data]: transformed_raw_points[/sensing/lidar/right/pointcloud_before_sync] is nullptr, skipping pointcloud publish.
1749721722.5849783 [component_container_mt-5] [ERROR] [
1749721722.583847225] [localization.util.crop_box_filter_measurement_range]: The pointcloud layout is not compatible with PointXYZIRCAEDT or PointXYZIRC. Aborting
1749721722.5850217 [component_container_mt-5] [WARN] [1749721722.583863009] [sensing.lidar.concatenate_data]: transformed_raw_points[/sensing/lidar/left/pointcloud_before_sync] is nullptr, skipping pointcloud publish.
1749721722.6848521 [component_container_mt-5] [ERROR] [1749721722.683913143] [sensing.lidar.concatenate_data]: Concatenated cloud is an empty pointcloud.
1749721722.6849997 [component_container_mt-5] [WARN] [1749721722.684041769] [sensing.lidar.concatenate_data]: transformed_raw_points[/sensing/lidar/right/pointcloud_before_sync] is nullptr, skipping pointcloud publish.
1749721722.6850348 [component_container_mt-5] [WARN] [1749721722.684056993] [sensing.lidar.concatenate_data]: transformed_raw_points[/sensing/lidar/left/pointcloud_before_sync] is nullptr, skipping pointcloud publish.
1749721722.6850662 [component_container_mt-5] [ERROR] [1749721722.684130745] [localization.util.crop_box_filter_measurement_range]: The pointcloud layout is not compatible with PointXYZIRCAEDT or PointXYZIRC. Aborting
1749721722.7846808 [component_container_mt-5] [ERROR] [1749721722.783812556] [sensing.lidar.concatenate_data]: Concatenated cloud is an empty pointcloud.
1749721722.7851810 [component_container_mt-5] [WARN] [1749721722.783915553] [sensing.lidar.concatenate_data]: transformed_raw_points[/sensing/lidar/right/pointcloud_before_sync] is nullptr, skipping pointcloud publish.
1749721722.7852252 [component_container_mt-5] [WARN] [1749721722.783930136] [sensing.lidar.concatenate_data]: transformed_raw_points[/sensing/lidar/left/pointcloud_before_sync] is nullptr, skipping pointcloud publish.
1749721722.7854769 [component_container_mt-5] [ERROR] [1749721722.784095208] [localization.util.crop_box_filter_measurement_range]: The pointcloud layout is not compatible with PointXYZIRCAEDT or PointXYZIRC. Aborting
1749721722.8848245 [component_container_mt-5] [ERROR] [1749721722.883849539] [sensing.lidar.concatenate_data]: Concatenated cloud is an empty pointcloud.
1749721722.8849812 [component_container_mt-5] [ERROR] [1749721722.883990685] [localization.util.crop_box_filter_measurement_range]: The pointcloud layout is not compatible with PointXYZIRCAEDT or PointXYZIRC. Aborting
1749721722.8853726 [component_container_mt-5] [WARN] [1749721722.883991667] [sensing.lidar.concatenate_data]: transformed_raw_points[/sensing/lidar/right/pointcloud_before_sync] is nullptr, skipping pointcloud publish.
1749721722.8854151 [component_container_mt-5] [WARN] [1749721722.884239996] [sensing.lidar.concatenate_data]: transformed_raw_points[/sensing/lidar/left/pointcloud_before_sync] is nullptr, skipping pointcloud publish.

Pic

[maxime-clem]

1749800882.9579434 [ERROR] [component_container_mt-5]: process has died [pid 157, exit code -8, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args -r __node:=pointcloud_container -r __ns:=/ -p use_sim_time:=True -p wheel_radius:=0.383 -p wheel_width:=0.235 -p wheel_base:=2.79 -p wheel_tread:=1.64 -p front_overhang:=1.0 -p rear_overhang:=1.1 -p left_overhang:=0.128 -p right_overhang:=0.128 -p vehicle_height:=2.5 -p max_steer_angle:=0.7'].

The pointcloud container dies which causes the lidar topics to not be published and localization cannot be performed.
Running out of video memory could explain the crash during the initialization.

[melonotmelo]

Thank you for replying me.

However, I am using an NVIDIA A6000 GPU with 48GB of VRAM, so running out of video memory is unlikely to be the cause.

After further investigation, I noticed that all components in the Autoware interface are marked as successful except for the "Vehicle" component, which shows a Status: Error. This seems to indicate an issue with the communication between Autoware and CARLA inside the Docker environment, rather than a LiDAR-related or memory issue.

1750221455.5048997 [component_container-35] [ERROR] [1750221455.503801321] [sensing.lidar.top.velodyne_ros_wrapper_node]: Due to potential network performance issues when using IP broadcast for sensor data, Nebula disallows use of the broadcast IP. Please specify the concrete host IP instead.
[WARN] [1750221822.948568841] [localization.pose_estimator.ndt_scan_matcher]: No InputSource. Please check the input lidar topic
1750221822.9498620 [service_log_checker_node-9] [ERROR] [1750221822.949517059] [system.service_log_checker]: /localization/initialize: status code 4 'align server failed.' (/localization/util/pose_initializer)
1750221822.9507623 [service_log_checker_node-9] [ERROR] [1750221822.950171879] [system.service_log_checker]: /localization/initialize: status code 4 'align server failed.' (/adapi/node/localization)
1750221822.9513054 [service_log_checker_node-9] [ERROR] [1750221822.950348619] [system.service_log_checker]: /api/localization/initialize: status code 4 'align server failed.' (/adapi/node/localization)
1750221814.5251143 [service_log_checker_node-9] [ERROR] [1750221814.524435653] [system.service_log_checker]: /api/localization/initialize: status code 1 'The vehicle is not stopped.' (/default_ad_api/node/localization)
1750221814.5257084 [service_log_checker_node-9] [ERROR] [1750221814.525110424] [system.service_log_checker]: /localization/initialize: status code 1 'The vehicle is not stopped.' (/default_ad_api/node/localization)
1750221814.5295846 [service_log_checker_node-9] [ERROR] [1750221814.529356688] [system.service_log_checker]: /localization/initialize: status code 1 'The vehicle is not stopped.' (/localization/util/pose_initializer_node)
1750221814.6896510 [autoware_ekf_localizer_node-45] [WARN] [1750221814.689040431] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer

Do you have any suggestions on how to debug or resolve the vehicle communication issue in this Docker-based setup?

[maxime-clem]

I noticed that all components in the Autoware interface are marked as successful except for the "Vehicle" component, which shows a Status: Error

By "Autoware interface" do you mean Rviz ? It looks like the issue is just with the 3D model of the vehicle.
If you want to make sure whether the Carla messages can be received by Autoware you can visualize the raw lidar or camera topics.