Autoware Universe & CARLA 0.9.16 TF Tree Issues

[A-J-AXE]

I'm trying to run Autoware Universe (Docker image universe-devel-cuda-1.7.1) with the CARLA Audi e-tron vehicle model and a Lanelet2 map. The system launches successfully and the map loads, but Autoware quickly enters an emergency state and stops the vehicle.

I am using the CARLA version provided in the repository (CARLA 0.9.16 dirty).

Setup
rtx 5080
9950x3d
64gb ddr5
Autoware Docker image
ghcr.io/autowarefoundation/autoware:universe-devel-cuda-1.7.1

Vehicle model
carla_audi_etron_vehicle

Sensor model
carla_audi_etron_sensor_kit

CARLA version
0.9.16 (dirty) from the repository

Map: Lanelet2 + pointcloud map (Town01)

Launch command
ros2 launch autoware_launch e2e_simulator.launch.xml
vehicle_model:=carla_audi_etron_vehicle
sensor_model:=carla_audi_etron_sensor_kit
map_path:=/autoware_map/Town01
data_path:=/autoware_data

Autoware loads the route and switches states correctly:

AutowareState: WaitingForRoute => Planning
AutowareState: Planning => Driving

However shortly after that the system triggers an emergency stop.

Errors / warnings observed
Emergency stop

[system.mrm_handler]: EMERGENCY_STOP is operated.

Missing perception topics

/perception/obstacle_segmentation/pointcloud topic is timeout. Set ERROR in diagnostics.
/perception/traffic_light_recognition/traffic_signals has not received.

TF extrapolation errors

no transform found for no_ground_pointcloud:
Lookup would require extrapolation into the past.

EKF localization warning

[EKF] Twist queue size (3) is exceeding max_queue_size (2)

Observed behavior
Map loads correctly
Route is generated successfully
Autoware switches to Driving
Shortly afterward the system enters MRM emergency stop
CARLA leaderboard scenario ends with route failure / agent blocked

[autoware_ekf_localizer_node-27] [WARN] [1773569706.709599721] [localization.pose_twist_fusion_filter.ekf_localizer]: [EKF] Twist queue size (3) is exceeding max_queue_size (2). Consider increasing max_queue_size or reducing input frequency.
[component_container-7] [WARN] [1773569707.181125334] [system.topic_state_monitor_obstacle_segmentation_pointcloud]: /perception/obstacle_segmentation/pointcloud topic is timeout. Set ERROR in diagnostics.
[component_container_mt-61] [WARN] [1773569707.230580019] [control.vehicle_cmd_gate]: Emergency!
[component_container_mt-61] [WARN] [1773569708.028073903] [control.vehicle_cmd_gate]: Emergency!

[autoware_ekf_localizer_node-27] [WARN] [1773569848.724942211] [localization.pose_twist_fusion_filter.ekf_localizer]: [EKF] Twist queue size (3) is exceeding max_queue_size (2). Consider increasing max_queue_size or reducing input frequency.
[component_container_mt-54] [WARN] [1773569848.727802586] [planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner]: no transform found for no_ground_pointcloud: Lookup would require extrapolation into the past. Requested time 337.275702 but the earliest data is at time 343.375702, when looking up transform from frame [base_link] to frame [map]
[component_container_mt-61] [WARN] [1773569848.729218597] [control.vehicle_cmd_gate]: Emergency!
[component_container_mt-54] [WARN] [1773569848.812533953] [planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner]: no transform found for no_ground_pointcloud: Lookup would require extrapolation into the past. Requested time 337.275702 but the earliest data is at time 343.425702, when looking up transform from frame [base_link] to frame [map]

[A-J-AXE]

[A-J-AXE]

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[A-J-AXE]

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