Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Autoware weekly scenario tests are failing. #4752

Closed
3 tasks done
mitsudome-r opened this issue May 22, 2024 · 3 comments
Closed
3 tasks done

Autoware weekly scenario tests are failing. #4752

mitsudome-r opened this issue May 22, 2024 · 3 comments
Assignees
Labels
type:bug Software flaws or errors.

Comments

@mitsudome-r
Copy link
Member

mitsudome-r commented May 22, 2024

Checklist

  • I've read the contribution guidelines.
  • I've searched other issues and no duplicate issues were found.
  • I'm convinced that this is not my fault but a bug.

Description

The scenarios in AWF weekly tests are failing.
https://evaluation.ci.tier4.jp/evaluation/reports/ca72c235-6701-53e4-9b9a-1c9c256ef413?project_id=awf

After downloading the log file, I found out that control node container is crashing.

[openscenario_interpreter_node-3] [ERROR] [component_container_mt-36]: process has died [pid 17082, exit code -11, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args -r __node:=control_container -r __ns:=/control -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'].

Expected behavior

Control component container does not crash.

Actual behavior

Control component container crashes.

Steps to reproduce

Build Autoware and run scenarios.
Here's the repos file from the evaluator 1f8d7e07-0b16-4cd7-aa4c-f80c2a748eca_autoware.proj.repos.exact.txt.

Versions

No response

Possible causes

No response

Additional context

No response

@mitsudome-r
Copy link
Member Author

mitsudome-r commented May 22, 2024

I've also tested with the latest main branch today and still saw the same issue.

Steps to reproduce:

  1. Build Autoware and scenario simulator
  2. In terminal 1, run ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit scenario_simulation:=true
  3. In terminal 2, run ros2 launch scenario_test_runner scenario_test_runner.launch.py architecture_type:=awf/universe record:=false scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample.yaml' sensor_model:=sample_sensor_kit vehicle_model:=sample_vehicle initialize_duration:=90 launch_autoware:=false

I got the following error output from aeb module

[component_container_mt-36] PC: @                0x0 (unknown)
[component_container_mt-36] *** SIGSEGV (@0x0) received by PID 154061 (TID 0x7f0f06ffd640) from PID 0; stack trace: ***
[component_container_mt-36]     @     0x7f0f162fc4d6 google::(anonymous namespace)::FailureSignalHandler()
[component_container_mt-36]     @     0x7f0f1a642520 (unknown)
[component_container_mt-36]     @     0x7f0f1af3847d rclcpp::Time::Time()
[component_container_mt-36]     @     0x7f0eafd608f4 autoware::motion::control::autonomous_emergency_braking::AEB::onImu()
[component_container_mt-36]     @     0x7f0eafd6487a autoware::motion::control::autonomous_emergency_braking::AEB::fetchLatestData()
[component_container_mt-36]     @     0x7f0eafd69c83 autoware::motion::control::autonomous_emergency_braking::AEB::checkCollision()
[component_container_mt-36]     @     0x7f0eafd6a1ed autoware::motion::control::autonomous_emergency_braking::AEB::onCheckCollision()
[component_container_mt-36]     @     0x7f0eafdd968e diagnostic_updater::Updater::update()
[component_container_mt-36]     @     0x7f0eafd6e3f5 rclcpp::GenericTimer<>::execute_callback()
[component_container_mt-36]     @     0x7f0f1aec3f61 rclcpp::Executor::execute_any_executable()
[component_container_mt-36]     @     0x7f0f1aecb27a rclcpp::executors::MultiThreadedExecutor::run()
[component_container_mt-36]     @     0x7f0f1aadc253 (unknown)
[component_container_mt-36]     @     0x7f0f1a694ac3 (unknown)
[component_container_mt-36]     @     0x7f0f1a726850 (unknown)

@mitsudome-r
Copy link
Member Author

After reverting autowarefoundation/autoware.universe#6997 locally, it stopped failing, but I couldn't really trace the root cause yet.
@soblin Could you think of any cause by any chance?

@mitsudome-r
Copy link
Member Author

This is already fixed so I'm closing the issue.

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
type:bug Software flaws or errors.
Projects
None yet
Development

No branches or pull requests

3 participants