[INFO] [launch]: All log files can be found below /home/keisukeota/.ros/log/2023-08-17-18-46-51-778640-npc2304003-77570 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/system/component_state_monitor/component' in container '/system/component_state_monitor/container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map/lanelet2_map_loader' in container '/map/map_container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/system/mrm_emergency_stop_operator' in container '/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator_container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/system/mrm_comfortable_stop_operator' in container '/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/autoware_state' in container '/default_ad_api/container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/perception/traffic_light_recognition/traffic_light_arbiter/arbiter' in container '/perception/traffic_light_recognition/traffic_light_arbiter/container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/fail_safe' in container '/default_ad_api/container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/interface' in container '/default_ad_api/container' [INFO] [robot_state_publisher-1]: process started with pid [77612] [INFO] [service_log_checker-2]: process started with pid [77614] [INFO] [component_container-3]: process started with pid [77616] [INFO] [topic_state_monitor_node-4]: process started with pid [77618] [INFO] [topic_state_monitor_node-5]: process started with pid [77620] [INFO] [topic_state_monitor_node-6]: process started with pid [77622] [INFO] [topic_state_monitor_node-7]: process started with pid [77624] [INFO] [topic_state_monitor_node-8]: process started with pid [77626] [INFO] [topic_state_monitor_node-9]: process started with pid [77628] [INFO] [topic_state_monitor_node-10]: process started with pid [77630] [INFO] [topic_state_monitor_node-11]: process started with pid [77632] [INFO] [topic_state_monitor_node-12]: process started with pid [77634] [INFO] [topic_state_monitor_node-13]: process started with pid [77636] [INFO] [topic_state_monitor_node-14]: process started with pid [77639] [INFO] [aggregator_node-15]: process started with pid [77652] [INFO] [system_error_monitor-16]: process started with pid [77698] [INFO] [emergency_handler-17]: process started with pid [77716] [INFO] [component_container-18]: process started with pid [77781] [INFO] [component_container-19]: process started with pid [77784] [INFO] [component_container-20]: process started with pid [77794] [INFO] [map_hash_generator-21]: process started with pid [77796] [INFO] [map_projection_loader-22]: process started with pid [77806] [INFO] [mission_planner-23]: process started with pid [77809] [INFO] [goal_pose_visualizer-24]: process started with pid [77811] [INFO] [scenario_selector-25]: process started with pid [77823] [INFO] [external_velocity_limit_selector-26]: process started with pid [77842] [INFO] [motion_velocity_smoother-27]: process started with pid [77873] [INFO] [component_container_mt-28]: process started with pid [77876] [INFO] [rtc_auto_mode_manager_node-29]: process started with pid [77879] [INFO] [component_container_mt-30]: process started with pid [77907] [INFO] [component_container-31]: process started with pid [77918] [INFO] [planning_validator_node-32]: process started with pid [77920] [INFO] [planning_evaluator-33]: process started with pid [77930] [INFO] [component_container-34]: process started with pid [78007] [INFO] [component_container_mt-35]: process started with pid [78011] [INFO] [web_server.py-36]: process started with pid [78021] [INFO] [initial_pose_adaptor-37]: process started with pid [78032] [INFO] [routing_adaptor-38]: process started with pid [78034] [INFO] [component_container_mt-39]: process started with pid [78037] [INFO] [rviz2-40]: process started with pid [78039] [INFO] [dummy_perception_publisher_node-41]: process started with pid [78042] [INFO] [shape_estimation-42]: process started with pid [78051] [INFO] [detected_object_feature_remover-43]: process started with pid [78054] [INFO] [component_container-44]: process started with pid [78074] [INFO] [multi_object_tracker-45]: process started with pid [78094] [INFO] [map_based_prediction-46]: process started with pid [78096] [INFO] [traffic_light_occlusion_predictor_node-47]: process started with pid [78125] [INFO] [traffic_light_multi_camera_fusion_node-48]: process started with pid [78131] [INFO] [component_container-49]: process started with pid [78164] [INFO] [traffic_light_map_visualizer_node-50]: process started with pid [78202] [INFO] [pose_initializer_node-51]: process started with pid [78263] [INFO] [simple_planning_simulator_exe-52]: process started with pid [78265] [INFO] [static_transform_publisher-53]: process started with pid [78267] [robot_state_publisher-1] [INFO] [1692265627.840700566] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1692265627.840794680] [robot_state_publisher]: got segment camera0/camera_link [robot_state_publisher-1] [INFO] [1692265627.840807415] [robot_state_publisher]: got segment camera0/camera_optical_link [robot_state_publisher-1] [INFO] [1692265627.840814547] [robot_state_publisher]: got segment camera1/camera_link [robot_state_publisher-1] [INFO] [1692265627.840820766] [robot_state_publisher]: got segment camera1/camera_optical_link [robot_state_publisher-1] [INFO] [1692265627.840826793] [robot_state_publisher]: got segment camera2/camera_link [robot_state_publisher-1] [INFO] [1692265627.840832964] [robot_state_publisher]: got segment camera2/camera_optical_link [robot_state_publisher-1] [INFO] [1692265627.840839203] [robot_state_publisher]: got segment camera3/camera_link [robot_state_publisher-1] [INFO] [1692265627.840845136] [robot_state_publisher]: got segment camera3/camera_optical_link [robot_state_publisher-1] [INFO] [1692265627.840851090] [robot_state_publisher]: got segment camera4/camera_link [robot_state_publisher-1] [INFO] [1692265627.840856714] [robot_state_publisher]: got segment camera4/camera_optical_link [robot_state_publisher-1] [INFO] [1692265627.840862101] [robot_state_publisher]: got segment camera5/camera_link [robot_state_publisher-1] [INFO] [1692265627.840867755] [robot_state_publisher]: got segment camera5/camera_optical_link [robot_state_publisher-1] [INFO] [1692265627.840873384] [robot_state_publisher]: got segment gnss_link [robot_state_publisher-1] [INFO] [1692265627.840879354] [robot_state_publisher]: got segment sensor_kit_base_link [robot_state_publisher-1] [INFO] [1692265627.840885970] [robot_state_publisher]: got segment tamagawa/imu_link [robot_state_publisher-1] [INFO] [1692265627.840891947] [robot_state_publisher]: got segment traffic_light_left_camera/camera_link [robot_state_publisher-1] [INFO] [1692265627.840897994] [robot_state_publisher]: got segment traffic_light_left_camera/camera_optical_link [robot_state_publisher-1] [INFO] [1692265627.840903740] [robot_state_publisher]: got segment traffic_light_right_camera/camera_link [robot_state_publisher-1] [INFO] [1692265627.840909317] [robot_state_publisher]: got segment traffic_light_right_camera/camera_optical_link [robot_state_publisher-1] [INFO] [1692265627.840915415] [robot_state_publisher]: got segment velodyne_left [robot_state_publisher-1] [INFO] [1692265627.840921312] [robot_state_publisher]: got segment velodyne_left_base_link [robot_state_publisher-1] [INFO] [1692265627.840927309] [robot_state_publisher]: got segment velodyne_rear [robot_state_publisher-1] [INFO] [1692265627.840933267] [robot_state_publisher]: got segment velodyne_rear_base_link [robot_state_publisher-1] [INFO] [1692265627.840939380] [robot_state_publisher]: got segment velodyne_right [robot_state_publisher-1] [INFO] [1692265627.840945632] [robot_state_publisher]: got segment velodyne_right_base_link [robot_state_publisher-1] [INFO] [1692265627.840951887] [robot_state_publisher]: got segment velodyne_top [robot_state_publisher-1] [INFO] [1692265627.840958083] [robot_state_publisher]: got segment velodyne_top_base_link [component_container-3] [INFO] [1692265627.985376083] [system.component_state_monitor.container]: Load Library: /home/keisukeota/workspace/autoware/install/component_state_monitor/lib/libcomponent_state_monitor.so [component_container-3] [INFO] [1692265627.987007311] [system.component_state_monitor.container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-3] [INFO] [1692265627.987043094] [system.component_state_monitor.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [system_error_monitor-16] [INFO] [1692265627.984385137] [system.system_error_monitor]: waiting for diag_array msg... [emergency_handler-17] [INFO] [1692265628.016424865] [system.emergency_handler]: waiting for hazard_status_stamped msg... [component_container-18] [INFO] [1692265628.153577177] [system.mrm_comfortable_stop_operator.mrm_comfortable_stop_operator_container]: Load Library: /home/keisukeota/workspace/autoware/install/mrm_comfortable_stop_operator/lib/libmrm_comfortable_stop_operator_component.so [component_container-18] [INFO] [1692265628.154576970] [system.mrm_comfortable_stop_operator.mrm_comfortable_stop_operator_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-18] [INFO] [1692265628.154615663] [system.mrm_comfortable_stop_operator.mrm_comfortable_stop_operator_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container-19] [INFO] [1692265628.157957733] [system.mrm_emergency_stop_operator.mrm_emergency_stop_operator_container]: Load Library: /home/keisukeota/workspace/autoware/install/mrm_emergency_stop_operator/lib/libmrm_emergency_stop_operator_component.so [component_container-19] [INFO] [1692265628.159636173] [system.mrm_emergency_stop_operator.mrm_emergency_stop_operator_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-19] [INFO] [1692265628.159675503] [system.mrm_emergency_stop_operator.mrm_emergency_stop_operator_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container-20] [INFO] [1692265627.934789983] [map.map_container]: Load Library: /home/keisukeota/workspace/autoware/install/map_loader/lib/liblanelet2_map_loader_node.so [component_container-20] [INFO] [1692265627.947062456] [map.map_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-20] [INFO] [1692265627.947112468] [map.map_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [map_projection_loader-22] [INFO] [1692265627.944760541] [map.map_projection_loader]: Load /home/keisukeota/autoware_map/sample-map-planning/lanelet2_map.osm [map_projection_loader-22] [WARN] [1692265627.944840439] [map.map_projection_loader]: DEPRECATED WARNING: Loading map projection info from lanelet2 map may soon be deleted. Please use map_projector_info.yaml instead. For more info, visit https://github.com/autowarefoundation/autoware.universe/blob/main/map/map_projection_loader/README.md [scenario_selector-25] [INFO] [1692265628.069525248] [planning.scenario_planning.scenario_selector]: Waiting for current pose. [component_container_mt-28] [INFO] [1692265628.200731924] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Load Library: /home/keisukeota/workspace/autoware/install/behavior_path_planner/lib/libbehavior_path_planner_node.so [component_container_mt-28] [INFO] [1692265628.233195625] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-28] [INFO] [1692265628.233250305] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_mt-30] [INFO] [1692265628.237475609] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Load Library: /home/keisukeota/workspace/autoware/install/obstacle_velocity_limiter/lib/libobstacle_velocity_limiter_node.so [component_container-31] [INFO] [1692265628.281565615] [planning.scenario_planning.parking.parking_container]: Load Library: /home/keisukeota/workspace/autoware/install/costmap_generator/lib/libcostmap_generator_node.so [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/occupancy_grid_map/pointcloud_to_laserscan_node' in container '/occupancy_grid_map/occupancy_grid_map_container' [component_container-34] [INFO] [1692265628.220148320] [control.control_container]: Load Library: /home/keisukeota/workspace/autoware/install/trajectory_follower_node/lib/libcontroller_node.so [component_container-34] [INFO] [1692265628.234597867] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-34] [INFO] [1692265628.234644747] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [dummy_perception_publisher_node-41] [WARN] [1692265628.227851739] [simulation.dummy_perception_publisher]: map->base_link is not available yet [shape_estimation-42] [INFO] [1692265628.151846475] [simulation.shape_estimation]: using boost shape estimation : 0 [component_container-44] [INFO] [1692265628.379639144] [occupancy_grid_map.occupancy_grid_map_container]: Load Library: /home/keisukeota/workspace/autoware/install/pointcloud_to_laserscan/lib/libpointcloud_to_laserscan.so [component_container-49] [INFO] [1692265628.238060947] [perception.traffic_light_recognition.traffic_light_arbiter.container]: Load Library: /home/keisukeota/workspace/autoware/install/traffic_light_arbiter/lib/libtraffic_light_arbiter.so [component_container-49] [INFO] [1692265628.247876809] [perception.traffic_light_recognition.traffic_light_arbiter.container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-49] [INFO] [1692265628.247923444] [perception.traffic_light_recognition.traffic_light_arbiter.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container-44] [INFO] [1692265628.385970295] [occupancy_grid_map.occupancy_grid_map_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-44] [INFO] [1692265628.386018261] [occupancy_grid_map.occupancy_grid_map_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [static_transform_publisher-53] [INFO] [1692265628.412913366] [static_map_to_odom_tf_publisher]: Spinning until stopped - publishing transform [static_transform_publisher-53] translation: ('0.000000', '0.000000', '0.000000') [static_transform_publisher-53] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') [static_transform_publisher-53] from 'map' to 'odom' [simple_planning_simulator_exe-52] [INFO] [1692265628.428991675] [simulation.simple_planning_simulator]: vehicle_model_type = DELAY_STEER_ACC_GEARED [simple_planning_simulator_exe-52] [INFO] [1692265628.429278807] [simulation.simple_planning_simulator]: initialize_source : INITIAL_POSE_TOPIC [component_container_mt-30] [INFO] [1692265628.443437054] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-30] [INFO] [1692265628.443488304] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container-44] [INFO] [1692265628.448488001] [occupancy_grid_map.occupancy_grid_map_container]: Load Library: /home/keisukeota/workspace/autoware/install/probabilistic_occupancy_grid_map/lib/liblaserscan_based_occupancy_grid_map.so [component_container-31] [INFO] [1692265628.452313366] [planning.scenario_planning.parking.parking_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-31] [INFO] [1692265628.452362630] [planning.scenario_planning.parking.parking_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [simple_planning_simulator_exe-52] [INFO] [1692265628.452969492] [simulation.simple_planning_simulator]: waiting initialization... [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter' in container '/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container' [component_container_mt-30] [INFO] [1692265628.518167320] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Load Library: /home/keisukeota/workspace/autoware/install/obstacle_avoidance_planner/lib/libobstacle_avoidance_planner.so [component_container_mt-30] [INFO] [1692265628.523484000] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-30] [INFO] [1692265628.524366173] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container-44] [INFO] [1692265628.552844717] [occupancy_grid_map.occupancy_grid_map_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-44] [INFO] [1692265628.552890112] [occupancy_grid_map.occupancy_grid_map_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [rviz2-40] [INFO] [1692265628.567403489] [rviz2]: Stereo is NOT SUPPORTED [rviz2-40] [INFO] [1692265628.568395024] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [component_container-31] [INFO] [1692265628.577634955] [planning.scenario_planning.parking.costmap_generator]: waiting for initial pose... [rviz2-40] [INFO] [1692265628.595023855] [rviz2]: Stereo is NOT SUPPORTED [web_server.py-36] * Running on http://localhost:8888/ (Press CTRL+C to quit) [rviz2-40] [ERROR] [1692265628.620421415] [pluginlib.ClassLoader]: Skipped loading plugin with error: XML Document '/home/keisukeota/workspace/autoware/install/initial_pose_button_panel/share/initial_pose_button_panel/plugins/plugin_description.xml' has no Root Element. This likely means the XML is malformed or missing.. [system_error_monitor-16] [INFO] [1692265628.684460991] [system.system_error_monitor]: waiting for current_gate_mode msg... [rviz2-40] [ERROR] [1692265628.691996006] [pluginlib.ClassLoader]: Skipped loading plugin with error: XML Document '/home/keisukeota/workspace/autoware/install/initial_pose_button_panel/share/initial_pose_button_panel/plugins/plugin_description.xml' has no Root Element. This likely means the XML is malformed or missing.. [rviz2-40] [ERROR] [1692265628.705447937] [pluginlib.ClassLoader]: Skipped loading plugin with error: XML Document '/home/keisukeota/workspace/autoware/install/initial_pose_button_panel/share/initial_pose_button_panel/plugins/plugin_description.xml' has no Root Element. This likely means the XML is malformed or missing.. [rviz2-40] [ERROR] [1692265628.794412671] [pluginlib.ClassLoader]: Skipped loading plugin with error: XML Document '/home/keisukeota/workspace/autoware/install/initial_pose_button_panel/share/initial_pose_button_panel/plugins/plugin_description.xml' has no Root Element. This likely means the XML is malformed or missing.. [rviz2-40] [ERROR] [1692265628.813080513] [pluginlib.ClassLoader]: Skipped loading plugin with error: XML Document '/home/keisukeota/workspace/autoware/install/initial_pose_button_panel/share/initial_pose_button_panel/plugins/plugin_description.xml' has no Root Element. This likely means the XML is malformed or missing.. [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/trajectory_follower/controller_node_exe' in container '/control/control_container' [component_container-34] [INFO] [1692265628.940500568] [control.control_container]: Load Library: /home/keisukeota/workspace/autoware/install/external_cmd_selector/lib/libexternal_cmd_selector_node.so [component_container-34] [INFO] [1692265628.942788774] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-34] [INFO] [1692265628.942817063] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [rtc_auto_mode_manager_node-29] [INFO] [1692265629.004859406] [planning.scenario_planning.lane_driving.behavior_planning.rtc_auto_mode_manager]: Waiting for service... [blind_spot] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/occupancy_grid_map/occupancy_grid_map_node' in container '/occupancy_grid_map/occupancy_grid_map_container' [component_container-44] [INFO] [1692265629.056114208] [occupancy_grid_map.pointcloud_to_laserscan_node]: Got a subscriber to laserscan, starting pointcloud subscriber [component_container_mt-28] [INFO] [1692265629.345580443] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner.planner_manager]: register start_planner module [component_container_mt-30] [INFO] [1692265629.391009105] [planning.scenario_planning.lane_driving.motion_planning.obstacle_avoidance_planner]: Initialize planning [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner' in container '/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container' [component_container_mt-30] [INFO] [1692265629.393748962] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Load Library: /home/keisukeota/workspace/autoware/install/path_smoother/lib/libpath_smoother.so [component_container_mt-30] [INFO] [1692265629.395159198] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-30] [INFO] [1692265629.395183968] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/localization' in container '/default_ad_api/container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/external_cmd_selector' in container '/control/control_container' [component_container-34] [INFO] [1692265629.469807371] [control.trajectory_follower.controller_node_exe]: Waiting for trajectory. [component_container-34] [INFO] [1692265629.469959235] [control.trajectory_follower.controller_node_exe]: Control is skipped since input data is not ready. [component_container-34] [INFO] [1692265629.474434497] [control.control_container]: Load Library: /home/keisukeota/workspace/autoware/install/external_cmd_converter/lib/libexternal_cmd_converter.so [component_container-34] [INFO] [1692265629.485703390] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-34] [INFO] [1692265629.485866965] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [web_server.py-36] [INFO] [1692265629.652579634] [default_ad_api.web_server]: service not available, waiting again... (/api/interface/version [component_container_mt-28] [INFO] [1692265629.699818899] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner.planner_manager]: register goal_planner module [component_container_mt-28] [INFO] [1692265629.709485102] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner.planner_manager]: register side_shift module [component_container_mt-30] [INFO] [1692265629.724240780] [planning.scenario_planning.lane_driving.motion_planning.elastic_band_smoother]: Initialize planning [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/lane_driving/motion_planning/elastic_band_smoother' in container '/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container' [component_container_mt-30] [INFO] [1692265629.728955791] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Load Library: /home/keisukeota/workspace/autoware/install/surround_obstacle_checker/lib/libsurround_obstacle_checker.so [component_container_mt-30] [INFO] [1692265629.751323761] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-30] [INFO] [1692265629.751452050] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_mt-28] [INFO] [1692265629.765398630] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner.planner_manager]: register lane_change_left module [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/rtc_controller/node' in container '/autoware_api/external/rtc_controller/container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/motion' in container '/default_ad_api/container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/external_cmd_converter' in container '/control/control_container' [component_container-34] [INFO] [1692265629.913302060] [control.control_container]: Load Library: /home/keisukeota/workspace/autoware/install/control_validator/lib/libcontrol_validator_component.so [component_container-34] [INFO] [1692265629.916618244] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-34] [INFO] [1692265629.916664822] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [rtc_auto_mode_manager_node-29] [INFO] [1692265630.005135709] [planning.scenario_planning.lane_driving.behavior_planning.rtc_auto_mode_manager]: Waiting for service... [blind_spot] [component_container_mt-28] [INFO] [1692265630.102309155] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner.planner_manager]: register lane_change_right module [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/control_validator' in container '/control/control_container' [component_container-34] [INFO] [1692265630.166814615] [control.control_container]: Load Library: /home/keisukeota/workspace/autoware/install/lane_departure_checker/lib/liblane_departure_checker.so [component_container-34] [INFO] [1692265630.186313528] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-34] [INFO] [1692265630.186463425] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker' in container '/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container' [component_container_mt-30] [INFO] [1692265630.357170608] [planning.scenario_planning.lane_driving.motion_planning.surround_obstacle_checker]: waiting for pointcloud info... [component_container_mt-30] [INFO] [1692265630.358457787] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Load Library: /home/keisukeota/workspace/autoware/install/obstacle_stop_planner/lib/libobstacle_stop_planner.so [component_container_mt-30] [INFO] [1692265630.364029811] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-30] [INFO] [1692265630.364104009] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/operation_mode' in container '/default_ad_api/container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/trajectory_follower/lane_departure_checker_node' in container '/control/control_container' [component_container-34] [INFO] [1692265630.489267820] [control.control_container]: Load Library: /home/keisukeota/workspace/autoware/install/shift_decider/lib/libshift_decider_node.so [component_container-34] [INFO] [1692265630.491559790] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-34] [INFO] [1692265630.491585796] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_mt-28] [INFO] [1692265630.584661631] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner.planner_manager]: register avoidance module [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] [ERROR] [1692265630.646071193] [rviz2]: PluginlibFactory: The plugin for class 'tier4_localization_rviz_plugin/InitialPoseButtonPanel' failed to load. Error: According to the loaded plugin descriptions the class tier4_localization_rviz_plugin/InitialPoseButtonPanel with base class type rviz_common::Panel does not exist. Declared types are AutowareDateTimePanel AutowareScreenCapturePanel rviz_plugins/ManualController rviz_plugins::AutowareAutomaticGoalPanel rviz_plugins::AutowareStatePanel rviz_plugins::BagTimeManagerPanel rviz_plugins::RTCManagerPanel rviz_plugins::SimulatedClockPanel rviz_plugins::TrafficLightPublishPanel rviz_plugins::VelocitySteeringFactorsPanel tier4_adapi_rviz_plugins::RoutePanel tier4_calibration_rviz_plugin/AccelBrakeMapCalibratorButtonPanel [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/shift_decider' in container '/control/control_container' [component_container-34] [INFO] [1692265630.693534786] [control.trajectory_follower.lane_departure_checker_node]: waiting for current_twist msg... [component_container-34] [INFO] [1692265630.697394061] [control.control_container]: Load Library: /home/keisukeota/workspace/autoware/install/vehicle_cmd_gate/lib/libvehicle_cmd_gate_node.so [component_container-34] [INFO] [1692265630.702010332] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-34] [INFO] [1692265630.702030352] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/perception' in container '/default_ad_api/container' [component_container_mt-28] [INFO] [1692265630.888270448] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner.planner_manager]: register avoidance_by_lane_change module [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner' in container '/planning/scenario_planning/lane_driving/behavior_planning/behavior_planning_container' [component_container_mt-28] [INFO] [1692265630.895592101] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Load Library: /home/keisukeota/workspace/autoware/install/behavior_velocity_planner/lib/libbehavior_velocity_planner.so [component_container_mt-28] [INFO] [1692265630.903197920] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-28] [INFO] [1692265630.903223524] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [rtc_auto_mode_manager_node-29] [INFO] [1692265631.005333269] [planning.scenario_planning.lane_driving.behavior_planning.rtc_auto_mode_manager]: Waiting for service... [blind_spot] [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner' in container '/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container' [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] [INFO] [1692265631.283156599] [rviz2]: Stereo is NOT SUPPORTED [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [component_container-20] [INFO] [1692265631.520743695] [map.map_container]: Load Library: /home/keisukeota/workspace/autoware/install/map_loader/lib/liblanelet2_map_visualization_node.so [component_container-20] [INFO] [1692265631.524257601] [map.map_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-20] [INFO] [1692265631.524332901] [map.map_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/planning' in container '/default_ad_api/container' [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/vehicle_cmd_gate' in container '/control/control_container' [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [component_container-34] [INFO] [1692265631.875869125] [control.control_container]: Load Library: /home/keisukeota/workspace/autoware/install/operation_mode_transition_manager/lib/liboperation_mode_transition_manager_node.so [component_container-34] [INFO] [1692265631.889255710] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-34] [INFO] [1692265631.889391221] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map/lanelet2_map_visualization' in container '/map/map_container' [rtc_auto_mode_manager_node-29] [INFO] [1692265632.005567717] [planning.scenario_planning.lane_driving.behavior_planning.rtc_auto_mode_manager]: Waiting for service... [blind_spot] [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [component_container-20] [INFO] [1692265632.013059585] [map.lanelet2_map_visualization]: Map is loaded [component_container-20] [component_container-20] [WARN] [1692265632.013551073] [lanelet2_extension.visualization]: lineStringToPolygon: linestring327 must have more than different 3 points! (size is 2). Failed to convert to polygon. [component_container-20] [WARN] [1692265632.013560760] [lanelet2_extension.visualization]: pedestrian marking 327 failed conversion. [component_container-20] [WARN] [1692265632.013572243] [lanelet2_extension.visualization]: lineStringToPolygon: linestring325 must have more than different 3 points! (size is 2). Failed to convert to polygon. [component_container-20] [WARN] [1692265632.013575099] [lanelet2_extension.visualization]: pedestrian marking 325 failed conversion. [component_container-20] [WARN] [1692265632.013584001] [lanelet2_extension.visualization]: lineStringToPolygon: linestring328 must have more than different 3 points! (size is 2). Failed to convert to polygon. [component_container-20] [WARN] [1692265632.013586565] [lanelet2_extension.visualization]: pedestrian marking 328 failed conversion. [component_container-20] [WARN] [1692265632.013588959] [lanelet2_extension.visualization]: lineStringToPolygon: linestring332 must have more than different 3 points! (size is 2). Failed to convert to polygon. [component_container-20] [WARN] [1692265632.013591353] [lanelet2_extension.visualization]: pedestrian marking 332 failed conversion. [component_container-20] [WARN] [1692265632.013593701] [lanelet2_extension.visualization]: lineStringToPolygon: linestring326 must have more than different 3 points! (size is 2). Failed to convert to polygon. [component_container-20] [WARN] [1692265632.013596068] [lanelet2_extension.visualization]: pedestrian marking 326 failed conversion. [component_container-20] [WARN] [1692265632.013598425] [lanelet2_extension.visualization]: lineStringToPolygon: linestring329 must have more than different 3 points! (size is 2). Failed to convert to polygon. [component_container-20] [WARN] [1692265632.013600809] [lanelet2_extension.visualization]: pedestrian marking 329 failed conversion. [component_container-20] [WARN] [1692265632.013603179] [lanelet2_extension.visualization]: lineStringToPolygon: linestring330 must have more than different 3 points! (size is 2). Failed to convert to polygon. [component_container-20] [WARN] [1692265632.013605529] [lanelet2_extension.visualization]: pedestrian marking 330 failed conversion. [component_container-20] [WARN] [1692265632.013607880] [lanelet2_extension.visualization]: lineStringToPolygon: linestring331 must have more than different 3 points! (size is 2). Failed to convert to polygon. [component_container-20] [WARN] [1692265632.013610206] [lanelet2_extension.visualization]: pedestrian marking 331 failed conversion. [component_container-20] [INFO] [1692265632.020924278] [map.map_container]: Load Library: /home/keisukeota/workspace/autoware/install/map_loader/lib/libpointcloud_map_loader_node.so [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [component_container-20] [INFO] [1692265632.061075327] [map.map_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-20] [INFO] [1692265632.061112428] [map.map_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container-20] [INFO] [1692265632.067275067] [map.pointcloud_map_loader]: Load /home/keisukeota/autoware_map/sample-map-planning/pointcloud_map.pcd (1 out of 1) [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [component_container-20] [INFO] [1692265632.112219002] [map.pointcloud_map_loader]: Create PCD metadata, as the pointcloud is a single file. [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/routing' in container '/default_ad_api/container' [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map/pointcloud_map_loader' in container '/map/map_container' [component_container-20] [INFO] [1692265632.151313114] [map.map_container]: Load Library: /home/keisukeota/workspace/autoware/install/map_tf_generator/lib/libvector_map_tf_generator_node.so [component_container-20] [INFO] [1692265632.154243133] [map.map_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-20] [INFO] [1692265632.154264302] [map.map_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map/vector_map_tf_generator' in container '/map/map_container' [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [component_container-20] [INFO] [1692265632.372143859] [map.vector_map_tf_generator]: broadcast static tf. map_frame:map, viewer_frame:viewer, x:3749.71, y:73724.3, z:19.4406 [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/operation_mode_transition_manager' in container '/control/control_container' [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [system_error_monitor-16] [ERROR] [1692265632.484416696] [system.system_error_monitor]: vehicle_state_report msg is timeout... [system_error_monitor-16] [ERROR] [1692265632.484753305] [system_error_monitor system_error_monitor/input_data_timeout]: [Single Point Fault]: [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/vehicle' in container '/default_ad_api/container' [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/vehicle_info' in container '/default_ad_api/container' [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [scenario_selector-25] [INFO] [1692265633.069540426] [planning.scenario_planning.scenario_selector]: Waiting for current pose. [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [dummy_perception_publisher_node-41] [WARN] [1692265633.228071632] [simulation.dummy_perception_publisher]: map->base_link is not available yet [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner' in container '/planning/scenario_planning/lane_driving/behavior_planning/behavior_planning_container' [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [simple_planning_simulator_exe-52] [INFO] [1692265633.477846429] [simulation.simple_planning_simulator]: waiting initialization... [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [rviz2-40] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-40] at line 93 in ./src/buffer_core.cpp [component_container-31] [INFO] [1692265633.577796891] [planning.scenario_planning.parking.costmap_generator]: waiting for initial pose... [map_based_prediction-46] [INFO] [1692265633.791498318] [perception.object_recognition.prediction.map_based_prediction]: [Map Based Prediction]: Start loading lanelet [traffic_light_map_visualizer_node-50] [INFO] [1692265633.822538576] [perception.traffic_light_recognition.traffic_light_map_visualizer]: Map is loaded [traffic_light_map_visualizer_node-50] [map_based_prediction-46] [INFO] [1692265633.863576461] [perception.object_recognition.prediction.map_based_prediction]: [Map Based Prediction]: Map is loaded [component_container-34] [INFO] [1692265634.490204826] [control.trajectory_follower.controller_node_exe]: Waiting for trajectory. [component_container-34] [INFO] [1692265634.490398021] [control.trajectory_follower.controller_node_exe]: Control is skipped since input data is not ready. [component_container_mt-30] [INFO] [1692265635.392912295] [planning.scenario_planning.lane_driving.motion_planning.surround_obstacle_checker]: waiting for pointcloud info... [component_container-34] [INFO] [1692265635.785030338] [control.trajectory_follower.lane_departure_checker_node]: waiting for current_twist msg... [component_container_mt-28] [INFO] [1692265635.990825861] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner]: waiting for scenario_topic [system_error_monitor-16] [ERROR] [1692265637.484524630] [system.system_error_monitor]: vehicle_state_report msg is timeout... [system_error_monitor-16] [ERROR] [1692265637.484808946] [system_error_monitor system_error_monitor/input_data_timeout]: [Single Point Fault]: [scenario_selector-25] [INFO] [1692265638.069569372] [planning.scenario_planning.scenario_selector]: Waiting for current pose. [dummy_perception_publisher_node-41] [WARN] [1692265638.328020150] [simulation.dummy_perception_publisher]: map->base_link is not available yet [simple_planning_simulator_exe-52] [INFO] [1692265638.477924299] [simulation.simple_planning_simulator]: waiting initialization... [component_container-31] [INFO] [1692265638.578010199] [planning.scenario_planning.parking.costmap_generator]: waiting for initial pose... [component_container-34] [INFO] [1692265639.500407236] [control.trajectory_follower.controller_node_exe]: Waiting for trajectory. [component_container-34] [INFO] [1692265639.500624982] [control.trajectory_follower.controller_node_exe]: Control is skipped since input data is not ready. [component_container_mt-30] [INFO] [1692265640.492527274] [planning.scenario_planning.lane_driving.motion_planning.surround_obstacle_checker]: waiting for pointcloud info... [component_container-34] [INFO] [1692265640.785136924] [control.trajectory_follower.lane_departure_checker_node]: waiting for current_twist msg... [component_container_mt-28] [INFO] [1692265641.090924536] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner]: waiting for scenario_topic [system_error_monitor-16] [ERROR] [1692265642.584561844] [system.system_error_monitor]: vehicle_state_report msg is timeout... [system_error_monitor-16] [ERROR] [1692265642.585100872] [system_error_monitor system_error_monitor/input_data_timeout]: [Single Point Fault]: [scenario_selector-25] [INFO] [1692265643.169583218] [planning.scenario_planning.scenario_selector]: Waiting for current pose. [dummy_perception_publisher_node-41] [WARN] [1692265643.328045091] [simulation.dummy_perception_publisher]: map->base_link is not available yet [simple_planning_simulator_exe-52] [INFO] [1692265643.502852148] [simulation.simple_planning_simulator]: waiting initialization... [component_container-31] [INFO] [1692265643.578320095] [planning.scenario_planning.parking.costmap_generator]: waiting for initial pose... [component_container-34] [INFO] [1692265644.510088101] [control.trajectory_follower.controller_node_exe]: Waiting for trajectory. [component_container-34] [INFO] [1692265644.510316993] [control.trajectory_follower.controller_node_exe]: Control is skipped since input data is not ready. [component_container_mt-30] [INFO] [1692265645.492796098] [planning.scenario_planning.lane_driving.motion_planning.surround_obstacle_checker]: waiting for pointcloud info... [component_container-34] [INFO] [1692265645.885246601] [control.trajectory_follower.lane_departure_checker_node]: waiting for current_twist msg... [component_container_mt-28] [INFO] [1692265646.190789632] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner]: waiting for scenario_topic [system_error_monitor-16] [ERROR] [1692265647.584581680] [system.system_error_monitor]: vehicle_state_report msg is timeout... [system_error_monitor-16] [ERROR] [1692265647.684815052] [system_error_monitor system_error_monitor/input_data_timeout]: [Single Point Fault]: [scenario_selector-25] [INFO] [1692265648.269535890] [planning.scenario_planning.scenario_selector]: Waiting for current pose. [dummy_perception_publisher_node-41] [WARN] [1692265648.328084658] [simulation.dummy_perception_publisher]: map->base_link is not available yet [simple_planning_simulator_exe-52] [INFO] [1692265648.502886164] [simulation.simple_planning_simulator]: waiting initialization... [component_container-31] [INFO] [1692265648.578754467] [planning.scenario_planning.parking.costmap_generator]: waiting for initial pose... [component_container-34] [INFO] [1692265649.520312243] [control.trajectory_follower.controller_node_exe]: Waiting for trajectory. [component_container-34] [INFO] [1692265649.520441984] [control.trajectory_follower.controller_node_exe]: Control is skipped since input data is not ready. [rviz2-40] [INFO] [1692265649.789490852] [rviz2]: Setting estimate pose: Frame:map, Position(3717.48, 73723.9, 0), Orientation(0, 0, 0.850678, 0.525688) = Angle: 2.03455 [initial_pose_adaptor-37] [INFO] [1692265649.790281263] [default_ad_api.helpers.initial_pose_adaptor]: original point: 3717.481 73723.891 0.000 [initial_pose_adaptor-37] [INFO] [1692265649.791149234] [default_ad_api.helpers.initial_pose_adaptor]: Send request to map_loader [initial_pose_adaptor-37] [INFO] [1692265650.033847927] [default_ad_api.helpers.initial_pose_adaptor]: Loaded partial pcd map from map_loader (grid size: 1) [initial_pose_adaptor-37] [INFO] [1692265650.067558464] [default_ad_api.helpers.initial_pose_adaptor]: modified point: 3717.481 73723.891 19.263 [initial_pose_adaptor-37] [INFO] [1692265650.067634031] [default_ad_api.helpers.initial_pose_adaptor]: client call: /api/localization/initialize [component_container_mt-35] [INFO] [1692265650.067917746] [default_ad_api.node.localization]: server call: /api/localization/initialize [component_container_mt-35] [INFO] [1692265650.068186959] [default_ad_api.node.localization]: client call: /localization/initialize [pose_initializer_node-51] [INFO] [1692265650.068394669] [pose_initializer_node]: server call: /localization/initialize [pose_initializer_node-51] [INFO] [1692265650.068728038] [pose_initializer_node]: server exit: /localization/initialize [component_container_mt-35] [INFO] [1692265650.069417324] [default_ad_api.node.localization]: client exit: /localization/initialize [component_container_mt-35] [INFO] [1692265650.069451292] [default_ad_api.node.localization]: server exit: /api/localization/initialize [initial_pose_adaptor-37] [INFO] [1692265650.069588734] [default_ad_api.helpers.initial_pose_adaptor]: client exit: /api/localization/initialize [component_container-34] [INFO] [1692265650.084850394] [control.trajectory_follower.lane_departure_checker_node]: waiting for route msg... [system_error_monitor-16] [ERROR] [1692265650.085493953] [system_error_monitor /autoware/control/autonomous_driving/node_alive_monitoring]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265650.085524193] [system_error_monitor /autoware/control/autonomous_driving/node_alive_monitoring/topic_status/topic_state_monitor_control_command_control_cmd: control_topic_status]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265650.085529121] [system_error_monitor /autoware/control/autonomous_driving/node_alive_monitoring/topic_status/topic_state_monitor_trajectory_follower_control_cmd: control_topic_status]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265650.085533697] [system_error_monitor /autoware/localization/node_alive_monitoring]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265650.085537053] [system_error_monitor /autoware/localization/node_alive_monitoring/topic_status/topic_state_monitor_initialpose3d: localization_topic_status]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265650.085540460] [system_error_monitor /autoware/localization/node_alive_monitoring/topic_status/topic_state_monitor_transform_map_to_base_link: localization_topic_status]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265650.085543520] [system_error_monitor /autoware/perception/node_alive_monitoring]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265650.085546715] [system_error_monitor /autoware/perception/node_alive_monitoring/topic_status/topic_state_monitor_object_recognition_objects: perception_topic_status]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265650.085550176] [system_error_monitor /autoware/planning/node_alive_monitoring]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265650.085552840] [system_error_monitor /autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_mission_planning_route: planning_topic_status]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265650.085556001] [system_error_monitor /autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_scenario_planning_trajectory: planning_topic_status]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265650.085558689] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265650.085562767] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_acceleration/planning_validator: trajectory_validation_acceleration]: [Single Point Fault]: acceleration is too large [system_error_monitor-16] [ERROR] [1692265650.085566317] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_curvature/planning_validator: trajectory_validation_curvature]: [Single Point Fault]: curvature is too large [system_error_monitor-16] [ERROR] [1692265650.085569387] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_deceleration/planning_validator: trajectory_validation_deceleration]: [Single Point Fault]: deceleration is too large [system_error_monitor-16] [ERROR] [1692265650.085572459] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_finite/planning_validator: trajectory_validation_finite]: [Single Point Fault]: infinite value is found [system_error_monitor-16] [ERROR] [1692265650.085604357] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_interval/planning_validator: trajectory_validation_interval]: [Single Point Fault]: points interval is too long [system_error_monitor-16] [ERROR] [1692265650.085607742] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_lateral_acceleration/planning_validator: trajectory_validation_lateral_acceleration]: [Single Point Fault]: lateral acceleration is too large [system_error_monitor-16] [ERROR] [1692265650.085611116] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_relative_angle/planning_validator: trajectory_validation_relative_angle]: [Single Point Fault]: relative angle is too large [system_error_monitor-16] [ERROR] [1692265650.085616623] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_steering/planning_validator: trajectory_validation_steering]: [Single Point Fault]: expected steering is too large [system_error_monitor-16] [ERROR] [1692265650.085620628] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_steering/planning_validator: trajectory_validation_steering_rate]: [Single Point Fault]: expected steering rate is too large [system_error_monitor-16] [ERROR] [1692265650.085624111] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_steering_rate/planning_validator: trajectory_validation_steering_rate]: [Single Point Fault]: expected steering rate is too large [system_error_monitor-16] [ERROR] [1692265650.085627285] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_velocity_deviation/planning_validator: trajectory_validation_velocity_deviation]: [Single Point Fault]: velocity deviation is too large [system_error_monitor-16] [ERROR] [1692265650.085630615] [system_error_monitor /autoware/vehicle/node_alive_monitoring]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265650.085633933] [system_error_monitor /autoware/vehicle/node_alive_monitoring/topic_status/topic_state_monitor_vehicle_status_steering_status: vehicle_topic_status]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265650.085637158] [system_error_monitor /autoware/vehicle/node_alive_monitoring/topic_status/topic_state_monitor_vehicle_status_velocity_status: vehicle_topic_status]: [Single Point Fault]: Error [scenario_selector-25] [INFO] [1692265650.169600692] [planning.scenario_planning.scenario_selector]: Waiting for route. [component_container_mt-30] [INFO] [1692265650.592561009] [planning.scenario_planning.lane_driving.motion_planning.surround_obstacle_checker]: waiting for pointcloud info... [component_container_mt-35] [INFO] [1692265651.141343022] [default_ad_api.node.motion]: client call: /control/vehicle_cmd_gate/set_pause [component_container-34] [INFO] [1692265651.142013482] [control.vehicle_cmd_gate]: server call: /control/vehicle_cmd_gate/set_pause [component_container-34] [INFO] [1692265651.142259266] [control.vehicle_cmd_gate]: server exit: /control/vehicle_cmd_gate/set_pause [component_container_mt-35] [INFO] [1692265651.142744933] [default_ad_api.node.motion]: client exit: /control/vehicle_cmd_gate/set_pause [component_container_mt-28] [INFO] [1692265651.191292227] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner]: waiting for scenario_topic [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/parking/costmap_generator' in container '/planning/scenario_planning/parking/parking_container' [component_container-31] [INFO] [1692265653.624039254] [planning.scenario_planning.parking.parking_container]: Load Library: /home/keisukeota/workspace/autoware/install/freespace_planner/lib/libfreespace_planner_node.so [component_container-31] [INFO] [1692265653.627293230] [planning.scenario_planning.parking.parking_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-31] [INFO] [1692265653.627328854] [planning.scenario_planning.parking.parking_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container-31] [INFO] [1692265653.647623893] [planning.scenario_planning.parking.freespace_planner]: initialize planning algorithm: rrtstar [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/parking/freespace_planner' in container '/planning/scenario_planning/parking/parking_container' [component_container-34] [INFO] [1692265654.529964356] [control.trajectory_follower.controller_node_exe]: Waiting for trajectory. [component_container-34] [INFO] [1692265654.530170338] [control.trajectory_follower.controller_node_exe]: Control is skipped since input data is not ready. [rviz2-40] [INFO] [1692265654.636129344] [rviz2]: Setting goal pose: Frame:map, Position(3724.59, 73753.9, 0), Orientation(0, 0, -0.552025, 0.833827) = Angle: -1.16958 [routing_adaptor-38] [INFO] [1692265654.932898832] [default_ad_api.helpers.routing_adaptor]: client call: /api/routing/set_route_points [component_container_mt-35] [INFO] [1692265654.933918650] [default_ad_api.node.routing]: server call: /api/routing/set_route_points [component_container_mt-35] [INFO] [1692265654.934612833] [default_ad_api.node.routing]: client call: /planning/mission_planning/set_route_points [mission_planner-23] [INFO] [1692265654.935166003] [planning.mission_planning.mission_planner]: server call: /planning/mission_planning/set_route_points [mission_planner-23] [INFO] [1692265654.935587814] [planning.mission_planning.mission_planner]: start planning route with check points: [mission_planner-23] x: 3717.48 y: 73723.9 [mission_planner-23] x: 3724.59 y: 73753.9 [mission_planner-23] [scenario_selector-25] [WARN] [1692265654.941075677] [route_handler]: [Route Handler] getRouteUuid: Route has not been set yet [mission_planner-23] [INFO] [1692265654.941330114] [planning.mission_planning.mission_planner]: server exit: /planning/mission_planning/set_route_points [component_container_mt-35] [INFO] [1692265654.944075978] [default_ad_api.node.routing]: client exit: /planning/mission_planning/set_route_points [component_container_mt-35] [INFO] [1692265654.944087091] [default_ad_api.node.routing]: server exit: /api/routing/set_route_points [routing_adaptor-38] [INFO] [1692265654.945138614] [default_ad_api.helpers.routing_adaptor]: client exit: /api/routing/set_route_points [component_container-34] [INFO] [1692265654.985044070] [control.trajectory_follower.lane_departure_checker_node]: waiting for reference_trajectory msg... [component_container_mt-28] [WARN] [1692265655.099804236] [behavior_path_planner.path_shifter]: Acc limit is too small to be applied. Tj: 0.356096, Ta: 1.419955, j: 0.421234, a_max: 0.249896, acc_limit: 0.150000 [component_container_mt-28] [WARN] [1692265655.099959874] [behavior_path_planner.path_shifter]: No need to consider lateral acc limit. max: 0.379673, limit: 0.383333 [system_error_monitor-16] [ERROR] [1692265655.185405335] [system_error_monitor /autoware/control/autonomous_driving/node_alive_monitoring]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265655.185435039] [system_error_monitor /autoware/control/autonomous_driving/node_alive_monitoring/topic_status/topic_state_monitor_control_command_control_cmd: control_topic_status]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265655.185440903] [system_error_monitor /autoware/control/autonomous_driving/node_alive_monitoring/topic_status/topic_state_monitor_trajectory_follower_control_cmd: control_topic_status]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265655.185444430] [system_error_monitor /autoware/planning/node_alive_monitoring]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265655.185448323] [system_error_monitor /autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_mission_planning_route: planning_topic_status]: [Single Point Fault]: OK [system_error_monitor-16] [ERROR] [1692265655.185453428] [system_error_monitor /autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_scenario_planning_trajectory: planning_topic_status]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265655.185457289] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265655.185460974] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_acceleration/planning_validator: trajectory_validation_acceleration]: [Single Point Fault]: acceleration is too large [system_error_monitor-16] [ERROR] [1692265655.185464536] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_curvature/planning_validator: trajectory_validation_curvature]: [Single Point Fault]: curvature is too large [system_error_monitor-16] [ERROR] [1692265655.185491313] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_deceleration/planning_validator: trajectory_validation_deceleration]: [Single Point Fault]: deceleration is too large [system_error_monitor-16] [ERROR] [1692265655.185494553] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_finite/planning_validator: trajectory_validation_finite]: [Single Point Fault]: infinite value is found [system_error_monitor-16] [ERROR] [1692265655.185498772] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_interval/planning_validator: trajectory_validation_interval]: [Single Point Fault]: points interval is too long [system_error_monitor-16] [ERROR] [1692265655.185502646] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_lateral_acceleration/planning_validator: trajectory_validation_lateral_acceleration]: [Single Point Fault]: lateral acceleration is too large [system_error_monitor-16] [ERROR] [1692265655.185506136] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_relative_angle/planning_validator: trajectory_validation_relative_angle]: [Single Point Fault]: relative angle is too large [system_error_monitor-16] [ERROR] [1692265655.185509869] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_steering/planning_validator: trajectory_validation_steering]: [Single Point Fault]: expected steering is too large [system_error_monitor-16] [ERROR] [1692265655.185512762] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_steering/planning_validator: trajectory_validation_steering_rate]: [Single Point Fault]: expected steering rate is too large [system_error_monitor-16] [ERROR] [1692265655.185515919] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_steering_rate/planning_validator: trajectory_validation_steering_rate]: [Single Point Fault]: expected steering rate is too large [system_error_monitor-16] [ERROR] [1692265655.185518957] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_velocity_deviation/planning_validator: trajectory_validation_velocity_deviation]: [Single Point Fault]: velocity deviation is too large [component_container_mt-28] [INFO] [1692265655.186940570] [planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner]: use crosswalk regulatory element: false [component_container_mt-28] [INFO] [1692265655.187127637] [planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner]: register task: module = crosswalk, id = 9242 [component_container_mt-28] Sharp angle. [component_container_mt-28] [INFO] [1692265655.188854644] [planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner]: register task: module = walkway, id = 9242 [component_container_mt-28] [ERROR] [1692265655.189058809] [planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner.walkway_module]: Failed to stop near walkway but ego stopped. Change state to STOPPED [component_container_mt-28] [INFO] [1692265655.190383101] [planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner]: register task: module = intersection, id = 9298 [component_container_mt-28] [INFO] [1692265655.193990343] [planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner]: register task: module = blind_spot, id = 9298 [component_container_mt-28] [INFO] [1692265655.196389208] [planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner]: register task: module = out_of_lane, id = 0 [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [rviz2-40] [INFO] [1692265667.010409022] [rviz2]: client request [component_container_mt-35] [INFO] [1692265667.011164555] [default_ad_api.node.operation_mode]: server call: /api/operation_mode/change_to_autonomous [component_container_mt-35] [INFO] [1692265667.011579357] [default_ad_api.node.operation_mode]: client call: /system/operation_mode/change_operation_mode [component_container-34] [INFO] [1692265667.017304664] [control.operation_mode_transition_manager]: server call: /system/operation_mode/change_operation_mode [component_container-34] [INFO] [1692265667.017442646] [control.operation_mode_transition_manager]: server exit: /system/operation_mode/change_operation_mode [component_container_mt-35] [INFO] [1692265667.017702001] [default_ad_api.node.operation_mode]: client exit: /system/operation_mode/change_operation_mode [component_container_mt-35] [INFO] [1692265667.017708230] [default_ad_api.node.operation_mode]: server exit: /api/operation_mode/change_to_autonomous [rviz2-40] [INFO] [1692265667.025298294] [rviz2]: Status: 0, [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-35] [INFO] [1692265667.768830566] [default_ad_api.node.motion]: client call: /control/vehicle_cmd_gate/set_pause [component_container-34] [INFO] [1692265667.769704517] [control.vehicle_cmd_gate]: server call: /control/vehicle_cmd_gate/set_pause [component_container-34] [INFO] [1692265667.769929514] [control.vehicle_cmd_gate]: server exit: /control/vehicle_cmd_gate/set_pause [component_container_mt-35] [INFO] [1692265667.770490922] [default_ad_api.node.motion]: client exit: /control/vehicle_cmd_gate/set_pause [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] Sharp angle. [component_container_mt-28] [INFO] [1692265672.000668386] [planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner]: unregister task: module = crosswalk, id = 9242 [component_container_mt-28] [INFO] [1692265672.001231033] [planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner]: unregister task: module = walkway, id = 9242 [component_container_mt-28] [INFO] [1692265672.001800474] [planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner]: unregister task: module = intersection, id = 9298 [component_container_mt-28] [INFO] [1692265672.002517772] [planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner]: unregister task: module = blind_spot, id = 9298 [component_container-34] [WARN] [1692265672.628226889] [control.control_validator]: planning trajectory is too far from ego!! [component_container-34] [WARN] [1692265673.643277998] [control.control_validator]: planning trajectory is too far from ego!! [component_container-34] [WARN] [1692265674.668165757] [control.control_validator]: planning trajectory is too far from ego!! [component_container-34] [WARN] [1692265675.684448718] [control.control_validator]: planning trajectory is too far from ego!! [component_container-34] [WARN] [1692265676.710258320] [control.control_validator]: planning trajectory is too far from ego!! [component_container-34] [WARN] [1692265677.723558892] [control.control_validator]: planning trajectory is too far from ego!! [component_container-34] [WARN] [1692265678.742003749] [control.control_validator]: planning trajectory is too far from ego!! [component_container-34] [WARN] [1692265679.763023566] [control.control_validator]: planning trajectory is too far from ego!! [component_container-34] [WARN] [1692265680.788362180] [control.control_validator]: planning trajectory is too far from ego!! [component_container-34] [WARN] [1692265681.808387448] [control.control_validator]: planning trajectory is too far from ego!! [component_container-34] [WARN] [1692265682.822150413] [control.control_validator]: planning trajectory is too far from ego!! [component_container-34] [WARN] [1692265683.842144592] [control.control_validator]: planning trajectory is too far from ego!! [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-28] Segment index is invalid. [component_container_mt-35] [INFO] [1692265694.540884759] [default_ad_api.node.motion]: client call: /control/vehicle_cmd_gate/set_pause [component_container-34] [INFO] [1692265694.541163034] [control.vehicle_cmd_gate]: server call: /control/vehicle_cmd_gate/set_pause [component_container-34] [INFO] [1692265694.541288852] [control.vehicle_cmd_gate]: server exit: /control/vehicle_cmd_gate/set_pause [component_container_mt-35] [INFO] [1692265694.541551448] [default_ad_api.node.motion]: client exit: /control/vehicle_cmd_gate/set_pause [scenario_selector-25] [INFO] [1692265694.569623867] [planning.scenario_planning.scenario_selector]: scenario changed: LaneDriving -> Parking [motion_velocity_smoother-27] [ERROR] [1692265694.697698486] [planning.scenario_planning.motion_velocity_smoother]: input trajectory size must > 1. Skip computation. [component_container-31] [INFO] [1692265694.862640596] [planning.scenario_planning.parking.freespace_planner]: Freespace planning: 0.150589 [s] [component_container-31] [INFO] [1692265694.862703247] [planning.scenario_planning.parking.freespace_planner]: Found goal! [component_container_mt-35] [INFO] [1692265694.882637075] [default_ad_api.node.motion]: client call: /control/vehicle_cmd_gate/set_pause [component_container-34] [INFO] [1692265694.882757316] [control.vehicle_cmd_gate]: server call: /control/vehicle_cmd_gate/set_pause [component_container-34] [INFO] [1692265694.882845700] [control.vehicle_cmd_gate]: server exit: /control/vehicle_cmd_gate/set_pause [component_container_mt-35] [INFO] [1692265694.882956372] [default_ad_api.node.motion]: client exit: /control/vehicle_cmd_gate/set_pause [system_error_monitor-16] [WARN] [1692265697.986141551] [system_error_monitor /autoware/control/autonomous_driving/performance_monitoring/lane_departure]: [Latent Fault]: Warning [system_error_monitor-16] [WARN] [1692265697.986185945] [system_error_monitor /autoware/control/autonomous_driving/performance_monitoring/lane_departure/lane_departure_checker_node: lane_departure]: [Latent Fault]: vehicle will leave lane [emergency_handler-17] [INFO] [1692265698.016156275] [system.emergency_handler]: MRM State changed: NORMAL -> MRM_OPERATING [emergency_handler-17] [WARN] [1692265698.016606947] [system.emergency_handler]: Emergency stop is operated [system_error_monitor-16] [ERROR] [1692265698.985576602] [system_error_monitor /autoware/control/autonomous_driving/performance_monitoring/lane_departure]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265698.985619105] [system_error_monitor /autoware/control/autonomous_driving/performance_monitoring/lane_departure/lane_departure_checker_node: lane_departure]: [Single Point Fault]: vehicle is out of lane [system_error_monitor-16] [ERROR] [1692265703.985664278] [system_error_monitor /autoware/control/autonomous_driving/performance_monitoring/lane_departure]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265703.985698220] [system_error_monitor /autoware/control/autonomous_driving/performance_monitoring/lane_departure/lane_departure_checker_node: lane_departure]: [Single Point Fault]: vehicle is out of lane [emergency_handler-17] [INFO] [1692265707.516450250] [system.emergency_handler]: MRM State changed: MRM_OPERATING -> MRM_SUCCEEDED [component_container-34] [INFO] [1692265707.660965506] [control.trajectory_follower.controller_node_exe]: target speed > 0, but departure condition is not met. Keep STOPPED. [component_container-34] [WARN] [1692265708.473691191] [control.control_validator]: planning trajectory is too far from ego!! [component_container-31] [INFO] [1692265708.564921138] [planning.scenario_planning.parking.freespace_planner]: Found obstacle [component_container-31] [INFO] [1692265708.715738569] [planning.scenario_planning.parking.freespace_planner]: Freespace planning: 0.150515 [s] [component_container-31] [INFO] [1692265708.715784616] [planning.scenario_planning.parking.freespace_planner]: Found goal! [system_error_monitor-16] [ERROR] [1692265708.985781250] [system_error_monitor /autoware/control/autonomous_driving/performance_monitoring/lane_departure]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265708.985818790] [system_error_monitor /autoware/control/autonomous_driving/performance_monitoring/lane_departure/lane_departure_checker_node: lane_departure]: [Single Point Fault]: vehicle is out of lane [component_container_mt-35] [INFO] [1692265710.140840787] [default_ad_api.node.motion]: client call: /control/vehicle_cmd_gate/set_pause [component_container-34] [INFO] [1692265710.141084839] [control.vehicle_cmd_gate]: server call: /control/vehicle_cmd_gate/set_pause [component_container-34] [INFO] [1692265710.141168811] [control.vehicle_cmd_gate]: server exit: /control/vehicle_cmd_gate/set_pause [component_container_mt-35] [INFO] [1692265710.141307508] [default_ad_api.node.motion]: client exit: /control/vehicle_cmd_gate/set_pause [component_container-34] [INFO] [1692265710.183171400] [control.trajectory_follower.controller_node_exe]: target speed > 0, but keep stop condition is met. Keep STOPPED. [component_container-34] [WARN] [1692265710.185096873] [control.control_validator]: planning trajectory is too far from ego!! [component_container-31] [INFO] [1692265710.256802121] [planning.scenario_planning.parking.freespace_planner]: Found obstacle [component_container-31] [INFO] [1692265710.407423008] [planning.scenario_planning.parking.freespace_planner]: Freespace planning: 0.150153 [s] [component_container-31] [INFO] [1692265710.407481698] [planning.scenario_planning.parking.freespace_planner]: Found goal! [component_container_mt-35] [INFO] [1692265711.806088604] [default_ad_api.node.motion]: client call: /control/vehicle_cmd_gate/set_pause [component_container-34] [INFO] [1692265711.807900518] [control.vehicle_cmd_gate]: server call: /control/vehicle_cmd_gate/set_pause [component_container-34] [INFO] [1692265711.808255039] [control.vehicle_cmd_gate]: server exit: /control/vehicle_cmd_gate/set_pause [component_container_mt-35] [INFO] [1692265711.808871084] [default_ad_api.node.motion]: client exit: /control/vehicle_cmd_gate/set_pause [system_error_monitor-16] [ERROR] [1692265713.985955154] [system_error_monitor /autoware/control/autonomous_driving/performance_monitoring/lane_departure]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265713.986036387] [system_error_monitor /autoware/control/autonomous_driving/performance_monitoring/lane_departure/lane_departure_checker_node: lane_departure]: [Single Point Fault]: vehicle is out of lane [component_container-34] [INFO] [1692265717.771217849] [control.trajectory_follower.controller_node_exe]: target speed > 0, but departure condition is not met. Keep STOPPED. [component_container-34] [INFO] [1692265717.771262710] [control.trajectory_follower.controller_node_exe]: target speed > 0, but keep stop condition is met. Keep STOPPED. [component_container_mt-35] [INFO] [1692265718.640745841] [default_ad_api.node.motion]: client call: /control/vehicle_cmd_gate/set_pause [component_container-34] [INFO] [1692265718.641648983] [control.vehicle_cmd_gate]: server call: /control/vehicle_cmd_gate/set_pause [component_container-34] [INFO] [1692265718.641696806] [control.vehicle_cmd_gate]: server exit: /control/vehicle_cmd_gate/set_pause [component_container_mt-35] [INFO] [1692265718.641816297] [default_ad_api.node.motion]: client exit: /control/vehicle_cmd_gate/set_pause [component_container-34] [WARN] [1692265718.672391538] [control.control_validator]: planning trajectory is too far from ego!! [component_container_mt-35] [INFO] [1692265718.672788347] [default_ad_api.node.motion]: client call: /control/vehicle_cmd_gate/set_pause [component_container_mt-35] [INFO] [1692265718.673043326] [default_ad_api.node.motion]: client exit: /control/vehicle_cmd_gate/set_pause [component_container-34] [INFO] [1692265718.672880279] [control.vehicle_cmd_gate]: server call: /control/vehicle_cmd_gate/set_pause [component_container-34] [INFO] [1692265718.672907704] [control.vehicle_cmd_gate]: server exit: /control/vehicle_cmd_gate/set_pause [system_error_monitor-16] [ERROR] [1692265718.986093830] [system_error_monitor /autoware/control/autonomous_driving/performance_monitoring/lane_departure]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265718.986142014] [system_error_monitor /autoware/control/autonomous_driving/performance_monitoring/lane_departure/lane_departure_checker_node: lane_departure]: [Single Point Fault]: vehicle is out of lane [component_container-34] [WARN] [1692265719.696038543] [control.control_validator]: planning trajectory is too far from ego!! [component_container-34] [WARN] [1692265720.718827962] [control.control_validator]: planning trajectory is too far from ego!! [component_container-34] [WARN] [1692265721.732103646] [control.control_validator]: planning trajectory is too far from ego!! [component_container-34] [WARN] [1692265722.752418442] [control.control_validator]: planning trajectory is too far from ego!! [component_container-34] [WARN] [1692265723.772168375] [control.control_validator]: planning trajectory is too far from ego!! [system_error_monitor-16] [ERROR] [1692265723.987896067] [system_error_monitor /autoware/control/autonomous_driving/performance_monitoring/lane_departure]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265723.987963137] [system_error_monitor /autoware/control/autonomous_driving/performance_monitoring/lane_departure/lane_departure_checker_node: lane_departure]: [Single Point Fault]: vehicle is out of lane [component_container-34] [WARN] [1692265724.797913763] [control.control_validator]: planning trajectory is too far from ego!! [component_container-34] [WARN] [1692265725.812629015] [control.control_validator]: planning trajectory is too far from ego!! [component_container-34] [WARN] [1692265726.836236833] [control.control_validator]: planning trajectory is too far from ego!! [component_container-34] [WARN] [1692265727.851770890] [control.control_validator]: planning trajectory is too far from ego!! [component_container-34] [WARN] [1692265728.872300587] [control.control_validator]: planning trajectory is too far from ego!! [system_error_monitor-16] [ERROR] [1692265729.086014244] [system_error_monitor /autoware/control/autonomous_driving/performance_monitoring/lane_departure]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265729.086054943] [system_error_monitor /autoware/control/autonomous_driving/performance_monitoring/lane_departure/lane_departure_checker_node: lane_departure]: [Single Point Fault]: vehicle is out of lane [component_container-34] [WARN] [1692265729.896397760] [control.control_validator]: planning trajectory is too far from ego!! [component_container-34] [WARN] [1692265730.913443604] [control.control_validator]: planning trajectory is too far from ego!! [component_container-34] [WARN] [1692265731.931642466] [control.control_validator]: planning trajectory is too far from ego!! [component_container-34] [INFO] [1692265732.861518227] [control.trajectory_follower.controller_node_exe]: target speed > 0, but departure condition is not met. Keep STOPPED. [component_container-34] [INFO] [1692265732.861564765] [control.trajectory_follower.controller_node_exe]: target speed > 0, but keep stop condition is met. Keep STOPPED. [component_container-34] [WARN] [1692265732.951712385] [control.control_validator]: planning trajectory is too far from ego!! [component_container_mt-35] [INFO] [1692265733.740878606] [default_ad_api.node.motion]: client call: /control/vehicle_cmd_gate/set_pause [component_container-34] [INFO] [1692265733.741117406] [control.vehicle_cmd_gate]: server call: /control/vehicle_cmd_gate/set_pause [component_container-34] [INFO] [1692265733.741181522] [control.vehicle_cmd_gate]: server exit: /control/vehicle_cmd_gate/set_pause [component_container_mt-35] [INFO] [1692265733.741282998] [default_ad_api.node.motion]: client exit: /control/vehicle_cmd_gate/set_pause [system_error_monitor-16] [ERROR] [1692265734.086119800] [system_error_monitor /autoware/control/autonomous_driving/performance_monitoring/lane_departure]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265734.086159512] [system_error_monitor /autoware/control/autonomous_driving/performance_monitoring/lane_departure/lane_departure_checker_node: lane_departure]: [Single Point Fault]: vehicle is out of lane [component_container_mt-35] [INFO] [1692265735.115445722] [default_ad_api.node.motion]: client call: /control/vehicle_cmd_gate/set_pause [component_container-34] [INFO] [1692265735.115728187] [control.vehicle_cmd_gate]: server call: /control/vehicle_cmd_gate/set_pause [component_container-34] [INFO] [1692265735.115844349] [control.vehicle_cmd_gate]: server exit: /control/vehicle_cmd_gate/set_pause [component_container_mt-35] [INFO] [1692265735.116648856] [default_ad_api.node.motion]: client exit: /control/vehicle_cmd_gate/set_pause [component_container_mt-35] [INFO] [1692265735.140787645] [default_ad_api.node.motion]: client call: /control/vehicle_cmd_gate/set_pause [component_container-34] [INFO] [1692265735.142031794] [control.vehicle_cmd_gate]: server call: /control/vehicle_cmd_gate/set_pause [component_container-34] [INFO] [1692265735.142091780] [control.vehicle_cmd_gate]: server exit: /control/vehicle_cmd_gate/set_pause [component_container_mt-35] [INFO] [1692265735.142200029] [default_ad_api.node.motion]: client exit: /control/vehicle_cmd_gate/set_pause [system_error_monitor-16] [ERROR] [1692265739.087012222] [system_error_monitor /autoware/control/autonomous_driving/performance_monitoring/lane_departure]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265739.087052601] [system_error_monitor /autoware/control/autonomous_driving/performance_monitoring/lane_departure/lane_departure_checker_node: lane_departure]: [Single Point Fault]: vehicle is out of lane [system_error_monitor-16] [ERROR] [1692265744.186469250] [system_error_monitor /autoware/control/autonomous_driving/performance_monitoring/lane_departure]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265744.186509045] [system_error_monitor /autoware/control/autonomous_driving/performance_monitoring/lane_departure/lane_departure_checker_node: lane_departure]: [Single Point Fault]: vehicle is out of lane [component_container-34] [INFO] [1692265744.982335481] [control.trajectory_follower.controller_node_exe]: target speed > 0, but departure condition is not met. Keep STOPPED. [component_container-34] [INFO] [1692265744.982433967] [control.trajectory_follower.controller_node_exe]: target speed > 0, but keep stop condition is met. Keep STOPPED. [component_container_mt-35] [INFO] [1692265745.828465250] [default_ad_api.node.routing]: client call: /system/operation_mode/change_operation_mode [component_container-34] [INFO] [1692265745.828644802] [control.operation_mode_transition_manager]: server call: /system/operation_mode/change_operation_mode [component_container-34] [INFO] [1692265745.828723576] [control.operation_mode_transition_manager]: server exit: /system/operation_mode/change_operation_mode [component_container_mt-35] [INFO] [1692265745.828923690] [default_ad_api.node.routing]: client exit: /system/operation_mode/change_operation_mode [component_container_mt-35] [INFO] [1692265745.840763409] [default_ad_api.node.motion]: client call: /control/vehicle_cmd_gate/set_pause [component_container-34] [INFO] [1692265745.841019992] [control.vehicle_cmd_gate]: server call: /control/vehicle_cmd_gate/set_pause [component_container-34] [INFO] [1692265745.841078409] [control.vehicle_cmd_gate]: server exit: /control/vehicle_cmd_gate/set_pause [component_container_mt-35] [INFO] [1692265745.841204787] [default_ad_api.node.motion]: client exit: /control/vehicle_cmd_gate/set_pause [component_container-31] [INFO] [1692265745.856798221] [planning.scenario_planning.parking.freespace_planner]: Freespace planning completed [system_error_monitor-16] [ERROR] [1692265746.988995682] [system_error_monitor /autoware/planning/node_alive_monitoring]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265746.989093992] [system_error_monitor /autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_mission_planning_route: planning_topic_status]: [Single Point Fault]: OK [system_error_monitor-16] [ERROR] [1692265746.989125050] [system_error_monitor /autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_scenario_planning_trajectory: planning_topic_status]: [Single Point Fault]: Error [emergency_handler-17] [INFO] [1692265747.916116097] [system.emergency_handler]: MRM State changed: MRM_SUCCEEDED -> NORMAL [emergency_handler-17] [WARN] [1692265747.916408327] [system.emergency_handler]: Emergency stop is canceled [system_error_monitor-16] [ERROR] [1692265749.288369830] [system_error_monitor /autoware/control/autonomous_driving/performance_monitoring/lane_departure]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265749.288474993] [system_error_monitor /autoware/control/autonomous_driving/performance_monitoring/lane_departure/lane_departure_checker_node: lane_departure]: [Single Point Fault]: vehicle is out of lane [system_error_monitor-16] [ERROR] [1692265752.089329875] [system_error_monitor /autoware/planning/node_alive_monitoring]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265752.089407450] [system_error_monitor /autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_mission_planning_route: planning_topic_status]: [Single Point Fault]: OK [system_error_monitor-16] [ERROR] [1692265752.089432531] [system_error_monitor /autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_scenario_planning_trajectory: planning_topic_status]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265754.387506199] [system_error_monitor /autoware/control/autonomous_driving/performance_monitoring/lane_departure]: [Single Point Fault]: Error [system_error_monitor-16] [ERROR] [1692265754.387589117] [system_error_monitor /autoware/control/autonomous_driving/performance_monitoring/lane_departure/lane_departure_checker_node: lane_departure]: [Single Point Fault]: vehicle is out of lane [WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [component_container-44] [INFO] [1692265755.886302214] [rclcpp]: signal_handler(signum=2) [INFO] [service_log_checker-2]: process has finished cleanly [pid 77614] [INFO] [external_velocity_limit_selector-26]: process has finished cleanly [pid 77842] [INFO] [traffic_light_map_visualizer_node-50]: process has finished cleanly [pid 78202] [INFO] [system_error_monitor-16]: process has finished cleanly [pid 77698] [INFO] [routing_adaptor-38]: process has finished cleanly [pid 78034] [INFO] [shape_estimation-42]: process has finished cleanly [pid 78051] [INFO] [multi_object_tracker-45]: process has finished cleanly [pid 78094] [INFO] [scenario_selector-25]: process has finished cleanly [pid 77823] [INFO] [topic_state_monitor_node-5]: process has finished cleanly [pid 77620] [INFO] [planning_evaluator-33]: process has finished cleanly [pid 77930] [INFO] [planning_validator_node-32]: process has finished cleanly [pid 77920] [INFO] [traffic_light_occlusion_predictor_node-47]: process has finished cleanly [pid 78125] [INFO] [static_transform_publisher-53]: process has finished cleanly [pid 78267] [INFO] [aggregator_node-15]: process has finished cleanly [pid 77652] [INFO] [web_server.py-36]: process has finished cleanly [pid 78021] [INFO] [component_container-19]: process has finished cleanly [pid 77784] [INFO] [mission_planner-23]: process has finished cleanly [pid 77809] [INFO] [topic_state_monitor_node-12]: process has finished cleanly [pid 77634] [INFO] [topic_state_monitor_node-8]: process has finished cleanly [pid 77626] [INFO] [topic_state_monitor_node-9]: process has finished cleanly [pid 77628] [INFO] [topic_state_monitor_node-13]: process has finished cleanly [pid 77636] [INFO] [map_hash_generator-21]: process has finished cleanly [pid 77796] [INFO] [pose_initializer_node-51]: process has finished cleanly [pid 78263] [INFO] [map_projection_loader-22]: process has finished cleanly [pid 77806] [INFO] [detected_object_feature_remover-43]: process has finished cleanly [pid 78054] [INFO] [rtc_auto_mode_manager_node-29]: process has finished cleanly [pid 77879] [INFO] [topic_state_monitor_node-6]: process has finished cleanly [pid 77622] [INFO] [robot_state_publisher-1]: process has finished cleanly [pid 77612] [INFO] [motion_velocity_smoother-27]: process has finished cleanly [pid 77873] [INFO] [emergency_handler-17]: process has finished cleanly [pid 77716] [INFO] [topic_state_monitor_node-7]: process has finished cleanly [pid 77624] [INFO] [component_container-31]: process has finished cleanly [pid 77918] [INFO] [topic_state_monitor_node-4]: process has finished cleanly [pid 77618] [INFO] [topic_state_monitor_node-11]: process has finished cleanly [pid 77632] [INFO] [map_based_prediction-46]: process has finished cleanly [pid 78096] [INFO] [goal_pose_visualizer-24]: process has finished cleanly [pid 77811] [INFO] [component_container-18]: process has finished cleanly [pid 77781] [INFO] [initial_pose_adaptor-37]: process has finished cleanly [pid 78032] [INFO] [component_container-3]: process has finished cleanly [pid 77616] [INFO] [traffic_light_multi_camera_fusion_node-48]: process has finished cleanly [pid 78131] [INFO] [topic_state_monitor_node-10]: process has finished cleanly [pid 77630] [INFO] [topic_state_monitor_node-14]: process has finished cleanly [pid 77639] [INFO] [component_container-49]: process has finished cleanly [pid 78164] [traffic_light_map_visualizer_node-50] [INFO] [1692265755.886292627] [rclcpp]: signal_handler(signum=2) [simple_planning_simulator_exe-52] [INFO] [1692265755.886306367] [rclcpp]: signal_handler(signum=2) [pose_initializer_node-51] [INFO] [1692265755.886300024] [rclcpp]: signal_handler(signum=2) [static_transform_publisher-53] [INFO] [1692265755.886305704] [rclcpp]: signal_handler(signum=2) [component_container-49] [INFO] [1692265755.886315613] [rclcpp]: signal_handler(signum=2) [shape_estimation-42] [INFO] [1692265755.886323809] [rclcpp]: signal_handler(signum=2) [routing_adaptor-38] [INFO] [1692265755.886331144] [rclcpp]: signal_handler(signum=2) [traffic_light_occlusion_predictor_node-47] [INFO] [1692265755.886316571] [rclcpp]: signal_handler(signum=2) [map_based_prediction-46] [INFO] [1692265755.886328228] [rclcpp]: signal_handler(signum=2) [initial_pose_adaptor-37] [INFO] [1692265755.886334072] [rclcpp]: signal_handler(signum=2) [traffic_light_multi_camera_fusion_node-48] [INFO] [1692265755.886330223] [rclcpp]: signal_handler(signum=2) [rviz2-40] [INFO] [1692265755.886337364] [rclcpp]: signal_handler(signum=2) [detected_object_feature_remover-43] [INFO] [1692265755.886324266] [rclcpp]: signal_handler(signum=2) [multi_object_tracker-45] [INFO] [1692265755.886320494] [rclcpp]: signal_handler(signum=2) [rtc_auto_mode_manager_node-29] [INFO] [1692265755.886403054] [rclcpp]: signal_handler(signum=2) [external_velocity_limit_selector-26] [INFO] [1692265755.886426105] [rclcpp]: signal_handler(signum=2) [system_error_monitor-16] [INFO] [1692265755.886458281] [rclcpp]: signal_handler(signum=2) [planning_validator_node-32] [INFO] [1692265755.886457672] [rclcpp]: signal_handler(signum=2) [topic_state_monitor_node-10] [INFO] [1692265755.886498286] [rclcpp]: signal_handler(signum=2) [robot_state_publisher-1] [INFO] [1692265755.886562036] [rclcpp]: signal_handler(signum=2) [INFO] [component_container-20]: process has finished cleanly [pid 77794] [topic_state_monitor_node-8] [INFO] [1692265755.886563423] [rclcpp]: signal_handler(signum=2) [topic_state_monitor_node-12] [INFO] [1692265755.886587868] [rclcpp]: signal_handler(signum=2) [topic_state_monitor_node-5] [INFO] [1692265755.886632175] [rclcpp]: signal_handler(signum=2) [component_container_mt-35] [INFO] [1692265755.886692420] [rclcpp]: signal_handler(signum=2) [map_projection_loader-22] [INFO] [1692265755.886827037] [rclcpp]: signal_handler(signum=2) [emergency_handler-17] [INFO] [1692265755.886842788] [rclcpp]: signal_handler(signum=2) [component_container-31] [INFO] [1692265755.886916066] [rclcpp]: signal_handler(signum=2) [goal_pose_visualizer-24] [INFO] [1692265755.887102941] [rclcpp]: signal_handler(signum=2) [mission_planner-23] [INFO] [1692265755.887294655] [rclcpp]: signal_handler(signum=2) [component_container-20] [INFO] [1692265755.887400748] [rclcpp]: signal_handler(signum=2) [component_container-18] [INFO] [1692265755.887502577] [rclcpp]: signal_handler(signum=2) [topic_state_monitor_node-13] [INFO] [1692265755.887601449] [rclcpp]: signal_handler(signum=2) [topic_state_monitor_node-4] [INFO] [1692265755.887854073] [rclcpp]: signal_handler(signum=2) [topic_state_monitor_node-7] [INFO] [1692265755.887992253] [rclcpp]: signal_handler(signum=2) [service_log_checker-2] [INFO] [1692265755.888025597] [rclcpp]: signal_handler(signum=2) [component_container-34] [INFO] [1692265755.888603357] [rclcpp]: signal_handler(signum=2) [topic_state_monitor_node-11] [INFO] [1692265755.888600903] [rclcpp]: signal_handler(signum=2) [topic_state_monitor_node-6] [INFO] [1692265755.889608465] [rclcpp]: signal_handler(signum=2) [planning_evaluator-33] [INFO] [1692265755.892863620] [rclcpp]: signal_handler(signum=2) [component_container_mt-28] [INFO] [1692265755.893551812] [rclcpp]: signal_handler(signum=2) [motion_velocity_smoother-27] [INFO] [1692265755.893667471] [rclcpp]: signal_handler(signum=2) [scenario_selector-25] [INFO] [1692265755.893681959] [rclcpp]: signal_handler(signum=2) [component_container_mt-39] [INFO] [1692265755.886325700] [rclcpp]: signal_handler(signum=2) [topic_state_monitor_node-9] [INFO] [1692265755.894273022] [rclcpp]: signal_handler(signum=2) [topic_state_monitor_node-14] [INFO] [1692265755.895299807] [rclcpp]: signal_handler(signum=2) [component_container-3] [INFO] [1692265755.901166077] [rclcpp]: signal_handler(signum=2) [dummy_perception_publisher_node-41] [INFO] [1692265755.905850768] [rclcpp]: signal_handler(signum=2) [component_container-19] [INFO] [1692265755.920150338] [rclcpp]: signal_handler(signum=2) [component_container_mt-30] [INFO] [1692265755.976769816] [rclcpp]: signal_handler(signum=2) [INFO] [component_container-44]: process has finished cleanly [pid 78074] [INFO] [simple_planning_simulator_exe-52]: process has finished cleanly [pid 78265] [INFO] [component_container_mt-39]: process has finished cleanly [pid 78037] [INFO] [dummy_perception_publisher_node-41]: process has finished cleanly [pid 78042] [INFO] [component_container_mt-30]: process has finished cleanly [pid 77907] [INFO] [component_container-34]: process has finished cleanly [pid 78007] [INFO] [component_container_mt-28]: process has finished cleanly [pid 77876] [INFO] [component_container_mt-35]: process has finished cleanly [pid 78011] [ERROR] [rviz2-40]: process[rviz2-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' [INFO] [rviz2-40]: sending signal 'SIGTERM' to process[rviz2-40] [ERROR] [rviz2-40]: process has died [pid 78039, exit code -15, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /home/keisukeota/workspace/autoware/install/autoware_launch/share/autoware_launch/rviz/autoware.rviz -s /home/keisukeota/workspace/autoware/install/autoware_launch/share/autoware_launch/rviz/image/autoware.png --ros-args -r __node:=rviz2 -p use_sim_time:=False -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'].