Autoware planning simulator not working

[siddharth-w]

Checklist

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

Description

[component_container_mt-27] [INFO] [1734273416.566069339] [route_handler]: getMainLanelets: lanelet_sequence = [ids: 7 ]
[component_container_mt-27] [INFO] [1734273416.585345760] [planning.mission_planning.mission_planner]: initial pose - x: 18.770046, y: 2.774801, z: -2.949700
[component_container_mt-27] [INFO] [1734273416.585415237] [planning.mission_planning.mission_planner]: initial orientation - qx: -0.000688, qy: 0.011501, qz: 0.059675, qw: 0.998151
[component_container_mt-27] [INFO] [1734273416.585438313] [planning.mission_planning.mission_planner]: goal pose - x: 60.170044, y: 5.674801, z: 0.000000
[component_container_mt-27] [INFO] [1734273416.585455251] [planning.mission_planning.mission_planner]: goal orientation - qx: 0.000000, qy: 0.000000, qz: 0.053342, qw: 0.998576
[component_container_mt-38] [INFO] [1734273416.669294439] [control.trajectory_follower.lane_departure_checker_node]: waiting for reference_trajectory msg...
[topic_state_monitor_node-11] [INFO] [1734273417.093917596] [system.topic_state_monitor_scenario_planning_trajectory]: /planning/scenario_planning/trajectory has not received. Set ERROR in diagnostics.
[topic_state_monitor_node-12] [INFO] [1734273417.156822224] [system.topic_state_monitor_trajectory_follower_control_cmd]: /control/trajectory_follower/control_cmd has not received. Set ERROR in diagnostics.
[component_container_mt-38] [INFO] [1734273417.767180644] [control.trajectory_follower.lane_departure_checker_node]: waiting for predicted_trajectory msg...
[component_container_mt-38] component_container_mt: /usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:116: Eigen::CwiseBinaryOp<BinaryOp, Lhs, Rhs>::CwiseBinaryOp(const Lhs&, const Rhs&, const BinaryOp&) [with BinaryOp = Eigen::internal::scalar_sum_op<double, double>; LhsType = const Eigen::Matrix<double, -1, 1>; RhsType = const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, -1, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op, const Eigen::Matrix<double, -1, 1> > >; Eigen::CwiseBinaryOp<BinaryOp, Lhs, Rhs>::Lhs = Eigen::Matrix<double, -1, 1>; Eigen::CwiseBinaryOp<BinaryOp, Lhs, Rhs>::Rhs = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, -1, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op, const Eigen::Matrix<double, -1, 1> > >]: Assertion `aLhs.rows() == aRhs.rows() && aLhs.cols() == aRhs.cols()' failed.
[component_container_mt-38] *** Aborted at 1734273417 (unix time) try "date -d @1734273417" if you are using GNU date ***
[component_container_mt-38] PC: @ 0x0 (unknown)
[component_container_mt-38] *** SIGABRT (@0x3e8000262eb) received by PID 156395 (TID 0x7a7059400640) from PID 156395; stack trace: ***
[component_container_mt-38] @ 0x7a706048c520 (unknown)
[component_container_mt-38] @ 0x7a70604e09fc pthread_kill
[component_container_mt-38] @ 0x7a706048c476 raise
[component_container_mt-38] @ 0x7a70604727f3 abort
[topic_state_monitor_node-11] [WARN] [1734273418.026934594] [system.topic_state_monitor_scenario_planning_trajectory]: /planning/scenario_planning/trajectory topic rate has dropped to the warning level. Set WARN in diagnostics.
[component_container_mt-38] @ 0x7a706047271b (unknown)
[component_container_mt-38] @ 0x7a7060483e96 __assert_fail
[component_container_mt-38] @ 0x7a705306a974 Eigen::CwiseBinaryOp<>::CwiseBinaryOp()
[component_container_mt-38] @ 0x7a705306a40c Eigen::MatrixBase<>::operator+<>()
[component_container_mt-38] @ 0x7a705306ddde _ZZNK8autoware6motion7control22mpc_lateral_controller22KinematicsBicycleModel45calculatePredictedTrajectoryInWorldCoordinateERKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEES8_S8_S8_S8_S8_RKNS2_13MPCTrajectoryEdENKUlRKNS5_IdLin1ELi1ELi0ELin1ELi1EEERKdddE0_clESE_SG_dd
[component_container_mt-38] @ 0x7a705306dfa3 autoware::motion::control::mpc_lateral_controller::KinematicsBicycleModel::calculatePredictedTrajectoryInWorldCoordinate()
[component_container_mt-38] @ 0x7a7052fd7c29 autoware::motion::control::mpc_lateral_controller::MPC::calculatePredictedTrajectory()
[component_container_mt-38] @ 0x7a7052fd16d0 autoware::motion::control::mpc_lateral_controller::MPC::calculateMPC()
[component_container_mt-38] @ 0x7a7052f70c7d autoware::motion::control::mpc_lateral_controller::MpcLateralController::run()
[component_container_mt-38] @ 0x7a7053b795d1 autoware::motion::control::trajectory_follower_node::Controller::callbackTimerControl()
[component_container_mt-38] @ 0x7a7053cf5a72 std::__invoke_impl<>()
[component_container_mt-38] @ 0x7a7053cec4ff std::__invoke<>()
[component_container_mt-38] @ 0x7a7053ce1d8f _ZNSt5_BindIFMN8autoware6motion7control24trajectory_follower_node10ControllerEFvvEPS4_EE6__callIvJEJLm0EEEET_OSt5tupleIJDpT0_EESt12_Index_tupleIJXspT1_EEE
[component_container_mt-38] @ 0x7a7053cc57c7 std::_Bind<>::operator()<>()
[component_container_mt-38] @ 0x7a7053cbf150 rclcpp::GenericTimer<>::execute_callback_delegate<>()
[component_container_mt-38] @ 0x7a7053cb4857 rclcpp::GenericTimer<>::execute_callback()
[component_container_mt-38] @ 0x7a70609dafd1 rclcpp::Executor::execute_any_executable()
[component_container_mt-38] @ 0x7a70609e23ba rclcpp::executors::MultiThreadedExecutor::run()
[component_container_mt-38] @ 0x7a7060771253 (unknown)
[component_container_mt-38] @ 0x7a70604deac3 (unknown)
[component_container_mt-38] @ 0x7a706056fa04 clone
[topic_state_monitor_node-13] [INFO] [1734273419.360233946] [system.topic_state_monitor_control_command_control_cmd]: /control/command/control_cmd has not received. Set ERROR in diagnostics.
[ERROR] [component_container_mt-38]: process has died [pid 156395, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args -r __node:=control_container -r __ns:=/control -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'].

Expected behavior

After setting up goal position, the vehicle should move towards the goal.

Actual behavior

After setting up 2D Goal Position, the Auto button is greyed out and I get this error for dimension mismatch in mpc controller

Steps to reproduce

1. Launch Planning Simulator
2. Setup pose estimate and 2D goal pose through Rviz GUI

Versions

-OS: Ubuntu 22.04
-ROS2: Humble
-Autoware: Main repo/0.39.0

Possible causes

No response

Additional context

No response

[maxime-clem]

Did this issue appear on a fresh install, or after an update of your workspace ?

[siddharth-w]

I encountered this on a fresh install, and tried with different releases/tags but no luck.

[maxime-clem]

Did you setup your environment using the setup-dev-env.sh script ? The issue may be caused by incorrect library versions.

[siddharth-w]

I did. I actually tried building the workspace inside the autoware:universe-devel docker container and I am still getting the same error if I run it inside the container. And now I am out of ideas :)

[Omar-Mabrouk-9]

@siddharth-w can you tell me how did you fix the issue?

[siddharth-w]

@Omar-Mabrouk-9 I couldn't solve it, I think I closed the issue by mistake. I did shift to working with the docker container but its working fine with any other system. So, its most probably due to some library version mismatch in the planning module(which I wa too busy to sit and pin-point) and a clean reinstall of everything should fix it.
Or but its some hardware limitation issue as that particular system I was using was an Industrial PC with 4 cores :p (Idk, I am tech illiterate in hardware)