Planning Simulator TF2 Issues

[Denri006]

Hi everyone. I followed this guide to set up Autoware Universe:
https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/

I used the ansible script to install dependencies after manually installing ros-galactic and Autoware was able to compile (with 1 modification, but that issue will be posted about in another Q&A discussion).

and this guide to run the planning simulator:
https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/planning-simulation/

When running the following commands,

source ~/autoware/install/setup.bash
ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/Downloads/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit

I expected the simulation to work as it was shown in this video:
https://youtu.be/iW-a7cKUxuY?t=340

Instead, I was met with this:

and my terminal was flooded with these TF2 warnings:

[awapi_awiv_adapter-22] [INFO] [1650475409.009679485] [awapi.awapi_awiv_adapter_node]: waiting for node: /planning/scenario_planning/motion_velocity_smoother, param: max_velocity
[awapi_awiv_adapter-22] 
[rviz2-20] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-20]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.2/src/buffer_core.cpp
[rviz2-20] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-20]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.2/src/buffer_core.cpp
[rviz2-20] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-20]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.2/src/buffer_core.cpp
[rviz2-20] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-20]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.2/src/buffer_core.cpp
[rviz2-20] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-20]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.2/src/buffer_core.cpp
[rviz2-20] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-20]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.2/src/buffer_core.cpp
[rviz2-20] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-20]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.2/src/buffer_core.cpp
[rviz2-20] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-20]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.2/src/buffer_core.cpp
[rviz2-20] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-20]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.2/src/buffer_core.cpp
[rviz2-20] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-20]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.2/src/buffer_core.cpp
[rviz2-20] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-20]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.2/src/buffer_core.cpp
[rviz2-20] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-20]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.2/src/buffer_core.cpp
[system_error_monitor-5] [WARN] [1650475409.221470751] [system.system_error_monitor]: input data is timeout

The launch log is attached below
launch.log

The terminal output is logged here:
stdoutlog.log

My environment:

Ubuntu 20.04.4
Kernel 5.13.0-40-generic #45~20.04.1-Ubuntu
Xeon E5-1650V4
64GB Ram
Nvidia Geforce GTX 1080ti (510.60.02 driver and cuda 11.4)
Python 3.8.10
GCC 8.4.0 (downgraded from default 9.4.0 to allow tensorrt_yolo to compile)

I have confirmed that my map path is correct, so that is not the issue.

I can also reproduce the errors by following the steps in the guides above.

[kenji-miyake]

@Denri006 It seems the map isn't loaded for some reason.

If there is no message like Could not find lanelet map under {path-to-map-dir}/lanelet2_map.osm in the log, I guess it's because of the DDS settings?

Could you tell me the result of this command? By default, it's empty.

echo $RMW_IMPLEMENTATION

[Denri006]

This is the result of that command:

rmw_cyclonedds_cpp

[TakaHoribe]

Not sure, but I had a similar issue before. In that time, the map loading takes a very long time due to a low ros2 DDS performance.
I could solve it by DDS tuning following this tutorial.
https://docs.ros.org/en/rolling/How-To-Guides/DDS-tuning.html

I also applied the localhost_only option for the ros communication.

What I did is below, just in case.

$ echo $RMW_IMPLEMENTATION  // this command returns "rmw_cyclonedds_cpp"

and add this in /etc/sysctl.conf,

net.ipv4.ipfrag_time=3
net.ipv4.ipfrag_high_thresh=134217728
net.core.rmem_max=2147483647
net.core.rmem_default=8388608

then, enable local_host_only

$ export ROS_LOCALHOST_ONLY=1
$ sudo ifconfig lo multicast

[Denri006]

This fixed it for me. Thanks SO much for your help.

[kenji-miyake]

An alternative command that uses ip instead of ifconfig.

sudo ip link set multicast on lo