[INFO] [launch]: All log files can be found below /home/sig/.ros/log/2023-02-01-07-27-01-192876-vr-desktop-33348 [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] [robot_state_publisher-1]: process started with pid [33447] [INFO] [service_log_checker-2]: process started with pid [33449] [INFO] [component_container-3]: process started with pid [33451] [INFO] [topic_state_monitor_node-4]: process started with pid [33453] [INFO] [topic_state_monitor_node-5]: process started with pid [33455] [INFO] [topic_state_monitor_node-6]: process started with pid [33457] [INFO] [topic_state_monitor_node-7]: process started with pid [33459] [INFO] [topic_state_monitor_node-8]: process started with pid [33461] [INFO] [topic_state_monitor_node-9]: process started with pid [33496] [INFO] [topic_state_monitor_node-10]: process started with pid [33541] [INFO] [topic_state_monitor_node-11]: process started with pid [33543] [INFO] [topic_state_monitor_node-12]: process started with pid [33546] [INFO] [topic_state_monitor_node-13]: process started with pid [33580] [INFO] [topic_state_monitor_node-14]: process started with pid [33582] [INFO] [aggregator_node-15]: process started with pid [33584] [INFO] [system_error_monitor-16]: process started with pid [33595] [INFO] [emergency_handler-17]: process started with pid [33599] [INFO] [component_container-18]: process started with pid [33622] [INFO] [component_container-19]: process started with pid [33648] [INFO] [component_container-20]: process started with pid [33654] [INFO] [map_hash_generator-21]: process started with pid [33656] [INFO] [mission_planner-22]: process started with pid [33658] [INFO] [goal_pose_visualizer-23]: process started with pid [33688] [INFO] [scenario_selector-24]: process started with pid [33697] [INFO] [external_velocity_limit_selector-25]: process started with pid [33709] [INFO] [motion_velocity_smoother-26]: process started with pid [33717] [INFO] [component_container_mt-27]: process started with pid [33719] [INFO] [rtc_auto_mode_manager_node-28]: process started with pid [33721] [INFO] [component_container_mt-29]: process started with pid [33724] [INFO] [component_container-30]: process started with pid [33733] [INFO] [planning_validator_node-31]: process started with pid [33750] [INFO] [component_container-32]: process started with pid [33785] [INFO] [component_container_mt-33]: process started with pid [33787] [INFO] [web_server.py-34]: process started with pid [33814] [INFO] [initial_pose_adaptor-35]: process started with pid [33816] [INFO] [routing_adaptor-36]: process started with pid [33827] [INFO] [component_container_mt-37]: process started with pid [33875] [INFO] [rviz2-38]: process started with pid [33918] [INFO] [dummy_perception_publisher_node-39]: process started with pid [33921] [INFO] [shape_estimation-40]: process started with pid [33923] [INFO] [detected_object_feature_remover-41]: process started with pid [33927] [INFO] [component_container-42]: process started with pid [33930] [INFO] [multi_object_tracker-43]: process started with pid [33943] [INFO] [map_based_prediction-44]: process started with pid [33962] [INFO] [map_height_fitter-45]: process started with pid [33968] [INFO] [pose_initializer_node-46]: process started with pid [33970] [INFO] [simple_planning_simulator_exe-47]: process started with pid [33975] [INFO] [static_transform_publisher-48]: process started with pid [33984] [robot_state_publisher-1] [INFO 1675236433.368889937] [robot_state_publisher]: got segment base_link (setupURDF() at ./src/robot_state_publisher.cpp:195) [robot_state_publisher-1] [INFO 1675236433.368985189] [robot_state_publisher]: got segment camera0/camera_link (setupURDF() at ./src/robot_state_publisher.cpp:195) [robot_state_publisher-1] [INFO 1675236433.368999636] [robot_state_publisher]: got segment camera0/camera_optical_link (setupURDF() at ./src/robot_state_publisher.cpp:195) [robot_state_publisher-1] [INFO 1675236433.369012942] [robot_state_publisher]: got segment camera1/camera_link (setupURDF() at ./src/robot_state_publisher.cpp:195) [robot_state_publisher-1] [INFO 1675236433.369021659] [robot_state_publisher]: got segment camera1/camera_optical_link (setupURDF() at ./src/robot_state_publisher.cpp:195) [robot_state_publisher-1] [INFO 1675236433.369029844] [robot_state_publisher]: got segment camera2/camera_link (setupURDF() at ./src/robot_state_publisher.cpp:195) [robot_state_publisher-1] [INFO 1675236433.369037750] [robot_state_publisher]: got segment camera2/camera_optical_link (setupURDF() at ./src/robot_state_publisher.cpp:195) [robot_state_publisher-1] [INFO 1675236433.369045818] [robot_state_publisher]: got segment camera3/camera_link (setupURDF() at ./src/robot_state_publisher.cpp:195) [robot_state_publisher-1] [INFO 1675236433.369093787] [robot_state_publisher]: got segment camera3/camera_optical_link (setupURDF() at ./src/robot_state_publisher.cpp:195) [robot_state_publisher-1] [INFO 1675236433.369159345] [robot_state_publisher]: got segment camera4/camera_link (setupURDF() at ./src/robot_state_publisher.cpp:195) [robot_state_publisher-1] [INFO 1675236433.369188223] [robot_state_publisher]: got segment camera4/camera_optical_link (setupURDF() at ./src/robot_state_publisher.cpp:195) [robot_state_publisher-1] [INFO 1675236433.369215002] [robot_state_publisher]: got segment camera5/camera_link (setupURDF() at ./src/robot_state_publisher.cpp:195) [robot_state_publisher-1] [INFO 1675236433.369242081] [robot_state_publisher]: got segment camera5/camera_optical_link (setupURDF() at ./src/robot_state_publisher.cpp:195) [robot_state_publisher-1] [INFO 1675236433.369268571] [robot_state_publisher]: got segment gnss_link (setupURDF() at ./src/robot_state_publisher.cpp:195) [robot_state_publisher-1] [INFO 1675236433.369293344] [robot_state_publisher]: got segment sensor_kit_base_link (setupURDF() at ./src/robot_state_publisher.cpp:195) [robot_state_publisher-1] [INFO 1675236433.369317812] [robot_state_publisher]: got segment tamagawa/imu_link (setupURDF() at ./src/robot_state_publisher.cpp:195) [robot_state_publisher-1] [INFO 1675236433.369342368] [robot_state_publisher]: got segment traffic_light_left_camera/camera_link (setupURDF() at ./src/robot_state_publisher.cpp:195) [robot_state_publisher-1] [INFO 1675236433.369367415] [robot_state_publisher]: got segment traffic_light_left_camera/camera_optical_link (setupURDF() at ./src/robot_state_publisher.cpp:195) [robot_state_publisher-1] [INFO 1675236433.369391885] [robot_state_publisher]: got segment traffic_light_right_camera/camera_link (setupURDF() at ./src/robot_state_publisher.cpp:195) [robot_state_publisher-1] [INFO 1675236433.369416404] [robot_state_publisher]: got segment traffic_light_right_camera/camera_optical_link (setupURDF() at ./src/robot_state_publisher.cpp:195) [robot_state_publisher-1] [INFO 1675236433.369440891] [robot_state_publisher]: got segment velodyne_left (setupURDF() at ./src/robot_state_publisher.cpp:195) [robot_state_publisher-1] [INFO 1675236433.369468849] [robot_state_publisher]: got segment velodyne_left_base_link (setupURDF() at ./src/robot_state_publisher.cpp:195) [robot_state_publisher-1] [INFO 1675236433.369495662] [robot_state_publisher]: got segment velodyne_rear (setupURDF() at ./src/robot_state_publisher.cpp:195) [robot_state_publisher-1] [INFO 1675236433.369522239] [robot_state_publisher]: got segment velodyne_rear_base_link (setupURDF() at ./src/robot_state_publisher.cpp:195) [robot_state_publisher-1] [INFO 1675236433.369548735] [robot_state_publisher]: got segment velodyne_right (setupURDF() at ./src/robot_state_publisher.cpp:195) [robot_state_publisher-1] [INFO 1675236433.369574769] [robot_state_publisher]: got segment velodyne_right_base_link (setupURDF() at ./src/robot_state_publisher.cpp:195) [robot_state_publisher-1] [INFO 1675236433.369600955] [robot_state_publisher]: got segment velodyne_top (setupURDF() at ./src/robot_state_publisher.cpp:195) [robot_state_publisher-1] [INFO 1675236433.369627415] [robot_state_publisher]: got segment velodyne_top_base_link (setupURDF() at ./src/robot_state_publisher.cpp:195) [component_container-3] [INFO 1675236433.410105804] [system.component_state_monitor.container]: Load Library: /home/sig/autoware/install/component_state_monitor/lib/libcomponent_state_monitor.so (create_component_factory() at ./src/component_manager.cpp:114) [component_container-3] [INFO 1675236433.411196833] [system.component_state_monitor.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container-3] [INFO 1675236433.411222965] [system.component_state_monitor.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [system_error_monitor-16] [WARN 1675236433.638148842] [system.system_error_monitor]: waiting for diag_array msg... (isDataReady() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:388) [emergency_handler-17] [INFO 1675236433.761638465] [system.emergency_handler]: waiting for hazard_status_stamped msg... (isDataReady() at /home/sig/autoware/src/universe/autoware.universe/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp:288) [component_container-18] [INFO 1675236433.672346806] [system.mrm_comfortable_stop_operator.mrm_comfortable_stop_operator_container]: Load Library: /home/sig/autoware/install/mrm_comfortable_stop_operator/lib/libmrm_comfortable_stop_operator_component.so (create_component_factory() at ./src/component_manager.cpp:114) [component_container-18] [INFO 1675236433.673029184] [system.mrm_comfortable_stop_operator.mrm_comfortable_stop_operator_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container-18] [INFO 1675236433.673055738] [system.mrm_comfortable_stop_operator.mrm_comfortable_stop_operator_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [component_container-19] [INFO 1675236433.710431471] [system.mrm_emergency_stop_operator.mrm_emergency_stop_operator_container]: Load Library: /home/sig/autoware/install/mrm_emergency_stop_operator/lib/libmrm_emergency_stop_operator_component.so (create_component_factory() at ./src/component_manager.cpp:114) [component_container-19] [INFO 1675236433.711609030] [system.mrm_emergency_stop_operator.mrm_emergency_stop_operator_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container-19] [INFO 1675236433.711644042] [system.mrm_emergency_stop_operator.mrm_emergency_stop_operator_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [component_container-20] [INFO 1675236433.728003437] [map.map_container]: Load Library: /home/sig/autoware/install/map_loader/lib/liblanelet2_map_loader_node.so (create_component_factory() at ./src/component_manager.cpp:114) [component_container-20] [INFO 1675236433.736429355] [map.map_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container-20] [INFO 1675236433.736474034] [map.map_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [rviz2-38] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-sig' [static_transform_publisher-48] [WARN 1675236433.893589008] []: Old-style arguments are deprecated; see --help for new-style arguments (parse_args() at ./src/static_transform_broadcaster_program.cpp:258) [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 '/map/lanelet2_map_loader' in container '/map/map_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' [component_container-20] [INFO 1675236433.999543111] [map.map_container]: Load Library: /home/sig/autoware/install/map_loader/lib/liblanelet2_map_visualization_node.so (create_component_factory() at ./src/component_manager.cpp:114) [component_container-20] [INFO 1675236434.003135341] [map.map_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container-20] [INFO 1675236434.046056436] [map.map_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [component_container_mt-29] [INFO 1675236434.185421721] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Load Library: /home/sig/autoware/install/obstacle_avoidance_planner/lib/libobstacle_avoidance_planner.so (create_component_factory() at ./src/component_manager.cpp:114) [component_container_mt-29] [INFO 1675236434.197520963] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container-20] [INFO 1675236434.202544225] [map.lanelet2_map_visualization]: Map is loaded [component_container-20] (onMapBin() at /home/sig/autoware/src/universe/autoware.universe/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp:90) [component_container_mt-29] [INFO 1675236434.222306440] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [shape_estimation-40] [INFO 1675236434.256338152] [simulation.shape_estimation]: using boost shape estimation : 0 (ShapeEstimationNode() at /home/sig/autoware/src/universe/autoware.universe/perception/shape_estimation/src/node.cpp:50) [component_container-20] [ERROR 1675236434.258836062] [lanelet2_extension.visualization]: lineStringToPolygon: linestring327 must have more than different 3 points! (size is 2) [component_container-20] Failed to convert to polygon. (lineStringToPolygon() at /home/sig/autoware/src/core/autoware_common/tmp/lanelet2_extension/lib/utilities.cpp:547) [component_container-20] [ERROR 1675236434.258851807] [lanelet2_extension.visualization]: pedestrian marking 327 failed conversion. (pedestrianMarkingsAsMarkerArray() at /home/sig/autoware/src/core/autoware_common/tmp/lanelet2_extension/lib/visualization.cpp:809) [component_container-20] [ERROR 1675236434.258870309] [lanelet2_extension.visualization]: lineStringToPolygon: linestring325 must have more than different 3 points! (size is 2) [component_container-20] Failed to convert to polygon. (lineStringToPolygon() at /home/sig/autoware/src/core/autoware_common/tmp/lanelet2_extension/lib/utilities.cpp:547) [component_container-20] [ERROR 1675236434.258874504] [lanelet2_extension.visualization]: pedestrian marking 325 failed conversion. (pedestrianMarkingsAsMarkerArray() at /home/sig/autoware/src/core/autoware_common/tmp/lanelet2_extension/lib/visualization.cpp:809) [component_container-20] [ERROR 1675236434.258889055] [lanelet2_extension.visualization]: lineStringToPolygon: linestring328 must have more than different 3 points! (size is 2) [component_container-20] Failed to convert to polygon. (lineStringToPolygon() at /home/sig/autoware/src/core/autoware_common/tmp/lanelet2_extension/lib/utilities.cpp:547) [component_container-20] [ERROR 1675236434.258892689] [lanelet2_extension.visualization]: pedestrian marking 328 failed conversion. (pedestrianMarkingsAsMarkerArray() at /home/sig/autoware/src/core/autoware_common/tmp/lanelet2_extension/lib/visualization.cpp:809) [component_container-20] [ERROR 1675236434.258896026] [lanelet2_extension.visualization]: lineStringToPolygon: linestring332 must have more than different 3 points! (size is 2) [component_container-20] Failed to convert to polygon. (lineStringToPolygon() at /home/sig/autoware/src/core/autoware_common/tmp/lanelet2_extension/lib/utilities.cpp:547) [component_container-20] [ERROR 1675236434.258899180] [lanelet2_extension.visualization]: pedestrian marking 332 failed conversion. (pedestrianMarkingsAsMarkerArray() at /home/sig/autoware/src/core/autoware_common/tmp/lanelet2_extension/lib/visualization.cpp:809) [component_container-20] [ERROR 1675236434.258902372] [lanelet2_extension.visualization]: lineStringToPolygon: linestring326 must have more than different 3 points! (size is 2) [component_container-20] Failed to convert to polygon. (lineStringToPolygon() at /home/sig/autoware/src/core/autoware_common/tmp/lanelet2_extension/lib/utilities.cpp:547) [component_container-20] [ERROR 1675236434.258908535] [lanelet2_extension.visualization]: pedestrian marking 326 failed conversion. (pedestrianMarkingsAsMarkerArray() at /home/sig/autoware/src/core/autoware_common/tmp/lanelet2_extension/lib/visualization.cpp:809) [component_container-20] [ERROR 1675236434.258911961] [lanelet2_extension.visualization]: lineStringToPolygon: linestring329 must have more than different 3 points! (size is 2) [component_container-20] Failed to convert to polygon. (lineStringToPolygon() at /home/sig/autoware/src/core/autoware_common/tmp/lanelet2_extension/lib/utilities.cpp:547) [component_container-20] [ERROR 1675236434.258934495] [lanelet2_extension.visualization]: pedestrian marking 329 failed conversion. (pedestrianMarkingsAsMarkerArray() at /home/sig/autoware/src/core/autoware_common/tmp/lanelet2_extension/lib/visualization.cpp:809) [component_container-20] [ERROR 1675236434.258939175] [lanelet2_extension.visualization]: lineStringToPolygon: linestring330 must have more than different 3 points! (size is 2) [component_container-20] Failed to convert to polygon. (lineStringToPolygon() at /home/sig/autoware/src/core/autoware_common/tmp/lanelet2_extension/lib/utilities.cpp:547) [component_container-20] [ERROR 1675236434.258942310] [lanelet2_extension.visualization]: pedestrian marking 330 failed conversion. (pedestrianMarkingsAsMarkerArray() at /home/sig/autoware/src/core/autoware_common/tmp/lanelet2_extension/lib/visualization.cpp:809) [component_container-20] [ERROR 1675236434.258945551] [lanelet2_extension.visualization]: lineStringToPolygon: linestring331 must have more than different 3 points! (size is 2) [component_container-20] Failed to convert to polygon. (lineStringToPolygon() at /home/sig/autoware/src/core/autoware_common/tmp/lanelet2_extension/lib/utilities.cpp:547) [component_container-20] [ERROR 1675236434.258948757] [lanelet2_extension.visualization]: pedestrian marking 331 failed conversion. (pedestrianMarkingsAsMarkerArray() at /home/sig/autoware/src/core/autoware_common/tmp/lanelet2_extension/lib/visualization.cpp:809) [web_server.py-34] WARNING: This is a development server. Do not use it in a production deployment. Use a production WSGI server instead. [web_server.py-34] * Running on http://localhost:8888 [web_server.py-34] Press CTRL+C to quit [system_error_monitor-16] [INFO 1675236434.338121995] [system.system_error_monitor]: waiting for current_gate_mode msg... (isDataReady() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:393) [static_transform_publisher-48] [INFO 1675236434.525809376] [static_map_to_odom_tf_publisher]: Spinning until stopped - publishing transform [static_transform_publisher-48] translation: ('0.000000', '0.000000', '0.000000') [static_transform_publisher-48] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') [static_transform_publisher-48] from 'map' to 'odom' (main() at ./src/static_transform_broadcaster_program.cpp:397) [component_container_mt-29] [WARN 1675236434.538724328] [planning.scenario_planning.lane_driving.motion_planning.obstacle_avoidance_planner]: [ObstacleAvoidancePlanner] Reset planning (resetPlanning() at /home/sig/autoware/src/universe/autoware.universe/planning/obstacle_avoidance_planner/src/node.cpp:882) [component_container_mt-29] [INFO 1675236434.540973401] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Load Library: /home/sig/autoware/install/surround_obstacle_checker/lib/libsurround_obstacle_checker.so (create_component_factory() at ./src/component_manager.cpp:114) [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' [simple_planning_simulator_exe-47] [INFO 1675236434.590754190] [simulation.simple_planning_simulator]: vehicle_model_type = DELAY_STEER_ACC_GEARED (initialize_vehicle_model() at /home/sig/autoware/src/universe/autoware.universe/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp:191) [simple_planning_simulator_exe-47] [INFO 1675236434.594180708] [simulation.simple_planning_simulator]: initialize_source : INITIAL_POSE_TOPIC (SimplePlanningSimulator() at /home/sig/autoware/src/universe/autoware.universe/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp:155) [component_container_mt-29] [INFO 1675236434.633742116] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-29] [INFO 1675236434.633841500] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [rtc_auto_mode_manager_node-28] [INFO 1675236434.642422547] [planning.scenario_planning.lane_driving.behavior_planning.rtc_auto_mode_manager]: Waiting for service... [blind_spot] (RTCAutoModeManagerInterface() at /home/sig/autoware/src/universe/autoware.universe/planning/rtc_auto_mode_manager/src/rtc_auto_mode_manager_interface.cpp:77) [dummy_perception_publisher_node-39] [WARN 1675236434.695018811] [simulation.dummy_perception_publisher]: map->base_link is not available yet (timerCallback() at /home/sig/autoware/src/universe/autoware.universe/simulator/dummy_perception_publisher/src/node.cpp:160) [component_container-42] [INFO 1675236434.719799089] [occupancy_grid_map.occupancy_grid_map_container]: Load Library: /home/sig/autoware/install/pointcloud_to_laserscan/lib/libpointcloud_to_laserscan.so (create_component_factory() at ./src/component_manager.cpp:114) [component_container-42] [INFO 1675236434.723212658] [occupancy_grid_map.occupancy_grid_map_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container-42] [INFO 1675236434.723258782] [occupancy_grid_map.occupancy_grid_map_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [component_container-32] [INFO 1675236434.952936124] [control.control_container]: Load Library: /home/sig/autoware/install/external_cmd_selector/lib/libexternal_cmd_selector_node.so (create_component_factory() at ./src/component_manager.cpp:114) [component_container-32] [INFO 1675236434.957546340] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container-32] [INFO 1675236434.957612242] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [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_mt-27] [INFO 1675236435.120138242] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Load Library: /home/sig/autoware/install/behavior_path_planner/lib/libbehavior_path_planner_node.so (create_component_factory() at ./src/component_manager.cpp:114) [rviz2-38] [INFO 1675236435.147801388] [rviz2]: Stereo is NOT SUPPORTED (operator()() at ./src/main.cpp:62) [rviz2-38] [INFO 1675236435.172137274] [rviz2]: OpenGl version: 4.5 (GLSL 4.5) (operator()() at ./src/main.cpp:62) [component_container-42] [INFO 1675236435.215702060] [occupancy_grid_map.occupancy_grid_map_container]: Load Library: /home/sig/autoware/install/probabilistic_occupancy_grid_map/lib/liblaserscan_based_occupancy_grid_map.so (create_component_factory() at ./src/component_manager.cpp:114) [component_container-42] [INFO 1675236435.266040240] [occupancy_grid_map.occupancy_grid_map_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container-42] [INFO 1675236435.266105699] [occupancy_grid_map.occupancy_grid_map_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [component_container_mt-27] [INFO 1675236435.267849528] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-27] [INFO 1675236435.287300191] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [map_based_prediction-44] [INFO 1675236435.338791817] [perception.object_recognition.prediction.map_based_prediction]: [Map Based Prediction]: Start loading lanelet (mapCallback() at /home/sig/autoware/src/universe/autoware.universe/perception/map_based_prediction/src/map_based_prediction_node.cpp:306) [component_container-42] [INFO 1675236435.419545067] [occupancy_grid_map.pointcloud_to_laserscan_node]: Got a subscriber to laserscan, starting pointcloud subscriber (subscriptionListenerThreadLoop() at /home/sig/autoware/src/universe/external/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp:192) [rviz2-38] [INFO 1675236435.423359193] [rviz2]: Stereo is NOT SUPPORTED (operator()() at ./src/main.cpp:62) [component_container_mt-37] [INFO 1675236435.425141614] [autoware_api.external.rtc_controller.container]: Load Library: /home/sig/autoware/install/autoware_iv_external_api_adaptor/lib/libautoware_iv_external_api_adaptor.so (create_component_factory() at ./src/component_manager.cpp:114) [component_container_mt-37] [INFO 1675236435.443565938] [autoware_api.external.rtc_controller.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-37] [INFO 1675236435.456030438] [autoware_api.external.rtc_controller.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236435.480230521] [default_ad_api.container]: Load Library: /home/sig/autoware/install/default_ad_api/lib/libdefault_ad_api.so (create_component_factory() at ./src/component_manager.cpp:114) [component_container_mt-33] [INFO 1675236435.498398249] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236435.498441268] [default_ad_api.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [component_container_mt-37] [INFO 1675236435.509964110] [autoware_api.external.rtc_controller.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [map_based_prediction-44] [INFO 1675236435.514064397] [perception.object_recognition.prediction.map_based_prediction]: [Map Based Prediction]: Map is loaded (mapCallback() at /home/sig/autoware/src/universe/autoware.universe/perception/map_based_prediction/src/map_based_prediction_node.cpp:310) [component_container_mt-37] [INFO 1675236435.547911143] [autoware_api.external.rtc_controller.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-37] [INFO 1675236435.549095734] [autoware_api.external.rtc_controller.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-37] [INFO 1675236435.549922506] [autoware_api.external.rtc_controller.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-37] [INFO 1675236435.550604540] [autoware_api.external.rtc_controller.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-37] [INFO 1675236435.551140710] [autoware_api.external.rtc_controller.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-37] [INFO 1675236435.551702056] [autoware_api.external.rtc_controller.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-37] [INFO 1675236435.552552700] [autoware_api.external.rtc_controller.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-37] [INFO 1675236435.552566923] [autoware_api.external.rtc_controller.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-37] [INFO 1675236435.552575709] [autoware_api.external.rtc_controller.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-37] [INFO 1675236435.552583068] [autoware_api.external.rtc_controller.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-37] [INFO 1675236435.552590554] [autoware_api.external.rtc_controller.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [web_server.py-34] [INFO 1675236435.569602870] [default_ad_api.web_server]: service not available, waiting again... (/api/interface/version (create_service() at /home/sig/autoware/install/default_ad_api/lib/default_ad_api/web_server.py:39) [scenario_selector-24] [INFO 1675236435.569888961] [planning.scenario_planning.scenario_selector]: Waiting for lanelet map. (isDataReady() at /home/sig/autoware/src/universe/autoware.universe/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp:261) [rtc_auto_mode_manager_node-28] [INFO 1675236435.649060283] [planning.scenario_planning.lane_driving.behavior_planning.rtc_auto_mode_manager]: Waiting for service... [blind_spot] (RTCAutoModeManagerInterface() at /home/sig/autoware/src/universe/autoware.universe/planning/rtc_auto_mode_manager/src/rtc_auto_mode_manager_interface.cpp:77) [component_container-30] [INFO 1675236435.708811133] [planning.scenario_planning.parking.parking_container]: Load Library: /home/sig/autoware/install/costmap_generator/lib/libcostmap_generator_node.so (create_component_factory() at ./src/component_manager.cpp:114) [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' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/external_cmd_selector' in container '/control/control_container' [component_container-32] [INFO 1675236435.849579312] [control.control_container]: Load Library: /home/sig/autoware/install/trajectory_follower_node/lib/libcontroller_node.so (create_component_factory() at ./src/component_manager.cpp:114) [component_container-32] [INFO 1675236435.961511949] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container-32] [INFO 1675236435.961585211] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/autoware_state' in container '/default_ad_api/container' [component_container-30] [INFO 1675236436.049098057] [planning.scenario_planning.parking.parking_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236436.051339811] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236436.051411123] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236436.051422692] [default_ad_api.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [component_container-30] [INFO 1675236436.060007975] [planning.scenario_planning.parking.parking_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [component_container_mt-29] [INFO 1675236436.093399127] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Load Library: /home/sig/autoware/install/obstacle_stop_planner/lib/libobstacle_stop_planner.so (create_component_factory() at ./src/component_manager.cpp:114) [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-29] [WARN 1675236436.156119874] [planning.scenario_planning.lane_driving.motion_planning.surround_obstacle_checker]: waiting for pointcloud info... (onTimer() at /home/sig/autoware/src/universe/autoware.universe/planning/surround_obstacle_checker/src/node.cpp:209) [component_container_mt-29] [INFO 1675236436.158024844] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-29] [INFO 1675236436.158089408] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/fail_safe' in container '/default_ad_api/container' [component_container_mt-33] [INFO 1675236436.222468093] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236436.222520366] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236436.222530690] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236436.222537612] [default_ad_api.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/trajectory_follower/controller_node_exe' in container '/control/control_container' [component_container-32] [INFO 1675236436.247234405] [control.control_container]: Load Library: /home/sig/autoware/install/external_cmd_converter/lib/libexternal_cmd_converter.so (create_component_factory() at ./src/component_manager.cpp:114) [component_container-32] [INFO 1675236436.267571718] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container-32] [INFO 1675236436.267645498] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/rtc_controller/node' in container '/autoware_api/external/rtc_controller/container' [scenario_selector-24] [INFO 1675236436.384063059] [planning.scenario_planning.scenario_selector]: Waiting for route. (isDataReady() at /home/sig/autoware/src/universe/autoware.universe/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp:266) [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/interface' in container '/default_ad_api/container' [component_container_mt-33] [INFO 1675236436.455167953] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236436.455215669] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236436.455225893] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236436.455232153] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236436.455238237] [default_ad_api.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [component_container-32] [INFO 1675236436.465239708] [control.trajectory_follower.controller_node_exe]: Waiting for trajectory. (createInputData() at /home/sig/autoware/src/universe/autoware.universe/control/trajectory_follower_node/src/controller_node.cpp:150) [component_container-32] [INFO 1675236436.465275243] [control.trajectory_follower.controller_node_exe]: Control is skipped since input data is not ready. (callbackTimerControl() at /home/sig/autoware/src/universe/autoware.universe/control/trajectory_follower_node/src/controller_node.cpp:189) [component_container-32] [INFO 1675236436.467635629] [control.control_container]: Load Library: /home/sig/autoware/install/lane_departure_checker/lib/liblane_departure_checker.so (create_component_factory() at ./src/component_manager.cpp:114) [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/external_cmd_converter' in container '/control/control_container' [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-32] [INFO 1675236436.496008429] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container-32] [INFO 1675236436.496110933] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [component_container-30] [INFO 1675236436.521217538] [planning.scenario_planning.parking.parking_container]: Load Library: /home/sig/autoware/install/freespace_planner/lib/libfreespace_planner_node.so (create_component_factory() at ./src/component_manager.cpp:114) [component_container-30] [INFO 1675236436.534547194] [planning.scenario_planning.parking.parking_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container-30] [INFO 1675236436.536581580] [planning.scenario_planning.parking.parking_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/localization' in container '/default_ad_api/container' [component_container_mt-33] [INFO 1675236436.605711179] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236436.605752461] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236436.605760971] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236436.605767303] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236436.605773116] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236436.605806813] [default_ad_api.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [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-27] [INFO 1675236436.636912602] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Load Library: /home/sig/autoware/install/behavior_velocity_planner/lib/libbehavior_velocity_planner.so (create_component_factory() at ./src/component_manager.cpp:114) [rtc_auto_mode_manager_node-28] [INFO 1675236436.649268462] [planning.scenario_planning.lane_driving.behavior_planning.rtc_auto_mode_manager]: Waiting for service... [blind_spot] (RTCAutoModeManagerInterface() at /home/sig/autoware/src/universe/autoware.universe/planning/rtc_auto_mode_manager/src/rtc_auto_mode_manager_interface.cpp:77) [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' [component_container_mt-29] [INFO 1675236436.664378759] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Load Library: /home/sig/autoware/install/obstacle_velocity_limiter/lib/libobstacle_velocity_limiter_node.so (create_component_factory() at ./src/component_manager.cpp:114) [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/motion' in container '/default_ad_api/container' [component_container_mt-33] [INFO 1675236436.825516421] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236436.825569042] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236436.825581516] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236436.825588432] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236436.825594710] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236436.825600647] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236436.825606950] [default_ad_api.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map/lanelet2_map_visualization' in container '/map/map_container' [component_container-20] [INFO 1675236436.855244989] [map.map_container]: Load Library: /home/sig/autoware/install/map_loader/lib/libpointcloud_map_loader_node.so (create_component_factory() at ./src/component_manager.cpp:114) [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/trajectory_follower/lane_departure_checker_node' in container '/control/control_container' [component_container-32] [INFO 1675236436.949446200] [control.control_container]: Load Library: /home/sig/autoware/install/shift_decider/lib/libshift_decider_node.so (create_component_factory() at ./src/component_manager.cpp:114) [component_container-32] [INFO 1675236436.950720490] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container-32] [INFO 1675236436.950752951] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [component_container-30] [INFO 1675236436.990959726] [planning.scenario_planning.parking.freespace_planner]: initialize planning algorithm: astar (initializePlanningAlgorithm() at /home/sig/autoware/src/universe/autoware.universe/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp:551) [component_container_mt-29] [INFO 1675236437.019552386] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-29] [INFO 1675236437.022699726] [planning.scenario_planning.lane_driving.motion_planning.motion_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [component_container-20] [INFO 1675236437.035888572] [map.map_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container-20] [INFO 1675236437.042682539] [map.map_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/shift_decider' in container '/control/control_container' [component_container-32] [INFO 1675236437.180862296] [control.trajectory_follower.lane_departure_checker_node]: waiting for lanelet_map msg... (isDataReady() at /home/sig/autoware/src/universe/autoware.universe/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp:232) [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/parking/freespace_planner' in container '/planning/scenario_planning/parking/parking_container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/operation_mode' in container '/default_ad_api/container' [component_container_mt-27] [INFO 1675236437.239172085] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-27] [INFO 1675236437.239231916] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [component_container_mt-33] [INFO 1675236437.248873131] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236437.248933143] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236437.248943579] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236437.248949860] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236437.248955957] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236437.248961681] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236437.248967517] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236437.248973538] [default_ad_api.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [component_container-32] [INFO 1675236437.273804204] [control.trajectory_follower.lane_departure_checker_node]: waiting for route msg... (isDataReady() at /home/sig/autoware/src/universe/autoware.universe/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp:237) [component_container-32] [INFO 1675236437.300602532] [control.control_container]: Load Library: /home/sig/autoware/install/vehicle_cmd_gate/lib/libvehicle_cmd_gate_node.so (create_component_factory() at ./src/component_manager.cpp:114) [component_container-32] [INFO 1675236437.306091673] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container-32] [INFO 1675236437.334898215] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [component_container-20] [INFO 1675236437.383803381] [map.pointcloud_map_loader]: Load /home/sig/data/autoware_data_universe/sample-map-planning//pointcloud_map.pcd (1 out of 1) (loadPCDFiles() at /home/sig/autoware/src/universe/autoware.universe/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.cpp:78) [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map/pointcloud_map_loader' in container '/map/map_container' [component_container-20] [INFO 1675236437.545135314] [map.map_container]: Load Library: /home/sig/autoware/install/map_tf_generator/lib/libvector_map_tf_generator_node.so (create_component_factory() at ./src/component_manager.cpp:114) [component_container-20] [INFO 1675236437.561121971] [map.map_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container-20] [INFO 1675236437.561172663] [map.map_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [rtc_auto_mode_manager_node-28] [INFO 1675236437.650716723] [planning.scenario_planning.lane_driving.behavior_planning.rtc_auto_mode_manager]: Waiting for service... [blind_spot] (RTCAutoModeManagerInterface() at /home/sig/autoware/src/universe/autoware.universe/planning/rtc_auto_mode_manager/src/rtc_auto_mode_manager_interface.cpp:77) [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/planning' in container '/default_ad_api/container' [component_container_mt-33] [INFO 1675236437.664588954] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236437.664635582] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236437.664644986] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236437.664651294] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236437.664674239] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236437.664682736] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236437.664688982] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236437.664694932] [default_ad_api.container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container_mt-33] [INFO 1675236437.664700971] [default_ad_api.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [rviz2-38] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist [rviz2-38] at line 93 in ./src/buffer_core.cpp [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' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map/vector_map_tf_generator' in container '/map/map_container' [component_container-20] [INFO 1675236437.944223049] [map.vector_map_tf_generator]: broadcast static tf. map_frame:map, viewer_frame:viewer, x:3749.71, y:73724.3, z:19.4406 (onVectorMap() at /home/sig/autoware/src/universe/autoware.universe/map/map_tf_generator/src/vector_map_tf_generator_node.cpp:91) [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/vehicle_cmd_gate' in container '/control/control_container' [component_container-32] [INFO 1675236438.031850980] [control.control_container]: Load Library: /home/sig/autoware/install/operation_mode_transition_manager/lib/liboperation_mode_transition_manager_node.so (create_component_factory() at ./src/component_manager.cpp:114) [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/default_ad_api/node/routing' in container '/default_ad_api/container' [component_container-32] [INFO 1675236438.037414906] [control.control_container]: Found class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:127) [component_container-32] [INFO 1675236438.037467669] [control.control_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate (create_component_factory() at ./src/component_manager.cpp:129) [component_container_mt-33] [INFO 1675236438.107608365] [default_ad_api.node.motion]: client call: /control/vehicle_cmd_gate/set_pause (log() at /home/sig/autoware/install/component_interface_utils/include/component_interface_utils/rclcpp/interface.hpp:55) [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/control/operation_mode_transition_manager' in container '/control/control_container' [component_container-32] [INFO 1675236438.280104395] [control.vehicle_cmd_gate]: server call: /control/vehicle_cmd_gate/set_pause (log() at /home/sig/autoware/install/component_interface_utils/include/component_interface_utils/rclcpp/interface.hpp:55) [component_container-32] [INFO 1675236438.282381662] [control.vehicle_cmd_gate]: server exit: /control/vehicle_cmd_gate/set_pause (log() at /home/sig/autoware/install/component_interface_utils/include/component_interface_utils/rclcpp/interface.hpp:55) [component_container_mt-33] [INFO 1675236438.284198281] [default_ad_api.node.motion]: client exit: /control/vehicle_cmd_gate/set_pause (log() at /home/sig/autoware/install/component_interface_utils/include/component_interface_utils/rclcpp/interface.hpp:55) [component_container_mt-33] [INFO 1675236438.307839588] [default_ad_api.node.motion]: client call: /control/vehicle_cmd_gate/set_pause (log() at /home/sig/autoware/install/component_interface_utils/include/component_interface_utils/rclcpp/interface.hpp:55) [component_container-32] [INFO 1675236438.309580287] [control.vehicle_cmd_gate]: server call: /control/vehicle_cmd_gate/set_pause (log() at /home/sig/autoware/install/component_interface_utils/include/component_interface_utils/rclcpp/interface.hpp:55) [component_container-32] [INFO 1675236438.310602142] [control.vehicle_cmd_gate]: server exit: /control/vehicle_cmd_gate/set_pause (log() at /home/sig/autoware/install/component_interface_utils/include/component_interface_utils/rclcpp/interface.hpp:55) [component_container_mt-33] [INFO 1675236438.311598138] [default_ad_api.node.motion]: client exit: /control/vehicle_cmd_gate/set_pause (log() at /home/sig/autoware/install/component_interface_utils/include/component_interface_utils/rclcpp/interface.hpp:55) [system_error_monitor-16] [ERROR 1675236438.339835988] [system_error_monitor /autoware/control/autonomous_driving/node_alive_monitoring]: [Single Point Fault]: Error (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236438.339858773] [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 (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236438.339864975] [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 (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236438.339869088] [system_error_monitor /autoware/localization/node_alive_monitoring]: [Single Point Fault]: Error (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236438.339900708] [system_error_monitor /autoware/localization/node_alive_monitoring/topic_status/topic_state_monitor_initialpose3d: localization_topic_status]: [Single Point Fault]: Error (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236438.339905374] [system_error_monitor /autoware/localization/node_alive_monitoring/topic_status/topic_state_monitor_transform_map_to_base_link: localization_topic_status]: [Single Point Fault]: OK (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236438.339909366] [system_error_monitor /autoware/planning/node_alive_monitoring]: [Single Point Fault]: Error (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236438.339913043] [system_error_monitor /autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_mission_planning_route: planning_topic_status]: [Single Point Fault]: Error (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236438.339916826] [system_error_monitor /autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_scenario_planning_trajectory: planning_topic_status]: [Single Point Fault]: Error (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236438.339922297] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation]: [Single Point Fault]: Error (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236438.339926418] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_acceleration/planning_validator: trajectory_validation_acceleration]: [Single Point Fault]: acceleration is too large (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236438.339930883] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_curvature/planning_validator: trajectory_validation_curvature]: [Single Point Fault]: curvature is too large (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236438.339958745] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_deceleration/planning_validator: trajectory_validation_deceleration]: [Single Point Fault]: deceleration is too large (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236438.339964172] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_finite/planning_validator: trajectory_validation_finite]: [Single Point Fault]: infinite value is found (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236438.339967536] [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 (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236438.339970827] [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 (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236438.339977230] [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 (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236438.339981737] [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 (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236438.339985299] [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 (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236438.339988684] [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 (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236438.339991969] [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 (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [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' [rviz2-38] [INFO 1675236438.986951652] [rviz2]: Stereo is NOT SUPPORTED (operator()() at ./src/main.cpp:62) [scenario_selector-24] [INFO 1675236441.418211420] [planning.scenario_planning.scenario_selector]: Waiting for route. (isDataReady() at /home/sig/autoware/src/universe/autoware.universe/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp:266) [component_container-32] [INFO 1675236441.467564757] [control.trajectory_follower.controller_node_exe]: Waiting for trajectory. (createInputData() at /home/sig/autoware/src/universe/autoware.universe/control/trajectory_follower_node/src/controller_node.cpp:150) [component_container-32] [INFO 1675236441.467620727] [control.trajectory_follower.controller_node_exe]: Control is skipped since input data is not ready. (callbackTimerControl() at /home/sig/autoware/src/universe/autoware.universe/control/trajectory_follower_node/src/controller_node.cpp:189) [component_container_mt-27] [INFO 1675236441.702078452] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner]: waiting for scenario_topic (operator()() at /home/sig/autoware/src/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp:707) [component_container-32] [INFO 1675236442.345945208] [control.trajectory_follower.lane_departure_checker_node]: waiting for route msg... (isDataReady() at /home/sig/autoware/src/universe/autoware.universe/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp:237) [system_error_monitor-16] [ERROR 1675236443.439062632] [system_error_monitor /autoware/control/autonomous_driving/node_alive_monitoring]: [Single Point Fault]: Error (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236443.439122955] [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 (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236443.439129218] [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 (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236443.439133202] [system_error_monitor /autoware/localization/node_alive_monitoring]: [Single Point Fault]: Error (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236443.439137108] [system_error_monitor /autoware/localization/node_alive_monitoring/topic_status/topic_state_monitor_initialpose3d: localization_topic_status]: [Single Point Fault]: Error (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236443.439141244] [system_error_monitor /autoware/localization/node_alive_monitoring/topic_status/topic_state_monitor_transform_map_to_base_link: localization_topic_status]: [Single Point Fault]: OK (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236443.439145184] [system_error_monitor /autoware/planning/node_alive_monitoring]: [Single Point Fault]: Error (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236443.439148904] [system_error_monitor /autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_mission_planning_route: planning_topic_status]: [Single Point Fault]: Error (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236443.439152398] [system_error_monitor /autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_scenario_planning_trajectory: planning_topic_status]: [Single Point Fault]: Error (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236443.439155878] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation]: [Single Point Fault]: Error (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236443.439161116] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_acceleration/planning_validator: trajectory_validation_acceleration]: [Single Point Fault]: acceleration is too large (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236443.439165385] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_curvature/planning_validator: trajectory_validation_curvature]: [Single Point Fault]: curvature is too large (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236443.439168772] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_deceleration/planning_validator: trajectory_validation_deceleration]: [Single Point Fault]: deceleration is too large (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236443.439176132] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_finite/planning_validator: trajectory_validation_finite]: [Single Point Fault]: infinite value is found (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236443.439179910] [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 (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236443.439184810] [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 (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236443.439189575] [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 (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236443.439193774] [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 (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236443.439197242] [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 (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236443.439201044] [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 (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236443.439205050] [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 (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [component_container-32] [INFO 1675236446.476717931] [control.trajectory_follower.controller_node_exe]: Waiting for trajectory. (createInputData() at /home/sig/autoware/src/universe/autoware.universe/control/trajectory_follower_node/src/controller_node.cpp:150) [component_container-32] [INFO 1675236446.476782174] [control.trajectory_follower.controller_node_exe]: Control is skipped since input data is not ready. (callbackTimerControl() at /home/sig/autoware/src/universe/autoware.universe/control/trajectory_follower_node/src/controller_node.cpp:189) [scenario_selector-24] [INFO 1675236446.521339155] [planning.scenario_planning.scenario_selector]: Waiting for route. (isDataReady() at /home/sig/autoware/src/universe/autoware.universe/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp:266) [component_container_mt-27] [INFO 1675236446.708743050] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner]: waiting for scenario_topic (operator()() at /home/sig/autoware/src/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp:707) [component_container-32] [INFO 1675236447.345949793] [control.trajectory_follower.lane_departure_checker_node]: waiting for route msg... (isDataReady() at /home/sig/autoware/src/universe/autoware.universe/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp:237) [system_error_monitor-16] [ERROR 1675236448.439083958] [system_error_monitor /autoware/control/autonomous_driving/node_alive_monitoring]: [Single Point Fault]: Error (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236448.539056670] [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 (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236448.539081519] [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 (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236448.539112302] [system_error_monitor /autoware/localization/node_alive_monitoring]: [Single Point Fault]: Error (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236448.539117538] [system_error_monitor /autoware/localization/node_alive_monitoring/topic_status/topic_state_monitor_initialpose3d: localization_topic_status]: [Single Point Fault]: Error (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236448.539122733] [system_error_monitor /autoware/localization/node_alive_monitoring/topic_status/topic_state_monitor_transform_map_to_base_link: localization_topic_status]: [Single Point Fault]: OK (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236448.539126426] [system_error_monitor /autoware/planning/node_alive_monitoring]: [Single Point Fault]: Error (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236448.539130056] [system_error_monitor /autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_mission_planning_route: planning_topic_status]: [Single Point Fault]: Error (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236448.539135287] [system_error_monitor /autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_scenario_planning_trajectory: planning_topic_status]: [Single Point Fault]: Error (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236448.539139215] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation]: [Single Point Fault]: Error (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236448.539144202] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_acceleration/planning_validator: trajectory_validation_acceleration]: [Single Point Fault]: acceleration is too large (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236448.539148603] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_curvature/planning_validator: trajectory_validation_curvature]: [Single Point Fault]: curvature is too large (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236448.539152325] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_deceleration/planning_validator: trajectory_validation_deceleration]: [Single Point Fault]: deceleration is too large (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236448.539155868] [system_error_monitor /autoware/planning/performance_monitoring/trajectory_validation/trajectory_validation_finite/planning_validator: trajectory_validation_finite]: [Single Point Fault]: infinite value is found (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236448.539159312] [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 (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236448.539167287] [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 (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236448.539173419] [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 (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236448.539177579] [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 (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236448.539181255] [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 (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236448.539184707] [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 (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [system_error_monitor-16] [ERROR 1675236448.539188184] [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 (logThrottledNamed() at /home/sig/autoware/src/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp:54) [component_container-32] [INFO 1675236451.486772940] [control.trajectory_follower.controller_node_exe]: Waiting for trajectory. (createInputData() at /home/sig/autoware/src/universe/autoware.universe/control/trajectory_follower_node/src/controller_node.cpp:150) [component_container-32] [INFO 1675236451.486872322] [control.trajectory_follower.controller_node_exe]: Control is skipped since input data is not ready. (callbackTimerControl() at /home/sig/autoware/src/universe/autoware.universe/control/trajectory_follower_node/src/controller_node.cpp:189) [scenario_selector-24] [INFO 1675236451.618181100] [planning.scenario_planning.scenario_selector]: Waiting for route. (isDataReady() at /home/sig/autoware/src/universe/autoware.universe/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp:266) [component_container_mt-27] [INFO 1675236451.802071200] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner]: waiting for scenario_topic (operator()() at /home/sig/autoware/src/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp:707) [component_container-32] [INFO 1675236452.345984334] [control.trajectory_follower.lane_departure_checker_node]: waiting for route msg... (isDataReady() at /home/sig/autoware/src/universe/autoware.universe/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp:237)