Issues related to simulators and rviz visualization

[hzkkk1997]

In the process of learning autoware, I want to extract the content of autoware for simulation and rviz visualization to form a new project, which is responsible for the visualization and simulation during debugging. However, when I extract and complete the compilation and test, there are problems as shown in the video. I wrote a startup file in the extracted new project, and then annotated the startup command of the extracted part of the content in the startup file of a complete autoware project for testing. There is no obvious error reported in the log, I don't know what caused it, please help me, thank you very much!

[hzkkk1997]

Rec.0009.mp4

[hzkkk1997]

Thank you very much for your suggestion. Does "foxglove" support real-time display of topic information?
Recently I found out that I still had this problem with another terminal that used rviz2 to display the topic, but source install/setup.bash in the original autoware project, and then use rviz2 to display it without that display exception. But I don't know. Why is that? What do you think?

[maxime-clem]

foxglove supports the standard ROS messages so you can use it to visualize MarkerArray messages in real time.

Recently I found out that I still had this problem with another terminal that used rviz2 to display the topic, but source install/setup.bash in the original autoware project, and then use rviz2 to display it without that display exception

I am not sure I understand. To visualize autoware messages (e.g., Trajectory), you need to source the Autoware workspace (source install/setup.bash) before launching rviz. If not you will run into errors or exceptions.

[hzkkk1997]

Yes, I understand what you're saying, but I've included autoware messages in that separate project. So I still don't quite understand why the phenomenon I mentioned earlier occurs.

[maxime-clem]

The issue is very strange and it almost looks like the messages are not properly interpreted.
Is it possible that your 2 workspaces define slightly different messages ? (e.g., one defines a msg with fields [a b] and the other [b a])

[hzkkk1997]

It is a great honor to communicate with you. Through your advice, the problem has been solved. Thank you very much!!!

[felixf4xu]

By the way, I think it's a good idea to separate the launch file into 2 files, one for autoware (not rviz related) and another one for rviz2 related.

The benefit is that rviz2 related packages can easily run on a separated PC, reducing the cpu load on the PC where autoware is running.

One more possible use case:
run rviz2 outside the docker and autoware inside the docker, then the GUI issue with docker can be simplified. (not sure if ros2 DDS can communicate across docker or not, should be possible).

[hzkkk1997]

Hello, have you ever tried to do something like me?