Unable to activate enable button

[1111F11]

I have now implemented the sensor link and position initialization. After calibrating the initial position and target position, I want to start automatic driving but the enable button cannot be started. Can anyone guide me in which direction to check?

The following is part of the error report.
[ndt_scan_matcher-39] [WARN] [1723693299.830717826] [localization.pose_estimator.ndt_scan_matcher]: No interpolated pose!

[component_container_mt-79] [INFO] [1723693299.791709944] [default_ad_api.node.operation_mode]: control, planning, localization, perception component state is unhealthy. Autonomous is not available.

[SakodaShintaro]

control, planning, localization, perception component state is unhealthy. Autonomous is not available.

This message is important. All of state must be OK.

Could you check /diagnostics?

ros2 run rqt_runtime_monitor rqt_runtime_monitor

For example, if Autoware works well with AWSIM, it will look like this:

[1111F11]

/diagnostics is enabled normally if there is a message.
autoware@autoware:~$ ros2 topic echo /diagnostics
header:
stamp:
sec: 1723700144
nanosec: 116065852
frame_id: ''
status:

• level: "\x02"
  name: 'topic_state_monitor_control_command_control_cmd: control_topic_status'
  message: Error
  hardware_id: topic_state_monitor
  values:
  • key: topic
    value: /control/command/control_cmd
  • key: status
    value: NotReceived
  • key: warn_rate
    value: 5.00 [Hz]
  • key: error_rate
    value: 1.00 [Hz]
  • key: timeout
    value: 1.00 [s]
  • key: measured_rate
    value: 100000.00 [Hz]
  • key: now
    value: 1723700144.12 [s]
  • key: last_message_time
    value: 0.00 [s]

---

header:
stamp:
sec: 1723700144
nanosec: 122224963
frame_id: ''
status:

• level: "\0"
  name: 'topic_state_monitor_pointcloud_map: map_topic_status'
  message: OK
  hardware_id: topic_state_monitor
  values:
  • key: topic
    value: /map/pointcloud_map
  • key: status
    value: OK
  • key: warn_rate
    value: 0.00 [Hz]
  • key: error_rate
    value: 0.00 [Hz]
  • key: timeout
    value: 0.00 [s]
  • key: measured_rate
    value: 100000.00 [Hz]
  • key: now
    value: 1723700144.12 [s]
  • key: last_message_time
    value: 1723692654.86 [s]

---

header:
stamp:
sec: 1723700144
nanosec: 124360232
frame_id: ''
status:

• level: "\0"
  name: 'topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status'
  message: OK
  hardware_id: topic_state_monitor
  values:
  • key: topic
    value: /localization/pose_twist_fusion_filter/pose
  • key: status
    value: OK
  • key: warn_rate
    value: 5.00 [Hz]
  • key: error_rate
    value: 1.00 [Hz]
  • key: timeout
    value: 1.00 [s]
  • key: measured_rate
    value: 29.77 [Hz]
  • key: now
    value: 1723700144.12 [s]
  • key: last_message_time
    value: 1723700144.06 [s]

---

header:
stamp:
sec: 1723700144
nanosec: 125060796
frame_id: ''
status:

• level: "\0"
  name: 'external_cmd_selector: heartbeat'
  message: Alive
  hardware_id: external_cmd_selector
  values: []

---

ros2 run rqt_runtime_monitor rqt_runtime_monitor

localization: ekf localizer:[ERROR]pose is not updated
localization: localization error monitor: ellipse size is over the expected range, elipse size along lateral direction is over the expected range
multi object tracker: Perception delay check from original header stamp: Detection delay is over error threshold.
topic state monitor control command control cmd: control topic status: Error
topic state monitor obstacle segmentation pointcloud: perception topic status: Error
topic state monitor pose estimator pose: localization topic status: Error
topic state monitor scenario planning trajectory: planning topic status: Error
topic state monitor traffic light recognition traffic signals: perception topic status: Error
topic state monitor trajectory follower control cmd: control topic status: ErrorA

[SakodaShintaro]

The following error is concerning me.

Perception delay check from original header stamp: Detection delay is over error threshold.

Also, from the errors ekf localizer:[ERROR]pose is not updated and localization error monitor: ellipse size is over the expected range, elipse size along lateral direction is over the expected range, it is thought that the ndt scan matcher is not working properly.

Can you check the following items?
There is a possibility that sensor_points_delay_time_sec (i.e. the time it takes for LiDAR data to reach the ndt scan matcher from the sensor) is too large.

This is usually around 0.1~0.2.

It is also a good idea to check the other items in ndt_scan_matcher:scan_matching_status.

[1111F11]

Sorry, I don't have ndt_scan_matcher in my monitor.

[SakodaShintaro]

Is it configured so that ndt_scan_matcher is not launched? Or is ndt_scan_matcher crashing?
Basically, ndt_scan_matcher is assumed to exist, so I think it would be a good idea to investigate that area.

[1111F11]

Thank you for your answer. It is indeed a problem with the radar direction. It is an error caused by the time difference being too large and the NDT being unable to be enabled normally.

[1111F11]

I think there is one last bit of error reporting that needs to be modified before I can use autoware's automatic driving.
Terminal error：
[topic_state_monitor_node-10] [WARN] [1724032097.189147963] [system.topic_state_monitor_pose_estimator_pose]: /localization/pose_estimator/pose_with_covariance topic is timeout.
[topic_state_monitor_node-11] [WARN] [1724032097.236383411] [system.topic_state_monitor_obstacle_segmentation_pointcloud]: /perception/obstacle_segmentation/pointcloud topic is timeout.
[component_container_mt-79] [INFO] [1724032098.628125549] [default_ad_api.node.operation_mode]: localization, perception component state is unhealthy. Autonomous is not available.
[system_error_monitor-23] [ERROR] [1724032100.008937529] [system.system_error_monitor]: vehicle_state_report msg is timeout...
[topic_state_monitor_node-10] [WARN] [1724032100.288961980] [system.topic_state_monitor_pose_estimator_pose]: /localization/pose_estimator/pose_with_covariance topic rate has dropped to the error level.
[topic_state_monitor_node-11] [WARN] [1724032100.336380676] [system.topic_state_monitor_obstacle_segmentation_pointcloud]: /perception/obstacle_segmentation/pointcloud topic rate has dropped to the error level.
[component_container_mt-79] [INFO] [1724032101.628592067] [default_ad_api.node.operation_mode]: localization, perception component state is unhealthy. Autonomous is not available.
[topic_state_monitor_node-10] [WARN] [1724032103.289057801] [system.topic_state_monitor_pose_estimator_pose]: /localization/pose_estimator/pose_with_covariance topic is timeout.
[topic_state_monitor_node-11] [WARN] [1724032103.436324617] [system.topic_state_monitor_obstacle_segmentation_pointcloud]: /perception/obstacle_segmentation/pointcloud topic rate has dropped to the error level.
[component_container_mt-79] [INFO] [1724032104.828330858] [default_ad_api.node.operation_mode]: localization, perception component state is unhealthy. Autonomous is not available.
[system_error_monitor-23] [ERROR] [1724032105.008981684] [system.system_error_monitor]: vehicle_state_report msg is timeout...
[topic_state_monitor_node-10] [WARN] [1724032106.389389649] [system.topic_state_monitor_pose_estimator_pose]: /localization/pose_estimator/pose_with_covariance topic is timeout.
[topic_state_monitor_node-11] [WARN] [1724032106.536768001] [system.topic_state_monitor_obstacle_segmentation_pointcloud]: /perception/obstacle_segmentation/pointcloud topic rate has dropped to the error level.
[component_container_mt-79] [INFO] [1724032108.027942489] [default_ad_api.node.operation_mode]: localization, perception component state is unhealthy. Autonomous is not available.
[topic_state_monitor_node-10] [WARN] [1724032109.489034408] [system.topic_state_monitor_pose_estimator_pose]: /localization/pose_estimator/pose_with_covariance topic is timeout.
[topic_state_monitor_node-11] [WARN] [1724032109.612069400] [system.topic_state_monitor_obstacle_segmentation_pointcloud]: /perception/obstacle_segmentation/pointcloud topic rate has dropped to the warning level.
[system_error_monitor-23] [ERROR] [1724032110.108956059] [system.system_error_monitor]: vehicle_state_report msg is timeout...
[component_container_mt-79] [INFO] [1724032111.028065045] [default_ad_api.node.operation_mode]: localization, perception component state is unhealthy. Autonomous is not available.
[topic_state_monitor_node-10] [WARN] [1724032112.589055736] [system.topic_state_monitor_pose_estimator_pose]: /localization/pose_estimator/pose_with_covariance topic rate has dropped to the error level.
[topic_state_monitor_node-11] [WARN] [1724032112.636416817] [system.topic_state_monitor_obstacle_segmentation_pointcloud]: /perception/obstacle_segmentation/pointcloud topic is timeout.
[component_container_mt-79] [INFO] [1724032114.029499075] [default_ad_api.node.operation_mode]: localization, perception component state is unhealthy. Autonomous is not available.
[system_error_monitor-23] [ERROR] [1724032115.109148300] [system.system_error_monitor]: vehicle_state_report msg is timeout...
[topic_state_monitor_node-10] [WARN] [1724032115.590147794] [system.topic_state_monitor_pose_estimator_pose]: /localization/pose_estimator/pose_with_covariance topic is timeout.
[topic_state_monitor_node-11] [WARN] [1724032115.636517738] [system.topic_state_monitor_obstacle_segmentation_pointcloud]: /perception/obstacle_segmentation/pointcloud topic rate has dropped to the warning level.
[component_container_mt-79] [INFO] [1724032117.228079965] [default_ad_api.node.operation_mode]: localization, perception component state is unhealthy. Autonomous is not available.
[topic_state_monitor_node-10] [WARN] [1724032118.626075243] [system.topic_state_monitor_pose_estimator_pose]: /localization/pose_estimator/pose_with_covariance topic is timeout.
[topic_state_monitor_node-11] [WARN] [1724032118.737434717] [system.topic_state_monitor_obstacle_segmentation_pointcloud]: /perception/obstacle_segmentation/pointcloud topic rate has dropped to the warning level.
[system_error_monitor-23] [ERROR] [1724032120.208975726] [system.system_error_monitor]: vehicle_state_report msg is timeout...
[component_container_mt-79] [INFO] [1724032120.230111880] [default_ad_api.node.operation_mode]: localization, perception component state is unhealthy. Autonomous is not available.

rqt_runtime_monitor