Problem when following instructions of ADE + Autoware setup

[andrejpadilha2]

Hello all! I'am having some problems installing OSSDC-SIM.

So, I am following the instructions on this page: https://github.com/OSSDC/OSSDC-SIM-Demos/tree/main/simulations/LVMS-Dallara-AutowareAuto-2-EGOs#readme

I have succesfully installed ADE (Docker hello world worked) and I also cloned AutowareAuto and checked out on the OSSDC-SIM-Demos branch.

But in the next step, when I run python3 ../OSSDC-SIM-Demos/scripts/ossdc-sim-demo-start-env.py

I get the following error cmd output:

Start cmd: sh -c "EGO_NR=0 ~/adehome/ade --name ade0 --rc ../OSSDC-SIM-Demos/ade-envs/aderc-gpu-multi-foxy-built start --update"
Start cmd: sh -c "EGO_NR=1 ~/adehome/ade --name ade1 --rc ../OSSDC-SIM-Demos/ade-envs/aderc-gpu-multi-foxy-built start --update"
Start cmd: sh -c "EGO_NR=2 ~/adehome/ade --name ade2 --rc ../OSSDC-SIM-Demos/ade-envs/aderc-gpu-multi-foxy-built start --update"
Start cmd: sh -c "EGO_NR=3 ~/adehome/ade --name ade3 --rc ../OSSDC-SIM-Demos/ade-envs/aderc-gpu-multi-foxy-built start --update"
Start cmd: sh -c "EGO_NR=4 ~/adehome/ade --name ade4 --rc ../OSSDC-SIM-Demos/ade-envs/aderc-gpu-multi-foxy-built start --update"
Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/pexpect/spawnbase.py", line 166, in read_nonblocking
    s = os.read(self.child_fd, size)
OSError: [Errno 5] Input/output error

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/pexpect/expect.py", line 111, in expect_loop
    incoming = spawn.read_nonblocking(spawn.maxread, timeout)
  File "/usr/lib/python3/dist-packages/pexpect/pty_spawn.py", line 485, in read_nonblocking
    return super(spawn, self).read_nonblocking(size)
  File "/usr/lib/python3/dist-packages/pexpect/spawnbase.py", line 171, in read_nonblocking
    raise EOF('End Of File (EOF). Exception style platform.')
pexpect.exceptions.EOF: End Of File (EOF). Exception style platform.

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "../OSSDC-SIM-Demos/scripts/ossdc-sim-demo-start-env.py", line 63, in <module>
    expectResult.append(mainProc[i].expect([pexpect.TIMEOUT, COMMAND_PROMPT ],120))
  File "/usr/lib/python3/dist-packages/pexpect/spawnbase.py", line 340, in expect
    return self.expect_list(compiled_pattern_list,
  File "/usr/lib/python3/dist-packages/pexpect/spawnbase.py", line 369, in expect_list
    return exp.expect_loop(timeout)
  File "/usr/lib/python3/dist-packages/pexpect/expect.py", line 117, in expect_loop
    return self.eof(e)
  File "/usr/lib/python3/dist-packages/pexpect/expect.py", line 63, in eof
    raise EOF(msg)
pexpect.exceptions.EOF: End Of File (EOF). Exception style platform.
<pexpect.pty_spawn.spawn object at 0x7f4118aaa2b0>
command: /usr/bin/sh
args: ['/usr/bin/sh', '-c', 'EGO_NR=0 ~/adehome/ade --name ade0 --rc ../OSSDC-SIM-Demos/ade-envs/aderc-gpu-multi-foxy-built start --update']
buffer (last 100 chars): b''
before (last 100 chars): b'istry.gitlab.com/ossdc/autowareauto/amd64/ade-foxy:commit-dd19396d386df0b95c05f76513a362af293b2d99\r\n'
after: <class 'pexpect.exceptions.EOF'>
match: None
match_index: None
exitstatus: None
flag_eof: True
pid: 27254
child_fd: 5
closed: False
timeout: 30
delimiter: <class 'pexpect.exceptions.EOF'>
logfile: None
logfile_read: None
logfile_send: None
maxread: 2000
ignorecase: False
searchwindowsize: None
delaybeforesend: 0.05
delayafterclose: 0.1
delayafterterminate: 0.1
searcher: searcher_re:
    0: TIMEOUT
    1: re.compile(b'ADE has been started')

I am running ubuntu 20.04.

[ahmedius2]

I had a similar error, have you checked whether the file ~/adehome/ade exists?

[andrejpadilha2]

Yes, when I type which ~/adehome/ade it returns /home/andrepadilha/adehome/ade.

[ahmedius2]

Could you try running the following command from the same location:
EGO_NR=0 ~/adehome/ade --name ade0 --rc ../OSSDC-SIM-Demos/ade-envs/aderc-gpu-multi-foxy-built start --update
The output can give you a better idea of what is going wrong.

[mslavescu]

@andrejpadilha2 this could be an ADE timeout issue.

Try to run this command first:

EGO_NR=0 ~/adehome/ade --name ade0 --rc ../OSSDC-SIM-Demos/ade-envs/aderc-gpu-multi-foxy-built start --update

Then rerun the script again.

Change the multi EGO count to 2, to get only 2 ADE envs, I'll update the script back to 2.

[andrejpadilha2]

Hello!! Thank you! when running only EGO_NR=0 ~/adehome/ade --name ade0 --rc ../OSSDC-SIM-Demos/ade-envs/aderc-gpu-multi-foxy-built start --update it worked! Then, I saw that you changed the script, so I started another terminal, and now the script is running.

I will continue with the installation.

Thank you as well @ahmedius2 !

[andrejpadilha2]

ok, so I had this problem last week, when running python3 OSSDC-SIM-Demos/simulations/LVMS-Dallara-AutowareAuto-2-EGOs/Multi_Ego-LVMS-API.py
I get:

Traceback (most recent call last):
  File "OSSDC-SIM-Demos/simulations/LVMS-Dallara-AutowareAuto-2-EGOs/Multi_Ego-LVMS-API.py", line 9, in <module>
    import lgsvl
ModuleNotFoundError: No module named 'lgsvl'

I will try to install lgsvl for python (I think it's the python-api for LGSVL right?) and see if it works. It worked with the ADE from Autoware probably because they have this module installed in the ADE, but I don't have on my computer itself.

[mslavescu]

Clone and install the PythonAPI from here:
https://github.com/OSSDC/PythonAPI

I'll update the instructions with this step.

[andrejpadilha2]

Yes! It worked. I was able to run the recorded track on LVMS, now I am shifting to the AVP Demo and then Boregas Ave. I am also creating a python file to launch all the commands automatically, maybe it will help. I can post it here when I finish it.

[andrejpadilha2]

Just updating, everything works fine, the car is parking itself and so on.
What I need to adapt:

1. install PythonAPI of LGSVL like @mslavescu said
2. start RVIZ
3. start Autoware.AUTO AVP demo

the code is here:

import subprocess
import os
from subprocess import Popen, PIPE
import time

# In case another ade has started before, there could be a conflict of port addresses
ade = subprocess.run(['ade', 'stop'])

# Start 2 ADE envs, one for each EGO
os.chdir('/home/andrepadilha/adehome/AutowareAuto-OSSDC')
ade = subprocess.run(['gnome-terminal', '-x', 'python3', '../OSSDC-SIM-Demos/scripts/ossdc-sim-demo-start-env.py'])
time.sleep(5) # change this if you need more time

# Start OSSDC SIM
os.chdir('/home/andrepadilha/adehome/OSSDC-SIM-v1_1-Linux')
ossdc = subprocess.run(['gnome-terminal', '-x', 'bash', 'run-OSSDC-SIM-v1.sh'])

# Start RVIZ visualization
os.chdir('/home/andrepadilha/adehome')
rviz1 = subprocess.run(['gnome-terminal', '-x', "./ade", "--name", "ade0", "enter", "cd AutowareAuto-OSSDC && source /opt/AutowareAuto/setup.bash && source install/setup.bash && ros2 launch autoware_auto_launch autoware_auto_visualization.launch.py &"])

# Manually start the OSSDC Sim Api simulation
time.sleep(10) # change this if you need more time

# Initialize the map and vehicle(s)
os.chdir('/home/andrepadilha/adehome/')
os.putenv('OSSDC__SIMULATOR_HOST', '127.0.0.1')
os.putenv('OSSDC__SIMULATOR_BRIDGE_HOST_1', '127.0.0.1')
os.putenv('OSSDC__SIMULATOR_BRIDGE_HOST_2', '127.0.0.1')
sim_script = subprocess.run(['gnome-terminal', '-x', 'python3', 'OSSDC-SIM-Demos/simulations/AutonomouStuff-Lexux-AVP-AutowareAuto/Single_Ego-AVP-API-race-control.py'])

# Start Autoware.AUTO AVP_demo
autoware = subprocess.run(['gnome-terminal', '-x', "./ade", "--name", "ade0", "enter", "source /opt/AutowareAuto/setup.bash && ros2 launch autoware_demos avp_sim.launch.py with_obstacles:=False"])