feat: add glog_component to aip_xx1_launch

[Shin-kyoto]

detail

• I want to add glog_component to aip_xx1_launch.

test

XX1

• I confirmed that glog_component in aip_xx1_launch works correctly.

Procedure

• 1. Change file following this command and cause error.

sed -i -z 's|void PointCloudConcatenateDataSynchronizerComponent::publish()\n{|void PointCloudConcatenateDataSynchronizerComponent::publish()\n{\n  throw std::runtime_error("error!!!!!!!!!!!!!!!!!!");|' ./src/autoware/universe/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp 

• 2. glog_component tells you in detail where thew error is occurring.

[component_container_mt-28] terminate called after throwing an instance of 'std::runtime_error'
[component_container_mt-28]   what():  error!!!!!!!!!!!!!!!!!!
[component_container_mt-28] *** Aborted at 1699876813 (unix time) try "date -d @1699876813" if you are using GNU date ***
[component_container_mt-28] PC: @                0x0 (unknown)
[component_container_mt-28] *** SIGABRT (@0x3e8001f3b6f) received by PID 2046831 (TID 0x7f8ac9ff3640) from PID 2046831; stack trace: ***
[component_container_mt-28]     @     0x7f89a81a5046 (unknown)
[component_container_mt-28]     @     0x7f8b0194b520 (unknown)
[component_container_mt-28]     @     0x7f8b0199f9fc pthread_kill
[component_container_mt-28]     @     0x7f8b0194b476 raise
[component_container_mt-28]     @     0x7f8b019317f3 abort
[component_container_mt-28]     @     0x7f8b01bf3b9e (unknown)
[component_container_mt-28]     @     0x7f8b01bff20c (unknown)
[component_container_mt-28]     @     0x7f8b01bff277 std::terminate()
[component_container_mt-28]     @     0x7f8b01bff4d8 __cxa_throw
[component_container_mt-28]     @     0x7f8adc57a2fa pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent::publish()
[component_container_mt-28]     @     0x7f8adc5ac5e8 pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent::timer_callback()
[component_container_mt-28]     @     0x7f8adc5b1e45 rclcpp::GenericTimer<>::execute_callback()
[component_container_mt-28]     @     0x7f8b01f1bffe rclcpp::Executor::execute_any_executable()
[component_container_mt-28]     @     0x7f8b01f22432 rclcpp::executors::MultiThreadedExecutor::run()
[component_container_mt-28]     @     0x7f8b01c2d253 (unknown)
[component_container_mt-28]     @     0x7f8b0199dac3 (unknown)
[component_container_mt-28]     @     0x7f8b01a2fa40 (unknown)
[component_container_mt-28]     @                0x0 (unknown)
[ERROR] [component_container_mt-28]: process has died [pid 2046831, exit code -6, cmd '/home/shintarotomie/work/2023/1109-glog/pilot-auto.xx1/install/rclcpp_components/lib/rclcpp_components/component_container_mt --ros-args -r __node:=pointcloud_container -r __ns:=/sensing/lidar/top/pointcloud_preprocessor -p use_sim_time:=True -p wheel_radius:=0.31 -p wheel_width:=0.18 -p wheel_base:=2.75 -p wheel_tread:=1.485 -p front_overhang:=0.8 -p rear_overhang:=0.85 -p left_overhang:=0.105 -p right_overhang:=0.105 -p vehicle_height:=2.5 -p max_steer_angle:=0.55'].

todo

• Check glog in aip_x2_launch, aip_x1_launch, common_sensor_launch and sample_sensor_kit_launch.

[kminoda]

Any plans for introducing this into https://github.com/autowarefoundation/sample_sensor_kit_launch/blob/main/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py as well?

[Shin-kyoto]

Any plans for introducing this into https://github.com/autowarefoundation/sample_sensor_kit_launch/blob/main/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py as well?

I want to add glog to sample_sensor_kit_launch, later.

[Shin-kyoto]

@kminoda

Can you review this PR?

[Shin-kyoto]

@badai-nguyen
Can you review this PR, too?

[miursh]

I can't get a stack trace to show up. Are there any additional settings?

[badai-nguyen]

@Shin-kyoto as @.miursh I can't get any stack trace show up.
event the error was occured.

[badai-nguyen]

I found that the container including glog_component wasn't executed.
The reason is theLaunchConfiguration("use_pointcloud_container")=True so only concat_loader will be executed. I think you should add glog_component into concat_loader instead.

    # load concat or passthrough filter
    concat_loader = LoadComposableNodes(
        composable_node_descriptions=[glog_component, concat_component],
        target_container=target_container,
        condition=IfCondition(LaunchConfiguration("use_concat_filter")),
    )

[Shin-kyoto]

Thanks, I add glog_component to concat_loader 🙇

9d8ed6a

[badai-nguyen]

By the way, since the /sensing/lidar/concatenate_data is not in /pointcloud_container but in /sensing/lidar/top/pointcloud_preprocessor/pointcloud_container in case of xx1:

/pointcloud_container
  1  /perception/occupancy_grid_map/occupancy_grid_map_node
  2  /perception/object_recognition/detection/voxel_grid_downsample_filter
  3  /perception/obstacle_segmentation/glog_component
  4  /perception/object_recognition/detection/voxel_based_compare_map_filter
  5  /perception/obstacle_segmentation/crop_box_filter
  6  /perception/obstacle_segmentation/common_ground_filter
  7  /perception/obstacle_segmentation/occupancy_grid_map_outlier_filter

so for adding glog_component into /pointcloud_container in general we can into some more common node for all aip_launch, for example
/perception/obstacle_segmentation/common_ground_filter.
I created a PR for this in upstream here autowarefoundation/autoware.universe#5716.

[miursh]

As @badai-nguyen says, when I added 'glog_component' to 'concat_loader,' a stack trace was displayed.

    concat_loader = LoadComposableNodes(
        composable_node_descriptions=[concat_component, glog_component],
        target_container=target_container,
        condition=IfCondition(LaunchConfiguration("use_concat_filter")),
    )

[badai-nguyen]

LGTM