No package mactching ros-galactic-desktop available for AWSIM-stable branch in Ubuntu 22.04

[anilbommareddy]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

https://tier4.github.io/AWSIM/GettingStarted/QuickStartDemo/

git clone https://github.com/autowarefoundation/autoware.git /humble branch-Ubuntu 22.04/
cd autoware
git checkout awsim-stable
./setup-dev-env.sh */enter Y and install cuda-Y.
got an error No package matching ros-galactic-desktop.

And continued with below steps got an error in PCL lib's.

mkdir src
vcs import src < autoware.repos
vcs import src < simulator.repos.
rosdep update
source /opt/ros/humble/setup.bash
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
Build-workspace:
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

Expected behavior

ros-humble-desktop. download

Actual behavior

got an error No package matching ros-galactic-desktop.

Steps to reproduce

steps are update in the description.

Versions

No response

Possible causes

No response

Additional context

No response

[kenji-miyake]

@shmpwk Could you tell me the right branch we should use for Humble?

[shmpwk]

@anilbommareddy
Currently, the official support for AWSIM is only ROS2 Galactic, Ubuntu20.04.

For Ubuntu 22.04, try work in progress version which includes our individual repos but will be officially supported soon:
Autoware: https://github.com/shmpwk/autoware/tree/humble-awsim-stable
AWSIM: https://github.com/tier4/AWSIM/tree/humble

Try the following command

git clone https://github.com/shmpwk/autoware/
cd autoware
git checkout humble-awsim-stable
./setup-dev-env.sh  #*/enter Y and install cuda-Y.
mkdir src
vcs import src < autoware.repos
source /opt/ros/humble/setup.bash
rosdep update
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-w"
source install/setup.bash
ros2 launch autoware_launch e2e_simulator.launch.xml vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit map_path:=<your mapfile location>

Note that when launching AWSIM, you need its binary. But currently we have only Galactic version of binary.
You have to create AWSIM binary for Humble by yourself from https://github.com/tier4/AWSIM/tree/humble.

[patelabhay-12]

hii @shmpwk
Shall we install autoware for AWSIM in ubuntu 22.04 by your above steps.

[shmpwk]

@patelabhay-12
Still the above step is not official but now should work correctly in Ubuntu 22.04 from the success of my several co-workers attempts.

[patelabhay-12]

okay, But I got the error when giving the below command-
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-w"

[shmpwk]

@patelabhay-12
Let me check several points

• Did you succeeded following without any error: ./setup-dev-env.sh, vcs import src < autoware.repos, rosdep update, rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO ?
• Have you built the other Autoware branch under your ~/autoware folder?

[shmpwk]

I firstly doubted this issue but it seems you have different error 🤔

[patelabhay-12]

@patelabhay-12 Let me check several points

* Did you succeeded following without any error:  `./setup-dev-env.sh`, `vcs import src < autoware.repos`, `rosdep update`, `rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO` ?

* Have you built the other Autoware branch under your `~/autoware` folder?

yes I succeeded in following without any error.

Yes, I built the other Autoware branch under our ~/autoware folder

[shmpwk]

Yes, I built the other Autoware branch under your ~/autoware folder

In that case you might mixed the previous build cache. Could you once rm build install log -f under ~/autoware ? and colcon build again?

[patelabhay-12]

Yes, I built the other Autoware branch under your ~/autoware folder

In that case you might mixed the previous build cache. Could you once rm build install log under ~/autoware ? and colcon build again?

Did the same, & getting error again

[shmpwk]

@patelabhay-12
According to this issue, your PCL version is much newer than we expected? Could you share your PCL version?

$ dpkg -l |grep pcl

Have you manually installed PCL in Ubuntu22.04? (should be automatically installed with our Autoware setup)

[patelabhay-12]

[shmpwk]

We don't use pcl-tools and python3-pcl. Could you remove these pakages by sudo apt remove pcl-tools python3-pcl ?

[shmpwk]

FYI, this is our environment.

(We might also need ros-humble-perception-pcl which should be installed by rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO)

[patelabhay-12]

I did the same for installation of ros-humble-perception-pcl , but its not showing ??

[shmpwk]

It seems pcl-tools and python3-pcl are succeeded to delete.
As for ros-humble-perception-pcl , it is not related to your error at least for now. (Perhaps it might cause the other perception pakage error later on.)

Could you try this under ~/autoware/?

rm build/ndt_omp/ install/share/ndt_omp/ install/include/ndp_omp -rf 

and then colcon build again?

[patelabhay-12]

did the same & also getting same errors.

[shmpwk]

@patelabhay-12
Could you try manually sudo apt install ros-humble-perception-pcl ? (This is not good way but not harmful to your environment.)

(For my memo: the status looks good https://repo.ros2.org/status_page/ros_humble_default.html)

[patelabhay-12]

ros-humble-perception-pcl is installed successfully, after that i try same and getting same errors

[patelabhay-12]

same error

[shmpwk]

@patelabhay-12

In your error log, I found your build depends /usr/local/include/pcl-1.13 ...... which is newer than we expected (we expect 1.12).
So you should remove it. Now I investigate how to remove it ....... or do you know it?

[shmpwk]

@patelabhay-12
You can remove it directly by

sudo rm /usr/local/include/pcl-1.13/ -rf

FYI, I have experienced the similar situation and I was taught to do that before (japanese issues ).

After remove it, be sure not to exist pcl-1.13.
You can confirm it by

locate pcl_  |grep 1.13
locate libpcl_  |grep 1.13

without output.

[patelabhay-12]

I removed it by sudo rm /usr/local/include/pcl-1.13/ -rf
then try colcon build, now its showing that fatal error: pcl/point_types.h: No such file or directory

[shmpwk]

OK, in that situation, you have to execute rm build install log -rf under ~/autoware to remove the previous pcl build dependency.

[patelabhay-12]

rm build install log -rf
after this, Shall I give colcon build

[shmpwk]

YES!

[patelabhay-12]

now iot is showing error in Cmake list

[shmpwk]

You need sudo rm /usr/share/pcl-1.13/ -rf , rm build install log -rf, colcon build

After remove it, be sure not to exist pcl-1.13.
You can confirm it by

locate pcl_  |grep 1.13
locate libpcl_  |grep 1.13

without any output.

[patelabhay-12]

after giving sudo rm /usr/share/pcl-1.13/ -rf
and rm build install log -rf

and then i locate pcl by locate libpcl_ |grep 1.13
it is showing PCL 1.13 , i think these are not removed so we got errors

[shmpwk]

Your pcl under home directory is basically not depended and do not have to remove them.

[shmpwk]

But you have to remove pcl 1.13 at system area such as /usr/local/share/pcl-1.13 .

[patelabhay-12]

I removed all the folders, and i will try from scratch, if I face any issue will let you know.

thanks

[patelabhay-12]

I started from scratch today, and i clone the code by your link only
i am facing the error in changing the branch to humble , due to that lock in autoware and i am not able to change that permissions

[shmpwk]

I am new to the error. Could you investigate the permission error around git like https://www.google.com/search?q=git+config+global+add+safe.directory+%22permission+denied%22&ei=gXG2Y-a4BI6FoAT-wrWwAg&ved=0ahUKEwim_b7r6a_8AhWOAogKHX5hDSYQ4dUDCA8&uact=5&oq=git+config+global+add+safe.directory+%22permission+denied%22&gs_lcp=Cgxnd3Mtd2l6LXNlcnAQAzIFCAAQogQyBQgAEKIEOgoIABBHENYEELADOgUIIRCgAUoECEEYAEoECEYYAFCDB1iIF2C1GGgBcAF4AIABpgGIAYQCkgEDMS4xmAEAoAEByAEKwAEB&sclient=gws-wiz-serp ?

[patelabhay-12]

resolved, thanks

[patelabhay-12]

after colcon build, I got this
i think that build is completed

[shmpwk]

Yes, build succeed!!! 👍 You can ignore stderr output.

[shmpwk]

@anilbommareddy How's it going?

[patelabhay-12]

Thank you @shmpwk

for launching autoware, that last command asking for map path location, from where to get that map file??

awsim_sensor_kit map_path:=<your mapfile location??

[shmpwk]

@patelabhay-12

map is given on AWSIM tutorial.

For more question about AWSIM, please post AWSIM issue.

[patelabhay-12]

after launching autoware, it is showing like this in RViz

what is this global status error??

[shmpwk]

@patelabhay-12
It seems RViz does not work correctly.
Could you try planning simulation and rosbag replay simulation first?

[patelabhay-12]

it is showing that frame [map] does not exist in global status error.
how to resolve this issue??

[shmpwk]

It seems the way to load map or the map itself is wrong.
Typical mistake is the map path is wrong. You have to correctly locate the map and specify the absolute path, not relative path.

[patelabhay-12]

how to give absolute path??
i am not getting

[shmpwk]

Absolute path is /home/mytsp01065/......, for example.
Could you share your launching command?

[patelabhay-12]

ros2 launch autoware_launch e2e_simulator.launch.xml vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit map_path:=/home/mytsp01065/Downloads

[shmpwk]

If your directory is like this, map_path:=/home/mytsp01065/Downloads/nishishinjuku_autoware_map

• Downloads
  • nishishinjuku_autoware_map
    • lanelet2_map.osm
    • pointcloud+map.pcd

[patelabhay-12]

now how to operate it in RViz

[patelabhay-12]

Thank you @shmpwk

[shmpwk]

Could you follow the tutorial? There is an instruction of operation.

[patelabhay-12]

not yet, but wil try

[anilbommareddy]

@shmpwk with your provided steps able to build successful on AWSIM-Ubuntu 22.04.
I would like to cross check is AWSIM provide interface data like lidar/radar(sensor) data to other application or Hardware.
For an example I have an application(non ROS) which calculate the position of a tag and i need the get this positions of data(x,y,z) from AWSIM and the calculated position tag need to display on AWSIM GUI.

[shmpwk]

@anilbommareddy Sounds great!

I close the issue since the original problem as stated in the title seems to have been resolved.
If you find a new problem, please post a new issue.

[patelabhay-12]

thank you @shmpwk

could you plz tell me how to generate the sensor data ??

[shmpwk]

@patelabhay-12
The sensor data is published from AWSIM simulator. You can find it when you launch AWSIM binary, as introduced in the tutorial.

[patelabhay-12]

thank you @shmpwk