traffic_light_recognition died.

[cyberphysicalrobotics]

Bug report

Required information:

• Operating system and version:

  • Ubuntu 18.04

• Autoware installation type:

  • Docker with mounted source code directory

• Autoware version or commit hash

  • 0.14.0 version

• ROS distribution and version:

  • melodic

• ROS installation type:

  • Docker

• Package or library, if applicable:

  • trafficlight_recognizer

Description of the bug

traffic_light_recognition process has died as follows:

$ roslaunch traffic_light_recognition.launch                            
...

started roslaunch server http://ARC-TaeHyung-19:38169/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.6
 * /tl_switch/ams_light_color_topic: /ams_light_color
 * /tl_switch/camera_light_color_topic: //camera_light_color
 * /tl_switch/light_color_topic: /light_color
 * /traffic_light_recognition/camera_light_color_topic: //camera_light_color
 * /traffic_light_recognition/image_raw_topic: //image_raw

NODES
  /
    tl_switch (trafficlight_recognizer/tl_switch)
    traffic_light_recognition (trafficlight_recognizer/region_tlr)

ROS_MASTER_URI=http://localhost:11311

process[traffic_light_recognition-1]: started with pid [8943]

(superimpose result:8943): dbind-WARNING **: 20:21:39.405: Error retrieving accessibility bus address: org.freedesktop.DBus.Error.ServiceUnknown: The name org.a11y.Bus was not provided by any .service files
process[tl_switch-2]: started with pid [8944]
Attempt to unlock mutex that was not locked
[traffic_light_recognition-1] process has died [pid 8943, exit code -6, cmd /home/autoware/Autoware/install/trafficlight_recognizer/lib/trafficlight_recognizer/region_tlr __name:=traffic_light_recognition __log:=/home/autoware/.ros/log/9da67ef8-dc03-11ea-a975-54bf647d3a59/traffic_light_recognition-1.log].
log file: /home/autoware/.ros/log/9da67ef8-dc03-11ea-a975-54bf647d3a59/traffic_light_recognition-1*.log
^C[tl_switch-2] killing on exit
^Cshutting down processing monitor...
... shutting down processing monitor complete
done

Steps to reproduce the bug

1.Download vector, point map.

$ cd ~/shared_dir
$ git clone https://github.com/lgsvl/autoware-data.git
$ git checkout test_0.14.0

2.Run docker container

# Change directory to docker/generic
$ ./run.sh -t local # in my case, I used local tag. Instead you may use 1.14.0 tag.

3.Start Runtime Manager

$ roslaunch runtime_manager runtime_manager.launch

4.Start LGSVL Simulator
4-1.Download LGSVL Simulator
https://github.com/lgsvl/simulator/releases/download/2020.05/lgsvlsimulator-linux64-2020.05.zip
4-2.Unzip it.
4-3.Run simulator.
4-4.Click Open Browser
4-5.In Maps tap, add BorregasAve map as follows:

Map Name: BorregasAve
Map URL: https://assets.lgsvlsimulator.com/65fac0d499d716bb9a7ca89803f672d97b366cf9/environment_BorregasAve

4-6.In Vehicles tab, add Jaguar2015XE vehicle as follows:

Vehicle Name: Jaguar2015XE
Vehicle URL: https://assets.lgsvlsimulator.com/d49c88a93b11b047a3e21e0c7d4b2ec6964fb16d/vehicle_Jaguar2015XE

4-7.Add JSON sensor configuration
In Vehicles tab, click wrench button on Jaguar2015XE and select Bridge Type as ROS and copy and paste the following JSON configuration into Sensors window.

[
  {
    "type": "GPS Device",
    "name": "GPS",
    "params": {
      "Frequency": 12.5,
      "Topic": "/nmea_sentence",
      "Frame": "gps",
      "IgnoreMapOrigin": true
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "GPS Odometry",
    "name": "GPS Odometry",
    "params": {
      "Frequency": 12.5,
      "Topic": "/odom",
      "Frame": "gps",
      "IgnoreMapOrigin": true
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "IMU",
    "name": "IMU",
    "params": {
      "Topic": "/imu_raw",
      "Frame": "imu"
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "Lidar",
    "name": "Lidar",
    "params": {
      "LaserCount": 32,
      "MinDistance": 0.5,
      "MaxDistance": 100,
      "RotationFrequency": 10,
      "MeasurementsPerRotation": 360,
      "FieldOfView": 41.33,
      "CenterAngle": 10,
      "Compensated": true,
      "PointColor": "#ff000000",
      "Topic": "/points_raw",
      "Frame": "velodyne"
    },
    "transform": {
      "x": 0,
      "y": 2.312,
      "z": -0.3679201,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "Color Camera",
    "name": "Main Camera",
    "params": {
      "Width": 1920,
      "Height": 1080,
      "Frequency": 15,
      "JpegQuality": 75,
      "FieldOfView": 50,
      "MinDistance": 0.1,
      "MaxDistance": 1000,
      "Topic": "/simulator/camera_node/image/compressed",
      "Frame": "camera"
    },
    "transform": {
      "x": 0,
      "y": 1.7,
      "z": -0.2,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "Manual Control",
    "name": "Manual Car Control"
  },
  {
    "type": "Vehicle Control",
    "name": "Autoware Car Control",
    "params": {
      "Topic": "/vehicle_cmd"
    }
  }
]

4-8.In Simulations tab, add one as follows:

In General tab, Simulation Name: BorregasAve(Autoware)
In General tab, Select Cluster: Local Machine
In Map & Vehicle tab, Select Map: BorregasAve
In Select Vehicles, Select Jaguar2015XE and enter localhost:9090 next to it.
# Click Submit

4-9.Select BorregasAve(Autoware) simulation and click play button in the bottom.

5.Set launch files in Runtime Manager as follows:

In Quick Start tab, 
Map: /home/autoware/shared_dir/autoware-data/BorregasAve/my_launch/my_map.launch
Sensing: /home/autoware/shared_dir/autoware-data/BorregasAve/my_launch/my_sensing_simulator.launch
Localization: /home/autoware/shared_dir/autoware-data/BorregasAve/my_launch/my_localization.launch

6. Start Map, Sensing, Localzation modules in Runtime Manager
   Click Map, Sensing, Localization buttons.

7.In the terminal, start tmux

In one window, 
$ roslaunch trafficlight_recognizer feat_proj_option.launch
In the other window,
$ $ roslaunch trafficlight_recognizer traffic_light_recognition.launch
# You can see error message that traffic_light_recognition died.

Expected behavior

traffic_light_recognition node runs without error.

Actual behavior

traffic_light_recognition node died.

Screenshots

Additional information