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  • Ubuntu 16.04
  • Autoware Docker pre-built container autoware/autoware:latest-melodic-cuda
  • Local ROS version: Kinetic

Hi all,

I'm trying to use most of Autoware's packages without launching them from the runtime manager. I use a .launch file that launches all the packages and nodes I need. This works fine, except for ndt_matching.launch from the lidar_localizer package. I realized that even by running:

cd /home/autoware/Autoware

source install/setup.bash

roslaunch lidar_localizer ndt_matching.launch

I get the following error:

auto-starting new master process[master]: started with pid [12645] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 5739dd7a-1c64-11ea-8d07-48a472bde50c process[rosout-1]: started with pid [12656] started core service [/rosout] process[ndt_matching-2]: started with pid [12659] terminate called after throwing an instance of 'boost::exception_detail::clone_implboost::exception_detail::error_info_injector<boost::lock_error

' what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument [ndt_matching-2] process has died [pid 12659, exit code -6, cmd /home/autoware/Autoware/install/lidar_localizer/lib/lidar_localizer/ndt_matching __name:=ndt_matching __log:=/root/.ros/log/5739dd7a-1c64-11ea-8d07-48a472bde50c/ndt_matching-2.log]. log file: /root/.ros/log/5739dd7a-1c64-11ea-8d07-48a472bde50c/ndt_matching-2*.log

Any idea why? I realized that this doesn't happen when I first launch the runtime manager and then kill the runtime manager's node from the command line and eventually launch ndt_matching.launch. This must be something configured when launching roslaunch runtime_manager runtime_manager.launch.

By the way, by default the ndt_matching method used is pcl_generic, and not pcl_anh or other, which I have read had some issues in the past with the same kind of error.

Originally posted by Doug on ROS Answers with karma: 13 on 2019-12-11

Post score: 0


1 Answer 1


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@Doug have a look here it outlines how to launch the rosbag demo headless, in particular you might be missing some parameters that are loaded when the runtime manager starts, the post shows how to get them

Originally posted by sgermanserrano with karma: 166 on 2019-12-12

This answer was ACCEPTED on the original site

Post score: 1

Original comments

Comment by Doug on 2019-12-12:
Thanks ! That was it. I needed to do: rosparam load headless_setup.yaml

Comment by IvanV on 2021-07-07:
@sgermanserrano I'm trying to follow the guide, but I'm unable to download some of the files (headless_setup.yaml), as they seems they are not available anymore.

Would you be so kind of uploading them again, please?

Thank you.


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