I encountered some problems that I don't know how to solve, resulting in the inability to use autoware

[1111F11]

Terminal error：
[topic_state_monitor_node-10] [WARN] [1724032097.189147963] [system.topic_state_monitor_pose_estimator_pose]: /localization/pose_estimator/pose_with_covariance topic is timeout.
[topic_state_monitor_node-11] [WARN] [1724032097.236383411] [system.topic_state_monitor_obstacle_segmentation_pointcloud]: /perception/obstacle_segmentation/pointcloud topic is timeout.
[component_container_mt-79] [INFO] [1724032098.628125549] [default_ad_api.node.operation_mode]: localization, perception component state is unhealthy. Autonomous is not available.
[system_error_monitor-23] [ERROR] [1724032100.008937529] [system.system_error_monitor]: vehicle_state_report msg is timeout...
[topic_state_monitor_node-10] [WARN] [1724032100.288961980] [system.topic_state_monitor_pose_estimator_pose]: /localization/pose_estimator/pose_with_covariance topic rate has dropped to the error level.
[topic_state_monitor_node-11] [WARN] [1724032100.336380676] [system.topic_state_monitor_obstacle_segmentation_pointcloud]: /perception/obstacle_segmentation/pointcloud topic rate has dropped to the error level.
[component_container_mt-79] [INFO] [1724032101.628592067] [default_ad_api.node.operation_mode]: localization, perception component state is unhealthy. Autonomous is not available.
[topic_state_monitor_node-10] [WARN] [1724032103.289057801] [system.topic_state_monitor_pose_estimator_pose]: /localization/pose_estimator/pose_with_covariance topic is timeout.
[topic_state_monitor_node-11] [WARN] [1724032103.436324617] [system.topic_state_monitor_obstacle_segmentation_pointcloud]: /perception/obstacle_segmentation/pointcloud topic rate has dropped to the error level.
[component_container_mt-79] [INFO] [1724032104.828330858] [default_ad_api.node.operation_mode]: localization, perception component state is unhealthy. Autonomous is not available.
[system_error_monitor-23] [ERROR] [1724032105.008981684] [system.system_error_monitor]: vehicle_state_report msg is timeout...
[topic_state_monitor_node-10] [WARN] [1724032106.389389649] [system.topic_state_monitor_pose_estimator_pose]: /localization/pose_estimator/pose_with_covariance topic is timeout.
[topic_state_monitor_node-11] [WARN] [1724032106.536768001] [system.topic_state_monitor_obstacle_segmentation_pointcloud]: /perception/obstacle_segmentation/pointcloud topic rate has dropped to the error level.
[component_container_mt-79] [INFO] [1724032108.027942489] [default_ad_api.node.operation_mode]: localization, perception component state is unhealthy. Autonomous is not available.
[topic_state_monitor_node-10] [WARN] [1724032109.489034408] [system.topic_state_monitor_pose_estimator_pose]: /localization/pose_estimator/pose_with_covariance topic is timeout.
[topic_state_monitor_node-11] [WARN] [1724032109.612069400] [system.topic_state_monitor_obstacle_segmentation_pointcloud]: /perception/obstacle_segmentation/pointcloud topic rate has dropped to the warning level.
[system_error_monitor-23] [ERROR] [1724032110.108956059] [system.system_error_monitor]: vehicle_state_report msg is timeout...
[component_container_mt-79] [INFO] [1724032111.028065045] [default_ad_api.node.operation_mode]: localization, perception component state is unhealthy. Autonomous is not available.
[topic_state_monitor_node-10] [WARN] [1724032112.589055736] [system.topic_state_monitor_pose_estimator_pose]: /localization/pose_estimator/pose_with_covariance topic rate has dropped to the error level.
[topic_state_monitor_node-11] [WARN] [1724032112.636416817] [system.topic_state_monitor_obstacle_segmentation_pointcloud]: /perception/obstacle_segmentation/pointcloud topic is timeout.
[component_container_mt-79] [INFO] [1724032114.029499075] [default_ad_api.node.operation_mode]: localization, perception component state is unhealthy. Autonomous is not available.
[system_error_monitor-23] [ERROR] [1724032115.109148300] [system.system_error_monitor]: vehicle_state_report msg is timeout...
[topic_state_monitor_node-10] [WARN] [1724032115.590147794] [system.topic_state_monitor_pose_estimator_pose]: /localization/pose_estimator/pose_with_covariance topic is timeout.
[topic_state_monitor_node-11] [WARN] [1724032115.636517738] [system.topic_state_monitor_obstacle_segmentation_pointcloud]: /perception/obstacle_segmentation/pointcloud topic rate has dropped to the warning level.
[component_container_mt-79] [INFO] [1724032117.228079965] [default_ad_api.node.operation_mode]: localization, perception component state is unhealthy. Autonomous is not available.
[topic_state_monitor_node-10] [WARN] [1724032118.626075243] [system.topic_state_monitor_pose_estimator_pose]: /localization/pose_estimator/pose_with_covariance topic is timeout.
[topic_state_monitor_node-11] [WARN] [1724032118.737434717] [system.topic_state_monitor_obstacle_segmentation_pointcloud]: /perception/obstacle_segmentation/pointcloud topic rate has dropped to the warning level.
[system_error_monitor-23] [ERROR] [1724032120.208975726] [system.system_error_monitor]: vehicle_state_report msg is timeout...
[component_container_mt-79] [INFO] [1724032120.230111880] [default_ad_api.node.operation_mode]: localization, perception component state is unhealthy. Autonomous is not available.

rqt_runtime_monitor

autoware

What do I need to do to eliminate these errors?

[maxime-clem]

The performance of your system seem very bad, with some topics being published at a very low rate (pointcloud, ...) and some completely timing out (vehicle_state_report, ...). As a safety measure, the system monitor is prevent Autoware to engage if some topics are not published at a good enough rate.
If you can fix these issues with your system, then the autonomous mode should become available.

If you want to ignore these issues and still engage Autoware, you can configure the system monitor by editing its configuration files (https://github.com/autowarefoundation/autoware_launch/tree/main/autoware_launch/config/system). For example, to not check the pointcloud topic you can remove these lines.
You can also completely disable this monitoring by launching Autoware with the argument launch_system:=false.
⚠️ Be aware that it is dangerous to engage Autoware and let it control your vehicle while your system has performance issues.

[maxime-clem]

You can remove the traffic signals topic from the topics.yaml like I wrote in my previous message: https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/config/system/component_state_monitor/topics.yaml#L79-L90

[1111F11]

What I mean is that as long as the reporting error is eliminated, can autoware perform automatic driving normally?
Or do you think you will get this error in the end?
[component_container_mt-76] [INFO] [1724038454.006211217] [default_ad_api.node.operation_mode]: perception component state is unhealthy. Autonomous is not available.

[maxime-clem]

Sorry I did not realize that this message was coming from the default_ad_api. You can disable it with the launch argument launch_api:=false.

[1111F11]

Thanks for your reply. I just started learning how to use autoware and I don’t know much about the architecture. Could you please tell me how to turn off this API?

[maxime-clem]

When launching autoware, add the argument launch_api:=false. For example:

ros2 launch autoware_launch autoware.launch.xml map_path:=/PATH/TO/MAP\
vehicle_model:=VEHICLE_MODEL sensor_model:=SENSOR_MODEL\
launch_api:=false

You can see the various parameters defined in this file: https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/launch/autoware.launch.xml#L24