Error in running `Autoware` with TMfuzz

[yagol2020]

Hello! @ldegao I encountered an issue while testing Autoware where it gets stuck at "Waiting for Autoware vehicle Ready." Could you help me resolve this? Thank you for your assistance!

TMfuzz Logs

(tmfuzz) yy@yy-Z790M-AORUS-ELITE-AX:~/TMfuzz/script$ source /opt/ros/melodic/setup.bash 
(tmfuzz) yy@yy-Z790M-AORUS-ELITE-AX:~/TMfuzz/script$ ./test.sh autoware 0.4 3 3600
autoware
Docker container carla-yy is not in running state. Running stop_carla.sh...
Error: No such container: carla-yy
Docker container carla-yy doesn't exist. Running run_carla.sh...
5da8394d7dd2002b95398139f5049d946c8886899d6bdaead7be900f6f149e21
Deleted files in /tmp/fuzzerdata/yy
../data/output/camera/ does not exist. Skipping...
../data/output/errors/ does not exist. Skipping...
../data/output/trace/ does not exist. Skipping...
There is nothing to save now
pygame 2.3.0 (SDL 2.24.2, Python 3.7.16)
Hello from the pygame community. https://www.pygame.org/contribute.html
API: ./carla/PythonAPI/carla-0.9.13-py3.6-linux-x86_64.egg
/home/yy/anaconda3/envs/tmfuzz/lib/python3.7/site-packages/carla/__init__.py
/home/yy/anaconda3/envs/tmfuzz/lib/python3.7/site-packages/torchvision/models/_utils.py:209: UserWarning: The parameter 'pretrained' is deprecated since 0.13 and may be removed in the future, please use 'weights' instead.
  f"The parameter '{pretrained_param}' is deprecated since 0.13 and may be removed in the future, "
/home/yy/anaconda3/envs/tmfuzz/lib/python3.7/site-packages/torchvision/models/_utils.py:223: UserWarning: Arguments other than a weight enum or `None` for 'weights' are deprecated since 0.13 and may be removed in the future. The current behavior is equivalent to passing `weights=ResNet50_Weights.IMAGENET1K_V1`. You can also use `weights=ResNet50_Weights.DEFAULT` to get the most up-to-date weights.
  warnings.warn(msg)
[info] determ seed set to: 1742305661.835521
Using seed dir ./data/seed
Connecting to localhost:4000
 ====== Analyzing Initial Population ====== 
 ====== GA Generation 1 ====== 
timeout after 15 min
Town03 '79.49516296386719,71.6148452758789,8.305596351623535,0,0,-92.02408599853516' '4000'
[*] Waiting for ROS to be launched
left time: 894
Autoware nodes are ready.nodes 
[*] Waiting for Autoware agent 
    [*] found [194] at Location(x=79.494904, y=-71.621849, z=7.854290)
left time: 886
[*] Waiting for Autoware vehicle Ready    # Stuck!!!!!

System Environment

• OS: Ubuntu 18.04
• Python: 3.7
• Docker: 20.10.21
• GPU: RTX 4080
• nvidia-smi output:

(base) yy@yy-Z790M-AORUS-ELITE-AX:~$ nvidia-smi 
Tue Mar 18 21:56:21 2025       
+---------------------------------------------------------------------------------------+
| NVIDIA-SMI 530.41.03              Driver Version: 530.41.03    CUDA Version: 12.1     |
|-----------------------------------------+----------------------+----------------------+
| GPU  Name                  Persistence-M| Bus-Id        Disp.A | Volatile Uncorr. ECC |
| Fan  Temp  Perf            Pwr:Usage/Cap|         Memory-Usage | GPU-Util  Compute M. |
|                                         |                      |               MIG M. |
|=========================================+======================+======================|
|   0  NVIDIA GeForce RTX 4080         Off| 00000000:01:00.0  On |                  N/A |
|  0%   37C    P3               43W / 340W|   3664MiB / 16376MiB |     36%      Default |
|                                         |                      |                  N/A |
+-----------------------------------------+----------------------+----------------------+
                                                                                         
+---------------------------------------------------------------------------------------+
| Processes:                                                                            |
|  GPU   GI   CI        PID   Type   Process name                            GPU Memory |
|        ID   ID                                                             Usage      |
|=======================================================================================|
|    0   N/A  N/A      1389      G   /usr/lib/xorg/Xorg                           36MiB |
|    0   N/A  N/A      1497      G   /usr/bin/gnome-shell                        103MiB |
|    0   N/A  N/A      2028      G   /usr/lib/xorg/Xorg                          281MiB |
|    0   N/A  N/A      2172      G   /usr/bin/gnome-shell                         83MiB |
|    0   N/A  N/A      2899      C   python3                                     858MiB |
|    0   N/A  N/A      4032      G   /opt/ros/melodic/lib/rviz/rviz               14MiB |
|    0   N/A  N/A     31815    C+G   ...aries/Linux/CarlaUE4-Linux-Shipping     2271MiB |
+---------------------------------------------------------------------------------------+

Autoware Container Logs

I have included logs from the Autoware container in Docker (docker logs autoware-yy), which may help diagnose the issue.

[ WARN] [1742306225.059641996, 116.859285218]: Necessary topics are not subscribed yet ... 
[ WARN] [1742306225.059985351, 116.859285218]: Necessary topics are not subscribed yet. Waiting...
[ WARN] [1742306225.113328952, 116.909285218]: Necessary topics are not subscribed yet ... 
[ WARN] [1742306225.113347103, 116.909285218]: Necessary topics are not subscribed yet ... 
[ WARN] [1742306225.167004627, 116.959285219]: Necessary topics are not subscribed yet ... 
[ WARN] [1742306225.220571015, 117.009285220]: Necessary topics are not subscribed yet ... 
[ WARN] [1742306225.220590235, 117.009285220]: Necessary topics are not subscribed yet ... 
[ WARN] [1742306225.273518869, 117.059285221]: Necessary topics are not subscribed yet. Waiting...
[ WARN] [1742306225.274212603, 117.059285221]: Necessary topics are not subscribed yet ... 
[ WARN] [1742306225.322617863, 117.109285221]: Necessary topics are not subscribed yet ... 
[ WARN] [1742306225.322634264, 117.109285221]: Necessary topics are not subscribed yet ... 
[ WARN] [1742306225.369199015, 117.159285222]: "base_link" passed to lookupTransform argument target_frame does not exist. 
[ WARN] [1742306225.369977586, 117.159285222]: Necessary topics are not subscribed yet ... 
[ WARN] [1742306225.370002322, 117.159285222]: Waiting for subscribing topics...
[ WARN] [1742306225.422604775, 117.209285223]: Necessary topics are not subscribed yet ... 
[ WARN] [1742306225.422621204, 117.209285223]: Necessary topics are not subscribed yet ... 
[ WARN] [1742306225.471079733, 117.259285224]: Necessary topics are not subscribed yet. Waiting...
[ WARN] [1742306225.471277225, 117.259285224]: Necessary topics are not subscribed yet ... 
[ WARN] [1742306225.518639081, 117.309285224]: Necessary topics are not subscribed yet ... 
[ WARN] [1742306225.518666954, 117.309285224]: Necessary topics are not subscribed yet ... 
[ WARN] [1742306225.565975480, 117.359285225]: Necessary topics are not subscribed yet ... 
(base) yy@yy-Z790M-AORUS-ELITE-AX:~$ 

Code Modification

I modified the Autoware image name in simulate.py at line 946 as follows:

            autoware_container = docker_client.containers.run(
                "carla-autoware:improved",     # Remove '-record'
                command=autoware_cla,
                detach=True,
                auto_remove=True,
                name="autoware-{}".format(os.getenv("USER")),
                volumes=vol_dict,
                privileged=True,
                network_mode="host",
                # runtime="nvidia",
                device_requests=[
                    docker.types.DeviceRequest(device_ids=["all"], capabilities=[['gpu']])],
                environment=env_dict,
                stdout=True,
                stderr=True
            )

Screenshots

Thank you for your support!