"Auto" Button Deactivated

[shpark98]

Screencast.from.02-06-2025.03.53.46.PM.webm

Hello, I think I've hit the final hurdle.

The auto button is not getting activated.

Could it be a problem that I selected gyro_odom and am not using the IMU sensor?

The topic /vehicle/status/control_mode is continuously publishing 1 (autonomous).

I'm sharing the following topics

/control/autoware_operation_mode_transition_manager/debug_info

/system/operation_mode/state & /system/operation_mode/availability

[maxime-clem]

Please build and run this package inside your workspace: https://github.com/autowarefoundation/autoware_tools/tree/main/system/rqt_diagnostic_graph_monitor
It will show you the reason why the autonomous mode is not available.
It is most likely caused by some topic being unavailable or with a publishing rate bellow some threshold.
Once you identified the issue, you can either fix it or modify the requirements in these configuration files: https://github.com/autowarefoundation/autoware_launch/tree/main/autoware_launch/config/system/diagnostics

[shpark98]

Thank you for your continuous responses.

Is an IMU absolutely necessary?

There seems to be an issue with the sensor_fusion_status in localization.

There is a problem with ekf_localizer, and I suspect that it might be due to proceeding without an IMU while selecting gyro_odom as the twist_source.

[maxime-clem]

Your screenshot did not upload correct. Can you fix it so I can see the error message ?

[shpark98]

Sorry for my mistake. I fixed it.

[maxime-clem]

Thank you. To know exactly what is the issue with the ekf_localizer you need to look at its diagnostic. You can use tools like rqt_robot_monitor or Foxglove to look at the details of the diagnostics. The relevant diagnostic message should have the name localization: ekf_localizer and hardware_id ekf_localizer.