Localization module launch error due to missing imu transform

[chiragr15]

System information

• OS Platform and Distribution (e.g., Linux Ubuntu 18.04): Ubuntu 22.04.2 LTS
• Apollo installed from (source or binary): b9.0.0-rc10

Steps to reproduce the issue:

• Built Apollo from source with build_opt_gpu successfully.

• Dreamview, transform are launched correctly, but when I run the following command to launch rtk_localization, it throws an error:

• mainboard -d modules/localization/dag/dag_streaming_rtk_localization.dag

• The modules/tranform/conf file does contain the relevant imu_transformation.txt file but I still get the above error.

• I also want to launch the planning module similar to the way it launches from Dreamview( when launched from cyber_launch, the behavior is not the same compared to launching from Module Controller in Dreamview).

Thank you in advance, this is a critical error to resolve and would appreciate your swift response.

[YuqiHuai]

I might be able to help you with

I also want to launch the planning module similar to the way it launches from Dreamview( when launched from cyber_launch, the behavior is not the same compared to launching from Module Controller in Dreamview).

Can you be more clear about the difference?

[chiragr15]

When I launch prediction, planning and control from Dreamview, and then send a routing request, I can visualize the routing output along with the planning and control operating as well. But when I launch the prediction from dreamview, planning from cyber_launch, I am unable to send a routing request(I get the default Lane Follow Command, but no routing output) and hence the planning and control do not work as a result of receiving no routing request.

[YuqiHuai]

Thanks for the response. That is the issue I am aware of.

You need to also launch the external command process https://github.com/ApolloAuto/apollo/blob/9.x_alpha/modules/external_command/process_component/launch/external_command_process.launch

In Apollo 9.0, they use this external command process to invoke routing.

[chiragr15]

Thank you for your response on the issue, I will try this out!

[YuqiHuai]

Ops ... I just realized you also posted https://github.com/ApolloAuto/apollo/issues/15400 , that specific problem should be resolved by this.

[kenpachiiii]

Hello Sir, have you solved the problem “Localization module launch error due to missing imu transform”? I'm experiencing the same problem, and if you've solved it I'd like to ask how you solved it. Thanks in advance.