Unable to initialize pose due to vehicle motion state

[ahsan155]

I am using the autoware carla interface #autowarefoundation/autoware.universe#6859. But after starting the e2e simulator, autoware is not allowing me to initialize pose. autoware starts with vehicle motion state as moving.

When I hit 'initialize with GNSS' or make service call to pose initialize or use 2d pose estimate button, I get error

I was able to fix this problem when I launched with autoware.launch.xml by publishing 0 velocity to /vehicle/status/velocity_status. But in this case it looks like two different node is trying to publish to this topic

I tried publishing 0 velocity to above topics but nothing happens. I even tried to set motion state to stop by calling ros2 topic pub /api/motion/state autoware_adapi_v1_msgs/msg/MotionState "{stamp: {sec: 0, nanosec: 0}, state: 1}" --once. but when I verify if it stopped, I see that state goes back to moving.

Do I need to change anything in launch config to set vehicle in stopped state? What could be the issue?

[SakodaShintaro]

First of all, it is not good that two types of messages are published under the same topic name. Currently, changes to message types have been merged, so the appropriate type should be used.
autowarefoundation/autoware.universe#7241

In particular, /vehicle/status/velocity_status is used to calculate the twist and determine whether the vehicle is stopping or not.

I am not familiar with AD-API, but I think the motion state is changed by ego speed, so setting the speed is important.

[adeebislam8]

check if you got an error related to transforms3d. in my case upgrading that fixed the issue