Vehicle does not move. Read buffer overflow in planning module.

[ydavs]

After providing the routing information, the vehicle doesn't move. All modules are working fine in the console.

Steps to Reproduce the Problem

Steps to reproduce the behavior:

1. Run carla in docker
2. Run this command in the container to start Dreamview: ./scripts/bootstrap.sh
3. Start a co-simulation: Open apollo client: http://localhost:8888
4. Run python main.py

Module Logs

Planning module log:
E1122 11:46:36.630307 65315 trajectory_stitcher.cc:208] the distance between matched point and actual position is too large. Replan is triggered. lon_diff = 2.73432 W1122 11:46:36.718492 65315 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[1] pre_index[14961] current_index[14962] W1122 11:46:36.718665 65315 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:46:36.816599 65315 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[2] pre_index[14963] current_index[14965] W1122 11:46:36.816759 65315 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:46:36.911942 65315 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[1] pre_index[14966] current_index[14967] W1122 11:46:36.912123 65315 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:46:37.006389 65315 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[2] pre_index[14968] current_index[14970] W1122 11:46:37.006534 65315 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:46:37.099426 65315 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[1] pre_index[14971] current_index[14972] W1122 11:46:37.099589 65315 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:46:37.191464 65315 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[2] pre_index[14973] current_index[14975] W1122 11:46:37.191666 65315 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:46:37.288622 65315 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[1] pre_index[14976] current_index[14977] W1122 11:46:37.288787 65315 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:46:37.386586 65315 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[2] pre_index[14978] current_index[14980] W1122 11:46:37.386847 65315 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:46:37.489885 65315 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[1] pre_index[14981] current_index[14982] W1122 11:46:37.590387 65315 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[2] pre_index[14983] current_index[14985] W1122 11:46:37.770679 65315 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[2] pre_index[14986] current_index[14988] W1122 11:46:37.946139 65315 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[2] pre_index[14989] current_index[14991] W1122 11:46:38.124747 65315 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[1] pre_index[14992] current_index[14993] W1122 11:46:38.313097 65315 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[2] pre_index[14994] current_index[14996] W1122 11:46:38.509945 65319 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[2] pre_index[14997] current_index[14999] W1122 11:46:38.662998 65319 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[2] pre_index[15000] current_index[15002] W1122 11:46:38.758316 65319 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[2] pre_index[15003] current_index[15005] W1122 11:46:38.856293 65319 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[1] pre_index[15006] current_index[15007] W1122 11:46:38.955233 65319 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[2] pre_index[15008] current_index[15010] W1122 11:46:39.058802 65319 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[2] pre_index[15011] current_index[15013] W1122 11:46:39.165059 65319 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[2] pre_index[15014] current_index[15016] W1122 11:46:39.271004 65319 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[2] pre_index[15017] current_index[15019] W1122 11:46:39.380884 65308 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[2] pre_index[15020] current_index[15022] W1122 11:46:39.481211 65308 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[1] pre_index[15023] current_index[15024] W1122 11:46:39.605602 65317 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[2] pre_index[15025] current_index[15027] W1122 11:46:39.777469 65317 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[2] pre_index[15028] current_index[15030] W1122 11:46:39.995824 65317 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[2] pre_index[15031] current_index[15033] W1122 11:46:40.183440 65317 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[2] pre_index[15034] current_index[15036] W1122 11:46:40.379767 65307 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[2] pre_index[15037] current_index[15039] E1122 11:46:40.380254 65307 trajectory_stitcher.cc:208] the distance between matched point and actual position is too large. Replan is triggered. lon_diff = 2.70474 W1122 11:46:40.584754 65306 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[3] pre_index[15040] current_index[15043] W1122 11:46:40.701319 65306 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[1] pre_index[15044] current_index[15045] W1122 11:46:40.793671 65306 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[2] pre_index[15046] current_index[15048] W1122 11:46:40.894162 65309 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[1] pre_index[15049] current_index[15050] W1122 11:46:40.986508 65309 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[2] pre_index[15051] current_index[15053] W1122 11:46:41.082598 65309 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[2] pre_index[15054] current_index[15056] W1122 11:46:41.183203 65309 channel_buffer.h:70] channel[/apollo/prediction] read buffer overflow, drop_message[1] pre_index[15057] current_index[15058]

Prediction module log:
W1122 11:51:48.593421 65396 channel_buffer.h:70] channel[/apollo/perception/obstacles] read buffer overflow, drop_message[1] pre_index[29439] current_index[29440] W1122 11:51:48.645298 65396 channel_buffer.h:70] channel[/apollo/perception/obstacles] read buffer overflow, drop_message[2] pre_index[29441] current_index[29443] W1122 11:51:48.696202 65396 channel_buffer.h:70] channel[/apollo/perception/obstacles] read buffer overflow, drop_message[1] pre_index[29444] current_index[29445] W1122 11:51:48.747810 65396 channel_buffer.h:70] channel[/apollo/perception/obstacles] read buffer overflow, drop_message[2] pre_index[29446] current_index[29448] W1122 11:51:48.799568 65396 channel_buffer.h:70] channel[/apollo/perception/obstacles] read buffer overflow, drop_message[1] pre_index[29449] current_index[29450] W1122 11:51:48.851346 65396 channel_buffer.h:70] channel[/apollo/perception/obstacles] read buffer overflow, drop_message[2] pre_index[29451] current_index[29453] W1122 11:51:48.903666 65396 channel_buffer.h:70] channel[/apollo/perception/obstacles] read buffer overflow, drop_message[1] pre_index[29454] current_index[29455] W1122 11:51:48.971215 65396 channel_buffer.h:70] channel[/apollo/perception/obstacles] read buffer overflow, drop_message[2] pre_index[29456] current_index[29458] W1122 11:51:49.063175 65396 channel_buffer.h:70] channel[/apollo/perception/obstacles] read buffer overflow, drop_message[1] pre_index[29459] current_index[29460] W1122 11:51:49.156543 65396 channel_buffer.h:70] channel[/apollo/perception/obstacles] read buffer overflow, drop_message[2] pre_index[29461] current_index[29463] W1122 11:51:49.246239 65396 channel_buffer.h:70] channel[/apollo/perception/obstacles] read buffer overflow, drop_message[1] pre_index[29464] current_index[29465] W1122 11:51:49.329982 65396 channel_buffer.h:70] channel[/apollo/perception/obstacles] read buffer overflow, drop_message[2] pre_index[29466] current_index[29468]

Cyber monitor:

Module log without obstacles

I tried not sending obstacle information for static and walkers. This solved the read_buffer overflow in the prediction module, instead it propped another error:

Planning module log:
W1122 11:59:40.575243 65311 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:59:40.628093 65312 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:59:40.680117 65311 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:59:40.734103 65312 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:59:40.784384 65306 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:59:40.835904 65308 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:59:40.886309 65318 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:59:40.934964 65310 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:59:40.985132 65304 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:59:41.032332 65309 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:59:41.083657 65318 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:59:41.134104 65315 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:59:41.186017 65314 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:59:41.238444 65315 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:59:41.288568 65317 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:59:41.343022 65308 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:59:41.395514 65317 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:59:41.468499 65319 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:59:41.553045 65316 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:59:41.633848 65319 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:59:41.718817 65318 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:59:41.806159 65310 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:59:41.890632 65316 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time W1122 11:59:41.976517 65310 trajectory_stitcher.cc:156] current time smaller than the previous trajectory's first time
Though I see timestamps are syncing fine.

This may be related to the issue #208.