TensorFlow TLR Occasionally Crashes
Required information:
- Operating system and version:
- Ubuntu 16.04/18.04
- Autoware installation type:
- From Source on
as/master
- From Source on
- Autoware version or commit hash
- 1.12.0-OAP3
- ROS distribution and version:
- ROS Kinetic or Melodic
- ROS installation type:
- Binaries
- Package or library, if applicable:
-
region_tlr_tensorflow
andtensorflow_tlr
-
Description of the bug
At certain points on the OAP route, the TensorFlow-based Traffic Light Recognizer crashes. This appears to be due to the number of traffic lights handed to it from the map, which has many traffic light duplicates. This has not been determined as the definitive cause but seems likely. We have a ROS bag which reliably reproduces the crash.
Steps to reproduce the bug
- Replay ROS bag from Autoware Bags/Live_traffic_tests/Peoria/live_traffic_rosbags/peoria_compressed_2019-07-24-11-54-32.bag on Dropbox.
- Localize using RViz.
- When the vehicle gets just beyond the Kumpf street crossing, the
tensorflow_tlr
node will crash with amalloc
error.
Expected behavior
The node doesn't crash.
Actual behavior
The node crashes.