Apollo v11.0.0 Fail to Launch Planning Module After Launching Dreamview

[YuqiHuai]

Describe the bug
The planning module cannot be launched after the user launches the deprecated Dreamview.

To Reproduce
Steps to reproduce the behavior:

1. Checkout tags/v11.0.0 via git checkout tags/v11.0.0
2. Start and enter Apollo container using bash docker/scripts/dev_start.sh and bash docker/scripts/dev_into.sh
3. Build Apollo using bash apollo.sh build
4. Launch DreamView using bash scripts/bootstrap.sh
5. Expect to see DreamView failed to launch
6. Launch planning module using cyber_launch start modules/planning/planning_component/launch/planning.launch
7. Expect ERROR

Expected behavior
The planning module should be able to launch.

Actual behavior

[libprotobuf FATAL external/com_google_protobuf/src/google/protobuf/message_lite.cc:449] CHECK failed: IsInitialized(): Can't serialize message of type "apollo.external_command.CommandStatus" because it is missing required fields: status
terminate called after throwing an instance of 'google::protobuf::FatalException'
  what():  CHECK failed: IsInitialized(): Can't serialize message of type "apollo.external_command.CommandStatus" because it is missing required fields: status
[cyber_launch_1226630] ERROR Process [planning] has died [pid 1226671, exit code -6, cmd mainboard -d /apollo/modules/external_command/process_component/dag/external_command_process.dag -d /apollo/modules/planning/planning_component/dag/planning.dag -p planning -s CYBER_DEFAULT].

Additional context
Seems like dreamview has been deprecated, but once user accidentlly launches it, planning module will no longer be able to launch.

[yuxin-2]

您好，经过分析，您的 Dreamview 并未成功启动。Planning 模块的正常运行依赖于地图数据，而地图通常需要在 Dreamview 中加载。由于 Dreamview 启动失败导致地图数据缺失，进而造成了 Planning 模块无法启动。

建议您尝试使用 mainboard 命令单独运行相关 DAG 文件以排查具体问题：

mainboard -d /apollo/modules/planning/planning_component/dag/planning.dag
mainboard -d /apollo/modules/external_command/process_component/dag/external_command_process.dag

Hello, upon analysis, it appears that your Dreamview did not launch successfully. The Planning module depends on map data to function correctly, which is typically loaded through Dreamview. Since Dreamview failed to start, the map data was missing, resulting in the Planning module's failure to launch.

We recommend trying to run the relevant DAG files individually using the mainboard command to troubleshoot the specific issue:

mainboard -d /apollo/modules/planning/planning_component/dag/planning.dag
mainboard -d /apollo/modules/external_command/process_component/dag/external_command_process.dag

[YuqiHuai]

@yuxin-2 感谢回复 看起来加载地图的部分是成功执行了的 是加载地图之后才报错。出现错误之后如果成功启动dreamview plus，planning也无法再被启动了。如果我创建新的container，只启动dreamview plus，planning模块就不会出错。
如果之前的dreamview已经被彻底弃用，是不是应该把相关的启动脚本完全删掉避免出现这种情况？

[yuxin-2]

我测试下，晚点给您答复，因为我们使用dv都是正常的，您是不是选择了车辆？选择车型会出现您说的情况

[yuxin-2]

然后你需要看看启动planning报什么错误，没有错误我没法给你办法

[YuqiHuai]

I ran the following bash scripts to reproduce the bug

bash docker/scripts/dev_start.sh
bash docker/scripts/dev_into.sh

Inside docker

bash scripts/bootstrap.sh

cyber_launch start modules/planning/planning_component/launch/planning.launch

[yuxin-2]

建议您尝试使用 mainboard 命令单独运行相关 DAG 文件以排查具体问题，看起来像是external_command的问题

mainboard -d /apollo/modules/planning/planning_component/dag/planning.dag
mainboard -d /apollo/modules/external_command/process_component/dag/external_command_process.dag

[YuqiHuai]

如果我不启动以前版本的Dreamview，就不会有问题
If I do not start the original dv, no error occur

bash docker/scripts/dev_start.sh
bash docker/scripts/dev_into.sh

在docker容器内
Inside docker

cyber_launch start modules/planning/planning_component/launch/planning.launch

(没有报错)
(no error)

[YuqiHuai]

建议您尝试使用 mainboard 命令单独运行相关 DAG 文件以排查具体问题，看起来像是external_command的问题

mainboard -d /apollo/modules/planning/planning_component/dag/planning.dag mainboard -d /apollo/modules/external_command/process_component/dag/external_command_process.dag

[YuqiHuai]

@yuxin-2 感谢回复！确实是external_command的问题。您可以给出一些建议给我该如何下一步去debug这个问题吗？

同时还想问一下您说“我们使用dv都是正常的”，是指dv+吗？因为目前看起来launch dv并不成功。

[yuxin-2]

建议您尝试使用 mainboard 命令单独运行相关 DAG 文件以排查具体问题，看起来像是external_command的问题
主板 -d /Apollo/modules/planning/planning_component/DAG/Planning.DAG 主板 -d /Apollo/modules/external_command/process_component/DAG/external_command_process.DAG

感谢您的反馈！确实，从报错日志来看，这更像是 external_command 模块的问题。

实不相瞒，我之前还没有遇到过这种情况。我需要花时间深入调查一下这个问题，确认具体原因后再给您回复。谢谢您的耐心，我会尽快跟进。

Thank you for the feedback! Indeed, based on the error logs, this seems to be an issue with the external_command module.

To be honest, I haven't encountered this specific situation before. I need some time to investigate this further and will get back to you once I have more insights. Thanks for your patience, and I will follow up as soon as possible.

[yuxin-2]

@yuxin-2 感谢回复！确实是external_command的问题。您可以给出一些建议给我该如何下一步去debug这个问题吗？

同时还想问一下您说“我们使用dv都是正常的”，是指dv+吗？因为目前看起来launch dv并不成功。

我们dv和dv+都测试过的，不过我还是建议使用dv+

[YuqiHuai]

@yuxin-2 也感谢您这么及时回复！方便问一下为什么您可以这么及时的回复以及怎么都是中英双语回复了吗? 😄 是Apollo正式工作里的规定吗？

Thank you for your prompt reply! I am curious about why you were able to reply so quickly, and why your replies are in both Chinese and English 😄 Is this a standard procedure in Apollo's operations now?

[SakuraPuare]

此类问题我遇到过 出现在 切换 场景/车辆/地图 后 未重启 external_command 导致，强烈建议使用dreamview进行模块管理 以便在切换上述内容时自动关闭 @YuqiHuai

[yuxin-2]

@yuxin-2 也感谢您这么及时回复！方便问一下为什么您可以这么及时的回复以及怎么都是中英双语回复了吗? 😄 是Apollo正式工作里的规定吗？

Thank you for your prompt reply! I am curious about why you were able to reply so quickly, and why your replies are in both Chinese and English 😄 Is this a standard procedure in Apollo's operations now?

双语回复是我个人习惯

[yuxin-2]

此类问题我遇到过 出现在 切换 场景/车辆/地图 后 未重启 external_command 导致，强烈建议使用dreamview进行模块管理 以便在切换上述内容时自动关闭 @YuqiHuai

可以使用ps -ef | grep "mainboard"，然后kill相关进程也行