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Troubleshooting Guide for AWSIM Labs and Autoware#

This document outlines common issues encountered when working with AWSIM and Autoware, along with suggested solutions.

1. General Plugin and Runtime Issues#

Massive Output of Plugin Errors#

Solution:
Re-clone the AWSIM repository using:

git clone <awsim_repository_url>

RuntimeError: error not set#

Error Message:
RuntimeError: error not set, at C:\ci\ws\src\ros2\rcl\rcl\src\rcl\node.c:262

Solution:
Ensure ROS2 environment variables and configuration files are properly set:

  • Environment variables
  • cyclonedds_config.xml

2. ROS2 Communication Issues#

ros2 topic list Does Not Display#

Possible Causes & Solutions:

  • Your machine's ROS_DOMAIN_ID differs — ensure it matches across systems.
  • ROS2 is not sourced — run: 
    source /opt/ros/<distro>/setup.bash

ROS2 Topic List Not Displayed Between Windows (AWSIM) and Ubuntu (Autoware)#

Solution:
Allow communication through the Windows Firewall.

3. Simulation and Runtime Behavior#

Self-Driving Stops in the Middle of the Road#

Solution:
Check the accuracy of your map data:

  • PointCloud
  • VectorMap
  • 3D FBX models

Poor Network Performance When Connecting AWSIM and Autoware#

Solution:
Make ROS localhost-only. Add the following to your .bashrc:

export ROS_LOCALHOST_ONLY=1
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

if [ ! -e /tmp/cycloneDDS_configured ]; then
  sudo sysctl -w net.core.rmem_max=2147483647
  sudo ip link set lo multicast on
  touch /tmp/cycloneDDS_configured
fi

Lidar (Colored PointCloud) Not Showing in RViz#

Solution:
Reduce processing load (only for awsim-stable branch of Autoware):

cd <path_to_your_autoware_folder>
wget "https://drive.google.com/uc?export=download&id=11mkwfg-OaXIp3Z5c3R58Pob3butKwE1Z" -O patch.sh
bash patch.sh && rm patch.sh

4. Crashes and Errors#

Segmentation Fault When Starting AWSIM Binary#

Solution:

  • Verify Nvidia drivers and Vulkan API are properly installed.
  • Disable Graphic Jobs in Unity Player Settings to prevent segmentation faults. See related Unity Forum post.

Unity Editor Crashes#

Solution:
Check the appropriate log files:

Editor Logs

  • Windows: C:\Users\username\AppData\Local\Unity\Editor\Editor.log
  • Linux: ~/.config/unity3d/.Editor.log

Player Logs

  • Windows: C:\Users\username\AppData\LocalLow\CompanyName\ProductName\output_log.txt
  • Linux: ~/.config/unity3d/CompanyName/ProductName/Player.log

More info: Unity Documentation - Log Files

Unity Editor Error when Playing#

Error: 

RuntimeError: failed to get symbol 'rmw_init_options_init' due to Environment variable 'AMENT_PREFIX_PATH' is not set or empty, at ./src/functions.cpp:171, at ./src/rcl/init_options.c:75
ROS2.Utils.CheckReturnEnum (System.Int32 ret) (at <2034886caef046439cfa6ebcd9ed8cd7>:0)
ROS2.Ros2cs.Init () (at <2034886caef046439cfa6ebcd9ed8cd7>:0)
ROS2.ROS2ForUnity..ctor () (at Assets/Ros2ForUnity/Scripts/ROS2ForUnity.cs:326)
ROS2.ROS2UnityCore..ctor () (at Assets/Ros2ForUnity/Scripts/ROS2UnityCore.cs:55)
AWSIM.SimulatorROS2Node.Initialize () (at Assets/AWSIM/Scripts/ROS/SimulatorROS2Node.cs:37)

Solution:

Required environment variables:

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=file:///home/add_your_username/cyclonedds.xml
  • If you are launching unityhub directly from a launcher,
  • Make sure the CycloneDDS related 2 environment variables are set in the:
    • ~/.profile file.
    • if ~/.bash_profile or ~/.bash_login exists, they will be executed instead of ~/.profile.
  • If you are launching unityhub from a terminal,
  • Make sure the CycloneDDS related 2 environment variables are set in the ~/.bashrc file.

More information can be found at DDS settings for ROS 2 and Autoware.

5. Setup and Compatibility Errors#

Initial Pose Does Not Match Automatically#

Solution:
Set the initial pose manually. Initial Pose
Initial Pose

Unity Safe Mode / libssl Error#

Error Message:
No usable version of libssl was found

Solution:

  1. Download: 
    wget http://security.ubuntu.com/ubuntu/pool/main/o/openssl1.0/libssl1.0.0_1.0.2n-1ubuntu5.11_amd64.deb
  2. Install: 
    sudo dpkg -i libssl1.0.0_1.0.2n-1ubuntu5.11_amd64.deb

Plugin Dependency Error in Windows Unity Editor#

Error Message:
Plugins: Failed to load 'Assets/RGLUnityPlugin/Plugins/Windows/x86_64/RobotecGPULidar.dll'...

Solution:
Install Microsoft Visual C++ Redistributable (X64)

6. System Compatibility and Driver Issues#

Unity Simulation Freezes on Windows#

Solution:
Update or install the latest Network Interface Card (NIC) drivers from the hardware vendor (not Microsoft).

Unity Project Crashes While Loading#

Solution:
Install the recommended Nvidia driver version 545.