perception mudule issues, can not find transform.

[ScottDeng114514]

We appreciate you go through Apollo documentations and search previous issues before creating an new one. If neither of the sources helped you with your issues, please report the issue using the following form. Please note missing info can delay the response time.

System information

• OS Platform and Distribution (e.g., Linux Ubuntu 18.04):ubuntu 20.04, x86
• Apollo installed from (source or binary): source
• Apollo version (3.5, 5.0, 5.5, 6.0): 9.0
• Output of apollo.sh config if on master branch:
  [INFO] Apollo Environment Settings: [INFO] APOLLO_ROOT_DIR: /apollo [INFO] APOLLO_CACHE_DIR: /apollo/.cache [INFO] APOLLO_IN_DOCKER: true [INFO] APOLLO_VERSION: @non-git [INFO] DOCKER_IMG: dev-x86_64-18.04-20231128_2222 [INFO] APOLLO_ENV: STAGE=dev USE_ESD_CAN=false [INFO] USE_GPU_HOST: 1 [INFO] USE_GPU_TARGET: 1 [INFO] GPU_PLATFORM: NVIDIA [INFO] Configure .apollo.bazelrc in non-interactive mode [INFO] You have bazel 5.2.0 installed. [INFO] Found possible Python library paths: /usr/local/lib/python3.6/dist-packages /usr/lib/python3/dist-packages [INFO] Found CUDA 11.8 in: /usr/local/cuda-11.8/targets/x86_64-linux/lib /usr/local/cuda-11.8/targets/x86_64-linux/include [INFO] Found cuDNN 8 in: /usr/lib/x86_64-linux-gnu /usr/include [INFO] Found TensorRT 8 in: /usr/lib/x86_64-linux-gnu /usr/include/x86_64-linux-gnu [ OK ] Successfully configured .apollo.bazelrc in non-interactive mode.

Steps to reproduce the issue:

• I provided two channel of images to cyberRT, "/apollo/sensor/camera/front_6mm/image" and "/apollo/sensor/camera/front_12mm/image", in the camera view in Dreamview I can see the image, but I can't see images in cyber_visualizer
• I launched perception_all.launch, and errors occurred:
• [perception] E0104 17:26:59.905864 3964521 transform_wrapper.cc:276] [mainboard]Can not find transform. 1704360419.880335808 frame_id: novatel child_frame_id: front_6mm Error info: canTransform: target_frame novatel does not exist. canTransform: source_frame front_6mm does not exist.:timeout [perception] E0104 17:26:59.905928 3964521 camera_detection_multi_stage_component.cc:137] [perception]failed to get camera to world pose, ts: 1.70436e+09 frame_id: [perception] E0104 17:26:59.914590 3964519 transform_wrapper.cc:276] [mainboard]Can not find transform. 1704360419.894151688 frame_id: novatel child_frame_id: front_12mm Error info: canTransform: target_frame novatel does not exist. canTransform: source_frame front_12mm does not exist.:timeout [perception] E0104 17:26:59.914651 3964519 camera_detection_multi_stage_component.cc:137] [perception]failed to get camera to world pose, ts: 1.70436e+09 frame_id:
• I've tried everycar models, but errors still exist

Supporting materials (screenshots, command lines, code/script snippets):

[daohu527]

The error message is due to the fact that transform was not found. The reason is

1. The tf module is not started
2. There is no corresponding conversion relationship in tf