map_loader fails to load lanelet map and another map is loaded

[VRichardJP]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

I am sorry about the confusing title, as I am myself confused over the following case:

I start autoware planning simulator with:

$ ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/data/autoware_data_universe/xxx

In the first few lines of logs, I can see the lanelet2_map_loader has crashed with the message:

[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'lanelet2_map_loader' of type 'Lanelet2MapLoaderNode' in container '/map/map_container': Component constructor threw an exception: Could not find lanelet map under /data/autoware_data_universe/xxx/lanelet2_map.osm

Suprisingly the file exist:

$ ll /data/autoware_data_universe/xxx/lanelet2_map.osm
-rw-rw-r-- 1 sig sig 114755 Jul 27  2021 /data/autoware_data_universe/xxx/lanelet2_map.osm

More surprisingly, I see in Rviz that another lanelet and pcd have been loaded! (located in /data/autoware_data_universe/yyy)

Just to double check, this is what my xxx map looks like:

Expected behavior

The correct map is loaded

Actual behavior

Magic

Steps to reproduce

?

Versions

No response

Possible causes

No response

Additional context

No response

[kminoda]

This is just a quick thought, but maybe the zombie process is lingering (I encounter this issue from time to time). If the zombie lanelet2_loader that loaded yyy map lingered, the above issue may happen. You can just check it by ros2 node list without launching anything.
If there exists some zombie processes, killing all the ROS processes may solve the issue. e.g.:

pkill ros2
pkill rviz2
pkill aggregator_node
ps aux | grep python3 | grep ros2 | grep -v grep | awk '{ print "kill ", $2 }' | sh
ps aux | grep python3 | grep rqt_reconfigure | grep -v grep | awk '{ print "kill ", $2 }' | sh
ps aux | grep component_container | grep -v grep | awk '{ print "kill ", $2 }' | sh
ps aux | grep robot_state_publisher | grep -v grep | awk '{ print "kill ", $2 }' | sh
ps aux | grep topic_tools/relay | grep -v grep | awk '{ print "kill ", $2 }' | sh
ps aux | grep "ros-args" | grep -v grep | awk '{ print "kill ", $2 }' | sh

[VRichardJP]

You are right, I can see many nodes in ros2 node list. There are not because of some zombie process, but because there is another instance of autoware running on the same network. Next time I will be careful and start ROS2 with localhost only ;)