Fatal Error When Spawning Vehicle with Semantic Lidar in Mine_01

[VitaminQRQ]

CARLA version: 0.10.0

Platform/OS: Windows 11 and Ubuntu 22.04

Problem you have experienced:
Unable to spawn a vehicle with semantic lidar in Mine_01. When I add a semantic lidar sensor, CARLA encounters a fatal error and exits. The same issue occurs on both Windows and Ubuntu. However, the same sensor configuration works fine in Town10.

What you expected to happen:
Successfully spawn a vehicle with a semantic lidar sensor.

Steps to reproduce:
Replace the stack.json file in the ROS2 example with the attached content and run ros2_native.py:

{
    "type": "vehicle.lincoln.mkz",
    "id": "ego",
    "sensors": [
        {
            "type": "sensor.camera.rgb",
            "id": "rgb",
            "spawn_point": {"x": -4.5, "y": 0.0, "z": 2.5, "roll": 0.0, "pitch": 20.0, "yaw": 0.0},
            "attributes": {
                "image_size_x": 400,
                "image_size_y": 200,
                "fov": 90.0
            }
        },
        {
            "type": "sensor.lidar.ray_cast",
            "id": "lidar",
            "spawn_point": {"x": 0.0, "y": 0.0, "z": 2.6, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
            "attributes": {
                "range": 100,
                "channels": 64,
                "points_per_second": 600000,
                "rotation_frequency": 20,
                "upper_fov": 10,
                "lower_fov": -30,
                "atmosphere_attenuation_rate": 0.004,
                "dropoff_general_rate": 0.45,
                "dropoff_intensity_limit": 0.8,
                "dropoff_zero_intensity": 0.4
            }
        },
        {
            "type": "sensor.lidar.ray_cast_semantic",
            "id": "lidar_semantic",
            "spawn_point": {"x": 0.0, "y": 0.0, "z": 2.6, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
            "attributes": {
                "range": 85,
                "channels": 64,
                "points_per_second": 600000,
                "rotation_frequency": 20,
                "upper_fov": 10,
                "lower_fov": -30
            }
        },
        {
            "type": "sensor.other.gnss",
            "id": "gnss",
            "spawn_point": {"x": 1.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
            "attributes": {
                "noise_alt_stddev": 0.0, 
                "noise_lat_stddev": 0.0, 
                "noise_lon_stddev": 0.0,
                "noise_alt_bias": 0.0, 
                "noise_lat_bias": 0.0, 
                "noise_lon_bias": 0.0
            }
        },
        {
            "type": "sensor.other.imu",
            "id": "imu",
            "spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
            "attributes": {
                "noise_accel_stddev_x": 0.0, 
                "noise_accel_stddev_y": 0.0, 
                "noise_accel_stddev_z": 0.0,
                "noise_gyro_stddev_x": 0.0, 
                "noise_gyro_stddev_y": 0.0, 
                "noise_gyro_stddev_z": 0.0,
                "noise_gyro_bias_x": 0.0, 
                "noise_gyro_bias_y": 0.0, 
                "noise_gyro_bias_z": 0.0
            }
        }
    ]
}

[joel-mb]

@Blyron @VitaminQRQ I was able to reproduce the error.

It seems to be related to the Mine_01 map, rather than the ROS2 integration.

The error can also be reproduced by using manual control and simply changing the sensor until the semantic lidar gets spawned.

@jorge-kabuto Could you please take a look?