sunnyhello3696
commented
10 months ago Now I suspect that it might be a problem with my environment configuration or something else, is there a Docker environment available to run it. I would be very grateful if there is!
The error occurred after I changed the debug_mode to False in arena-rosnav/arena_bringup/configs/training/training_config.yaml:
<=======================> Traceback (most recent call last): File "/home/dmz/miniconda3/envs/wzl_d86/lib/python3.8/multiprocessing/process.py", line 313, in _bootstrap self.run() File "/home/dmz/miniconda3/envs/wzl_d86/lib/python3.8/multiprocessing/process.py", line 108, in run self._target(*self._args, self._kwargs) File "/home/dmz/arena_ws/src/utils-extern/misc/stable-baselines3/stable_baselines3/common/vec_env/subproc_vec_env.py", line 29, in _worker env = _patch_env(env_fn_wrapper.var()) File "/home/dmz/arena_ws/src/arena-rosnav/training/tools/env_utils.py", line 55, in _init env = FlatlandEnv( File "/home/dmz/arena_ws/src/arena-rosnav/utils/misc/rl_utils/rl_utils/envs/flatland_gymnasium_env.py", line 130, in init self._setup_env_for_training(reward_fnc, kwargs) File "/home/dmz/arena_ws/src/arena-rosnav/utils/misc/rl_utils/rl_utils/envs/flatland_gymnasium_env.py", line 167, in _setup_env_for_training self.task: BaseTask = task_generator._get_predefined_task(kwargs) File "/home/dmz/arena_ws/src/arena-rosnav/task_generator/task_generator/task_generator_node.py", line 226, in _get_predefined_task task = TaskFactory.instantiate(self._task_mode)( File "/home/dmz/arena_ws/src/arena-rosnav/task_generator/task_generator/tasks/random.py", line 30, in init BaseTask.init(self, kwargs) File "/home/dmz/arena_ws/src/arena-rosnav/task_generator/task_generator/tasks/base_task.py", line 80, in init self.set_up_robot_managers() File "/home/dmz/arena_ws/src/arena-rosnav/task_generator/task_generator/tasks/base_task.py", line 172, in set_up_robot_managers manager.set_up_robot() File "/home/dmz/arena_ws/src/arena-rosnav/task_generator/task_generator/manager/robot_manager.py", line 122, in set_up_robot self._launch_robot() File "/home/dmz/arena_ws/src/arena-rosnav/task_generator/task_generator/manager/robot_manager.py", line 222, in _launch_robot roslaunch_file = roslaunch.rlutil.resolve_launch_arguments( # type: ignore File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/rlutil.py", line 92, in resolve_launch_arguments resolved = roslib.packages.find_resource(args[0], args[1]) File "/opt/ros/noetic/lib/python3/dist-packages/roslib/packages.py", line 526, in find_resource search_paths = catkin_find( File "/opt/ros/noetic/lib/python3/dist-packages/catkin/find_in_workspaces.py", line 149, in find_in_workspaces source_path_to_packages[source_path] = find_packages(source_path) File "/home/dmz/miniconda3/envs/wzl_d86/lib/python3.8/site-packages/catkin_pkg/packages.py", line 92, in find_packages packages = find_packages_allowing_duplicates(basepath, exclude_paths=exclude_paths, File "/home/dmz/miniconda3/envs/wzl_d86/lib/python3.8/site-packages/catkin_pkg/packages.py", line 145, in find_packages_allowing_duplicates pool = multiprocessing.Pool() File "/home/dmz/miniconda3/envs/wzl_d86/lib/python3.8/multiprocessing/context.py", line 119, in Pool return Pool(processes, initializer, initargs, maxtasksperchild, File "/home/dmz/miniconda3/envs/wzl_d86/lib/python3.8/multiprocessing/pool.py", line 212, in init self._repopulate_pool() File "/home/dmz/miniconda3/envs/wzl_d86/lib/python3.8/multiprocessing/pool.py", line 303, in _repopulate_pool return self._repopulate_pool_static(self._ctx, self.Process, File "/home/dmz/miniconda3/envs/wzl_d86/lib/python3.8/multiprocessing/pool.py", line 326, in _repopulate_pool_static w.start() File "/home/dmz/miniconda3/envs/wzl_d86/lib/python3.8/multiprocessing/process.py", line 118, in start assert not _current_process._config.get('daemon'), \ AssertionError: daemonic processes are not allowed to have children <=======================>
I'm looking at the printout and guessing that the reason might be because the robot.launch file fails to start at line 222 of arena-rosnav/task_generator/task_generator/manager/robot_manager.py. I can't fix it!
Actually, earlier, when debug_mode=true, I've tried to fix a lot of minor bugs, including 1, Incongruous errors from version updates in planners/rosnav/scripts/rosnav_node.py. 2, incorrect paths to the launch file when testing other Planners, and other Planners that don't run or don't test well(include:crowdnav、all-in-one .etc) 3、When full_range_laser= true, the network input dimension reports an error ... Some of the above problems I can fix myself and some I'm not so good at (although it has taken a lot of effort)
Please help me, I'm limited in my ability to work out these bugs on my own, I won't be able to graduate [cry].