search

BerkeleyAutomation / gqcnn

Python module for GQ-CNN training and deployment with ROS integration.
https://berkeleyautomation.github.io/gqcnn
Other
312 stars 149 forks source link

Issue: Installation Issue #61

Closed waiyc closed 5 years ago

waiyc commented 5 years ago

System information

Hi,

I have finish installed the GQCNN package for ROS installation and tested the python policy with pre-trained network and sample image using the following command included in documentation with no issue

$ python examples/policy.py GQCNN-4.0-PJ --depth_image data/examples/clutter/phoxi/dex-net_4.0/depth_0.npy --segmask data/examples/clutter/phoxi/dex-net_4.0/segmask_0.png --camera_intr data/calib/phoxi/phoxi.intr

However, I encountered parameter missing issue when testing the ROS policy. The commands that I used to test the ROS policy are:

$ roslaunch gqcnn grasp_planning_service.launch model_name:=GQCNN-4.0-PJ

$ python examples/policy_ros.py --depth_image data/examples/clutter/phoxi/dex-net_4.0/depth_0.npy --segmask data/examples/clutter/phoxi/dex-net_4.0/segmask_0.png --camera_intr data/calib/phoxi/phoxi.intr

I modified the config_filename in grasp_planner_node.py line 333 to read the ros_node yaml from 'cfg/policies/gqcnn_pj.yaml' to 'cfg/ros_nodes/grasp_planner_node.yaml'

The error i encountered:

[INFO] [1555922099.759817]: Planning Grasp [ERROR] [1555922099.800620]: Error processing request: 'rgbd_state' ['Traceback (most recent call last):\n', ' File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 625, in _handle_request\n response = convert_return_to_response(self.handler(request), self.response_class)\n', ' File "/home/junri/catkin_gqcnn/src/gqcnn/ros_nodes/grasp_planner_node.py", line 122, in plan_grasp\n return self._plan_grasp(color_im, depth_im, camera_intr)\n', ' File "/home/junri/catkin_gqcnn/src/gqcnn/ros_nodes/grasp_planner_node.py", line 221, in _plan_grasp\n if self.cfg[\'vis\'][\'rgbd_state\']:\n', "KeyError: 'rgbd_state'\n"] ^C[gqcnn/grasp_planner-2] killing on exit

From the error report, it seems like the process is looking for vis - rgbd_state parameter from yaml but this vis-rgbd_state parameter is missing in the cfg/ros_nodes/grasp_planner_node.yaml

Am I suppose to keep on adding the missing parameters to the yaml?

visatish commented 5 years ago

Hi @ChanWaiYang,

Sorry about that, there were some things broken in our ROS policy that have now been patched. The patch is waiting approval to be merged into master, but you can check out ros_policy_patch for now. You will also have to upgrade the perception package as a new version was pushed to PyPi with some necessary updates.

Please let me know if you are able to run things now!

Thanks, Vishal

jeffmahler commented 5 years ago

@visatish @ChanWaiYang I just approved and merged the PR. It looks like both the config filenames and the image encodings have been properly fixed so hopefully things will work now.

waiyc commented 5 years ago

@visatish @jeffmahler Thank for the fix. Issue solved.

visatish commented 5 years ago

Awesome!