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HKUST-Aerial-Robotics / PredRecon

[ICRA'23] A Prediction-boosted Planner for Fast and High-quality Autonomous Aerial Reconstruction
GNU General Public License v3.0
168 stars 10 forks source link

can't get "Tiggered!" message #15

Closed lsk1233 closed 3 months ago

lsk1233 commented 3 months ago

Thank you for providing the code. When I run recon.launch, the system doesn't get triggered and continues to display the message 'wait for trigger'. Meanwhile, the drone is stuck in the corner. What should I do to resolve this issue? Screenshot from 2024-08-23 13-05-07

output of the recon.launch is given below

NODES
  /
    exploration_node (exploration_manager/exploration_node)
    traj_server (plan_manage/traj_server)
    waypoint_generator (waypoint_generator/waypoint_generator)

ROS_MASTER_URI=http://localhost:11311

process[exploration_node-1]: started with pid [17424]
process[traj_server-2]: started with pid [17425]
process[waypoint_generator-3]: started with pid [17426]
[ WARN] [1724388996.342779185]: [Traj server]: init...
hit: 0.619039, miss: -0.619039, min: -1.99243, max: 2.19722, thresh: 1.38629
origin_:    -1 -22.5    -1
map size: 45 45 23
hit: 0.619039, miss: -0.619039, min: -1.99243, max: 2.19722, thresh: 1.38629
0
0
origin_:    -1 -22.5    -1
map size: 45 45 23
origin_:    -1 -22.5    -1
map size: 45 45 23
yaw diff: 0.523599
max yaw diff: 0.174533
vert num: 5
top:        0
 0.84659
0.532245
bottom:        0
-0.84659
0.532245
left: 0.769831
       0
0.638248
right: -0.771876
        0
 0.635773
lefttop: -3.73084  -2.3951      4.5
leftbottom: -2.87212   2.3951      4.5
righttop: 2.86098 -2.3951     4.5
rightbottom: 2.86098  2.3951     4.5
T_cb:  0 -1  0  0
 0  0  1  0
 1  0  0  0
 0  0  0  1
T_bc: -0 -0  1  0
-1 -0  0 -0
-0  1 -0  0
 0 -0  0  1
Planner Ready!
CUDA ready!
Model loaded!
Warm-Up Started!
Warm-Up Finished!
hit: 0.619039, miss: -0.619039, min: -1.99243, max: 2.19722, thresh: 1.38629
origin_:    -1 -22.5    -1
map size: 45 45 23
origin_:    -1 -22.5    -1
map size: 45 45 23
yaw diff: 0.523599
max yaw diff: 0.174533
vert num: 5
top:        0
 0.84659
0.532245
bottom:        0
-0.84659
0.532245
left: 0.769831
       0
0.638248
right: -0.771876
        0
 0.635773
lefttop: -3.73084  -2.3951      4.5
leftbottom: -2.87212   2.3951      4.5
righttop: 2.86098 -2.3951     4.5
rightbottom: 2.86098  2.3951     4.5
T_cb:  0 -1  0  0
 0  0  1  0
 1  0  0  0
 0  0  0  1
T_bc: -0 -0  1  0
-1 -0  0 -0
-0  1 -0  0
 0 -0  0  1
origin_:    -1 -22.5    -1
map size: 45 45 23
[ INFO] [1724389002.571440131]: [FSM]: state: INITIAL
[FSM]: from INITIAL to WAIT
[ WARN] [1724389003.117354465]: wait for trigger.
[ INFO] [1724389003.717125545]: [FSM]: state: WAIT
[ WARN] [1724389004.357507222]: wait for trigger.
[ INFO] [1724389005.019779532]: [FSM]: state: WAIT
[ WARN] [1724389005.722229412]: wait for trigger.
[ INFO] [1724389006.546116350]: [FSM]: state: WAIT
[ WARN] [1724389007.514204720]: wait for trigger.
[ INFO] [1724389008.484303565]: [FSM]: state: WAIT
[ WARN] [1724389009.402689009]: wait for trigger.
[ INFO] [1724389010.246208769]: [FSM]: state: WAIT
[ WARN] [1724389010.983439825]: wait for trigger.
[ INFO] [1724389011.629797203]: [FSM]: state: WAIT
[ WARN] [1724389012.357090181]: wait for trigger.
[ INFO] [1724389013.056471543]: [FSM]: state: WAIT
[ WARN] [1724389013.921297098]: wait for trigger.
[ INFO] [1724389015.029912822]: [FSM]: state: WAIT
[ WARN] [1724389015.029946802]: wait for trigger.
[ INFO] [1724389016.033141827]: [FSM]: state: WAIT
[ WARN] [1724389016.033170407]: wait for trigger.
[ INFO] [1724389017.087249982]: [FSM]: state: WAIT
[ WARN] [1724389017.087283122]: wait for trigger.
[ INFO] [1724389019.132484095]: [FSM]: state: WAIT
[ WARN] [1724389019.132520895]: wait for trigger.
[ INFO] [1724389020.894012407]: [FSM]: state: WAIT
[ WARN] [1724389020.894042747]: wait for trigger.
[ INFO] [1724389022.289146677]: [FSM]: state: WAIT
[ WARN] [1724389022.289181127]: wait for trigger.
[ INFO] [1724389023.730623269]: [FSM]: state: WAIT
[ WARN] [1724389023.730657969]: wait for trigger.
[ INFO] [1724389025.171503388]: [FSM]: state: WAIT
[ WARN] [1724389025.171537748]: wait for trigger.
[ INFO] [1724389026.206966216]: [FSM]: state: WAIT
[ WARN] [1724389026.207012266]: wait for trigger.
[ INFO] [1724389027.751337455]: [FSM]: state: WAIT
[ WARN] [1724389027.751373185]: wait for trigger.
[ INFO] [1724389029.396002202]: [FSM]: state: WAIT
[ WARN] [1724389029.396034802]: wait for trigger.
[ INFO] [1724389031.119717205]: [FSM]: state: WAIT
[ WARN] [1724389031.119750675]: wait for trigger.
[ INFO] [1724389032.883367355]: [FSM]: state: WAIT
[ WARN] [1724389032.883403075]: wait for trigger.
[ INFO] [1724389034.741057726]: [FSM]: state: WAIT
[ WARN] [1724389034.741092266]: wait for trigger.
[ INFO] [1724389036.564534489]: [FSM]: state: WAIT
[ WARN] [1724389036.564568829]: wait for trigger.
[ INFO] [1724389038.197176974]: [FSM]: state: WAIT
[ WARN] [1724389038.197212314]: wait for trigger.
[ INFO] [1724389039.805993782]: [FSM]: state: WAIT
[ WARN] [1724389039.806026812]: wait for trigger.
[ INFO] [1724389041.405106597]: [FSM]: state: WAIT
[ WARN] [1724389041.405142347]: wait for trigger.
[ INFO] [1724389043.117966760]: [FSM]: state: WAIT
[ WARN] [1724389043.118000190]: wait for trigger.
[ INFO] [1724389044.734013730]: [FSM]: state: WAIT
[ WARN] [1724389044.734049100]: wait for trigger.
[ INFO] [1724389046.480069536]: [FSM]: state: WAIT
[ WARN] [1724389046.480109135]: wait for trigger.
[ INFO] [1724389048.463621890]: [FSM]: state: WAIT
[ WARN] [1724389048.463659190]: wait for trigger.
[ INFO] [1724389050.196816313]: [FSM]: state: WAIT
[ WARN] [1724389050.196853413]: wait for trigger.
[ INFO] [1724389052.269980846]: [FSM]: state: WAIT
[ WARN] [1724389052.270016296]: wait for trigger.
[ INFO] [1724389053.406745468]: [FSM]: state: WAIT
[ WARN] [1724389053.406782148]: wait for trigger.
[ INFO] [1724389054.539145241]: [FSM]: state: WAIT
[ WARN] [1724389054.539186031]: wait for trigger.
[ INFO] [1724389055.724176778]: [FSM]: state: WAIT
[ WARN] [1724389055.724214488]: wait for trigger.
[ INFO] [1724389056.786860997]: [FSM]: state: WAIT
[ WARN] [1724389056.786896007]: wait for trigger.
[ INFO] [1724389057.835107637]: [FSM]: state: WAIT
[ WARN] [1724389057.835143247]: wait for trigger.
[ INFO] [1724389058.982961201]: [FSM]: state: WAIT
[ WARN] [1724389058.982997600]: wait for trigger.
[ INFO] [1724389060.070711611]: [FSM]: state: WAIT
[ WARN] [1724389060.070748671]: wait for trigger.
[ INFO] [1724389061.142194764]: [FSM]: state: WAIT
[ WARN] [1724389061.142227844]: wait for trigger.
[ INFO] [1724389062.296211460]: [FSM]: state: WAIT
[ WARN] [1724389062.296251989]: wait for trigger.
[ INFO] [1724389063.311940422]: [FSM]: state: WAIT
[ WARN] [1724389063.311973532]: wait for trigger.
[ INFO] [1724389063.835542155]: ----> Initial traj has been executed.
[ WARN] [1724389063.835570185]: [Traj server]: ready.
[ INFO] [1724389065.323346679]: [FSM]: state: WAIT
[ WARN] [1724389065.323387809]: wait for trigger.
[ INFO] [1724389067.444442442]: [FSM]: state: WAIT
[ WARN] [1724389067.444477801]: wait for trigger.
[ INFO] [1724389068.454180107]: [FSM]: state: WAIT
[ WARN] [1724389068.454220507]: wait for trigger.
[ INFO] [1724389069.598874600]: [FSM]: state: WAIT
[ WARN] [1724389069.598902920]: wait for trigger.
[ INFO] [1724389070.688366362]: [FSM]: state: WAIT
[ WARN] [1724389070.688403302]: wait for trigger.
[ INFO] [1724389072.594585093]: [FSM]: state: WAIT
[ WARN] [1724389072.594622973]: wait for trigger.