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JuliaMPC / MAVs

Michigan Autonomous Vehicles
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Problems for running demoA using dev image #67

Closed WeilinXu closed 6 years ago

WeilinXu commented 6 years ago

$ sh run.sh $ roslaunch system demoA.launch

... logging to /home/mavs/.ros/log/55536c96-bdcf-11e8-818e-90cdb691c2c7/roslaunch-ubuntu-ThinkPad-E570-136.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu-ThinkPad-E570:40495/

SUMMARY
========

PARAMETERS
 * /case/actual/X0/ax: 0.0
 * /case/actual/X0/psi: 1.57079632679
 * /case/actual/X0/r: 0.0
 * /case/actual/X0/sa: 0.0
 * /case/actual/X0/ux: 0.0
 * /case/actual/X0/v: 0.0
 * /case/actual/X0/x: 200.0
 * /case/actual/X0/yVal: 0.0
 * /case/actual/obstacle/length: [5.0]
 * /case/actual/obstacle/num: 1
 * /case/actual/obstacle/radius: [6.0]
 * /case/actual/obstacle/vx: [0]
 * /case/actual/obstacle/vy: [0]
 * /case/actual/obstacle/x0: [200]
 * /case/actual/obstacle/y0: [110]
 * /case/goal/psi: 1.5701
 * /case/goal/tol: 4
 * /case/goal/x: 200.0
 * /case/goal/yVal: 125.0
 * /case_params_path: /home/mavs/MAVs/r...
 * /obstacle_detector/obstacle_extractor/active: true
 * /obstacle_detector/obstacle_extractor/circles_from_visibles: true
 * /obstacle_detector/obstacle_extractor/discard_converted_segments: false
 * /obstacle_detector/obstacle_extractor/distance_proportion: 0.001
 * /obstacle_detector/obstacle_extractor/frame_id: map
 * /obstacle_detector/obstacle_extractor/max_circle_radius: 4
 * /obstacle_detector/obstacle_extractor/max_group_distance: 0.5
 * /obstacle_detector/obstacle_extractor/max_merge_separation: 3
 * /obstacle_detector/obstacle_extractor/max_merge_spread: 2
 * /obstacle_detector/obstacle_extractor/max_split_distance: 5
 * /obstacle_detector/obstacle_extractor/min_group_points: 5
 * /obstacle_detector/obstacle_extractor/radius_enlargement: 0.3
 * /obstacle_detector/obstacle_extractor/transform_coordinates: true
 * /obstacle_detector/obstacle_extractor/use_pcl: true
 * /obstacle_detector/obstacle_extractor/use_scan: false
 * /obstacle_detector/obstacle_extractor/use_split_and_merge: true
 * /obstacle_detector/obstacle_tracker/active: true
 * /obstacle_detector/obstacle_tracker/frame_id: map
 * /obstacle_detector/obstacle_tracker/loop_rate: 100.0
 * /obstacle_detector/obstacle_tracker/measurement_variance: 1.0
 * /obstacle_detector/obstacle_tracker/min_correspondence_cost: 0.6
 * /obstacle_detector/obstacle_tracker/process_rate_variance: 0.1
 * /obstacle_detector/obstacle_tracker/process_variance: 0.1
 * /obstacle_detector/obstacle_tracker/std_correspondence_dev: 0.15
 * /obstacle_detector/obstacle_tracker/tracking_duration: 1
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /system/flags/paused: True
 * /system/obstacle_detector/flags/initialized: False
 * /system/obstacle_detector/flags/running: True
 * /system/params/simulation_time: 1.0
 * /system/params/step_size: 0.001
 * /system/vehicle_description/flags/lidar_initialized: False
 * /system/vehicle_description/flags/obstacles_initialized: False
 * /system/vehicle_description/flags/postion_update_external: False
 * /system/vehicle_description/flags/running: True
 * /use_sim_time: True
 * /vehicle/chrono/vehicle_params/axleDirection: [0, 1, 0]
 * /vehicle/chrono/vehicle_params/centroidLoc: [0.056, 0.0, 0.523],
 * /vehicle/chrono/vehicle_params/centroidOrientation: [1, 0, 0, 0]
 * /vehicle/chrono/vehicle_params/chassisInertia: [1078.52, 2955.66...
 * /vehicle/chrono/vehicle_params/chassisMass: 2688.70,
 * /vehicle/chrono/vehicle_params/conicalGearRatio: -0.2,
 * /vehicle/chrono/vehicle_params/differentialBoxInertia: 0.6
 * /vehicle/chrono/vehicle_params/differentialRatio: -1.0
 * /vehicle/chrono/vehicle_params/driverLoc: [0, 0.5, 1.2],
 * /vehicle/chrono/vehicle_params/driverOrientation: [1, 0, 0, 0]
 * /vehicle/chrono/vehicle_params/driveshaftInertia: 0.5,
 * /vehicle/chrono/vehicle_params/frict_coeff: 0.9
 * /vehicle/chrono/vehicle_params/gearRatios: [-0.3, 0.2, 0.4, ...
 * /vehicle/chrono/vehicle_params/maxBrakeTorque: 4000
 * /vehicle/chrono/vehicle_params/motorBlockDirection: [1, 0, 0],
 * /vehicle/chrono/vehicle_params/pinionMaxAngle: 0.87
 * /vehicle/chrono/vehicle_params/pinionRadius: 0.1,
 * /vehicle/chrono/vehicle_params/rest_coeff: 0.1
 * /vehicle/chrono/vehicle_params/steeringLinkInertia: [1, 1, 1],
 * /vehicle/chrono/vehicle_params/steeringLinkLength: 0.896
 * /vehicle/chrono/vehicle_params/steeringLinkMass: 9.072,
 * /vehicle/chrono/vehicle_params/steeringLinkRadius: 0.03,
 * /vehicle/common/Izz: 4110.1
 * /vehicle/common/la: 1.5775
 * /vehicle/common/lb: 1.7245
 * /vehicle/common/m: 2688.7
 * /vehicle/common/wheel_radius: 0.268
 * /vehicle/nloptcontrol_planner/AXC: [-0.0001280151804...
 * /vehicle/nloptcontrol_planner/Caf: -84138.0
 * /vehicle/nloptcontrol_planner/Car: -78126.0
 * /vehicle/nloptcontrol_planner/FZ0: 35000.0
 * /vehicle/nloptcontrol_planner/Fy_max: 7500
 * /vehicle/nloptcontrol_planner/Fy_min: -7500
 * /vehicle/nloptcontrol_planner/FzF0: 13680.0
 * /vehicle/nloptcontrol_planner/FzR0: 12696.0
 * /vehicle/nloptcontrol_planner/Fz_min: 1000.0
 * /vehicle/nloptcontrol_planner/Fz_off: 100.0
 * /vehicle/nloptcontrol_planner/Izz: 4110.1
 * /vehicle/nloptcontrol_planner/KZX: 806.0
 * /vehicle/nloptcontrol_planner/KZYF: 675.0
 * /vehicle/nloptcontrol_planner/KZYR: 1076.0
 * /vehicle/nloptcontrol_planner/PCY1: 1.5874
 * /vehicle/nloptcontrol_planner/PDY1: 0.73957
 * /vehicle/nloptcontrol_planner/PDY2: -0.075004
 * /vehicle/nloptcontrol_planner/PEY1: 0.37562
 * /vehicle/nloptcontrol_planner/PEY2: -0.069325
 * /vehicle/nloptcontrol_planner/PEY3: 0.29168
 * /vehicle/nloptcontrol_planner/PHY1: 0.0056509
 * /vehicle/nloptcontrol_planner/PHY2: -0.0020257
 * /vehicle/nloptcontrol_planner/PKY1: -10.289
 * /vehicle/nloptcontrol_planner/PKY2: 3.3343
 * /vehicle/nloptcontrol_planner/PVY1: 0.015216
 * /vehicle/nloptcontrol_planner/PVY2: -0.010365
 * /vehicle/nloptcontrol_planner/ax_max: 2.0
 * /vehicle/nloptcontrol_planner/ax_min: -2.0
 * /vehicle/nloptcontrol_planner/jx_max: 5.0
 * /vehicle/nloptcontrol_planner/jx_min: -5.0
 * /vehicle/nloptcontrol_planner/la: 1.5775
 * /vehicle/nloptcontrol_planner/lb: 1.7245
 * /vehicle/nloptcontrol_planner/m: 2688.7
 * /vehicle/nloptcontrol_planner/psi_max: 6.28318
 * /vehicle/nloptcontrol_planner/psi_min: -6.28318
 * /vehicle/nloptcontrol_planner/sa_max: 0.523598333333
 * /vehicle/nloptcontrol_planner/sa_min: -0.523598333333
 * /vehicle/nloptcontrol_planner/sr_max: 0.0872663888889
 * /vehicle/nloptcontrol_planner/sr_min: -0.0872663888889
 * /vehicle/nloptcontrol_planner/u_max: 29.0
 * /vehicle/nloptcontrol_planner/u_min: 0.0
 * /vehicle/vehicle_description/base_clearance: 0.5
 * /vehicle/vehicle_description/base_height: 1.2
 * /vehicle/vehicle_description/base_length: 3.3
 * /vehicle/vehicle_description/base_link: base_link
 * /vehicle/vehicle_description/base_width: 1.9
 * /vehicle/vehicle_description/frameName: map
 * /vehicle/vehicle_description/ground_truth_topic: base_pose_ground_...
 * /vehicle/vehicle_description/kp: 1e8
 * /vehicle/vehicle_description/la: 1.6
 * /vehicle/vehicle_description/lb: 1.7
 * /vehicle/vehicle_description/lidar_x: 1.75
 * /vehicle/vehicle_description/lidar_z: 1.4
 * /vehicle/vehicle_description/mesh_mode: 1
 * /vehicle/vehicle_description/minDepth: 0.005
 * /vehicle/vehicle_description/mu1: 0.9
 * /vehicle/vehicle_description/mu2: 0.9
 * /vehicle/vehicle_description/robotName: hmmwv
 * /vehicle/vehicle_description/robotNamespace: hmmwv
 * /vehicle/vehicle_description/scale_factor: 0.2
 * /vehicle/vehicle_description/topic: lidar_points
 * /vehicle/vehicle_description/wheel_base: 1
 * /vehicle/vehicle_description/wheel_mass: 2.5
 * /vehicle/vehicle_description/wheel_radius: 0.393
 * /vehicle/vehicle_description/wheel_width: 0.1
 * /velodyne_top_link_nodelet_manager/num_worker_threads: 20
 * /voxel_grid/filter_field_name: z
 * /voxel_grid/filter_limit_max: 3.5
 * /voxel_grid/filter_limit_min: 0.01
 * /voxel_grid/filter_limit_negative: false
 * /voxel_grid/leaf_size: 0.01

NODES
  /
    bootstrap (system/bootstrap.jl)
    frame_tf_broadcaster (vehicle_description/frame_tf_broadcaster)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    move_obstacles (vehicle_description/move_obstacles.jl)
    move_vehicle (vehicle_description/move_vehicle.jl)
    obstacle_extractor (nodelet/nodelet)
    obstacle_paramameters (obstacle_detector/obstacle_parameters.jl)
    obstacle_tracker (nodelet/nodelet)
    point_cloud_converter (point_cloud_converter/point_cloud_converter_node)
    postion (vehicle_description/link_positions.jl)
    postion_broadcaster (vehicle_description/position_broadcaster)
    ros_get_world_time_ (get_world_time_test/ros_get_world_time)
    rviz (rviz/rviz)
    spawn_obstacles (vehicle_description/spawn_obstacles.sh)
    spawn_urdf (gazebo_ros/spawn_model)
    unpause_gazebo (vehicle_description/unpause.jl)
    velodyne_top_link_nodelet_manager (nodelet/nodelet)
    voxel_grid (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [149]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 55536c96-bdcf-11e8-818e-90cdb691c2c7
process[rosout-1]: started with pid [162]
started core service [/rosout]
process[ros_get_world_time_-2]: started with pid [186]
process[gazebo-3]: started with pid [187]
[ INFO] [1537555884.529236649]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1537555884.530103084]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
process[gazebo_gui-4]: started with pid [194]
process[spawn_urdf-5]: started with pid [264]
process[spawn_obstacles-6]: started with pid [290]
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
process[move_obstacles-7]: started with pid [295]
process[move_vehicle-8]: started with pid [319]
process[postion-9]: started with pid [329]
process[frame_tf_broadcaster-10]: started with pid [419]
process[postion_broadcaster-11]: started with pid [514]
process[velodyne_top_link_nodelet_manager-12]: started with pid [566]
[ INFO] [1537555888.503233718]: Initializing nodelet with 20 worker threads.
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
process[obstacle_paramameters-13]: started with pid [673]
process[voxel_grid-14]: started with pid [781]
[ INFO] [1537555889.931471100]: Loading nodelet /voxel_grid of type pcl/VoxelGrid to manager velodyne_top_link_nodelet_manager with the following remappings:
[ INFO] [1537555889.931556229]: /voxel_grid/input -> /lidar_points
process[point_cloud_converter-15]: started with pid [875]
process[obstacle_extractor-16]: started with pid [981]
[ INFO] [1537555891.764975676]: [Obstacle Extractor]: Initializing nodelet
process[obstacle_tracker-17]: started with pid [1066]
process[rviz-18]: started with pid [1135]
[ INFO] [1537555892.340673035]: rviz version 1.12.16
[ INFO] [1537555892.340719494]: compiled against Qt version 5.5.1
[ INFO] [1537555892.340733781]: compiled against OGRE version 1.9.0 (Ghadamon)
process[bootstrap-19]: started with pid [1194]
[ INFO] [1537555893.220331472]: [Obstacle Tracker]: Initializing nodelet
process[unpause_gazebo-20]: started with pid [1277]
[ INFO] [1537555896.171391676]: Stereo is NOT SUPPORTED
[ INFO] [1537555896.171751707]: OpenGl version: 4.6 (GLSL 4.6).
[ INFO] [1537555922.527350438]: Velodyne laser plugin ready, 16 lasers
[spawn_urdf-5] process has finished cleanly
log file: /home/mavs/.ros/log/55536c96-bdcf-11e8-818e-90cdb691c2c7/spawn_urdf-5*.log
[spawn_obstacles-6] process has finished cleanly
log file: /home/mavs/.ros/log/55536c96-bdcf-11e8-818e-90cdb691c2c7/spawn_obstacles-6*.log
WARNING: The call to compilecache failed to create a usable precompiled cache file for module PyCall. Got:
WARNING: Module MacroTools uuid did not match cache file.
WARNING: eval from module Main to RobotOS:    
Expr(:call, Expr(:., :Base, :include_from_node1)::Any, "/home/mavs/.julia/v0.6/PyCall/src/PyCall.jl")::Any
  ** incremental compilation may be broken for this module **

WARNING: The call to compilecache failed to create a usable precompiled cache file for module PyCall. Got:
WARNING: Module MacroTools uuid did not match cache file.
WARNING: eval from module Main to RobotOS:    
Expr(:call, Expr(:., :Base, :include_from_node1)::Any, "/home/mavs/.julia/v0.6/PyCall/src/PyCall.jl")::Any
  ** incremental compilation may be broken for this module **

WARNING: The call to compilecache failed to create a usable precompiled cache file for module PyCall. Got:
WARNING: Module MacroTools uuid did not match cache file.
WARNING: eval from module Main to RobotOS:    
Expr(:call, Expr(:., :Base, :include_from_node1)::Any, "/home/mavs/.julia/v0.6/PyCall/src/PyCall.jl")::Any
  ** incremental compilation may be broken for this module **

WARNING: The call to compilecache failed to create a usable precompiled cache file for module PyCall. Got:
WARNING: Module MacroTools uuid did not match cache file.
WARNING: eval from module Main to RobotOS:    
Expr(:call, Expr(:., :Base, :include_from_node1)::Any, "/home/mavs/.julia/v0.6/PyCall/src/PyCall.jl")::Any
  ** incremental compilation may be broken for this module **

WARNING: The call to compilecache failed to create a usable precompiled cache file for module PyCall. Got:
WARNING: Module MacroTools uuid did not match cache file.
WARNING: eval from module Main to RobotOS:    
Expr(:call, Expr(:., :Base, :include_from_node1)::Any, "/home/mavs/.julia/v0.6/PyCall/src/PyCall.jl")::Any
  ** incremental compilation may be broken for this module **

starting bootstrap node ...
waiting on move_vehicle.jl in vehicle_description ...
waiting on move_vehicle.jl in vehicle_description ...
waiting on move_vehicle.jl in vehicle_description ...
waiting on move_vehicle.jl in vehicle_description ...
Waiting for 'gazebo/get_link_state' service...
Waiting for '/gazebo/unpause_physics' service...
obstacle plugin in julia has been initialized.waiting on move_vehicle.jl in vehicle_description ...

the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
waiting on move_vehicle.jl in vehicle_description ...
Waiting for 'gazebo/get_model_state' service...
Waiting for 'gazebo/set_model_state' service...
waiting on move_vehicle.jl in vehicle_description ...
lidar simulation in Gazebo has been initialized
system has been initialized!
[ INFO] [1537556013.916062742, 0.024000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
Warning: TF_OLD_DATA ignoring data from the past for frame base_footprintObs at time 1.53756e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained[ WARN] [1537556014.074379346, 0.102000000]: TF_OLD_DATA ignoring data from the past for frame base_footprintObs at time 1.53756e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained

         at line 277 in /tmp/binarydeb/ros-kinetic-tf2-0.5.18/src/buffer_core.cpp
Warning: TF_OLD_DATA ignoring data from the past for frame base_footprintObs at time 1.53756e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
         at line 277 in /tmp/binarydeb/ros-kinetic-tf2-0.5.18/src/buffer_core.cpp
[bootstrap-19] process has finished cleanly
log file: /home/mavs/.ros/log/55536c96-bdcf-11e8-818e-90cdb691c2c7/bootstrap-19*.log
Warning: [ WARN] [1537556014.224709703, 0.153000000]: TF_OLD_DATA ignoring data from the past for frame base_footprintObs at time 1.53756e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
TF_OLD_DATA ignoring data from the past for frame base_footprintObs at time 1.53756e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
         at line 277 in /tmp/binarydeb/ros-kinetic-tf2-0.5.18/src/buffer_core.cpp

The Gazebo and Rviz GUI can be loaded normally. The vehicle model first appears in the Gazebo, but disappears after the message system has been initialized! appears.

huckl3b3rry87 commented 6 years ago

Did you try "rosdep update" as the message supposed?

yuxuan83 commented 6 years ago

The vehicle model actually doesn't disappear. It's just moved to another position. If you rotate the view angle, you could see the vehicle and an obstacle in Gazebo.