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KumarRobotics / AllocNet

A lightweight learning-based trajectory optimization framework.
BSD 3-Clause "New" or "Revised" License
58 stars 6 forks source link

some traning problem #2

Open zy-cuhk opened 7 months ago

zy-cuhk commented 7 months ago

when I try to obtain some traning data by (1) running "python3 sample_on_single_map.py", one bug occurs "[Open3D WARNING] Read PCD failed: unable to open file: datasets/single_map_dataset/map.pcd" (2) running "python3 sample_trajs.py:, another bug occurs "File "sample_trajs.py", line 8, in from utils.bilevel_traj_opt import BiLevelTrajOpt ModuleNotFoundError: No module named 'utils.bilevel_traj_opt'", I try to find the script file named bileve_traj_opt under the repositry of "util", however, I did not find it out.

So, please help me with the above two problem and thank you !

yuwei-wu commented 7 months ago

These two files are not used to generate the dataset. For maps, you can refer to: https://github.com/KumarRobotics/kr_param_map to generate your own .pcd files For trajectories, please refer to: https://github.com/ZJU-FAST-Lab/GCOPTER to generate sample trajectories.

We will update a guideline for dataset generation later.

kashifzr commented 4 months ago

@yuwei-wu i am unable to build your package, the issue is specific to libtorch directory inside planner, where codes makes compile errors, I did attached some issue to figure out the problems,

/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h: In substitution of ‘template<class T> decltype ((T::hash(o), size_t())) c10::_hash_detail::dispatch_hash(const T&) [with T = unsigned int]’:
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:295:39:   required from ‘size_t c10::hash<T>::operator()(const T&) const [with T = unsigned int; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:354:24:   required from ‘size_t c10::_hash_detail::simple_get_hash(const T&) [with T = unsigned int; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:306:40:   required from ‘size_t c10::hash<std::tuple<_Tps ...> >::tuple_hash<idx, Ts>::operator()(const std::tuple<_Args2 ...>&) const [with long unsigned int idx = 1; Ts = {const std::shared_ptr<torch::autograd::Node>&, const unsigned int&}; Types = {const std::shared_ptr<torch::autograd::Node>&, const unsigned int&}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:319:56:   required from ‘size_t c10::hash<std::tuple<_Tps ...> >::operator()(const std::tuple<_Tps ...>&) const [with Types = {const std::shared_ptr<torch::autograd::Node>&, const unsigned int&}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:368:50:   required from ‘size_t c10::get_hash(const Types& ...) [with Types = {std::shared_ptr<torch::autograd::Node>, unsigned int}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/autograd/edge.h:53:54:   required from here
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:285:51: error: ‘hash’ is not a member of ‘unsigned int’
  285 | auto dispatch_hash(const T& o) -> decltype(T::hash(o), size_t()) {
      |                                            ~~~~~~~^~~
In file included from /usr/include/c++/9/ext/alloc_traits.h:36,
                 from /usr/include/c++/9/bits/stl_tree.h:67,
                 from /usr/include/c++/9/set:60,
                 from /home/kkg/codes_rl/AllocNet/src/planner/include/gcopter/root_finder.hpp:31,
                 from /home/kkg/codes_rl/AllocNet/src/planner/include/gcopter/trajectory.hpp:28,
                 from /home/kkg/codes_rl/AllocNet/src/planner/include/gcopter/visualizer.hpp:4,
                 from /home/kkg/codes_rl/AllocNet/src/planner/src/learning_planning.cpp:1:
/usr/include/c++/9/bits/alloc_traits.h: In instantiation of ‘static std::allocator_traits<std::allocator<_Tp1> >::size_type std::allocator_traits<std::allocator<_Tp1> >::max_size(const allocator_type&) [with _Tp = void; std::allocator_traits<std::allocator<_Tp1> >::size_type = long unsigned int; std::allocator_traits<std::allocator<_Tp1> >::allocator_type = std::allocator<void>]’:
/usr/include/c++/9/bits/stl_vector.h:1780:51:   required from ‘static std::vector<_Tp, _Alloc>::size_type std::vector<_Tp, _Alloc>::_S_max_size(const _Tp_alloc_type&) [with _Tp = void; _Alloc = std::allocator<void>; std::vector<_Tp, _Alloc>::size_type = long unsigned int; std::vector<_Tp, _Alloc>::_Tp_alloc_type = std::allocator<void>]’
/usr/include/c++/9/bits/stl_vector.h:921:27:   required from ‘std::vector<_Tp, _Alloc>::size_type std::vector<_Tp, _Alloc>::max_size() const [with _Tp = void; _Alloc = std::allocator<void>; std::vector<_Tp, _Alloc>::size_type = long unsigned int]’
/usr/include/c++/9/bits/vector.tcc:69:23:   required from ‘void std::vector<_Tp, _Alloc>::reserve(std::vector<_Tp, _Alloc>::size_type) [with _Tp = void; _Alloc = std::allocator<void>; std::vector<_Tp, _Alloc>::size_type = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/functional.h:20:3:   required from ‘std::vector<decltype (fn((* inputs.begin())))> c10::fmap(const T&, const F&) [with F = torch::jit::Object::get_properties() const::<lambda(c10::ClassType::Property)>; T = std::vector<c10::ClassType::Property>; decltype (fn((* inputs.begin()))) = void]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/jit/api/object.h:153:6:   required from here
/usr/include/c++/9/bits/alloc_traits.h:505:20: error: ‘const allocator_type’ {aka ‘const class std::allocator<void>’} has no member named ‘max_size’
  505 |       { return __a.max_size(); }
      |                ~~~~^~~~~~~~
In file included from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/Dict_inl.h:4,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/Dict.h:397,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/ivalue_inl.h:8,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/ivalue.h:1555,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/List_inl.h:4,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/List.h:490,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/IListRef_inl.h:3,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/IListRef.h:631,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/DeviceGuard.h:3,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/ATen.h:9,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/api/include/torch/types.h:3,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/script.h:3,
                 from /home/kkg/codes_rl/AllocNet/src/planner/include/planner/learning_planner.hpp:3,
                 from /home/kkg/codes_rl/AllocNet/src/planner/src/learning_planning.cpp:10:
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h: In instantiation of ‘size_t c10::hash<T>::operator()(const T&) const [with T = double; size_t = long unsigned int]’:
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:354:24:   required from ‘size_t c10::_hash_detail::simple_get_hash(const T&) [with T = double; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:306:40:   required from ‘size_t c10::hash<std::tuple<_Tps ...> >::tuple_hash<idx, Ts>::operator()(const std::tuple<_Args2 ...>&) const [with long unsigned int idx = 1; Ts = {const double&, const double&}; Types = {const double&, const double&}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:319:56:   required from ‘size_t c10::hash<std::tuple<_Tps ...> >::operator()(const std::tuple<_Tps ...>&) const [with Types = {const double&, const double&}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:368:50:   required from ‘size_t c10::get_hash(const Types& ...) [with Types = {double, double}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:375:20:   required from ‘size_t c10::hash<c10::complex<U> >::operator()(const c10::complex<U>&) const [with T = double; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/Dict_inl.h:48:70:   required from here
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:295:39: error: no matching function for call to ‘dispatch_hash(const double&)’
  295 |     return _hash_detail::dispatch_hash(o);
      |            ~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:273:6: note: candidate: ‘template<class T> decltype (((std::hash<_Tp>()(o), <expression error>), <expression error>)) c10::_hash_detail::dispatch_hash(const T&)’
  273 | auto dispatch_hash(const T& o)
      |      ^~~~~~~~~~~~~
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:273:6: note:   template argument deduction/substitution failed:
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:285:6: note: candidate: ‘template<class T> decltype ((T::hash(o), size_t())) c10::_hash_detail::dispatch_hash(const T&)’
  285 | auto dispatch_hash(const T& o) -> decltype(T::hash(o), size_t()) {
      |      ^~~~~~~~~~~~~
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:285:6: note:   template argument deduction/substitution failed:
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h: In substitution of ‘template<class T> decltype ((T::hash(o), size_t())) c10::_hash_detail::dispatch_hash(const T&) [with T = double]’:
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:295:39:   required from ‘size_t c10::hash<T>::operator()(const T&) const [with T = double; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:354:24:   required from ‘size_t c10::_hash_detail::simple_get_hash(const T&) [with T = double; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:306:40:   required from ‘size_t c10::hash<std::tuple<_Tps ...> >::tuple_hash<idx, Ts>::operator()(const std::tuple<_Args2 ...>&) const [with long unsigned int idx = 1; Ts = {const double&, const double&}; Types = {const double&, const double&}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:319:56:   required from ‘size_t c10::hash<std::tuple<_Tps ...> >::operator()(const std::tuple<_Tps ...>&) const [with Types = {const double&, const double&}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:368:50:   required from ‘size_t c10::get_hash(const Types& ...) [with Types = {double, double}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:375:20:   required from ‘size_t c10::hash<c10::complex<U> >::operator()(const c10::complex<U>&) const [with T = double; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/Dict_inl.h:48:70:   required from here
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:285:51: error: ‘hash’ is not a member of ‘double’
  285 | auto dispatch_hash(const T& o) -> decltype(T::hash(o), size_t()) {
      |                                            ~~~~~~~^~~
In file included from /usr/include/c++/9/bits/stl_tempbuf.h:60,
                 from /usr/include/c++/9/bits/stl_algo.h:62,
                 from /usr/include/c++/9/algorithm:62,
                 from /usr/include/eigen3/Eigen/Core:288,
                 from /usr/include/eigen3/Eigen/Dense:1,
                 from /usr/include/eigen3/Eigen/Eigen:1,
                 from /home/kkg/codes_rl/AllocNet/src/planner/include/gcopter/root_finder.hpp:32,
                 from /home/kkg/codes_rl/AllocNet/src/planner/include/gcopter/trajectory.hpp:28,
                 from /home/kkg/codes_rl/AllocNet/src/planner/include/gcopter/visualizer.hpp:4,
                 from /home/kkg/codes_rl/AllocNet/src/planner/src/learning_planning.cpp:1:
/usr/include/c++/9/bits/stl_construct.h: In instantiation of ‘void std::_Construct(_T1*, _Args&& ...) [with _T1 = at::Tensor; _Args = {}]’:
/usr/include/c++/9/bits/stl_uninitialized.h:545:18:   required from ‘static _ForwardIterator std::__uninitialized_default_n_1<_TrivialValueType>::__uninit_default_n(_ForwardIterator, _Size) [with _ForwardIterator = at::Tensor*; _Size = long unsigned int; bool _TrivialValueType = false]’
/usr/include/c++/9/bits/stl_uninitialized.h:601:20:   required from ‘_ForwardIterator std::__uninitialized_default_n(_ForwardIterator, _Size) [with _ForwardIterator = at::Tensor*; _Size = long unsigned int]’
/usr/include/c++/9/bits/stl_uninitialized.h:663:44:   required from ‘_ForwardIterator std::__uninitialized_default_n_a(_ForwardIterator, _Size, std::allocator<_Tp>&) [with _ForwardIterator = at::Tensor*; _Size = long unsigned int; _Tp = at::Tensor]’
/usr/include/c++/9/bits/stl_vector.h:1603:36:   required from ‘void std::vector<_Tp, _Alloc>::_M_default_initialize(std::vector<_Tp, _Alloc>::size_type) [with _Tp = at::Tensor; _Alloc = std::allocator<at::Tensor>; std::vector<_Tp, _Alloc>::size_type = long unsigned int]’
/usr/include/c++/9/bits/stl_vector.h:509:9:   required from ‘std::vector<_Tp, _Alloc>::vector(std::vector<_Tp, _Alloc>::size_type, const allocator_type&) [with _Tp = at::Tensor; _Alloc = std::allocator<at::Tensor>; std::vector<_Tp, _Alloc>::size_type = long unsigned int; std::vector<_Tp, _Alloc>::allocator_type = std::allocator<at::Tensor>]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/ExpandUtils.h:436:46:   required from here
/usr/include/c++/9/bits/stl_construct.h:75:7: error: use of deleted function ‘at::Tensor::Tensor()’
   75 |     { ::new(static_cast<void*>(__p)) _T1(std::forward<_Args>(__args)...); }
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/Dict_inl.h:4,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/Dict.h:397,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/ivalue_inl.h:8,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/ivalue.h:1555,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/List_inl.h:4,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/List.h:490,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/IListRef_inl.h:3,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/IListRef.h:631,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/DeviceGuard.h:3,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/ATen.h:9,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/api/include/torch/types.h:3,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/script.h:3,
                 from /home/kkg/codes_rl/AllocNet/src/planner/include/planner/learning_planner.hpp:3,
                 from /home/kkg/codes_rl/AllocNet/src/planner/src/learning_planning.cpp:10:
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h: In instantiation of ‘size_t c10::hash<T>::operator()(const T&) const [with T = std::shared_ptr<torch::autograd::Node>; size_t = long unsigned int]’:
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:354:24:   required from ‘size_t c10::_hash_detail::simple_get_hash(const T&) [with T = std::shared_ptr<torch::autograd::Node>; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:314:43:   required from ‘size_t c10::hash<std::tuple<_Tps ...> >::tuple_hash<0, Ts ...>::operator()(const std::tuple<_Args1 ...>&) const [with Ts = {const std::shared_ptr<torch::autograd::Node>&, const unsigned int&}; Types = {const std::shared_ptr<torch::autograd::Node>&, const unsigned int&}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:307:39:   required from ‘size_t c10::hash<std::tuple<_Tps ...> >::tuple_hash<idx, Ts>::operator()(const std::tuple<_Args2 ...>&) const [with long unsigned int idx = 1; Ts = {const std::shared_ptr<torch::autograd::Node>&, const unsigned int&}; Types = {const std::shared_ptr<torch::autograd::Node>&, const unsigned int&}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:319:56:   required from ‘size_t c10::hash<std::tuple<_Tps ...> >::operator()(const std::tuple<_Tps ...>&) const [with Types = {const std::shared_ptr<torch::autograd::Node>&, const unsigned int&}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:368:50:   required from ‘size_t c10::get_hash(const Types& ...) [with Types = {std::shared_ptr<torch::autograd::Node>, unsigned int}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/autograd/edge.h:53:54:   required from here
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:295:39: error: no matching function for call to ‘dispatch_hash(const std::shared_ptr<torch::autograd::Node>&)’
  295 |     return _hash_detail::dispatch_hash(o);
      |            ~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:273:6: note: candidate: ‘template<class T> decltype (((std::hash<_Tp>()(o), <expression error>), <expression error>)) c10::_hash_detail::dispatch_hash(const T&)’
  273 | auto dispatch_hash(const T& o)
      |      ^~~~~~~~~~~~~
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:273:6: note:   template argument deduction/substitution failed:
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:285:6: note: candidate: ‘template<class T> decltype ((T::hash(o), size_t())) c10::_hash_detail::dispatch_hash(const T&)’
  285 | auto dispatch_hash(const T& o) -> decltype(T::hash(o), size_t()) {
      |      ^~~~~~~~~~~~~
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:285:6: note:   template argument deduction/substitution failed:
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h: In substitution of ‘template<class T> decltype ((T::hash(o), size_t())) c10::_hash_detail::dispatch_hash(const T&) [with T = std::shared_ptr<torch::autograd::Node>]’:
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:295:39:   required from ‘size_t c10::hash<T>::operator()(const T&) const [with T = std::shared_ptr<torch::autograd::Node>; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:354:24:   required from ‘size_t c10::_hash_detail::simple_get_hash(const T&) [with T = std::shared_ptr<torch::autograd::Node>; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:314:43:   required from ‘size_t c10::hash<std::tuple<_Tps ...> >::tuple_hash<0, Ts ...>::operator()(const std::tuple<_Args1 ...>&) const [with Ts = {const std::shared_ptr<torch::autograd::Node>&, const unsigned int&}; Types = {const std::shared_ptr<torch::autograd::Node>&, const unsigned int&}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:307:39:   required from ‘size_t c10::hash<std::tuple<_Tps ...> >::tuple_hash<idx, Ts>::operator()(const std::tuple<_Args2 ...>&) const [with long unsigned int idx = 1; Ts = {const std::shared_ptr<torch::autograd::Node>&, const unsigned int&}; Types = {const std::shared_ptr<torch::autograd::Node>&, const unsigned int&}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:319:56:   required from ‘size_t c10::hash<std::tuple<_Tps ...> >::operator()(const std::tuple<_Tps ...>&) const [with Types = {const std::shared_ptr<torch::autograd::Node>&, const unsigned int&}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:368:50:   required from ‘size_t c10::get_hash(const Types& ...) [with Types = {std::shared_ptr<torch::autograd::Node>, unsigned int}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/autograd/edge.h:53:54:   required from here
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:285:51: error: ‘hash’ is not a member of ‘std::shared_ptr<torch::autograd::Node>’
  285 | auto dispatch_hash(const T& o) -> decltype(T::hash(o), size_t()) {
      |                                            ~~~~~~~^~~
In file included from /usr/include/x86_64-linux-gnu/c++/9/bits/c++allocator.h:33,
                 from /usr/include/c++/9/bits/allocator.h:46,
                 from /usr/include/c++/9/bits/stl_tree.h:64,
                 from /usr/include/c++/9/set:60,
                 from /home/kkg/codes_rl/AllocNet/src/planner/include/gcopter/root_finder.hpp:31,
                 from /home/kkg/codes_rl/AllocNet/src/planner/include/gcopter/trajectory.hpp:28,
                 from /home/kkg/codes_rl/AllocNet/src/planner/include/gcopter/visualizer.hpp:4,
                 from /home/kkg/codes_rl/AllocNet/src/planner/src/learning_planning.cpp:1:
/usr/include/c++/9/ext/new_allocator.h: In instantiation of ‘void __gnu_cxx::new_allocator<_Tp>::construct(_Up*, _Args&& ...) [with _Up = torch::jit::BuiltinModule; _Args = {const char (&)[5]}; _Tp = torch::jit::BuiltinModule]’:
/usr/include/c++/9/bits/alloc_traits.h:483:4:   required from ‘static void std::allocator_traits<std::allocator<_Tp1> >::construct(std::allocator_traits<std::allocator<_Tp1> >::allocator_type&, _Up*, _Args&& ...) [with _Up = torch::jit::BuiltinModule; _Args = {const char (&)[5]}; _Tp = torch::jit::BuiltinModule; std::allocator_traits<std::allocator<_Tp1> >::allocator_type = std::allocator<torch::jit::BuiltinModule>]’
/usr/include/c++/9/bits/shared_ptr_base.h:548:39:   required from ‘std::_Sp_counted_ptr_inplace<_Tp, _Alloc, _Lp>::_Sp_counted_ptr_inplace(_Alloc, _Args&& ...) [with _Args = {const char (&)[5]}; _Tp = torch::jit::BuiltinModule; _Alloc = std::allocator<torch::jit::BuiltinModule>; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/9/bits/shared_ptr_base.h:679:16:   required from ‘std::__shared_count<_Lp>::__shared_count(_Tp*&, std::_Sp_alloc_shared_tag<_Alloc>, _Args&& ...) [with _Tp = torch::jit::BuiltinModule; _Alloc = std::allocator<torch::jit::BuiltinModule>; _Args = {const char (&)[5]}; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/9/bits/shared_ptr_base.h:1344:71:   required from ‘std::__shared_ptr<_Tp, _Lp>::__shared_ptr(std::_Sp_alloc_shared_tag<_Tp>, _Args&& ...) [with _Alloc = std::allocator<torch::jit::BuiltinModule>; _Args = {const char (&)[5]}; _Tp = torch::jit::BuiltinModule; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/9/bits/shared_ptr.h:359:59:   required from ‘std::shared_ptr<_Tp>::shared_ptr(std::_Sp_alloc_shared_tag<_Tp>, _Args&& ...) [with _Alloc = std::allocator<torch::jit::BuiltinModule>; _Args = {const char (&)[5]}; _Tp = torch::jit::BuiltinModule]’
/usr/include/c++/9/bits/shared_ptr.h:701:14:   required from ‘std::shared_ptr<_Tp> std::allocate_shared(const _Alloc&, _Args&& ...) [with _Tp = torch::jit::BuiltinModule; _Alloc = std::allocator<torch::jit::BuiltinModule>; _Args = {const char (&)[5]}]’
/usr/include/c++/9/bits/shared_ptr.h:717:39:   required from ‘std::shared_ptr<_Tp> std::make_shared(_Args&& ...) [with _Tp = torch::jit::BuiltinModule; _Args = {const char (&)[5]}]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/jit/frontend/resolver.h:53:52:   required from here
/usr/include/c++/9/ext/new_allocator.h:146:4: error: no matching function for call to ‘torch::jit::BuiltinModule::BuiltinModule(const char [5])’
  146 |  { ::new((void *)__p) _Up(std::forward<_Args>(__args)...); }
      |    ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/jit/frontend/resolver.h:5,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/jit/frontend/script_type_parser.h:4,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/jit/serialization/unpickler.h:7,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/jit/serialization/pickle.h:8,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/script.h:10,
                 from /home/kkg/codes_rl/AllocNet/src/planner/include/planner/learning_planner.hpp:3,
                 from /home/kkg/codes_rl/AllocNet/src/planner/src/learning_planning.cpp:10:
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:308:3: note: candidate: ‘torch::jit::BuiltinModule::BuiltinModule(std::string, int)’
  308 |   BuiltinModule(std::string name, c10::optional<int64_t> version = at::nullopt)
      |   ^~~~~~~~~~~~~
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:308:3: note:   candidate expects 2 arguments, 1 provided
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:307:18: note: candidate: ‘torch::jit::BuiltinModule::BuiltinModule(const torch::jit::BuiltinModule&)’
  307 | struct TORCH_API BuiltinModule : public SugaredValue {
      |                  ^~~~~~~~~~~~~
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:307:18: note:   no known conversion for argument 1 from ‘const char [5]’ to ‘const torch::jit::BuiltinModule&’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:307:18: note: candidate: ‘torch::jit::BuiltinModule::BuiltinModule(torch::jit::BuiltinModule&&)’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:307:18: note:   no known conversion for argument 1 from ‘const char [5]’ to ‘torch::jit::BuiltinModule&&’
make[2]: *** [CMakeFiles/learning_planning.dir/build.make:63: CMakeFiles/learning_planning.dir/src/learning_planning.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:764: CMakeFiles/learning_planning.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
cd /home/kkg/codes_rl/AllocNet/build/planner; catkin build --get-env planner | catkin env -si  /usr/bin/make --jobserver-auth=3,4; cd -

...............................................................................
Failed     << planner:make             [ Exited with code 2 ]                  
Failed    <<< planner                  [ 1 minute and 50.3 seconds ]           
[build] Summary: 2 of 3 packages succeeded.                                    
[build]   Ignored:   None.                                                     
[build]   Warnings:  None.                                                     
[build]   Abandoned: None.                                                     
[build]   Failed:    1 packages failed.                                        
[build] Runtime: 1 minute and 52.8 seconds total.
yuwei-wu commented 4 months ago

It looks like a dependence issue. Do you use a GPU or CPU version?

kashifzr commented 4 months ago

@yuwei-wu thanks you reply, I download cpu version of libtorch from the link, and place in planner folder. as you may see above. Then I change device to cpu device in learning_planner.hpp file in the include directory inside planner folder, my gcc compiler is 9.4.0.

yuwei-wu commented 4 months ago

hi, there's a pytorch update that causes this issue, you can try to download this version:

https://download.pytorch.org/libtorch/nightly/cpu/libtorch-cxx11-abi-shared-with-deps-2.0.0.dev20230301%2Bcpu.zip.

I will make sure to update the readme accordingly. Thank you for bringing this issue up.

kashifzr commented 4 months ago

Hi, yuwei-wu thanks that libtorch works.

TWSTYPH commented 2 weeks ago

@yuwei-wu Thank you for sharing the source code of this paper. I have successfully compiled the code, but after running it, the program fails to compute a result when given two target points, and an error occurs. I haven't been able to identify where the issue lies, and I hope to get your assistance. Below is the error log. Thank you very much.

process[learning_planning_node-4]: started with pid [117827] [ INFO] [1728459359.161506086]: rviz version 1.14.20 [ INFO] [1728459359.161538487]: compiled against Qt version 5.12.8 [ INFO] [1728459359.161554244]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1728459359.168224787]: Forcing OpenGl version 0. frame_id odom [set up the model] optOrder 3 [ INFO] [1728459359.861809834]: Stereo is NOT SUPPORTED [ INFO] [1728459359.861849441]: OpenGL device: NVIDIA GeForce RTX 4060 Laptop GPU/PCIe/SSE2 [ INFO] [1728459359.861859904]: OpenGl version: 4.6 (GLSL 4.6). ++++++++++++++++++++++++++++++++++++++ +++++++Grid Map Information+++++++++++ +++ resolution : 0.1 +++ map volume : 2000 +++ origin : -10 -10 0 +++ size : 20 20 5 ++++++++++++++++++++++++++++++++++++++ error loading the model Error: Could not run 'aten::empty_strided' with arguments from the 'CUDA' backend. This could be because the operator doesn't exist for this backend, or was omitted during the selective/custom build process (if using custom build). If you are a Facebook employee using PyTorch on mobile, please visit https://fburl.com/ptmfixes for possible resolutions. 'aten::empty_strided' is only available for these backends: [CPU, Meta, QuantizedCPU, BackendSelect, Python, FuncTorchDynamicLayerBackMode, Functionalize, Named, Conjugate, Negative, ZeroTensor, ADInplaceOrView, AutogradOther, AutogradCPU, AutogradCUDA, AutogradHIP, AutogradXLA, AutogradMPS, AutogradIPU, AutogradXPU, AutogradHPU, AutogradVE, AutogradLazy, AutogradMeta, AutogradMTIA, AutogradPrivateUse1, AutogradPrivateUse2, AutogradPrivateUse3, AutogradNestedTensor, Tracer, AutocastCPU, AutocastCUDA, FuncTorchBatched, FuncTorchVmapMode, Batched, VmapMode, FuncTorchGradWrapper, PythonTLSSnapshot, FuncTorchDynamicLayerFrontMode, PythonDispatcher].

CPU: registered at aten/src/ATen/RegisterCPU.cpp:31085 [kernel] Meta: registered at aten/src/ATen/RegisterMeta.cpp:26824 [kernel] QuantizedCPU: registered at aten/src/ATen/RegisterQuantizedCPU.cpp:929 [kernel] BackendSelect: registered at aten/src/ATen/RegisterBackendSelect.cpp:734 [kernel] Python: registered at ../aten/src/ATen/core/PythonFallbackKernel.cpp:144 [backend fallback] FuncTorchDynamicLayerBackMode: registered at ../aten/src/ATen/functorch/DynamicLayer.cpp:491 [backend fallback] Functionalize: registered at ../aten/src/ATen/FunctionalizeFallbackKernel.cpp:290 [backend fallback] Named: registered at ../aten/src/ATen/core/NamedRegistrations.cpp:7 [backend fallback] Conjugate: fallthrough registered at ../aten/src/ATen/ConjugateFallback.cpp:21 [kernel] Negative: fallthrough registered at ../aten/src/ATen/native/NegateFallback.cpp:23 [kernel] ZeroTensor: fallthrough registered at ../aten/src/ATen/ZeroTensorFallback.cpp:90 [kernel] ADInplaceOrView: fallthrough registered at ../aten/src/ATen/core/VariableFallbackKernel.cpp:63 [backend fallback] AutogradOther: registered at ../torch/csrc/autograd/generated/VariableType_2.cpp:17917 [autograd kernel] AutogradCPU: registered at ../torch/csrc/autograd/generated/VariableType_2.cpp:17917 [autograd kernel] AutogradCUDA: registered at ../torch/csrc/autograd/generated/VariableType_2.cpp:17917 [autograd kernel] AutogradHIP: registered at ../torch/csrc/autograd/generated/VariableType_2.cpp:17917 [autograd kernel] AutogradXLA: registered at ../torch/csrc/autograd/generated/VariableType_2.cpp:17917 [autograd kernel] AutogradMPS: registered at ../torch/csrc/autograd/generated/VariableType_2.cpp:17917 [autograd kernel] AutogradIPU: registered at ../torch/csrc/autograd/generated/VariableType_2.cpp:17917 [autograd kernel] AutogradXPU: registered at ../torch/csrc/autograd/generated/VariableType_2.cpp:17917 [autograd kernel] AutogradHPU: registered at ../torch/csrc/autograd/generated/VariableType_2.cpp:17917 [autograd kernel] AutogradVE: registered at ../torch/csrc/autograd/generated/VariableType_2.cpp:17917 [autograd kernel] AutogradLazy: registered at ../torch/csrc/autograd/generated/VariableType_2.cpp:17917 [autograd kernel] AutogradMeta: registered at ../torch/csrc/autograd/generated/VariableType_2.cpp:17917 [autograd kernel] AutogradMTIA: registered at ../torch/csrc/autograd/generated/VariableType_2.cpp:17917 [autograd kernel] AutogradPrivateUse1: registered at ../torch/csrc/autograd/generated/VariableType_2.cpp:17917 [autograd kernel] AutogradPrivateUse2: registered at ../torch/csrc/autograd/generated/VariableType_2.cpp:17917 [autograd kernel] AutogradPrivateUse3: registered at ../torch/csrc/autograd/generated/VariableType_2.cpp:17917 [autograd kernel] AutogradNestedTensor: registered at ../torch/csrc/autograd/generated/VariableType_2.cpp:17917 [autograd kernel] Tracer: registered at ../torch/csrc/autograd/generated/TraceType_2.cpp:16868 [kernel] AutocastCPU: fallthrough registered at ../aten/src/ATen/autocast_mode.cpp:487 [backend fallback] AutocastCUDA: fallthrough registered at ../aten/src/ATen/autocast_mode.cpp:354 [backend fallback] FuncTorchBatched: registered at ../aten/src/ATen/functorch/LegacyBatchingRegistrations.cpp:815 [backend fallback] FuncTorchVmapMode: fallthrough registered at ../aten/src/ATen/functorch/VmapModeRegistrations.cpp:28 [backend fallback] Batched: registered at ../aten/src/ATen/LegacyBatchingRegistrations.cpp:1073 [backend fallback] VmapMode: fallthrough registered at ../aten/src/ATen/VmapModeRegistrations.cpp:33 [backend fallback] FuncTorchGradWrapper: registered at ../aten/src/ATen/functorch/TensorWrapper.cpp:210 [backend fallback] PythonTLSSnapshot: registered at ../aten/src/ATen/core/PythonFallbackKernel.cpp:152 [backend fallback] FuncTorchDynamicLayerFrontMode: registered at ../aten/src/ATen/functorch/DynamicLayer.cpp:487 [backend fallback] PythonDispatcher: registered at ../aten/src/ATen/core/PythonFallbackKernel.cpp:148 [backend fallback]

Exception raised from reportError at ../aten/src/ATen/core/dispatch/OperatorEntry.cpp:549 (most recent call first): frame #0: c10::Error::Error(c10::SourceLocation, std::cxx11::basic_string<char, std::char_traits, std::allocator >) + 0x6b (0x7fcee25fba5b in /home/penghui/AllocNet/src/planner/libtorch/lib/libc10.so) frame #1: c10::impl::OperatorEntry::reportError(c10::DispatchKey) const + 0x375 (0x7fcecc288c35 in /home/penghui/AllocNet/src/planner/libtorch/lib/libtorch_cpu.so) frame #2: + 0x202452b (0x7fcecccfc52b in /home/penghui/AllocNet/src/planner/libtorch/lib/libtorch_cpu.so) frame #3: at::_ops::empty_strided::redispatch(c10::DispatchKeySet, c10::ArrayRef, c10::ArrayRef, c10::optional, c10::optional, c10::optional, c10::optional) + 0xa9 (0x7fceccf61859 in /home/penghui/AllocNet/src/planner/libtorch/lib/libtorch_cpu.so) frame #4: + 0x25c6715 (0x7fcecd29e715 in /home/penghui/AllocNet/src/planner/libtorch/lib/libtorch_cpu.so) frame #5: at::_ops::empty_strided::call(c10::ArrayRef, c10::ArrayRef, c10::optional, c10::optional, c10::optional, c10::optional) + 0x168 (0x7fceccf9d538 in /home/penghui/AllocNet/src/planner/libtorch/lib/libtorch_cpu.so) frame #6: + 0x16c8ecf (0x7fcecc3a0ecf in /home/penghui/AllocNet/src/planner/libtorch/lib/libtorch_cpu.so) frame #7: at::native::_to_copy(at::Tensor const&, c10::optional, c10::optional, c10::optional, c10::optional, bool, c10::optional) + 0x17e3 (0x7fcecc747023 in /home/penghui/AllocNet/src/planner/libtorch/lib/libtorch_cpu.so) frame #8: + 0x27af303 (0x7fcecd487303 in /home/penghui/AllocNet/src/planner/libtorch/lib/libtorch_cpu.so) frame #9: at::_ops::_to_copy::redispatch(c10::DispatchKeySet, at::Tensor const&, c10::optional, c10::optional, c10::optional, c10::optional, bool, c10::optional) + 0x103 (0x7fceccc39703 in /home/penghui/AllocNet/src/planner/libtorch/lib/libtorch_cpu.so) frame #10: + 0x25cac68 (0x7fcecd2a2c68 in /home/penghui/AllocNet/src/planner/libtorch/lib/libtorch_cpu.so) frame #11: at::_ops::_to_copy::redispatch(c10::DispatchKeySet, at::Tensor const&, c10::optional, c10::optional, c10::optional, c10::optional, bool, c10::optional) + 0x103 (0x7fceccc39703 in /home/penghui/AllocNet/src/planner/libtorch/lib/libtorch_cpu.so) frame #12: + 0x3a63ed1 (0x7fcece73bed1 in /home/penghui/AllocNet/src/planner/libtorch/lib/libtorch_cpu.so) frame #13: + 0x3a6447b (0x7fcece73c47b in /home/penghui/AllocNet/src/planner/libtorch/lib/libtorch_cpu.so) frame #14: at::_ops::_to_copy::call(at::Tensor const&, c10::optional, c10::optional, c10::optional, c10::optional, bool, c10::optional) + 0x201 (0x7fcecccbc0d1 in /home/penghui/AllocNet/src/planner/libtorch/lib/libtorch_cpu.so) frame #15: at::native::to(at::Tensor const&, c10::Device, c10::ScalarType, bool, bool, c10::optional) + 0xfd (0x7fcecc74538d in /home/penghui/AllocNet/src/planner/libtorch/lib/libtorch_cpu.so) frame #16: + 0x29844c2 (0x7fcecd65c4c2 in /home/penghui/AllocNet/src/planner/libtorch/lib/libtorch_cpu.so) frame #17: at::_ops::to_device::call(at::Tensor const&, c10::Device, c10::ScalarType, bool, bool, c10::optional) + 0x1c1 (0x7fcecce3c981 in /home/penghui/AllocNet/src/planner/libtorch/lib/libtorch_cpu.so) frame #18: torch::jit::Unpickler::readInstruction() + 0x17fb (0x7fcecf8700ab in /home/penghui/AllocNet/src/planner/libtorch/lib/libtorch_cpu.so) frame #19: torch::jit::Unpickler::run() + 0xa8 (0x7fcecf871458 in /home/penghui/AllocNet/src/planner/libtorch/lib/libtorch_cpu.so) frame #20: torch::jit::Unpickler::parse_ivalue() + 0x2e (0x7fcecf872ffe in /home/penghui/AllocNet/src/planner/libtorch/lib/libtorch_cpu.so) frame #21: torch::jit::readArchiveAndTensors(std::cxx11::basic_string<char, std::char_traits, std::allocator > const&, std::cxx11::basic_string<char, std::char_traits, std::allocator > const&, std::cxx11::basic_string<char, std::char_traits, std::allocator > const&, c10::optional<std::function<c10::StrongTypePtr (c10::QualifiedName const&)> >, c10::optional<std::function<c10::intrusive_ptr<c10::ivalue::Object, c10::detail::intrusive_target_default_null_type > (c10::StrongTypePtr, c10::IValue)> >, c10::optional, caffe2::serialize::PyTorchStreamReader&, c10::Type::SingletonOrSharedTypePtr (*)(std::cxx11::basic_string<char, std::char_traits, std::allocator > const&), std::shared_ptr) + 0x529 (0x7fcecf82d3b9 in /home/penghui/AllocNet/src/planner/libtorch/lib/libtorch_cpu.so) frame #22: + 0x4b39dcb (0x7fcecf811dcb in /home/penghui/AllocNet/src/planner/libtorch/lib/libtorch_cpu.so) frame #23: + 0x4b3c1fb (0x7fcecf8141fb in /home/penghui/AllocNet/src/planner/libtorch/lib/libtorch_cpu.so) frame #24: torch::jit::import_ir_module(std::shared_ptr, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, c10::optional, std::unordered_map<std::cxx11::basic_string<char, std::char_traits, std::allocator >, std::cxx11::basic_string<char, std::char_traits, std::allocator >, std::hash<std::cxx11::basic_string<char, std::char_traits, std::allocator > >, std::equal_to<std::cxx11::basic_string<char, std::char_traits, std::allocator > >, std::allocator<std::pair<std::cxx11::basic_string<char, std::char_traits, std::allocator > const, std::cxx11::basic_string<char, std::char_traits, std::allocator > > > >&, bool, bool) + 0x3a2 (0x7fcecf8188b2 in /home/penghui/AllocNet/src/planner/libtorch/lib/libtorch_cpu.so) frame #25: torch::jit::import_ir_module(std::shared_ptr, std::cxx11::basic_string<char, std::char_traits, std::allocator > const&, c10::optional, bool) + 0x92 (0x7fcecf818c32 in /home/penghui/AllocNet/src/planner/libtorch/lib/libtorch_cpu.so) frame #26: torch::jit::load(std::cxx11::basic_string<char, std::char_traits, std::allocator > const&, c10::optional, bool) + 0xd1 (0x7fcecf818d61 in /home/penghui/AllocNet/src/planner/libtorch/lib/libtorch_cpu.so) frame #27: + 0x28f6a (0x55ba8146df6a in /home/penghui/AllocNet/devel/lib/planner/learning_planning) frame #28: + 0x31623 (0x55ba81476623 in /home/penghui/AllocNet/devel/lib/planner/learning_planning) frame #29: + 0x10b72 (0x55ba81455b72 in /home/penghui/AllocNet/devel/lib/planner/learning_planning) frame #30: libc_start_main + 0xf3 (0x7fceca7b9083 in /lib/x86_64-linux-gnu/libc.so.6) frame #31: + 0x10c9e (0x55ba81455c9e in /home/penghui/AllocNet/devel/lib/planner/learning_planning)

++++++++++++++++++++++++++++++++++++++ +++ Finished generate random map ! +++ +++ The ratios for geometries are: +++ +++ cylinders : 12.03% +++ +++ circles : 0.51% +++ +++ gates : 0.21% +++ +++ ellipsoids : 1.14% +++ +++ polytopes : 1.01% +++ ++++++++++++++++++++++++++++++++++++++ [ WARN] [1728459363.211652491]: GRID OBS: 298117 [ WARN] [1728459363.636415996]: GRID OBS: 298117 [ WARN] [1728459364.057875391]: GRID OBS: 298117 [ WARN] [1728459364.476742100]: GRID OBS: 298117 [ WARN] [1728459364.894841533]: GRID OBS: 298117 [ WARN] [1728459365.315261510]: GRID OBS: 298117 [ WARN] [1728459365.736091932]: GRID OBS: 297825 [ WARN] [1728459366.157382648]: GRID OBS: 297294 [ INFO] [1728459366.571006419]: Setting goal: Frame:odom, Position(2.751, 3.602, 0.000), Orientation(0.000, 0.000, -0.313, 0.950) = Angle: -0.636

[ WARN] [1728459366.576724889]: GRID OBS: 297506 [ WARN] [1728459366.997799207]: GRID OBS: 297380 [ WARN] [1728459367.420854779]: GRID OBS: 297380 [ WARN] [1728459367.840933026]: GRID OBS: 297380 [ WARN] [1728459368.258019060]: GRID OBS: 297055 [ WARN] [1728459368.676310048]: GRID OBS: 296854 [ WARN] [1728459369.093412528]: GRID OBS: 296651 [ WARN] [1728459369.510933459]: GRID OBS: 296585 [ INFO] [1728459369.521487203]: Setting goal: Frame:odom, Position(4.008, -1.260, 0.000), Orientation(0.000, 0.000, -0.392, 0.920) = Angle: -0.806

============================ New Try ===================================

  1. The path search and corridor generation time is : 372.522 ms terminate called after throwing an instance of 'c10::Error' what(): ivalue INTERNAL ASSERT FAILED at "../torch/csrc/jit/api/object.h":37, please report a bug to PyTorch. Exception raised from _ivalue at ../torch/csrc/jit/api/object.h:37 (most recent call first): frame #0: c10::Error::Error(c10::SourceLocation, std::cxx11::basic_string<char, std::char_traits, std::allocator >) + 0x6b (0x7fcee25fba5b in /home/penghui/AllocNet/src/planner/libtorch/lib/libc10.so) frame #1: c10::detail::torchCheckFail(char const, char const, unsigned int, char const) + 0xc9 (0x7fcee25f6ae9 in /home/penghui/AllocNet/src/planner/libtorch/lib/libc10.so) frame #2: torch::jit::Object::find_method(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&) const + 0x4bf (0x7fcecf3285bf in /home/penghui/AllocNet/src/planner/libtorch/lib/libtorch_cpu.so) frame #3: + 0x21a06 (0x55ba81466a06 in /home/penghui/AllocNet/devel/lib/planner/learning_planning) frame #4: + 0x51bf1 (0x55ba81496bf1 in /home/penghui/AllocNet/devel/lib/planner/learning_planning) frame #5: + 0x57018 (0x55ba8149c018 in /home/penghui/AllocNet/devel/lib/planner/learning_planning) frame #6: + 0x57744 (0x55ba8149c744 in /home/penghui/AllocNet/devel/lib/planner/learning_planning) frame #7: + 0x57cff (0x55ba8149ccff in /home/penghui/AllocNet/devel/lib/planner/learning_planning) frame #8: + 0x4d1a2 (0x55ba814921a2 in /home/penghui/AllocNet/devel/lib/planner/learning_planning) frame #9: + 0x589a8 (0x55ba8149d9a8 in /home/penghui/AllocNet/devel/lib/planner/learning_planning) frame #10: ros::SubscriptionQueue::call() + 0x989 (0x7fcee2844139 in /opt/ros/noetic/lib/libroscpp.so) frame #11: ros::CallbackQueue::callOneCB(ros::CallbackQueue::TLS) + 0x112 (0x7fcee27f2172 in /opt/ros/noetic/lib/libroscpp.so) frame #12: ros::CallbackQueue::callAvailable(ros::WallDuration) + 0x323 (0x7fcee27f3883 in /opt/ros/noetic/lib/libroscpp.so) frame #13: + 0x10b92 (0x55ba81455b92 in /home/penghui/AllocNet/devel/lib/planner/learning_planning) frame #14: libc_start_main + 0xf3 (0x7fceca7b9083 in /lib/x86_64-linux-gnu/libc.so.6) frame #15: + 0x10c9e (0x55ba81455c9e in /home/penghui/AllocNet/devel/lib/planner/learning_planning)

[ WARN] [1728459369.930596198]: GRID OBS: 296517 [learning_planning_node-4] process has died [pid 117827, exit code -6, cmd /home/penghui/AllocNet/devel/lib/planner/learning_planning name:=learning_planning_node log:=/home/penghui/.ros/log/20544c20-8611-11ef-b210-9d62ecb80ba5/learning_planning_node-4.log]. log file: /home/penghui/.ros/log/20544c20-8611-11ef-b210-9d62ecb80ba5/learning_planning_node-4*.log [ WARN] [1728459370.346978741]: GRID OBS: 296517 [ WARN] [1728459370.765971635]: GRID OBS: 296043 [ WARN] [1728459371.186035702]: GRID OBS: 295908 [ WARN] [1728459371.603406476]: GRID OBS: 295908 [ WARN] [1728459372.023163742]: GRID OBS: 295748 [ WARN] [1728459372.440859526]: GRID OBS: 295748 [ WARN] [1728459372.858567931]: GRID OBS: 295371 [ WARN] [1728459373.276415321]: GRID OBS: 295371 [ WARN] [1728459373.692699892]: GRID OBS: 295371 [ WARN] [1728459374.111118668]: GRID OBS: 295371 [ WARN] [1728459374.527947539]: GRID OBS: 295217

yuwei-wu commented 2 weeks ago

Hi, are you using the CPU version model? This error usually occurs because of the model's incorrect load or the mismatching of the library's version.

TWSTYPH commented 1 week ago

Thank you very much for your response. I am using the CPU version, and the issue has been resolved. I was using the wrong version, but now it's working correctly. Thanks again.