sandeepdutta
commented
1 year ago Attaching files to recreate.
map.yaml.
image: upper_corridor.png
mode: trinary
resolution: 0.05
origin: [-2.94, -1.64, 0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.25
rosbag.zip
Program gave error about FOV 186 expected 270. Changed FOV in the code to 180 , recompiled program .. crashed with following error.
response: std_srvs.srv.Empty_Response()
[component_container_mt-1] 2023-10-11 14:10:50.226 ERROR extensions/localization/flatscan_localization/grid_search_localizer.cpp@306: Got a scan that has FOV 178.000000 smaller than threshold 180.000000, ignoring this scan [component_container_mt-1] 2023-10-11 14:10:50.227 WARN extensions/localization/flatscan_localization/grid_search_localizer.cpp@347: Failed to collect scan at id: 0 admin@orin-agx:/workspaces/isaac_ros-dev$ ros2 service call /trigger_grid_search_localization std_srvs/srv/Empty requester: making request: std_srvs.srv.Empty_Request()
response: std_srvs.srv.Empty_Response()
[component_container_mt-1] 2023-10-11 14:10:55.104 ERROR extensions/localization/flatscan_localization/grid_search_localizer.cpp@546: Global localization failed to find a valid sample [component_container_mt-1] 2023-10-11 14:10:55.104 ERROR gxf/std/entity_executor.cpp@509: Failed to tick codelet grid_search_localizer in entity: RWWBBBXNED_global_localization code: GXF_FAILURE [component_container_mt-1] 2023-10-11 14:10:55.104 ERROR gxf/std/entity_executor.cpp@540: Entity [RWWBBBXNED_global_localization] must be in Lifecycle::kStarted or Lifecycle::kIdle stage before stopping. Current state is Ticking [component_container_mt-1] 2023-10-11 14:10:55.104 ERROR gxf/std/entity_executor.cpp@540: Entity [RWWBBBXNED_global_localization] must be in Lifecycle::kStarted or Lifecycle::kIdle stage before stopping. Current state is Ticking [component_container_mt-1] 2023-10-11 14:10:55.104 WARN gxf/std/greedy_scheduler.cpp@241: Error while executing entity 33 named 'RWWBBBXNED_global_localization': GXF_FAILURE [component_container_mt-1] 2023-10-11 14:10:55.228 ERROR gxf/std/entity_executor.cpp@203: Entity with eid 48 not found! [component_container_mt-1] [WARN] [1697058655.228782741] [occupancy_grid_localizer]: [NitrosNode] The heartbeat entity (eid=48) was stopped. The graph may have been terminated. [component_container_mt-1] [INFO] [1697058655.270089807] [occupancy_grid_localizer]: [NitrosNode] Terminating the running application [component_container_mt-1] [INFO] [1697058655.270157232] [occupancy_grid_localizer]: [NitrosContext] Interrupting GXF... [component_container_mt-1] [INFO] [1697058655.270937400] [occupancy_grid_localizer]: [NitrosContext] Waiting on GXF... [component_container_mt-1] 2023-10-11 14:10:55.271 ERROR gxf/std/program.cpp@497: wait failed. Deactivating... [component_container_mt-1] |==================================================================================================================================================================| [component_container_mt-1] | Job Statistics Report (regular) | [component_container_mt-1] |==================================================================================================================================================================| [component_container_mt-1] | Name | Count | Time (Median - 90% - Max) [ms] | Load (%) | Exec(ms) | Variation (Median - 90% - Max) [ns] | [component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------| [component_container_mt-1] | RWWBBBXNED_sink | 0 | 0.00 | 0.00 | 0.00 | 100.0 % | 0.0 | 0 | 0 | 0 | [component_container_mt-1] | RWWBBBXNED_flatscan_beams_tensor_copier | 2 | 0.35 | 0.35 | 0.57 | 0.0 % | 0.9 | 0 | 0 | 0 | [component_container_mt-1] | RWWBBBXNED_global_localization | 1 | 0.43 | 0.43 | 0.43 | 100.0 % | 0.4 | 0 | 0 | 0 | [component_container_mt-1] | RWWBBBXNED_broadcaster | 2 | 0.05 | 0.05 | 0.06 | 0.0 % | 0.1 | 0 | 0 | 0 | [component_container_mt-1] | RWWBBBXNED_localization_to_pose3d | 0 | 0.00 | 0.00 | 0.00 | 100.0 % | 0.0 | 0 | 0 | 0 | [component_container_mt-1] |==================================================================================================================================================================| [component_container_mt-1] |==================================================================================================================================================================| [component_container_mt-1] | Entity Statistics Report (regular) | [component_container_mt-1] |==================================================================================================================================================================| [component_container_mt-1] | Entity Name | Entity State | Count | Time (Median - 90% - Max) [ms] | [component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------| [component_container_mt-1] | RWWBBBXNED_sink | StopPending | 1 | 0.00659 | 0.00659 | 0.00659 | [component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------| [component_container_mt-1] | RWWBBBXNED_flatscan_bea | StopPending | 1 | 0.31316 | 0.31316 | 0.31316 | [component_container_mt-1] | RWWBBBXNED_flatscan_bea | Idle | 2 | 71.51398 | 71.51398 | 4806.04031 | [component_container_mt-1] | RWWBBBXNED_flatscan_bea | Ticking | 2 | 0.28948 | 0.28948 | 0.41892 | [component_container_mt-1] | RWWBBBXNED_flatscan_bea | Pending | 2 | 0.04669 | 0.04669 | 0.06790 | [component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------| [component_container_mt-1] | RWWBBBXNED_global_local | Idle | 1 | 4805.95666 | 4805.95666 | 4805.95666 | [component_container_mt-1] 2023-10-11 14:10:55.301 ERROR gxf/core/runtime.cpp@1251: Graph wait failed with error: GXF_FAILURE [component_container_mt-1] [ERROR] [1697058655.301787555] [occupancy_grid_localizer]: [NitrosContext] GxfGraphWait Error: GXF_FAILURE [component_container_mt-1] [INFO] [1697058655.301811587] [occupancy_grid_localizer]: [NitrosNode] Application termination done admin@orin-agx:/workspaces/isaac_ros-dev$ [component_container_mt-1] | RWWBBBXNED_global_local | Ticking | 1 | 0.41591 | 0.41591 | 0.41591 | [component_container_mt-1] | RWWBBBXNED_global_local | Pending | 2 | 0.00595 | 0.00595 | 0.00621 | [component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------| [component_container_mt-1] | RWWBBBXNED_broadcaster | StopPending | 1 | 0.00669 | 0.00669 | 0.00669 | [component_container_mt-1] | RWWBBBXNED_broadcaster | Idle | 2 | 71.41347 | 71.41347 | 4806.33724 | [component_container_mt-1] | RWWBBBXNED_broadcaster | Ticking | 2 | 0.02982 | 0.02982 | 0.03859 | [component_container_mt-1] | RWWBBBXNED_broadcaster | Pending | 2 | 0.01091 | 0.01091 | 0.01171 | [component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------| [component_container_mt-1] | RWWBBBXNED_localization | StopPending | 1 | 0.02230 | 0.02230 | 0.02230 | [component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------| [component_container_mt-1] |==================================================================================================================================================================| [component_container_mt-1] 2023-10-11 14:10:55.559 WARN external/com_nvidia_isaac_engine/engine/core/allocator/cached_allocator.cpp@131: Potentially lost 66975 bytes of memory (allocated total: 66975) [INFO] [component_container_mt-1]: process has finished cleanly [pid 43721]