[turtlebot3_dqn_stage_1-1] process has died [pid 1395, exit code -4,

[Sebastian5j]

I have turtlebot3 and im trying to use CONDA and tensorflow. First i use this command: roslaunch turtlebot3_gazebo turtlebot3_stage_1.launch and for some reason i cant see the laser, i know i have to change and put default="true" but it still doesnt work. Then when i try roslaunch turtlebot3_dqn turtlebot3_dqn_stage_1.launch I get the next error : process[turtlebot3_dqn_stage_1-1]: started with pid [1395] Using TensorFlow backend. [turtlebot3_dqn_stage_1-1] process has died [pid 1395, exit code -4, cmd /home/laboratorio/catkin_ws/src/turtlebot3_machine_learning/turtlebot3_dqn/nodes/turtlebot3_dqn_stage_1 __name:=turtlebot3_dqn_stage_1 __log:=/home/laboratorio/.ros/log/4baef918-eeba-11e9-91ac-001e4febbb7c/turtlebot3_dqn_stage_1-1.log]. log file: /home/laboratorio/.ros/log/4baef918-eeba-11e9-91ac-001e4febbb7c/turtlebot3_dqn_stage_1-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done

I have Ubuntu 16.04 xenial turtlebot3 waffle_pi

[JaehyunShim]

@Sebastian5j

1. Check if the file you modified is for the waffle_pi model (there are three, burger, waffle and waffle_pi). Since you are testing waffle_pi, the file below is what you need to modify. (turtlebot3/turtlebot3_description/urdf/turtlebot3_waffle_pi.gazebo.xacro)
2. There are several possible reasons why you are having that issue. 1 ) You should run gazebo before running that DQN program (and you didn't) 2 ) test below instead of waffle_pi export TURTLEBOT3_MODEL=burger 3 ) The problem is occurring because of Keras related issues. Show us your ~/.bashrc file.

Regards, Ryan

[Sebastian5j]

@rjshim this is what i have: in the file turtlebot3_waffle_pi.gazebo.xacro <?xml version="1.0"?>

Gazebo/DarkGrey 0.1 0.1 500000.0 10.0 0.001 0.1 1 0 0 Gazebo/FlatBlack 0.1 0.1 500000.0 10.0 0.001 0.1 1 0 0 Gazebo/FlatBlack 0.1 0.1 1000000.0 100.0 0.001 1.0 Gazebo/FlatBlack 0.1 0.1 1000000.0 100.0 0.001 1.0 Gazebo/FlatBlack true $(arg imu_visual) Gazebo/Grey cmd_vel odom odom world true base_footprint false true true false 30 wheel_left_joint wheel_right_joint 0.287 0.066 1 10 na true imu_link imu_link imu imu_service 0.0 200 gaussian 0.0 2e-4 0.0000075 0.0000008 0.0 1.7e-2 0.1 0.001 Gazebo/FlatBlack 0 0 0 0 0 0 $(arg laser_visual) 5 24 1 0.0 6.28319 0.120 3.5 0.015 gaussian 0.0 0.01 scan base_scan true $(arg camera_visual) 1.085595 640 480 R8G8B8 0.03 100 true 30.0 camera camera_rgb_optical_frame rgb/image_raw rgb/camera_info 0.07 0.0 0.0 0.0 0.0 0.0 then in my ~/.bashrc: # ~/.bashrc: executed by bash(1) for non-login shells. # see /usr/share/doc/bash/examples/startup-files (in the package bash-doc) # for examples # If not running interactively, don't do anything case $- in *i*) ;; *) return;; esac # don't put duplicate lines or lines starting with space in the history. # See bash(1) for more options HISTCONTROL=ignoreboth # append to the history file, don't overwrite it shopt -s histappend # for setting history length see HISTSIZE and HISTFILESIZE in bash(1) HISTSIZE=1000 HISTFILESIZE=2000 # check the window size after each command and, if necessary, # update the values of LINES and COLUMNS. shopt -s checkwinsize # If set, the pattern "**" used in a pathname expansion context will # match all files and zero or more directories and subdirectories. #shopt -s globstar # make less more friendly for non-text input files, see lesspipe(1) [ -x /usr/bin/lesspipe ] && eval "$(SHELL=/bin/sh lesspipe)" # set variable identifying the chroot you work in (used in the prompt below) if [ -z "${debian_chroot:-}" ] && [ -r /etc/debian_chroot ]; then debian_chroot=$(cat /etc/debian_chroot) fi # set a fancy prompt (non-color, unless we know we "want" color) case "$TERM" in xterm-color|*-256color) color_prompt=yes;; esac # uncomment for a colored prompt, if the terminal has the capability; turned # off by default to not distract the user: the focus in a terminal window # should be on the output of commands, not on the prompt #force_color_prompt=yes if [ -n "$force_color_prompt" ]; then if [ -x /usr/bin/tput ] && tput setaf 1 >&/dev/null; then # We have color support; assume it's compliant with Ecma-48 # (ISO/IEC-6429). (Lack of such support is extremely rare, and such # a case would tend to support setf rather than setaf.) color_prompt=yes else color_prompt= fi fi if [ "$color_prompt" = yes ]; then PS1='${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ ' else PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w\$ ' fi unset color_prompt force_color_prompt # If this is an xterm set the title to user@host:dir case "$TERM" in xterm*|rxvt*) PS1="\[\e]0;${debian_chroot:+($debian_chroot)}\u@\h: \w\a\]$PS1" ;; *) ;; esac # enable color support of ls and also add handy aliases if [ -x /usr/bin/dircolors ]; then test -r ~/.dircolors && eval "$(dircolors -b ~/.dircolors)" || eval "$(dircolors -b)" alias ls='ls --color=auto' #alias dir='dir --color=auto' #alias vdir='vdir --color=auto' alias grep='grep --color=auto' alias fgrep='fgrep --color=auto' alias egrep='egrep --color=auto' fi # colored GCC warnings and errors #export GCC_COLORS='error=01;31:warning=01;35:note=01;36:caret=01;32:locus=01:quote=01' # some more ls aliases alias ll='ls -alF' alias la='ls -A' alias l='ls -CF' # Add an "alert" alias for long running commands. Use like so: # sleep 10; alert alias alert='notify-send --urgency=low -i "$([ $? = 0 ] && echo terminal || echo error)" "$(history|tail -n1|sed -e '\''s/^\s*[0-9]\+\s*//;s/[;&|]\s*alert$//'\'')"' # Alias definitions. # You may want to put all your additions into a separate file like # ~/.bash_aliases, instead of adding them here directly. # See /usr/share/doc/bash-doc/examples in the bash-doc package. if [ -f ~/.bash_aliases ]; then . ~/.bash_aliases fi # enable programmable completion features (you don't need to enable # this, if it's already enabled in /etc/bash.bashrc and /etc/profile # sources /etc/bash.bashrc). if ! shopt -oq posix; then if [ -f /usr/share/bash-completion/bash_completion ]; then . /usr/share/bash-completion/bash_completion elif [ -f /etc/bash_completion ]; then . /etc/bash_completion fi fi alias eb='nano ~/.bashrc' alias sb='source ~/.bashrc' alias gs='git status' alias gp='git pull' alias cw='cd ~/catkin_ws' alias cs='cd ~/catkin_ws/src' alias cm='cd ~/catkin_ws && catkin_make' source /opt/ros/kinetic/setup.bash source ~/catkin_ws/devel/setup.bash export ROS_MASTER_URI=http://192.168.0.113:11311 export ROS_HOSTNAME=192.168.0.113 export TURTLEBOT3_MODEL=waffle_pi #export TURTLEBOT3_MODEL=burger #<>> conda initialize >>> #!! Contents within this block are managed by 'conda init' !! __conda_setup="$('/home/laboratorio/anaconda2/bin/conda' 'shell.bash' 'hook' 2> /dev/null)" if [ $? -eq 0 ]; then eval "$__conda_setup" else if [ -f "/home/laboratorio/anaconda2/etc/profile.d/conda.sh" ]; then . "/home/laboratorio/anaconda2/etc/profile.d/conda.sh" else export PATH="/home/laboratorio/anaconda2/bin:$PATH" fi fi unset __conda_setup #<<< conda initialize <<< #COMMENT ........................................ And im running this: 1) roslaunch turtlebot3_gazebo turtlebot3_stage_1.launch 2) roslaunch turtlebot3_dqn turtlebot3_dqn_stage_1.launch The second one fails If i try export TURTLEBOT3_MODEL=burger the first one fails I have Keras 2.1.5 and tensorflow 1.2.0

[Sebastian5j]

@rjshim i dont what happend D: but this is my turtlebot3_waffle_pi.gazebo.xacro

I hope this is what you wanted to see

[JaehyunShim]

@Sebastian5j

Use the burger model. Before running the first line, run $ conda deactivate. Then, open another terminal window and run the second line. Test it and show me screenshots of your terminal and gazebo windows.

Regards, Ryan

[Sebastian5j]

@rjshim I did what you said, this happened:

I also tried to run $conda deactivate in the second windows before $ roslaunch turtlebot3_dqn turtlebot3_dqn_stage_1.launch but the same thing happened

[JaehyunShim]

@Sebastian5j

No

1) $ conda deactivate $ roslaunch turtlebot3_gazebo turtlebot3_stage_1.launch

2) Open another window and $ roslaunch turtlebot3_dqn turtlebot3_dqn_stage_1.launch

Try it and let me know the result

[Sebastian5j]

It works now, i found that it was a problem with versions of tensorflow and keras, besides tensorflow wasn't in PYTHONPATH for some reason. Thanks! what you @rjshim told helped me to find the problem.