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StanfordVL / iGibson

A Simulation Environment to train Robots in Large Realistic Interactive Scenes
http://svl.stanford.edu/igibson
MIT License
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Exception: floors.txt cannot be found in model: area1 #59

Closed Jingjinganhao closed 3 years ago

Jingjinganhao commented 3 years ago

Hi， there is something wrong with me，when I run roslaunch gibson2-ros turtlebot_rgbd.launch
it shows: Exception:floors.txt cannot be found in model: area1 I have downloaded the entire gibson_v2 dataset, and the area1 subset does not contain the file floors.txt. How can I get floors.txt?

fxia22 commented 3 years ago

Hi @Jingjinganhao, you might have downloaded the wrong dataset, can you download again from https://forms.gle/36TW9uVpjrE1Mkf9A and look for 2d3ds_for_igibson.zip? Thanks.

Jingjinganhao commented 3 years ago

@fxia22 When I run python -m gibson2.utils.assets_utils --download_dataset https://***/2d3ds_for_igibson.zip it shows `正在连接 storage.googleapis.com (storage.googleapis.com)|172.217.24.16|:443... 已连接。 已发出 HTTP 请求，正在等待回应... 403 Forbidden 2020-12-25 11:11:49 错误 403：Forbidden。

gzip: stdin: unexpected end of file tar: Child returned status 1 tar: Error is not recoverable: exiting now ` And I can't open the link of 2d3ds_for_igibson.zip with a browser. But I can download other datasets. Is there something wrong with the link of 2d3ds_for_igibson.zip?

fxia22 commented 3 years ago

@Jingjinganhao sorry, there was something wrong with permission. You can try again now.

Jingjinganhao commented 3 years ago

@fxia22 Thanks and sorry to bother you again. I download the dataset and run roslaunch gion2-ros turtlebot_rgbd.launch, it shows: lidar_points = obs['scan'] KeyError: 'scan' also in rviz, it shows: Fixed Frame [odom] does not exist and can't load turtlebot robot. Is there something wrong with the turtlebot.urdf? Missing odom?

fxia22 commented 3 years ago

Hi @Jingjinganhao, this issue is recently fixed in the master branch, can you check if it works for you now? We also updated the instruction page here: http://svl.stanford.edu/igibson/docs/ros_integration.html

Feel free to reach out if there are further issues.

Jingjinganhao commented 3 years ago

Hi @fxia22 , that works for me . But I have other problems. When I run roslaunch gibson2-ros turtlebot_gmapping.launch I can't make the robot move through the keyboard. When I change <remap from="turtlebot_teleop_keyboard/cmd_vel" to="/cmd_vel"/> in keyboard_teleop.launch to <remap from="turtlebot_teleop_keyboard/cmd_vel" to="/mobile_base/commands/velocity"/>, it works. and I can't get map in rviz also. When I change <remap from="scan" to="/gibson_ros/laserscan"/> in turtlebot_gmapping.launch to <remap from="scan" to="/scan"/>, it works. Maybe there is something wrong with remap.

fxia22 commented 3 years ago

Hi @Jingjinganhao,

I am glad the rest of the pipeline works. We will fix the remapping problems. Feel free to reach out if you spot other issues with ros.

Jingjinganhao commented 3 years ago

Hi @fxia22 , sorry to bother you again, In http://svl.stanford.edu/igibson/docs/ros_integration.html , when running the gmapping example, you can see the third view of the camera by bullet. How I can get it? and when I run roslaunch gibson2-ros turtlebot_gt_navigation.launch or roslaunch gibson2-ros turtlebot_navigation.launch or roslaunch gibson2-ros turtlebot_hector_mapping.launch It shows No such file or directory: u'/home/**/catkin_ws/src/turtlebot/turtlebot_teleop/launch/ps3_teleop.launch There are only keyboard_teleop_cpp.launch and keyboard_teleop.launch in/turtlebot_teleop/launch/

Jingjinganhao commented 3 years ago

Hi @fxia22 , is there any examples about training a RL model by using ros?

fxia22 commented 3 years ago

Hi @Jingjinganhao, if you would like to use ps3 controller to teleoperate the robot, you can grab the ps3_teleop.launch from here: https://github.com/turtlebot/turtlebot/tree/melodic/turtlebot_teleop/launch

Feel free to change it to keyboard if you don't have a ps3 controller.

In order to get the bullet view, you can change here https://github.com/StanfordVL/iGibson/blob/master/gibson2/examples/ros/gibson2-ros/turtlebot_rgbd.py#L50 from headless to gui.

re: is there any examples about training a RL model by using ros?

In iGibson's case, ROS is supported for evaluating traditional planning based methods that can be found in ros' repository. If you want to use RL, you don't need to use it with ROS. We have a tutorial of using iGibson with tf-agents here: http://svl.stanford.edu/igibson/docs/learning_framework.html

Jingjinganhao commented 3 years ago

Okay, thank you !@fxia22

YantianZha commented 3 years ago

@fxia22 When I run python -m gibson2.utils.assets_utils --download_dataset https://***/2d3ds_for_igibson.zip it shows `正在连接 storage.googleapis.com (storage.googleapis.com)|172.217.24.16|:443... 已连接。 已发出 HTTP 请求，正在等待回应... 403 Forbidden 2020-12-25 11:11:49 错误 403：Forbidden。

gzip: stdin: unexpected end of file tar: Child returned status 1 tar: Error is not recoverable: exiting now ` And I can't open the link of 2d3ds_for_igibson.zip with a browser. But I can download other datasets. Is there something wrong with the link of 2d3ds_for_igibson.zip?

Hi @fxia22: I have the same problem as @Jingjinganhao of downloading the 2d3ds_for_igibson.zip from the link you gave. Neither can I find any downloadable link to get the 2d3ds_for_igibson.zip. I don't know if it means we only need to download the ig_dataset.tar.gz which is just above the 2d3ds_for_igibson.zip? But I cannot find the floors.txt file in ig_dataset.tar.gz (so I suppose I still need to download 2d3ds_for_igibson.zip). Thank you!

ChengshuLi commented 3 years ago

If you fill out the form and click submit, you should be able to download 2d3ds_for_igibson.zip. Let us know if this works for you.

roberto-martinmartin commented 3 years ago

The latest version should include the missing files. Feel free to reopen if the issue was not solved

AaronWaxson commented 3 years ago

The latest version should include the missing files. Feel free to reopen if the issue was not solved

I downloaded the 2d3ds_for_igibson.zip latest version, and solve the 'floors.txt' exception. But I get a new one that is: Exception: floor_heights.txt cannot be found in mode: area1 Screenshot from 2021-07-05 18-57-18 When I run roslaunch gibsion-ros turtlebot_rgbd.launch The area files like that: Screenshot from 2021-07-05 18-54-57 Any idea about that ? I run in Ubuntu 16, python2.7.

AaronWaxson commented 3 years ago

The latest version should include the missing files. Feel free to reopen if the issue was not solved

I downloaded the 2d3ds_for_igibson.zip latest version, and solve the 'floors.txt' exception. But I get a new one that is: Exception: floor_heights.txt cannot be found in mode: area1 When I run roslaunch gibsion-ros turtlebot_rgbd.launch Any idea about that ? I run in Ubuntu 16, python2.7.

And I downloaded gibson_fullplus dataset, and after I unzipped it. I didn't see the dataset format like document told. I only have that Screenshot from 2021-07-05 18-58-01 Is there any problem? Help plz.

elhamAm commented 3 years ago

I am having the exact same problem for the Matterport dataset

ChengshuLi commented 2 years ago

@AaronWaxson @elhamAm replied to you in the other issue.