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TempleRAIL / drl_vo_nav

[T-RO 2023] DRL-VO: Learning to Navigate Through Crowded Dynamic Scenes Using Velocity Obstacles
https://doi.org/10.1109/TRO.2023.3257549
GNU General Public License v3.0
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drl_vo_demo error #15

Closed CAI23sbP closed 8 months ago

CAI23sbP commented 8 months ago

How are you @zzuxzt i was following your docs, but there is some issue here is error script `[WARN] [1704766854.443912, 0.036000]: Could not get robot pose

[drl_vo_cmd-24] process has died [pid 10043, exit code 1, cmd /home/cai_gh/catkin_ws/src/drl_vo_nav/drl_vo/src/drl_vo_inference.py name:=drl_vo_cmd log:=/home/cai_gh/.ros/log/b56d4608-ae95-11ee-8023-cb9616f8f13b/drl_vo_cmd-24.log]. log file: /home/cai_gh/.ros/log/b56d4608-ae95-11ee-8023-cb9616f8f13b/drl_vo_cmd-24*.log

[WARN] [1704766854.476288, 0.067000]: Could not get robot pose

[WARN] [1704766854.510508, 0.100000]: Could not get robot pose

[WARN] [1704766854.545270, 0.134000]: Could not get robot pose

[WARN] [1704766854.579802, 0.167000]: Could not get robot pose

[WARN] [1704766854.612177, 0.200000]: Could not get robot pose

[ERROR] [1704766854.619347903, 0.205000000]: GetModelState: model [mobile_base] does not exist

[INFO] [1704766854.621316, 0.206000]: Spawning model: actor_id = 1

[WARN] [1704766854.651124, 0.234000]: Could not get robot pose

[ERROR] [1704766854.702626110, 0.254000000]: GetModelState: model [mobile_base] does not exist ` Thank you!

zzuxzt commented 8 months ago

Hello, can you try re-running again? Sometimes, such errors occur due to Gazebo not fully running. If re-running does not solve your issue, please give the full log information.

CAI23sbP commented 8 months ago

@zzuxzt thank you for your quick reply I have waited for starting code. It was worked. By the way, when i pointed goal position in rviz, a robot didn't move to goal position. here is screen shot and full log

image `... logging to /home/cai_gh/.ros/log/8b56cfcc-aea6-11ee-8023-cb9616f8f13b/roslaunch-cai-gh-46763.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://cai-gh:42763/

SUMMARY

PARAMETERS

NODES / amcl (amcl/amcl) bumper2pointcloud (nodelet/nodelet) cmd_vel_mux (nodelet/nodelet) cnn_data_pub (drl_vo_nav/cnn_data_pub.py) drl_vo_cmd (drl_vo_nav/drl_vo_inference.py) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) gazebo_map_broadcaster (tf/static_transform_publisher) goal_visualize (drl_vo_nav/goal_visualize.py) kobuki_safety_controller (nodelet/nodelet) map_server (map_server/map_server) mix_cmd_vel (drl_vo_nav/cmd_vel_pub.py) mobile_base_nodelet_manager (nodelet/nodelet) move_base (move_base/move_base) navigation_velocity_smoother (nodelet/nodelet) pedsim_simulator (pedsim_simulator/pedsim_simulator) pedsim_visualizer (pedsim_visualizer/pedsim_visualizer_node) pure_pursuit (drl_vo_nav/pure_pursuit.py) robot_pose_pub (drl_vo_nav/robot_pose_pub.py) robot_state_publisher (robot_state_publisher/robot_state_publisher) rviz (rviz/rviz) spawn_pedsim_agents (pedsim_gazebo_plugin/spawn_pedsim_agents.py) spawn_turtlebot_model (gazebo_ros/spawn_model) teleop_velocity_smoother (nodelet/nodelet) track_ped_pub (drl_vo_nav/track_ped_pub.py)

auto-starting new master process[master]: started with pid [46773] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 8b56cfcc-aea6-11ee-8023-cb9616f8f13b process[rosout-1]: started with pid [46783] started core service [/rosout] process[gazebo-2]: started with pid [46790] process[gazebo_gui-3]: started with pid [46795] process[spawn_pedsim_agents-4]: started with pid [46799] process[gazebo_map_broadcaster-5]: started with pid [46801] process[spawn_turtlebot_model-6]: started with pid [46802] process[mobile_base_nodelet_manager-7]: started with pid [46807] process[cmd_vel_mux-8]: started with pid [46809] process[bumper2pointcloud-9]: started with pid [46810] process[robot_state_publisher-10]: started with pid [46812] process[pedsim_simulator-11]: started with pid [46816] process[pedsim_visualizer-12]: started with pid [46823] process[map_server-13]: started with pid [46832] process[amcl-14]: started with pid [46836] process[navigation_velocity_smoother-15]: started with pid [46838] process[kobuki_safety_controller-16]: started with pid [46846] process[move_base-17]: started with pid [46854] process[pure_pursuit-18]: started with pid [46858] process[cnn_data_pub-19]: started with pid [46861] process[robot_pose_pub-20]: started with pid [46862] process[track_ped_pub-21]: started with pid [46864] process[goal_visualize-22]: started with pid [46870] process[teleop_velocity_smoother-23]: started with pid [46879] process[drl_vo_cmd-24]: started with pid [46883] process[mix_cmd_vel-25]: started with pid [46887] process[rviz-26]: started with pid [46892] [ INFO] [1704774084.127788117]: Updated sim with live config: Rate=25 incoming rate=25 [ INFO] [1704774084.142860233]: Using default queue size of 10 for publisher queues... [ INFO] [1704774084.162232839]: Loading scene [/home/cai_gh/catkin_ws/src/pedsim_ros_with_gazebo/pedsim_simulator/scenarios/eng_hall.xml] for simulation [ INFO] [1704774084.225238834]: node initialized, now running Waiting for gazebo services... [WARN] [1704774084.640404, 0.000000]: Could not get robot pose [ INFO] [1704774084.871484177]: Finished loading Gazebo ROS API Plugin. [ INFO] [1704774084.886204620]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1704774085.000290193]: Finished loading Gazebo ROS API Plugin. [ INFO] [1704774085.002597945]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... Traceback (most recent call last): File "/home/cai_gh/catkin_ws/src/drl_vo_nav/drl_vo/src/drl_vo_inference.py", line 27, in from stable_baselines3 import PPO File "/home/cai_gh/.local/lib/python3.8/site-packages/stable_baselines3/init.py", line 3, in from stable_baselines3.a2c import A2C File "/home/cai_gh/.local/lib/python3.8/site-packages/stable_baselines3/a2c/init.py", line 1, in from stable_baselines3.a2c.a2c import A2C File "/home/cai_gh/.local/lib/python3.8/site-packages/stable_baselines3/a2c/a2c.py", line 7, in from stable_baselines3.common.on_policy_algorithm import OnPolicyAlgorithm File "/home/cai_gh/.local/lib/python3.8/site-packages/stable_baselines3/common/on_policy_algorithm.py", line 8, in from stable_baselines3.common.base_class import BaseAlgorithm File "/home/cai_gh/.local/lib/python3.8/site-packages/stable_baselines3/common/base_class.py", line 14, in from stable_baselines3.common import utils File "/home/cai_gh/.local/lib/python3.8/site-packages/stable_baselines3/common/utils.py", line 14, in from torch.utils.tensorboard import SummaryWriter File "/home/cai_gh/.local/lib/python3.8/site-packages/torch/utils/tensorboard/init.py", line 8, in from .writer import FileWriter, SummaryWriter # noqa F401 File "/home/cai_gh/.local/lib/python3.8/site-packages/torch/utils/tensorboard/writer.py", line 10, in from tensorboard.compat.proto.event_pb2 import SessionLog File "/home/cai_gh/.local/lib/python3.8/site-packages/tensorboard/compat/proto/event_pb2.py", line 17, in from tensorboard.compat.proto import summary_pb2 as tensorboard_dot_compat_dot_proto_dot_summarypb2 File "/home/cai_gh/.local/lib/python3.8/site-packages/tensorboard/compat/proto/summary_pb2.py", line 17, in from tensorboard.compat.proto import tensor_pb2 as tensorboard_dot_compat_dot_proto_dot_tensorpb2 File "/home/cai_gh/.local/lib/python3.8/site-packages/tensorboard/compat/proto/tensor_pb2.py", line 16, in from tensorboard.compat.proto import resource_handle_pb2 as tensorboard_dot_compat_dot_proto_dot_resourcehandle__pb2 File "/home/cai_gh/.local/lib/python3.8/site-packages/tensorboard/compat/proto/resource_handle_pb2.py", line 16, in from tensorboard.compat.proto import tensor_shape_pb2 as tensorboard_dot_compat_dot_proto_dot_tensorshape__pb2 File "/home/cai_gh/.local/lib/python3.8/site-packages/tensorboard/compat/proto/tensor_shape_pb2.py", line 36, in _descriptor.FieldDescriptor( File "/home/cai_gh/.local/lib/python3.8/site-packages/google/protobuf/descriptor.py", line 553, in new _message.Message._CheckCalledFromGeneratedFile() TypeError: Descriptors cannot be created directly. If this call came from a _pb2.py file, your generated code is out of date and must be regenerated with protoc >= 3.19.0. If you cannot immediately regenerate your protos, some other possible workarounds are:

  1. Downgrade the protobuf package to 3.20.x or lower.
  2. Set PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION=python (but this will use pure-Python parsing and will be much slower).

More information: https://developers.google.com/protocol-buffers/docs/news/2022-05-06#python-updates [ INFO] [1704774085.647771503]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1704774085.741249943, 0.004000000]: Physics dynamic reconfigure ready. [drl_vo_cmd-24] process has died [pid 46883, exit code 1, cmd /home/cai_gh/catkin_ws/src/drl_vo_nav/drl_vo/src/drl_vo_inference.py name:=drl_vo_cmd log:=/home/cai_gh/.ros/log/8b56cfcc-aea6-11ee-8023-cb9616f8f13b/drl_vo_cmd-24.log]. log file: /home/cai_gh/.ros/log/8b56cfcc-aea6-11ee-8023-cb9616f8f13b/drl_vo_cmd-24*.log [WARN] [1704774085.776573, 0.035000]: Could not get robot pose [WARN] [1704774085.810246, 0.067000]: Could not get robot pose [WARN] [1704774085.844236, 0.100000]: Could not get robot pose service: spawn_sdf_model is available .... [WARN] [1704774085.882061, 0.134000]: Could not get robot pose [WARN] [1704774085.918551, 0.167000]: Could not get robot pose [ INFO] [1704774086.531871309, 0.186000000]: Camera Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1704774086.535245161, 0.186000000]: Camera Plugin (ns = /) , set to "" [ INFO] [1704774087.110390707, 0.186000000]: Laser Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1704774087.110572952, 0.186000000]: Starting Laser Plugin (ns = /) [ INFO] [1704774087.112432902, 0.186000000]: Laser Plugin (ns = /) , set to "" [ INFO] [1704774087.174708065, 0.186000000]: Starting plugin Kobuki(ns = //) [ WARN] [1704774087.174778263, 0.186000000]: Kobuki(ns = //): missing default is na [ INFO] [1704774087.175399580, 0.186000000]: Kobuki(ns = //): = [ WARN] [1704774087.176009340, 0.186000000]: Kobuki(ns = //): missing default is 0 [ INFO] [1704774087.176438203, 0.186000000]: Will publish tf. [mobile_base] [ INFO] [1704774087.178637759, 0.186000000]: Kobuki(ns = //): Advertise joint_states[joint_states]! [ INFO] [1704774087.179251753, 0.186000000]: Kobuki(ns = //): Advertise Odometry[odom]! [ INFO] [1704774087.186835021, 0.186000000]: Kobuki(ns = //): Try to subscribe to mobile_base/commands/motor_power! [ INFO] [1704774087.191454543, 0.186000000]: Kobuki(ns = //): Try to subscribe to mobile_base/commands/reset_odometry! [ INFO] [1704774087.194398542, 0.186000000]: Kobuki(ns = //): Try to subscribe to mobile_base/commands/velocity! [ INFO] [1704774087.195283861, 0.186000000]: Kobuki(ns = //): Advertise Cliff[mobile_base/events/cliff]! [ INFO] [1704774087.199092446, 0.186000000]: Kobuki(ns = //): Advertise Bumper[mobile_base/events/bumper]! [ INFO] [1704774087.199986957, 0.186000000]: Kobuki(ns = //): Advertise Wheel Drop[mobile_base/events/wheel_drop]! [ INFO] [1704774087.201103442, 0.186000000]: Kobuki(ns = //): Advertise IMU[mobile_base/sensors/imu_data]! [ INFO] [1704774087.201768303, 0.186000000]: Kobuki(ns = //): Advertise Core[mobile_base/sensors/core]! [ INFO] [1704774087.201804090, 0.186000000]: GazeboRosKobuki plugin ready to go! [mobile_base] [WARN] [1704774087.225818, 0.200000]: Could not get robot pose Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.203000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.209000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.209000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.209000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.209000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.209000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.209000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.209000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.209000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.209000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.209000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.209000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.209000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.209000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.209000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.209000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.209000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.209000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp [INFO] [1704774087.262800, 0.218000]: Spawning model: actor_id = 1 Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.209000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.218000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.218000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.224000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.224000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.226000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.226000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.230000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.230000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp [WARN] [1704774087.298587, 0.234000]: Could not get robot pose Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.236000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.236000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.240000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.240000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp [WARN] [1704774087.391970, 0.267000]: Could not get robot pose [INFO] [1704774087.494091, 0.271000]: Spawning model: actor_id = 2 [spawn_turtlebot_model-6] process has finished cleanly log file: /home/cai_gh/.ros/log/8b56cfcc-aea6-11ee-8023-cb9616f8f13b/spawn_turtlebot_model-6*.log Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.271000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.271000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.280000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.280000 according to authority unknown_publisher at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.280000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp [ WARN] [1704774087.865366116, 0.281000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.280000 according to authority unknown_publisher Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.280000 according to authority unknown_publisher at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.284000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.284000 according to authority unknown_publisher at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.284000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp [ WARN] [1704774087.875161331, 0.285000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.284000 according to authority unknown_publisher Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.284000 according to authority unknown_publisher at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.286000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.286000 according to authority unknown_publisher at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.286000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp [ WARN] [1704774087.877015838, 0.286000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.286000 according to authority unknown_publisher Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.286000 according to authority unknown_publisher at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.288000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.288000 according to authority unknown_publisher at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.288000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp [ WARN] [1704774087.879175332, 0.288000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.288000 according to authority unknown_publisher Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.288000 according to authority unknown_publisher at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.292000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.292000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.292000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.292000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.292000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.292000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.292000 according to authority unknown_publisher at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.292000 according to authority unknown_publisher at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.292000 according to authority unknown_publisher at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp [ WARN] [1704774087.892836868, 0.295000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.292000 according to authority unknown_publisher [ WARN] [1704774087.892868132, 0.295000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.292000 according to authority unknown_publisher [ WARN] [1704774087.892885534, 0.295000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 0.292000 according to authority unknown_publisher `

CAI23sbP commented 8 months ago

Sorry for @zzuxzt . I am really sorry, above issue is my mistake... Because of Stable-baselines3's compatibility issue which was a protobuf package. when i re-installed protobuf package's downgrade version it was solved

zzuxzt commented 8 months ago

Based on your log error, 

TypeError: Descriptors cannot be created directly.
If this call came from a _pb2.py file, your generated code is out of date and must be regenerated with protoc >= 3.19.0.
If you cannot immediately regenerate your protos, some other possible workarounds are:

Downgrade the protobuf package to 3.20.x or lower.
Set PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION=python (but this will use pure-Python parsing and will be much slower).

you can try to install the protobuf package: 

pip install protobuf==3.20.*