Closed CAI23sbP closed 10 months ago
zzuxzt
commented
10 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
10 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
`... 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/
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
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 = /)
CAI23sbP
commented
10 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
10 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.*
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!