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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
113 stars 7 forks source link

run "bash run_drl_vo_policy_training_desktop.sh ./drl_vo_runs " meet these error #23

Closed luyao2001 closed 2 months ago

luyao2001 commented 2 months ago

started roslaunch server http://robot-ZHENGJIUZHE-REN7000K-28IMB:38663/

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_train.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 [520495] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 6020d574-fe2d-11ee-92c5-3102a54b67ec process[rosout-1]: started with pid [520535] started core service [/rosout] process[gazebo-2]: started with pid [520542] process[gazebo_gui-3]: started with pid [520547] process[spawn_pedsim_agents-4]: started with pid [520550] process[gazebo_map_broadcaster-5]: started with pid [520553] process[spawn_turtlebot_model-6]: started with pid [520554] process[mobile_base_nodelet_manager-7]: started with pid [520557] process[cmd_vel_mux-8]: started with pid [520561] process[bumper2pointcloud-9]: started with pid [520562] process[robot_state_publisher-10]: started with pid [520568] process[pedsim_simulator-11]: started with pid [520588] process[pedsim_visualizer-12]: started with pid [520590] process[map_server-13]: started with pid [520606] process[amcl-14]: started with pid [520643] process[navigation_velocity_smoother-15]: started with pid [520652] process[kobuki_safety_controller-16]: started with pid [520658] process[move_base-17]: started with pid [520664] process[pure_pursuit-18]: started with pid [520666] process[cnn_data_pub-19]: started with pid [520671] process[robot_pose_pub-20]: started with pid [520674] process[track_ped_pub-21]: started with pid [520678] process[goal_visualize-22]: started with pid [520680] process[teleop_velocity_smoother-23]: started with pid [520698] process[drl_vo_cmd-24]: started with pid [520701] process[mix_cmd_vel-25]: started with pid [520718] process[rviz-26]: started with pid [520736] [ INFO] [1713518135.094562716]: Updated sim with live config: Rate=25 incoming rate=25 [ INFO] [1713518135.106690450]: Using default queue size of 10 for publisher queues... [ INFO] [1713518135.109884093]: Loading scene [/data1/crowllt_ws/src/pedsim_ros_with_gazebo/pedsim_simulator/scenarios/eng_hall.xml] for simulation [ INFO] [1713518135.119332769]: node initialized, now running Waiting for gazebo services... [WARN] [1713518135.502568, 0.000000]: Could not get robot pose [ INFO] [1713518135.716439067]: Finished loading Gazebo ROS API Plugin. [ INFO] [1713518135.717110029]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1713518135.817754589]: Finished loading Gazebo ROS API Plugin. [ INFO] [1713518135.818445971]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... /home/robot/anaconda3/envs/torch211/lib/python3.8/site-packages/gym/logger.py:34: UserWarning: WARN: Box bound precision lowered by casting to float32 warnings.warn(colorize("%s: %s" % ("WARN", msg % args), "yellow")) [ INFO] [1713518137.532280202]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1713518137.546765808, 0.003000000]: Physics dynamic reconfigure ready. [WARN] [1713518137.650971, 0.104000]: Could not get robot pose [WARN] [1713518137.651946, 0.105000]: Could not get robot pose [WARN] [1713518137.652593, 0.105000]: Could not get robot pose service: spawn_sdf_model is available .... [WARN] [1713518137.764406, 0.128000]: WORLD RESET [ INFO] [1713518138.459268576, 0.128000000]: Camera Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1713518138.461392057, 0.128000000]: Camera Plugin (ns = /) , set to "" [WARN] [1713518138.650939, 0.128000]: Initialising Simulation Physics Parameters [ INFO] [1713518138.881787477, 0.128000000]: Laser Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1713518138.881850957, 0.128000000]: Starting Laser Plugin (ns = /) [ INFO] [1713518138.882698454, 0.128000000]: Laser Plugin (ns = /) , set to "" [ INFO] [1713518138.959726929, 0.128000000]: Starting plugin Kobuki(ns = //) [ WARN] [1713518138.959762186, 0.128000000]: Kobuki(ns = //): missing default is na [ INFO] [1713518138.960100465, 0.128000000]: Kobuki(ns = //): = [ WARN] [1713518138.960435834, 0.128000000]: Kobuki(ns = //): missing default is 0 [ INFO] [1713518138.960535376, 0.128000000]: Will publish tf. [mobile_base] [ INFO] [1713518138.961835209, 0.128000000]: Kobuki(ns = //): Advertise joint_states[joint_states]! [ INFO] [1713518138.962178038, 0.128000000]: Kobuki(ns = //): Advertise Odometry[odom]! [ INFO] [1713518138.963722342, 0.128000000]: Kobuki(ns = //): Try to subscribe to mobile_base/commands/motor_power! [ INFO] [1713518138.964880972, 0.128000000]: Kobuki(ns = //): Try to subscribe to mobile_base/commands/reset_odometry! [ INFO] [1713518138.966302369, 0.128000000]: Kobuki(ns = //): Try to subscribe to mobile_base/commands/velocity! [ INFO] [1713518138.966599461, 0.128000000]: Kobuki(ns = //): Advertise Cliff[mobile_base/events/cliff]! [ INFO] [1713518138.966884400, 0.128000000]: Kobuki(ns = //): Advertise Bumper[mobile_base/events/bumper]! [ INFO] [1713518138.967177478, 0.128000000]: Kobuki(ns = //): Advertise Wheel Drop[mobile_base/events/wheel_drop]! [ INFO] [1713518138.967464088, 0.128000000]: Kobuki(ns = //): Advertise IMU[mobile_base/sensors/imu_data]! [ INFO] [1713518138.967757508, 0.128000000]: Kobuki(ns = //): Advertise Core[mobile_base/sensors/core]! [ INFO] [1713518138.967772003, 0.128000000]: GazeboRosKobuki plugin ready to go! [mobile_base] [WARN] [1713518138.974658, 0.134000]: Could not get robot pose [WARN] [1713518139.009384, 0.167000]: Could not get robot pose [INFO] [1713518139.014711, 0.171000]: Spawning model: actor_id = 1 [WARN] [1713518139.055238, 0.209000]: Could not get robot pose [WARN] [1713518139.081983, 0.234000]: Could not get robot pose [WARN] [1713518139.116563, 0.267000]: Could not get robot pose [WARN] [1713518139.150900, 0.300000]: Could not get robot pose [INFO] [1713518139.190125, 0.316000]: Spawning model: actor_id = 2 [spawn_turtlebot_model-6] process has finished cleanly log file: /home/robot/.ros/log/6020d574-fe2d-11ee-92c5-3102a54b67ec/spawn_turtlebot_model-6*.log [WARN] [1713518139.452931, 0.334000]: Could not get robot pose [WARN] [1713518139.487562, 0.367000]: Could not get robot pose Warning: Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 0.371000 according to authority /gazeboTF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 0.371000 according to authority unknown_publisher at line Warning: at line 278278 in Warning: in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cppTF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 0.371000 according to authority unknown_publisher/tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 0.371000 according to authority /gazebo

     at line          at line 278278 in  in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp/tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp

[ WARN] [1713518139.492709020, 0.372000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 0.371000 according to authority unknown_publisher

[WARN] [1713518139.522815, 0.400000]: Could not get robot pose [WARN] [1713518139.560091, 0.434000]: Could not get robot pose [WARN] [1713518139.594578, 0.467000]: Could not get robot pose [WARN] [1713518139.629314, 0.500000]: Could not get robot pose [INFO] [1713518139.650431, 0.504000]: Spawning model: actor_id = 3 [WARN] [1713518139.708396, 0.534000]: Could not get robot pose [WARN] [1713518139.742920, 0.567000]: Could not get robot pose [WARN] [1713518139.778039, 0.600000]: Could not get robot pose [WARN] [1713518139.816332, 0.634000]: Could not get robot pose [WARN] [1713518139.851158, 0.667000]: Could not get robot pose [INFO] [1713518139.892051, 0.689000]: Spawning model: actor_id = 4 [WARN] [1713518139.924708, 0.700000]: Could not get robot pose Warning: Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 0.726000 according to authority unknown_publisherTF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 0.726000 according to authority unknown_publisher

Warning: at line TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 0.726000 according to authority /gazebo at line 278 278 in at line in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp278/tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cppWarning: [ WARN] [1713518139.954264567, 0.727000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 0.726000 according to authority unknown_publisher

TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 0.726000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp [WARN] [1713518139.962734, 0.734000]: Could not get robot pose [WARN] [1713518139.997198, 0.767000]: Could not get robot pose [WARN] [1713518140.031827, 0.800000]: Could not get robot pose [WARN] [1713518140.069615, 0.834000]: Could not get robot pose [WARN] [1713518140.104359, 0.867000]: Could not get robot pose [INFO] [1713518140.130889, 0.878000]: Spawning model: actor_id = 5 [WARN] [1713518140.180205, 0.900000]: Could not get robot pose [WARN] [1713518140.221575, 0.934000]: Could not get robot pose [WARN] [1713518140.262898, 0.967000]: Could not get robot pose [WARN] [1713518140.309370, 1.000000]: Could not get robot pose [INFO] [1713518140.368392, 1.019000]: Spawning model: actor_id = 6 [WARN] [1713518140.413899, 1.034000]: Could not get robot pose [WARN] [1713518140.450045, 1.067000]: Could not get robot pose [WARN] [1713518140.485832, 1.100000]: Could not get robot pose [WARN] [1713518140.524210, 1.134000]: Could not get robot pose [WARN] [1713518140.559462, 1.167000]: Could not get robot pose [WARN] [1713518140.594809, 1.200000]: Could not get robot pose [INFO] [1713518140.613818, 1.201000]: Spawning model: actor_id = 7 [WARN] [1713518140.679670, 1.234000]: Could not get robot pose [WARN] [1713518140.715315, 1.267000]: Could not get robot pose [WARN] [1713518140.750449, 1.300000]: Could not get robot pose [WARN] [1713518140.789616, 1.334000]: Could not get robot pose [WARN] [1713518140.825222, 1.367000]: Could not get robot pose [INFO] [1713518140.852111, 1.378000]: Spawning model: actor_id = 8 [WARN] [1713518140.905895, 1.400000]: Could not get robot pose [WARN] [1713518140.944906, 1.434000]: Could not get robot pose [WARN] [1713518140.980848, 1.467000]: Could not get robot pose [WARN] [1713518141.016609, 1.500000]: Could not get robot pose [WARN] [1713518141.054990, 1.534000]: Could not get robot pose [INFO] [1713518141.094196, 1.555000]: Spawning model: actor_id = 9 [WARN] [1713518141.129394, 1.567000]: Could not get robot pose [WARN] [1713518141.165339, 1.600000]: Could not get robot pose [WARN] [1713518141.203943, 1.634000]: Could not get robot pose [WARN] [1713518141.239277, 1.667000]: Could not get robot pose [WARN] [1713518141.274581, 1.700000]: Could not get robot pose [WARN] [1713518141.313152, 1.734000]: Could not get robot pose [INFO] [1713518141.332758, 1.738000]: Spawning model: actor_id = 10 [WARN] [1713518141.386240, 1.767000]: Could not get robot pose [WARN] [1713518141.421517, 1.800000]: Could not get robot pose [WARN] [1713518141.459930, 1.834000]: Could not get robot pose [WARN] [1713518141.495190, 1.867000]: Could not get robot pose [WARN] [1713518141.530687, 1.900000]: Could not get robot pose [INFO] [1713518141.571865, 1.923000]: Spawning model: actor_id = 11 [WARN] [1713518141.606324, 1.934000]: Could not get robot pose [WARN] [1713518141.641985, 1.967000]: Could not get robot pose [WARN] [1713518141.677866, 2.000000]: Could not get robot pose [WARN] [1713518141.716112, 2.034000]: Could not get robot pose [WARN] [1713518141.751298, 2.067000]: Could not get robot pose [WARN] [1713518141.786379, 2.100000]: Could not get robot pose [INFO] [1713518141.810433, 2.108000]: Spawning model: actor_id = 12 [WARN] [1713518141.860938, 2.134000]: Could not get robot pose [WARN] [1713518141.896988, 2.167000]: Could not get robot pose [WARN] [1713518141.932891, 2.200000]: Could not get robot pose [WARN] [1713518141.971611, 2.234000]: Could not get robot pose Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 2.259000 according to authority unknown_publisher Warning: at line TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 2.259000 according to authority unknown_publisher278 in at line /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cppWarning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 2.259000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cppWarning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 2.259000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp [ WARN] [1713518142.000105892, 2.260000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 2.259000 according to authority unknown_publisher [WARN] [1713518142.006926, 2.267000]: Could not get robot pose [INFO] [1713518142.050116, 2.291000]: Spawning model: actor_id = 13 [WARN] [1713518142.079643, 2.300000]: Could not get robot pose [WARN] [1713518142.118409, 2.334000]: Could not get robot pose [WARN] [1713518142.153749, 2.367000]: Could not get robot pose [WARN] [1713518142.189036, 2.400000]: Could not get robot pose [WARN] [1713518142.227705, 2.434000]: Could not get robot pose [WARN] [1713518142.263125, 2.467000]: Could not get robot pose [INFO] [1713518142.290365, 2.476000]: Spawning model: actor_id = 14 [WARN] [1713518142.336445, 2.500000]: Could not get robot pose [WARN] [1713518142.376045, 2.534000]: Could not get robot pose [WARN] [1713518142.411356, 2.567000]: Could not get robot pose [WARN] [1713518142.446604, 2.600000]: Could not get robot pose [WARN] [1713518142.485448, 2.634000]: Could not get robot pose [INFO] [1713518142.526963, 2.657000]: Spawning model: actor_id = 15 [WARN] [1713518142.558924, 2.667000]: Could not get robot pose [WARN] [1713518142.594451, 2.700000]: Could not get robot pose [WARN] [1713518142.633758, 2.734000]: Could not get robot pose [WARN] [1713518142.669158, 2.767000]: Could not get robot pose [WARN] [1713518142.705158, 2.800000]: Could not get robot pose [WARN] [1713518142.744003, 2.834000]: Could not get robot pose [INFO] [1713518142.765819, 2.840000]: Spawning model: actor_id = 16 [WARN] [1713518142.826664, 2.867000]: Could not get robot pose [WARN] [1713518142.862849, 2.900000]: Could not get robot pose [WARN] [1713518142.904608, 2.934000]: Could not get robot pose [WARN] [1713518142.940410, 2.967000]: Could not get robot pose [WARN] [1713518142.976091, 3.000000]: Could not get robot pose [INFO] [1713518143.003529, 3.009000]: Spawning model: actor_id = 17 [WARN] [1713518143.054453, 3.034000]: Could not get robot pose [WARN] [1713518143.090292, 3.067000]: Could not get robot pose [WARN] [1713518143.125777, 3.100000]: Could not get robot pose [WARN] [1713518143.165280, 3.134000]: Could not get robot pose [WARN] [1713518143.201300, 3.167000]: Could not get robot pose [INFO] [1713518143.243955, 3.190000]: Spawning model: actor_id = 18 [WARN] [1713518143.276190, 3.200000]: Could not get robot pose [WARN] [1713518143.316418, 3.234000]: Could not get robot pose [WARN] [1713518143.352471, 3.267000]: Could not get robot pose [WARN] [1713518143.388211, 3.300000]: Could not get robot pose [WARN] [1713518143.427650, 3.334000]: Could not get robot pose [WARN] [1713518143.463509, 3.367000]: Could not get robot pose [INFO] [1713518143.483245, 3.371000]: Spawning model: actor_id = 19 [WARN] [1713518143.537362, 3.400000]: Could not get robot pose [WARN] [1713518143.577691, 3.434000]: Could not get robot pose [WARN] [1713518143.614256, 3.467000]: Could not get robot pose [WARN] [1713518143.649814, 3.500000]: Could not get robot pose [WARN] [1713518143.689560, 3.534000]: Could not get robot pose [INFO] [1713518143.724030, 3.549000]: Spawning model: actor_id = 20 [WARN] [1713518143.763831, 3.567000]: Could not get robot pose [WARN] [1713518143.799766, 3.600000]: Could not get robot pose [WARN] [1713518143.839270, 3.634000]: Could not get robot pose [WARN] [1713518143.876018, 3.667000]: Could not get robot pose [WARN] [1713518143.912266, 3.700000]: Could not get robot pose [INFO] [1713518143.963203, 3.729000]: Spawning model: actor_id = 21 [WARN] [1713518143.990232, 3.734000]: Could not get robot pose [WARN] [1713518144.026274, 3.767000]: Could not get robot pose [WARN] [1713518144.062098, 3.800000]: Could not get robot pose [ WARN] [1713518144.099493669, 3.831000000]: global_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided [ WARN] [1713518144.100164997, 3.831000000]: global_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided [ INFO] [1713518144.100596101, 3.832000000]: global_costmap: Using plugin "static_layer" [ INFO] [1713518144.104641996, 3.836000000]: Requesting the map... [INFO] [1713518144.202548, 3.909000]: Spawning model: actor_id = 22 [ INFO] [1713518144.256768021, 3.937000000]: Resizing costmap to 1024 X 768 at 0.050000 m/pix [ INFO] [1713518144.369673947, 4.038000000]: Received a 1024 X 768 map at 0.050000 m/pix [ INFO] [1713518144.371378246, 4.039000000]: global_costmap: Using plugin "obstacle_layer" /opt/ros/noetic/lib/move_base/move_base: symbol lookup error: /opt/ros/noetic/lib/liblayers.so: undefined symbol: _ZN10voxel_grid9VoxelGridC1Ejjj [move_base-17] process has died [pid 520664, exit code 127, cmd /opt/ros/noetic/lib/move_base/move_base cmd_vel:=/move_base/cmd_vel odom:=odom scan:=scan __name:=move_base __log:=/home/robot/.ros/log/6020d574-fe2d-11ee-92c5-3102a54b67ec/move_base-17.log]. log file: /home/robot/.ros/log/6020d574-fe2d-11ee-92c5-3102a54b67ec/move_base-17.log [INFO] [1713518144.443544, 4.089000]: Spawning model: actor_id = 23 [INFO] [1713518144.684117, 4.267000]: Spawning model: actor_id = 24 [FATAL] [1713518144.717703, 4.277000]: Sensor topic "/move_base/status" is not available. Waiting... [INFO] [1713518144.924780, 4.443000]: Spawning model: actor_id = 25 Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 4.610000 according to authority unknown_publisher at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 4.610000 according to authority unknown_publisher at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp [ WARN] [1713518145.138362167, 4.612000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 4.610000 according to authority unknown_publisher [ WARN] [1713518145.138401126, 4.612000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 4.610000 according to authority unknown_publisher Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 4.610000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 4.610000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 4.610000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 4.610000 according to authority /gazebo at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp [INFO] [1713518145.164148, 4.622000]: Spawning model: actor_id = 26 [INFO] [1713518145.402130, 4.798000]: Spawning model: actor_id = 27 [INFO] [1713518145.641977, 4.975000]: Spawning model: actor_id = 28 [ WARN] [1713518145.696456750, 5.004000000]: Covariance matrix is not positive (semi-)definite in ProbabilityEllipseCovarianceVisual::setMeanCovariance(): Matrix3(0, 0, 0, 0, 0, 0, 0, 0, 0) [INFO] [1713518145.885933, 5.149000]: Spawning model: actor_id = 29 [INFO] [1713518146.125728, 5.328000]: Spawning model: actor_id = 30 [INFO] [1713518146.364472, 5.506000]: Spawning model: actor_id = 31 [INFO] [1713518146.603950, 5.681000]: Spawning model: actor_id = 32 [INFO] [1713518146.844506, 5.852000]: Spawning model: actor_id = 33 [INFO] [1713518147.086344, 6.028000]: Spawning model: actor_id = 34 [spawn_pedsim_agents-4] process has finished cleanly log file: /home/robot/.ros/log/6020d574-fe2d-11ee-92c5-3102a54b67ec/spawn_pedsim_agents-4.log Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 6.995000 according to authority unknown_publisher at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp Warning: Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 6.995000 according to authority /gazeboTF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 6.995000 according to authority /gazebo

     at line          at line 278278[ WARN] [1713518148.280597733, 6.996000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 6.995000 according to authority unknown_publisher

in in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp/tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp

[FATAL] [1713518149.724099, 7.783000]: Sensor topic "/move_base/status" is not available. Waiting... ^C[rviz-26] killing on exit [mix_cmd_vel-25] killing on exit [drl_vo_cmd-24] killing on exit [teleop_velocity_smoother-23] killing on exit [goal_visualize-22] killing on exit [track_ped_pub-21] killing on exit [robot_pose_pub-20] killing on exit [cnn_data_pub-19] killing on exit [pure_pursuit-18] killing on exit [kobuki_safety_controller-16] killing on exit [navigation_velocity_smoother-15] killing on exit [amcl-14] killing on exit [map_server-13] killing on exit [pedsim_visualizer-12] killing on exit [pedsim_simulator-11] killing on exit [FATAL] [1713518151.436071, 8.291000]: Sensor topic "/move_base/status" is not available. Waiting... [FATAL] [1713518151.437353, 8.291000]: Service '/gazebo/set_model_state' unavailable. Traceback (most recent call last): File "/data1/crowllt_ws/src/drl_vo_nav/drl_vo/src/drl_vo_train.py", line 83, in env = gym.make('drl-nav-v0') File "/home/robot/anaconda3/envs/torch211/lib/python3.8/site-packages/gym/envs/registration.py", line 200, in make return registry.make(id, kwargs) File "/home/robot/anaconda3/envs/torch211/lib/python3.8/site-packages/gym/envs/registration.py", line 105, in make env = spec.make(kwargs) File "/home/robot/anaconda3/envs/torch211/lib/python3.8/site-packages/gym/envs/registration.py", line 75, in make env = cls(**_kwargs) File "/data1/crowllt_ws/src/drl_vo_nav/drl_vo/src/turtlebot_gym/turtlebot_gym/envs/drl_nav_env.py", line 136, in init self.gazebo.pauseSim()
File "/data1/crowllt_ws/src/drl_vo_nav/drl_vo/src/turtlebot_gym/turtlebot_gym/envs/gazebo_connection.py", line 41, in pauseSim rospy.wait_for_service('/gazebo/pause_physics') [robot_state_publisher-10] killing on exit File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py", line 166, in wait_for_service raise ROSInterruptException("rospy shutdown") rospy.exceptions.ROSInterruptException: rospy shutdown [bumper2pointcloud-9] killing on exit [cmd_vel_mux-8] killing on exit [mobile_base_nodelet_manager-7] killing on exit [gazebo_map_broadcaster-5] killing on exit [gazebo_gui-3] killing on exit [gazebo-2] killing on exit terminate called without an active exception Aborted (core dumped) [gazebo_gui-3] escalating to SIGTERM [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete

luyao2001 commented 2 months ago

[WARN] [1713518138.974658, 0.134000]: Could not get robot pose [WARN] [1713518139.009384, 0.167000]: Could not get robot pose [INFO] [1713518139.014711, 0.171000]: Spawning model: actor_id = 1 [WARN] [1713518139.055238, 0.209000]: Could not get robot pose [WARN] [1713518139.081983, 0.234000]: Could not get robot pose [WARN] [1713518139.116563, 0.267000]: Could not get robot pose [WARN] [1713518139.150900, 0.300000]: Could not get robot pose

[move_base-17] process has died [pid 520664, exit code 127, cmd /opt/ros/noetic/lib/move_base/move_base cmd_vel:=/move_base/cmd_vel odom:=odom scan:=scan __name:=move_base __log:=/home/robot/.ros/log/6020d574-fe2d-11ee-92c5-3102a54b67ec/move_base-17.log]. log file: /home/robot/.ros/log/6020d574-fe2d-11ee-92c5-3102a54b67ec/move_base-17*.log [INFO] [1713518144.443544, 4.089000]: Spawning model: actor_id = 23 [INFO] [1713518144.684117, 4.267000]: Spawning model: actor_id = 24 [FATAL] [1713518144.717703, 4.277000]: Sensor topic "/move_base/status" is not available. Waiting...

zzuxzt commented 2 months ago

Sorry, I found no obvious errors. I just noticed that you are using conda with ros, which could cause some potential problems if you don't handle library dependencies well. By the way, 'Could not get robot pose' is just a warning log, please wait a while for the system to start working.

If it still does not work, can you describe it in more detail?

luyao2001 commented 2 months ago

drl_err1 drl_vo2 drl_err3 drl_err4

luyao2001 commented 2 months ago

I am very glad to receive your reply. The above pictures show the ERROR and Warning messages I encounter when I run "roslaunch drl_vo_nav drl_vo_nav_train.launch log_dir:=./drl_vo_runs".

Reference some details in #9 I also try to run "roslaunch turtlebot_gazebo turtlebot_world.launch" and "roslaunch turtlebot_gazebo amcl_demo.launch" to test turtlebot simulator. I meet the following error when run commend "roslaunch turtlebot_gazebo amcl_demo.launch". drl_err5 drl_err6

zzuxzt commented 2 months ago

It looks like there are some issues on your move_base package, please try to use the following commands to reinstall navigation packages:

sudo apt-get install ros-noetic-move-base*
sudo apt-get install ros-noetic-map-server*
sudo apt-get install ros-noetic-amcl*
sudo apt-get install ros-noetic-navigation*
luyao2001 commented 2 months ago

It looks like there are some issues on your move_base package, please try to use the following commands to reinstall navigation packages:

sudo apt-get install ros-noetic-move-base*
sudo apt-get install ros-noetic-map-server*
sudo apt-get install ros-noetic-amcl*
sudo apt-get install ros-noetic-navigation*

I have run the above commands, but it is not useful for my error. I still meet this error. drl_err7

luyao2001 commented 2 months ago

I also try to reinstall ros-noetic, but I still meet this error.

zzuxzt commented 2 months ago

It should be the problem with your ros environment, as you can see the 'move_base symbol lookup error' in your log. This error is not related the DRL-VO package. I would suggest you uninstall all ros packages, clean the ros environment, and reinstall all ros packages again (or test on a new computer with the clean environment).

After reinstalling required ros packages, double-check if there are any issues with the move_base navigation by running the following command again:

roslaunch turtlebot_gazebo turtlebot_world.launch
roslaunch turtlebot_gazebo amcl_demo.launch
roslaunch turtlebot_rviz_launchers view_navigation.launch

If it still does not work, consider git clone move_base package's source code and compile it in your catkin_ws workspace. Or you can just directly use my prebuilt singularity container.

luyao2001 commented 2 months ago

I have solved this issue by a lot of effort. This error is caused by "liblayers.so", which lack the dependency named "voxel_grid::VoxelGrid::VoxelGrid". The source file is in https://github.com/ros-planning/navigation/blob/noetic-devel/costmap_2d/CMakeLists.txt

My solution is following: drl_err10 Add this line "../voxel_grid/src/voxel_grid.cpp"