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UM-ARM-Lab / mab_ms

Bandit-based Model Selection for Deformable Object Manipulation
BSD 2-Clause "Simplified" License
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I'm getting this error while doing catkin_make in my working directory after installing gurobi in /opt directory. #1

Closed deepak8084 closed 1 year ago

deepak8084 commented 1 year ago

Boost version: 1.65.1 -- Found the following Boost libraries: -- filesystem -- system -- +++ processing catkin package: 'bullet_helpers' -- ==> add_subdirectory(mab_ms/deform_control/bullet_helpers) -- +++ processing catkin package: 'smmap_experiment_params' -- ==> add_subdirectory(mab_ms/smmap_experiment_params) -- +++ processing catkin package: 'deform_simulator' -- ==> add_subdirectory(mab_ms/deform_control/deform_simulator) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 -- Found the following Boost libraries: -- system -- filesystem -- program_options -- thread -- chrono -- date_time -- atomic -- Enabling OpenMP for SMMAP library -- +++ processing catkin package: 'smmap' -- ==> add_subdirectory(mab_ms/smmap) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- -------------GUROBI_INCLUDE_DIR-NOTFOUND -- -------------/opt/gurobi_server900/linux64/lib/libgurobi_c++.a;GUROBI_LIBRARY-NOTFOUND CMake Error at /usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:137 (message): Could NOT find GUROBI (missing: GUROBI_LIBRARY GUROBI_INCLUDE_DIR) Call Stack (most recent call first): /usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:378 (_FPHSA_FAILURE_MESSAGE) mab_ms/smmap/cmake/modules/FindGUROBI.cmake:29 (find_package_handle_standard_args) mab_ms/smmap/CMakeLists.txt:25 (find_package)

-- Configuring incomplete, errors occurred! See also "/home/deepak/Dropbox/Akash_ws/build/CMakeFiles/CMakeOutput.log". See also "/home/deepak/Dropbox/Akash_ws/build/CMakeFiles/CMakeError.log". Invoking "cmake" failed

deepak8084 commented 1 year ago

Still, same error. 

CMake Error at /usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:137 (message):
  Could NOT find SVM (missing: SVM_INCLUDE_DIR)
Call Stack (most recent call first):
  /usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:378 (_FPHSA_FAILURE_MESSAGE)
  smmap/cmake/Modules/FindSVM.cmake:8 (find_package_handle_standard_args)
  smmap/CMakeLists.txt:30 (find_package)

-- Configuring incomplete, errors occurred!
See also "/home/vyas/new_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/vyas/new_ws/build/CMakeFiles/CMakeError.log".
Makefile:2476: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed
dmcconachie commented 1 year ago

Give me a few minutes to get to that point - though I may have to abruptly stop for today; will hopefully be able to let you know that.

deepak8084 commented 1 year ago

Sure, Thank you for your support.

dmcconachie commented 1 year ago

This should get you past the FindSVM issue. If you are not familiar with this format, it's a git diff on that repo; essentially replace the first 2 lines in FindSVM.cmake with the modified versions.

diff --git a/cmake/Modules/FindSVM.cmake b/cmake/Modules/FindSVM.cmake
index 16e9412..39fdcad 100644
--- a/cmake/Modules/FindSVM.cmake
+++ b/cmake/Modules/FindSVM.cmake
@@ -1,5 +1,5 @@
-find_path(SVM_INCLUDE_DIR svm/svm.h)
-set(SVM_LIBRARY ${SVM_INCLUDE_DIR}/../lib/libsvm.so)
+find_path(SVM_INCLUDE_DIR libsvm/svm.h HINTS /usr/include)
+find_library(SVM_LIBRARY svm)

 set(SVM_INCLUDE_DIRS ${SVM_INCLUDE_DIR})
 set(SVM_LIBRARIES ${SVM_LIBRARY})

Next: I forgot that this version of smmap also requries the C++ torch library, so that will need to be installed too. Let me see if I can find instructions that work...

deepak8084 commented 1 year ago

got this error,

CMake Error at smmap/cmake/Modules/FindSVM.cmake:1:
  Parse error.  Expected "(", got unquoted argument with text "--git".
Call Stack (most recent call first):
  smmap/CMakeLists.txt:30 (find_package)

CMake Error at smmap/CMakeLists.txt:30 (find_package):
  find_package Error reading CMake code from
  "/home/vyas/new_ws/src/smmap/cmake/Modules/FindSVM.cmake".

-- Configuring incomplete, errors occurred!
See also "/home/vyas/new_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/vyas/new_ws/build/CMakeFiles/CMakeError.log".
Makefile:2476: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed
dmcconachie commented 1 year ago

It is just the lines with - and + from the diff that you apply. I.e. replace

find_path(SVM_INCLUDE_DIR svm/svm.h)
set(SVM_LIBRARY ${SVM_INCLUDE_DIR}/../lib/libsvm.so)

with 

find_path(SVM_INCLUDE_DIR libsvm/svm.h HINTS /usr/include)
find_library(SVM_LIBRARY svm)
dmcconachie commented 1 year ago

The pytorch website does not have obvious links to download a version of libtorch that I suspect will work seamlessly, so at this point unless you have particular use for the work from my ICRA 2020 paper I'd suggest you bypass torch for now by disabling those components in the CMakeLists.txt file and whatever headers need tweaking.

deepak8084 commented 1 year ago

I commented all the torch part in the smmap > CMakeLists.txt and I got this,

Click to expand ``` [ 91%] Building CXX object smmap/CMakeFiles/smmap_infrastructure.dir/src/trajectory.cpp.o /home/vyas/new_ws/src/smmap/src/ros_communication_helpers.cpp: In function ‘void smmap::GetFreeSpaceGraph(ros::NodeHandle&, arc_dijkstras::Graph >&, std::vector&)’: /home/vyas/new_ws/src/smmap/src/ros_communication_helpers.cpp:216:50: error: ‘class arc_dijkstras::Graph >’ has no member named ‘DeserializeSelf’; did you mean ‘deserializeSelf’? current_position += free_space_graph.DeserializeSelf(srv_data.response.graph_data_buffer, current_position, value_deserializer_fn); ^~~~~~~~~~~~~~~ deserializeSelf In file included from /home/vyas/new_ws/src/smmap_utilities/include/smmap_utilities/grippers.h:6:0, from /home/vyas/new_ws/src/smmap/include/smmap/ros_communication_helpers.h:8, from /home/vyas/new_ws/src/smmap/src/ros_communication_helpers.cpp:1: /home/vyas/new_ws/src/smmap/src/ros_communication_helpers.cpp:218:55: error: no matching function for call to ‘arc_dijkstras::Graph >::CheckGraphLinkage()’ assert(free_space_graph.CheckGraphLinkage()); ^ In file included from /home/vyas/new_ws/src/arc_utilities/include/arc_utilities/dijkstras.hpp:5:0, from /home/vyas/new_ws/src/smmap/include/smmap/ros_communication_helpers.h:6, from /home/vyas/new_ws/src/smmap/src/ros_communication_helpers.cpp:1: /home/vyas/new_ws/src/arc_utilities/include/arc_utilities/graph.hpp:381:15: note: candidate: static bool arc_dijkstras::Graph::CheckGraphLinkage(const arc_dijkstras::Graph&) [with NodeValueType = Eigen::Matrix; Allocator = std::allocator >] static bool CheckGraphLinkage(const Graph& graph) { ^~~~~~~~~~~~~~~~~ /home/vyas/new_ws/src/arc_utilities/include/arc_utilities/graph.hpp:381:15: note: candidate expects 1 argument, 0 provided /home/vyas/new_ws/src/arc_utilities/include/arc_utilities/graph.hpp:385:15: note: candidate: static bool arc_dijkstras::Graph::CheckGraphLinkage(const std::vector >&) [with NodeValueType = Eigen::Matrix; Allocator = std::allocator >] static bool CheckGraphLinkage(const std::vector>& nodes) { ^~~~~~~~~~~~~~~~~ /home/vyas/new_ws/src/arc_utilities/include/arc_utilities/graph.hpp:385:15: note: candidate expects 1 argument, 0 provided In file included from /opt/ros/melodic/include/ros/ros.h:40:0, from /home/vyas/new_ws/src/smmap/include/smmap/ros_communication_helpers.h:4, from /home/vyas/new_ws/src/smmap/src/ros_communication_helpers.cpp:1: /home/vyas/new_ws/src/smmap/src/ros_communication_helpers.cpp:219:88: error: ‘class arc_dijkstras::Graph >’ has no member named ‘GetNodesImmutable’ ROS_INFO_STREAM_NAMED("ros_comms_helpers", "Recieved " << free_space_graph.GetNodesImmutable().size() << " graph nodes"); ^ /home/vyas/new_ws/src/smmap/src/task_specification.cpp:18:17: note: #pragma message: Magic number - Stretching weight multiplication factor here #pragma message "Magic number - Stretching weight multiplication factor here" ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /home/vyas/new_ws/src/smmap/src/task_specification.cpp:20:17: note: #pragma message: Magic number - Step size and min progress for forward projection of dijkstras field following #pragma message "Magic number - Step size and min progress for forward projection of dijkstras field following" ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /home/vyas/new_ws/src/smmap/src/task_specification.cpp: In member function ‘smmap::ObjectDeltaAndWeight smmap::DijkstrasCoverageTask::calculateErrorCorrectionDeltaFixedCorrespondences(const smmap::WorldState&, const std::vector > >&)’: /home/vyas/new_ws/src/smmap/src/task_specification.cpp:892:50: error: ‘class arc_dijkstras::Graph >’ has no member named ‘GetNodeImmutable’ target_point = free_space_graph_.GetNodeImmutable(target_idx_in_free_space_graph).GetValueImmutable(); ^~~~~~~~~~~~~~~~ /home/vyas/new_ws/src/smmap/src/task_specification.cpp: In member function ‘void smmap::DijkstrasCoverageTask::visualizeFreeSpaceGraph() const’: /home/vyas/new_ws/src/smmap/src/task_specification.cpp:942:43: error: ‘const class arc_dijkstras::Graph >’ has no member named ‘GetNodesImmutable’ const auto& nodes = free_space_graph_.GetNodesImmutable(); ^~~~~~~~~~~~~~~~~ /home/vyas/new_ws/src/smmap/src/task_specification.cpp:943:29: error: unable to deduce ‘auto&&’ from ‘nodes’ for (const auto& node : nodes) ^~~~~ /home/vyas/new_ws/src/smmap/src/task_specification.cpp:949:33: error: unable to deduce ‘auto&&’ from ‘out_edges’ for (const auto& edge : out_edges) ^~~~~~~~~ /home/vyas/new_ws/src/smmap/src/task_specification.cpp: In member function ‘void smmap::DijkstrasCoverageTask::visualizeIndividualDijkstrasResult(size_t, const Vector3d&) const’: /home/vyas/new_ws/src/smmap/src/task_specification.cpp:982:77: error: ‘const class arc_dijkstras::Graph >’ has no member named ‘GetNodeImmutable’ const Eigen::Vector3d next_in_world = free_space_graph_.GetNodeImmutable(next_idx_in_free_space_graph).GetValueImmutable(); ^~~~~~~~~~~~~~~~ /home/vyas/new_ws/src/smmap/src/task_specification.cpp: In member function ‘bool smmap::DijkstrasCoverageTask::saveDijkstrasResults()’: /home/vyas/new_ws/src/smmap/src/task_specification.cpp:1054:27: error: ‘class arc_dijkstras::Graph >’ has no member named ‘SerializeSelf’; did you mean ‘serializeSelf’? free_space_graph_.SerializeSelf(buffer, &arc_utilities::SerializeEigen); ^~~~~~~~~~~~~ serializeSelf /home/vyas/new_ws/src/smmap/src/task_specification.cpp: In member function ‘bool smmap::DijkstrasCoverageTask::loadDijkstrasResults()’: /home/vyas/new_ws/src/smmap/src/task_specification.cpp:1095:65: error: ‘class arc_dijkstras::Graph >’ has no member named ‘SerializeSelf’; did you mean ‘serializeSelf’? const uint64_t serialzed_graph_size = free_space_graph_.SerializeSelf(temp_buffer, &arc_utilities::SerializeEigen); ^~~~~~~~~~~~~ serializeSelf /home/vyas/new_ws/src/smmap/src/task_specification.cpp: In member function ‘Eigen::Vector3d smmap::DijkstrasCoverageTask::sumVectorFields(const std::vector >&, const Vector3d&) const’: /home/vyas/new_ws/src/smmap/src/task_specification.cpp:1142:75: error: ‘const class arc_dijkstras::Graph >’ has no member named ‘GetNodeImmutable’ const Eigen::Vector3d& graph_aligned_querry_point = free_space_graph_.GetNodeImmutable(graph_aligned_querry_ind).GetValueImmutable(); ^~~~~~~~~~~~~~~~ /home/vyas/new_ws/src/smmap/src/task_specification.cpp:1152:65: error: ‘const class arc_dijkstras::Graph >’ has no member named ‘GetNodeImmutable’ const Eigen::Vector3d& target_point = free_space_graph_.GetNodeImmutable(target_ind_in_work_space_graph).GetValueImmutable(); ^~~~~~~~~~~~~~~~ /home/vyas/new_ws/src/smmap/src/task_specification.cpp: In member function ‘virtual smmap::DijkstrasCoverageTask::Correspondences smmap::DistanceBasedCorrespondencesTask::getCoverPointCorrespondences_impl(const smmap::WorldState&) const’: /home/vyas/new_ws/src/smmap/src/task_specification.cpp:1254:39: error: ‘const class arc_dijkstras::Graph >’ has no member named ‘GetNodeImmutable’ free_space_graph_.GetNodeImmutable(best_target_idx_in_free_space_graph).GetValueImmutable()); ^~~~~~~~~~~~~~~~ /home/vyas/new_ws/src/smmap/src/task_specification.cpp: In member function ‘virtual smmap::DijkstrasCoverageTask::Correspondences smmap::FixedCorrespondencesTask::getCoverPointCorrespondences_impl(const smmap::WorldState&) const’: /home/vyas/new_ws/src/smmap/src/task_specification.cpp:1412:79: error: ‘const class arc_dijkstras::Graph >’ has no member named ‘GetNodeImmutable’ current_correspondences_next_step.push_back(free_space_graph_.GetNodeImmutable(target_ind_in_free_space_graph).GetValueImmutable()); ^~~~~~~~~~~~~~~~ /home/vyas/new_ws/src/smmap/src/least_squares_controller_with_object_avoidance.cpp:9:17: note: #pragma message: Magic number - damping threshold and damping coefficient #pragma message "Magic number - damping threshold and damping coefficient" ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ smmap/CMakeFiles/smmap_infrastructure.dir/build.make:86: recipe for target 'smmap/CMakeFiles/smmap_infrastructure.dir/src/ros_communication_helpers.cpp.o' failed make[2]: *** [smmap/CMakeFiles/smmap_infrastructure.dir/src/ros_communication_helpers.cpp.o] Error 1 make[2]: *** Waiting for unfinished jobs.... smmap/CMakeFiles/smmap_infrastructure.dir/build.make:110: recipe for target 'smmap/CMakeFiles/smmap_infrastructure.dir/src/task_specification.cpp.o' failed make[2]: *** [smmap/CMakeFiles/smmap_infrastructure.dir/src/task_specification.cpp.o] Error 1 [ 91%] Linking CXX shared library /home/vyas/new_ws/devel/lib/libsmmap_models.so [ 91%] Built target smmap_models CMakeFiles/Makefile2:7753: recipe for target 'smmap/CMakeFiles/smmap_infrastructure.dir/all' failed make[1]: *** [smmap/CMakeFiles/smmap_infrastructure.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... [ 92%] Linking CXX shared library /home/vyas/new_ws/devel/lib/libsmmap_controllers.so [ 92%] Built target smmap_controllers Makefile:140: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j16 -l16" failed ```
deepak8084 commented 1 year ago

Should I also suppress it in all mentioned files. This is what I got from catkin_make -j1, 

[ 88%] Building CXX object smmap/CMakeFiles/voxnet_tester.dir/nodes/voxnet_tester.cpp.o
/home/vyas/new_ws/src/smmap/nodes/voxnet_tester.cpp:1:10: fatal error: torch/script.h: No such file or directory
 #include <torch/script.h>
          ^~~~~~~~~~~~~~~~
compilation terminated.
smmap/CMakeFiles/voxnet_tester.dir/build.make:62: recipe for target 'smmap/CMakeFiles/voxnet_tester.dir/nodes/voxnet_tester.cpp.o' failed
make[2]: *** [smmap/CMakeFiles/voxnet_tester.dir/nodes/voxnet_tester.cpp.o] Error 1
CMakeFiles/Makefile2:6574: recipe for target 'smmap/CMakeFiles/voxnet_tester.dir/all' failed
make[1]: *** [smmap/CMakeFiles/voxnet_tester.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j1" failed
dmcconachie commented 1 year ago

I was expecting that; this is due to a style update in arc_utilities that never got updated in smmap. You'll need to go through and update the function names to match the names in arc_utilities. Mostly it's things like:

See this commit for details https://github.com/UM-ARM-Lab/arc_utilities/commit/038f4674af3008be4d533990e25fbd74aa134089

Yes, you should suppress anything voxnet, mlp, or torch related. For some of the code you'll need to also comment out the headers for voxnet, mlp, and torch related things.

deepak8084 commented 1 year ago

Sorry, I can't find any function named SerializeSelf or GetNodeImmutable in smmap.

dmcconachie commented 1 year ago

From your error message:

/home/vyas/new_ws/src/smmap/src/ros_communication_helpers.cpp: In function ‘void smmap::GetFreeSpaceGraph(ros::NodeHandle&, arc_dijkstras::Graph<Eigen::Matrix<double, 3, 1> >&, std::vector<long int>&)’:
/home/vyas/new_ws/src/smmap/src/ros_communication_helpers.cpp:216:50: error: ‘class arc_dijkstras::Graph<Eigen::Matrix<double, 3, 1> >’ has no member named ‘DeserializeSelf’; did you mean ‘deserializeSelf’?
             current_position += free_space_graph.DeserializeSelf(srv_data.response.graph_data_buffer, current_position, value_deserializer_fn);

etc.

deepak8084 commented 1 year ago

there is no SerializeSelf but DeserializeSelf.

dmcconachie commented 1 year ago

I suspect all that is left at this point is 2 things:

If/when you get it all working, I would definitely appreciate if you could submit a pull request to smmap with the changes you needed to make for whomever comes after you! https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/creating-a-pull-request-from-a-fork

dmcconachie commented 1 year ago

Then update DeserializeSelf to deserializeSelf or whatever it was changed to in the linked commit. You'll need to go through each error message and resolve it at this point.

I do see 2 instances of SerializeSelf that will probably need updating:

src/task_specification.cpp
1054:        free_space_graph_.SerializeSelf(buffer, &arc_utilities::SerializeEigen<double, 3, 1>);
1095:        const uint64_t serialzed_graph_size = free_space_graph_.SerializeSelf(temp_buffer, &arc_utilities::SerializeEigen<double, 3, 1>);

At this point I'm out of time until at least July 5th.

deepak8084 commented 1 year ago

Thank you for helping. I've fixed some of the errors based on the commit link, but I'm still getting some errors. Please have a look when you have time after July 5th. If these issues are corrected, I will definitely send a pull request.

Details

``` [ 90%] Building CXX object smmap/CMakeFiles/smmap_infrastructure.dir/src/task_specification.cpp.o /home/vyas/new_ws/src/smmap/src/task_specification.cpp:18:17: note: #pragma message: Magic number - Stretching weight multiplication factor here #pragma message "Magic number - Stretching weight multiplication factor here" ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /home/vyas/new_ws/src/smmap/src/task_specification.cpp:20:17: note: #pragma message: Magic number - Step size and min progress for forward projection of dijkstras field following #pragma message "Magic number - Step size and min progress for forward projection of dijkstras field following" ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /home/vyas/new_ws/src/smmap/src/task_specification.cpp: In member function ‘Eigen::Vector3d smmap::DijkstrasCoverageTask::sumVectorFields(const std::vector >&, const Vector3d&) const’: /home/vyas/new_ws/src/smmap/src/task_specification.cpp:1142:108: error: no matching function for call to ‘arc_dijkstras::Graph >::getNodes(const ssize_t&) const’ const Eigen::Vector3d& graph_aligned_querry_point = free_space_graph_.getNodes(graph_aligned_querry_ind).getValue(); ^ In file included from /home/vyas/new_ws/src/arc_utilities/include/arc_utilities/dijkstras.hpp:5:0, from /home/vyas/new_ws/src/smmap/include/smmap/task_specification.h:9, from /home/vyas/new_ws/src/smmap/src/task_specification.cpp:12: /home/vyas/new_ws/src/arc_utilities/include/arc_utilities/graph.hpp:460:59: note: candidate: const std::vector >& arc_dijkstras::Graph::getNodes() const [with NodeValueType = Eigen::Matrix; Allocator = std::allocator >] const std::vector>& getNodes() const { return nodes_; } ^~~~~~~~ /home/vyas/new_ws/src/arc_utilities/include/arc_utilities/graph.hpp:460:59: note: candidate expects 0 arguments, 1 provided /home/vyas/new_ws/src/arc_utilities/include/arc_utilities/graph.hpp:462:53: note: candidate: std::vector >& arc_dijkstras::Graph::getNodes() [with NodeValueType = Eigen::Matrix; Allocator = std::allocator >] std::vector>& getNodes() { return nodes_; } ^~~~~~~~ /home/vyas/new_ws/src/arc_utilities/include/arc_utilities/graph.hpp:462:53: note: candidate expects 0 arguments, 1 provided /home/vyas/new_ws/src/smmap/src/task_specification.cpp:1152:104: error: no matching function for call to ‘arc_dijkstras::Graph >::getNodes(const ssize_t&) const’ const Eigen::Vector3d& target_point = free_space_graph_.getNodes(target_ind_in_work_space_graph).getValue(); ^ In file included from /home/vyas/new_ws/src/arc_utilities/include/arc_utilities/dijkstras.hpp:5:0, from /home/vyas/new_ws/src/smmap/include/smmap/task_specification.h:9, from /home/vyas/new_ws/src/smmap/src/task_specification.cpp:12: /home/vyas/new_ws/src/arc_utilities/include/arc_utilities/graph.hpp:460:59: note: candidate: const std::vector >& arc_dijkstras::Graph::getNodes() const [with NodeValueType = Eigen::Matrix; Allocator = std::allocator >] const std::vector>& getNodes() const { return nodes_; } ^~~~~~~~ /home/vyas/new_ws/src/arc_utilities/include/arc_utilities/graph.hpp:460:59: note: candidate expects 0 arguments, 1 provided /home/vyas/new_ws/src/arc_utilities/include/arc_utilities/graph.hpp:462:53: note: candidate: std::vector >& arc_dijkstras::Graph::getNodes() [with NodeValueType = Eigen::Matrix; Allocator = std::allocator >] std::vector>& getNodes() { return nodes_; } ^~~~~~~~ /home/vyas/new_ws/src/arc_utilities/include/arc_utilities/graph.hpp:462:53: note: candidate expects 0 arguments, 1 provided /home/vyas/new_ws/src/smmap/src/task_specification.cpp: In member function ‘virtual smmap::DijkstrasCoverageTask::Correspondences smmap::DistanceBasedCorrespondencesTask::getCoverPointCorrespondences_impl(const smmap::WorldState&) const’: /home/vyas/new_ws/src/smmap/src/task_specification.cpp:1254:83: error: no matching function for call to ‘arc_dijkstras::Graph >::getNodes(ssize_t&) const’ free_space_graph_.getNodes(best_target_idx_in_free_space_graph).getValue()); ^ In file included from /home/vyas/new_ws/src/arc_utilities/include/arc_utilities/dijkstras.hpp:5:0, from /home/vyas/new_ws/src/smmap/include/smmap/task_specification.h:9, from /home/vyas/new_ws/src/smmap/src/task_specification.cpp:12: /home/vyas/new_ws/src/arc_utilities/include/arc_utilities/graph.hpp:460:59: note: candidate: const std::vector >& arc_dijkstras::Graph::getNodes() const [with NodeValueType = Eigen::Matrix; Allocator = std::allocator >] const std::vector>& getNodes() const { return nodes_; } ^~~~~~~~ /home/vyas/new_ws/src/arc_utilities/include/arc_utilities/graph.hpp:460:59: note: candidate expects 0 arguments, 1 provided /home/vyas/new_ws/src/arc_utilities/include/arc_utilities/graph.hpp:462:53: note: candidate: std::vector >& arc_dijkstras::Graph::getNodes() [with NodeValueType = Eigen::Matrix; Allocator = std::allocator >] std::vector>& getNodes() { return nodes_; } ^~~~~~~~ /home/vyas/new_ws/src/arc_utilities/include/arc_utilities/graph.hpp:462:53: note: candidate expects 0 arguments, 1 provided /home/vyas/new_ws/src/smmap/src/task_specification.cpp: In member function ‘virtual smmap::DijkstrasCoverageTask::Correspondences smmap::FixedCorrespondencesTask::getCoverPointCorrespondences_impl(const smmap::WorldState&) const’: /home/vyas/new_ws/src/smmap/src/task_specification.cpp:1412:118: error: no matching function for call to ‘arc_dijkstras::Graph >::getNodes(const ssize_t&) const’ current_correspondences_next_step.push_back(free_space_graph_.getNodes(target_ind_in_free_space_graph).getValue()); ^ In file included from /home/vyas/new_ws/src/arc_utilities/include/arc_utilities/dijkstras.hpp:5:0, from /home/vyas/new_ws/src/smmap/include/smmap/task_specification.h:9, from /home/vyas/new_ws/src/smmap/src/task_specification.cpp:12: /home/vyas/new_ws/src/arc_utilities/include/arc_utilities/graph.hpp:460:59: note: candidate: const std::vector >& arc_dijkstras::Graph::getNodes() const [with NodeValueType = Eigen::Matrix; Allocator = std::allocator >] const std::vector>& getNodes() const { return nodes_; } ^~~~~~~~ /home/vyas/new_ws/src/arc_utilities/include/arc_utilities/graph.hpp:460:59: note: candidate expects 0 arguments, 1 provided /home/vyas/new_ws/src/arc_utilities/include/arc_utilities/graph.hpp:462:53: note: candidate: std::vector >& arc_dijkstras::Graph::getNodes() [with NodeValueType = Eigen::Matrix; Allocator = std::allocator >] std::vector>& getNodes() { return nodes_; } ^~~~~~~~ /home/vyas/new_ws/src/arc_utilities/include/arc_utilities/graph.hpp:462:53: note: candidate expects 0 arguments, 1 provided smmap/CMakeFiles/smmap_infrastructure.dir/build.make:110: recipe for target 'smmap/CMakeFiles/smmap_infrastructure.dir/src/task_specification.cpp.o' failed make[2]: *** [smmap/CMakeFiles/smmap_infrastructure.dir/src/task_specification.cpp.o] Error 1 CMakeFiles/Makefile2:7753: recipe for target 'smmap/CMakeFiles/smmap_infrastructure.dir/all' failed make[1]: *** [smmap/CMakeFiles/smmap_infrastructure.dir/all] Error 2 Makefile:140: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j1" failed ```

dmcconachie commented 1 year ago

I had to remove the SVM classifier for easy updates to make everything compile, but it now compiles against current master of arc_utilities and sdf_tools. Note that this is on new branches of deform_control and smmap.

 Localname                             S SCM Version (Spec)  UID  (Spec)  URI  (Spec) [http(s)://...]
 ---------                             - --- --------------  -----------  ---------------------------
 src/smmap_utilities                     git master  (-)     e894fd47fda9 git@github.com:UM-ARM-Lab/smmap_utilities.git
 src/smmap                               git build_1804  (-) eabe2b8500ed git@github.com:UM-ARM-Lab/smmap.git
 src/sdf_tools                           git master  (-)     b6e8d7c3f8a8 github.com/UM-ARM-Lab/sdf_tools
 src/kinematics_toolbox                  git master  (-)     b5eb6b17a814 git@github.com:UM-ARM-Lab/kinematics_toolbox.git
 src/deformable_manipulation_interface   git build_1804  (-) bb7ca3ac2ab1 git@github.com:UM-ARM-Lab/deformable_manipulation_interface
 src/deform_control                      git build_1804  (-) 1be7ce50332d git@github.com:UM-ARM-Lab/deform_control
 src/arc_utilities                       git master  (-)     0186ca81d47a github.com/UM-ARM-Lab/arc_utilities

FYI, I am updating the launch file to run the rope_cylinder experiment.

Edit: Done

deepak8084 commented 1 year ago

I've cloned smmap and deform_control from new branch build_1804 and this is what I got.

Details

``` -- +++ processing catkin package: 'smmap_utilities' -- ==> add_subdirectory(smmap_utilities) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'smmap' -- ==> add_subdirectory(smmap) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Checking for module 'flann' -- Found flann, version 1.9.1 -- Found FLANN: /usr/lib/x86_64-linux-gnu/libflann_cpp.so CMake Error at /usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:137 (message): Could NOT find SVM (missing: SVM_INCLUDE_DIR) Call Stack (most recent call first): /usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:378 (_FPHSA_FAILURE_MESSAGE) smmap/cmake/Modules/FindSVM.cmake:8 (find_package_handle_standard_args) smmap/CMakeLists.txt:30 (find_package) -- Configuring incomplete, errors occurred! See also "/home/vyas/new_ws/build/CMakeFiles/CMakeOutput.log". See also "/home/vyas/new_ws/build/CMakeFiles/CMakeError.log". Invoking "cmake" failed ```

After, this I've replaced the first 2 lines in FindSVM.cmake with the modified versions, as you mentioned earlier and removed voxnet, torch. Now, I'm getting this error,

Details

``` [ 92%] Building CXX object smmap/CMakeFiles/smmap_transitions.dir/src/transition_estimation.cpp.o In file included from /home/vyas/new_ws/src/smmap/src/transition_estimation.cpp:1:0: /home/vyas/new_ws/src/smmap/include/smmap/transition_estimation.h:272:10: warning: #warning is a GCC extension #warning "Voxnet classifier hack addition to classification framework" ^~~~~~~ /home/vyas/new_ws/src/smmap/include/smmap/transition_estimation.h:272:10: warning: #warning "Voxnet classifier hack addition to classification framework" [-Wcpp] /home/vyas/new_ws/src/smmap/include/smmap/transition_estimation.h:278:10: warning: #warning is a GCC extension #warning "Voxnet classifier hack addition to classification framework" ^~~~~~~ /home/vyas/new_ws/src/smmap/include/smmap/transition_estimation.h:278:10: warning: #warning "Voxnet classifier hack addition to classification framework" [-Wcpp] /home/vyas/new_ws/src/smmap/src/transition_estimation.cpp:516:6: warning: #warning is a GCC extension #warning "Voxnet classifier hack addition to classification framework" ^~~~~~~ /home/vyas/new_ws/src/smmap/src/transition_estimation.cpp:516:6: warning: #warning "Voxnet classifier hack addition to classification framework" [-Wcpp] /home/vyas/new_ws/src/smmap/src/transition_estimation.cpp:531:6: warning: #warning is a GCC extension #warning "Voxnet classifier hack addition to classification framework" ^~~~~~~ /home/vyas/new_ws/src/smmap/src/transition_estimation.cpp:531:6: warning: #warning "Voxnet classifier hack addition to classification framework" [-Wcpp] /home/vyas/new_ws/src/smmap/src/transition_estimation.cpp:544:6: warning: #warning is a GCC extension #warning "Voxnet classifier hack addition to classification framework" ^~~~~~~ /home/vyas/new_ws/src/smmap/src/transition_estimation.cpp:544:6: warning: #warning "Voxnet classifier hack addition to classification framework" [-Wcpp] /home/vyas/new_ws/src/smmap/src/transition_estimation.cpp:1132:6: warning: #warning is a GCC extension #warning "Voxnet classifier hack addition to classification framework" ^~~~~~~ /home/vyas/new_ws/src/smmap/src/transition_estimation.cpp:1132:6: warning: #warning "Voxnet classifier hack addition to classification framework" [-Wcpp] /home/vyas/new_ws/src/smmap/src/transition_estimation.cpp:1147:10: warning: #warning is a GCC extension #warning "Voxnet classifier hack addition to classification framework" ^~~~~~~ /home/vyas/new_ws/src/smmap/src/transition_estimation.cpp:1147:10: warning: #warning "Voxnet classifier hack addition to classification framework" [-Wcpp] /home/vyas/new_ws/src/smmap/src/transition_estimation.cpp:1196:10: warning: #warning is a GCC extension #warning "Voxnet classifier hack addition to classification framework" ^~~~~~~ /home/vyas/new_ws/src/smmap/src/transition_estimation.cpp:1196:10: warning: #warning "Voxnet classifier hack addition to classification framework" [-Wcpp] In file included from /home/vyas/new_ws/src/smmap/include/smmap/transition_estimation.h:9:0, from /home/vyas/new_ws/src/smmap/src/transition_estimation.cpp:1: /home/vyas/new_ws/src/smmap/include/smmap/min_max_transformer.hpp: In constructor ‘smmap::MinMaxTransformer::MinMaxTransformer(std::shared_ptr, std::shared_ptr)’: /home/vyas/new_ws/src/smmap/include/smmap/min_max_transformer.hpp:16:100: error: request for member ‘getimmutable’ in ‘ROSHelpers::GetParamRequired((*(const ros::NodeHandle*)(&((std::__shared_ptr_access*)(& ph))->std::__shared_ptr_access::operator*())), std::__cxx11::basic_string(((const char*)"classifier/dim"), std::allocator()), std::__cxx11::basic_string(((const char*)(& __func__)), std::allocator()))’, which is of non-class type ‘int’ ROSHelpers::GetParamRequired(*ph, "classifier/dim", __func__).getimmutable(); ^~~~~~~~~~~~ /home/vyas/new_ws/src/smmap/include/smmap/min_max_transformer.hpp:17:117: error: ‘class std::vector’ has no member named ‘getimmutable’ ctorRequired(*ph, "classifier/transformer/scale", __func__).getimmutable(); ^~~~~~~~~~~~ In file included from /home/vyas/new_ws/src/smmap/include/smmap/transition_estimation.h:9:0, from /home/vyas/new_ws/src/smmap/src/transition_estimation.cpp:1: /home/vyas/new_ws/src/smmap/include/smmap/min_max_transformer.hpp:18:119: error: ‘class std::vector’ has no member named ‘getimmutable’ torRequired(*ph, "classifier/transformer/offset", __func__).getimmutable(); ^~~~~~~~~~~~ In file included from /home/vyas/new_ws/src/smmap/include/smmap/transition_estimation.h:10:0, from /home/vyas/new_ws/src/smmap/src/transition_estimation.cpp:1: /home/vyas/new_ws/src/smmap/include/smmap/classifier.h: In constructor ‘smmap::Classifier::Classifier(std::shared_ptr, std::shared_ptr, const string&)’: /home/vyas/new_ws/src/smmap/include/smmap/classifier.h:32:97: error: request for member ‘GetImmutable’ in ‘ROSHelpers::GetParamRequired((*(const ros::NodeHandle*)(&((const std::__shared_ptr_access*)(&((smmap::Classifier*)this)->smmap::Classifier::ph_))->std::__shared_ptr_access::operator*())), std::__cxx11::basic_string(((const char*)"classifier/dim"), std::allocator()), std::__cxx11::basic_string(((const char*)(& __func__)), std::allocator()))’, which is of non-class type ‘int’ ROSHelpers::GetParamRequired(*ph_, "classifier/dim", __func__).GetImmutable()) ^~~~~~~~~~~~ /home/vyas/new_ws/src/smmap/include/smmap/classifier.h:33:98: error: request for member ‘GetImmutable’ in ‘ROSHelpers::GetParamRequired((*(const ros::NodeHandle*)(&((const std::__shared_ptr_access*)(&((smmap::Classifier*)this)->smmap::Classifier::ph_))->std::__shared_ptr_access::operator*())), std::operator+(const std::__cxx11::basic_string<_CharT, _Traits, _Alloc>&, const _CharT*) [with _CharT = char; _Traits = std::char_traits; _Alloc = std::allocator](((const char*)"/accuracy")), std::__cxx11::basic_string(((const char*)(& __func__)), std::allocator()))’, which is of non-class type ‘double’ lpers::GetParamRequired(*ph_, name + "/accuracy", __func__).GetImmutable()) ^~~~~~~~~~~~ /home/vyas/new_ws/src/smmap/src/transition_estimation.cpp: In constructor ‘smmap::TransitionEstimation::TransitionEstimation(std::shared_ptr, std::shared_ptr, std::shared_ptr >, const ConstPtr&, smmap::XYZGrid, const Ptr&, const RubberBand&)’: /home/vyas/new_ws/src/smmap/src/transition_estimation.cpp:511:109: error: request for member ‘GetImmutable’ in ‘ROSHelpers::GetParamRequired((*(const ros::NodeHandle*)(&((const std::__shared_ptr_access*)(&((smmap::TransitionEstimation*)this)->smmap::TransitionEstimation::ph_))->std::__shared_ptr_access::operator*())), std::__cxx11::basic_string(((const char*)"classifier/normalize_lengths"), std::allocator()), std::__cxx11::basic_string(((const char*)(& __func__)), std::allocator()))’, which is of non-class type ‘bool’ ParamRequired(*ph_, "classifier/normalize_lengths", __func__).GetImmutable()) ^~~~~~~~~~~~ /home/vyas/new_ws/src/smmap/src/transition_estimation.cpp:512:135: error: request for member ‘GetImmutable’ in ‘ROSHelpers::GetParamRequired((*(const ros::NodeHandle*)(&((const std::__shared_ptr_access*)(&((smmap::TransitionEstimation*)this)->smmap::TransitionEstimation::ph_))->std::__shared_ptr_access::operator*())), std::__cxx11::basic_string(((const char*)"classifier/normalize_connected_components"), std::allocator()), std::__cxx11::basic_string(((const char*)(& __func__)), std::allocator()))’, which is of non-class type ‘bool’ (*ph_, "classifier/normalize_connected_components", __func__).GetImmutable()) ^~~~~~~~~~~~ /home/vyas/new_ws/src/smmap/src/transition_estimation.cpp:515:115: error: request for member ‘GetImmutable’ in ‘ROSHelpers::GetParamRequired((*(const ros::NodeHandle*)(&((const std::__shared_ptr_access*)(&((smmap::TransitionEstimation*)this)->smmap::TransitionEstimation::ph_))->std::__shared_ptr_access::operator*())), std::__cxx11::basic_string(((const char*)"classifier/accept_scale_factor"), std::allocator()), std::__cxx11::basic_string(((const char*)(& __func__)), std::allocator()))’, which is of non-class type ‘double’ mRequired(*ph_, "classifier/accept_scale_factor", __func__).GetImmutable()) ^~~~~~~~~~~~ /home/vyas/new_ws/src/smmap/src/transition_estimation.cpp: In member function ‘bool smmap::TransitionEstimation::useStoredTransitions() const’: /home/vyas/new_ws/src/smmap/src/transition_estimation.cpp:1570:111: error: request for member ‘GetImmutable’ in ‘ROSHelpers::GetParamRequired((*(const ros::NodeHandle*)(&((const std::__shared_ptr_access*)(&((const smmap::TransitionEstimation*)this)->smmap::TransitionEstimation::ph_))->std::__shared_ptr_access::operator*())), std::__cxx11::basic_string(((const char*)"transition_estimation/use_stored_transitions"), std::allocator()), std::__cxx11::basic_string(((const char*)(& __func__)), std::allocator()))’, which is of non-class type ‘bool’ ol>(*ph_, "transition_estimation/use_stored_transitions", __func__).GetImmutable(); ^~~~~~~~~~~~ /home/vyas/new_ws/src/smmap/src/transition_estimation.cpp: In member function ‘void smmap::TransitionEstimation::storeTransitions() const’: /home/vyas/new_ws/src/smmap/src/transition_estimation.cpp:1580:31: error: ‘const class std::__cxx11::basic_string’ has no member named ‘Valid’ if (!file_name_prefix.Valid()) ^~~~~ /home/vyas/new_ws/src/smmap/src/transition_estimation.cpp:1585:56: error: ‘const class std::__cxx11::basic_string’ has no member named ‘GetImmutable’ const std::string file_name = file_name_prefix.GetImmutable() + "__" + file_name_suffix + ".compressed"; ^~~~~~~~~~~~ /home/vyas/new_ws/src/smmap/src/transition_estimation.cpp: In member function ‘void smmap::TransitionEstimation::loadSavedTransitions()’: /home/vyas/new_ws/src/smmap/src/transition_estimation.cpp:1605:31: error: ‘const class std::__cxx11::basic_string’ has no member named ‘Valid’ if (!file_name_prefix.Valid()) ^~~~~ /home/vyas/new_ws/src/smmap/src/transition_estimation.cpp:1623:72: error: ‘const class std::__cxx11::basic_string’ has no member named ‘GetImmutable’ const auto full_path = log_folder + "/" + file_name_prefix.GetImmutable() + "__" + suffix + ".compressed"; ^~~~~~~~~~~~ smmap/CMakeFiles/smmap_transitions.dir/build.make:62: recipe for target 'smmap/CMakeFiles/smmap_transitions.dir/src/transition_estimation.cpp.o' failed make[2]: *** [smmap/CMakeFiles/smmap_transitions.dir/src/transition_estimation.cpp.o] Error 1 CMakeFiles/Makefile2:8969: recipe for target 'smmap/CMakeFiles/smmap_transitions.dir/all' failed make[1]: *** [smmap/CMakeFiles/smmap_transitions.dir/all] Error 2 Makefile:140: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j1" failed ```

I can't find any replacement for GetImmutable.

dmcconachie commented 1 year ago

I have also updated deformable_manipulation_interface's rope_cylinder launch file as well as updated it to match the current arc_utilities. I've updated the post above. I recommend installing and using wstool as a simple way to generate a report like the one above.

The output of the above wstool status should match the following exactly in the S, Version (Spec), and UID (Spec) columns. No extra changes (like the FindSVM.cmake changes you made) should be needed.

 Localname                             S SCM Version (Spec)  UID  (Spec)  URI  (Spec) [http(s)://...]
 ---------                             - --- --------------  -----------  ---------------------------
 src/smmap_utilities                     git master  (-)     e894fd47fda9 git@github.com:UM-ARM-Lab/smmap_utilities.git
 src/smmap                               git build_1804  (-) eabe2b8500ed git@github.com:UM-ARM-Lab/smmap.git
 src/sdf_tools                           git master  (-)     b6e8d7c3f8a8 github.com/UM-ARM-Lab/sdf_tools
 src/kinematics_toolbox                  git master  (-)     b5eb6b17a814 git@github.com:UM-ARM-Lab/kinematics_toolbox.git
 src/deformable_manipulation_interface   git build_1804  (-) bb7ca3ac2ab1 git@github.com:UM-ARM-Lab/deformable_manipulation_interface
 src/deform_control                      git build_1804  (-) 1be7ce50332d git@github.com:UM-ARM-Lab/deform_control
 src/arc_utilities                       git master  (-)     0186ca81d47a github.com/UM-ARM-Lab/arc_utilities

Then this command should work for you:

roslaunch deformable_manipulation_experiment_params generic_experiment.launch task_type:=rope_cylinder
deepak8084 commented 1 year ago

It was almost done but at the end of compilation, I got this error,

Details

``` [ 97%] Automatic MOC and UIC for target custom_scene_node [ 97%] Built target custom_scene_node_autogen [ 97%] Linking CXX executable /home/vyas/new_ws/devel/lib/deform_simulator/custom_scene_node //opt/ros/melodic/lib/libresource_retriever.so: undefined reference to `curl_global_init@CURL_OPENSSL_4' //opt/ros/melodic/lib/libresource_retriever.so: undefined reference to `curl_easy_setopt@CURL_OPENSSL_4' //opt/ros/melodic/lib/libresource_retriever.so: undefined reference to `curl_easy_cleanup@CURL_OPENSSL_4' //opt/ros/melodic/lib/libresource_retriever.so: undefined reference to `curl_easy_perform@CURL_OPENSSL_4' //opt/ros/melodic/lib/libresource_retriever.so: undefined reference to `curl_easy_init@CURL_OPENSSL_4' //usr/lib/x86_64-linux-gnu/libapr-1.so.0: undefined reference to `uuid_generate@UUID_1.0' //opt/ros/melodic/lib/libresource_retriever.so: undefined reference to `curl_global_cleanup@CURL_OPENSSL_4' collect2: error: ld returned 1 exit status deform_control/deform_simulator/nodes/CMakeFiles/custom_scene_node.dir/build.make:407: recipe for target '/home/vyas/new_ws/devel/lib/deform_simulator/custom_scene_node' failed make[2]: *** [/home/vyas/new_ws/devel/lib/deform_simulator/custom_scene_node] Error 1 CMakeFiles/Makefile2:14611: recipe for target 'deform_control/deform_simulator/nodes/CMakeFiles/custom_scene_node.dir/all' failed make[1]: *** [deform_control/deform_simulator/nodes/CMakeFiles/custom_scene_node.dir/all] Error 2 Makefile:140: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j1" failed ```

Is it because, I've multiple curl version,

Details

``` vyas@vyas-OptiPlex-5090:~$ locate libcurl.so.4 /home/vyas/anaconda3/lib/libcurl.so.4 /home/vyas/anaconda3/lib/libcurl.so.4.7.0 /home/vyas/anaconda3/pkgs/libcurl-7.82.0-h0b77cf5_0/lib/libcurl.so.4 /home/vyas/anaconda3/pkgs/libcurl-7.82.0-h0b77cf5_0/lib/libcurl.so.4.7.0 /snap/gnome-42-2204/111/usr/lib/x86_64-linux-gnu/libcurl.so.4 /snap/gnome-42-2204/111/usr/lib/x86_64-linux-gnu/libcurl.so.4.7.0 /usr/lib/x86_64-linux-gnu/libcurl.so.4 /usr/lib/x86_64-linux-gnu/libcurl.so.4.5.0 ```

Also, here is my report from wstool, there was some version issue which I have resolved.

workspace: /home/vyas/new_ws

 Localname                             S SCM Version (Spec)  UID  (Spec)  URI  (Spec) [http(s)://...]
 ---------                             - --- --------------  -----------  ---------------------------
 src/smmap_utilities                     git master  (-)     e894fd47fda9 github.com/UM-ARM-Lab/smmap_utilities.git
 src/smmap                               git build_1804  (-) eabe2b8500ed github.com/UM-ARM-Lab/smmap.git
 src/sdf_tools                           git master  (-)     b6e8d7c3f8a8 github.com/UM-ARM-Lab/sdf_tools.git
 src/kinematics_toolbox                  git master  (-)     b5eb6b17a814 github.com/UM-ARM-Lab/kinematics_toolbox.git
 src/deformable_manipulation_interface   git build_1804  (-) bb7ca3ac2ab1 github.com/UM-ARM-Lab/deformable_manipulation_interface.git
 src/deform_control                      git build_1804  (-) 1be7ce50332d github.com/UM-ARM-Lab/deform_control.git
 src/arc_utilities                       git master  (-)     0186ca81d47a github.com/UM-ARM-Lab/arc_utilities.git
dmcconachie commented 1 year ago

That looks like a ros installation issue of some sort. Without easy access to the problem myself to replicate it I suggest sudo apt update and then a forced reinstall of the package that provides that library

https://www.cyberciti.biz/faq/equivalent-of-rpm-qf-command/

https://www.cyberciti.biz/faq/debian-ubuntu-linux-reinstall-a-package-using-apt-get-command/

On Thu, Jul 6, 2023, 2:54 PM Deepak Kumar @.***> wrote:

It was almost done but at the end of compilation, I got this error,

[ 97%] Automatic MOC and UIC for target qt_ros_test_node [ 97%] Built target qt_ros_test_node_autogen [ 97%] Built target qt_ros_test_node [ 97%] Automatic MOC and UIC for target custom_scene_node [ 97%] Built target custom_scene_node_autogen [ 97%] Linking CXX executable /home/vyas/new_ws/devel/lib/deform_simulator/custom_scene_node //opt/ros/melodic/lib/libresource_retriever.so: undefined reference to @._OPENSSL_4' //opt/ros/melodic/lib/libresource_retriever.so: undefined reference to @._OPENSSL_4' //opt/ros/melodic/lib/libresource_retriever.so: undefined reference to @._OPENSSL_4' //opt/ros/melodic/lib/libresource_retriever.so: undefined reference to @._OPENSSL_4' //opt/ros/melodic/lib/libresource_retriever.so: undefined reference to @._OPENSSL_4' //usr/lib/x86_64-linux-gnu/libapr-1.so.0: undefined reference to @._1.0' //opt/ros/melodic/lib/libresource_retriever.so: undefined reference to @._OPENSSL_4' collect2: error: ld returned 1 exit status deform_control/deform_simulator/nodes/CMakeFiles/custom_scene_node.dir/build.make:407: recipe for target '/home/vyas/new_ws/devel/lib/deform_simulator/custom_scene_node' failed make[2]: [/home/vyas/new_ws/devel/lib/deform_simulator/custom_scene_node] Error 1 CMakeFiles/Makefile2:14611: recipe for target 'deform_control/deform_simulator/nodes/CMakeFiles/custom_scene_node.dir/all' failed make[1]: [deform_control/deform_simulator/nodes/CMakeFiles/custom_scene_node.dir/all] Error 2 Makefile:140: recipe for target 'all' failed make: [all] Error 2 Invoking "make -j1" failed

Also, here is my report from wstool, there was some version issue which I have resolved now.

workspace: /home/vyas/new_ws

Localname S SCM Version (Spec) UID (Spec) URI (Spec) [http(s)://...]

src/smmap_utilities git master (-) e894fd47fda9 github.com/UM-ARM-Lab/smmap_utilities.git src/smmap git build_1804 (-) eabe2b8500ed github.com/UM-ARM-Lab/smmap.git src/sdf_tools git master (-) b6e8d7c3f8a8 github.com/UM-ARM-Lab/sdf_tools.git src/kinematics_toolbox git master (-) b5eb6b17a814 github.com/UM-ARM-Lab/kinematics_toolbox.git src/deformable_manipulation_interface git build_1804 (-) bb7ca3ac2ab1 github.com/UM-ARM-Lab/deformable_manipulation_interface.git src/deform_control git build_1804 (-) 1be7ce50332d github.com/UM-ARM-Lab/deform_control.git src/arc_utilities git master (-) 0186ca81d47a github.com/UM-ARM-Lab/arc_utilities.git

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dmcconachie commented 1 year ago

Follow up to the edit (I think): I doubt that this is due to having multiple curl's at various places on your system. Anaconda generally doesn't interfere with anything so long as you don't have one of the workspaces activated (which you don't appear to have). The snap system is designed for each "snap" to have it's own set of dependency files and not interact with outside files (a "sandbox" of sorts). And then there is the "normal system curl" in /usr/lib.

One oddity in your error message is the extra leading / on the file paths: //usr/lib/x86_64-linux-gnu/libapr-1.so.0: undefined reference to `uuid_generate@UUID_1.0'. I don't remember seeing anything quite like that before, but I may just not have noticed it previously.

Have you done anything with LD_PRELOAD or other "stuff" to your environment variables in your ~/.bashrc file?

One other "well, let's just try it all again" approach is to entirely delete your build and devel folders. Make sure that the only ros files you have set to be sourced in your bashrc is /opt/ros/melodic/... (I.e.; no workspace setup.bash), start a new terminal, and then build everything from scratch. Occasionally a ros workspace build and devel can get corrupted by accident and it can be easy to not notice. This is the "let's make absolutely sure my workspace is not corrupted/polluted" step.

deepak8084 commented 1 year ago

Earlier, I've sourced /home/vyas/new_ws/devel/setup.bash to my .bashrc file but I've commented that line, since I'm rebuilding multiple times.

deepak8084 commented 1 year ago

I've rebuilt it after deleting build and devel folder and it worked, but I'm getting in roslaunch.

Details

``` vyas@vyas-OptiPlex-5090:~/new_ws$ roslaunch deformable_manipulation_experiment_params generic_experiment.launch task_type:=rope_cylinder WARNING: Package name "OpenSceneGraph" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes. ... logging to /home/vyas/.ros/log/3e9f3f50-1c95-11ee-9dbb-30de4b374cf6/roslaunch-vyas-OptiPlex-5090-18336.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. WARNING: Package name "OpenSceneGraph" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes. started roslaunch server http://vyas-OptiPlex-5090:34191/ SUMMARY ======== PARAMETERS * /cylinder_com_x: 0.0 * /cylinder_com_y: 0.25 * /cylinder_com_z: 0.85 * /cylinder_height: 0.3 * /cylinder_radius: 0.15 * /data_folder: /mnt/big_narstie_... * /deform_simulator_node/display_grippers_axes: False * /deform_simulator_node/num_simsteps_per_gripper_command: 4 * /deform_simulator_node/screenshots_enabled: False * /deform_simulator_node/settle_time: 4.0 * /deform_simulator_node/start_bullet_viewer: True * /deformable_type: rope * /log_folder: /home/vyas/new_ws... * /rope_com_x: 0.3 * /rope_com_y: 0.0 * /rope_com_z: 0.75 * /rope_extension_x: 1.0 * /rope_extension_y: 0.0 * /rope_extension_z: 0.0 * /rope_num_links: 49 * /rope_radius: 0.01 * /rope_segment_length: 0.02 * /rosdistro: melodic * /rosversion: 1.14.13 * /sdf_resolution_scale: 2 * /smmap_planner_node/adaptive_model/adaptive_model_learning_rate: 1e-06 * /smmap_planner_node/band/file_name_prefix: band * /smmap_planner_node/band/file_name_suffix_to_load: stuck_on_edge_of_... * /smmap_planner_node/band/use_stored_band: False * /smmap_planner_node/bandits_logging_enabled: False * /smmap_planner_node/classifier/accept_scale_factor: 1.0 * /smmap_planner_node/classifier/dim: 13 * /smmap_planner_node/classifier/normalize_connected_components: False * /smmap_planner_node/classifier/normalize_lengths: True * /smmap_planner_node/classifier/slice_type: basic * /smmap_planner_node/classifier/transformer/offset: [-1.0, -1.0, -1.0... * /smmap_planner_node/classifier/transformer/scale: [1.0, 1.0, 1.0, 1... * /smmap_planner_node/classifier/type: none * /smmap_planner_node/constraint_model/rotational_dis_deformability: 20.0 * /smmap_planner_node/constraint_model/translational_dir_deformability: 4.0 * /smmap_planner_node/constraint_model/translational_dis_deformability: 10.0 * /smmap_planner_node/controller_logging_enabled: False * /smmap_planner_node/controller_min_distance_to_obstacles: 0.07 * /smmap_planner_node/diminishing_rigidity/default_deformability: 10.0 * /smmap_planner_node/disable_smmap_visualizations: False * /smmap_planner_node/enable_stuck_detection: False * /smmap_planner_node/jacobian_controller/collision_scaling_factor: 200.0 * /smmap_planner_node/jacobian_controller/optimization_enabled: True * /smmap_planner_node/multi_model/adaptive_learning_rate_max: 1.1 * /smmap_planner_node/multi_model/adaptive_learning_rate_min: 1e-10 * /smmap_planner_node/multi_model/adaptive_learning_rate_step: 10.0 * /smmap_planner_node/multi_model/bandit_algorithm: UCB * /smmap_planner_node/multi_model/collect_results_for_all_models: False * /smmap_planner_node/multi_model/correlation_strength_factor: 0.9 * /smmap_planner_node/multi_model/deformability_range_max: 25.0 * /smmap_planner_node/multi_model/deformability_range_min: 0.0 * /smmap_planner_node/multi_model/deformability_range_step: 4.0 * /smmap_planner_node/multi_model/observation_noise_factor: 0.01 * /smmap_planner_node/multi_model/process_noise_factor: 0.1 * /smmap_planner_node/multi_model/reward_scale_annealing_factor: 0.9 * /smmap_planner_node/multi_model/reward_std_dev_factor_start: 1.0 * /smmap_planner_node/none/accuracy: 1.0 * /smmap_planner_node/rerun_forever: False * /smmap_planner_node/rrt/backward_tree_extend_iterations: 10 * /smmap_planner_node/rrt/band_dist2_scaling_factor: 1e-06 * /smmap_planner_node/rrt/band_max_points: 500.0 * /smmap_planner_node/rrt/best_near_radius: 0.001 * /smmap_planner_node/rrt/feasibility_distance_scale_factor: 0.0 * /smmap_planner_node/rrt/forward_tree_extend_iterations: 10 * /smmap_planner_node/rrt/goal_bias: 0.1 * /smmap_planner_node/rrt/kd_tree_grow_threshold: 500 * /smmap_planner_node/rrt/num_trials: 0 * /smmap_planner_node/rrt/path_file_name_prefix: rrt_path * /smmap_planner_node/rrt/path_file_name_suffix_to_load: placeholder * /smmap_planner_node/rrt/reuse_old_results: False * /smmap_planner_node/rrt/store_new_results: False * /smmap_planner_node/rrt/test_paths_in_bullet: False * /smmap_planner_node/rrt/timeout: 600.0 * /smmap_planner_node/rrt/use_brute_force_nn: False * /smmap_planner_node/rrt/use_cbirrt_style_projection: False * /smmap_planner_node/rrt/use_stored_path: False * /smmap_planner_node/static_seed: a8710913d2b5df6c * /smmap_planner_node/stretching_avoidance_controller/max_sampling_counts: 5000 * /smmap_planner_node/stretching_avoidance_controller/solver_type: gradient_descent * /smmap_planner_node/stretching_constraint_controller/fix_step_size: True * /smmap_planner_node/stretching_constraint_controller/stretching_cosine_threshold: 0.55 * /smmap_planner_node/stuck_detection/band_overstretch_prediction_annealing_factor: 0.7 * /smmap_planner_node/stuck_detection/error_delta_threshold_for_progress: 1.0 * /smmap_planner_node/stuck_detection/grippers_distance_delta_threshold_for_progress: 0.03 * /smmap_planner_node/stuck_detection/max_pose_history_steps: 100 * /smmap_planner_node/stuck_detection/num_lookahead_steps: 10 * /smmap_planner_node/task/desired_motion_scale_factor: 1.0 * /smmap_planner_node/task/error_threshold_along_normal: 0.01 * /smmap_planner_node/task/error_threshold_distance_to_normal: 0.01 * /smmap_planner_node/task/error_threshold_task_done: 0.4 * /smmap_planner_node/task/first_control_loop_triggers_plan: False * /smmap_planner_node/task/max_band_length: 0.874 * /smmap_planner_node/task/max_stretch_factor: 1.2 * /smmap_planner_node/task/max_time: 15.0 * /smmap_planner_node/transition_estimation/confidence_threshold: 0.2 * /smmap_planner_node/transition_estimation/default_band_dist_threshold: 1.0 * /smmap_planner_node/transition_estimation/default_propagation_confidence: 1.0 * /smmap_planner_node/transition_estimation/file_name_prefix: ../learned_transi... * /smmap_planner_node/transition_estimation/file_name_suffixes_to_load: [''] * /smmap_planner_node/transition_estimation/homotopy_changes_scale_factor: 1.0 * /smmap_planner_node/transition_estimation/mistake_distance_threshold: 0.5 * /smmap_planner_node/transition_estimation/template_misalignment_scale_factor: 1.0 * /smmap_planner_node/transition_estimation/tighten_delta_scale_factor: 1.0 * /smmap_planner_node/transition_estimation/use_stored_transitions: False * /smmap_planner_node/trial_type: diminishing_rigid... * /smmap_planner_node/use_random_seed: False * /smmap_planner_node/visualize_correspondences: False * /smmap_planner_node/visualize_free_space_graph: False * /smmap_planner_node/visualize_gripper_motion: False * /smmap_planner_node/visualize_object_desired_motion: False * /smmap_planner_node/visualize_object_predicted_motion: False * /smmap_planner_node/visualize_rrt: True * /smmap_planner_node/world_state/file_name_prefix: world_state * /smmap_planner_node/world_state/file_name_suffix_to_load: band_weirdness_co... * /smmap_planner_node/world_state/use_stored_world_state: False * /table_height: 0.7 * /table_surface_x: 0.0 * /table_surface_y: 0.0 * /table_surface_z: 0.7 * /table_thickness: 0.05 * /table_x_half_extents: 1.5 * /table_y_half_extents: 1.5 * /task_type: rope_cylinder_cov... * /test_id: default * /world_x_max: 1.5 * /world_x_min: -1.5 * /world_x_step: 0.05 * /world_y_max: 1.5 * /world_y_min: -1.5 * /world_y_step: 0.05 * /world_z_max: 1.05 * /world_z_min: 0.7 * /world_z_step: 0.05 NODES / deform_simulator_node (deform_simulator/custom_scene_node) smmap_planner_node (smmap/planner_test_node) ROS_MASTER_URI=http://localhost:11311 WARNING: Package name "OpenSceneGraph" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes. process[deform_simulator_node-1]: started with pid [18355] process[smmap_planner_node-2]: started with pid [18356] [ WARN] [1688713788.963487380]: Defaulting camera_override to 0 [ WARN] [1688713788.992792469]: Defaulting tf_wait_time to 4 [ WARN] [1688713788.992808290]: Waiting for tf from world to bullet frame for at most 4 seconds [ WARN] [1688713793.007544268]: "world_origin" passed to lookupTransform argument target_frame does not exist. [ WARN] [1688713793.007632726]: Assuming this means that no transform has been broadcast from world to bullet, starting my own broadcaster with an identity transform Warning: Could not find plugin to read objects from file "/home/vyas/new_ws/src/deform_control/external_libs/OpenSceneGraph-2.8.5/data/fonts/arial.ttf". Warning: Could not find plugin to read objects from file "/home/vyas/new_ws/src/deform_control/external_libs/OpenSceneGraph-2.8.5/data/fonts/arial.ttf". Warning: Could not find plugin to read objects from file "/home/vyas/new_ws/src/deform_control/external_libs/OpenSceneGraph-2.8.5/data/fonts/arial.ttf". Warning: Could not find plugin to read objects from file "/home/vyas/new_ws/src/deform_control/external_libs/OpenSceneGraph-2.8.5/data/fonts/arial.ttf". Warning: Could not find plugin to read objects from file "/home/vyas/new_ws/src/deform_control/external_libs/OpenSceneGraph-2.8.5/data/fonts/arial.ttf". Warning: Could not find plugin to read objects from file "/home/vyas/new_ws/src/deform_control/external_libs/OpenSceneGraph-2.8.5/data/fonts/arial.ttf". Warning: Could not find plugin to read objects from file "/home/vyas/new_ws/src/deform_control/external_libs/OpenSceneGraph-2.8.5/data/fonts/arial.ttf". Warning: Could not find plugin to read objects from file "/home/vyas/new_ws/src/deform_control/external_libs/OpenSceneGraph-2.8.5/data/fonts/arial.ttf". Warning: Could not find plugin to read objects from file "/home/vyas/new_ws/src/deform_control/external_libs/OpenSceneGraph-2.8.5/data/fonts/arial.ttf". Warning: Could not find plugin to read objects from file "/home/vyas/new_ws/src/deform_control/external_libs/OpenSceneGraph-2.8.5/data/fonts/arial.ttf". Chart::createChart(): Cannot find hud.vs. Chart::createChart(): Cannot find hud.fs. md5sum: /home/vyas/new_ws/src/deformable_manipulation_interface/deformable_manipulation_experiment_params/launch/experiments/rope_cylinder_coverage_params.launch: No such file or directory [ WARN] [1688713793.532023455]: No valid collision map found: Stored md5sum either does not exist, or needs to be regenerated: /home/vyas/new_ws/src/deform_control/deform_simulator/src/custom_scene/custom_scene.cpp: 3393 [ WARN] [1688713799.892114814]: Defaulting max_dof_velocity to 1 [ WARN] [1688713800.324897453]: Defaulting async_publish_frequency to 5 [ WARN] [1688713800.398611544]: Future constraint violation detection disabled [ERROR] [1688713800.404452808]: Asked for robot jacobian, but function pointer is null [ERROR] [1688713800.404510979]: Asked for POI collision data, but function pointer is null planner_test_node: /usr/include/eigen3/Eigen/src/Core/Block.h:147: Eigen::Block::Block(XprType&, Eigen::Index, Eigen::Index, Eigen::Index, Eigen::Index) [with XprType = Eigen::Matrix; int BlockRows = 6; int BlockCols = 1; bool InnerPanel = false; Eigen::Index = long int]: Assertion `startRow >= 0 && blockRows >= 0 && startRow <= xpr.rows() - blockRows && startCol >= 0 && blockCols >= 0 && startCol <= xpr.cols() - blockCols' failed. ================================================================================REQUIRED process [smmap_planner_node-2] has died! process has died [pid 18356, exit code -6, cmd /home/vyas/new_ws/devel/lib/smmap/planner_test_node __name:=smmap_planner_node __log:=/home/vyas/.ros/log/3e9f3f50-1c95-11ee-9dbb-30de4b374cf6/smmap_planner_node-2.log]. log file: /home/vyas/.ros/log/3e9f3f50-1c95-11ee-9dbb-30de4b374cf6/smmap_planner_node-2*.log Initiating shutdown! ================================================================================ [smmap_planner_node-2] killing on exit [deform_simulator_node-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done ```

dmcconachie commented 1 year ago

Do you have a Gurobi license setup & activated on your computer? Let's try disabling Gurobi usage by setting optimization_enabled to false in rope_cylinder_params.launch. (I may have the names slightly wrong but I'm close.)

On Fri, Jul 7, 2023, 3:12 AM Deepak Kumar @.***> wrote:

I rebuild it after deleting build and devel folder and it worked, but I'm getting in roslaunch. Details

@.***:~/new_ws$ roslaunch deformable_manipulation_experiment_params generic_experiment.launch task_type:=rope_cylinder WARNING: Package name "OpenSceneGraph" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes. ... logging to /home/vyas/.ros/log/3e9f3f50-1c95-11ee-9dbb-30de4b374cf6/roslaunch-vyas-OptiPlex-5090-18336.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.

WARNING: Package name "OpenSceneGraph" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes. started roslaunch server http://vyas-OptiPlex-5090:34191/

SUMMARY

PARAMETERS

  • /cylinder_com_x: 0.0
  • /cylinder_com_y: 0.25
  • /cylinder_com_z: 0.85
  • /cylinder_height: 0.3
  • /cylinder_radius: 0.15
  • /data_folder: /mnt/bignarstie...
  • /deform_simulator_node/display_grippers_axes: False
  • /deform_simulator_node/num_simsteps_per_gripper_command: 4
  • /deform_simulator_node/screenshots_enabled: False
  • /deform_simulator_node/settle_time: 4.0
  • /deform_simulator_node/start_bullet_viewer: True
  • /deformable_type: rope
  • /log_folder: /home/vyas/new_ws...
  • /rope_com_x: 0.3
  • /rope_com_y: 0.0
  • /rope_com_z: 0.75
  • /rope_extension_x: 1.0
  • /rope_extension_y: 0.0
  • /rope_extension_z: 0.0
  • /rope_num_links: 49
  • /rope_radius: 0.01
  • /rope_segment_length: 0.02
  • /rosdistro: melodic
  • /rosversion: 1.14.13
  • /sdf_resolution_scale: 2
  • /smmap_planner_node/adaptive_model/adaptive_model_learning_rate: 1e-06
  • /smmap_planner_node/band/file_name_prefix: band
  • /smmap_planner_node/band/file_name_suffix_to_load: stuck_on_edgeof...
  • /smmap_planner_node/band/use_stored_band: False
  • /smmap_planner_node/bandits_logging_enabled: False
  • /smmap_planner_node/classifier/accept_scale_factor: 1.0
  • /smmap_planner_node/classifier/dim: 13
  • /smmap_planner_node/classifier/normalize_connected_components: False
  • /smmap_planner_node/classifier/normalize_lengths: True
  • /smmap_planner_node/classifier/slice_type: basic
  • /smmap_planner_node/classifier/transformer/offset: [-1.0, -1.0, -1.0...
  • /smmap_planner_node/classifier/transformer/scale: [1.0, 1.0, 1.0, 1...
  • /smmap_planner_node/classifier/type: none
  • /smmap_planner_node/constraint_model/rotational_dis_deformability: 20.0
  • /smmap_planner_node/constraint_model/translational_dir_deformability: 4.0
  • /smmap_planner_node/constraint_model/translational_dis_deformability: 10.0
  • /smmap_planner_node/controller_logging_enabled: False
  • /smmap_planner_node/controller_min_distance_to_obstacles: 0.07
  • /smmap_planner_node/diminishing_rigidity/default_deformability: 10.0
  • /smmap_planner_node/disable_smmap_visualizations: False
  • /smmap_planner_node/enable_stuck_detection: False
  • /smmap_planner_node/jacobian_controller/collision_scaling_factor: 200.0
  • /smmap_planner_node/jacobian_controller/optimization_enabled: True
  • /smmap_planner_node/multi_model/adaptive_learning_rate_max: 1.1
  • /smmap_planner_node/multi_model/adaptive_learning_rate_min: 1e-10
  • /smmap_planner_node/multi_model/adaptive_learning_rate_step: 10.0
  • /smmap_planner_node/multi_model/bandit_algorithm: UCB
  • /smmap_planner_node/multi_model/collect_results_for_all_models: False
  • /smmap_planner_node/multi_model/correlation_strength_factor: 0.9
  • /smmap_planner_node/multi_model/deformability_range_max: 25.0
  • /smmap_planner_node/multi_model/deformability_range_min: 0.0
  • /smmap_planner_node/multi_model/deformability_range_step: 4.0
  • /smmap_planner_node/multi_model/observation_noise_factor: 0.01
  • /smmap_planner_node/multi_model/process_noise_factor: 0.1
  • /smmap_planner_node/multi_model/reward_scale_annealing_factor: 0.9
  • /smmap_planner_node/multi_model/reward_std_dev_factor_start: 1.0
  • /smmap_planner_node/none/accuracy: 1.0
  • /smmap_planner_node/rerun_forever: False
  • /smmap_planner_node/rrt/backward_tree_extend_iterations: 10
  • /smmap_planner_node/rrt/band_dist2_scaling_factor: 1e-06
  • /smmap_planner_node/rrt/band_max_points: 500.0
  • /smmap_planner_node/rrt/best_near_radius: 0.001
  • /smmap_planner_node/rrt/feasibility_distance_scale_factor: 0.0
  • /smmap_planner_node/rrt/forward_tree_extend_iterations: 10
  • /smmap_planner_node/rrt/goal_bias: 0.1
  • /smmap_planner_node/rrt/kd_tree_grow_threshold: 500
  • /smmap_planner_node/rrt/num_trials: 0
  • /smmap_planner_node/rrt/path_file_name_prefix: rrt_path
  • /smmap_planner_node/rrt/path_file_name_suffix_to_load: placeholder
  • /smmap_planner_node/rrt/reuse_old_results: False
  • /smmap_planner_node/rrt/store_new_results: False
  • /smmap_planner_node/rrt/test_paths_in_bullet: False
  • /smmap_planner_node/rrt/timeout: 600.0
  • /smmap_planner_node/rrt/use_brute_force_nn: False
  • /smmap_planner_node/rrt/use_cbirrt_style_projection: False
  • /smmap_planner_node/rrt/use_stored_path: False
  • /smmap_planner_node/static_seed: a8710913d2b5df6c
  • /smmap_planner_node/stretching_avoidance_controller/max_sampling_counts: 5000
  • /smmap_planner_node/stretching_avoidance_controller/solver_type: gradient_descent
  • /smmap_planner_node/stretching_constraint_controller/fix_step_size: True
  • /smmap_planner_node/stretching_constraint_controller/stretching_cosine_threshold: 0.55
  • /smmap_planner_node/stuck_detection/band_overstretch_prediction_annealing_factor: 0.7
  • /smmap_planner_node/stuck_detection/error_delta_threshold_for_progress: 1.0
  • /smmap_planner_node/stuck_detection/grippers_distance_delta_threshold_for_progress: 0.03
  • /smmap_planner_node/stuck_detection/max_pose_history_steps: 100
  • /smmap_planner_node/stuck_detection/num_lookahead_steps: 10
  • /smmap_planner_node/task/desired_motion_scale_factor: 1.0
  • /smmap_planner_node/task/error_threshold_along_normal: 0.01
  • /smmap_planner_node/task/error_threshold_distance_to_normal: 0.01
  • /smmap_planner_node/task/error_threshold_task_done: 0.4
  • /smmap_planner_node/task/first_control_loop_triggers_plan: False
  • /smmap_planner_node/task/max_band_length: 0.874
  • /smmap_planner_node/task/max_stretch_factor: 1.2
  • /smmap_planner_node/task/max_time: 15.0
  • /smmap_planner_node/transition_estimation/confidence_threshold: 0.2
  • /smmap_planner_node/transition_estimation/default_band_dist_threshold: 1.0
  • /smmap_planner_node/transition_estimation/default_propagation_confidence: 1.0
  • /smmap_planner_node/transition_estimation/file_name_prefix: ../learned_transi...
  • /smmap_planner_node/transition_estimation/file_name_suffixes_to_load: ['']
  • /smmap_planner_node/transition_estimation/homotopy_changes_scale_factor: 1.0
  • /smmap_planner_node/transition_estimation/mistake_distance_threshold: 0.5
  • /smmap_planner_node/transition_estimation/template_misalignment_scale_factor: 1.0
  • /smmap_planner_node/transition_estimation/tighten_delta_scale_factor: 1.0
  • /smmap_planner_node/transition_estimation/use_stored_transitions: False
  • /smmap_planner_node/trial_type: diminishing_rigid...
  • /smmap_planner_node/use_random_seed: False
  • /smmap_planner_node/visualize_correspondences: False
  • /smmap_planner_node/visualize_free_space_graph: False
  • /smmap_planner_node/visualize_gripper_motion: False
  • /smmap_planner_node/visualize_object_desired_motion: False
  • /smmap_planner_node/visualize_object_predicted_motion: False
  • /smmap_planner_node/visualize_rrt: True
  • /smmap_planner_node/world_state/file_name_prefix: world_state
  • /smmap_planner_node/world_state/file_name_suffix_to_load: band_weirdness_co...
  • /smmap_planner_node/world_state/use_stored_world_state: False
  • /table_height: 0.7
  • /table_surface_x: 0.0
  • /table_surface_y: 0.0
  • /table_surface_z: 0.7
  • /table_thickness: 0.05
  • /table_x_half_extents: 1.5
  • /table_y_half_extents: 1.5
  • /task_type: rope_cylinder_cov...
  • /test_id: default
  • /world_x_max: 1.5
  • /world_x_min: -1.5
  • /world_x_step: 0.05
  • /world_y_max: 1.5
  • /world_y_min: -1.5
  • /world_y_step: 0.05
  • /world_z_max: 1.05
  • /world_z_min: 0.7
  • /world_z_step: 0.05

NODES / deform_simulator_node (deform_simulator/custom_scene_node) smmap_planner_node (smmap/planner_test_node)

ROS_MASTER_URI=http://localhost:11311

WARNING: Package name "OpenSceneGraph" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes. process[deform_simulator_node-1]: started with pid [18355] process[smmap_planner_node-2]: started with pid [18356] [ WARN] [1688713788.963487380]: Defaulting camera_override to 0 [ WARN] [1688713788.992792469]: Defaulting tf_wait_time to 4 [ WARN] [1688713788.992808290]: Waiting for tf from world to bullet frame for at most 4 seconds [ WARN] [1688713793.007544268]: "world_origin" passed to lookupTransform argument target_frame does not exist. [ WARN] [1688713793.007632726]: Assuming this means that no transform has been broadcast from world to bullet, starting my own broadcaster with an identity transform Warning: Could not find plugin to read objects from file "/home/vyas/new_ws/src/deform_control/external_libs/OpenSceneGraph-2.8.5/data/fonts/arial.ttf". Warning: Could not find plugin to read objects from file "/home/vyas/new_ws/src/deform_control/external_libs/OpenSceneGraph-2.8.5/data/fonts/arial.ttf". Warning: Could not find plugin to read objects from file "/home/vyas/new_ws/src/deform_control/external_libs/OpenSceneGraph-2.8.5/data/fonts/arial.ttf". Warning: Could not find plugin to read objects from file "/home/vyas/new_ws/src/deform_control/external_libs/OpenSceneGraph-2.8.5/data/fonts/arial.ttf". Warning: Could not find plugin to read objects from file "/home/vyas/new_ws/src/deform_control/external_libs/OpenSceneGraph-2.8.5/data/fonts/arial.ttf". Warning: Could not find plugin to read objects from file "/home/vyas/new_ws/src/deform_control/external_libs/OpenSceneGraph-2.8.5/data/fonts/arial.ttf". Warning: Could not find plugin to read objects from file "/home/vyas/new_ws/src/deform_control/external_libs/OpenSceneGraph-2.8.5/data/fonts/arial.ttf". Warning: Could not find plugin to read objects from file "/home/vyas/new_ws/src/deform_control/external_libs/OpenSceneGraph-2.8.5/data/fonts/arial.ttf". Warning: Could not find plugin to read objects from file "/home/vyas/new_ws/src/deform_control/external_libs/OpenSceneGraph-2.8.5/data/fonts/arial.ttf". Warning: Could not find plugin to read objects from file "/home/vyas/new_ws/src/deform_control/external_libs/OpenSceneGraph-2.8.5/data/fonts/arial.ttf". Chart::createChart(): Cannot find hud.vs. Chart::createChart(): Cannot find hud.fs. md5sum: /home/vyas/new_ws/src/deformable_manipulation_interface/deformable_manipulation_experiment_params/launch/experiments/rope_cylinder_coverage_params.launch: No such file or directory [ WARN] [1688713793.532023455]: No valid collision map found: Stored md5sum either does not exist, or needs to be regenerated: /home/vyas/new_ws/src/deform_control/deform_simulator/src/custom_scene/custom_scene.cpp: 3393 [ WARN] [1688713799.892114814]: Defaulting max_dof_velocity to 1 [ WARN] [1688713800.324897453]: Defaulting async_publish_frequency to 5 [ WARN] [1688713800.398611544]: Future constraint violation detection disabled [ERROR] [1688713800.404452808]: Asked for robot jacobian, but function pointer is null [ERROR] [1688713800.404510979]: Asked for POI collision data, but function pointer is null planner_test_node: /usr/include/eigen3/Eigen/src/Core/Block.h:147: Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::Block(XprType&, Eigen::Index, Eigen::Index, Eigen::Index, Eigen::Index) [with XprType = Eigen::Matrix<double, -1, 1>; int BlockRows = 6; int BlockCols = 1; bool InnerPanel = false; Eigen::Index = long int]: Assertion `startRow >= 0 && blockRows >= 0 && startRow <= xpr.rows() - blockRows && startCol >= 0 && blockCols >= 0 && startCol <= xpr.cols() - blockCols' failed. ================================================================================REQUIRED process [smmap_planner_node-2] has died! process has died [pid 18356, exit code -6, cmd /home/vyas/new_ws/devel/lib/smmap/planner_test_node name:=smmap_planner_node log:=/home/vyas/.ros/log/3e9f3f50-1c95-11ee-9dbb-30de4b374cf6/smmap_planner_node-2.log]. log file: /home/vyas/.ros/log/3e9f3f50-1c95-11ee-9dbb-30de4b374cf6/smmap_planner_node-2*.log Initiating shutdown!

[smmap_planner_node-2] killing on exit [deform_simulator_node-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

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deepak8084 commented 1 year ago

Sorry I can't find any optimization_enabled in rope_cylinder_params.launch.

dmcconachie commented 1 year ago

Then it is probably in generic_experiment.launch

On Fri, Jul 7, 2023, 7:11 AM Deepak Kumar @.***> wrote:

Sorry I can't find any optimization_enabled in rope_cylinder_params.launch .

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deepak8084 commented 1 year ago

It is working now, Thank you very much. I just have one more doubt, is it possible to generate alignment error vs no of iteration graph plot as given in Dr. Dmitry Berenson paper "Manipulation of Deformable Objects Without Modeling and Simulating Deformation"

dmcconachie commented 1 year ago

You should be able to get what you need by adding bandits_logging_enabled:=true to your roslaunch command. See the following for how it works: