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Unity-Technologies / Robotics-Object-Pose-Estimation

A complete end-to-end demonstration in which we collect training data in Unity and use that data to train a deep neural network to predict the pose of a cube. This model is then deployed in a simulated robotic pick-and-place task.
Apache License 2.0
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ROS_controller issue #27

Closed NathanielRose closed 3 years ago

NathanielRose commented 3 years ago

I am launching the pose_est.launch file in ROS and noticing that the project fails out of the box:

The spawner for controller_spawner fails with additional errors.

nrose@LAPTOP-1KFPQ7FH:/mnt/c/Users/rosen/retry/poseEstimation/Robotics-Object-Pose-Estimation$ docker run -it --rm -p 1000:1000 -p 5005:5005 poseestimation:ur3 /bin/bash
root@c9c0df698037:/catkin_ws# source devel/setup.bash 
root@c9c0df698037:/catkin_ws# roslaunch ur3_moveit pose_est.launch 
... logging to /root/.ros/log/d54e6e76-a375-11eb-9f9c-0242ac110002/roslaunch-c9c0df698037-81.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://c9c0df698037:43691/

SUMMARY
========

PARAMETERS
 * /ROS_IP: 172.17.0.2
 * /controller_list: [{'name': '', 'ac...
 * /joint_state_publisher/publish_frequency: 50.0
 * /move_group/allow_trajectory_execution: True
 * /move_group/arm/default_planner_config: None
 * /move_group/arm/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/capabilities: 
 * /move_group/controller_list: [{'name': '', 'ac...
 * /move_group/disable_capabilities: 
 * /move_group/hand/default_planner_config: 
 * /move_group/hand/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BFMT/balanced: 0
 * /move_group/planner_configs/BFMT/cache_cc: 1
 * /move_group/planner_configs/BFMT/extended_fmt: 1
 * /move_group/planner_configs/BFMT/heuristics: 1
 * /move_group/planner_configs/BFMT/nearest_k: 1
 * /move_group/planner_configs/BFMT/num_samples: 1000
 * /move_group/planner_configs/BFMT/optimality: 1
 * /move_group/planner_configs/BFMT/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMT/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECE/range: 0.0
 * /move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
 * /move_group/planner_configs/BiEST/range: 0.0
 * /move_group/planner_configs/BiEST/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRT/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRT/init_temperature: 100
 * /move_group/planner_configs/BiTRRT/range: 0.0
 * /move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
 * /move_group/planner_configs/EST/goal_bias: 0.05
 * /move_group/planner_configs/EST/range: 0.0
 * /move_group/planner_configs/EST/type: geometric::EST
 * /move_group/planner_configs/FMT/cache_cc: 1
 * /move_group/planner_configs/FMT/extended_fmt: 1
 * /move_group/planner_configs/FMT/heuristics: 0
 * /move_group/planner_configs/FMT/nearest_k: 1
 * /move_group/planner_configs/FMT/num_samples: 1000
 * /move_group/planner_configs/FMT/radius_multiplier: 1.1
 * /move_group/planner_configs/FMT/type: geometric::FMT
 * /move_group/planner_configs/KPIECE/border_fraction: 0.9
 * /move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECE/goal_bias: 0.05
 * /move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECE/range: 0.0
 * /move_group/planner_configs/KPIECE/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECE/range: 0.0
 * /move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRT/epsilon: 0.4
 * /move_group/planner_configs/LBTRRT/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRT/range: 0.0
 * /move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRM/range: 0.0
 * /move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
 * /move_group/planner_configs/PDST/type: geometric::PDST
 * /move_group/planner_configs/PRM/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRM/type: geometric::PRM
 * /move_group/planner_configs/PRMstar/type: geometric::PRMstar
 * /move_group/planner_configs/ProjEST/goal_bias: 0.05
 * /move_group/planner_configs/ProjEST/range: 0.0
 * /move_group/planner_configs/ProjEST/type: geometric::ProjEST
 * /move_group/planner_configs/RRT/goal_bias: 0.05
 * /move_group/planner_configs/RRT/range: 0.0
 * /move_group/planner_configs/RRT/type: geometric::RRT
 * /move_group/planner_configs/RRTConnect/range: 0.0
 * /move_group/planner_configs/RRTConnect/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTstar/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstar/goal_bias: 0.05
 * /move_group/planner_configs/RRTstar/range: 0.0
 * /move_group/planner_configs/RRTstar/type: geometric::RRTstar
 * /move_group/planner_configs/SBL/range: 0.0
 * /move_group/planner_configs/SBL/type: geometric::SBL
 * /move_group/planner_configs/SPARS/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARS/max_failures: 1000
 * /move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARS/stretch_factor: 3.0
 * /move_group/planner_configs/SPARS/type: geometric::SPARS
 * /move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARStwo/max_failures: 5000
 * /move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARStwo/stretch_factor: 3.0
 * /move_group/planner_configs/SPARStwo/type: geometric::SPARStwo
 * /move_group/planner_configs/STRIDE/degree: 16
 * /move_group/planner_configs/STRIDE/estimated_dimension: 0.0
 * /move_group/planner_configs/STRIDE/goal_bias: 0.05
 * /move_group/planner_configs/STRIDE/max_degree: 18
 * /move_group/planner_configs/STRIDE/max_pts_per_leaf: 6
 * /move_group/planner_configs/STRIDE/min_degree: 12
 * /move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2
 * /move_group/planner_configs/STRIDE/range: 0.0
 * /move_group/planner_configs/STRIDE/type: geometric::STRIDE
 * /move_group/planner_configs/STRIDE/use_projected_distance: 0
 * /move_group/planner_configs/TRRT/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRT/goal_bias: 0.05
 * /move_group/planner_configs/TRRT/init_temperature: 10e-6
 * /move_group/planner_configs/TRRT/k_constant: 0.0
 * /move_group/planner_configs/TRRT/max_states_failed: 10
 * /move_group/planner_configs/TRRT/min_temperature: 10e-10
 * /move_group/planner_configs/TRRT/range: 0.0
 * /move_group/planner_configs/TRRT/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRT/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/sensors: [{'filtered_cloud...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/allowed_start_tolerance: 0.01
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/arm/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/elbow_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/elbow_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/elbow_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/elbow_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/finger_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/finger_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/finger_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/finger_joint/max_velocity: 2
 * /robot_description_planning/joint_limits/left_inner_finger_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/left_inner_finger_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/left_inner_finger_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/left_inner_finger_joint/max_velocity: 2
 * /robot_description_planning/joint_limits/left_inner_knuckle_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/left_inner_knuckle_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/left_inner_knuckle_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/left_inner_knuckle_joint/max_velocity: 2
 * /robot_description_planning/joint_limits/right_inner_finger_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/right_inner_finger_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/right_inner_finger_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/right_inner_finger_joint/max_velocity: 2
 * /robot_description_planning/joint_limits/right_inner_knuckle_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/right_inner_knuckle_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/right_inner_knuckle_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/right_inner_knuckle_joint/max_velocity: 2
 * /robot_description_planning/joint_limits/right_outer_knuckle_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/right_outer_knuckle_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/right_outer_knuckle_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/right_outer_knuckle_joint/max_velocity: 2
 * /robot_description_planning/joint_limits/shoulder_lift_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/shoulder_lift_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/shoulder_lift_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 2.16
 * /robot_description_planning/joint_limits/shoulder_pan_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/shoulder_pan_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/shoulder_pan_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/shoulder_pan_joint/max_velocity: 2.16
 * /robot_description_planning/joint_limits/wrist_1_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/wrist_1_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_1_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/wrist_1_joint/max_velocity: 3.2
 * /robot_description_planning/joint_limits/wrist_2_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/wrist_2_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_2_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/wrist_2_joint/max_velocity: 3.2
 * /robot_description_planning/joint_limits/wrist_3_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/wrist_3_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_3_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/wrist_3_joint/max_velocity: 3.2
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.15.9
 * /source_list: ['/arm_controller...

NODES
  /
    arm_controller_spawner (controller_manager/controller_manager)
    controller_spawner (controller_manager/spawner)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    move_group (moveit_ros_move_group/move_group)
    mover (ur3_moveit/mover.py)
    pose_estimation (ur3_moveit/pose_estimation_script.py)
    ros_control_controller_manager (controller_manager/controller_manager)
    server_endpoint (ur3_moveit/server_endpoint.py)

auto-starting new master
process[master]: started with pid [89]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to d54e6e76-a375-11eb-9f9c-0242ac110002
process[rosout-1]: started with pid [99]
started core service [/rosout]
process[joint_state_publisher-2]: started with pid [102]
process[controller_spawner-3]: started with pid [107]
process[arm_controller_spawner-4]: started with pid [108]
process[ros_control_controller_manager-5]: started with pid [109]
process[move_group-6]: started with pid [110]
process[server_endpoint-7]: started with pid [111]
process[pose_estimation-8]: started with pid [112]
process[mover-9]: started with pid [113]
[ INFO] [1619101206.606254500]: Loading robot model 'ur3_with_gripper'...
INFO: cannot create a symlink to latest log directory: [Errno 2] No such file or directory: '/root/.ros/log/latest'
usage: spawner [-h] [--stopped] [--wait-for topic] [--namespace ns] [--timeout T] [--no-timeout] [--shutdown-timeout SHUTDOWN_TIMEOUT]
               controller [controller ...]
spawner: error: the following arguments are required: controller
[controller_spawner-3] process has died [pid 107, exit code 2, cmd /opt/ros/noetic/lib/controller_manager/spawner __name:=controller_spawner __log:=/root/.ros/log/d54e6e76-a375-11eb-9f9c-0242ac110002/controller_spawner-3.log].
log file: /root/.ros/log/d54e6e76-a375-11eb-9f9c-0242ac110002/controller_spawner-3*.log
[ INFO] [1619101207.100121900]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1619101207.106714800]: MoveGroup debug mode is OFF
Starting planning scene monitors...
[ INFO] [1619101207.106886400]: Starting planning scene monitor
[ INFO] [1619101207.112188000]: Listening to '/planning_scene'
[ INFO] [1619101207.112463500]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1619101207.117832500]: Listening to '/collision_object'
[ INFO] [1619101207.123391500]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1619101207.582600100]: Listening to '/head_mount_kinect/depth_registered/points' using message filter with target frame 'world '
[ INFO] [1619101207.593604900]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ERROR] [1619101207.674301200]: Could not find the planner configuration 'None' on the param server
[ INFO] [1619101207.743439700]: Using planning interface 'OMPL'
[ INFO] [1619101207.750457200]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1619101207.751574400]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1619101207.752753000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1619101207.754203400]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1619101207.755600200]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1619101207.757050500]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1619101207.757251700]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1619101207.757371200]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1619101207.757478800]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1619101207.757579900]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1619101207.757646300]: Using planning request adapter 'Fix Start State Path Constraints'
[INFO] [1619101208.740942]: Starting server on 172.17.0.2:10000
Ready to estimate pose!
Ready to plan
[ WARN] [1619101212.798241100]: Waiting for /follow_joint_trajectory to come up
[ WARN] [1619101218.799140500]: Waiting for /follow_joint_trajectory to come up
[ERROR] [1619101224.799778900]: Action client not connected: /follow_joint_trajectory
[ INFO] [1619101224.835921200]: Returned 0 controllers in list
[ INFO] [1619101224.861825400]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1619101224.996874800]: 

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1619101224.997049900]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1619101224.997128700]: MoveGroup context initialization complete

You can start planning now!
mrpropellers commented 3 years ago

Hey @NathanielRose, just to confirm when this is happening: are you trying to go through the Quick Demo, or are you on Part 4? Were there additional failures on the Unity side once you get to "You can start planning now" My understanding is that there are some amount of red herring errors that get thrown out by some of the moveit roslaunch files, but you may still be fine to run the experiment. Does the Unity console produce any additional errors when you enter play mode and press Pose Estimation?

mrpropellers commented 3 years ago

Closing due to lack of activity. @NathanielRose feel free to open again if you need more support on this issue.