Closed lyndonchan closed 9 months ago
Hi there,
the method use the environment limits, which are loaded here to define the maximum side of a square which is then used to create a box based on zlim you provide. If you can please check those bounds.
update_location
is needed to tell _om
the center of the cube used to generate the occupancy map and its size.
The way it works is that it does a `raycasting' given the central location and flatten the obstacles on the image plane. Then
My guess rn is that you are not loading an environment/the bounds are empty. IDK what would happen if the zlim are both the same value.
The _om
, as long as the dimensions are greater than 0, will return you something from my experience.
Last note. Here the generate_image
method takes in input 3 colors for free, occupied and unknown space. As you can see, we set the unknown as white color for convienency.
@eliabntt I was loading the Warehouse_sketchfab.npy and the bounds seemed correct:
array([-14.248865127563477, -0.5738292336463928, -2.973909854888916,
19.493680953979492, 12.91028118133545, 3.7584939002990723,
array([[-14.24886513, 12.91028118],
[-14.24886513, -0.57382923],
[ 18.93496323, -0.57382923],
[ 18.93496323, 0.26696423],
[ 19.49368095, 0.26696423],
[ 18.93496323, 12.91028118]])], dtype=object)
Likewise, center
([-1611.16, 114.68, 10]), lower_bound
([-3449.84, -5175.68, 0]), upper_bound
([6672.16, 4946.32, 80]), and zlim
([0, 1]) all seem reasonable.
In fact, it seems like the error is occurring at the line:
om.set_transform(
(start_location[0], start_location[1], start_location[2]),
(lower_bound[0], lower_bound[1], lower_bound[2]),
(upper_bound[0], upper_bound[1], upper_bound[2]),
)
because the _om
return variable is of type <class 'omni.isaac.occupancy_map._occupancy_map.OccupancyMap'>
and even after running this function, its dimensions are still (0, 0, 0) and image_buffer
is therefore also of length 0.
Do you have any idea what might be going wrong?
Thanks, Lyndon
Hi there, I'll check this asap. In the meantime, may I ask you more details?
set_location
come from? Bc it doesn't seem to come from my
code.for _ in range(1000): simulation_context.render()
. This will refresh the GUI and you can see if
you've the environment and everything loaded.In that way I can try to replicate this. I used the warehouse several time and I don't recall anything like this occur.
On Fri, 7 Jul 2023, 19:59 Lyndon Chan, @.***> wrote:
@eliabntt https://github.com/eliabntt I was loading the Warehouse_sketchfab.npy and the bounds seemed correct:
array([-14.248865127563477, -0.5738292336463928, -2.973909854888916, 19.493680953979492, 12.91028118133545, 3.7584939002990723, array([[-14.24886513, 12.91028118], [-14.24886513, -0.57382923], [ 18.93496323, -0.57382923], [ 18.93496323, 0.26696423], [ 19.49368095, 0.26696423], [ 18.93496323, 12.91028118]])], dtype=object)
Likewise, center ([.99, -39.14, 10]), lower_bound ([-7.99, 39.14, 0]), upper_bound ([-7.99, 39.14, 80]), and zlim ([0, 1]) all seem reasonable.
In fact, it seems like the error is occurring at the line:
_om = _occupancy_map.acquire_occupancy_map_interface()
because the _om return variable is of type <class 'omni.isaac.occupancy_map._occupancy_map.OccupancyMap'> but its dimensions are (0, 0, 0) and image_buffer is therefore also of length 0.
Do you have any idea what data the acquire_occupancy_map_interface() function depends on to measure the occupancy map dimensions? I have a feeling the problem is with that data dependency but the source code doesn't show what it's doing under the hood.
Thanks, Lyndon
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@eliabntt thanks for offering to check. Sure, here are my responses:
set_location
is wrapped up inside update_location
in environment_utils.py
paper_simulation.py
script now, because the setup_imu_sensor()
function definition was changed into something incompatible for that script in the v2022 branch that I'm using_im = Image.frombytes("RGBA", (dims.x, dims.y), bytes(image_buffer))
in environment_utils.py
(you can see the trace in my first message). And that's failing because both dims.x
and dims.y
are 0.Here are the messages being displayed to my console, by the way (I also added some debug messages) of my own:
SUMMARY
========
CLEAR PARAMETERS
* /my_robot_0/custom_joint_controller_ros/
* /my_robot_0/mav_nonlinear_mpc/
PARAMETERS
* /fake/joint_state_publisher/source_list: ['move_group/fake...
* /fake/move_group/allow_trajectory_execution: True
* /fake/move_group/capabilities:
* /fake/move_group/controller_list: [{'name': 'fake_m...
* /fake/move_group/default_planning_pipeline: ompl
* /fake/move_group/disable_capabilities:
* /fake/move_group/initial: [{'group': 'my_fa...
* /fake/move_group/max_range: 5.0
* /fake/move_group/moveit_controller_manager: moveit_fake_contr...
* /fake/move_group/moveit_manage_controllers: True
* /fake/move_group/octomap_resolution: 0.025
* /fake/move_group/planning_pipelines/chomp/collision_clearance: 0.2
* /fake/move_group/planning_pipelines/chomp/collision_threshold: 0.07
* /fake/move_group/planning_pipelines/chomp/enable_failure_recovery: False
* /fake/move_group/planning_pipelines/chomp/jiggle_fraction: 0.05
* /fake/move_group/planning_pipelines/chomp/joint_update_limit: 0.1
* /fake/move_group/planning_pipelines/chomp/learning_rate: 0.01
* /fake/move_group/planning_pipelines/chomp/max_iterations: 200
* /fake/move_group/planning_pipelines/chomp/max_iterations_after_collision_free: 5
* /fake/move_group/planning_pipelines/chomp/max_recovery_attempts: 5
* /fake/move_group/planning_pipelines/chomp/obstacle_cost_weight: 1.0
* /fake/move_group/planning_pipelines/chomp/planning_plugin: chomp_interface/C...
* /fake/move_group/planning_pipelines/chomp/planning_time_limit: 10.0
* /fake/move_group/planning_pipelines/chomp/pseudo_inverse_ridge_factor: 1e-4
* /fake/move_group/planning_pipelines/chomp/request_adapters: default_planner_r...
* /fake/move_group/planning_pipelines/chomp/ridge_factor: 0.0
* /fake/move_group/planning_pipelines/chomp/smoothness_cost_acceleration: 1.0
* /fake/move_group/planning_pipelines/chomp/smoothness_cost_jerk: 0.0
* /fake/move_group/planning_pipelines/chomp/smoothness_cost_velocity: 0.0
* /fake/move_group/planning_pipelines/chomp/smoothness_cost_weight: 0.1
* /fake/move_group/planning_pipelines/chomp/start_state_max_bounds_error: 0.1
* /fake/move_group/planning_pipelines/chomp/use_pseudo_inverse: False
* /fake/move_group/planning_pipelines/chomp/use_stochastic_descent: True
* /fake/move_group/planning_pipelines/ompl/jiggle_fraction: 0.05
* /fake/move_group/planning_pipelines/ompl/my_fake_group/default_planner_config: RRTstar
* /fake/move_group/planning_pipelines/ompl/my_fake_group/longest_valid_segment_fraction: 0.005
* /fake/move_group/planning_pipelines/ompl/my_fake_group/planner_configs: ['AnytimePathShor...
* /fake/move_group/planning_pipelines/ompl/my_fake_group/projection_evaluator: joints(fake/x_joi...
* /fake/move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/hybridize: True
* /fake/move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/max_hybrid_paths: 24
* /fake/move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/num_planners: 4
* /fake/move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/planners:
* /fake/move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/shortcut: True
* /fake/move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/type: geometric::Anytim...
* /fake/move_group/planning_pipelines/ompl/planner_configs/BFMT/balanced: 0
* /fake/move_group/planning_pipelines/ompl/planner_configs/BFMT/cache_cc: 1
* /fake/move_group/planning_pipelines/ompl/planner_configs/BFMT/extended_fmt: 1
* /fake/move_group/planning_pipelines/ompl/planner_configs/BFMT/heuristics: 1
* /fake/move_group/planning_pipelines/ompl/planner_configs/BFMT/nearest_k: 1
* /fake/move_group/planning_pipelines/ompl/planner_configs/BFMT/num_samples: 1000
* /fake/move_group/planning_pipelines/ompl/planner_configs/BFMT/optimality: 1
* /fake/move_group/planning_pipelines/ompl/planner_configs/BFMT/radius_multiplier: 1.0
* /fake/move_group/planning_pipelines/ompl/planner_configs/BFMT/type: geometric::BFMT
* /fake/move_group/planning_pipelines/ompl/planner_configs/BKPIECE/border_fraction: 0.9
* /fake/move_group/planning_pipelines/ompl/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
* /fake/move_group/planning_pipelines/ompl/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
* /fake/move_group/planning_pipelines/ompl/planner_configs/BKPIECE/range: 0.0
* /fake/move_group/planning_pipelines/ompl/planner_configs/BKPIECE/type: geometric::BKPIECE
* /fake/move_group/planning_pipelines/ompl/planner_configs/BiEST/range: 0.0
* /fake/move_group/planning_pipelines/ompl/planner_configs/BiEST/type: geometric::BiEST
* /fake/move_group/planning_pipelines/ompl/planner_configs/BiTRRT/cost_threshold: 1e300
* /fake/move_group/planning_pipelines/ompl/planner_configs/BiTRRT/frountier_node_ratio: 0.1
* /fake/move_group/planning_pipelines/ompl/planner_configs/BiTRRT/frountier_threshold: 0.0
* /fake/move_group/planning_pipelines/ompl/planner_configs/BiTRRT/init_temperature: 100
* /fake/move_group/planning_pipelines/ompl/planner_configs/BiTRRT/range: 0.0
* /fake/move_group/planning_pipelines/ompl/planner_configs/BiTRRT/temp_change_factor: 0.1
* /fake/move_group/planning_pipelines/ompl/planner_configs/BiTRRT/type: geometric::BiTRRT
* /fake/move_group/planning_pipelines/ompl/planner_configs/EST/goal_bias: 0.05
* /fake/move_group/planning_pipelines/ompl/planner_configs/EST/range: 0.0
* /fake/move_group/planning_pipelines/ompl/planner_configs/EST/type: geometric::EST
* /fake/move_group/planning_pipelines/ompl/planner_configs/FMT/cache_cc: 1
* /fake/move_group/planning_pipelines/ompl/planner_configs/FMT/extended_fmt: 1
* /fake/move_group/planning_pipelines/ompl/planner_configs/FMT/heuristics: 0
* /fake/move_group/planning_pipelines/ompl/planner_configs/FMT/nearest_k: 1
* /fake/move_group/planning_pipelines/ompl/planner_configs/FMT/num_samples: 1000
* /fake/move_group/planning_pipelines/ompl/planner_configs/FMT/radius_multiplier: 1.1
* /fake/move_group/planning_pipelines/ompl/planner_configs/FMT/type: geometric::FMT
* /fake/move_group/planning_pipelines/ompl/planner_configs/KPIECE/border_fraction: 0.9
* /fake/move_group/planning_pipelines/ompl/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
* /fake/move_group/planning_pipelines/ompl/planner_configs/KPIECE/goal_bias: 0.05
* /fake/move_group/planning_pipelines/ompl/planner_configs/KPIECE/min_valid_path_fraction: 0.5
* /fake/move_group/planning_pipelines/ompl/planner_configs/KPIECE/range: 0.0
* /fake/move_group/planning_pipelines/ompl/planner_configs/KPIECE/type: geometric::KPIECE
* /fake/move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/border_fraction: 0.9
* /fake/move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
* /fake/move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/range: 0.0
* /fake/move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/type: geometric::LBKPIECE
* /fake/move_group/planning_pipelines/ompl/planner_configs/LBTRRT/epsilon: 0.4
* /fake/move_group/planning_pipelines/ompl/planner_configs/LBTRRT/goal_bias: 0.05
* /fake/move_group/planning_pipelines/ompl/planner_configs/LBTRRT/range: 0.0
* /fake/move_group/planning_pipelines/ompl/planner_configs/LBTRRT/type: geometric::LBTRRT
* /fake/move_group/planning_pipelines/ompl/planner_configs/LazyPRM/range: 0.0
* /fake/move_group/planning_pipelines/ompl/planner_configs/LazyPRM/type: geometric::LazyPRM
* /fake/move_group/planning_pipelines/ompl/planner_configs/LazyPRMstar/type: geometric::LazyPR...
* /fake/move_group/planning_pipelines/ompl/planner_configs/PDST/type: geometric::PDST
* /fake/move_group/planning_pipelines/ompl/planner_configs/PRM/max_nearest_neighbors: 10
* /fake/move_group/planning_pipelines/ompl/planner_configs/PRM/type: geometric::PRM
* /fake/move_group/planning_pipelines/ompl/planner_configs/PRMstar/type: geometric::PRMstar
* /fake/move_group/planning_pipelines/ompl/planner_configs/ProjEST/goal_bias: 0.05
* /fake/move_group/planning_pipelines/ompl/planner_configs/ProjEST/range: 0.0
* /fake/move_group/planning_pipelines/ompl/planner_configs/ProjEST/type: geometric::ProjEST
* /fake/move_group/planning_pipelines/ompl/planner_configs/RRT/goal_bias: 0.05
* /fake/move_group/planning_pipelines/ompl/planner_configs/RRT/range: 0.0
* /fake/move_group/planning_pipelines/ompl/planner_configs/RRT/type: geometric::RRT
* /fake/move_group/planning_pipelines/ompl/planner_configs/RRTConnect/range: 0.0
* /fake/move_group/planning_pipelines/ompl/planner_configs/RRTConnect/type: geometric::RRTCon...
* /fake/move_group/planning_pipelines/ompl/planner_configs/RRTstar/delay_collision_checking: 1
* /fake/move_group/planning_pipelines/ompl/planner_configs/RRTstar/goal_bias: 0.05
* /fake/move_group/planning_pipelines/ompl/planner_configs/RRTstar/range: 0.0
* /fake/move_group/planning_pipelines/ompl/planner_configs/RRTstar/type: geometric::RRTstar
* /fake/move_group/planning_pipelines/ompl/planner_configs/SBL/range: 0.0
* /fake/move_group/planning_pipelines/ompl/planner_configs/SBL/type: geometric::SBL
* /fake/move_group/planning_pipelines/ompl/planner_configs/SPARS/dense_delta_fraction: 0.001
* /fake/move_group/planning_pipelines/ompl/planner_configs/SPARS/max_failures: 1000
* /fake/move_group/planning_pipelines/ompl/planner_configs/SPARS/sparse_delta_fraction: 0.25
* /fake/move_group/planning_pipelines/ompl/planner_configs/SPARS/stretch_factor: 3.0
* /fake/move_group/planning_pipelines/ompl/planner_configs/SPARS/type: geometric::SPARS
* /fake/move_group/planning_pipelines/ompl/planner_configs/SPARStwo/dense_delta_fraction: 0.001
* /fake/move_group/planning_pipelines/ompl/planner_configs/SPARStwo/max_failures: 5000
* /fake/move_group/planning_pipelines/ompl/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
* /fake/move_group/planning_pipelines/ompl/planner_configs/SPARStwo/stretch_factor: 3.0
* /fake/move_group/planning_pipelines/ompl/planner_configs/SPARStwo/type: geometric::SPARStwo
* /fake/move_group/planning_pipelines/ompl/planner_configs/STRIDE/degree: 16
* /fake/move_group/planning_pipelines/ompl/planner_configs/STRIDE/estimated_dimension: 0.0
* /fake/move_group/planning_pipelines/ompl/planner_configs/STRIDE/goal_bias: 0.05
* /fake/move_group/planning_pipelines/ompl/planner_configs/STRIDE/max_degree: 18
* /fake/move_group/planning_pipelines/ompl/planner_configs/STRIDE/max_pts_per_leaf: 6
* /fake/move_group/planning_pipelines/ompl/planner_configs/STRIDE/min_degree: 12
* /fake/move_group/planning_pipelines/ompl/planner_configs/STRIDE/min_valid_path_fraction: 0.2
* /fake/move_group/planning_pipelines/ompl/planner_configs/STRIDE/range: 0.0
* /fake/move_group/planning_pipelines/ompl/planner_configs/STRIDE/type: geometric::STRIDE
* /fake/move_group/planning_pipelines/ompl/planner_configs/STRIDE/use_projected_distance: 0
* /fake/move_group/planning_pipelines/ompl/planner_configs/TRRT/frountierNodeRatio: 0.1
* /fake/move_group/planning_pipelines/ompl/planner_configs/TRRT/frountier_threshold: 0.0
* /fake/move_group/planning_pipelines/ompl/planner_configs/TRRT/goal_bias: 0.05
* /fake/move_group/planning_pipelines/ompl/planner_configs/TRRT/init_temperature: 10e-6
* /fake/move_group/planning_pipelines/ompl/planner_configs/TRRT/k_constant: 0.0
* /fake/move_group/planning_pipelines/ompl/planner_configs/TRRT/max_states_failed: 10
* /fake/move_group/planning_pipelines/ompl/planner_configs/TRRT/min_temperature: 10e-10
* /fake/move_group/planning_pipelines/ompl/planner_configs/TRRT/range: 0.0
* /fake/move_group/planning_pipelines/ompl/planner_configs/TRRT/temp_change_factor: 2.0
* /fake/move_group/planning_pipelines/ompl/planner_configs/TRRT/type: geometric::TRRT
* /fake/move_group/planning_pipelines/ompl/planning_plugin: ompl_interface/OM...
* /fake/move_group/planning_pipelines/ompl/request_adapters: default_planner_r...
* /fake/move_group/planning_pipelines/ompl/start_state_max_bounds_error: 0.1
* /fake/move_group/planning_pipelines/pilz_industrial_motion_planner/capabilities: pilz_industrial_m...
* /fake/move_group/planning_pipelines/pilz_industrial_motion_planner/default_planner_config: PTP
* /fake/move_group/planning_pipelines/pilz_industrial_motion_planner/planning_plugin: pilz_industrial_m...
* /fake/move_group/planning_pipelines/pilz_industrial_motion_planner/request_adapters:
* /fake/move_group/planning_scene_monitor/publish_geometry_updates: True
* /fake/move_group/planning_scene_monitor/publish_planning_scene: True
* /fake/move_group/planning_scene_monitor/publish_state_updates: True
* /fake/move_group/planning_scene_monitor/publish_transforms_updates: True
* /fake/move_group/sense_for_plan/max_safe_path_cost: 1
* /fake/move_group/sensors: []
* /fake/move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
* /fake/move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
* /fake/move_group/trajectory_execution/allowed_start_tolerance: 0.01
* /fake/robot_description: <?xml version="1....
* /fake/robot_description_planning/cartesian_limits/max_rot_vel: 1.57
* /fake/robot_description_planning/cartesian_limits/max_trans_acc: 2.25
* /fake/robot_description_planning/cartesian_limits/max_trans_dec: -5
* /fake/robot_description_planning/cartesian_limits/max_trans_vel: 1
* /fake/robot_description_planning/default_acceleration_scaling_factor: 0.1
* /fake/robot_description_planning/default_velocity_scaling_factor: 0.1
* /fake/robot_description_planning/joint_limits/fake/pitch_joint/has_acceleration_limits: False
* /fake/robot_description_planning/joint_limits/fake/pitch_joint/has_velocity_limits: True
* /fake/robot_description_planning/joint_limits/fake/pitch_joint/max_acceleration: 0
* /fake/robot_description_planning/joint_limits/fake/pitch_joint/max_velocity: 3.1415927
* /fake/robot_description_planning/joint_limits/fake/roll_joint/has_acceleration_limits: False
* /fake/robot_description_planning/joint_limits/fake/roll_joint/has_velocity_limits: True
* /fake/robot_description_planning/joint_limits/fake/roll_joint/max_acceleration: 0
* /fake/robot_description_planning/joint_limits/fake/roll_joint/max_velocity: 3.1415927
* /fake/robot_description_planning/joint_limits/fake/x_joint/has_acceleration_limits: False
* /fake/robot_description_planning/joint_limits/fake/x_joint/has_velocity_limits: True
* /fake/robot_description_planning/joint_limits/fake/x_joint/max_acceleration: 0
* /fake/robot_description_planning/joint_limits/fake/x_joint/max_velocity: 1000
* /fake/robot_description_planning/joint_limits/fake/y_joint/has_acceleration_limits: False
* /fake/robot_description_planning/joint_limits/fake/y_joint/has_velocity_limits: True
* /fake/robot_description_planning/joint_limits/fake/y_joint/max_acceleration: 0
* /fake/robot_description_planning/joint_limits/fake/y_joint/max_velocity: 1000
* /fake/robot_description_planning/joint_limits/fake/yaw_joint/has_acceleration_limits: False
* /fake/robot_description_planning/joint_limits/fake/yaw_joint/has_velocity_limits: True
* /fake/robot_description_planning/joint_limits/fake/yaw_joint/max_acceleration: 0
* /fake/robot_description_planning/joint_limits/fake/yaw_joint/max_velocity: 2
* /fake/robot_description_planning/joint_limits/fake/z_joint/has_acceleration_limits: False
* /fake/robot_description_planning/joint_limits/fake/z_joint/has_velocity_limits: True
* /fake/robot_description_planning/joint_limits/fake/z_joint/max_acceleration: 0
* /fake/robot_description_planning/joint_limits/fake/z_joint/max_velocity: 1000
* /fake/robot_description_semantic: <?xml version="1....
* /fake/robot_mesh_path: /home/lyndon.chan...
* /my_robot_0/custom_joint_controller_ros/anti_windup_pitch: True
* /my_robot_0/custom_joint_controller_ros/anti_windup_roll: True
* /my_robot_0/custom_joint_controller_ros/anti_windup_x: True
* /my_robot_0/custom_joint_controller_ros/anti_windup_y: True
* /my_robot_0/custom_joint_controller_ros/anti_windup_yaw: True
* /my_robot_0/custom_joint_controller_ros/anti_windup_z: True
* /my_robot_0/custom_joint_controller_ros/d_gain_pitch: 0.001
* /my_robot_0/custom_joint_controller_ros/d_gain_roll: 0.001
* /my_robot_0/custom_joint_controller_ros/d_gain_x: 0.001
* /my_robot_0/custom_joint_controller_ros/d_gain_y: 0.001
* /my_robot_0/custom_joint_controller_ros/d_gain_yaw: 0.001
* /my_robot_0/custom_joint_controller_ros/d_gain_z: 0.001
* /my_robot_0/custom_joint_controller_ros/i_gain_pitch: 4
* /my_robot_0/custom_joint_controller_ros/i_gain_roll: 4
* /my_robot_0/custom_joint_controller_ros/i_gain_x: 4
* /my_robot_0/custom_joint_controller_ros/i_gain_y: 4
* /my_robot_0/custom_joint_controller_ros/i_gain_yaw: 4
* /my_robot_0/custom_joint_controller_ros/i_gain_z: 4
* /my_robot_0/custom_joint_controller_ros/i_max_pitch: 1
* /my_robot_0/custom_joint_controller_ros/i_max_roll: 1
* /my_robot_0/custom_joint_controller_ros/i_max_x: 1
* /my_robot_0/custom_joint_controller_ros/i_max_y: 1
* /my_robot_0/custom_joint_controller_ros/i_max_yaw: 1
* /my_robot_0/custom_joint_controller_ros/i_max_z: 1
* /my_robot_0/custom_joint_controller_ros/i_min_pitch: -1
* /my_robot_0/custom_joint_controller_ros/i_min_roll: -1
* /my_robot_0/custom_joint_controller_ros/i_min_x: -1
* /my_robot_0/custom_joint_controller_ros/i_min_y: -1
* /my_robot_0/custom_joint_controller_ros/i_min_yaw: -1
* /my_robot_0/custom_joint_controller_ros/i_min_z: -1
* /my_robot_0/custom_joint_controller_ros/joint_command: //my_robot_0/join...
* /my_robot_0/custom_joint_controller_ros/joint_names: ['x_joint', 'y_jo...
* /my_robot_0/custom_joint_controller_ros/joint_states: /placeholder
* /my_robot_0/custom_joint_controller_ros/odom: //my_robot_0/odom
* /my_robot_0/custom_joint_controller_ros/p_gain_pitch: 1.2
* /my_robot_0/custom_joint_controller_ros/p_gain_roll: 1.2
* /my_robot_0/custom_joint_controller_ros/p_gain_x: 1.2
* /my_robot_0/custom_joint_controller_ros/p_gain_y: 1.2
* /my_robot_0/custom_joint_controller_ros/p_gain_yaw: 1.2
* /my_robot_0/custom_joint_controller_ros/p_gain_z: 1.2
* /my_robot_0/custom_joint_controller_ros/position_limit_pitch: 0.35
* /my_robot_0/custom_joint_controller_ros/position_limit_roll: 0.35
* /my_robot_0/custom_joint_controller_ros/position_limit_x: 17.0713
* /my_robot_0/custom_joint_controller_ros/position_limit_y: 6.9421
* /my_robot_0/custom_joint_controller_ros/position_limit_yaw: 6.3
* /my_robot_0/custom_joint_controller_ros/position_limit_z: 2.0
* /my_robot_0/custom_joint_controller_ros/publish_rate: 50.0
* /my_robot_0/custom_joint_controller_ros/setpoint: //my_robot_0/full...
* /my_robot_0/custom_joint_controller_ros/velocity_limit_pitch: 0.7
* /my_robot_0/custom_joint_controller_ros/velocity_limit_roll: 0.7
* /my_robot_0/custom_joint_controller_ros/velocity_limit_x: 0.5
* /my_robot_0/custom_joint_controller_ros/velocity_limit_y: 0.5
* /my_robot_0/custom_joint_controller_ros/velocity_limit_yaw: 0.5
* /my_robot_0/custom_joint_controller_ros/velocity_limit_z: 0.5
* /my_robot_0/exploration_node/astar/allocate_num: 1000000
* /my_robot_0/exploration_node/astar/lambda_heu: 10000.0
* /my_robot_0/exploration_node/astar/max_search_time: 0.001
* /my_robot_0/exploration_node/astar/resolution_astar: 0.1
* /my_robot_0/exploration_node/bspline/limit_acc: 1.0
* /my_robot_0/exploration_node/bspline/limit_ratio: 1.0
* /my_robot_0/exploration_node/bspline/limit_vel: 1.0
* /my_robot_0/exploration_node/exploration/am: 1.0
* /my_robot_0/exploration_node/exploration/max_decay: 0.8
* /my_robot_0/exploration_node/exploration/refine_local: True
* /my_robot_0/exploration_node/exploration/refined_num: 10
* /my_robot_0/exploration_node/exploration/refined_radius: 6.0
* /my_robot_0/exploration_node/exploration/relax_time: 1.0
* /my_robot_0/exploration_node/exploration/top_view_num: 20
* /my_robot_0/exploration_node/exploration/tsp_dir: /home/lyndon.chan...
* /my_robot_0/exploration_node/exploration/vm: 1.0
* /my_robot_0/exploration_node/exploration/w_dir: 1.5
* /my_robot_0/exploration_node/exploration/yd: 1.0471975333333332
* /my_robot_0/exploration_node/exploration/ydd: 1.5707963
* /my_robot_0/exploration_node/frontier/candidate_dphi: 0.2617993833333333
* /my_robot_0/exploration_node/frontier/candidate_rmax: 2.5
* /my_robot_0/exploration_node/frontier/candidate_rmin: 1.5
* /my_robot_0/exploration_node/frontier/candidate_rnum: 3
* /my_robot_0/exploration_node/frontier/cluster_min: 20
* /my_robot_0/exploration_node/frontier/cluster_size_xy: 0.5
* /my_robot_0/exploration_node/frontier/cluster_size_z: 10.0
* /my_robot_0/exploration_node/frontier/down_sample: 3
* /my_robot_0/exploration_node/frontier/min_candidate_clearance: 0.3
* /my_robot_0/exploration_node/frontier/min_candidate_dist: 0.75
* /my_robot_0/exploration_node/frontier/min_view_finish_fraction: 0.1
* /my_robot_0/exploration_node/frontier/min_visib_num: 10
* /my_robot_0/exploration_node/fsm/replan_time: 0.2
* /my_robot_0/exploration_node/fsm/thresh_replan1: 1.5
* /my_robot_0/exploration_node/fsm/thresh_replan2: 0.8
* /my_robot_0/exploration_node/fsm/thresh_replan3: 0.6
* /my_robot_0/exploration_node/heading_planner/half_vert_num: 5
* /my_robot_0/exploration_node/heading_planner/lambda1: 2.0
* /my_robot_0/exploration_node/heading_planner/lambda2: 1.0
* /my_robot_0/exploration_node/heading_planner/max_yaw_rate: 0.4363323055555556
* /my_robot_0/exploration_node/heading_planner/w: 20000.0
* /my_robot_0/exploration_node/heading_planner/weight_type: 1.0
* /my_robot_0/exploration_node/heading_planner/yaw_diff: 0.5235987666666666
* /my_robot_0/exploration_node/manager/clearance_threshold: 0.2
* /my_robot_0/exploration_node/manager/control_points_distance: 0.15
* /my_robot_0/exploration_node/manager/dynamic_environment: 0
* /my_robot_0/exploration_node/manager/local_segment_length: 6.0
* /my_robot_0/exploration_node/manager/max_acc: 1.0
* /my_robot_0/exploration_node/manager/max_jerk: 1.0
* /my_robot_0/exploration_node/manager/max_vel: 1.0
* /my_robot_0/exploration_node/manager/min_time: True
* /my_robot_0/exploration_node/manager/use_active_perception: True
* /my_robot_0/exploration_node/manager/use_geometric_path: True
* /my_robot_0/exploration_node/manager/use_kinodynamic_path: True
* /my_robot_0/exploration_node/manager/use_optimization: True
* /my_robot_0/exploration_node/manager/use_topo_path: True
* /my_robot_0/exploration_node/map_ros/cx: 320
* /my_robot_0/exploration_node/map_ros/cy: 240
* /my_robot_0/exploration_node/map_ros/depth_filter_margin: 2
* /my_robot_0/exploration_node/map_ros/depth_filter_maxdist: 5.5
* /my_robot_0/exploration_node/map_ros/depth_filter_mindist: 0
* /my_robot_0/exploration_node/map_ros/esdf_slice_height: 0.3
* /my_robot_0/exploration_node/map_ros/frame_id: world
* /my_robot_0/exploration_node/map_ros/fx: 387
* /my_robot_0/exploration_node/map_ros/fy: 387
* /my_robot_0/exploration_node/map_ros/k_depth_scaling_factor: 1000.0
* /my_robot_0/exploration_node/map_ros/show_all_map: True
* /my_robot_0/exploration_node/map_ros/show_esdf_time: False
* /my_robot_0/exploration_node/map_ros/show_occ_time: False
* /my_robot_0/exploration_node/map_ros/skip_pixel: 2
* /my_robot_0/exploration_node/map_ros/visualization_truncate_height: 5.09
* /my_robot_0/exploration_node/map_ros/visualization_truncate_low: -2.0
* /my_robot_0/exploration_node/optimization/algorithm1: 15
* /my_robot_0/exploration_node/optimization/algorithm2: 11
* /my_robot_0/exploration_node/optimization/dist0: 0.7
* /my_robot_0/exploration_node/optimization/ld_dist: 10.0
* /my_robot_0/exploration_node/optimization/ld_end: 0.5
* /my_robot_0/exploration_node/optimization/ld_feasi: 2.0
* /my_robot_0/exploration_node/optimization/ld_guide: 1.5
* /my_robot_0/exploration_node/optimization/ld_smooth: 20.0
* /my_robot_0/exploration_node/optimization/ld_start: 100.0
* /my_robot_0/exploration_node/optimization/ld_time: 1.0
* /my_robot_0/exploration_node/optimization/ld_view: 0.0
* /my_robot_0/exploration_node/optimization/ld_waypt: 0.3
* /my_robot_0/exploration_node/optimization/max_acc: 1.0
* /my_robot_0/exploration_node/optimization/max_iteration_num1: 2
* /my_robot_0/exploration_node/optimization/max_iteration_num2: 2000
* /my_robot_0/exploration_node/optimization/max_iteration_num3: 200
* /my_robot_0/exploration_node/optimization/max_iteration_num4: 200
* /my_robot_0/exploration_node/optimization/max_iteration_time1: 0.0001
* /my_robot_0/exploration_node/optimization/max_iteration_time2: 0.005
* /my_robot_0/exploration_node/optimization/max_iteration_time3: 0.003
* /my_robot_0/exploration_node/optimization/max_iteration_time4: 0.003
* /my_robot_0/exploration_node/optimization/max_vel: 1.0
* /my_robot_0/exploration_node/perception_utils/left_angle: 1.5
* /my_robot_0/exploration_node/perception_utils/max_dist: 3.5
* /my_robot_0/exploration_node/perception_utils/right_angle: 1.5
* /my_robot_0/exploration_node/perception_utils/top_angle: 0.56
* /my_robot_0/exploration_node/perception_utils/vis_dist: 1.0
* /my_robot_0/exploration_node/sdf_map/box_max_x: 17.0713
* /my_robot_0/exploration_node/sdf_map/box_max_y: 6.9421
* /my_robot_0/exploration_node/sdf_map/box_max_z: 3.0
* /my_robot_0/exploration_node/sdf_map/box_min_x: -17.0713
* /my_robot_0/exploration_node/sdf_map/box_min_y: -6.9421
* /my_robot_0/exploration_node/sdf_map/box_min_z: 0.0
* /my_robot_0/exploration_node/sdf_map/default_dist: 0.0
* /my_robot_0/exploration_node/sdf_map/ground_height: 0
* /my_robot_0/exploration_node/sdf_map/local_bound_inflate: 0.4
* /my_robot_0/exploration_node/sdf_map/local_map_margin: 150
* /my_robot_0/exploration_node/sdf_map/map_size_x: 34.1426
* /my_robot_0/exploration_node/sdf_map/map_size_y: 13.8842
* /my_robot_0/exploration_node/sdf_map/map_size_z: 3.0
* /my_robot_0/exploration_node/sdf_map/max_ray_length: 5
* /my_robot_0/exploration_node/sdf_map/min_ray_length: 0
* /my_robot_0/exploration_node/sdf_map/obstacles_inflation: 0.15
* /my_robot_0/exploration_node/sdf_map/optimistic: False
* /my_robot_0/exploration_node/sdf_map/p_hit: 0.65
* /my_robot_0/exploration_node/sdf_map/p_max: 0.9
* /my_robot_0/exploration_node/sdf_map/p_min: 0.12
* /my_robot_0/exploration_node/sdf_map/p_miss: 0.35
* /my_robot_0/exploration_node/sdf_map/p_occ: 0.8
* /my_robot_0/exploration_node/sdf_map/resolution: 0.1
* /my_robot_0/exploration_node/sdf_map/signed_dist: False
* /my_robot_0/exploration_node/sdf_map/virtual_ceil_height: 3.0
* /my_robot_0/exploration_node/search/allocate_num: 100000
* /my_robot_0/exploration_node/search/check_num: 10
* /my_robot_0/exploration_node/search/horizon: 6.0
* /my_robot_0/exploration_node/search/init_max_tau: 1.0
* /my_robot_0/exploration_node/search/lambda_heu: 10.0
* /my_robot_0/exploration_node/search/margin: 0.2
* /my_robot_0/exploration_node/search/max_acc: 1.0
* /my_robot_0/exploration_node/search/max_tau: 0.6
* /my_robot_0/exploration_node/search/max_vel: 1.0
* /my_robot_0/exploration_node/search/optimistic: False
* /my_robot_0/exploration_node/search/resolution_astar: 0.03
* /my_robot_0/exploration_node/search/time_resolution: 0.8
* /my_robot_0/exploration_node/search/vel_margin: 0.2
* /my_robot_0/exploration_node/search/w_time: 10.0
* /my_robot_0/mav_nonlinear_mpc/KF_observer/P0_angular_velocity: 0.1
* /my_robot_0/mav_nonlinear_mpc/KF_observer/P0_attitude: 0.1
* /my_robot_0/mav_nonlinear_mpc/KF_observer/P0_force: 0.1
* /my_robot_0/mav_nonlinear_mpc/KF_observer/P0_position: 0.1
* /my_robot_0/mav_nonlinear_mpc/KF_observer/P0_torque: 0.1
* /my_robot_0/mav_nonlinear_mpc/KF_observer/P0_velocity: 0.1
* /my_robot_0/mav_nonlinear_mpc/KF_observer/calibration_duration: 5
* /my_robot_0/mav_nonlinear_mpc/KF_observer/drag_coefficients: [0.01, 0.01, 0]
* /my_robot_0/mav_nonlinear_mpc/KF_observer/external_forces_limit: [5.0, 5.0, 3.0]
* /my_robot_0/mav_nonlinear_mpc/KF_observer/external_moments_limit: [20.0, 20.0, 20.0]
* /my_robot_0/mav_nonlinear_mpc/KF_observer/omega_limit: [3.0, 3.0, 2.0]
* /my_robot_0/mav_nonlinear_mpc/KF_observer/pitch_damping: 0.76
* /my_robot_0/mav_nonlinear_mpc/KF_observer/pitch_gain: 0.84
* /my_robot_0/mav_nonlinear_mpc/KF_observer/pitch_omega: 7.07
* /my_robot_0/mav_nonlinear_mpc/KF_observer/q_angular_velocity: 0.02
* /my_robot_0/mav_nonlinear_mpc/KF_observer/q_attitude: 0.015
* /my_robot_0/mav_nonlinear_mpc/KF_observer/q_force: 0.1
* /my_robot_0/mav_nonlinear_mpc/KF_observer/q_position: 0.01
* /my_robot_0/mav_nonlinear_mpc/KF_observer/q_torque: 0.1
* /my_robot_0/mav_nonlinear_mpc/KF_observer/q_velocity: 0.025
* /my_robot_0/mav_nonlinear_mpc/KF_observer/r_attitude: 0.01
* /my_robot_0/mav_nonlinear_mpc/KF_observer/r_position: 0.001
* /my_robot_0/mav_nonlinear_mpc/KF_observer/r_velocity: 0.0012
* /my_robot_0/mav_nonlinear_mpc/KF_observer/roll_damping: 0.72
* /my_robot_0/mav_nonlinear_mpc/KF_observer/roll_gain: 0.8
* /my_robot_0/mav_nonlinear_mpc/KF_observer/roll_omega: 7.07
* /my_robot_0/mav_nonlinear_mpc/KF_observer/yaw_damping: 0.95
* /my_robot_0/mav_nonlinear_mpc/KF_observer/yaw_gain: 1.0
* /my_robot_0/mav_nonlinear_mpc/KF_observer/yaw_omega: 5.0
* /my_robot_0/mav_nonlinear_mpc/K_yaw: 1.8
* /my_robot_0/mav_nonlinear_mpc/Ki_xy: 0.2
* /my_robot_0/mav_nonlinear_mpc/Ki_z: 0.3
* /my_robot_0/mav_nonlinear_mpc/antiwindup_ball: 0.4
* /my_robot_0/mav_nonlinear_mpc/enable_integrator: True
* /my_robot_0/mav_nonlinear_mpc/enable_offset_free: True
* /my_robot_0/mav_nonlinear_mpc/linear_drag_coefficients: [0.01, 0.01, 0]
* /my_robot_0/mav_nonlinear_mpc/mass: 1.56
* /my_robot_0/mav_nonlinear_mpc/pitch_gain: 0.78
* /my_robot_0/mav_nonlinear_mpc/pitch_max: 0.4363323129985824
* /my_robot_0/mav_nonlinear_mpc/pitch_time_constant: 0.259
* /my_robot_0/mav_nonlinear_mpc/position_error_integration_limit: 2
* /my_robot_0/mav_nonlinear_mpc/prediction_sampling_time: 0.1
* /my_robot_0/mav_nonlinear_mpc/q_pitch: 10
* /my_robot_0/mav_nonlinear_mpc/q_roll: 10
* /my_robot_0/mav_nonlinear_mpc/q_vx: 80
* /my_robot_0/mav_nonlinear_mpc/q_vy: 80
* /my_robot_0/mav_nonlinear_mpc/q_vz: 100
* /my_robot_0/mav_nonlinear_mpc/q_x: 80
* /my_robot_0/mav_nonlinear_mpc/q_y: 80
* /my_robot_0/mav_nonlinear_mpc/q_z: 120
* /my_robot_0/mav_nonlinear_mpc/r_pitch: 50
* /my_robot_0/mav_nonlinear_mpc/r_roll: 50
* /my_robot_0/mav_nonlinear_mpc/r_thrust: 1
* /my_robot_0/mav_nonlinear_mpc/reference_frame: world
* /my_robot_0/mav_nonlinear_mpc/roll_gain: 0.75
* /my_robot_0/mav_nonlinear_mpc/roll_max: 0.4363323129985824
* /my_robot_0/mav_nonlinear_mpc/roll_time_constant: 0.257
* /my_robot_0/mav_nonlinear_mpc/sampling_time: 0.01
* /my_robot_0/mav_nonlinear_mpc/thrust_max: 20
* /my_robot_0/mav_nonlinear_mpc/thrust_min: 5
* /my_robot_0/mav_nonlinear_mpc/use_rc_teleop: False
* /my_robot_0/mav_nonlinear_mpc/verbose: True
* /my_robot_0/waypoint_generator/waypoint_type: manual-lonely-way...
* /rosdistro: noetic
* /rosversion: 1.16.0
NODES
/fake/
collision_check (collision_check/collision_check_node)
joint_state_publisher (joint_state_publisher/joint_state_publisher)
move_group (moveit_ros_move_group/move_group)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
virtual_joint_broadcaster_0 (tf2_ros/static_transform_publisher)
/my_robot_0/
custom_joint_controller_ros (custom_joint_controller_ros/custom_joint_controller_ros_node)
exploration_node (exploration_manager/exploration_node)
mav_nonlinear_mpc (mav_nonlinear_mpc/nonlinear_mpc_node)
waypoint_generator (waypoint_generator/waypoint_generator)
ROS_MASTER_URI=http://localhost:11311/
process[my_robot_0/custom_joint_controller_ros-1]: started with pid [8889]
[ERROR] [1689391900.056316739]: Param 'frame_id' not set
process[my_robot_0/mav_nonlinear_mpc-2]: started with pid [8895]
process[my_robot_0/exploration_node-3]: started with pid [8896]
process[my_robot_0/waypoint_generator-4]: started with pid [8903]
process[fake/collision_check-5]: started with pid [8909]
process[fake/virtual_joint_broadcaster_0-6]: started with pid [8910]
process[fake/joint_state_publisher-7]: started with pid [8916]
process[fake/robot_state_publisher-8]: started with pid [8917]
process[fake/move_group-9]: started with pid [8938]
ros node launched
loading environment Warehouse_sketchfab
Correcting paths...
[ WARN] [1689391901.171936535]: No kinematics plugins defined. Fill and load kinematics.yaml!
[ WARN] [1689391901.224536883]: No odometry message received in the last 1 seconds!
[ WARN] [1689391902.211310493]: no odom.
[ WARN] [1689391902.224485641]: No odometry message received in the last 1 seconds!
[ WARN] [1689391903.213722150]: no odom.
[ WARN] [1689391903.224497760]: No odometry message received in the last 1 seconds!
[ WARN] [1689391903.335452976]: Multi-DOF-Joint 'fake/virtual' not supported.
[ WARN] [1689391903.335494216]: Multi-DOF-Joint 'fake/virtual' not supported.
[ WARN] [1689391903.527122063]: No kinematics plugins defined. Fill and load kinematics.yaml!
[ WARN] [1689391903.611479981]: Multi-DOF-Joint 'fake/virtual' not supported.
[ WARN] [1689391903.611523381]: Multi-DOF-Joint 'fake/virtual' not supported.
[ WARN] [1689391903.624137979]: Multi-DOF-Joint 'fake/virtual' not supported.
[ WARN] [1689391903.624181010]: Multi-DOF-Joint 'fake/virtual' not supported.
[ WARN] [1689391903.960197619]: No kinematics plugins defined. Fill and load kinematics.yaml!
[ WARN] [1689391904.221508042]: no odom.
[ WARN] [1689391904.224489119]: No odometry message received in the last 1 seconds!
[ WARN] [1689391905.224490700]: No odometry message received in the last 1 seconds!
[ WARN] [1689391905.231509950]: no odom.
[ WARN] [1689391906.224491120]: No odometry message received in the last 1 seconds!
[ WARN] [1689391906.241534379]: no odom.
[ WARN] [1689391907.224494662]: No odometry message received in the last 1 seconds!
[ WARN] [1689391907.251499048]: no odom.
[ WARN] [1689391908.224513925]: No odometry message received in the last 1 seconds!
[ WARN] [1689391908.261498388]: no odom.
[ WARN] [1689391909.224490069]: No odometry message received in the last 1 seconds!
[ WARN] [1689391909.271498548]: no odom.
[ WARN] [1689391910.224483832]: No odometry message received in the last 1 seconds!
[ WARN] [1689391910.271514283]: no odom.
[ WARN] [1689391911.224491127]: No odometry message received in the last 1 seconds!
[ WARN] [1689391911.281507575]: no odom.
[ WARN] [1689391912.224453203]: No odometry message received in the last 1 seconds!
[ WARN] [1689391912.291493528]: no odom.
[ WARN] [1689391913.224480769]: No odometry message received in the last 1 seconds!
[ WARN] [1689391913.291504914]: no odom.
[ WARN] [1689391914.224501307]: No odometry message received in the last 1 seconds!
[ WARN] [1689391914.301505909]: no odom.
[ WARN] [1689391915.224485075]: No odometry message received in the last 1 seconds!
[ WARN] [1689391915.313453076]: no odom.
[ WARN] [1689391916.224489453]: No odometry message received in the last 1 seconds!
[ WARN] [1689391916.321507821]: no odom.
[ WARN] [1689391917.224489893]: No odometry message received in the last 1 seconds!
[ WARN] [1689391917.331512439]: no odom.
[ WARN] [1689391918.224490073]: No odometry message received in the last 1 seconds!
[ WARN] [1689391918.341506606]: no odom.
[ WARN] [1689391919.224498934]: No odometry message received in the last 1 seconds!
[ WARN] [1689391919.341523147]: no odom.
[ WARN] [1689391920.224479205]: No odometry message received in the last 1 seconds!
[ WARN] [1689391920.351496266]: no odom.
[ WARN] [1689391921.224481268]: No odometry message received in the last 1 seconds!
[ WARN] [1689391921.351513929]: no odom.
[ WARN] [1689391922.224478611]: No odometry message received in the last 1 seconds!
[ WARN] [1689391922.363716055]: no odom.
[ WARN] [1689391923.224478335]: No odometry message received in the last 1 seconds!
[ WARN] [1689391923.371542212]: no odom.
[ WARN] [1689391924.224509810]: No odometry message received in the last 1 seconds!
[ WARN] [1689391924.381514214]: no odom.
[ WARN] [1689391925.224517386]: No odometry message received in the last 1 seconds!
[ WARN] [1689391925.391516757]: no odom.
[ WARN] [1689391926.224487931]: No odometry message received in the last 1 seconds!
[ WARN] [1689391926.401514301]: no odom.
Generating map...
[ WARN] [1689391927.224506189]: No odometry message received in the last 1 seconds!
Wait for service
Service loaded
[ WARN] [1689391927.411492965]: no odom.
[ WARN] [1689391928.224518316]: No odometry message received in the last 1 seconds!
[ WARN] [1689391928.421510601]: no odom.
[ WARN] [1689391928.730033203]: Empty quaternion found in pose message. Setting to neutral orientation.
[ WARN] [1689391929.224491194]: No odometry message received in the last 1 seconds!
[ WARN] [1689391929.431492957]: no odom.
[ WARN] [1689391930.224503273]: No odometry message received in the last 1 seconds!
[ WARN] [1689391930.431504206]: no odom.
[ WARN] [1689391931.224498944]: No odometry message received in the last 1 seconds!
[ WARN] [1689391931.441496734]: no odom.
[ WARN] [1689391932.224567635]: No odometry message received in the last 1 seconds!
[ WARN] [1689391932.441526285]: no odom.
[ WARN] [1689391932.711424669]: Empty quaternion found in pose message. Setting to neutral orientation.
[ WARN] [1689391933.224491475]: No odometry message received in the last 1 seconds!
[ WARN] [1689391933.451510044]: no odom.
[ WARN] [1689391934.224533138]: No odometry message received in the last 1 seconds!
[ WARN] [1689391934.461495473]: no odom.
[ WARN] [1689391935.224505150]: No odometry message received in the last 1 seconds!
[ WARN] [1689391935.461498206]: no odom.
[ WARN] [1689391936.224504564]: No odometry message received in the last 1 seconds!
[ WARN] [1689391936.463379610]: no odom.
[ WARN] [1689391936.732158696]: Empty quaternion found in pose message. Setting to neutral orientation.
[ WARN] [1689391937.224498978]: No odometry message received in the last 1 seconds!
[ WARN] [1689391937.471504022]: no odom.
[ WARN] [1689391938.224489233]: No odometry message received in the last 1 seconds!
[ WARN] [1689391938.481453864]: no odom.
[ WARN] [1689391939.224493328]: No odometry message received in the last 1 seconds!
[ WARN] [1689391939.491442777]: no odom.
[ WARN] [1689391940.224508055]: No odometry message received in the last 1 seconds!
[ WARN] [1689391940.491445014]: no odom.
[ WARN] [1689391940.675601068]: Empty quaternion found in pose message. Setting to neutral orientation.
self.env_limits_shifted = [-16.871273040771484, -6.742055207490921, 0.0, 16.871273040771484, 6.742055207490921, 6.732403755187988]
self.meters_per_unit = 0.01
bound = 5061
_om type = <class 'omni.isaac.occupancy_map._occupancy_map.OccupancyMap'>
pre-om dims = (0,0,0)
center = [ 560.1956194 -564.54632885 10. ]
lower_bound = [-5621.1956194 -4496.45367115 0. ]
upper_bound = [4500.8043806 5625.54632885 80. ]
zlim = [0, 1]
dims = (0,0,0)
image_buffer size = 0
Traceback (most recent call last):
File "GRADE-RR-2022/simulator/paper_simulation.py", line 296, in <module>
environment.generate_map(out_dir, origin=[x[0], y[0], 0])
File "/home/lyndon.chan/.local/share/ov/pkg/isaac_sim-2022.2.1/GRADE-RR-2022/simulator/utils/environment_utils.py", line 121, in generate_map
_im = Image.frombytes("RGBA", (dims.x, dims.y), bytes(image_buffer))
File "/home/lyndon.chan/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/extscore/omni.kit.pip_archive/pip_prebundle/PIL/Image.py", line 2882, in frombytes
im.frombytes(data, decoder_name, args)
File "/home/lyndon.chan/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/extscore/omni.kit.pip_archive/pip_prebundle/PIL/Image.py", line 811, in frombytes
d.setimage([self.im](http://self.im/))
ValueError: tile cannot extend outside image
> /home/lyndon.chan/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/extscore/omni.kit.pip_archive/pip_prebundle/PIL/Image.py(811)frombytes()
810 d = _getdecoder(self.mode, decoder_name, args)
--> 811 d.setimage([self.im](http://self.im/))
812 s = d.decode(data)
Hey,
first thing I noticed is that you are not using rosparam set use_sim_time true
.
I just tried in a fresh installation using a fresh download of Warehouse_sketchfab
and it worked without crashing.
I used the old paper_simulation.py
which became FUEL_indoor_simulation.py
in the v2022 branch (since you seem to use 2002.2.1 version).
An issue I noticed with the 2022 version is the scaling factor, which I just corrected in the new version of the asset you can download here.
The resulting map is as follow
This will change based on the limits you can set.
As reference here are the values that generated that image:
origin: [-6.719610430777076, -1.4001689449839763, 0] # not scaled
center: [-671.96104308, -140.0168945 , 10. ]
lower_bound: [-4389.03895692, -4920.9831055 , 0. ]
upper_bound: [5732.96104308, 5201.0168945 , 80. ]
Note that upper and lower bounds will depend on the center.
However, if you do
my_upper-lower = [10122, 10122, 80] # i.e. 101 m, 101 m and 0.8 m
your_upper-lower = [10122, 10122, 80]
i.e. the numbers are compatible.
I was able to reproduce your error only by setting lower_bound = upper_bound
(or vice-versa) manually in the code before update_location(...)
or by setting the cell size to impossibly big values. As soon as there is a distance between lower and upper bounds which is bigger than the cell size the system works.
With cell size I mean _om.set_cell_size(cell_size/self.meters_per_unit)
which, in my case, is 5 since I want a cell every 5 cm (and the simulation world operates in cm).
Can you please confirm that you are running the latest code and checked out the correct branch?
I downloaded your updated warehouse asset and the bound values changed but I'm still getting the same error:
origin = [-5.278563897382066, 5.964852783234436, 0]
center = [-527.85638974 596.48527832 10. ]
lower_bound = [-4533.14361026 -5657.48527832 0. ]
upper_bound = [5588.85638974 4464.51472168 80. ]
The lower and upper bounds are obviously not equal to each other and the cell size is also 5 for me. I'm pretty sure I got the latest code for the v2022 branch: it's commit 9070754b8a5604afabef53b3166bda2f105b519b. I did have to make the following changes to some files to get it to run properly without errors at those lines (not sure if these fixes broke anything down the line):
paper_simulation.py
, comment out start_simulation()
paper_simulation.py
, replace stage = context.get_stage()
with stage = omni.usd.get_context().get_stage()
robot_utils.py
, redefine setup_imu_sensor()
using the definition from the main
branchI'm not sure where FUEL_indoor_simulation.py
is - it's not in the repo at all. I had a lot of trouble installing FUEL, MoveIt, and the custom_6dof_joint_controller, so I wouldn't be surprised if they're still not properly installed, although this bug seems to be independent of those packages.
Thanks for all the help so far, by the way. Not really sure what else I can do to get it working on my end. Any ideas?
Regarding FUEL_indoor_simulation.py
my bad, I did not push the other day, sorry.
What troubles did you have? Can you please open issues on the corresponding repo? I did not see anything.
What I can tell you is that if stage = context.get_stage()
does not work is probably because you deleted the previous line in which context = omni.usd.get_context()
is called (this code did not change).
Clearly, context = ..
+ stage = context.get_stage()
is equivalente to your new stage = ...
.
Also, if you had to comment physx_interface.start_simulation()
(which is a very basic call, specific of 2022 version of Isaac Sim) or change the IMU sensor with the definition on main I've the suspect there's something wrong in your installation environment of either/both Isaac and GRADE. Or by checking the actual diff between your repo and the upstream. So I would start from there. I'm on holiday now so I might not be as responsive.
In the
environment_utils.py
script'sgenerate_map()
function, the dimensions returned from the occupancy map_om
are (0, 0, 0), which is giving me the following error:It seems like the occupancy map is not being properly initialized, so the code fails after this. How can I fix this?
Thanks, Lyndon