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A bridge betwwen the ROS ecosystem and AI Habitat.
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ROS agent in Habitat sim: issue with odom not being published for rtabmap example #36

Open AnaghBenjwal opened 8 months ago

AnaghBenjwal commented 8 months ago

I'm trying to run the ROS agent in Habitat sim example with RTAB map.

There is an error with the rtabmap node, all topics published by the rtabmap_slam node seems to be empty and no map is being creared by rtab. I think the issue is with the /odom topic, which is required for the rtabmap_slam node.

This is the output of the terminal running the rtab_mapping.launch launch file, here I get the warning that /rtabmap is not receiving data

(rosxhab) [anagh=>~/rosxhab/src/ros_x_habitat]$roslaunch launch/rtabmap_mapping.launch 
... logging to /home/anagh/.ros/log/85c41c22-b914-11ee-b182-558cd0d51b25/roslaunch-anagh-VivobookPro-71817.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://anagh-VivobookPro:35817/

[ ... ]
[.....]

/rtabmap_viz subscribed to:
   /odom
[ INFO] [1705923182.170730350]: rtabmap_viz started.
qt.qpa.xcb: QXcbConnection: XCB error: 6 (BadCursor), sequence: 458, resource id: 79691787, major code: 2 (ChangeWindowAttributes), minor code: 0
qt.qpa.xcb: QXcbConnection: XCB error: 6 (BadCursor), sequence: 459, resource id: 79691787, major code: 2 (ChangeWindowAttributes), minor code: 0
qt.qpa.xcb: QXcbConnection: XCB error: 6 (BadCursor), sequence: 511, resource id: 79691787, major code: 2 (ChangeWindowAttributes), minor code: 0
qt.qpa.xcb: QXcbConnection: XCB error: 6 (BadCursor), sequence: 512, resource id: 79691787, major code: 2 (ChangeWindowAttributes), minor code: 0
qt.qpa.xcb: QXcbConnection: XCB error: 6 (BadCursor), sequence: 1617, resource id: 79691787, major code: 2 (ChangeWindowAttributes), minor code: 0
qt.qpa.xcb: QXcbConnection: XCB error: 6 (BadCursor), sequence: 1618, resource id: 79691787, major code: 2 (ChangeWindowAttributes), minor code: 0
[ WARN] [1705923185.163167286]: /rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap subscribed to (approx sync):
   /odom \
   /rgbd_image \
   /scan
[ WARN] [1705923186.170738774]: /rtabmap_viz: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap_viz subscribed to:
   /odom
qt.qpa.xcb: QXcbConnection: XCB error: 6 (BadCursor), sequence: 2361, resource id: 79691787, major code: 2 (ChangeWindowAttributes), minor code: 0
qt.qpa.xcb: QXcbConnection: XCB error: 6 (BadCursor), sequence: 2362, resource id: 79691787, major code: 2 (ChangeWindowAttributes), minor code: 0
qt.qpa.xcb: QXcbConnection: XCB error: 6 (BadCursor), sequence: 2447, resource id: 79691787, major code: 2 (ChangeWindowAttributes), minor code: 0
qt.qpa.xcb: QXcbConnection: XCB error: 6 (BadCursor), sequence: 2448, resource id: 79691787, major code: 2 (ChangeWindowAttributes), minor code: 0
qt.qpa.xcb: QXcbConnection: XCB error: 6 (BadCursor), sequence: 2540, resource id: 79691787, major code: 2 (ChangeWindowAttributes), minor code: 0
qt.qpa.xcb: QXcbConnection: XCB error: 6 (BadCursor), sequence: 2541, resource id: 79691787, major code: 2 (ChangeWindowAttributes), minor code: 0
[ WARN] [1705923190.163344159]: /rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap subscribed to (approx sync):
   /odom \
   /rgbd_image \
   /scan
[ WARN] [1705923191.170848284]: /rtabmap_viz: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap_viz subscribed to:
   /odom

by running rostopic hz /odom /rgbd_image /scan I can confirm that it is the /odom topic which doesnt contain anything 

(base) [anagh=>~]$rostopic hz /odom /rgbd_image /scan
subscribed to [/odom]
subscribed to [/rgbd_image]
subscribed to [/scan]
   topic       rate   min_delta   max_delta   std_dev   window
==============================================================
/rgbd_image   7.355   0.06933     0.2061      0.03666   8     
/scan         7.384   0.06979     0.2047      0.03899   8     

   topic       rate   min_delta   max_delta   std_dev   window
==============================================================
/rgbd_image   7.305   0.06933     0.2068      0.03618   15    
/scan         7.306   0.06979     0.2047      0.03559   15    

   topic       rate   min_delta   max_delta   std_dev   window
==============================================================
/rgbd_image   7.358   0.06933     0.2068      0.02975   22    
/scan         7.362   0.06673     0.2047      0.03557   22    

   topic       rate   min_delta   max_delta   std_dev   window
==============================================================
/rgbd_image   7.127   0.06787     0.2605      0.03936   29    
/scan         7.117   0.06673     0.2606      0.04311   29    

   topic       rate   min_delta   max_delta   std_dev   window
==============================================================
/rgbd_image   7.275   0.06787     0.2605      0.03988   37    
/scan         7.266   0.006053    0.2606      0.04477   37    

^C   topic       rate   min_delta   max_delta   std_dev   window
==============================================================
/rgbd_image   7.298   0.06684     0.2605      0.04077   41    
/scan         7.295   0.006053    0.2606      0.0447    41

I think the reason /odom is empty has something to do with the correct transformations not being obtained. This is being shown as a warning by the terminal running the habitat python script

This is the output of the habitat node, it gives a warning about base to fixed frame transformations not being obtained. 

(rosxhab) [anagh=>~/rosxhab/src/ros_x_habitat]$python /home/anagh/rosxhab/src/ros_x_habitat/src/scripts/roam_with_joy.py --hab-env-config-path /home/anagh/rosxhab/src/ros_x_habitat/configs/roam_configs/pointnav_rgbd_roam_mp3d_test_scenes.yaml --scene-id /home/anagh/rosxhab/src/ros_x_habitat/data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb
... logging to /home/anagh/.ros/log/85c41c22-b914-11ee-b182-558cd0d51b25/roslaunch-anagh-VivobookPro-66653.log
started roslaunch server http://anagh-VivobookPro:36657/

SUMMARY
========

PARAMETERS
 * /depthimage_to_laserscan/output_frame_id: laser
 * /depthimage_to_laserscan/scan_time: 0.025
 * /joy_node/autorepeat_rate: 20
 * /joy_node/coalesce_interval: 0.05
 * /laser_scan_matcher_node/base_frame: base_frame
 * /laser_scan_matcher_node/fixed_frame: odom
 * /laser_scan_matcher_node/max_iterations: 10
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /
    base_frame_to_laser (tf/static_transform_publisher)
    depthimage_to_laserscan (depthimage_to_laserscan/depthimage_to_laserscan)
    dummy_ptgoal_with_gps_compass_subscriber (ros_x_habitat/dummy_ptgoal_with_gps_compass_subscriber.py)
    image_view_depth (image_view/image_view)
    image_view_rgb (image_view/image_view)
    joy_controller (ros_x_habitat/joy_controller.py)
    joy_node (joy/joy_node)
    laser_scan_matcher_node (laser_scan_matcher/laser_scan_matcher_node)

ROS_MASTER_URI=http://localhost:11311
process[joy_node-1]: started with pid [66688]
process[joy_controller-2]: started with pid [66689]
process[image_view_rgb-3]: started with pid [66690]
process[image_view_depth-4]: started with pid [66696]
process[dummy_ptgoal_with_gps_compass_subscriber-5]: started with pid [66697]
process[depthimage_to_laserscan-6]: started with pid [66698]
process[laser_scan_matcher_node-7]: started with pid [66699]
process[base_frame_to_laser-8]: started with pid [66700]
[INFO] [1705922636.686946]: launch file launch/teleop.launch started
[ INFO] [1705922636.723810293]: Starting LaserScanMatcher
[ WARN] [1705922636.733858897]: Couldn't set gain on joystick force feedback: Bad file descriptor
Warning: Gym version v0.24.0 has a number of critical issues with `gym.make` such that the `reset` and `step` functions are called before returning the environment. It is recommend to downgrading to v0.23.1 or upgrading to v0.25.1
/home/anagh/habitat-lab/habitat/utils/visualizations/maps.py:30: DeprecationWarning: Starting with ImageIO v3 the behavior of this function will switch to that of iio.v3.imread. To keep the current behavior (and make this warning disappear) use `import imageio.v2 as imageio` or call `imageio.v2.imread` directly.
  "100x100.png",
2024-01-22 16:53:58,646 Initializing dataset PointNav-v1
2024-01-22 16:53:58,653 initializing sim Sim-Phys
WARNING: Logging before InitGoogleLogging() is written to STDERR
I0122 16:53:58.656105 66701 ManagedFileBasedContainer.h:210] <Dataset>::convertFilenameToPassedExt : Filename : default changed to proposed scene_dataset_config.json filename : default.scene_dataset_config.json
I0122 16:53:58.656127 66701 AttributesManagerBase.h:365] <Dataset>::createFromJsonOrDefaultInternal : Proposing JSON name : default.scene_dataset_config.json from original name : default | This file  does not exist.
I0122 16:53:58.656178 66701 AssetAttributesManager.cpp:120] Asset attributes (capsule3DSolid : capsule3DSolid_hemiRings_4_cylRings_1_segments_12_halfLen_0.75_useTexCoords_false_useTangents_false) created and registered.
I0122 16:53:58.656210 66701 AssetAttributesManager.cpp:120] Asset attributes (capsule3DWireframe : capsule3DWireframe_hemiRings_8_cylRings_1_segments_16_halfLen_1) created and registered.
I0122 16:53:58.656234 66701 AssetAttributesManager.cpp:120] Asset attributes (coneSolid : coneSolid_segments_12_halfLen_1.25_rings_1_useTexCoords_false_useTangents_false_capEnd_true) created and registered.
I0122 16:53:58.656250 66701 AssetAttributesManager.cpp:120] Asset attributes (coneWireframe : coneWireframe_segments_32_halfLen_1.25) created and registered.
I0122 16:53:58.656258 66701 AssetAttributesManager.cpp:120] Asset attributes (cubeSolid : cubeSolid) created and registered.
I0122 16:53:58.656265 66701 AssetAttributesManager.cpp:120] Asset attributes (cubeWireframe : cubeWireframe) created and registered.
I0122 16:53:58.656286 66701 AssetAttributesManager.cpp:120] Asset attributes (cylinderSolid : cylinderSolid_rings_1_segments_12_halfLen_1_useTexCoords_false_useTangents_false_capEnds_true) created and registered.
I0122 16:53:58.656302 66701 AssetAttributesManager.cpp:120] Asset attributes (cylinderWireframe : cylinderWireframe_rings_1_segments_32_halfLen_1) created and registered.
I0122 16:53:58.656313 66701 AssetAttributesManager.cpp:120] Asset attributes (icosphereSolid : icosphereSolid_subdivs_1) created and registered.
I0122 16:53:58.656322 66701 AssetAttributesManager.cpp:120] Asset attributes (icosphereWireframe : icosphereWireframe_subdivs_1) created and registered.
I0122 16:53:58.656333 66701 AssetAttributesManager.cpp:120] Asset attributes (uvSphereSolid : uvSphereSolid_rings_8_segments_16_useTexCoords_false_useTangents_false) created and registered.
I0122 16:53:58.656347 66701 AssetAttributesManager.cpp:120] Asset attributes (uvSphereWireframe : uvSphereWireframe_rings_16_segments_32) created and registered.
I0122 16:53:58.656351 66701 AssetAttributesManager.cpp:108] ::constructor : Built default primitive asset templates : 12
I0122 16:53:58.656746 66701 SceneDatasetAttributesManager.cpp:36] File (default) not found, so new default dataset attributes created and registered.
I0122 16:53:58.656751 66701 MetadataMediator.cpp:127] ::createSceneDataset : Dataset default successfully created.
I0122 16:53:58.656757 66701 AttributesManagerBase.h:365] <Physics Manager>::createFromJsonOrDefaultInternal : Proposing JSON name : ./data/default.physics_config.json from original name : ./data/default.physics_config.json | This file  exists.
I0122 16:53:58.656811 66701 PhysicsAttributesManager.cpp:26] JSON Configuration File (./data/default.physics_config.json) based physics manager attributes created and registered.
I0122 16:53:58.656816 66701 MetadataMediator.cpp:212] ::setActiveSceneDatasetName : Previous active dataset  changed to default successfully.
I0122 16:53:58.656819 66701 MetadataMediator.cpp:183] ::setCurrPhysicsAttributesHandle : Old physics manager attributes  changed to ./data/default.physics_config.json successfully.
I0122 16:53:58.656823 66701 MetadataMediator.cpp:68] ::setSimulatorConfiguration : Set new simulator config for scene/stage : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb and dataset : default which is currently active dataset.
Renderer: AMD RENOIR (DRM 3.42.0, 5.15.0-94-generic, LLVM 12.0.0) by AMD
OpenGL version: 4.6 (Core Profile) Mesa 21.2.6
Using optional features:
    GL_ARB_vertex_array_object
    GL_ARB_ES2_compatibility
    GL_ARB_separate_shader_objects
    GL_ARB_robustness
    GL_ARB_texture_storage
    GL_ARB_invalidate_subdata
    GL_ARB_texture_storage_multisample
    GL_ARB_multi_bind
    GL_ARB_direct_state_access
    GL_ARB_get_texture_sub_image
    GL_ARB_texture_filter_anisotropic
    GL_KHR_debug
Using driver workarounds:
    no-layout-qualifiers-on-old-glsl
    mesa-implementation-color-read-format-dsa-explicit-binding
    mesa-dsa-createquery-except-pipeline-stats
    mesa-forward-compatible-line-width-range
I0122 16:53:58.720314 66701 ManagedFileBasedContainer.h:210] <Scene Instance>::convertFilenameToPassedExt : Filename : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb changed to proposed scene_instance.json filename : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.scene_instance.json
I0122 16:53:58.720348 66701 MetadataMediator.cpp:311] ::getSceneAttributesByName : Dataset : default has no preloaded SceneAttributes or StageAttributes named : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb so loading/creating a new StageAttributes with this name, and then creating a SceneAttributes with the same name that references this stage.
I0122 16:53:58.720360 66701 ManagedFileBasedContainer.h:210] <Stage Template>::convertFilenameToPassedExt : Filename : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb changed to proposed stage_config.json filename : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.stage_config.json
I0122 16:53:58.720368 66701 AttributesManagerBase.h:365] <Stage Template>::createFromJsonOrDefaultInternal : Proposing JSON name : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.stage_config.json from original name : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb | This file  does not exist.
I0122 16:53:58.720456 66701 AbstractObjectAttributesManagerBase.h:183] File (data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb) exists but is not a recognized config filename extension, so new default Stage Template attributes created and registered.
I0122 16:53:58.720480 66701 SceneDatasetAttributes.cpp:45] ::addNewSceneInstanceToDataset : Dataset : 'default' : Stage Attributes 'data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb' specified in Scene Attributes exists in dataset library.
I0122 16:53:58.720486 66701 SceneDatasetAttributes.cpp:79] ::addNewSceneInstanceToDataset : Dataset : 'default' : Lighting Layout Attributes 'no_lights' specified in Scene Attributes but does not exist in dataset, so creating.
I0122 16:53:58.720492 66701 ManagedFileBasedContainer.h:210] <Lighting Layout>::convertFilenameToPassedExt : Filename : no_lights changed to proposed lighting_config.json filename : no_lights.lighting_config.json
I0122 16:53:58.720504 66701 ManagedFileBasedContainer.h:210] <Lighting Layout>::convertFilenameToPassedExt : Filename : no_lights changed to proposed lighting_config.json filename : no_lights.lighting_config.json
I0122 16:53:58.720510 66701 AttributesManagerBase.h:365] <Lighting Layout>::createFromJsonOrDefaultInternal : Proposing JSON name : no_lights.lighting_config.json from original name : no_lights | This file  does not exist.
I0122 16:53:58.720527 66701 LightLayoutAttributesManager.cpp:34] File (no_lights) not found, so new default light layout attributes created and registered.
I0122 16:53:58.720535 66701 Simulator.cpp:198] ::setSceneInstanceAttributes : Navmesh file location in scene instance : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.navmesh
I0122 16:53:58.720541 66701 Simulator.cpp:205] ::setSceneInstanceAttributes : Loading navmesh from data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.navmesh
I0122 16:53:58.720592 66701 Simulator.cpp:208] ::setSceneInstanceAttributes : Navmesh Loaded.
I0122 16:53:58.720600 66701 SceneGraph.h:85] Created DrawableGroup: 
I0122 16:53:58.720604 66701 Simulator.cpp:243] ::setSceneInstanceAttributes : SceneInstance : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb proposed Semantic Scene Descriptor filename : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.house
W0122 16:53:58.746963 66701 Simulator.cpp:267] ::setSceneInstanceAttributes : All attempts to load SSD with SceneAttributes-provided name data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.house : exist : 0 : loaded as expected type : 1
I0122 16:53:58.747048 66701 Simulator.cpp:316] ::createSceneInstance : Using scene instance-specified Light key : -no_lights-
I0122 16:53:58.747056 66701 MetadataMediator.cpp:68] ::setSimulatorConfiguration : Set new simulator config for scene/stage : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb and dataset : default which is currently active dataset.
I0122 16:53:58.747076 66701 Simulator.cpp:374] ::createSceneInstance : Start to load stage named : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb with render asset : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb and collision asset : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb
I0122 16:53:58.747093 66701 ResourceManager.cpp:249] ::loadStage : Not loading semantic mesh
I0122 16:53:58.747099 66701 ResourceManager.cpp:277] ::loadStage : start load render asset data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb.
I0122 16:53:58.747105 66701 ResourceManager.cpp:691] ::loadStageInternal : Attempting to load stage data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb 
I0122 16:53:58.747128 66701 ResourceManager.cpp:1254] Importing Basis files as ASTC 4x4 for 2t7WUuJeko7.glb
I0122 16:53:59.936077 66701 Simulator.cpp:392] ::createSceneInstance : Successfully loaded stage named : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb
W0122 16:53:59.936102 66701 Simulator.cpp:427] 
---
Simulator::createSceneInstance : The active scene does not contain semantic annotations. 
---
I0122 16:53:59.936112 66701 MetadataMediator.cpp:262] ::getSceneAttributesByName : Query dataset : default for SceneAttributes named : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb yields 1 candidates.  Using data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb.
I0122 16:53:59.936123 66701 SceneDatasetAttributes.cpp:45] ::addNewSceneInstanceToDataset : Dataset : 'default' : Stage Attributes 'data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb' specified in Scene Attributes exists in dataset library.
I0122 16:53:59.936127 66701 SceneDatasetAttributes.cpp:85] ::addNewSceneInstanceToDataset : Dataset : 'default' : Lighting Layout Attributes no_lights specified in Scene Attributes exists in dataset library.
I0122 16:53:59.936134 66701 MetadataMediator.cpp:262] ::getSceneAttributesByName : Query dataset : default for SceneAttributes named : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb yields 1 candidates.  Using data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb.
I0122 16:53:59.936139 66701 SceneDatasetAttributes.cpp:45] ::addNewSceneInstanceToDataset : Dataset : 'default' : Stage Attributes 'data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb' specified in Scene Attributes exists in dataset library.
I0122 16:53:59.936143 66701 SceneDatasetAttributes.cpp:85] ::addNewSceneInstanceToDataset : Dataset : 'default' : Lighting Layout Attributes no_lights specified in Scene Attributes exists in dataset library.
I0122 16:53:59.936162 66701 Simulator.cpp:171] ::reconfigure : createSceneInstance success == true for active scene name : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb with renderer.
I0122 16:53:59.936565 66701 simulator.py:221] Loaded navmesh data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.navmesh
2024-01-22 16:53:59,938 Initializing task Nav-Phys
2024-01-22 16:53:59,947 INFO env making sure agent is subscribed to sensor topics...
2024-01-22 16:54:00,237 INFO env initialized
I0122 16:54:00.238684 66701 PhysicsManager.cpp:50] Deconstructing PhysicsManager
I0122 16:54:00.238704 66701 SemanticScene.h:43] Deconstructing SemanticScene
I0122 16:54:00.239349 66701 SceneManager.h:25] Deconstructing SceneManager
I0122 16:54:00.239354 66701 SceneGraph.h:25] Deconstructing SceneGraph
I0122 16:54:00.239411 66701 Sensor.cpp:69] Deconstructing Sensor
I0122 16:54:00.239420 66701 Sensor.cpp:69] Deconstructing Sensor
I0122 16:54:00.251482 66701 Renderer.cpp:71] Deconstructing Renderer
I0122 16:54:00.251511 66701 WindowlessContext.h:17] Deconstructing WindowlessContext
I0122 16:54:00.283349 66701 MetadataMediator.cpp:68] ::setSimulatorConfiguration : Set new simulator config for scene/stage : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb and dataset : default which is currently active dataset.
Renderer: AMD RENOIR (DRM 3.42.0, 5.15.0-94-generic, LLVM 12.0.0) by AMD
OpenGL version: 4.6 (Core Profile) Mesa 21.2.6
Using optional features:
    GL_ARB_vertex_array_object
    GL_ARB_ES2_compatibility
    GL_ARB_separate_shader_objects
    GL_ARB_robustness
    GL_ARB_texture_storage
    GL_ARB_invalidate_subdata
    GL_ARB_texture_storage_multisample
    GL_ARB_multi_bind
    GL_ARB_direct_state_access
    GL_ARB_get_texture_sub_image
    GL_ARB_texture_filter_anisotropic
    GL_KHR_debug
Using driver workarounds:
    no-layout-qualifiers-on-old-glsl
    mesa-implementation-color-read-format-dsa-explicit-binding
    mesa-dsa-createquery-except-pipeline-stats
    mesa-forward-compatible-line-width-range
I0122 16:54:00.314508 66701 MetadataMediator.cpp:262] ::getSceneAttributesByName : Query dataset : default for SceneAttributes named : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb yields 1 candidates.  Using data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb.
I0122 16:54:00.314527 66701 SceneDatasetAttributes.cpp:45] ::addNewSceneInstanceToDataset : Dataset : 'default' : Stage Attributes 'data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb' specified in Scene Attributes exists in dataset library.
I0122 16:54:00.314532 66701 SceneDatasetAttributes.cpp:85] ::addNewSceneInstanceToDataset : Dataset : 'default' : Lighting Layout Attributes no_lights specified in Scene Attributes exists in dataset library.
I0122 16:54:00.314538 66701 Simulator.cpp:198] ::setSceneInstanceAttributes : Navmesh file location in scene instance : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.navmesh
I0122 16:54:00.314548 66701 Simulator.cpp:205] ::setSceneInstanceAttributes : Loading navmesh from data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.navmesh
I0122 16:54:00.314599 66701 Simulator.cpp:208] ::setSceneInstanceAttributes : Navmesh Loaded.
I0122 16:54:00.314610 66701 SceneGraph.h:85] Created DrawableGroup: 
I0122 16:54:00.314613 66701 Simulator.cpp:243] ::setSceneInstanceAttributes : SceneInstance : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb proposed Semantic Scene Descriptor filename : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.house
W0122 16:54:00.340817 66701 Simulator.cpp:267] ::setSceneInstanceAttributes : All attempts to load SSD with SceneAttributes-provided name data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.house : exist : 0 : loaded as expected type : 1
I0122 16:54:00.340880 66701 Simulator.cpp:316] ::createSceneInstance : Using scene instance-specified Light key : -no_lights-
I0122 16:54:00.340894 66701 MetadataMediator.cpp:68] ::setSimulatorConfiguration : Set new simulator config for scene/stage : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb and dataset : default which is currently active dataset.
I0122 16:54:00.340916 66701 Simulator.cpp:374] ::createSceneInstance : Start to load stage named : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb with render asset : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb and collision asset : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb
I0122 16:54:00.340929 66701 ResourceManager.cpp:249] ::loadStage : Not loading semantic mesh
I0122 16:54:00.340932 66701 ResourceManager.cpp:277] ::loadStage : start load render asset data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb.
I0122 16:54:00.340934 66701 ResourceManager.cpp:691] ::loadStageInternal : Attempting to load stage data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb 
I0122 16:54:00.340950 66701 ResourceManager.cpp:1254] Importing Basis files as ASTC 4x4 for 2t7WUuJeko7.glb
I0122 16:54:01.363732 66701 Simulator.cpp:392] ::createSceneInstance : Successfully loaded stage named : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb
W0122 16:54:01.363759 66701 Simulator.cpp:427] 
---
Simulator::createSceneInstance : The active scene does not contain semantic annotations. 
---
I0122 16:54:01.363772 66701 MetadataMediator.cpp:262] ::getSceneAttributesByName : Query dataset : default for SceneAttributes named : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb yields 1 candidates.  Using data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb.
I0122 16:54:01.363785 66701 SceneDatasetAttributes.cpp:45] ::addNewSceneInstanceToDataset : Dataset : 'default' : Stage Attributes 'data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb' specified in Scene Attributes exists in dataset library.
I0122 16:54:01.363790 66701 SceneDatasetAttributes.cpp:85] ::addNewSceneInstanceToDataset : Dataset : 'default' : Lighting Layout Attributes no_lights specified in Scene Attributes exists in dataset library.
I0122 16:54:01.363799 66701 MetadataMediator.cpp:262] ::getSceneAttributesByName : Query dataset : default for SceneAttributes named : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb yields 1 candidates.  Using data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb.
I0122 16:54:01.363806 66701 SceneDatasetAttributes.cpp:45] ::addNewSceneInstanceToDataset : Dataset : 'default' : Stage Attributes 'data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb' specified in Scene Attributes exists in dataset library.
I0122 16:54:01.363812 66701 SceneDatasetAttributes.cpp:85] ::addNewSceneInstanceToDataset : Dataset : 'default' : Lighting Layout Attributes no_lights specified in Scene Attributes exists in dataset library.
I0122 16:54:01.363834 66701 Simulator.cpp:171] ::reconfigure : createSceneInstance success == true for active scene name : data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb with renderer.
I0122 16:54:01.364698 66701 simulator.py:221] Loaded navmesh data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.navmesh
I0122 16:54:05.399345 66701 AttributesManagerBase.h:281] <Object Template>::loadAllTemplatesFromPathAndExt <object_config.json> : Parsing Object Template library directory: data/objects/locobot_merged for 'object_config.json' files
I0122 16:54:05.399418 66701 AttributesManagerBase.h:242] <Object Template>::loadAllFileBasedTemplates : Loading 1 Object Template templates found in data/objects/locobot_merged
I0122 16:54:05.399423 66701 AttributesManagerBase.h:247] ::loadAllFileBasedTemplates : Load Object Template template: locobot_merged.object_config.json
I0122 16:54:05.399436 66701 AttributesManagerBase.h:365] <Object Template>::createFromJsonOrDefaultInternal : Proposing JSON name : data/objects/locobot_merged/locobot_merged.object_config.json from original name : data/objects/locobot_merged/locobot_merged.object_config.json | This file  exists.
I0122 16:54:05.399567 66701 AbstractObjectAttributesManagerBase.h:183] JSON Configuration File (data/objects/locobot_merged/locobot_merged.object_config.json) based Object Template attributes created and registered.
I0122 16:54:05.399575 66701 AttributesManagerBase.h:263] <Object Template>::loadAllFileBasedTemplates : Loaded file-based templates: 1
I0122 16:54:05.399647 66701 ResourceManager.cpp:1254] Importing Basis files as ASTC 4x4 for locobot_merged.glb
I0122 16:54:05.479056 66701 ResourceManager.cpp:1254] Importing Basis files as ASTC 4x4 for locobot_merged_convex.glb
W0122 16:54:05.482625 66701 PhysicsManager.cpp:248] ::addObject : simpleObjectHandle : locobot_merged
W0122 16:54:05.482645 66701 PhysicsManager.cpp:251] ::addObject : newObjectHandle : locobot_merged_:0000
/opt/ros/noetic/lib/python3/dist-packages/cv_bridge/core.py:270: DeprecationWarning: tostring() is deprecated. Use tobytes() instead.
  img_msg.data = cvim.tostring()
[-0.  0. -0.]
[ WARN] [1705922645.593100013]: Could not get base to fixed frame transform, "odom" passed to lookupTransform argument fixed_frame does not exist. 
[-0.  0. -0.]
[ WARN] [1705922645.767538515]: Could not get base to fixed frame transform, Lookup would require extrapolation at time 1705922645.664090395, but only time 1705922645.483074903 is in the buffe, when looking up transform from frame [base_frame] to frame [odom]
[-0.  0. -0.]
[-0.  0. -0.]
[ WARN] [1705922645.974462246]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.129528046s into the future.  Requested time 1705922645.793618441 but the latest data is at time 1705922645.664090395, when looking up transform from frame [base_frame] to frame [odom]
[ WARN] [1705922646.075409638]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.153560400s into the future.  Requested time 1705922645.947178841 but the latest data is at time 1705922645.793618441, when looking up transform from frame [base_frame] to frame [odom]
[-0.  0. -0.]
[ WARN] [1705922646.180891861]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.131035328s into the future.  Requested time 1705922646.078214169 but the latest data is at time 1705922645.947178841, when looking up transform from frame [base_frame] to frame [odom]
[-0.  0. -0.]
[ WARN] [1705922646.308848563]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.127889633s into the future.  Requested time 1705922646.206103802 but the latest data is at time 1705922646.078214169, when looking up transform from frame [base_frame] to frame [odom]
[-0.  0. -0.]
[ WARN] [1705922646.436924411]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.120960951s into the future.  Requested time 1705922646.327064753 but the latest data is at time 1705922646.206103802, when looking up transform from frame [base_frame] to frame [odom]
[-0.  0. -0.]
[ WARN] [1705922646.551648030]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.116361618s into the future.  Requested time 1705922646.443426371 but the latest data is at time 1705922646.327064753, when looking up transform from frame [base_frame] to frame [odom]
[-0.  0. -0.]
[ WARN] [1705922646.663308969]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.113384009s into the future.  Requested time 1705922646.556810379 but the latest data is at time 1705922646.443426371, when looking up transform from frame [base_frame] to frame [odom]
[-0.  0. -0.]
[ WARN] [1705922646.777872166]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.113232612s into the future.  Requested time 1705922646.670042992 but the latest data is at time 1705922646.556810379, when looking up transform from frame [base_frame] to frame [odom]

This is the tf-tree from rqt as well

frames

AnaghBenjwal commented 8 months ago

@ericchen321 can you please confirm if rtabmap obtains odometry data from the habitat node, or is it supposed to get it from hector slam, which is also launched from rtab_mapping.launch?