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jrl-umi3218 / mc_rtc

mc_rtc is an interface for simulated and real robotic systems suitable for real-time control
BSD 2-Clause "Simplified" License
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The components inside the mc_rtc panel in ROS RViz flashed and does not work. #33

Closed kx-guan closed 4 years ago

kx-guan commented 4 years ago

Hi, Dear everyone: Thank you very much for discussion.

I compiled the new version (1.6) of LIPM stabilizer (https://github.com/stephane-caron/lipm_walking_controller), with new version (v1.2.1) of mc_rtc (but replace GUIState.h by <mc_rtc/gui.h> as mentioned in LIPM stabilizer #35) using Ubuntu 16.04LTS.

When I tried to run simulation in V-REP, the components inside the mc_rtc panel in ROS RViz flashed (appear and disappear about once per second). The marker in left side robot flashed with the components inside the mc_rtc panel, too. The robot itself did not flash. The title "mc_rtc panel" did not flash. I tried to push the buttons in the mc_rtc panel, but the buttons did not work. Last year, the previous version of LIPM stabilizer with the previous version of mc_rtc did not have such phenomenon (using Ubuntu 14.04LTS). Could you give me any advice? Thank you very much. Best regards.

gergondet commented 4 years ago

Hi @kx-guan

It could be that the simulation is running really slowly, can you check the output of mc_bin_perf /tmp/mc-control-LIPMWalking-latest.bin the next time you try to run the controller?

kx-guan commented 4 years ago

Hi, Dear Dr. @gergondet. Thank you very much. I gave two results of " mc_bin_perf /tmp/mc-control-LIPMWalking-latest.bin" as follows:

| | Average | StdEv | Min | Max |

| ControllerRun | 94.5 | 75.2 | 44.4 | 586 | | FrameworkCost | 6.52 | 2.44 | 1.67 | 14.6 | | GlobalRun | 99.9 | 77.3 | 48.7 | 615 | | Gui | 0.0236 | 0.0716 | 0.00226 | 0.729 | | Log | 5.27 | 3.2 | 3.11 | 49.3 | | MPCBuildAndSolve | 0 | 0 | inf | 0 | | MPCSolve | 0 | 0 | inf | 0 | | Plugins_ROS | 0.136 | 0.138 | 0.000755 | 0.814 | | Plugins_ROS_after | 0.136 | 0.138 | 0.00781 | 0.813 | | Plugins_ROS_before | 0.000958 | 0.000515 | 0.00065 | 0.0114 | | SolverBuildAndSolve | 52.6 | 59.5 | 15.7 | 419 | | SolverSolve | 0.362 | 0.265 | 0.193 | 7.06 | | Stabilizer | 1.39 | 2.96 | 0.645 | 47.5 |

| | Average | StdEv | Min | Max |

| ControllerRun | 127 | 73.9 | 44.4 | 586 | | FrameworkCost | 5.11 | 2.31 | 1.56 | 14.6 | | GlobalRun | 133 | 75.9 | 48.7 | 615 | | Gui | 0.0296 | 0.0872 | 0.00226 | 0.73 | | Log | 5.64 | 3.04 | 3.11 | 49.3 | | MPCBuildAndSolve | 0 | 0 | inf | 0 | | MPCSolve | 0 | 0 | inf | 0 | | Plugins_ROS | 0.143 | 0.147 | 0.000755 | 1.23 | | Plugins_ROS_after | 0.142 | 0.147 | 0.00781 | 1.23 | | Plugins_ROS_before | 0.001 | 0.00121 | 0.000646 | 0.048 | | SolverBuildAndSolve | 82.2 | 58.1 | 15.7 | 419 | | SolverSolve | 0.4 | 0.212 | 0.193 | 7.06 | | Stabilizer | 1.18 | 1.56 | 0.645 | 47.5 |

Could you give me any advice? Thank you very much. Best regards.

gergondet commented 4 years ago

Hi @kx-guan ,

These are pretty bad numbers, here's what I get on my machine for reference:

---------------------------------------------------------------
|                     |  Average |   StdEv |     Min |    Max |
---------------------------------------------------------------
|       ControllerRun |    0.328 |   0.266 |  0.0901 |   13.7 |
|       FrameworkCost |     21.8 |    8.06 |    1.24 |    100 |
|           GlobalRun |    0.426 |   0.457 |   0.123 |   22.4 |
|                 Gui |  0.00926 |  0.0221 | 0.00076 |  0.376 |
|                 Log |   0.0448 |   0.029 |  0.0126 |   1.01 |
|    MPCBuildAndSolve |    0.213 |  0.0723 |   0.142 |  0.382 |
|            MPCSolve |   0.0417 |  0.0145 |  0.0288 | 0.0906 |
|         Plugins_ROS |   0.0435 |   0.354 | 0.00229 |     22 |
|   Plugins_ROS_after |   0.0429 |   0.354 | 0.00212 |     22 |
|  Plugins_ROS_before | 0.000549 | 0.00303 | 7.5e-05 |  0.185 |
| SolverBuildAndSolve |    0.186 |  0.0847 |  0.0448 |   1.59 |
|         SolverSolve |   0.0383 |  0.0187 |  0.0162 |  0.727 |
|          Stabilizer |   0.0225 |  0.0151 | 0.00347 |  0.183 |
---------------------------------------------------------------

How did you compile mc_rtc and its dependencies? You should probably set CMAKE_BUILD_TYPE to RelWithDebInfo

kx-guan commented 4 years ago

Hi, Dear Dr. @gergondet. Thank you very much for quick response. Yes, I compiled with the debug type. Now I recompiled mc_rtc and its dependencies with release type.Then I tested again. Now the panel does not flash again. And can see the robot walking. This problem has been solved. Thank you very much again. Best regards.

gergondet commented 4 years ago

Hi @kx-guan

That's great to hear. I'll close the issue then.