k-okada commented 3 years ago

@sktometometo I think we need campus-wide visualization for your papers,

Screenshot from 2021-11-03 20-11-24

may be you can integrate walking system with campus map

(send (send *scene* :spot "/hongo/main-gate") :put :id "autwalk-id-1")
(send (send *scene* :spot "/hongo/starbucks") :put :id "autwalk-id-2")

(defun move-to (from to)
  (format t "call auto walk ~A ~A"
          (send (send *scene* :spot from) :get :id)
          (send (send *scene* :spot to) :get :id)))

(move-to "/hongo/main-gate" "/hongo/starbucks")

6595d054 (Kei Okada, 9 minutes ago) add launch/config/hongo.rviz launch/start_campushongo.launch src/hongo-scene.l tools/publish raw_maps/hongo-1.00.pgm raw_maps/hongo-1.00.yaml
b8060a61 (Kei Okada, 11 minutes ago) fix anon with building name, add prefix for tf_mux/map_server
7da3cae4 (Kei Okada, 12 minutes ago) support height/radius keyward in publish-pin-marker-array, scale text based on size
4003402e (Kei Okada, 33 minutes ago) move util files of publish_spot.l to publish_spot_utils.l
472c234f (Kei Okada, 1 year, 7 months ago) remove emacs backup(~) files

sktometometo commented 3 years ago

Screenshot from 2021-11-04 20-11-34

Pictograms and markers for eng2 / eng8 seem to be at wrong positions.

I don't fully understand the jsk_maps system, so let me clear some points.

What is the purpose of the lisp scripts "hoge-scene.l" anyway? Do they seem to be doing more than just defining spot array locations, or are they meant to be consistent with Eus's models like 73B2-scene?
Why are /spots_pictogram and /spots_maker_array published with world or map frames? It seems to me that they should be published with the frame of each floor of each building.

k-okada commented 3 years ago

Did you compile jsk_maps package before roslaunch start_campus_hongo.launch ? What is the output of roslaunch?

What is the purpose of the lisp scripts "hoge-scene.l" anyway? Do they seem to be doing more than just defining spot array locations, or are they meant to be consistent with Eus's models like 73B2-scene?

If scene model defined in EusLisp is perfect, we do not need hoge-scene, but in real world, it is not clear what kind information is required for scene, so it is complementary to EusLisp model

Why are /spots_pictogram and /spots_maker_array published with world or map frames? It seems to me that they should be published with the frame of each floor of each building.

I also aware of this problem. I think this is because we assumed the building is stand on top of /world coordinates. My proposal solution is https://github.com/jsk-ros-pkg/jsk_demos/commit/2548983aab786b028dbc8034b3030bd5c4e08684, and confirmed on hong-campus and eng2 (https://github.com/jsk-ros-pkg/jsk_demos/commit/3b88788e70a8724fc67e08edf012e4b13288e226) but not sure about side effects. @mqcmd196 could you check this with elevator_move_base ?

sktometometo commented 3 years ago

I have run catkin clean and built jsk_maps again. But markers are still on the top of world frame.

Screenshot from 2021-11-05 13-58-52

Build log

sktometometo@Leopard
[gitbranch:]
[ROS VERSION:1]
[ROS workspace:/home/sktometometo/ros/ws_jsk_ros_pkg]
[01:53 午後 金 11月 05]
~/ros/ws_jsk_ros_pkg/src $ catkin build jsk_maps
--------------------------------------------------------------------------
Profile:                     default
Extending:             [env] /opt/ros/melodic
Workspace:                   /home/sktometometo/ros/ws_jsk_ros_pkg
--------------------------------------------------------------------------
Build Space:        [exists] /home/sktometometo/ros/ws_jsk_ros_pkg/build
Devel Space:        [exists] /home/sktometometo/ros/ws_jsk_ros_pkg/devel
Install Space:      [unused] /home/sktometometo/ros/ws_jsk_ros_pkg/install
Log Space:         [missing] /home/sktometometo/ros/ws_jsk_ros_pkg/logs
Source Space:       [exists] /home/sktometometo/ros/ws_jsk_ros_pkg/src
DESTDIR:            [unused] None
--------------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
--------------------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
--------------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
--------------------------------------------------------------------------
Workspace configuration appears valid.

NOTE: Forcing CMake to run for each package.
--------------------------------------------------------------------------
[build] Found '130' packages in 0.0 seconds.                                                                                                                                                                      
[build] Updating package table.                                                                                                                                                                                   
Starting  >>> catkin_tools_prebuild                                                                                                                                                                               
Finished  <<< catkin_tools_prebuild                [ 2.0 seconds ]                                                                                                                                                
Starting  >>> dynamic_tf_publisher                                                                                                                                                                                
Starting  >>> jsk_network_tools                                                                                                                                                                                   
Finished  <<< dynamic_tf_publisher                 [ 4.3 seconds ]                                                                                                                                                
Starting  >>> jsk_topic_tools                                                                                                                                                                                     
Finished  <<< jsk_network_tools                    [ 6.7 seconds ]                                                                                                                                                
Finished  <<< jsk_topic_tools                      [ 13.4 seconds ]                                                                                                                                               
Starting  >>> jsk_tools                                                                                                                                                                                           
Finished  <<< jsk_tools                            [ 2.8 seconds ]                                                                                                                                                
Starting  >>> multi_map_server                                                                                                                                                                                    
Finished  <<< multi_map_server                     [ 4.1 seconds ]                                                                                                                                                
Starting  >>> jsk_maps                                                                                                                                                                                            
__________________________________________________________________________________________________________________________________________________________________________________________________________________
Warnings   << jsk_maps:cmake /home/sktometometo/ros/ws_jsk_ros_pkg/logs/jsk_maps/build.cmake.000.log                                                                                                              
-- set EUSDIR to /opt/ros/melodic/share/euslisp/jskeus/eus
-- set ARCHDIR to Linux64
-- Set GCC_MACHINE to x86_64-linux-gnu
cd /home/sktometometo/ros/ws_jsk_ros_pkg/build/jsk_maps; catkin build --get-env jsk_maps | catkin env -si  /usr/bin/cmake /home/sktometometo/ros/ws_jsk_ros_pkg/src/jsk_demos/jsk_maps --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/sktometometo/ros/ws_jsk_ros_pkg/devel/.private/jsk_maps -DCMAKE_INSTALL_PREFIX=/home/sktometometo/ros/ws_jsk_ros_pkg/install; cd -
..................................................................................................................................................................................................................
__________________________________________________________________________________________________________________________________________________________________________________________________________________
Warnings   << jsk_maps:make /home/sktometometo/ros/ws_jsk_ros_pkg/logs/jsk_maps/build.make.000.log                                                                                                                
Xserver connection failed;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
Color name (:silver) not found
Color name (:silver) not found
Color name (:silver) not found
Color name (:silver) not found
transparent: body #<scene-model #X562ccf970078 71a1  -1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X562ccfa12d88 71b  1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X562ccfa21418 71c2  34329.0 -30750.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X562ccfa61d00 72a1  -1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X562ccfa73df8 72b1  1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X562ccfa7ff88 72b2  1010.0 -10200.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X562ccfa8e2a0 72d1  36349.0 -20550.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<body #X562ccfcfaf58 corridor1 (:prism (#f(0.0 0.0 0.0) #f(-1000.0 6.123234e-14 0.0) #f(-1000.0 14800.0 0.0) #f(1000.0 14800.0 0.0) #f(1000.0 -6.123234e-14 0.0) #f(0.0 0.0 0.0)) 1) 0.0 0.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X562ccfd170f8 corridor2 (:prism (#f(0.0 -6600.0 0.0) #f(-1000.0 -6600.0 0.0) #f(-1000.0 -20700.0 0.0) #f(1000.0 -20700.0 0.0) #f(1000.0 -6600.0 0.0) #f(0.0 -6600.0 0.0)) 1) 0.0 -6600.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X562ccfd16570 corridor3 (:prism (#f(0.0 -27300.0 0.0) #f(-1000.0 -27300.0 0.0) #f(-1000.0 -42100.0 0.0) #f(1000.0 -42100.0 0.0) #f(1000.0 -27300.0 0.0) #f(0.0 -27300.0 0.0)) 1) 0.0 -27300.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X562ccfd4d938 corridor4 (:prism (#f(1010.0 -3300.0 0.0) #f(1010.0 -1950.0 0.0) #f(34329.0 -1950.0 0.0) #f(34329.0 -4650.0 0.0) #f(1010.0 -4650.0 0.0) #f(1010.0 -3300.0 0.0)) 1) 1010.0 -3300.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X562ccfd5a518 corridor5 (:prism (#f(35339.0 0.0 0.0) #f(34339.0 6.123234e-14 0.0) #f(34339.0 14800.0 0.0) #f(36339.0 14800.0 0.0) #f(36339.0 -6.123234e-14 0.0) #f(35339.0 0.0 0.0)) 1) 35339.0 0.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X562ccfd6a5e8 corridor6 (:prism (#f(35339.0 -6600.0 0.0) #f(34339.0 -6600.0 0.0) #f(34339.0 -20700.0 0.0) #f(36339.0 -20700.0 0.0) #f(36339.0 -6600.0 0.0) #f(35339.0 -6600.0 0.0)) 1) 35339.0 -6600.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X562ccfdacef8 corridor7 (:prism (#f(35339.0 -27300.0 0.0) #f(34339.0 -27300.0 0.0) #f(34339.0 -42100.0 0.0) #f(36339.0 -42100.0 0.0) #f(36339.0 -27300.0 0.0) #f(35339.0 -27300.0 0.0)) 1) 35339.0 -27300.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X562ccfe19098 corridor8 (:prism (#f(1010.0 -24110.0 0.0) #f(1010.0 -22760.0 0.0) #f(34329.0 -22760.0 0.0) #f(34329.0 -25460.0 0.0) #f(1010.0 -25460.0 0.0) #f(1010.0 -24110.0 0.0)) 1) 1010.0 -24110.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :orange
transparent: body #<scene-model #X562ccfa5b198 81a1  -1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X562ccfaf60c0 81b2  1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X562ccfb2eec8 81c2  34329.0 -30750.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X562ccffad0a0 82a1  -1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X562ccffd1188 82b1  1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X562ccffd3118 82b2  1010.0 -10200.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X562ccffff360 82d1  36349.0 -20550.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X562cd0037fb8 83a1  -1010.0 3600.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :deeppink
transparent: body #<scene-model #X562cd004a068 83a2  -1010.0 7050.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :lightpink
transparent: body #<scene-model #X562cd0043918 83a3  -1010.0 10500.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :lawngreen
transparent: body #<scene-model #X562cd004f448 83a4  -1010.0 13950.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<room83b1-scene #X562cd004dee8 83b1  1010.0 3600.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :darkviolet
transparent: body #<scene-model #X562cd280f980 83b2  1010.0 10500.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X562cd28037a0 83d1  36349.0 150.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
cd /home/sktometometo/ros/ws_jsk_ros_pkg/build/jsk_maps; catkin build --get-env jsk_maps | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
..................................................................................................................................................................................................................
Finished  <<< jsk_maps                             [ 11.4 seconds ]                                                                                                                                               
[build] Summary: All 7 packages succeeded!                                                                                                                                                                        
[build]   Ignored:   124 packages were skipped or are blacklisted.                                                                                                                                                
[build]   Warnings:  1 packages succeeded with warnings.                                                                                                                                                          
[build]   Abandoned: None.                                                                                                                                                                                        
[build]   Failed:    None.                                                                                                                                                                                        
[build] Runtime: 38.3 seconds total.                                                                                                                                                                              
[build] Note: Workspace packages have changed, please re-source setup files to use them.

Launch Logs

sktometometo@Leopard
[gitbranch:]
[ROS VERSION:1]
[ROS workspace:/home/sktometometo/ros/ws_jsk_ros_pkg]
[01:54 午後 金 11月 05]
~/ros/ws_jsk_ros_pkg/src $ set_workspace 
  0 : /home/sktometometo/ros/ws_jsk_fetch
  1 : /home/sktometometo/ros/ws_jsk_ros_pkg
  2 : /home/sktometometo/ros/ws_jsk_spot
  3 : /home/sktometometo/ros/ws_speech_session
  Input workspace number. > 1
[bashrc_ROS][INFO] source /home/sktometometo/ros/ws_jsk_ros_pkg/devel/setup.bash
sktometometo@Leopard
[gitbranch:]
[ROS VERSION:1]
[ROS workspace:/home/sktometometo/ros/ws_jsk_ros_pkg]
[01:54 午後 金 11月 05]
~/ros/ws_jsk_ros_pkg/src $ roslaunch jsk_maps start_campus_hongo.launch 
... logging to /home/sktometometo/.ros/log/811407b6-3df4-11ec-85ce-7c10c9467f3d/roslaunch-Leopard-11465.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://Leopard:38145/

SUMMARY
========

PARAMETERS
 * /eng2_map_server00_Leopard_11465_7963816014046505610/frame_id: /eng2/7f
 * /eng2_map_server01_Leopard_11465_6767217463020645897/frame_id: /eng2/1f
 * /eng2_map_server02_Leopard_11465_1749147710411461994/frame_id: /eng2/2f
 * /eng2_map_server03_Leopard_11465_6768010429229255627/frame_id: /eng2/3f
 * /eng2_map_server04_Leopard_11465_7496025675716670268/frame_id: /eng2/8f
 * /eng8_map_server00_Leopard_11465_6444568362938063515/frame_id: /eng8/6f
 * /eng8_map_server01_Leopard_11465_5611428713035812063/frame_id: /eng8/b1f
 * /eng8_map_server02_Leopard_11465_8504201816014117260/frame_id: /eng8/1f
 * /map_server_Leopard_11465_7701402667524459871/frame_id: /hongo
 * /publish_spot_eng2/scene: eng2
 * /publish_spot_eng2/use_pictogram: True
 * /publish_spot_eng8/scene: eng8
 * /publish_spot_eng8/use_pictogram: True
 * /rosdistro: melodic
 * /rosversion: 1.14.12

NODES
  /
    eng2_map_server (multi_map_server/multi_map_server)
    eng2_map_server00_Leopard_11465_7963816014046505610 (map_server/map_server)
    eng2_map_server01_Leopard_11465_6767217463020645897 (map_server/map_server)
    eng2_map_server02_Leopard_11465_1749147710411461994 (map_server/map_server)
    eng2_map_server03_Leopard_11465_6768010429229255627 (map_server/map_server)
    eng2_map_server04_Leopard_11465_7496025675716670268 (map_server/map_server)
    eng2_map_tf00_Leopard_11465_1324695184108806307 (tf/static_transform_publisher)
    eng2_map_tf01_Leopard_11465_1969350657267904840 (tf/static_transform_publisher)
    eng2_map_tf02_Leopard_11465_1932307183806252778 (tf/static_transform_publisher)
    eng2_map_tf03_Leopard_11465_6141525573913808014 (tf/static_transform_publisher)
    eng2_map_tf04_Leopard_11465_7126875249195382943 (tf/static_transform_publisher)
    eng2_map_tf05_Leopard_11465_9190945458366369992 (tf/static_transform_publisher)
    eng2_map_tf06_Leopard_11465_943240624131954674 (tf/static_transform_publisher)
    eng2_map_tf07_Leopard_11465_6526132608487145301 (tf/static_transform_publisher)
    eng2_map_tf08_Leopard_11465_6621082143644098559 (tf/static_transform_publisher)
    eng2_map_tf09_Leopard_11465_8406670722630471904 (tf/static_transform_publisher)
    eng2_tfA_Leopard_11465_6473046119719608577 (tf/static_transform_publisher)
    eng2_tfB_Leopard_11465_1388716218036137576 (tf/static_transform_publisher)
    eng8_map_server (multi_map_server/multi_map_server)
    eng8_map_server00_Leopard_11465_6444568362938063515 (map_server/map_server)
    eng8_map_server01_Leopard_11465_5611428713035812063 (map_server/map_server)
    eng8_map_server02_Leopard_11465_8504201816014117260 (map_server/map_server)
    eng8_map_tf00_Leopard_11465_2437967476027041569 (tf/static_transform_publisher)
    eng8_map_tf01_Leopard_11465_7350363109899192381 (tf/static_transform_publisher)
    eng8_map_tf02_Leopard_11465_3583506189475460155 (tf/static_transform_publisher)
    eng8_map_tf03_Leopard_11465_6448697293465537679 (tf/static_transform_publisher)
    eng8_map_tf04_Leopard_11465_6086845411270699042 (tf/static_transform_publisher)
    eng8_map_tf05_Leopard_11465_1932102933674529453 (tf/static_transform_publisher)
    eng8_tfA_Leopard_11465_1099846283103723539 (tf/static_transform_publisher)
    eng8_tfB_Leopard_11465_8170555171500807511 (tf/static_transform_publisher)
    hongo_tf_Leopard_11465_6867884925160284594 (tf/static_transform_publisher)
    initialpose3d (jsk_maps/initialpose3d.py)
    map_server_Leopard_11465_7701402667524459871 (map_server/map_server)
    publish_spot_eng2 (roseus/roseus)
    publish_spot_eng8 (roseus/roseus)
    publish_spot_hongo (roseus/roseus)
    rviz (rviz/rviz)
    tf_mux (topic_tools/mux)

auto-starting new master
process[master]: started with pid [11538]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 811407b6-3df4-11ec-85ce-7c10c9467f3d
process[rosout-1]: started with pid [11612]
started core service [/rosout]
process[hongo_tf_Leopard_11465_6867884925160284594-2]: started with pid [11615]
process[map_server_Leopard_11465_7701402667524459871-3]: started with pid [11620]
process[publish_spot_hongo-4]: started with pid [11631]
process[eng2_tfA_Leopard_11465_6473046119719608577-5]: started with pid [11633]
process[eng2_map_server00_Leopard_11465_7963816014046505610-6]: started with pid [11634]
process[eng2_map_server01_Leopard_11465_6767217463020645897-7]: started with pid [11636]
process[eng2_map_server02_Leopard_11465_1749147710411461994-8]: started with pid [11643]
process[eng2_map_server03_Leopard_11465_6768010429229255627-9]: started with pid [11649]
process[eng2_map_server04_Leopard_11465_7496025675716670268-10]: started with pid [11655]
process[eng2_map_server-11]: started with pid [11664]
configuring by "/opt/ros/melodic/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; constants process[eng2_map_tf00_Leopard_11465_1324695184108806307-12]: started with pid [11666]
;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; extnum ;; coordinates ;; tty ;; history ;; toplevel ;; trans process[eng2_map_tf01_Leopard_11465_1969350657267904840-13]: started with pid [11667]
;; comp ;; builtins ;; par ;; intersection ;; geoclasses process[eng2_map_tf02_Leopard_11465_1932307183806252778-14]: started with pid [11677]
;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign process[eng2_map_tf03_Leopard_11465_6141525573913808014-15]: started with pid [11684]
;; Xdecl process[eng2_map_tf04_Leopard_11465_7126875249195382943-16]: started with pid [11694]
;; Xgraphics ;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext process[eng2_map_tf05_Leopard_11465_9190945458366369992-17]: started with pid [11696]
;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin 
connected to Xserver DISPLAY=:0
process[eng2_map_tf06_Leopard_11465_943240624131954674-18]: started with pid [11703]
X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage process[eng2_map_tf07_Leopard_11465_6526132608487145301-19]: started with pid [11709]
;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl process[eng2_map_tf08_Leopard_11465_6621082143644098559-20]: started with pid [11719]
;; glconst ;; glforeign ;; gluconst process[eng2_map_tf09_Leopard_11465_8406670722630471904-21]: started with pid [11721]
;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph process[eng2_tfB_Leopard_11465_1388716218036137576-22]: started with pid [11726]
___time ___pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna process[publish_spot_eng2-23]: started with pid [11742]
irtrobot irtsensor irtbvh process[eng8_tfA_Leopard_11465_1099846283103723539-24]: started with pid [11744]
irtcollada irtstl irtwrl irtpointcloud eusbullet bullet irtcollision irtx process[eng8_map_server00_Leopard_11465_6444568362938063515-25]: started with pid [11746]
eusjpeg euspng png irtimage irtglrgb 
;; extending gcstack 0x564ba3292690[16374] --> 0x564ba3718600[32748] top=3c74
process[eng8_map_server01_Leopard_11465_5611428713035812063-26]: started with pid [11752]
process[eng8_map_server02_Leopard_11465_8504201816014117260-27]: started with pid [11753]
irtgl irtglc irtviewer process[eng8_map_server-28]: started with pid [11758]

EusLisp 9.27( 1.2.2) for Linux64 created on ip-10-0-1-65(Tue May 4 17:29:14 PST 2021)
configuring by "/opt/ros/melodic/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; constants process[eng8_map_tf00_Leopard_11465_2437967476027041569-29]: started with pid [11764]
roseus ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array process[eng8_map_tf01_Leopard_11465_7350363109899192381-30]: started with pid [11774]
;; mathtran ;; eusdebug ;; eusforeign ;; extnum ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins process[eng8_map_tf02_Leopard_11465_3583506189475460155-31]: started with pid [11778]
;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon process[eng8_map_tf03_Leopard_11465_6448697293465537679-32]: started with pid [11783]
;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl process[eng8_map_tf04_Leopard_11465_6086845411270699042-33]: started with pid [11792]
;; loading roseus("1.7.4") on euslisp((9.27 ip-10-0-1-65 Tue May 4 17:29:14 PST 2021  1.2.2))
[ INFO] [WallTime: 1636088089.892393675] [node:${node}] [func:ROSEUS_ROSINFO]: install ros::roseus-sigint-handler
;; Xgraphics process[eng8_map_tf05_Leopard_11465_1932102933674529453-34]: started with pid [11799]
;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas eustf ;; Xtop process[eng8_tfB_Leopard_11465_8170555171500807511-35]: started with pid [11801]
;; Xapplwin 
connected to Xserver DISPLAY=:0
X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign process[publish_spot_eng8-36]: started with pid [11817]
;; gldecl ;; glconst ;; glforeign process[initialpose3d-37]: started with pid [11819]
;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph process[tf_mux-38]: started with pid [11821]
___time ___pgsql process[rviz-39]: started with pid [11823]
irtgeo euspqp pqp irtscene irtmodel configuring by "/opt/ros/melodic/share/euslisp/jskeus/eus//lib/eusrt.l"
irtdyna ;; readmacro ;; object ;; packsym ;; common ;; constants irtrobot irtsensor ;; stream irtbvh ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; extnum ;; coordinates irtcollada irtstl ;; tty ;; history irtwrl ;; toplevel irtpointcloud ;; trans ;; comp eusbullet bullet irtcollision irtx ;; builtins ;; par eusjpeg euspng png irtimage ;; intersection ;; geoclasses irtglrgb 
;; extending gcstack 0x561b67d24690[16374] --> 0x561b681aa600[32748] top=3c74
;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl irtgl irtglc irtviewer 
EusLisp 9.27( 1.2.2) for Linux64 created on ip-10-0-1-65(Tue May 4 17:29:14 PST 2021)
;; Xgraphics ;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin roseus 
roseus_c_util ;; loading roseus("1.7.4") on euslisp((9.27 ip-10-0-1-65 Tue May 4 17:29:14 PST 2021  1.2.2))
[ INFO] [WallTime: 1636088089.991859556] [node:${node}] [func:ROSEUS_ROSINFO]: install ros::roseus-sigint-handler
connected to Xserver DISPLAY=:0
eustf X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph ___time ___pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtstl irtwrl irtpointcloud eusbullet bullet irtcollision irtx eusjpeg euspng png irtimage irtglrgb 
;; extending gcstack 0x561ef24cd690[16374] --> 0x561ef2953600[32748] top=3c74
irtgl irtglc irtviewer 
EusLisp 9.27( 1.2.2) for Linux64 created on ip-10-0-1-65(Tue May 4 17:29:14 PST 2021)
roseus_c_util roseus ;; loading roseus("1.7.4") on euslisp((9.27 ip-10-0-1-65 Tue May 4 17:29:14 PST 2021  1.2.2))
[ INFO] [WallTime: 1636088090.100519294] [node:${node}] [func:ROSEUS_ROSINFO]: install ros::roseus-sigint-handler
eustf roseus_c_util ;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
Color name (:silver) not found
Color name (:silver) not found
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
Color name (:silver) not found
Color name (:silver) not found
Color name (:silver) not found
Color name (:silver) not found
Color name (:silver) not found
Color name (:silver) not found
transparent: body #<scene-model #X561b697cddc8 71a1  -1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X561b69838cc0 71b  1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X561b69862188 71c2  34329.0 -30750.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X561b69949a88 72a1  -1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X561b699a0c78 72b1  1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X561b699adac8 72b2  1010.0 -10200.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X561b699c5090 72d1  36349.0 -20550.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<body #X561b69af2850 corridor1 (:prism (#f(0.0 0.0 0.0) #f(-1000.0 6.123234e-14 0.0) #f(-1000.0 14800.0 0.0) #f(1000.0 14800.0 0.0) #f(1000.0 -6.123234e-14 0.0) #f(0.0 0.0 0.0)) 1) 0.0 0.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X561b69af2790 corridor2 (:prism (#f(0.0 -6600.0 0.0) #f(-1000.0 -6600.0 0.0) #f(-1000.0 -20700.0 0.0) #f(1000.0 -20700.0 0.0) #f(1000.0 -6600.0 0.0) #f(0.0 -6600.0 0.0)) 1) 0.0 -6600.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X561b69af1e00 corridor3 (:prism (#f(0.0 -27300.0 0.0) #f(-1000.0 -27300.0 0.0) #f(-1000.0 -42100.0 0.0) #f(1000.0 -42100.0 0.0) #f(1000.0 -27300.0 0.0) #f(0.0 -27300.0 0.0)) 1) 0.0 -27300.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X561b69afe4b8 corridor4 (:prism (#f(1010.0 -3300.0 0.0) #f(1010.0 -1950.0 0.0) #f(34329.0 -1950.0 0.0) #f(34329.0 -4650.0 0.0) #f(1010.0 -4650.0 0.0) #f(1010.0 -3300.0 0.0)) 1) 1010.0 -3300.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X561b69afc028 corridor5 (:prism (#f(35339.0 0.0 0.0) #f(34339.0 6.123234e-14 0.0) #f(34339.0 14800.0 0.0) #f(36339.0 14800.0 0.0) #f(36339.0 -6.123234e-14 0.0) #f(35339.0 0.0 0.0)) 1) 35339.0 0.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X561b69b094d8 corridor6 (:prism (#f(35339.0 -6600.0 0.0) #f(34339.0 -6600.0 0.0) #f(34339.0 -20700.0 0.0) #f(36339.0 -20700.0 0.0) #f(36339.0 -6600.0 0.0) #f(35339.0 -6600.0 0.0)) 1) 35339.0 -6600.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X561b69b08b48 corridor7 (:prism (#f(35339.0 -27300.0 0.0) #f(34339.0 -27300.0 0.0) #f(34339.0 -42100.0 0.0) #f(36339.0 -42100.0 0.0) #f(36339.0 -27300.0 0.0) #f(35339.0 -27300.0 0.0)) 1) 35339.0 -27300.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X561b69b05c68 corridor8 (:prism (#f(1010.0 -24110.0 0.0) #f(1010.0 -22760.0 0.0) #f(34329.0 -22760.0 0.0) #f(34329.0 -25460.0 0.0) #f(1010.0 -25460.0 0.0) #f(1010.0 -24110.0 0.0)) 1) 1010.0 -24110.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :orange
[ WARN] [WallTime: 1636088095.104819183] [node:/publish_spot_eng8] [func:ROSEUS_ROSWARN]: [jsk_maps/publish_spot.l] map id is empty! please publish /map_tf_mux/selected.
[ INFO] [WallTime: 1636088095.105655255] [node:/publish_spot_eng8] [func:ROSEUS_ROSINFO]: [jsk_maps/publish_spot.l] map id "/eng2/7f" is selected.
transparent: body #<scene-model #X561b6992c580 81a1  -1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X561b69b2b850 81b2  1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X561b69cb7910 81c2  34329.0 -30750.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X561b69f61298 82a1  -1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X561b69f9d238 82b1  1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X561b69f97ad8 82b2  1010.0 -10200.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X561b69facd98 82d1  36349.0 -20550.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X561b69fdeb58 83a1  -1010.0 3600.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :deeppink
transparent: body #<scene-model #X561b69fd86f0 83a2  -1010.0 7050.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :lightpink
transparent: body #<scene-model #X561b69ff27c8 83a3  -1010.0 10500.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :lawngreen
transparent: body #<scene-model #X561b69fedab8 83a4  -1010.0 13950.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<room83b1-scene #X561b69fec750 83b1  1010.0 3600.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :darkviolet
transparent: body #<scene-model #X561b6c463070 83b2  1010.0 10500.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X561b6c49f200 83d1  36349.0 150.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
could not found object(room73b2-x-leg-desk)transparent: body #<scene-model #X564ba4d79dd8 71a1  -1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X564ba4dd3760 71b  1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X564ba4e2c1e0 71c2  34329.0 -30750.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X564ba4ea79b8 72a1  -1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X564ba4f1bce0 72b1  1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X564ba4f221e8 72b2  1010.0 -10200.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X564ba4f33710 72d1  36349.0 -20550.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<body #X564bad1bbff8 corridor1 (:prism (#f(0.0 0.0 0.0) #f(-1000.0 6.123234e-14 0.0) #f(-1000.0 14800.0 0.0) #f(1000.0 14800.0 0.0) #f(1000.0 -6.123234e-14 0.0) #f(0.0 0.0 0.0)) 1) 0.0 0.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X564bad16db00 corridor2 (:prism (#f(0.0 -6600.0 0.0) #f(-1000.0 -6600.0 0.0) #f(-1000.0 -20700.0 0.0) #f(1000.0 -20700.0 0.0) #f(1000.0 -6600.0 0.0) #f(0.0 -6600.0 0.0)) 1) 0.0 -6600.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X564bad15fbe0 corridor3 (:prism (#f(0.0 -27300.0 0.0) #f(-1000.0 -27300.0 0.0) #f(-1000.0 -42100.0 0.0) #f(1000.0 -42100.0 0.0) #f(1000.0 -27300.0 0.0) #f(0.0 -27300.0 0.0)) 1) 0.0 -27300.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X564bad1568e0 corridor4 (:prism (#f(1010.0 -3300.0 0.0) #f(1010.0 -1950.0 0.0) #f(34329.0 -1950.0 0.0) #f(34329.0 -4650.0 0.0) #f(1010.0 -4650.0 0.0) #f(1010.0 -3300.0 0.0)) 1) 1010.0 -3300.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X564bad14a7f0 corridor5 (:prism (#f(35339.0 0.0 0.0) #f(34339.0 6.123234e-14 0.0) #f(34339.0 14800.0 0.0) #f(36339.0 14800.0 0.0) #f(36339.0 -6.123234e-14 0.0) #f(35339.0 0.0 0.0)) 1) 35339.0 0.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X564bad13e0e8 corridor6 (:prism (#f(35339.0 -6600.0 0.0) #f(34339.0 -6600.0 0.0) #f(34339.0 -20700.0 0.0) #f(36339.0 -20700.0 0.0) #f(36339.0 -6600.0 0.0) #f(35339.0 -6600.0 0.0)) 1) 35339.0 -6600.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X564bad281ae0 corridor7 (:prism (#f(35339.0 -27300.0 0.0) #f(34339.0 -27300.0 0.0) #f(34339.0 -42100.0 0.0) #f(36339.0 -42100.0 0.0) #f(36339.0 -27300.0 0.0) #f(35339.0 -27300.0 0.0)) 1) 35339.0 -27300.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X564bad273b48 corridor8 (:prism (#f(1010.0 -24110.0 0.0) #f(1010.0 -22760.0 0.0) #f(34329.0 -22760.0 0.0) #f(34329.0 -25460.0 0.0) #f(1010.0 -25460.0 0.0) #f(1010.0 -24110.0 0.0)) 1) 1010.0 -24110.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :orange
transparent: body #<scene-model #X564ba4e99fb8 81a1  -1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X564ba4f7e940 81b2  1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X564ba4ff4e40 81c2  34329.0 -30750.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X564ba59ca458 82a1  -1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X564ba5aa92e8 82b1  1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X564ba5b3ea28 82b2  1010.0 -10200.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X564ba5c04ec8 82d1  36349.0 -20550.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X564ba5c28008 83a1  -1010.0 3600.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :deeppink
transparent: body #<scene-model #X564ba5c21600 83a2  -1010.0 7050.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :lightpink
transparent: body #<scene-model #X564ba5cb2318 83a3  -1010.0 10500.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :lawngreen
transparent: body #<scene-model #X564ba5ca6a08 83a4  -1010.0 13950.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<room83b1-scene #X564ba5ca34c8 83b1  1010.0 3600.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :darkviolet
transparent: body #<scene-model #X564ba719e9a0 83b2  1010.0 10500.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X564ba717cb78 83d1  36349.0 150.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
could not found object(room73b2-x-leg-desk)[ WARN] [WallTime: 1636088096.340882338] [node:/publish_spot_eng2] [func:ROSEUS_ROSWARN]: [jsk_maps/publish_spot.l] map id is empty! please publish /map_tf_mux/selected.
[ INFO] [WallTime: 1636088096.341725224] [node:/publish_spot_eng2] [func:ROSEUS_ROSINFO]: [jsk_maps/publish_spot.l] map id "/eng2/7f" is selected.
could not found spot(/hongo/main-gate)could not found spot(/hongo/starbucks)

k-okada commented 3 years ago

you need to cherry-pick https://github.com/jsk-ros-pkg/jsk_demos/commit/2548983aab786b028dbc8034b3030bd5c4e08684

◉ Kei Okada

2021年11月5日(金) 14:01 Koki Shinjo @.***>:

I have run catkin clean and built jsk_maps again. But markers are still on the top of world frame.

[image: Screenshot from 2021-11-05 13-58-52] https://user-images.githubusercontent.com/9410362/140460617-ffc530bf-584e-4d5f-b591-8a101474a38d.png Build log

@.***

[gitbranch:]

[ROS VERSION:1]

[ROS workspace:/home/sktometometo/ros/ws_jsk_ros_pkg]

[01:53 午後金 11月 05]

~/ros/ws_jsk_ros_pkg/src $ catkin build jsk_maps

Profile: default

Extending: [env] /opt/ros/melodic

Workspace: /home/sktometometo/ros/ws_jsk_ros_pkg

Build Space: [exists] /home/sktometometo/ros/ws_jsk_ros_pkg/build

Devel Space: [exists] /home/sktometometo/ros/ws_jsk_ros_pkg/devel

Install Space: [unused] /home/sktometometo/ros/ws_jsk_ros_pkg/install

Log Space: [missing] /home/sktometometo/ros/ws_jsk_ros_pkg/logs

Source Space: [exists] /home/sktometometo/ros/ws_jsk_ros_pkg/src

DESTDIR: [unused] None

Devel Space Layout: linked

Install Space Layout: None

Additional CMake Args: None

Additional Make Args: None

Additional catkin Make Args: None

Internal Make Job Server: True

Cache Job Environments: False

Whitelisted Packages: None

Blacklisted Packages: None

Workspace configuration appears valid.

NOTE: Forcing CMake to run for each package.

[build] Found '130' packages in 0.0 seconds.

[build] Updating package table.

Starting >>> catkin_tools_prebuild

Finished <<< catkin_tools_prebuild [ 2.0 seconds ]

Starting >>> dynamic_tf_publisher

Starting >>> jsk_network_tools

Finished <<< dynamic_tf_publisher [ 4.3 seconds ]

Starting >>> jsk_topic_tools

Finished <<< jsk_network_tools [ 6.7 seconds ]

Finished <<< jsk_topic_tools [ 13.4 seconds ]

Starting >>> jsk_tools

Finished <<< jsk_tools [ 2.8 seconds ]

Starting >>> multi_map_server

Finished <<< multi_map_server [ 4.1 seconds ]

Starting >>> jsk_maps

Warnings << jsk_maps:cmake /home/sktometometo/ros/ws_jsk_ros_pkg/logs/jsk_maps/build.cmake.000.log

-- set EUSDIR to /opt/ros/melodic/share/euslisp/jskeus/eus

-- set ARCHDIR to Linux64

-- Set GCC_MACHINE to x86_64-linux-gnu

cd /home/sktometometo/ros/ws_jsk_ros_pkg/build/jsk_maps; catkin build --get-env jsk_maps | catkin env -si /usr/bin/cmake /home/sktometometo/ros/ws_jsk_ros_pkg/src/jsk_demos/jsk_maps --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/sktometometo/ros/ws_jsk_ros_pkg/devel/.private/jsk_maps -DCMAKE_INSTALL_PREFIX=/home/sktometometo/ros/ws_jsk_ros_pkg/install; cd -

..................................................................................................................................................................................................................

Warnings << jsk_maps:make /home/sktometometo/ros/ws_jsk_ros_pkg/logs/jsk_maps/build.make.000.log

Xserver connection failed;;3 face-to-face contact(s) found.

;;2 face-to-face alignment(s) found.

;;3 face-to-face contact(s) found.

;;2 face-to-face alignment(s) found.

;;3 face-to-face contact(s) found.

;;2 face-to-face alignment(s) found.

;;3 face-to-face contact(s) found.

;;2 face-to-face alignment(s) found.

;;3 face-to-face contact(s) found.

;;2 face-to-face alignment(s) found.

;;3 face-to-face contact(s) found.

;;2 face-to-face alignment(s) found.

;;3 face-to-face contact(s) found.

;;2 face-to-face alignment(s) found.

;;3 face-to-face contact(s) found.

;;2 face-to-face alignment(s) found.

;;3 face-to-face contact(s) found.

;;2 face-to-face alignment(s) found.

;;3 face-to-face contact(s) found.

;;2 face-to-face alignment(s) found.

Color name (:silver) not found

Color name (:silver) not found

Color name (:silver) not found

Color name (:silver) not found

transparent: body #<scene-model #X562ccf970078 71a1 -1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X562ccfa12d88 71b 1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X562ccfa21418 71c2 34329.0 -30750.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X562ccfa61d00 72a1 -1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X562ccfa73df8 72b1 1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X562ccfa7ff88 72b2 1010.0 -10200.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X562ccfa8e2a0 72d1 36349.0 -20550.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<body #X562ccfcfaf58 corridor1 (:prism (#f(0.0 0.0 0.0) #f(-1000.0 6.123234e-14 0.0) #f(-1000.0 14800.0 0.0) #f(1000.0 14800.0 0.0) #f(1000.0 -6.123234e-14 0.0) #f(0.0 0.0 0.0)) 1) 0.0 0.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange

transparent: body #<body #X562ccfd170f8 corridor2 (:prism (#f(0.0 -6600.0 0.0) #f(-1000.0 -6600.0 0.0) #f(-1000.0 -20700.0 0.0) #f(1000.0 -20700.0 0.0) #f(1000.0 -6600.0 0.0) #f(0.0 -6600.0 0.0)) 1) 0.0 -6600.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange

transparent: body #<body #X562ccfd16570 corridor3 (:prism (#f(0.0 -27300.0 0.0) #f(-1000.0 -27300.0 0.0) #f(-1000.0 -42100.0 0.0) #f(1000.0 -42100.0 0.0) #f(1000.0 -27300.0 0.0) #f(0.0 -27300.0 0.0)) 1) 0.0 -27300.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange

transparent: body #<body #X562ccfd4d938 corridor4 (:prism (#f(1010.0 -3300.0 0.0) #f(1010.0 -1950.0 0.0) #f(34329.0 -1950.0 0.0) #f(34329.0 -4650.0 0.0) #f(1010.0 -4650.0 0.0) #f(1010.0 -3300.0 0.0)) 1) 1010.0 -3300.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :orange

transparent: body #<body #X562ccfd5a518 corridor5 (:prism (#f(35339.0 0.0 0.0) #f(34339.0 6.123234e-14 0.0) #f(34339.0 14800.0 0.0) #f(36339.0 14800.0 0.0) #f(36339.0 -6.123234e-14 0.0) #f(35339.0 0.0 0.0)) 1) 35339.0 0.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange

transparent: body #<body #X562ccfd6a5e8 corridor6 (:prism (#f(35339.0 -6600.0 0.0) #f(34339.0 -6600.0 0.0) #f(34339.0 -20700.0 0.0) #f(36339.0 -20700.0 0.0) #f(36339.0 -6600.0 0.0) #f(35339.0 -6600.0 0.0)) 1) 35339.0 -6600.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange

transparent: body #<body #X562ccfdacef8 corridor7 (:prism (#f(35339.0 -27300.0 0.0) #f(34339.0 -27300.0 0.0) #f(34339.0 -42100.0 0.0) #f(36339.0 -42100.0 0.0) #f(36339.0 -27300.0 0.0) #f(35339.0 -27300.0 0.0)) 1) 35339.0 -27300.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange

transparent: body #<body #X562ccfe19098 corridor8 (:prism (#f(1010.0 -24110.0 0.0) #f(1010.0 -22760.0 0.0) #f(34329.0 -22760.0 0.0) #f(34329.0 -25460.0 0.0) #f(1010.0 -25460.0 0.0) #f(1010.0 -24110.0 0.0)) 1) 1010.0 -24110.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :orange

transparent: body #<scene-model #X562ccfa5b198 81a1 -1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X562ccfaf60c0 81b2 1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X562ccfb2eec8 81c2 34329.0 -30750.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X562ccffad0a0 82a1 -1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X562ccffd1188 82b1 1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X562ccffd3118 82b2 1010.0 -10200.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X562ccffff360 82d1 36349.0 -20550.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X562cd0037fb8 83a1 -1010.0 3600.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :deeppink

transparent: body #<scene-model #X562cd004a068 83a2 -1010.0 7050.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :lightpink

transparent: body #<scene-model #X562cd0043918 83a3 -1010.0 10500.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :lawngreen

transparent: body #<scene-model #X562cd004f448 83a4 -1010.0 13950.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<room83b1-scene #X562cd004dee8 83b1 1010.0 3600.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :darkviolet

transparent: body #<scene-model #X562cd280f980 83b2 1010.0 10500.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X562cd28037a0 83d1 36349.0 150.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

cd /home/sktometometo/ros/ws_jsk_ros_pkg/build/jsk_maps; catkin build --get-env jsk_maps | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -

..................................................................................................................................................................................................................

Finished <<< jsk_maps [ 11.4 seconds ]

[build] Summary: All 7 packages succeeded!

[build] Ignored: 124 packages were skipped or are blacklisted.

[build] Warnings: 1 packages succeeded with warnings.

[build] Abandoned: None.

[build] Failed: None.

[build] Runtime: 38.3 seconds total.

[build] Note: Workspace packages have changed, please re-source setup files to use them.

Launch Logs

@.***

[gitbranch:]

[ROS VERSION:1]

[ROS workspace:/home/sktometometo/ros/ws_jsk_ros_pkg]

[01:54 午後金 11月 05]

~/ros/ws_jsk_ros_pkg/src $ set_workspace

0 : /home/sktometometo/ros/ws_jsk_fetch

1 : /home/sktometometo/ros/ws_jsk_ros_pkg

2 : /home/sktometometo/ros/ws_jsk_spot

3 : /home/sktometometo/ros/ws_speech_session

Input workspace number. > 1

[bashrc_ROS][INFO] source /home/sktometometo/ros/ws_jsk_ros_pkg/devel/setup.bash

@.***

[gitbranch:]

[ROS VERSION:1]

[ROS workspace:/home/sktometometo/ros/ws_jsk_ros_pkg]

[01:54 午後金 11月 05]

~/ros/ws_jsk_ros_pkg/src $ roslaunch jsk_maps start_campus_hongo.launch

... logging to /home/sktometometo/.ros/log/811407b6-3df4-11ec-85ce-7c10c9467f3d/roslaunch-Leopard-11465.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://Leopard:38145/

SUMMARY

========

PARAMETERS

/eng2_map_server00_Leopard_11465_7963816014046505610/frame_id: /eng2/7f

/eng2_map_server01_Leopard_11465_6767217463020645897/frame_id: /eng2/1f

/eng2_map_server02_Leopard_11465_1749147710411461994/frame_id: /eng2/2f

/eng2_map_server03_Leopard_11465_6768010429229255627/frame_id: /eng2/3f

/eng2_map_server04_Leopard_11465_7496025675716670268/frame_id: /eng2/8f

/eng8_map_server00_Leopard_11465_6444568362938063515/frame_id: /eng8/6f

/eng8_map_server01_Leopard_11465_5611428713035812063/frame_id: /eng8/b1f

/eng8_map_server02_Leopard_11465_8504201816014117260/frame_id: /eng8/1f

/map_server_Leopard_11465_7701402667524459871/frame_id: /hongo

/publish_spot_eng2/scene: eng2

/publish_spot_eng2/use_pictogram: True

/publish_spot_eng8/scene: eng8

/publish_spot_eng8/use_pictogram: True

/rosdistro: melodic

/rosversion: 1.14.12

NODES

/
eng2_map_server (multi_map_server/multi_map_server)

eng2_map_server00_Leopard_11465_7963816014046505610 (map_server/map_server)

eng2_map_server01_Leopard_11465_6767217463020645897 (map_server/map_server)

eng2_map_server02_Leopard_11465_1749147710411461994 (map_server/map_server)

eng2_map_server03_Leopard_11465_6768010429229255627 (map_server/map_server)

eng2_map_server04_Leopard_11465_7496025675716670268 (map_server/map_server)

eng2_map_tf00_Leopard_11465_1324695184108806307 (tf/static_transform_publisher)

eng2_map_tf01_Leopard_11465_1969350657267904840 (tf/static_transform_publisher)

eng2_map_tf02_Leopard_11465_1932307183806252778 (tf/static_transform_publisher)

eng2_map_tf03_Leopard_11465_6141525573913808014 (tf/static_transform_publisher)

eng2_map_tf04_Leopard_11465_7126875249195382943 (tf/static_transform_publisher)

eng2_map_tf05_Leopard_11465_9190945458366369992 (tf/static_transform_publisher)

eng2_map_tf06_Leopard_11465_943240624131954674 (tf/static_transform_publisher)

eng2_map_tf07_Leopard_11465_6526132608487145301 (tf/static_transform_publisher)

eng2_map_tf08_Leopard_11465_6621082143644098559 (tf/static_transform_publisher)

eng2_map_tf09_Leopard_11465_8406670722630471904 (tf/static_transform_publisher)

eng2_tfA_Leopard_11465_6473046119719608577 (tf/static_transform_publisher)

eng2_tfB_Leopard_11465_1388716218036137576 (tf/static_transform_publisher)

eng8_map_server (multi_map_server/multi_map_server)

eng8_map_server00_Leopard_11465_6444568362938063515 (map_server/map_server)

eng8_map_server01_Leopard_11465_5611428713035812063 (map_server/map_server)

eng8_map_server02_Leopard_11465_8504201816014117260 (map_server/map_server)

eng8_map_tf00_Leopard_11465_2437967476027041569 (tf/static_transform_publisher)

eng8_map_tf01_Leopard_11465_7350363109899192381 (tf/static_transform_publisher)

eng8_map_tf02_Leopard_11465_3583506189475460155 (tf/static_transform_publisher)

eng8_map_tf03_Leopard_11465_6448697293465537679 (tf/static_transform_publisher)

eng8_map_tf04_Leopard_11465_6086845411270699042 (tf/static_transform_publisher)

eng8_map_tf05_Leopard_11465_1932102933674529453 (tf/static_transform_publisher)

eng8_tfA_Leopard_11465_1099846283103723539 (tf/static_transform_publisher)

eng8_tfB_Leopard_11465_8170555171500807511 (tf/static_transform_publisher)

hongo_tf_Leopard_11465_6867884925160284594 (tf/static_transform_publisher)

initialpose3d (jsk_maps/initialpose3d.py)

map_server_Leopard_11465_7701402667524459871 (map_server/map_server)

publish_spot_eng2 (roseus/roseus)

publish_spot_eng8 (roseus/roseus)

publish_spot_hongo (roseus/roseus)

rviz (rviz/rviz)

tf_mux (topic_tools/mux)
auto-starting new master

process[master]: started with pid [11538]

ROS_MASTER_URI=http://localhost:11311

setting /run_id to 811407b6-3df4-11ec-85ce-7c10c9467f3d

process[rosout-1]: started with pid [11612]

started core service [/rosout]

process[hongo_tf_Leopard_11465_6867884925160284594-2]: started with pid [11615]

process[map_server_Leopard_11465_7701402667524459871-3]: started with pid [11620]

process[publish_spot_hongo-4]: started with pid [11631]

process[eng2_tfA_Leopard_11465_6473046119719608577-5]: started with pid [11633]

process[eng2_map_server00_Leopard_11465_7963816014046505610-6]: started with pid [11634]

process[eng2_map_server01_Leopard_11465_6767217463020645897-7]: started with pid [11636]

process[eng2_map_server02_Leopard_11465_1749147710411461994-8]: started with pid [11643]

process[eng2_map_server03_Leopard_11465_6768010429229255627-9]: started with pid [11649]

process[eng2_map_server04_Leopard_11465_7496025675716670268-10]: started with pid [11655]

process[eng2_map_server-11]: started with pid [11664]

configuring by "/opt/ros/melodic/share/euslisp/jskeus/eus//lib/eusrt.l"

;; readmacro ;; object ;; packsym ;; common ;; constants process[eng2_map_tf00_Leopard_11465_1324695184108806307-12]: started with pid [11666]

;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; extnum ;; coordinates ;; tty ;; history ;; toplevel ;; trans process[eng2_map_tf01_Leopard_11465_1969350657267904840-13]: started with pid [11667]

;; comp ;; builtins ;; par ;; intersection ;; geoclasses process[eng2_map_tf02_Leopard_11465_1932307183806252778-14]: started with pid [11677]

;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign process[eng2_map_tf03_Leopard_11465_6141525573913808014-15]: started with pid [11684]

;; Xdecl process[eng2_map_tf04_Leopard_11465_7126875249195382943-16]: started with pid [11694]

;; Xgraphics ;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext process[eng2_map_tf05_Leopard_11465_9190945458366369992-17]: started with pid [11696]

;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin

connected to Xserver DISPLAY=:0

process[eng2_map_tf06_Leopard_11465_943240624131954674-18]: started with pid [11703]

X events are being asynchronously monitored.

;; pixword ;; RGBHLS ;; convolve ;; piximage process[eng2_map_tf07_Leopard_11465_6526132608487145301-19]: started with pid [11709]

;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl process[eng2_map_tf08_Leopard_11465_6621082143644098559-20]: started with pid [11719]

;; glconst ;; glforeign ;; gluconst process[eng2_map_tf09_Leopard_11465_8406670722630471904-21]: started with pid [11721]

;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph process[eng2_tfB_Leopard_11465_1388716218036137576-22]: started with pid [11726]

time pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna process[publish_spot_eng2-23]: started with pid [11742]

irtrobot irtsensor irtbvh process[eng8_tfA_Leopard_11465_1099846283103723539-24]: started with pid [11744]

irtcollada irtstl irtwrl irtpointcloud eusbullet bullet irtcollision irtx process[eng8_map_server00_Leopard_11465_6444568362938063515-25]: started with pid [11746]

eusjpeg euspng png irtimage irtglrgb

;; extending gcstack 0x564ba3292690[16374] --> 0x564ba3718600[32748] top=3c74

process[eng8_map_server01_Leopard_11465_5611428713035812063-26]: started with pid [11752]

process[eng8_map_server02_Leopard_11465_8504201816014117260-27]: started with pid [11753]

irtgl irtglc irtviewer process[eng8_map_server-28]: started with pid [11758]

EusLisp 9.27( 1.2.2) for Linux64 created on ip-10-0-1-65(Tue May 4 17:29:14 PST 2021)

configuring by "/opt/ros/melodic/share/euslisp/jskeus/eus//lib/eusrt.l"

;; readmacro ;; object ;; packsym ;; common ;; constants process[eng8_map_tf00_Leopard_11465_2437967476027041569-29]: started with pid [11764]

roseus ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array process[eng8_map_tf01_Leopard_11465_7350363109899192381-30]: started with pid [11774]

;; mathtran ;; eusdebug ;; eusforeign ;; extnum ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins process[eng8_map_tf02_Leopard_11465_3583506189475460155-31]: started with pid [11778]

;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon process[eng8_map_tf03_Leopard_11465_6448697293465537679-32]: started with pid [11783]

;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl process[eng8_map_tf04_Leopard_11465_6086845411270699042-33]: started with pid [11792]

;; loading roseus("1.7.4") on euslisp((9.27 ip-10-0-1-65 Tue May 4 17:29:14 PST 2021 1.2.2))

[ INFO] [WallTime: 1636088089.892393675] [node:${node}] [func:ROSEUS_ROSINFO]: install ros::roseus-sigint-handler

;; Xgraphics process[eng8_map_tf05_Leopard_11465_1932102933674529453-34]: started with pid [11799]

;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas eustf ;; Xtop process[eng8_tfB_Leopard_11465_8170555171500807511-35]: started with pid [11801]

;; Xapplwin

connected to Xserver DISPLAY=:0

X events are being asynchronously monitored.

;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign process[publish_spot_eng8-36]: started with pid [11817]

;; gldecl ;; glconst ;; glforeign process[initialpose3d-37]: started with pid [11819]

;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph process[tf_mux-38]: started with pid [11821]

time pgsql process[rviz-39]: started with pid [11823]

irtgeo euspqp pqp irtscene irtmodel configuring by "/opt/ros/melodic/share/euslisp/jskeus/eus//lib/eusrt.l"

irtdyna ;; readmacro ;; object ;; packsym ;; common ;; constants irtrobot irtsensor ;; stream irtbvh ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; extnum ;; coordinates irtcollada irtstl ;; tty ;; history irtwrl ;; toplevel irtpointcloud ;; trans ;; comp eusbullet bullet irtcollision irtx ;; builtins ;; par eusjpeg euspng png irtimage ;; intersection ;; geoclasses irtglrgb

;; extending gcstack 0x561b67d24690[16374] --> 0x561b681aa600[32748] top=3c74

;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl irtgl irtglc irtviewer

EusLisp 9.27( 1.2.2) for Linux64 created on ip-10-0-1-65(Tue May 4 17:29:14 PST 2021)

;; Xgraphics ;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin roseus

roseus_c_util ;; loading roseus("1.7.4") on euslisp((9.27 ip-10-0-1-65 Tue May 4 17:29:14 PST 2021 1.2.2))

[ INFO] [WallTime: 1636088089.991859556] [node:${node}] [func:ROSEUS_ROSINFO]: install ros::roseus-sigint-handler

connected to Xserver DISPLAY=:0

eustf X events are being asynchronously monitored.

;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph time pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtstl irtwrl irtpointcloud eusbullet bullet irtcollision irtx eusjpeg euspng png irtimage irtglrgb

;; extending gcstack 0x561ef24cd690[16374] --> 0x561ef2953600[32748] top=3c74

irtgl irtglc irtviewer

EusLisp 9.27( 1.2.2) for Linux64 created on ip-10-0-1-65(Tue May 4 17:29:14 PST 2021)

roseus_c_util roseus ;; loading roseus("1.7.4") on euslisp((9.27 ip-10-0-1-65 Tue May 4 17:29:14 PST 2021 1.2.2))

[ INFO] [WallTime: 1636088090.100519294] [node:${node}] [func:ROSEUS_ROSINFO]: install ros::roseus-sigint-handler

eustf roseus_c_util ;;3 face-to-face contact(s) found.

;;2 face-to-face alignment(s) found.

;;3 face-to-face contact(s) found.

;;2 face-to-face alignment(s) found.

;;3 face-to-face contact(s) found.

;;2 face-to-face alignment(s) found.

;;3 face-to-face contact(s) found.

;;2 face-to-face alignment(s) found.

;;3 face-to-face contact(s) found.

;;2 face-to-face alignment(s) found.

;;3 face-to-face contact(s) found.

;;2 face-to-face alignment(s) found.

;;3 face-to-face contact(s) found.

;;2 face-to-face alignment(s) found.

;;3 face-to-face contact(s) found.

;;2 face-to-face alignment(s) found.

;;3 face-to-face contact(s) found.

;;2 face-to-face alignment(s) found.

;;3 face-to-face contact(s) found.

;;2 face-to-face alignment(s) found.

Color name (:silver) not found

Color name (:silver) not found

;;3 face-to-face contact(s) found.

;;2 face-to-face alignment(s) found.

;;3 face-to-face contact(s) found.

;;2 face-to-face alignment(s) found.

;;3 face-to-face contact(s) found.

;;2 face-to-face alignment(s) found.

;;3 face-to-face contact(s) found.

;;2 face-to-face alignment(s) found.

;;3 face-to-face contact(s) found.

;;2 face-to-face alignment(s) found.

;;3 face-to-face contact(s) found.

;;2 face-to-face alignment(s) found.

;;3 face-to-face contact(s) found.

;;2 face-to-face alignment(s) found.

;;3 face-to-face contact(s) found.

;;2 face-to-face alignment(s) found.

;;3 face-to-face contact(s) found.

;;2 face-to-face alignment(s) found.

;;3 face-to-face contact(s) found.

;;2 face-to-face alignment(s) found.

Color name (:silver) not found

Color name (:silver) not found

Color name (:silver) not found

Color name (:silver) not found

Color name (:silver) not found

Color name (:silver) not found

transparent: body #<scene-model #X561b697cddc8 71a1 -1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X561b69838cc0 71b 1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X561b69862188 71c2 34329.0 -30750.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X561b69949a88 72a1 -1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X561b699a0c78 72b1 1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X561b699adac8 72b2 1010.0 -10200.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X561b699c5090 72d1 36349.0 -20550.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<body #X561b69af2850 corridor1 (:prism (#f(0.0 0.0 0.0) #f(-1000.0 6.123234e-14 0.0) #f(-1000.0 14800.0 0.0) #f(1000.0 14800.0 0.0) #f(1000.0 -6.123234e-14 0.0) #f(0.0 0.0 0.0)) 1) 0.0 0.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange

transparent: body #<body #X561b69af2790 corridor2 (:prism (#f(0.0 -6600.0 0.0) #f(-1000.0 -6600.0 0.0) #f(-1000.0 -20700.0 0.0) #f(1000.0 -20700.0 0.0) #f(1000.0 -6600.0 0.0) #f(0.0 -6600.0 0.0)) 1) 0.0 -6600.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange

transparent: body #<body #X561b69af1e00 corridor3 (:prism (#f(0.0 -27300.0 0.0) #f(-1000.0 -27300.0 0.0) #f(-1000.0 -42100.0 0.0) #f(1000.0 -42100.0 0.0) #f(1000.0 -27300.0 0.0) #f(0.0 -27300.0 0.0)) 1) 0.0 -27300.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange

transparent: body #<body #X561b69afe4b8 corridor4 (:prism (#f(1010.0 -3300.0 0.0) #f(1010.0 -1950.0 0.0) #f(34329.0 -1950.0 0.0) #f(34329.0 -4650.0 0.0) #f(1010.0 -4650.0 0.0) #f(1010.0 -3300.0 0.0)) 1) 1010.0 -3300.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :orange

transparent: body #<body #X561b69afc028 corridor5 (:prism (#f(35339.0 0.0 0.0) #f(34339.0 6.123234e-14 0.0) #f(34339.0 14800.0 0.0) #f(36339.0 14800.0 0.0) #f(36339.0 -6.123234e-14 0.0) #f(35339.0 0.0 0.0)) 1) 35339.0 0.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange

transparent: body #<body #X561b69b094d8 corridor6 (:prism (#f(35339.0 -6600.0 0.0) #f(34339.0 -6600.0 0.0) #f(34339.0 -20700.0 0.0) #f(36339.0 -20700.0 0.0) #f(36339.0 -6600.0 0.0) #f(35339.0 -6600.0 0.0)) 1) 35339.0 -6600.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange

transparent: body #<body #X561b69b08b48 corridor7 (:prism (#f(35339.0 -27300.0 0.0) #f(34339.0 -27300.0 0.0) #f(34339.0 -42100.0 0.0) #f(36339.0 -42100.0 0.0) #f(36339.0 -27300.0 0.0) #f(35339.0 -27300.0 0.0)) 1) 35339.0 -27300.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange

transparent: body #<body #X561b69b05c68 corridor8 (:prism (#f(1010.0 -24110.0 0.0) #f(1010.0 -22760.0 0.0) #f(34329.0 -22760.0 0.0) #f(34329.0 -25460.0 0.0) #f(1010.0 -25460.0 0.0) #f(1010.0 -24110.0 0.0)) 1) 1010.0 -24110.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :orange

[ WARN] [WallTime: 1636088095.104819183] [node:/publish_spot_eng8] [func:ROSEUS_ROSWARN]: [jsk_maps/publish_spot.l] map id is empty! please publish /map_tf_mux/selected.

[ INFO] [WallTime: 1636088095.105655255] [node:/publish_spot_eng8] [func:ROSEUS_ROSINFO]: [jsk_maps/publish_spot.l] map id "/eng2/7f" is selected.

transparent: body #<scene-model #X561b6992c580 81a1 -1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X561b69b2b850 81b2 1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X561b69cb7910 81c2 34329.0 -30750.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X561b69f61298 82a1 -1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X561b69f9d238 82b1 1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X561b69f97ad8 82b2 1010.0 -10200.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X561b69facd98 82d1 36349.0 -20550.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X561b69fdeb58 83a1 -1010.0 3600.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :deeppink

transparent: body #<scene-model #X561b69fd86f0 83a2 -1010.0 7050.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :lightpink

transparent: body #<scene-model #X561b69ff27c8 83a3 -1010.0 10500.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :lawngreen

transparent: body #<scene-model #X561b69fedab8 83a4 -1010.0 13950.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<room83b1-scene #X561b69fec750 83b1 1010.0 3600.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :darkviolet

transparent: body #<scene-model #X561b6c463070 83b2 1010.0 10500.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X561b6c49f200 83d1 36349.0 150.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

could not found object(room73b2-x-leg-desk)transparent: body #<scene-model #X564ba4d79dd8 71a1 -1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X564ba4dd3760 71b 1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X564ba4e2c1e0 71c2 34329.0 -30750.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X564ba4ea79b8 72a1 -1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X564ba4f1bce0 72b1 1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X564ba4f221e8 72b2 1010.0 -10200.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X564ba4f33710 72d1 36349.0 -20550.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<body #X564bad1bbff8 corridor1 (:prism (#f(0.0 0.0 0.0) #f(-1000.0 6.123234e-14 0.0) #f(-1000.0 14800.0 0.0) #f(1000.0 14800.0 0.0) #f(1000.0 -6.123234e-14 0.0) #f(0.0 0.0 0.0)) 1) 0.0 0.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange

transparent: body #<body #X564bad16db00 corridor2 (:prism (#f(0.0 -6600.0 0.0) #f(-1000.0 -6600.0 0.0) #f(-1000.0 -20700.0 0.0) #f(1000.0 -20700.0 0.0) #f(1000.0 -6600.0 0.0) #f(0.0 -6600.0 0.0)) 1) 0.0 -6600.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange

transparent: body #<body #X564bad15fbe0 corridor3 (:prism (#f(0.0 -27300.0 0.0) #f(-1000.0 -27300.0 0.0) #f(-1000.0 -42100.0 0.0) #f(1000.0 -42100.0 0.0) #f(1000.0 -27300.0 0.0) #f(0.0 -27300.0 0.0)) 1) 0.0 -27300.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange

transparent: body #<body #X564bad1568e0 corridor4 (:prism (#f(1010.0 -3300.0 0.0) #f(1010.0 -1950.0 0.0) #f(34329.0 -1950.0 0.0) #f(34329.0 -4650.0 0.0) #f(1010.0 -4650.0 0.0) #f(1010.0 -3300.0 0.0)) 1) 1010.0 -3300.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :orange

transparent: body #<body #X564bad14a7f0 corridor5 (:prism (#f(35339.0 0.0 0.0) #f(34339.0 6.123234e-14 0.0) #f(34339.0 14800.0 0.0) #f(36339.0 14800.0 0.0) #f(36339.0 -6.123234e-14 0.0) #f(35339.0 0.0 0.0)) 1) 35339.0 0.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange

transparent: body #<body #X564bad13e0e8 corridor6 (:prism (#f(35339.0 -6600.0 0.0) #f(34339.0 -6600.0 0.0) #f(34339.0 -20700.0 0.0) #f(36339.0 -20700.0 0.0) #f(36339.0 -6600.0 0.0) #f(35339.0 -6600.0 0.0)) 1) 35339.0 -6600.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange

transparent: body #<body #X564bad281ae0 corridor7 (:prism (#f(35339.0 -27300.0 0.0) #f(34339.0 -27300.0 0.0) #f(34339.0 -42100.0 0.0) #f(36339.0 -42100.0 0.0) #f(36339.0 -27300.0 0.0) #f(35339.0 -27300.0 0.0)) 1) 35339.0 -27300.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange

transparent: body #<body #X564bad273b48 corridor8 (:prism (#f(1010.0 -24110.0 0.0) #f(1010.0 -22760.0 0.0) #f(34329.0 -22760.0 0.0) #f(34329.0 -25460.0 0.0) #f(1010.0 -25460.0 0.0) #f(1010.0 -24110.0 0.0)) 1) 1010.0 -24110.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :orange

transparent: body #<scene-model #X564ba4e99fb8 81a1 -1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X564ba4f7e940 81b2 1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X564ba4ff4e40 81c2 34329.0 -30750.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X564ba59ca458 82a1 -1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X564ba5aa92e8 82b1 1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X564ba5b3ea28 82b2 1010.0 -10200.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X564ba5c04ec8 82d1 36349.0 -20550.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X564ba5c28008 83a1 -1010.0 3600.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :deeppink

transparent: body #<scene-model #X564ba5c21600 83a2 -1010.0 7050.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :lightpink

transparent: body #<scene-model #X564ba5cb2318 83a3 -1010.0 10500.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :lawngreen

transparent: body #<scene-model #X564ba5ca6a08 83a4 -1010.0 13950.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<room83b1-scene #X564ba5ca34c8 83b1 1010.0 3600.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :darkviolet

transparent: body #<scene-model #X564ba719e9a0 83b2 1010.0 10500.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

transparent: body #<scene-model #X564ba717cb78 83d1 36349.0 150.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue

could not found object(room73b2-x-leg-desk)[ WARN] [WallTime: 1636088096.340882338] [node:/publish_spot_eng2] [func:ROSEUS_ROSWARN]: [jsk_maps/publish_spot.l] map id is empty! please publish /map_tf_mux/selected.

[ INFO] [WallTime: 1636088096.341725224] [node:/publish_spot_eng2] [func:ROSEUS_ROSINFO]: [jsk_maps/publish_spot.l] map id "/eng2/7f" is selected.

could not found spot(/hongo/main-gate)could not found spot(/hongo/starbucks)

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/jsk-ros-pkg/jsk_demos/pull/1349#issuecomment-961628336, or unsubscribe https://github.com/notifications/unsubscribe-auth/AADYNXGUG2IQ6AL77XBR623UKNQD3ANCNFSM5HIVCFMA .

mqcmd196 commented 3 years ago

I've cherry-picked https://github.com/jsk-ros-pkg/jsk_demos/commit/2548983aab786b028dbc8034b3030bd5c4e08684 Is this the expected result? Screenshot from 2021-11-05 14-10-07

k-okada commented 3 years ago

yes

◉ Kei Okada

2021年11月5日(金) 14:12 Yoshiki Obinata @.***>:

Is this the expected result? [image: Screenshot from 2021-11-05 14-10-07] https://user-images.githubusercontent.com/27789460/140461478-ddd6c4cf-f7d6-4cc3-a7dd-215da9510f22.png

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/jsk-ros-pkg/jsk_demos/pull/1349#issuecomment-961632062, or unsubscribe https://github.com/notifications/unsubscribe-auth/AADYNXCGZK575LYJ25DXF6LUKNRPRANCNFSM5HIVCFMA .

sktometometo commented 3 years ago

@mqcmd196 Can you see markers and pictograms for /eng2/7f ?

mqcmd196 commented 3 years ago

@sktometometo like this? Screenshot from 2021-11-05 14-27-43

sktometometo commented 3 years ago

I can see markers with correct position with campus_map_2 branch.

Screenshot from 2021-11-05 14-27-52 s

jsk-ros-pkg / jsk_demos

add Campus map class #1349

Build log

Launch Logs

you need to cherry-pick https://github.com/jsk-ros-pkg/jsk_demos/commit/2548983aab786b028dbc8034b3030bd5c4e08684

yes