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lardemua / atom

Calibration tools for multi-sensor, multi-modal robotic systems
GNU General Public License v3.0
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Initiate Daniela into ATOM #254

Closed miguelriemoliveira closed 3 years ago

miguelriemoliveira commented 3 years ago

Lets use mmtbot as example.

  1. Install ATOM
  2. Install mmtbot
  3. download a bag file
  4. Try the steps of the atom calibration pipeline
  5. Set intial estimate
  6. collect data
  7. calibrate
miguelriemoliveira commented 3 years ago

Hi @danifpdra ,

I solved all pending issues this weekend. Can you work tomorrow? From 10h30 ou 11h? I am not sure when, but I can call when available ...

danifpdra commented 3 years ago

Hi @miguelriemoliveira ,

I can work tomorrow at that time, yes. But I haven't had much time to work this weekend. Is this ok with you or should I work by myself first? I can do it before our meeting.

danifpdra commented 3 years ago

@miguelriemoliveira, can you tell me where I can find the bag files?

miguelriemoliveira commented 3 years ago

@miguelriemoliveira, can you tell me where I can find the bag files?

Sure, you have some mmtbot bag files in the mmtbot readme page.

https://github.com/miguelriemoliveira/mmtbot

danifpdra commented 3 years ago

Fatal error opening the bagfile: [FATAL] [1615307465.689518373]: Error opening file: /opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/home/daniela/bagfiles/mmtbot/21_02_2021.bag

@miguelriemoliveira, can you help me?

miguelriemoliveira commented 3 years ago

Hi @danifpdra ,

which command are you running when you get that error? (please edit the post above to include that information)

Also, do you have that bagfile? Where?

danifpdra commented 3 years ago

@miguelriemoliveira , I have the bagfile in the home/daniela/bagfiles/mmtbot folder. I created an env variable $ROS_BAGS pointing to to home/daniela/bafiles .

When I run roslaunch mmtbot_calibration set_initial_estimate.launch it give me a fatal error: FATAL] [1615309043.508660631]: Error opening file: /opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/home/daniela/bagfiles/mmtbot/21_02_2021.bag

miguelriemoliveira commented 3 years ago

Hi @danifpdra ,

just a comment w.r.t. the style of posting. I usually do it like this, it is better to read:

@miguelriemoliveira , I have the bagfile in the home/daniela/bagfiles/mmtbot folder. I created an env variable $ROS_BAGS pointing to to home/daniela/bafiles (this is wrong, the g in bag is missing. Is it a typo?).

When I run:

roslaunch mmtbot_calibration set_initial_estimate.launch

it give me a fatal error:

FATAL] [1615309043.508660631]: Error opening file: /opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/home/daniela/bagfiles/mmtbot/21_02_2021.bag

miguelriemoliveira commented 3 years ago

Now about the content:

Which bagfile have you configured in your mmtbot_calibration/calibration/config.yml?

https://github.com/miguelriemoliveira/mmtbot/blob/d9fe3efc12f9b0a2ac221fd2c4aeca3b397edcbb/mmtbot_calibration/calibration/config.yml#L35-L39

danifpdra commented 3 years ago

Yes, it is a typo. Sorry.

I have the same bag configured in mmtbot_calibration/calibration/config.yml:

`bag_file: "$ROS_BAGS/mmtbot/21_02_2021.bag"

miguelriemoliveira commented 3 years ago

OK, how about your $ROS_BAGS environment variable. If you type (in the same terminal as you are launching the set initial estimate)

echo $ROS_BAGS

what do you get?

Di you try replacing $ROS_BAGS by the absolute path (not a good solution, but just to try)

danifpdra commented 3 years ago

It outputs

/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/home/daniela/bagfiles

It works when replaced with the absolute path.

miguelriemoliveira commented 3 years ago

that's not correct. Mine outputs (as it should):

/home/mike/bagfiles

How did you create this variable?

danifpdra commented 3 years ago

Like this:

ROS_BAGS="/home/daniela/bagfiles"

miguelriemoliveira commented 3 years ago

Where? .bashrc?

Mine is as follows:

export ROS_BAGS="/home/mike/bagfiles" export ATOM_DATASETS="/home/mike/datasets"

This should be like this in the instructions ...

danifpdra commented 3 years ago

Yes, it was not right, it works now. Thank you and sorry for the trouble.

miguelriemoliveira commented 3 years ago

No problem.

danifpdra commented 3 years ago

Hi @miguelriemoliveira,

The charuco doesn't appear on the image. Am I doing something wrong?

image

miguelriemoliveira commented 3 years ago

Hi @danifpdra ,

lets create one issue for each new topic. It will be easier to find the problems later on.

This issue should be named something like "problems with $ROS_BAG configuration".

And the last question should be an issue like "Cannot visualize charuco in cameras".

Please create this second issue and then I will respond there.

miguelriemoliveira commented 3 years ago

and sorry for being such a nit-picker, but I am really convinced the organization helps, especially in complex projects like this. Also, I am trying to teach you my methodologies so please be patient : - )

miguelriemoliveira commented 3 years ago

This could also be closed?