step to play rosbag

[YuehChuan]

Thanks for make this project available! The paper and video is written well, already explain 90% for the work. If I am ICRA reviewer, I would like to vote for it.

Now already launch pman and see the panel, rviz

also put bag file under directory $DATA_BASE/inputdata/multi_pushes_twofinger_gripper

if further instructions for playing around this work would be grateful! But if there are some consideration, because this is under review, it's ok. I would try to figure out.

Thank you!

[peterkty]

That's great.

I'm not sure if you have compiled things (catkin_make) and run push-est-public/software/config/environment.sh to set some environment variable. You should be able to see a robot in the rviz.

After that, rerun the pman and try the run_playback_and_test_rect1 script.

I'm happy to share the steps, but I have limited time right now. We can schedule a meeting to make it work.

Thank you.

[YuehChuan]

What I have already done is

1. Install dependency under push-est-public/ source install.sh

2. Install isam with /push-est-public/catkin_ws/src/isam_pose/install.sh

3. modify ~/push-est-public/software/config/environment.sh brute force modify CODE_BASE and DATA_BASE, because regular expression not work for me.

Now I can run pman 5-rviz, 9-isam-ros 1-playback rect1

but the behavior is wired, the red rectangle not be tracked. Video https://youtu.be/4ZsMMVBa8hI I haven't dive into the details yet.

the other question is pman 9-isam command. Is that for none ros code testing? (before 9-isam-ros) because cannot fond the executable

/home/rapyuta/push-est-public/catkin_ws/src/isam_pose/cmake-build-debug/devel/lib/isam_pose/isam_pose --shape-id rect1  --doEKF

I also change my path, how to generate cmake-build-debug/devel/lib/isam_pose/isam_pose executable.

Thank you in advance!

[peterkty]

You should use /home/mcube/push/catkin_ws/devel/lib/isam_pose --shape-id rect1 --doEKF or try rosrun isam_pose isam_pose

Shape-id says which object are you using. The object in the video you showed is called butter. So do rosrun isam_pose isam_pose --shape-id butter

In the video, that visualization is not right. I think the isam didn't run correctly. It's better to relaunch everything when you play another bag file. The timing of launching things is also important. Therefore, I often use the scripts in pman to do launch roscore, play bag file, and run the isam_pose program.

I used CLion to compile it, and Clion generate the executable here: /home/rapyuta/push-est-public/catkin_ws/src/isam_pose/cmake-build-debug/devel/lib/isam_pose/isam_pose

[YuehChuan]

I'll try it soon. Thanks for instructions.

[YuehChuan]

cool, at least now the shape is right. Thanks.

[YuehChuan]

YOOOOO, https://youtu.be/eFQQteh3z9s At this time, I gave myself a slap on the shoulder, got a victory beer?

3 miner discussions. One as you had mentioned, the timing is important. Got issue that I need to restart iSAM node from time to time, when the prediction is freezed. ex: like the one in 46-58sec
https://www.youtube.com/watch?v=eFQQteh3z9s&feature=youtu.be#t=0m46s

Second, cyan means apriltag has been detected by the camera. I wonder what is the yellow-brown beam mean? Emphasize the detection?

Third, I felt the rosbag motion is not as smooth as which was provided in the website. Maybe somehow relate to my hardware? ( I7 cpu, 8G ram, on Industrial PC )

In sum, great work! I feel so happy that I can reproduce it. Would make what have been done into gist, then close the issue. Thank you Peter!

[peterkty]

I think the iSAM is frozen because in the main code I hacked it to only run for a fixed length of timesteps. That is only for experiment purpose, we don't need it in reality. Maybe you can try to extend that or remove that limit.

The yellow beam shows if there is a successful apriltag detection at that timestep or not.

Yes, I see your playback is not as smooth. See if you can try on better hardware.

I'm glad that you can reproduce it. Let me know if you have further questions.

[YuehChuan]

TQ!

[YuehChuan]

Summary notes to reproduce https://hackmd.io/s/r1LOsh9XG#

Thank you Peter! :smiley:

[peterkty]

Thanks YuenChuan. Great work on making the wonderful instructions.

I believe many people will benefit from that.

Peter

On Jan 3, 2018, at 15:40, YuehChuan notifications@github.com wrote:

Summary notes to reproduce https://hackmd.io/s/r1LOsh9XG#

Thank you Peter! 😃

— You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread.

[Yanxing-Shi]

Summary notes to reproduce https://hackmd.io/s/r1LOsh9XG#

Thank you Peter!

Hello，do you have the same question?： CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): Could not find a package configuration file provided by "apriltags" with any of the following names:

apriltagsConfig.cmake apriltags-config.cmake Add the installation prefix of "apriltags" to CMAKE_PREFIX_PATH or set "apriltags_DIR" to a directory containing one of the above files. If "apriltags" provides a separate development package or SDK, be sure it has been installed. Call Stack (most recent call first): isam_pose/CMakeLists.txt:9 (find_package) Please help me out，I will thank you very much.

[YuehChuan]

@syx0629 Hello, did you install dependency yet ? source install.sh try the step https://github.com/mcubelab/push-est-public/issues/1#issuecomment-350120390 there is the part to install apriltags https://github.com/mcubelab/push-est-public/blob/master/install.sh#L110