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mit-acl / faster

3D Trajectory Planner in Unknown Environments
BSD 3-Clause "New" or "Revised" License
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Runtime Error #58

Open ltf1001 opened 1 month ago

ltf1001 commented 1 month ago

When I am running the second command：roslaunch acl_sim perfect_tracker_and_sim.launch, the following error occurs:. logging to /home/oem/.ros/log/9e1b81ca-3df3-11ef-9d53-b3426cc4fe7f/roslaunch-dell-2159739.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.

redefining global symbol: pi when processing file: /home/oem/faster/src/acl-gazebo/acl_sim/urdf/quadrotor_base.urdf.xacro included from: /home/oem/faster/src/acl-gazebo/acl_sim/urdf/quadrotor_with_asus.urdf.xacro included from: /home/oem/faster/src/acl-gazebo/acl_sim/urdf/quadrotor_with_asus.gazebo.xacro started roslaunch server http://dell:35987/

SUMMARY

PARAMETERS

NODES / camera2body (tf/static_transform_publisher) /SQ01s/ perfect_tracker (acl_sim/perfect_tracker.py) spawn_robot (gazebo_ros/spawn_model) vicon2world (tf/static_transform_publisher)

ROS_MASTER_URI=http://localhost:11311

process[SQ01s/spawn_robot-1]: started with pid [2159785] process[camera2body-2]: started with pid [2159786] process[SQ01s/vicon2world-3]: started with pid [2159787] process[SQ01s/perfect_tracker-4]: started with pid [2159788] File "/home/oem/faster/src/acl-gazebo/acl_sim/scripts/perfect_tracker.py", line 172 print "Starting perfect tracker node for: " + ns ^ SyntaxError: Missing parentheses in call to 'print'. Did you mean print("Starting perfect tracker node for: " + ns)? [SQ01s/perfect_tracker-4] process has died [pid 2159788, exit code 1, cmd /home/oem/faster/src/acl-gazebo/acl_sim/scripts/perfect_tracker.py __name:=perfect_tracker __log:=/home/oem/.ros/log/9e1b81ca-3df3-11ef-9d53-b3426cc4fe7f/SQ01s-perfect_tracker-4.log]. log file: /home/oem/.ros/log/9e1b81ca-3df3-11ef-9d53-b3426cc4fe7f/SQ01s-perfect_tracker-4.log [INFO] [1720530213.457985, 0.000000]: Loading model XML from ros parameter robot_description [INFO] [1720530213.462070, 64.736000]: Waiting for service /gazebo/spawn_urdf_model [INFO] [1720530213.464627, 64.739000]: Calling service /gazebo/spawn_urdf_model [INFO] [1720530213.726255, 64.849000]: Spawn status: SpawnModel: Successfully spawned entity [SQ01s/spawn_robot-1] process has finished cleanly log file: /home/oem/.ros/log/9e1b81ca-3df3-11ef-9d53-b3426cc4fe7f/SQ01s-spawn_robot-1.log When I am running the fourth command：roslaunch faster faster_interface.launch, the following error occurs:... logging to /home/oem/.ros/log/9e1b81ca-3df3-11ef-9d53-b3426cc4fe7f/roslaunch-dell-2160001.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://dell:37961/

SUMMARY

PARAMETERS

NODES / rqt_gui (rqt_gui/rqt_gui) rviz (rviz/rviz) /SQ01s/ faster_commands (faster/faster_commands.py)

ROS_MASTER_URI=http://localhost:11311

process[SQ01s/faster_commands-1]: started with pid [2160039] process[rviz-2]: started with pid [2160040] process[rqt_gui-3]: started with pid [2160041] File "/home/oem/faster/src/faster/faster/scripts/faster_commands.py", line 55 print "Not initialized yet" ^ SyntaxError: Missing parentheses in call to 'print'. Did you mean print("Not initialized yet")? [SQ01s/faster_commands-1] process has died [pid 2160039, exit code 1, cmd /home/oem/faster/src/faster/faster/scripts/faster_commands.py name:=faster_commands log:=/home/oem/.ros/log/9e1b81ca-3df3-11ef-9d53-b3426cc4fe7f/SQ01s-faster_commands-1.log]. log file: /home/oem/.ros/log/9e1b81ca-3df3-11ef-9d53-b3426cc4fe7f/SQ01s-faster_commands-1*.log Traceback (most recent call last): File "/opt/ros/noetic/lib/rqt_gui/rqt_gui", line 13, in sys.exit(main.main()) File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui/main.py", line 61, in main return super( File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/main.py", line 614, in main perspective_manager.import_perspective_from_file( File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/perspective_manager.py", line 360, in import_perspective_from_file self._convert_values(data, self._import_value) File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/perspective_manager.py", line 422, in _convert_values self._convert_values(groups[group], convert_function) File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/perspective_manager.py", line 422, in _convert_values self._convert_values(groups[group], convert_function) File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/perspective_manager.py", line 422, in _convert_values self._convert_values(groups[group], convert_function) File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/perspective_manager.py", line 419, in _convert_values keys[key] = convert_function(keys[key]) File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/perspective_manager.py", line 429, in _import_value return QByteArray.fromHex(eval(value['repr(QByteArray.hex)'])) File "", line 1, in TypeError: arguments did not match any overloaded call: QByteArray(): too many arguments QByteArray(int, str): argument 1 has unexpected type 'str' QByteArray(Union[QByteArray, bytes, bytearray]): argument 1 has unexpected type 'str' [rqt_gui-3] process has died [pid 2160041, exit code 1, cmd /opt/ros/noetic/lib/rqt_gui/rqt_gui --perspective-file /home/oem/faster/src/faster/faster/rqt_cfgs/demo_interface.perspective name:=rqt_gui log:=/home/oem/.ros/log/9e1b81ca-3df3-11ef-9d53-b3426cc4fe7f/rqt_gui-3.log]. log file: /home/oem/.ros/log/9e1b81ca-3df3-11ef-9d53-b3426cc4fe7f/rqt_gui-3*.log

How should I fix the following error? I would greatly appreciate your response.

jtorde commented 1 month ago

Hi @ltf1001,

FASTER was coded for Python 2.7. The error you are getting

SyntaxError: Missing parentheses in call to 'print'. Did you mean print("Not initialized yet")?

is because you are probably using it with Python 3. Try to

Feel free to do a pull request if you end up doing the second option

Hope this helps

ltf1001 commented 1 month ago

Thank you for your help, this is a very good method. I have another question, and I really hope to get your help to help me solve it. I saw in your file that you used DecompROS, and you optimized it efficiently in the file. It can achieve the rapid construction of safe corridors in a dynamic three-dimensional environment. However, I am a novice and only understand part of your method, and cannot learn the key methods in your code. How should I learn and what methods should I use to achieve the rapid construction of three-dimensional safe corridors, like you. This work is really perfect, and I think it has a very good inspiration for the rapid planning of mobile robots. I hope to get your help, thank you very much for your help. I am very grateful to you.