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open-rmf / rmf_obstacle

Packages that infer the presence of obstacles from sensor inputs.
Apache License 2.0
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Reproducing same results as per ReadME's videos? #8

Open HappySamuel opened 1 year ago

HappySamuel commented 1 year ago

Hi

I have successfully installed rmf_obstacle_detectors on ROS2 Humble. Although i have added obstacles into the simulation, but i still can't reproduce the lane closing as per the video attached in the ReadME. I believe i must have missing some package to run, as i read through the office.launch.xml from RMF Demos, there isn't any package that can do the lane closure. Do you know where can i find it?

Best Samuel

Yadunund commented 1 year ago

You'll need to run the lane_blocker executable that is available in this branch of rmf_ros2.

HappySamuel commented 1 year ago

Hi @Yadunund

Thanks for the guidance. I have git clone this feature/rmf_obstacle branch of rmf_ros2 and tried colcon build --symlink-install it. However, the package building seems like taking forever, it keep on building at rmf_obstacle_ros2 package. Any idea why the colcon build seems stuck building rmf_obstacle_ros2 pacakge?

Best, Samuel

Yadunund commented 1 year ago

if you run top, is the ld processing active/running indefinitely?

If so, we've also noticed this behavior with slow performance of the ld linker. As a result, our recommendation has been to switch to lld linker and optionally clang compiler. Instructions are already available in the open-rmf/rmf page https://github.com/open-rmf/rmf#compiling-instructions

HappySamuel commented 1 year ago

Hi @Yadunund

This is the screenshot of top on this ld. Is that what you mean of active/running indefinitely? as it's running 100% CPU since compilation start, even if i only run colcon build --symlink-install --packages-select rmf_obstacle_ros2

Screenshot from 2023-01-18 16-15-58

Ok, i will go and try the method you suggest. Do i need to do both lld linker and clang compiler? or just lld ?

Best, Samuel

HappySamuel commented 1 year ago

Hi @Yadunund

I followed the in and installed lld and clang, but when i compile it, these 2 errors popped out and compilation stopped.

Screenshot from 2023-01-18 17-15-26

How shall i resolved this issue?

Best, Samuel

Yadunund commented 1 year ago

I think you might also need to switch to the branch in this PR https://github.com/open-rmf/rmf_internal_msgs/pull/55

HappySamuel commented 1 year ago

Hi @Yadunund

I have successfully compiled after following your latest instructions. However, i couldn't get it running, and i faced following issues when i ros2 launch it. Screenshot from 2023-01-31 16-14-17

Here's how i setup the launch file. Screenshot from 2023-01-31 16-14-58

Any suggestions for resolving this issue?

Best, Samuel

Yadunund commented 1 year ago

Based on your other ticket, I assume this issue has been resolved?

HappySamuel commented 1 year ago

Hi @Yadunund

So far compiling issue resolved. But for reproducing same result as per video attached in ReadME, not yet. Especially when using human_detector_node, I am still struggling to get it up to work. Need your guidance.

Best Samuel