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This repostory contains software for the virtual track of the DARPA SubT Challenge. Within this repository you will find Gazebo simulation assets, ROS interfaces, support scripts and plugins, and documentation needed to compete in the SubT Virtual Challenge.
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Wrong robot placement in simple_urban_01 #264

Closed osrf-migration closed 5 years ago

osrf-migration commented 5 years ago

Original report (archived issue) by Martin Dlouhy (Bitbucket: robotikacz).

I am trying to test the latest docker images (downloaded today) and run

‌

./run.bash osrf/subt-virtual-testbed:cloudsim_sim_latest cloudsim_sim.ign worldName:=simple_urban_01 robotName1:=X0F10L robotConfig1:=X2_SENSOR_CONFIG_4

plus

‌

 ./run.bash osrf/subt-virtual-testbed:cloudsim_bridge_latest worldName:=simple_urban_01 robotName1:=X0F10L robotConfig1:=X2_SENSOR_CONFIG_4

but it looks like the robot is not properly placed?

‌

[ERROR] [1572897313.003933339, 20.780000000]: Failed to call pose_from_artifact_origin service, robot may not exist, be outside staging area, or the service is not available.
Origin ERROR received

Note, that the latest version on AWS works fine

osrf-migration commented 5 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

You now need to add the circuit:=${circuit}parameter as shown below.

./run.bash osrf/subt-virtual-testbed:cloudsim_sim_latest cloudsim_sim.ign circuit:=urban worldName:=simple_urban_01 robotName1:=X0F10L robotConfig1:=X2_SENSOR_CONFIG_4

See also: docker-compose

osrf-migration commented 5 years ago

Original comment by Martin Dlouhy (Bitbucket: robotikacz).

Hi Alfredo,

thank you, it works now :slight_smile:

What is the motivation behind extra parameter?

thank you

Martin

osrf-migration commented 5 years ago

Original comment by Martin Dlouhy (Bitbucket: robotikacz).

p.s. https://youtu.be/FJ95uL_KYq4

osrf-migration commented 5 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

Hi Martin,

The extra parameter allows to use the same docker image(s) for the former Tunnel Circuit and the new Urban Circuit. Obviously, as long as circuit:= and worldName:= are in-sync.

Thanks for sharing the video. It is nice to see that you started to test early for Urban. :thumbsup:

Just out of curiosity, why did it turn back to the starting area after it reaches the platform instead of trying to go down the short ramp toward the rails (track)?

osrf-migration commented 5 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

osrf-migration commented 5 years ago

Original comment by Martin Dlouhy (Bitbucket: robotikacz).

Thanks - the code name for the robot was X0F120L so after 120s of exploration it returned home. I may paste updates, but on AWS the robot gets stuck on the rail … to be continued. :slight_smile:

osrf-migration commented 5 years ago

Original comment by Martin Dlouhy (Bitbucket: robotikacz).

(when they explored the Simple Urban 01 for longer time, say 5 minutes)