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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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Robot pose relative to the artifact origin available away from staging area #303

Closed osrf-migration closed 4 years ago

osrf-migration commented 4 years ago

Original report (archived issue) by Paul Jurczak (Bitbucket: pauljurczak).

I just updated subt_ws and noticed that robot pose relative to the artifact origin is available inside the ramp, over 30 meters from the origin. This is different than previous behavior, where this service stopped working right behind the threshold of the ramp. Is it intentional?

osrf-migration commented 4 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

Can you post your exact launch configuration here? With regard previous behavior, do you mean in Tunnel circuit or in the previous Urban release, etc.?

osrf-migration commented 4 years ago

Original comment by Paul Jurczak (Bitbucket: pauljurczak).

I’m basically running your wiki example with modified sample node and ign launch -v 5 urban_circuit.ign headless:=true worldName:=urban_qual robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_3

Previous behavior was with the same setup, except subt_ws was over a month old. It behaved exactly like described in your wiki.

osrf-migration commented 4 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

You might have been using a version of the code previous to the 2019-11-14 release and now seen what PR-334 fixed.

I suggest launching it without headless parameter and if you don’t see the behavior described in the above PR, then post a screenshot showing the starting area with your robot after spawning.

osrf-migration commented 4 years ago

Original comment by Steven Gray (Bitbucket: stgray).

Wait - what is the right way to run this? Specifically -v 4 or -v 5 ? The install page still shows -v 4. What is the difference?

Can you please confirm if these are correct for Docker and local catkin workspace?

./run.bash osrf/subt-virtual-testbed urban_circuit.ign worldName:=urban_qual  (then all robot config stuff)

ign launch -v 5 urban_circuit.ign worldName:=urban_qual (then all robot config stuff)

‌

osrf-migration commented 4 years ago

Original comment by Paul Jurczak (Bitbucket: pauljurczak).

@Steven Gray: -v 4 -v 5 are verbosity levels. I went for the maximum one to deal with some stability issues.

osrf-migration commented 4 years ago

Original comment by Paul Jurczak (Bitbucket: pauljurczak).

Here is the starting area after spawning with pose_from_artifact_origin at (-7.49, 4.99):

and at the entrance to the ramp pose_from_artifact_origin at (-12.35, 11.92) - different from old version, which had origin at this location:

Far down the ramp pose_from_artifact_origin at (-23.8, 11.4):

‌

osrf-migration commented 4 years ago

Original comment by Steven Gray (Bitbucket: stgray).

Paul Jurczak (pauljurczak) Thanks for the clarification. You’ve definitely got an old start tile from before PR 334 - maybe delete your ~/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models directory to force it to pull the new ones?

osrf-migration commented 4 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

@Paul Jurczak, I agree with Steve. 

  rm -rfv ~/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models
  sudo apt-get update && sudo apt-get install --only-upgrade libignition*
  sudo apt-get install --reinstall ros-melodic-ros-ign  #(NOT ros1)
  sudo reboot

  cd ~/subt_ws/src/subt
  hg pull && hg up -C
  cd ~/subt_ws
  catkin_make install

https://osrf-migration.github.io/subt-gh-pages/#!/osrf/subt/wiki/SubT%20Release%20Notes%20&%20Updates

osrf-migration commented 4 years ago

Original comment by Paul Jurczak (Bitbucket: pauljurczak).

@Steven Gray You are right, it is dated Nov, 1st. Which package is ~/.ignition part of? I’ve run all installation steps from “Catkin workspace setup for SubT (Ignition) Simulation” and apparently ~/.ignition wasn’t updated.

osrf-migration commented 4 years ago

Original comment by Steven Gray (Bitbucket: stgray).

Ignition just stores all the meshes in your home directory, creating that folder (just like ~/.ros is where all the ros logs reside). I don’t think it overwrites the files – though it would be nice if it checked an md5 or something to verify versions.

osrf-migration commented 4 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

osrf-migration commented 4 years ago

Original comment by Paul Jurczak (Bitbucket: pauljurczak).

Alfredo Bencomo (bencomo) I followed your instructions and simulation is not working. It fails here:

process[subt_ros_relay-2]: started with pid [3463]
process[rosbag_robot_data-3]: started with pid [3468]
process[X1/ros_ign_bridge_imu-1]: started with pid [3477]
process[tf_world_static-4]: started with pid [3478]
process[X1/ros_ign_bridge_pose-2]: started with pid [3481]
process[X1/ros_ign_bridge_twist-3]: started with pid [3507]
process[X1/ros_ign_bridge_gas-4]: started with pid [3520]
process[X1/ros_ign_bridge_lidar3d-5]: started with pid [3522]
process[X1/ros_ign_bridge_camera-6]: started with pid [3544]
process[X1/ros_ign_image_camera-7]: started with pid [3545]
process[X1/ros_ign_bridge_odom-8]: started with pid [3551]
[ WARN] [1577489479.927190807]: Shutdown request received.
[ WARN] [1577489479.927269001]: Shutdown request received.
[ WARN] [1577489479.928124502]: Reason given for shutdown: [new node registered with same name]
[ WARN] [1577489479.928635435]: Reason given for shutdown: [new node registered with same name]
[ WARN] [1577489479.932863128]: Shutdown request received.
[ WARN] [1577489479.933121636]: Shutdown request received.
[ WARN] [1577489479.933902558]: Reason given for shutdown: [new node registered with same name]
[ WARN] [1577489479.934216499]: Shutdown request received.
[ WARN] [1577489479.934782143]: Reason given for shutdown: [new node registered with same name]
process[X1/ros_ign_bridge_battery_state-9]: started with pid [3552]
[ WARN] [1577489479.948042152]: Reason given for shutdown: [new node registered with same name]
[ WARN] [1577489479.960955339]: Shutdown request received.
[ WARN] [1577489479.961819647]: Reason given for shutdown: [new node registered with same name]
process[X1/pose_tf_broadcaster-10]: started with pid [3572]
[ WARN] [1577489479.970911389]: Shutdown request received.
[ WARN] [1577489479.972101325]: Reason given for shutdown: [new node registered with same name]
[ WARN] [1577489480.054083597]: Shutdown request received.
[ WARN] [1577489480.054792484]: Reason given for shutdown: [new node registered with same name]
[ WARN] [1577489480.055402323]: Shutdown request received.
[ WARN] [1577489480.055851427]: Reason given for shutdown: [new node registered with same name]
[ WARN] [1577489480.056192400]: Shutdown request received.
[ WARN] [1577489480.056487552]: Shutdown request received.
[ WARN] [1577489480.056646499]: Reason given for shutdown: [new node registered with same name]
[ WARN] [1577489480.061216548]: Reason given for shutdown: [new node registered with same name]
[GUI] [Msg] Loading plugin [ignition-rendering2-ogre2]
[GUI] [Dbg] [RenderUtil.cc:849] Create scene [scene]
started roslaunch server http://paul-desktop:38981/

SUMMARY

PARAMETERS

NODES

ROS_MASTER_URI=http://localhost:11311

No processes to monitor
shutting down processing monitor...
[X1/pose_tf_broadcaster-10] process has finished cleanly
log file: /home/paul/.ros/log/c525bf4a-2900-11ea-8cb4-04d9f5cbc433/X1-pose_tf_broadcaster-10*.log
... shutting down processing monitor complete
[ WARN] [1577489481.902573083]: /use_sim_time set to true and no clock published. Still waiting for valid time...

osrf-migration commented 4 years ago

Original comment by Paul Jurczak (Bitbucket: pauljurczak).

@Alfredo Bencomo Never mind, I think it was the first run component load delay. It’s running now.

osrf-migration commented 4 years ago

Original comment by Paul Jurczak (Bitbucket: pauljurczak).

@Alfredo Bencomo pose_from_artifact_origin is reported until the first corner of the ramp, about (4, 0).

osrf-migration commented 4 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

Check if /etc/apt/sources.list.d/gazebo-prerelease.list exits. If so, then remove it.

Then, run these commands again:

rm -rfv ~/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models
sudo apt-get update && sudo apt-get upgrade
sudo reboot

After rebooting, post here the output from this command.

sudo dpkg -l | grep -i ignition

‌

osrf-migration commented 4 years ago

Original comment by Paul Jurczak (Bitbucket: pauljurczak).

It still reports up to about (4, 0), but it’s not a problem for me. The more the merrier.

osrf-migration commented 4 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

Run these commands:

sudo apt-get remove ros-melodic-ros*
sudo apt-get install --reinstall ros-melodic-ros-ign  #(NOT ros1)
sudo reboot

Then, I suggest building the subt_ws workspace again.

rm -rfv subt_ws
mkdir -p ~/subt_ws/src && cd ~/subt_ws/src
hg clone #!/osrf/subt -b urban_circuit
source /opt/ros/melodic/setup.bash
cd ~/subt_ws/
catkin_make install
source ~/subt_ws/install/setup.bash

ign launch -v 4 urban_circuit.ign headless:=true worldName:=urban_qual robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_3

I’m not sure what you meant with It still reports up to about (4, 0), but it's not a problem for me. The more the merrier though?

osrf-migration commented 4 years ago

Original comment by Paul Jurczak (Bitbucket: pauljurczak).

I meant that pose_from_artifact_origin is reported until the first corner of the ramp, past position (4, 0). It is different than old version, where reporting stopped right after crossing the origin (0, 0). This is slightly beneficial to competitors as they get more ground truth data, hence The more the merrier

osrf-migration commented 4 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

Then, are you back up & running with the latest SubT Simulator code using your local catkin workspace?

osrf-migration commented 4 years ago

Original comment by Paul Jurczak (Bitbucket: pauljurczak).

Yes, it seems to be running fine using catkin workspace. Thank you for your help.