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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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I can't see phone_3 in urban_qual #312

Closed osrf-migration closed 4 years ago

osrf-migration commented 4 years ago

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

I’m using Artifacts_Validator_Tool and I can’t see phone_3 in urban_qual:

ign service -s /artifact/next --reqtype ignition.msgs.StringMsg --reptype ignition.msgs.StringMsg --timeout 1000 --req 'data: ""'
data: "phone_3"

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osrf-migration commented 4 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

osrf-migration commented 4 years ago

Original comment by Arthur Schang (Bitbucket: Arthur Schang).

I cannot replicate this. Just ran on my local urban_circuit checkout catkin-built native workspace and from the published docker image osrf/subt-virtual-testbed images and I was able to locate phone_3 in both.

Here's a screenshot from the osrf/subt-virtual-testbed docker experiment:Screenshot from 2020-01-02 17-23-55.png

osrf-migration commented 4 years ago

Original comment by Michael Carroll (Bitbucket: Michael Carroll).

It looks like there are two different model versions in play. My version of the models have the small ramps around the tracks, and the phone_3 is located underneath the ramp.

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osrf-migration commented 4 years ago

Original comment by Arthur Schang (Bitbucket: Arthur Schang).

So I suppose the real conundrum is which version is on CloudSim?

osrf-migration commented 4 years ago

Original comment by Steven Gray (Bitbucket: stgray).

The newest cloudsim images (cloudsim_sim_latest 75b1819471bf tested locally using docker compose) have the ramps.

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osrf-migration commented 4 years ago

Original comment by Steven Gray (Bitbucket: stgray).

Does a missing artifact affect the qualification timeline?

osrf-migration commented 4 years ago

Original comment by Paul Jurczak (Bitbucket: pauljurczak).

@Steven Gray My vote is to extend the deadline. I observed this issue on fresh (3 days old) Ubuntu 18.04 and SubT installation.

osrf-migration commented 4 years ago

Original comment by Steven Gray (Bitbucket: stgray).

Paul Jurczak (pauljurczak) Couldn’t hurt to email DARPA with any specific reasons for such a request. I tried on the forums here: https://community.subtchallenge.com/t/request-extension-or-modification-of-virtual-urban-circuit-qualification-scenario/1241

osrf-migration commented 4 years ago

Original comment by Paul Jurczak (Bitbucket: pauljurczak).

@Steven Gray I added this issue, but my posts are still moderated, so it’s going to take a while.

osrf-migration commented 4 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

Is your solution able to find and score with any of the other 15 artifacts?

osrf-migration commented 4 years ago

Original comment by Arthur Schang (Bitbucket: Arthur Schang).

Steven and Paul, please reference Elissa Rupley's post on the SubT community forum regarding the previously outlined qualification requirements and dates remaining constant.

osrf-migration commented 4 years ago

Original comment by Arthur Schang (Bitbucket: Arthur Schang).

I'm now able to reproduce this issue as well.

Also it seems that the illumination in the world frame does not move if you run: ign service -s /artifact/scan --reqtype ignition.msgs.StringMsg --reptype ignition.msgs.StringMsg --timeout 1000 --req 'data: "phone_3"' but it the illumination in the world frame does move if you use the next functionality such as: ign service -s /artifact/next --reqtype ignition.msgs.StringMsg --reptype ignition.msgs.StringMsg --timeout 1000 --req 'data: ""' and then cycling through until you reach the desired artifact (i.e. phone_3).

Interesting interaction to say the least.

Actually, running validate_artifacts.ign worldName:=urban_qual and then immediately executing ign service -s /artifact/scan --reqtype ignition.msgs.StringMsg --reptype ignition.msgs.StringMsg --timeout 1000 --req 'data: "phone_3"' yields my above screenshots without the ramp obstructing the cell phone. The cell phone is obstructed if you use the /artifact/next API call.

osrf-migration commented 4 years ago

Original comment by Michael Carroll (Bitbucket: Michael Carroll).

scan was just to be used to iterate levels, as artifacts weren’t visible until the level was loaded. This should be resolved in the recent update to the validation tool, which should be a bit more robust in that regard: https://osrf-migration.github.io/subt-gh-pages/#!/osrf/subt/pull-requests/397 It also eliminates the need to scan through the levels, so you can just use the next call (or move_to)

osrf-migration commented 4 years ago

Original comment by Paul Jurczak (Bitbucket: pauljurczak).

@Michael What is the official way to keep SubT up to date and get changes like that available? Point me to the wiki page, if it’s current. I’m asking because I had problems to get things properly updated by following wiki suggestions.

osrf-migration commented 4 years ago

Original comment by Paul Jurczak (Bitbucket: pauljurczak).

@Alfredo Sorry for late response, I missed you post in this long thread. Yes, I can score with other artifacts.

osrf-migration commented 4 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

Paul, Michael Carroll (Michael Carroll) ‘s changes don’t affect the SubT Sim latest release. VAT is just an nice-to-have utility that he enhanced last week. However, it is not required to develop a solution. Therefore, you should already have the latest changes to develop and test it again the the latest SubT Sim release.

osrf-migration commented 4 years ago

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

See pull request #397