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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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Problems with ExampleSetup tutorial #82

Closed osrf-migration closed 5 years ago

osrf-migration commented 5 years ago

Original report (archived issue) by Jon Fink (Bitbucket: jonfink-arl).

Running into a few issues when attempting to follow the instructions here: https://osrf-migration.github.io/subt-gh-pages/#!/osrf/subt/wiki/tutorials/ExampleSetup

  1. ign launch competition.ign -v 4 brings up a staging area but not the practice tunnel environment
  2. ign launch team.ign does not actually spawn any robots

Seems to be two possible fixes. Either change the example to use the virtual stix launch of ign launch -v 4 virtual_stix.ign robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1 or update the competition.ign and team.ign files to do the correct thing.

osrf-migration commented 5 years ago

Original comment by Jon Fink (Bitbucket: jonfink-arl).

Looking more deeply into the virtual_stix.ign I see there is some new code in there for generating the SDF for each robot (e.g., spawnX1) is this the new standard way to add robots to a world Nate Koenig (Nathan Koenig) ? If so, should it somehow be pulled out into a more generic ign file (perhaps the team.ign)?

osrf-migration commented 5 years ago

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

Working on it, or getting help from Alfredo Bencomo (bencomo) .

osrf-migration commented 5 years ago

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

When I looked at this before, making this dynamic will tie into the fix for #78

osrf-migration commented 5 years ago

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

So, I think the core problem is that the robots should specified in the ign launch competition.ign command. For example:

ign launch competition.ign robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1

Then the team.ign file goes away. It looks like Alfredo Bencomo (bencomo) updated the wiki page. I'll look into removing the team.ign file and updating the competition.ign file.

osrf-migration commented 5 years ago

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

Maybe adding some intermediary documentation to (https://osrf-migration.github.io/subt-gh-pages/#!/osrf/subt/wiki/tutorials/SystemSetupDocker) might be a good idea for some example vehicle configurations (i.e. 1 X1 vehicle ign launch competition.ign robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1) for now as competitors work on updating.

osrf-migration commented 5 years ago

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

See pull request #162

osrf-migration commented 5 years ago

Original comment by baila (Bitbucket: baila).

Hey Nate Koenig (Nathan Koenig) , I tried to run the below cmd to spawn a single robot X1. It got stuck with the below messages and a blank window of ignition came up. Any clue what is wrong here?

‌

developer@baila-PC:~/subt_ws/src/subt/subt_ign/launch$ ign launch competition.ign robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-developer'
master has started, initiating launch
master has started, initiating launch
... logging to /home/developer/.ros/log/ceb56380-9b1b-11e9-8cdc-68a3c4a1e180/roslaunch-baila-PC-642.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

... logging to /home/developer/.ros/log/ceb56380-9b1b-11e9-8cdc-68a3c4a1e180/roslaunch-baila-PC-640.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

... logging to /home/developer/.ros/log/ceb56380-9b1b-11e9-8cdc-68a3c4a1e180/roslaunch-baila-PC-641.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://baila-PC:39893/

SUMMARY

PARAMETERS

NODES
/X1/
pose_tf_broadcaster (subt_ros/pose_tf_broadcaster)
ros1_ign_bridge_actuators (ros1_ign_bridge/parameter_bridge)
ros1_ign_bridge_camera (ros1_ign_bridge/parameter_bridge)
ros1_ign_bridge_fluid_pressure (ros1_ign_bridge/parameter_bridge)
ros1_ign_bridge_gpu_lidar (ros1_ign_bridge/parameter_bridge)
ros1_ign_bridge_imu (ros1_ign_bridge/parameter_bridge)
ros1_ign_bridge_magnetometer (ros1_ign_bridge/parameter_bridge)
ros1_ign_bridge_pose (ros1_ign_bridge/parameter_bridge)
ros1_ign_bridge_twist (ros1_ign_bridge/parameter_bridge)

ROS_MASTER_URI=http://localhost:11311

started roslaunch server http://baila-PC:37891/

SUMMARY

PARAMETERS

NODES
/
ros1_ign_bridge_baila_PC_640_2252009084696260460 (ros1_ign_bridge/parameter_bridge)
tf_world_static (tf2_ros/static_transform_publisher)

ROS_MASTER_URI=http://localhost:11311

process[X1/ros1_ign_bridge_imu-1]: started with pid [707]
started roslaunch server http://baila-PC:34101/

SUMMARY

PARAMETERS

NODES

ROS_MASTER_URI=http://localhost:11311

No processes to monitor
shutting down processing monitor...
process[ros1_ign_bridge_baila_PC_640_2252009084696260460-1]: started with pid [708]
... shutting down processing monitor complete
process[X1/ros1_ign_bridge_pose-2]: started with pid [712]
process[tf_world_static-2]: started with pid [733]
process[X1/ros1_ign_bridge_actuators-3]: started with pid [756]
process[X1/ros1_ign_bridge_twist-4]: started with pid [774]
process[X1/ros1_ign_bridge_camera-5]: started with pid [787]
process[X1/ros1_ign_bridge_gpu_lidar-6]: started with pid [800]
process[X1/ros1_ign_bridge_magnetometer-7]: started with pid [813]
process[X1/ros1_ign_bridge_fluid_pressure-8]: started with pid [826]
Failed to create a bridge for topic [/model/X1/air_pressure] with ROS1 type [sensor_msgs/FluidPressure] and Ignition Transport type [ignition.msgs.FluidPressure]
process[X1/pose_tf_broadcaster-9]: started with pid [839]

‌

This was stuck at this point. I am attaching the screenshot.

‌

osrf-migration commented 5 years ago

Original comment by Hector Escobar (Bitbucket: hector_escobar).

From Issue #74 we were only able to spawn using vitual_stix.ign and not competition.ign, as below

ign launch -v 4 virtual_stix.ign robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1 robotName2:=X2 robotConfig2:=X2_SENSOR_CONFIG_1 robotName3:=X3 robotConfig3:=X3_SENSOR_CONFIG_1 robotName4:=X4 robotConfig4:=X4_SENSOR_CONFIG_1

‌

otherwise we get the same blank window as baila (baila)

osrf-migration commented 5 years ago

Original comment by baila (Bitbucket: baila).

But Hector Escobar Najera (hcdescobar) , I am also not able to spawn the robots by using virtul_stix.ign

‌

I have added comment at the below defect as well,

[https://osrf-migration.github.io/subt-gh-pages/#!/osrf/subt/issues/80/ignition-crashing (#80)](https://osrf-migration.github.io/subt-gh-pages/#!/osrf/subt/issues/80/ignition-crashing (#80))

osrf-migration commented 5 years ago

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

Can you confirm that you have the latest software versions running on your system. See: https://osrf-migration.github.io/subt-gh-pages/#!/osrf/subt/wiki/system_requirements

osrf-migration commented 5 years ago

Original comment by Derek Knowles (Bitbucket: dknowles-ssci).

I’m running into similar issues with the example setup tutorial https://osrf-migration.github.io/subt-gh-pages/#!/osrf/subt/wiki/tutorials/ExampleSetup

I checked all software versions and switched to the tunnel_circuit branch (will that be made the new default for cloning? Is https://osrf-migration.github.io/subt-gh-pages/#!/osrf/subt/wiki/system_requirements the only place that mentions that branch?)

It initially was unable to locate ros1-ign-bridge and attempted to solve with Jon Fink (jonfink) 's instructions in #89.

cd ~/subt_ws/src
git clone https://github.com/osrf/ros1_ign.git
cd ~/subt_ws
catkin_make install

After running roslaunch subt_example teleop.launch and ign launch -v 4 tunnel_circuit_practice.ign worldName:=tunnel_circuit_practice_03 robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1 in separate terminals, I can see the tunnel circuit and the X1 robot in gazebo.

Both rostopic echo /X1/cmd_vel and ign topic -e -t /model/X1/cmd_vel_relay show nonzero values, but the robot doesn’t move. Additionally, the lights don’t turn on/off. And the /X1/front/image_raw isn’t being published

osrf-migration commented 5 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

osrf-migration commented 5 years ago

Original comment by Derek Knowles (Bitbucket: dknowles-ssci).

Did another clean install according to the updated instructions in https://osrf-migration.github.io/subt-gh-pages/#!/osrf/subt/wiki/tutorials/SystemSetupInstall cloning the tunnel_circuit branch directly.

ign launch -v 4 tunnel_circuit_practice.ign worldName:=tunnel_circuit_practice_03 robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1 won't run because it is Unable to find file tunnel_circuit_practice.ign

osrf-migration commented 5 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

Derek,

After you clone tunnel_circuit branch, you need to switch that branch (see below). I just updated the tutorial page with that info. Sorry about that.

hg clone https://osrf-migration.github.io/subt-gh-pages/#!/osrf/subt/branch/tunnel_circuit
cd ~/subt_ws/src/tunnel_circuit
hg update -c tunnel_circuit

Then, run catkin_make install again.

osrf-migration commented 5 years ago

Original comment by Derek Knowles (Bitbucket: dknowles-ssci).

I still am getting ros1-ign-bridge errors when I launch tunnel_circuit_practice.ign

ERROR: cannot launch node of type [ros1_ign_bridge/parameter_bridge]: ros1_ign_bridge

The camera image is publishing, and I get nonzero values when I run rostopic echo /X1/cmd_vel, but ign topic -e -t /model/X1/cmd_vel_relay doesn’t show anything being published and the robot still doesn’t move.

osrf-migration commented 5 years ago

Original comment by Derek Knowles (Bitbucket: dknowles-ssci).

And I suggest changing cd ~/home/bencomo/subt_ws/src/tunnel_circuit to cd ~/subt_ws/src/tunnel_circuit on the tutorial page https://osrf-migration.github.io/subt-gh-pages/#!/osrf/subt/wiki/tutorials/SystemSetupInstall

osrf-migration commented 5 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

It has been updated.

Checking on the cannot launch node of type [ros1_ign_bridge/parameter_bridg] error

osrf-migration commented 5 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

Derek,

Please run this command, build the ws, and try it again.

sudo apt-get install ros-melodic-ros1-ign-bridge

That should resolved the [.../parameter_bridg] error

osrf-migration commented 5 years ago

Original comment by Derek Knowles (Bitbucket: dknowles-ssci).

That did fix the […/parameter_bridge] error.

Following the instructions on https://osrf-migration.github.io/subt-gh-pages/#!/osrf/subt/wiki/tutorials/ExampleSetup, however, I am still unable to use the joystick to control either X1 or X4, the camera image is not being published, and the RTF is <4%.

Both rostopic echo /X1/cmd_vel and ign topic -e -t /model/X1/cmd_vel_relay show nonzero values, but the robot doesn’t move.

The only error is:

[Err] [VisibilityTable.cc:57] Unable to populate visibility graph using path[/home/subt-derek/subt_ws/install/share/subt_ign/worlds/tunnel_circuit_practice_03.dot]
[Err] [VisibilityRfModel.cc:36] Unable to load visibility table data files
osrf-migration commented 5 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

You can ignore those two error messages for now. The RTF at less that 4% is problem that we are looking into it; which also causes the camera image not being displayed. We’re hoping to get these issues resolved in the next couple of days. In the meantime, I suggest you use the competition.ign world.

ign launch -v 4 competition.ign robotName1:=X1 robotConfig1:=X2_SENSOR_CONFIG_1

osrf-migration commented 5 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

Derek,

I failed to mention about the joystick. Run these commands and build it again.

cd ~/subt_ws/src/tunnel_circuit
hg pull && hg up
cd ~/subt_ws/
catkin_make install

I just tested it with F310 and it works. Make sure the Mode LED is OFF and DirectInput (D) mode is selected.

osrf-migration commented 5 years ago

Original comment by Hector Escobar (Bitbucket: hector_escobar).

I followed the instructions to install using catkin and got to the same point as Derek Knowles (dknowles-ssci) . I am able to move X1 and X2 (They move super slow due to the RTF), but not X3-X4. Also the competition.ign loads half of the tunnel (I wonder if it is because it takes a lot of time download/load that we don't see the rest). I tried the virtual_stix.ign and that one loads all but still the robots move very slow. btw, I’m not able to turn the lights off/on.

osrf-migration commented 5 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

The team is looking into the RTF performance issue right now, so we should have a fix soon. Regarding competition.ign, that is actually the whole tunnel (not just half). It's just short compare to the virtual_stix.ign. However, the goal is for competitors to use the tunnel_circuit_practice.ign instead of the two former.

osrf-migration commented 5 years ago

Original comment by Derek Knowles (Bitbucket: dknowles-ssci).

I can confirm that for me the instructions on https://osrf-migration.github.io/subt-gh-pages/#!/osrf/subt/wiki/tutorials/ExampleSetup don’t allow me to move any of the robots, but replacing ign launch -v 4 tunnel_circuit_practice.ign worldName:=tunnel_circuit_practice_03 robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1 with the suggested ign launch -v 4 competition.ign robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1 I can move around the X1 with the F310 controller and view images successfully.

Hector, my competition.ign loaded dynamically as the robot explored the tunnel system.

Like Hector, I also had problems moving the X3 & X4 vehicles.

ign launch -v 4 competition.ign robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1 and ign launch -v 4 competition.ign robotName1:=X2 robotConfig1:=X2_SENSOR_CONFIG_1 allowed me to move around the X1 & X2 vehicles, but ign launch -v 4 competition.ign robotName1:=X3 robotConfig1:=X3_SENSOR_CONFIG_1 and ign launch -v 4 competition.ign robotName1:=X4 robotConfig1:=X4_SENSOR_CONFIG_1 spawned the X3 & X4 robots, but I couldn't move them with my controller. It looks like the /X4/cmd_vel/ topic is being published with nonzero values, but the props on the X3 & X4 vehicles don’t move at all.

osrf-migration commented 5 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

Regarding moving the X3 & X4 vehicles, see pull request #190; which was merged into the tunnel_circuit release branch today.

osrf-migration commented 5 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

The ExampleSetup tutorial has been update. Regarding the issue with X3 and X4, see #97 (#97).

osrf-migration commented 5 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).