Closed m3d closed 3 years ago
m3d
commented
3 years ago Locally I sometimes see
1626206544.348657318, 21.992000000 ERROR /rtabmap/rgbd/rgbd_odometry ros.rtabmap_ros./rtabmap/rgbd/rgbd_odometry: "guess_frame_id" is set, but guess cannot be computed between frames "odom" -> "A100L". Aborting odometry update...reference docker image ver110pam and sample run in TS2: fa4bfdd6-2a2f-4fa8-8117-f65a2c2f0c90
m3d
commented
3 years ago osgar) md@md-ThinkPad-P50:~/git/osgar/subt/docker$ python -m osgar.logger /data/aws/local/coro_pam-2021-07-13T22.02.08.log
k name bytes | count | freq Hz
-------------------------------------------------------------
0 sys 92491 | 435 | 1.6Hz
1 artifact_filter.artf_xyz 0 | 0 | 0.0Hz
2 reporter.artf_cmd 0 | 0 | 0.0Hz
3 reporter.artf_all 0 | 0 | 0.0Hz
4 rosmsg.sim_time_sec 46 | 46 | 0.2Hz
5 rosmsg.sim_clock 142 | 46 | 0.2Hz
6 rosmsg.cmd 5693 | 146 | 0.5Hz
7 rosmsg.t265_rot 0 | 0 | 0.0Hz
8 rosmsg.debug 0 | 0 | 0.0Hz
9 rosmsg.radio 4668 | 132 | 0.5Hz
10 rosmsg.base_station 0 | 0 | 0.0Hz
11 rosmsg.joint_name 0 | 0 | 0.0Hz
12 rosmsg.joint_position 0 | 0 | 0.0Hz
13 rosmsg.joint_velocity 0 | 0 | 0.0Hz
14 rosmsg.joint_effort 0 | 0 | 0.0Hz
15 transmitter.raw 0 | 0 | 0.0Hz
16 transmitter.response 0 | 0 | 0.0Hz
17 transmitter.timeout 0 | 0 | 0.0Hz
18 drone.desired_speed_3d 142868 | 2524 | 9.4Hz
19 receiver.raw 178 | 178 | 0.7Hz
20 receiver.response 0 | 0 | 0.0Hz
21 receiver.timeout 0 | 0 | 0.0Hz
22 fromrospy.acc 62236 | 10372 | 38.6Hz
23 fromrospy.top_scan 22520 | 2252 | 8.4Hz
24 fromrospy.bottom_scan 22500 | 2250 | 8.4Hz
25 fromrospy.pose3d 139920 | 2120 | 7.9Hz
26 fromrospy.battery_state 414 | 46 | 0.2Hz
27 fromrospy.score 265 | 265 | 1.0Hz
28 fromrospy.gas_detected 1 | 1 | 0.0Hz
29 fromrospy.rgbd_front 656031998 | 1283 | 4.8Hz
30 fromrospy.rgbd_left 0 | 0 | 0.0Hz
31 fromrospy.rgbd_right 0 | 0 | 0.0Hz
32 fromrospy.air_pressure 7623 | 847 | 3.2Hz
33 fromrospy.scan360 247795 | 454 | 1.7Hz
34 fromrospy.octomap 0 | 0 | 0.0Hz
35 fromrospy.robot_name 7 | 1 | 0.0Hz
36 octomap.waypoints 0 | 0 | 0.0Hz
37 octomap.dropped 0 | 0 | 0.0Hz
38 app.desired_speed 3286 | 453 | 1.7Hz
39 app.pose2d 21044 | 2120 | 7.9Hz
40 app.stdout 549 | 9 | 0.0Hz
41 app.desired_z_speed 1 | 1 | 0.0Hz
42 app.flipped 0 | 0 | 0.0Hz
43 logimage.image 27610697 | 641 | 2.4Hz
44 logimage.depth 145216693 | 641 | 2.4Hz
45 logimage_left.image 0 | 0 | 0.0Hz
46 logimage_left.depth 0 | 0 | 0.0Hz
47 gas_detector.localized_artf 0 | 0 | 0.0Hz
48 radio.radio 3650 | 133 | 0.5Hz
49 radio.artf_xyz 0 | 0 | 0.0Hz
50 radio.breadcrumb 0 | 0 | 0.0Hz
51 radio.robot_xyz 1591 | 43 | 0.2Hz
52 radio.trace_info 500 | 43 | 0.2Hz
53 radio.robot_trace 0 | 0 | 0.0Hz
54 marsupial.detach 0 | 0 | 0.0Hz
55 mtm.robot_trace 0 | 0 | 0.0Hz
56 mtm.trace_info 500 | 43 | 0.2Hz
57 logimage_right.image 0 | 0 | 0.0Hz
58 logimage_right.depth 0 | 0 | 0.0Hz
59 detector_left.localized_artf 0 | 0 | 0.0Hz
60 detector_left.dropped 1 | 1 | 0.0Hz
61 detector_left.debug_rgbd 0 | 0 | 0.0Hz
62 detector_left.stdout 11 | 1 | 0.0Hz
63 detector_left.debug_result 0 | 0 | 0.0Hz
64 detector_left.debug_cv_result 0 | 0 | 0.0Hz
65 detector.localized_artf 0 | 0 | 0.0Hz
66 detector.dropped 98 | 98 | 0.4Hz
67 detector.debug_rgbd 0 | 0 | 0.0Hz
68 detector.stdout 42 | 2 | 0.0Hz
69 detector.debug_result 2779 | 26 | 0.1Hz
70 detector.debug_cv_result 26 | 26 | 0.1Hz
71 detector_right.localized_artf 0 | 0 | 0.0Hz
72 detector_right.dropped 1 | 1 | 0.0Hz
73 detector_right.debug_rgbd 0 | 0 | 0.0Hz
74 detector_right.stdout 11 | 1 | 0.0Hz
75 detector_right.debug_result 0 | 0 | 0.0Hz
76 detector_right.debug_cv_result 0 | 0 | 0.0Hz... for some reason left and right RGBD images are not available ... but that is maybe expected now? I would also turn off RGBD logging of front camera.
m3d
commented
3 years ago My guess is that the problem is caused by false detection or self-detection
:
m3d
commented
3 years ago at the very beginning each RGBD camera generates one fake point:
m3d
commented
3 years ago [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 100, 101, 100, 100, 99, 98, 98, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 6301, 6236, 6176, 6116, 6063, 5930, 5826, 5898, 5787, 5645, 5623, 5466, 5490, 5483, 5642, 5676, 5778, 5810, 5847, 5914, 5947, 5984, 6009, 6057, 6102, 6151, 6193, 6236, 6310, 6365, 104, 104, 104, 104, 105, 105, 104, 104, 7365, 7406, 7424, 7438, 7465, 7410, 6490, 6430, 6327, 6347, 6375, 6417, 6445, 6488, 6537, 6577, 6649, 6713, 6770, 6834, 6878, 6918, 6972, 7042, 7145, 7177, 7292, 7376, 7470, 7568, 7669, 7782, 7872, 7994, 0, 0, 0, 0, 7793, 7639, 7543, 7448, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 6174, 6129, 6079, 6037, 5985, 5955, 5908, 6136, 7651, 5937, 5912, 5763, 5739, 5722, 5721, 5677, 5662, 5648, 5640, 100, 99, 99, 100, 100, 101, 102, 5585, 5591, 5594, 5600, 5610, 5615, 5622, 5635, 5663, 5682, 5637, 5718, 5722, 5755, 5781, 5709, 5836, 5856, 5890, 5941, 5973, 6005, 6580, 6310, 6226, 6190, 6242, 6286, 6365, 6418, 6471, 6581, 6641, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
... i.e. the short readings are at 10cm and there are several of them
m3d
commented
3 years ago p.s. I just realized that I did not recompile the C-code ... sorry :(
m3d
commented
3 years ago p.s.2 now it works as expected (enteres tunnel in TS2)
m3d
commented
3 years ago second attempt on CloudSim 456aaa84-34b8-44e2-aa30-e2224c672d09 - locally it scored, but on CloudSim it did not
m3d
commented
3 years ago CloudSim Pam drone did not score because it did not take off ...
... it was not quite clear from this picture.
m3d
commented
3 years ago CloudSim data:
k name bytes | count | freq Hz
-------------------------------------------------------------
0 sys 74594 | 147 | 0.2Hz
1 receiver.raw 1376 | 1376 | 1.8Hz
2 receiver.response 0 | 0 | 0.0Hz
3 receiver.timeout 0 | 0 | 0.0Hz
4 drone.desired_speed_3d 626575 | 12519 | 16.4Hz
5 transmitter.raw 0 | 0 | 0.0Hz
6 transmitter.response 0 | 0 | 0.0Hz
7 transmitter.timeout 0 | 0 | 0.0Hz
8 fromrospy.acc 353659 | 57140 | 74.9Hz
9 fromrospy.top_scan 114490 | 11449 | 15.0Hz
10 fromrospy.bottom_scan 114470 | 11447 | 15.0Hz
11 fromrospy.pose3d 755106 | 11441 | 15.0Hz
12 fromrospy.battery_state 2079 | 231 | 0.3Hz
13 fromrospy.score 760 | 760 | 1.0Hz
14 fromrospy.gas_detected 1 | 1 | 0.0Hz
15 fromrospy.rgbd_front 6917 | 6917 | 9.1Hz
16 fromrospy.rgbd_left 0 | 0 | 0.0Hz
17 fromrospy.rgbd_right 0 | 0 | 0.0Hz
18 fromrospy.air_pressure 41175 | 4575 | 6.0Hz
19 fromrospy.scan360 859770 | 1398 | 1.8Hz
20 fromrospy.octomap 0 | 0 | 0.0Hz
21 fromrospy.robot_name 7 | 1 | 0.0Hz
22 app.desired_speed 6245 | 1105 | 1.4Hz
23 app.pose2d 91528 | 11441 | 15.0Hz
24 app.stdout 1594 | 20 | 0.0Hz
25 app.desired_z_speed 1633 | 185 | 0.2Hz
26 app.flipped 0 | 0 | 0.0Hz
27 reporter.artf_cmd 0 | 0 | 0.0Hz
28 reporter.artf_all 0 | 0 | 0.0Hz
29 artifact_filter.artf_xyz 0 | 0 | 0.0Hz
30 gas_detector.localized_artf 0 | 0 | 0.0Hz
31 radio.radio 21143 | 689 | 0.9Hz
32 radio.artf_xyz 0 | 0 | 0.0Hz
33 radio.breadcrumb 0 | 0 | 0.0Hz
34 radio.robot_xyz 8792 | 228 | 0.3Hz
35 radio.trace_info 6194 | 456 | 0.6Hz
36 radio.robot_trace 78 | 2 | 0.0Hz
37 marsupial.detach 0 | 0 | 0.0Hz
38 rosmsg.sim_time_sec 591 | 231 | 0.3Hz
39 rosmsg.sim_clock 1057 | 231 | 0.3Hz
40 rosmsg.cmd 29868 | 713 | 0.9Hz
41 rosmsg.t265_rot 0 | 0 | 0.0Hz
42 rosmsg.debug 0 | 0 | 0.0Hz
43 rosmsg.radio 41353 | 1144 | 1.5Hz
44 rosmsg.base_station 0 | 0 | 0.0Hz
45 rosmsg.joint_name 0 | 0 | 0.0Hz
46 rosmsg.joint_position 0 | 0 | 0.0Hz
47 rosmsg.joint_velocity 0 | 0 | 0.0Hz
48 rosmsg.joint_effort 0 | 0 | 0.0Hz
49 mtm.robot_trace 39 | 1 | 0.0Hz
50 mtm.trace_info 3097 | 228 | 0.3Hz
51 octomap.waypoints 0 | 0 | 0.0Hz
52 octomap.dropped 0 | 0 | 0.0Hz
53 logimage_right.image 0 | 0 | 0.0Hz
54 logimage_right.depth 0 | 0 | 0.0Hz
55 logimage.image 217499112 | 3459 | 4.5Hz
56 logimage.depth 847681438 | 3459 | 4.5Hz
57 logimage_left.image 0 | 0 | 0.0Hz
58 logimage_left.depth 0 | 0 | 0.0Hz
59 detector.localized_artf 0 | 0 | 0.0Hz
60 detector.dropped 6844 | 6844 | 9.0Hz
61 detector.debug_rgbd 0 | 0 | 0.0Hz
62 detector.stdout 42 | 2 | 0.0Hz
63 detector.debug_result 1308671 | 6843 | 9.0Hz
64 detector.debug_cv_result 6843 | 6843 | 9.0Hz
65 detector_left.localized_artf 0 | 0 | 0.0Hz
66 detector_left.dropped 1 | 1 | 0.0Hz
67 detector_left.debug_rgbd 0 | 0 | 0.0Hz
68 detector_left.stdout 11 | 1 | 0.0Hz
69 detector_left.debug_result 0 | 0 | 0.0Hz
70 detector_left.debug_cv_result 0 | 0 | 0.0Hz
71 detector_right.localized_artf 0 | 0 | 0.0Hz
72 detector_right.dropped 1 | 1 | 0.0Hz
73 detector_right.debug_rgbd 0 | 0 | 0.0Hz
74 detector_right.stdout 11 | 1 | 0.0Hz
75 detector_right.debug_result 0 | 0 | 0.0Hz
76 detector_right.debug_cv_result 0 | 0 | 0.0Hz
Total time 0:12:43.010140ROS output errors:
155.396000000 ERROR /A100L/local_map [/osgar-ws/src/osgar/subt/ros/proxy/traversability.cc:232(optional<tf::StampedTransform> osgar::Traversability::GetTransform)] [topics: /rosout, /A100L/local_map/output/map, /A100L/local_map/output/scan] Lookup would require extrapolation into the past. Requested time 155.068000000 but the earliest data is at time 155.152000000, when looking up transform from frame [A100L/base_link/rgbd_front_optical] to frame [odom]Note, that from 4 runs (same docker image, same TS2 world) drone first time did not take off, second scored 2 points, third stopped 1m(?) above the ground in starting area and finally with longer return time (A200L instead of A100L) it scored 4 points. Analysis is still WIP.
m3d
commented
3 years ago OK, I think that this picture explains the 3rd run, when the drone was 1m above the ground:
(i.e. it failed to enter the tunnel and when it did it returned on original trace - enter should be fixed in following PR) @jisa - I would vote for merge, what do you think?
m3d
commented
3 years ago I am going to merge and create new PR as discussed yesterday on call and in e-mail ...
this is older attempt to fly with Kevin's drone ...