UC1 - ver112steep2uc1r3 - ac8aedd2-e9fa-4c7d-9515-f3a8156b5dac

[m3d]

Stafeta 4 dron, kde ty dalkove se hned na zacatku stretli a ... D skoncila, C letela dale, ale nekolikrat se vracela a nekolikrat vypadavalo video ...

[m3d]

Na zacatku C-drona zurive klickovala tam a zpet a v logu ma casto:

0:08:00.036075 (1.9 0.7 1.8) [('acc', 947), ('pose3d', 190), ('scan360', 78), ('sim_time_sec', 4), ('slopes', 78)]
0:08:00.036075 []
0:08:05.284624 57 Loop detected
0:08:05.284624 turn -160.0
0:08:45.424145 turn - TIMEOUT!
0:08:47.510490 stop at 0:00:02.086345 True
0:09:00.095032 (4.7 0.4 1.8) [('acc', 948), ('pose3d', 189), ('scan360', 79), ('sim_time_sec', 4), ('slopes', 79)]
0:09:00.095032 []
0:10:00.350593 (-1.8 0.5 2.0) [('acc', 955), ('pose3d', 191), ('scan360', 80), ('sim_time_sec', 3), ('slopes', 80)]
0:10:00.350593 []
Current timeout 0:14:27
0:11:00.063256 (-3.6 1.6 2.2) [('acc', 950), ('pose3d', 190), ('scan360', 79), ('sim_time_sec', 4), ('slopes', 79)]
0:11:00.063256 []
0:12:00.028893 (-0.6 1.0 2.1) [('acc', 945), ('pose3d', 189), ('scan360', 79), ('sim_time_sec', 4), ('slopes', 79)]
0:12:00.028893 []
0:12:12.665439 73 Loop detected
0:12:12.665439 turn -160.0
0:12:52.843841 turn - TIMEOUT!
0:12:54.941505 stop at 0:00:02.097664 True
0:13:00.122134 (2.9 0.1 2.0) [('acc', 950), ('pose3d', 190), ('scan360', 79), ('sim_time_sec', 4), ('slopes', 79)]
0:13:00.122134 []
Current timeout 0:14:12
0:13:58.182107 80 Loop detected
0:13:58.182107 turn -160.0
0:14:00.005533 (-2.0 0.9 2.2) [('acc', 955), ('pose3d', 191), ('scan360', 80), ('sim_time_sec', 4), ('slopes', 80)]
0:14:00.005533 []
0:14:38.218479 turn - TIMEOUT!
0:14:40.346920 stop at 0:00:02.128441 True
0:15:00.171302 (-2.0 1.0 2.1) [('acc', 960), ('pose3d', 192), ('scan360', 80), ('sim_time_sec', 3), ('slopes', 80)]
0:15:00.171302 []
Current timeout 0:14:05
0:16:00.201890 (4.0 0.3 1.8) [('acc', 955), ('pose3d', 191), ('scan360', 80), ('sim_time_sec', 4), ('slopes', 80)]
0:16:00.201890 []

... tj. mozna se sama lekla, ze se zacyklila a tak se vratila

[m3d]

tak opravdu to podivne poletovani na zacatku zpusobily 3x loop detected, ale zacalo to tim, ze netrefila odbocku vlevo

[m3d]

V case 24:06 zamrzne predni video az do 24:40 (muze byt zpusobeno lidarview, ale lidar normalne bezi). Stejny "zasek" ma i leva kamera.

Edit: pokud prehravam pouze predni kameru, tak je vse OK, tj. problem je v jinem streamu

[m3d]

V kombinaci s app.pose2d dostavam tento obrazek: (ktery zatim neumim interpretovat)

python -m osgar.tools.lidarview  --pose2d app.pose2d --camera logimage.image  /data/aws/urban/UC1/ver112/C1C900LH300W.log

[m3d]

Samotna app.pose2d vypada takto: takze je to mozna jen plany poplach ... ale nevim.

[m3d]

Karikatura smrti: (prvni velka dira jsou schody dolu - pak je tam jeste nekolik dalsich az "obrich") ... zase pozice + predni kamera z logimage

[m3d]

Ty pozice vypadaji "fakt husty", tak radeji "statistika":

(osgar) md@md-ThinkPad-P50:~/git/osgar$ python -m osgar.logger /data/aws/urban/UC1/ver112/C1C900LH300W.log
 k                           name     bytes |  count | freq Hz
--------------------------------------------------------------
 0                            sys   5118120 |  72525 |   2.8Hz
 1         drone.desired_speed_3d   3224385 |  56609 |   2.2Hz
 2                transmitter.raw         0 |      0 |   0.0Hz
 3           transmitter.response         0 |      0 |   0.0Hz
 4            transmitter.timeout         0 |      0 |   0.0Hz
 5                   receiver.raw     36298 |  36298 |   1.4Hz
 6              receiver.response         0 |      0 |   0.0Hz
 7               receiver.timeout         0 |      0 |   0.0Hz
 8              reporter.artf_cmd     22390 |    526 |   0.0Hz
 9              reporter.artf_all     24135 |    125 |   0.0Hz
10              app.desired_speed    198005 |  28170 |   1.1Hz
11                     app.pose2d    836307 |  68266 |   2.7Hz
12                     app.stdout     51569 |    431 |   0.0Hz
13            app.desired_z_speed    253442 |  28170 |   1.1Hz
14                    app.flipped         0 |      0 |   0.0Hz
15       artifact_filter.artf_xyz       299 |      7 |   0.0Hz
16               marsupial.detach         0 |      0 |   0.0Hz
17    gas_detector.localized_artf        38 |      1 |   0.0Hz
18                  fromrospy.acc   2348071 | 341295 |  13.4Hz
19             fromrospy.top_scan    284450 |  28445 |   1.1Hz
20          fromrospy.bottom_scan    284440 |  28444 |   1.1Hz
21               fromrospy.pose3d   4505556 |  68266 |   2.7Hz
22        fromrospy.battery_state     12303 |   1367 |   0.1Hz
23                fromrospy.score     25463 |  25463 |   1.0Hz
24         fromrospy.gas_detected         3 |      3 |   0.0Hz
25           fromrospy.rgbd_front     12953 |  12953 |   0.5Hz
26            fromrospy.rgbd_left     12954 |  12954 |   0.5Hz
27           fromrospy.rgbd_right     12953 |  12953 |   0.5Hz
28         fromrospy.air_pressure    245754 |  27306 |   1.1Hz
29              fromrospy.scan360  21297206 |  28441 |   1.1Hz
30               fromrospy.slopes  14078763 |  28441 |   1.1Hz
31              fromrospy.octomap         0 |      0 |   0.0Hz
32           fromrospy.robot_name        14 |      1 |   0.0Hz
33                    radio.radio   1571230 |  13228 |   0.5Hz
34                 radio.artf_xyz     51263 |    245 |   0.0Hz
35               radio.breadcrumb         0 |      0 |   0.0Hz
36                radio.robot_xyz    140323 |   3066 |   0.1Hz
37               radio.trace_info    949323 |   9958 |   0.4Hz
38              radio.robot_trace   2166385 |  17944 |   0.7Hz
39                mtm.robot_trace    954128 |   7304 |   0.3Hz
40                 mtm.trace_info    321277 |   3066 |   0.1Hz
41                 logimage.image 288561530 |   6477 |   0.3Hz
42                 logimage.depth         0 |      0 |   0.0Hz
43            rosmsg.sim_time_sec      3769 |   1367 |   0.1Hz
44               rosmsg.sim_clock      6507 |   1367 |   0.1Hz
45                     rosmsg.cmd   1758657 |  13668 |   0.5Hz
46                rosmsg.t265_rot         0 |      0 |   0.0Hz
47                   rosmsg.debug         0 |      0 |   0.0Hz
48                   rosmsg.radio   4349517 |  34918 |   1.4Hz
49            rosmsg.base_station      1404 |     13 |   0.0Hz
50              rosmsg.joint_name         0 |      0 |   0.0Hz
51          rosmsg.joint_position         0 |      0 |   0.0Hz
52          rosmsg.joint_velocity         0 |      0 |   0.0Hz
53            rosmsg.joint_effort         0 |      0 |   0.0Hz
54           logimage_right.image 322312092 |   6477 |   0.3Hz
55           logimage_right.depth         0 |      0 |   0.0Hz
56            logimage_left.image 348824746 |   6477 |   0.3Hz
57            logimage_left.depth         0 |      0 |   0.0Hz
58              octomap.waypoints         0 |      0 |   0.0Hz
59                octomap.dropped         0 |      0 |   0.0Hz
60        detector.localized_artf      3451 |     77 |   0.0Hz
61               detector.dropped     12953 |  12953 |   0.5Hz
62            detector.debug_rgbd  40038330 |     77 |   0.0Hz
63                detector.stdout       139 |      3 |   0.0Hz
64          detector.debug_result   2322695 |   7161 |   0.3Hz
65       detector.debug_cv_result     21103 |   7161 |   0.3Hz
66  detector_right.localized_artf      2411 |     53 |   0.0Hz
67         detector_right.dropped     12952 |  12952 |   0.5Hz
68      detector_right.debug_rgbd  31843188 |     53 |   0.0Hz
69          detector_right.stdout       168 |      3 |   0.0Hz
70    detector_right.debug_result   1893552 |   5212 |   0.2Hz
71 detector_right.debug_cv_result     12735 |   5212 |   0.2Hz
72   detector_left.localized_artf     56204 |   1307 |   0.1Hz
73          detector_left.dropped     12954 |  12954 |   0.5Hz
74       detector_left.debug_rgbd 886644407 |   1307 |   0.1Hz
75           detector_left.stdout       165 |      3 |   0.0Hz
76     detector_left.debug_result   2558717 |   5071 |   0.2Hz
77  detector_left.debug_cv_result     53538 |   5071 |   0.2Hz

Total time 7:04:28.728104

... co tam opravdu vycuhuje je fromrospy.acc

[m3d]

dva "po sobe jdouci" (mezera cca 3min) snimky z predni kamery:

[m3d]

Chtel jsem rici, tak neco z te pozitivni stranky a jak to videla Teambase: ... a vlastne to jsou jeste horsi zpravy:

• A se nedostala pres druhou zatacku
• B asi pres treti
• D skoncila kolizi

0:49:03.872485 received: ['TYPE_BACKPACK', [-45411, 11659, -2412], 'C1C900LH300W', True]
5:35:33.658228 received: ['TYPE_PHONE', [51445, -138220, -13344], 'C1C900LH300W', None]
5:35:33.658228 received: ['TYPE_RESCUE_RANDY', [32562, -126742, -15250], 'C1C900LH300W', None]
5:35:33.658228 received: ['TYPE_RESCUE_RANDY', [-72804, -127056, -15548], 'C1C900LH300W', None]
5:35:33.658228 received: ['TYPE_GAS', [-154078, -51192, -14645], 'C1C900LH300W', None]
5:35:33.658228 received: ['TYPE_PHONE', [45922, -93986, -13783], 'C1C900LH300W', None]
5:35:33.658228 received: ['TYPE_RESCUE_RANDY', [50886, -40130, -4657], 'C1C900LH300W', None]
5:35:33.941707 received: ['TYPE_PHONE', [51445, -138220, -13344], 'C1C900LH300W', False]
5:35:33.948382 received: ['TYPE_RESCUE_RANDY', [32562, -126742, -15250], 'C1C900LH300W', True]
5:35:33.964687 received: ['TYPE_RESCUE_RANDY', [-72804, -127056, -15548], 'C1C900LH300W', True]
5:35:33.971014 received: ['TYPE_GAS', [-154078, -51192, -14645], 'C1C900LH300W', True]
5:35:33.974899 received: ['TYPE_PHONE', [45922, -93986, -13783], 'C1C900LH300W', False]
5:35:34.019833 received: ['TYPE_RESCUE_RANDY', [50886, -40130, -4657], 'C1C900LH300W', True]

Robot IDs ['A600W1C600L', 'B610W1C600R', 'C1C900LH300W', 'D10W1C900RH300W']

tj. vsech 5 artefaktu ziskala pouze drona C!

[m3d]

Jeste jak "netrefi odbocku", tak to muze byt tim, ze si ji chvilkove "zazdi"

[m3d]

detail z dalsiho preletu:

[m3d]

Tak i A-B drony se srazili v uvodni chodbe (jak letaji tam a zpet, tak to neni uplne divu) (posledni snimek pred kolizi)