FQ - ver121door2fqr2 - b4b3af1d-b8a4-4c20-831c-465bf272f713-B120W600RH3600W

[m3d]

2x Pam, 2x Freyja

A-drona skoncila v mlze, B neodstartovala, C-Freyja skoncila na helme a D-se propadla do propasti

celkove 3 body

0:33:04.480189 received: ['TYPE_HELMET', [16740, -51566, 488], 'D0W2C2400RH3600W', True]
1:15:35.922898 received: ['TYPE_BACKPACK', [35915, 29884, 1010], 'C60W2C2400LH3600W', None]
1:15:36.853544 received: ['TYPE_BACKPACK', [35915, 29884, 1010], 'C60W2C2400LH3600W', True]
1:45:58.860568 received: ['TYPE_BACKPACK', [56164, 19620, 203], 'C60W2C2400LH3600W', None]
1:45:59.071689 received: ['TYPE_BACKPACK', [56164, 19620, 203], 'C60W2C2400LH3600W', False]
6:35:40.570589 received: ['TYPE_ROPE', [117644, -155299, 764], 'D0W2C2400RH3600W', None]
6:35:40.727632 received: ['TYPE_ROPE', [117644, -155299, 764], 'D0W2C2400RH3600W', True]

Robot IDs ['A180W900LH3600W', 'B120W600RH3600W', 'C60W2C2400LH3600W', 'D0W2C2400RH3600W']

[m3d]

Report ale zakladam hlavne kvuli B-drone, kde log vypada divoce:

python -m osgar.logger d:\logs\aws\finals\FQ\ver121doors\B120W600RH3600W.log
 k                           name     bytes |  count | freq Hz
--------------------------------------------------------------
 0                            sys  26730119 | 375098 |   5.0Hz
 1                transmitter.raw         0 |      0 |   0.0Hz
 2           transmitter.response         0 |      0 |   0.0Hz
 3            transmitter.timeout         0 |      0 |   0.0Hz
 4              reporter.artf_cmd       151 |      4 |   0.0Hz
 5              reporter.artf_all     40935 |    263 |   0.0Hz
 6                  fromrospy.acc         0 |      0 |   0.0Hz
 7             fromrospy.top_scan    565570 |  56557 |   0.8Hz
 8          fromrospy.bottom_scan    565560 |  56556 |   0.8Hz
 9               fromrospy.pose3d   8958246 | 135731 |   1.8Hz
10        fromrospy.battery_state     24444 |   2716 |   0.0Hz
11                fromrospy.score     74841 |  74841 |   1.0Hz
12         fromrospy.gas_detected         1 |      1 |   0.0Hz
13           fromrospy.rgbd_front     82258 |  82258 |   1.1Hz
14            fromrospy.rgbd_left     82257 |  82257 |   1.1Hz
15           fromrospy.rgbd_right     82256 |  82256 |   1.1Hz
16         fromrospy.air_pressure    488628 |  54292 |   0.7Hz
17              fromrospy.scan360  20528013 |  56551 |   0.8Hz
18               fromrospy.slopes  39547823 |  56551 |   0.8Hz
19              fromrospy.octomap         0 |      0 |   0.0Hz
20           fromrospy.robot_name         0 |      0 |   0.0Hz
21                   receiver.raw     33474 |  33474 |   0.4Hz
22              receiver.response         0 |      0 |   0.0Hz
23               receiver.timeout         0 |      0 |   0.0Hz
24              app.desired_speed         0 |      0 |   0.0Hz
25                     app.pose2d   1085848 | 135731 |   1.8Hz
26                     app.stdout    154145 |   1250 |   0.0Hz
27            app.desired_z_speed         0 |      0 |   0.0Hz
28                    app.flipped         0 |      0 |   0.0Hz
29         drone.desired_speed_3d         0 |      0 |   0.0Hz
30    gas_detector.localized_artf         0 |      0 |   0.0Hz
31       artifact_filter.artf_xyz         0 |      0 |   0.0Hz
32           black_box.crash_rgbd         0 |      0 |   0.0Hz
33                    radio.radio   1098554 |  12895 |   0.2Hz
34                 radio.artf_xyz     49641 |    354 |   0.0Hz
35               radio.breadcrumb       224 |      8 |   0.0Hz
36                radio.robot_xyz    185345 |   3788 |   0.1Hz
37               radio.trace_info   1207391 |  10563 |   0.1Hz
38              radio.robot_trace    894339 |   9505 |   0.1Hz
39            rosmsg.sim_time_sec      7808 |   2716 |   0.0Hz
40               rosmsg.sim_clock     13244 |   2716 |   0.0Hz
41                     rosmsg.cmd   1390576 |  14151 |   0.2Hz
42                rosmsg.t265_rot         0 |      0 |   0.0Hz
43                   rosmsg.debug         0 |      0 |   0.0Hz
44                   rosmsg.radio   3276434 |  30755 |   0.4Hz
45            rosmsg.base_station       324 |      3 |   0.0Hz
46              rosmsg.joint_name         0 |      0 |   0.0Hz
47          rosmsg.joint_position         0 |      0 |   0.0Hz
48          rosmsg.joint_velocity         0 |      0 |   0.0Hz
49            rosmsg.joint_effort         0 |      0 |   0.0Hz
50            logimage_left.image     85562 |      1 |   0.0Hz
51            logimage_left.depth         0 |      0 |   0.0Hz
52                mtm.robot_trace    309723 |   3413 |   0.0Hz
53                 mtm.trace_info    446399 |   3788 |   0.1Hz
54               marsupial.detach         0 |      0 |   0.0Hz
55           logimage_right.image     96302 |      1 |   0.0Hz
56           logimage_right.depth         0 |      0 |   0.0Hz
57                 logimage.image     69979 |      1 |   0.0Hz
58                 logimage.depth         0 |      0 |   0.0Hz
59              octomap.waypoints         0 |      0 |   0.0Hz
60                octomap.dropped         0 |      0 |   0.0Hz
61        detector.localized_artf         0 |      0 |   0.0Hz
62               detector.dropped     45333 |  45333 |   0.6Hz
63            detector.debug_rgbd         0 |      0 |   0.0Hz
64                detector.stdout        42 |      2 |   0.0Hz
65          detector.debug_result   4566009 |  42413 |   0.6Hz
66       detector.debug_cv_result     42589 |  42413 |   0.6Hz
67          detector.debug_camera         0 |      0 |   0.0Hz
68   detector_left.localized_artf         0 |      0 |   0.0Hz
69          detector_left.dropped     42889 |  42889 |   0.6Hz
70       detector_left.debug_rgbd         0 |      0 |   0.0Hz
71           detector_left.stdout        42 |      2 |   0.0Hz
72     detector_left.debug_result 182019610 |  42888 |   0.6Hz
73  detector_left.debug_cv_result     42888 |  42888 |   0.6Hz
74     detector_left.debug_camera         0 |      0 |   0.0Hz
75  detector_right.localized_artf         0 |      0 |   0.0Hz
76         detector_right.dropped     45472 |  45472 |   0.6Hz
77      detector_right.debug_rgbd         0 |      0 |   0.0Hz
78          detector_right.stdout        42 |      2 |   0.0Hz
79    detector_right.debug_result 108084843 |  45416 |   0.6Hz
80 detector_right.debug_cv_result     45416 |  45416 |   0.6Hz
81    detector_right.debug_camera         0 |      0 |   0.0Hz

Total time 20:47:36.217041

konkretne debug detekce vlevo a vpravo na startu!

Edit: Ignore - it is not debug_rgbd, but only 108MB of intermediate results. No panic!

[m3d]

OK, tak druhe (tentokrat snad spravne) pozorovani je, ze B-drona nema zadny fromrospy.acc data, zatimco drona A ma:

10                  fromrospy.acc   5661431 | 679226 |   9.1Hz

[m3d]

Pred acc se publikuje z cloudsim2osgar pouze scan360 a ten u B-drony je. Nasledne se jeste generuje robot_name, ktery stejne jako acc chybi, tj. vyrez:

17              fromrospy.scan360  20528013 |  56551 |   0.8Hz
 6                  fromrospy.acc         0 |      0 |   0.0Hz
20           fromrospy.robot_name         0 |      0 |   0.0Hz

[m3d]

V B-rosout.log je jeste:

22.644000000 ERROR /rtabmap/rgbd/rgbd_odometry [/tmp/binarydeb/ros-melodic-rtabmap-ros-0.20.9/src/OdometryROS.cpp:614(OdometryROS::processData)] [topics: /rosout, /tf, /rtabmap/rgbd/odom, /rtabmap/rgbd/odom_info, /rtabmap/rgbd/odom_info_lite, /rtabmap/rgbd/odom_local_map, /rtabmap/rgbd/odom_local_scan_map, /rtabmap/rgbd/odom_last_frame, /rtabmap/rgbd/odom_rgbd_image] "guess_frame_id" is set, but guess cannot be computed between frames "odom" -> "B120W600RH3600W". Aborting odometry update...
...
23.192000000 ERROR /B120W600RH3600W/local_map [/osgar-ws/src/osgar/subt/ros/proxy/flyability.cc:215(optional<tf::StampedTransform> osgar::Flyability::GetTransform)] [topics: /rosout, /tf, /B120W600RH3600W/local_map/output/map, /B120W600RH3600W/local_map/output/scan, /B120W600RH3600W/local_map/output/down, /B120W600RH3600W/local_map/output/up, /statistics] Lookup would require extrapolation into the past.  Requested time 22.844000000 but the earliest data is at time 22.852000000, when looking up transform from frame [B120W600RH3600W/base_link/top_laser] to frame [odom]

[m3d]

Napsal jsem dotaz na subt-help, protoze kdyz porovnam statistiky A-drony a B-drony, tak A IMU data ma a B ma seznam prazdny (ale dany soubor existuje ... ale zase napr bridge_logger--B120W600RH3600W-air_pressure.log je pro obe drony prazdny ... proste by bylo uzitecne vedet, co se z toho da vylamat.