robot_description not found in docker run

dan9thsense commented 4 years ago

When trying to run inside docker, the move group setup fails because it cannot find robot_description. Is there a different namespace for that in the docker version? Can you provide an example?

Modifying run_team_system.bash, replacing rosrun ariac_example ariac_example_node with rosrun ariac_example moveit_example results in this output:

[ INFO] [1584895281.650363526]: Loading gazebo_ros_control plugin
[ INFO] [1584895281.650491640]: Starting gazebo_ros_control plugin in namespace: /ariac/gantry
[ INFO] [1584895281.650881238]: gazebo_ros_control plugin is waiting for model URDF in parameter [/ariac/gantry/robot_description] on the ROS param server.
[ INFO] [1584895281.812392778]: Loaded gazebo_ros_control.
[Msg] VacuumGripper plugin loaded
[Msg] VacuumGripper plugin loaded
Error [parser_urdf.cc:3170] Unable to call parseURDF on robot model
Error [parser.cc:406] parse as old deprecated model file failed.
Error [parser_urdf.cc:3170] Unable to call parseURDF on robot model
Error [parser.cc:406] parse as old deprecated model file failed.

The sim starts but just eventually times out.

With my own code, it is unable to find robot_description. I'm using the namespace /ariac/gantry, so the full patlh is /ariac/gantry/robot_description It finishes quickly since it cannot assign the moveit groups:

[ERROR] [1584894762.678864949]: Robot semantic description not found. Did you forget to define or remap '/ariac/gantry/robot_description_semantic'?
[FATAL] [1584894762.784235012]: Group 'Full_Robot' was not found.

zeidk commented 4 years ago

The Error you get with parse_urdf can be ignored and is deprecated. I will fix this so it works with moveit_example. It seems moveit is not properly loaded in the image. I will try to get this to work before tomorrow.

zeid

dan9thsense commented 4 years ago

Any luck with this? We're getting pretty close to the qual runs and it takes time to get docker up and running well.

zeidk commented 4 years ago

Will be pushed today Dan. Had some power outage around here. Thank you,

zeid

zeidk commented 4 years ago

Fixed it! I tried to push the new images to dockerhub but the website seems to be down or overloaded. Will try again tomorrow.

dan9thsense commented 4 years ago

Thanks for the fast action. I'll give it a try tomorrow.

zeidk commented 4 years ago

I will let you know when it's ready.

zeid

zeidk commented 4 years ago

Dan, I have pushed the new images to dockerhub and modified docker scripts here https://github.com/usnistgov/ariac-docker. The docker container will start moveit automatically (your issue was due because moveit was not started). Some teams may not use moveit at all , if this is the case then I will have to make some modifications to provide moveit as an option.

I have added moveit_example_team in team_config as another submission example.
The script run_team_system.bash will run a python script (moveit_example_docker.py) which is a simplified version of moveit_example.py.
- moveit_example.py will not work in the competition mode because it calls the service /ariac/material_locations, which is forbidden in competition mode (see the Cheats section).
You can try the new script with:
- ./prepare_team_system.bash moveit_example_team
- ./run_trial.bash moveit_example_team sample_docker
Try the new docker images with your own code and let me know how it goes.
I will update the wiki tomorrow to reflect those changes.

dan9thsense commented 4 years ago

The good news is that it works, both with the example code and my code, both for single and all trials. However, there are some issues: There are some differences in performance, perhaps related to not having the GUI running, and I want to see what's going on. However, roslaunch nist_gear gear_playback.launch fails with the following errors:

[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/torso/meshes/torso_base.dae"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/torso/meshes/torso_main.dae"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/base.stl"]

On my system, the correct paths are: ~/ariac_ws/src/ARIAC/nist_gear/robots/torso/meshes/torso_base.dae

and

~/ariac_ws/src/ARIAC/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/base.stl

It is not obvious to me where those paths are being set or I would have tried changing them to get it to run.

zeidk commented 4 years ago

I will try this today and in the best case scenario I will only need to change the path in gear_playback.launch

Thank you

zeidk commented 4 years ago

Hi Dan,

Everything works fine on my end. Do you have another nist_gear installed on your machine? It seems the following line is pointing to libLogPlaybackPlugin.so located somewhere else (from a different nist_gear package). args="-p $(arg state_log_path) -s $(find nist_gear)/../../lib/libLogPlaybackPlugin.so --pause $(arg extra_gazebo_args)" required="true" /> Can you try running everything in the gear_playback.launch using the command line?

dan9thsense commented 4 years ago

I pulled the code out of the launch file and ran it with absolute addresses and get the same result. Here is the first command line: rosrun gazebo_ros gzserver -p /home/dbarry/ariac_ws/ariac-docker/logs/sirius/march28/sample/gazebo/state.log -s /home/dbarry/ariac_ws/devel/lib/libLogPlaybackPlugin.so --pause --verbose __name:="gazebo" rosrun gazebo_ros gzclient __name:="gazebo_gui" output="screen" respawn="false"

and here is the second one (in another terminal): rosrun gazebo_ros gzclient __name:="gazebo_gui" output="screen" respawn="false"

The output from the first one is:

Gazebo multi-robot simulator, version 9.0.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[ INFO] [1585627001.129092118]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1585627001.130171406]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.1.213
[Msg] 
Log playback:
  Log Version: 1.0
  Gazebo Version: 9.12.0
  Random Seed: 163728887
  Log Start Time: 0 2000000
  Log End Time: 86 332000000
World created. Model count: 81
[ INFO] [1585627002.566134902]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1585627002.593543098]: Physics dynamic reconfigure ready.
[Dbg] [ProximityRayPlugin.cc:74] Setting update rate of parent sensor to 20 Hz
[Dbg] [ProximityRayPlugin.cc:74] Setting update rate of parent sensor to 20 Hz
[Dbg] [ProximityRayPlugin.cc:74] Setting update rate of parent sensor to 20 Hz
[Dbg] [ProximityRayPlugin.cc:74] Setting update rate of parent sensor to 20 Hz
[Dbg] [ProximityRayPlugin.cc:74] Setting update rate of parent sensor to 20 Hz
[Dbg] [ProximityRayPlugin.cc:74] Setting update rate of parent sensor to 20 Hz
[Dbg] [ProximityRayPlugin.cc:74] Setting update rate of parent sensor to 20 Hz
[Dbg] [ProximityRayPlugin.cc:74] Setting update rate of parent sensor to 20 Hz

The output from the second one is:

[ INFO] [1585627052.535838817]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1585627052.537048504]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[Err] [REST.cc:205] Error in REST request

libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'

At this point the gazebo window is open and the parts are in place, but there is no robot present. When I hit the play button, that is when the errors (in the first terminal window) appear:

[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/torso/meshes/torso_base.dae"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/torso/meshes/torso_main.dae"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/base.stl"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/base.stl"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/shoulder.stl"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/upperarm.stl"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/forearm.stl"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/wrist1.stl"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/wrist2.stl"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/wrist3.stl"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/shoulder.stl"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/upperarm.stl"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/forearm.stl"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/wrist1.stl"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/wrist2.stl"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/wrist3.stl"]
[Err] [MeshShape.cc:66] No mesh specified
Segmentation fault

The second terminal does not have any messages, it just hangs at this point.

Note that there is no directory on this machine corresponding to /home/ariac much less all those subdirectories listed below it. I have no idea where it is getting that path name.

zeidk commented 4 years ago

Everything looks good until you press the play button. Gazebo opening without showing the robot is expected and the robot appears and moves when you press the play button. Let me look into this issue today.

PS: The error in REST request is also unexpected.

zeid

zeidk commented 4 years ago

Can you email me (zeid.kootbally@nist.gov) the file ~/.ariac/log/gazebo/state.log?

dan9thsense commented 4 years ago

File sent just now.

zeidk commented 4 years ago

I will look into this issue today.

zeidk commented 4 years ago

@dan9thsense Finally figured out how to fix this and the instructions can be found here. Please give it a try and close the ticket if you are satisfied.

dan9thsense commented 4 years ago

The state.log file is no longer showing up in the logs. The folder that used to contain it, gazebo, is no longer present either.

zeidk commented 4 years ago

@dan9thsense Can you check that you have the following at the top of your trial config file?

options:
   gazebo_state_logging: true

dan9thsense commented 4 years ago

Ah, that fixed it. I got it to work, thanks for figuring it out. However, the instructions are not quite correct. They say:

The easiest way to not get these errors is to create the following directory structure on the host

/home/ariac/ariac_ws/src, then copy the whole robots directory from ARIAC into

/home/ariac/ariac_ws/src

But what you actually need is to create the following directory structure on the host

/home/ariac/ariac_ws/src/nist_gear, then copy the whole robots directory from ARIAC into

/home/ariac/ariac_ws/src/nist_gear

Also, it is easy to make the mistake of adding the ariac/ariac_ws.... directory to your home user directory, but actually you need to add it like a new user folder, directly under the /home directory.

zeidk commented 4 years ago

oops, correct, I will fix this right away.

Thanks!

stevegray954 commented 4 years ago

@zeidk Just saw your instructions -- instead of symlinking each file like you've got with your example, the easiest way is to symlink the directory

sudo mkdir -p /home/ariac/ariac_ws/src
sudo ln -s /home/YOUR_USER/ariac_ws/src/ARIAC/nist_gear /home/ariac/ariac_ws/src/

usnistgov / ARIAC

robot_description not found in docker run #28