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uuvsimulator / eca_a9

Vehicle model description and configuration files for the ECA A9 AUV.
https://uuvsimulator.github.io/
Apache License 2.0
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start_demo_auv_control.launch control data record #17

Open galfunk opened 6 years ago

galfunk commented 6 years ago

Hi, I'm working on my master thesis and I found the simulation very interesting . I'm running the following launch file : start_demo_auv_control.launch Gazebo and rviz are running smoothly

I'm trying to record the following actors only: /eca_a9/thrusters/0/thrust /eca_a9/thrusters/0/input /eca_a9/fins/0/input /eca_a9/fins/0/output

Should I able to see in the bag file the angle of fin or values of the thrust per time ?

I'm open the file in MATLAB and I'm only get Time, Topic, MessageType, Fileoffeset

What is required in order to analysis the control data for the fines angles and the propeller thrust from the running simulation?

Thank

Gal

musamarcusso commented 6 years ago

Hi @galfunk, that might be because the FinPlugin uses the custom message FloatStamped. I don't know much about the ROS integration in Matlab, but I think this tutorial might help.

galfunk commented 6 years ago

Hi @musamarcusso , thank you for your assistance. Is there a simpler way to read custom massages from a bag file?

musamarcusso commented 6 years ago

Hi @galfunk,

there is a good Python API to parse and write into ROS bags that is quite easy to use. You can find examples here. Another options is to use the uuv_simulation_evaluation package where I put some parsers for the topics generated using uuv_simulator.

For instance, if you clone the uuv_simulation_evaluation repository and run 

rosrun uuv_simulation_evaluation evaluate_bag --bag_file <rosbag_filename> --output_dir <output_dir_name>

the node will give you plots from the topics in the bag.

galfunk commented 6 years ago

I'm trying to used uuv_simulation_evaluation as you suggested, I clone the package, and build the catkin with successful, when I run

rosrun uuv_simulation_evaluation evaluate_bag --bag_file recording.bag --output_dir ~/.ros

[rospack] Error: package 'uuv_simulation_evaluation' not found find: ‘’: No such file or directory Traceback (most recent call last): File "/home/gal/catkin/src/uuv_simulation_evaluation/uuv_simulation_evaluation/scripts/evaluate_bag", line 23, in from uuv_bag_evaluation import Evaluation ImportError: No module named uuv_bag_evaluation

musamarcusso commented 6 years ago

Did you run catkin build and then source ~/catkin_ws/devel/setup.bash after cloning the repository?

galfunk commented 6 years ago

yes

galfunk commented 6 years ago

gal@gal-XPS-15-9560:~/catkin$ catkin build

Profile: default Extending: [cached] /home/gal/catkin_ws/devel:/opt/ros/kinetic Workspace: /home/gal/catkin

Source Space: [exists] /home/gal/catkin/src Log Space: [exists] /home/gal/catkin/logs Build Space: [exists] /home/gal/catkin/build Devel Space: [exists] /home/gal/catkin/devel Install Space: [unused] /home/gal/catkin/install DESTDIR: [unused] None

Devel Space Layout: linked Install Space Layout: None

Additional CMake Args: None Additional Make Args: None Additional catkin Make Args: None Internal Make Job Server: True Cache Job Environments: False

Whitelisted Packages: None Blacklisted Packages: None

Workspace configuration appears valid.

[build] Found '11' packages in 0.0 seconds.
[build] Package table is up to date.
Starting >>> eca_a9_control
Starting >>> eca_a9_description
Starting >>> eca_a9_dp_controller
Starting >>> uuv_batch_run_example
Starting >>> uuv_simulation_evaluation
Starting >>> uuv_simulation_timer_example
Starting >>> uuv_simulation_wrapper
Starting >>> uuv_smac_example
Finished <<< eca_a9_dp_controller [ 0.1 seconds ]
Finished <<< uuv_batch_run_example [ 0.1 seconds ]
Finished <<< uuv_simulation_evaluation [ 0.1 seconds ]
Finished <<< uuv_simulation_timer_example [ 0.1 seconds ]
Finished <<< eca_a9_control [ 0.1 seconds ]
Finished <<< uuv_simulation_wrapper [ 0.1 seconds ]
Starting >>> uuv_simulation_runner_example
Starting >>> uuv_smac_utils
Finished <<< uuv_smac_example [ 0.1 seconds ]
Finished <<< eca_a9_description [ 0.1 seconds ]
Starting >>> eca_a9_gazebo
Finished <<< uuv_smac_utils [ 0.1 seconds ]
Finished <<< uuv_simulation_runner_example [ 0.1 seconds ]
Finished <<< eca_a9_gazebo [ 0.1 seconds ]
[build] Summary: All 11 packages succeeded!
[build] Ignored: None.
[build] Warnings: None.
[build] Abandoned: None.
[build] Failed: None.
[build] Runtime: 0.7 seconds total.

galfunk commented 6 years ago

what should be my ?

musamarcusso commented 6 years ago

Any directory name where you would like the parser data and plots to be stored.

galfunk commented 6 years ago

what should be my ? the full located adders?

galfunk commented 6 years ago

gal@gal-XPS-15-9560:~$ rosrun uuv_simulation_evaluation evaluate_bag --bag_file recording.bag --output_dir ~/ usage: evaluate_bag [-h] [--bagfile BAGFILE] [--output_dir OUTPUT_DIR] [--time_offset TIME_OFFSET] evaluate_bag: error: unrecognized arguments: --bag_file recording.bag

musamarcusso commented 6 years ago

Yeah, sorry that was a typo, the argument should be --bagfile. If you put only recording.bag the default search folder will be .ros. I would add the full path in that case.

galfunk commented 6 years ago

rosrun uuv_simulation_evaluation evaluate_bag --bagfile recording.bag --output_dir ~/ Traceback (most recent call last): File "/home/gal/catkin/src/uuv_simulation_evaluation/uuv_simulation_evaluation/scripts/evaluate_bag", line 40, in assert os.path.isfile(args.bagfile), 'Invalid bag file'

musamarcusso commented 6 years ago

Does this happen if instead of recording.bag you put the full path?

galfunk commented 6 years ago

yes rosrun uuv_simulation_evaluation evaluate_bag --bagfile ~/.log/recording.bag --output_dir ~/ Traceback (most recent call last): File "/home/gal/catkin/src/uuv_simulation_evaluation/uuv_simulation_evaluation/scripts/evaluate_bag", line 40, in assert os.path.isfile(args.bagfile), 'Invalid bag file' AssertionError: Invalid bag file

galfunk commented 6 years ago

This is my rosbag info

rosbag info ~/.ros/recording.bag path: /home/gal/.ros/recording.bag version: 2.0 duration: 28.9s start: Jan 01 1970 01:00:56.86 (56.86) end: Jan 01 1970 01:01:25.76 (85.76) size: 223.0 KB messages: 2300 compression: none [1/1 chunks] types: uuv_gazebo_ros_plugins_msgs/FloatStamped [e6c99c37e6f9fe98e071d524cc164e65] topics: /eca_a9/fins/0/input 571 msgs : uuv_gazebo_ros_plugins_msgs/FloatStamped /eca_a9/fins/0/output 579 msgs : uuv_gazebo_ros_plugins_msgs/FloatStamped /eca_a9/thrusters/0/input 571 msgs : uuv_gazebo_ros_plugins_msgs/FloatStamped /eca_a9/thrusters/0/thrust 579 msgs : uuv_gazebo_ros_plugins_msgs/FloatStamped

musamarcusso commented 6 years ago

I see that the path from the previous comment is ~/.log/recording.bag but the bag file seems to be under ~/.ros/recording.bag. Can you test with this ~/.ros/recording.bag instead?

galfunk commented 6 years ago

You right... now I got

2018-07-16 09:02:04,586 | INFO | evaluation | Opening bag: /home/gal/.ros/recording.bag 2018-07-16 09:02:04,594 | INFO | recording | Initializing parsers 2018-07-16 09:02:04,594 | INFO | recording | Initializing parser=auv_control 2018-07-16 09:02:04,623 | ERROR | auv_command_data | Error reading AUV command input topic, message='_uuv_gazebo_ros_plugins_msgsFloatStamped' object has no attribute 'command' 2018-07-16 09:02:04,623 | INFO | recording | Initializing parser=concentration_sensor 2018-07-16 09:02:04,626 | ERROR | concentration_sensor_data | Error reading particle concentration topic, message='_uuv_gazebo_ros_plugins_msgsFloatStamped' object has no attribute 'concentration' 2018-07-16 09:02:04,626 | INFO | recording | Initializing parser=current_velocity 2018-07-16 09:02:04,629 | ERROR | current_velocity_data | Error retrieving current velocity data from rosbag, message='_uuv_gazebo_ros_plugins_msgsFloatStamped' object has no attribute 'twist' 2018-07-16 09:02:04,629 | INFO | recording | Initializing parser=error -- 2018-07-16 09:02:04,632 | INFO | wp_trajectory_generator | Waypoint interpolators available: -- 2018-07-16 09:02:04,632 | INFO | wp_trajectory_generator | - cubic -- 2018-07-16 09:02:04,632 | INFO | wp_trajectory_generator | - lipb -- 2018-07-16 09:02:04,632 | INFO | wp_trajectory_generator | - dubins -- 2018-07-16 09:02:04,632 | INFO | wp_trajectory_generator | - linear 2018-07-16 09:02:04,632 | ERROR | error_data | Error retrieving error data from rosbag, message='_uuv_gazebo_ros_plugins_msgsFloatStamped' object has no attribute 'pose' 2018-07-16 09:02:04,633 | INFO | recording | Initializing parser=fins 2018-07-16 09:02:04,646 | INFO | fins_data | /eca_a9/fins/0/input=loaded 2018-07-16 09:02:04,657 | INFO | fins_data | /eca_a9/fins/0/output=loaded 2018-07-16 09:02:04,657 | INFO | fins_data | /eca_a9/fins/0/wrench_topic=loaded 2018-07-16 09:02:04,658 | INFO | recording | Initializing parser=salinity_sensor 2018-07-16 09:02:04,660 | ERROR | salinity_data | Error reading salinity topic, message='_uuv_gazebo_ros_plugins_msgsFloatStamped' object has no attribute 'salinity' 2018-07-16 09:02:04,661 | INFO | recording | Initializing parser=thrusters 2018-07-16 09:02:04,663 | INFO | thruster_data | Thruster topic prefix found </eca_a9/thrusters/0/thrust> 2018-07-16 09:02:04,673 | INFO | thruster_data | /eca_a9/thrusters/0/thrust=loaded 2018-07-16 09:02:04,684 | INFO | thruster_data | /eca_a9/thrusters/0/input=loaded 2018-07-16 09:02:04,684 | INFO | recording | Initializing parser=thruster_manager 2018-07-16 09:02:04,687 | ERROR | thruster_manager_data | Error retrieving thruster manager input wrench data from rosbag, message='_uuv_gazebo_ros_plugins_msgsFloatStamped' object has no attribute 'wrench' 2018-07-16 09:02:04,687 | INFO | recording | Initializing parser=trajectory -- 2018-07-16 09:02:04,690 | INFO | wp_trajectory_generator | Waypoint interpolators available: -- 2018-07-16 09:02:04,690 | INFO | wp_trajectory_generator | - cubic -- 2018-07-16 09:02:04,690 | INFO | wp_trajectory_generator | - lipb -- 2018-07-16 09:02:04,690 | INFO | wp_trajectory_generator | - dubins -- 2018-07-16 09:02:04,691 | INFO | wp_trajectory_generator | - linear 2018-07-16 09:02:04,691 | ERROR | trajectory_data | Error trajectories from rosbag, message='reference' -- 2018-07-16 09:02:04,691 | INFO | wp_trajectory_generator | Waypoint interpolators available: -- 2018-07-16 09:02:04,691 | INFO | wp_trajectory_generator | - cubic -- 2018-07-16 09:02:04,691 | INFO | wp_trajectory_generator | - lipb -- 2018-07-16 09:02:04,691 | INFO | wp_trajectory_generator | - dubins -- 2018-07-16 09:02:04,691 | INFO | wp_trajectory_generator | - linear 2018-07-16 09:02:04,691 | ERROR | trajectory_data | Error retrieving odometry data from rosbag, message='odometry' 2018-07-16 09:02:04,691 | INFO | recording | Initializing parser=wrench_perturbation 2018-07-16 09:02:04,694 | ERROR | wrench_perturbation_data | Error retrieving wrench perturbation data from rosbag, message='_uuv_gazebo_ros_plugins_msgs__FloatStamped' object has no attribute 'wrench' Traceback (most recent call last): File "/home/gal/catkin/src/uuv_simulation_evaluation/uuv_simulation_evaluation/scripts/evaluate_bag", line 47, in sim_eval = Evaluation(args.bagfile, args.output_dir, time_offset=time_offset) File "/home/gal/catkin/src/uuv_simulation_evaluation/uuv_simulation_evaluation/src/uuv_bag_evaluation/evaluation.py", line 52, in init self._error_set = ErrorSet.get_instance() File "/home/gal/catkin/src/uuv_simulation_evaluation/uuv_simulation_evaluation/src/uuv_bag_evaluation/error.py", line 100, in get_instance cls.instance = ErrorSet() File "/home/gal/catkin/src/uuv_simulation_evaluation/uuv_simulation_evaluation/src/uuv_bag_evaluation/error.py", line 94, in init__ self.compute_errors() File "/home/gal/catkin/src/uuv_simulation_evaluation/uuv_simulation_evaluation/src/uuv_bag_evaluation/error.py", line 114, in compute_errors for p_act in self._bag.parsers['trajectory'].odometry.points: AttributeError: 'NoneType' object has no attribute 'points'

musamarcusso commented 6 years ago

Hi @galfunk, I wrote this node for my experiments and in that case it expects odometry data to be available in the bag, which requires recording the bag in a way similar to this example. If you want to access just a very specific topic, you might find the data parsers a better example on how to extract the topic information from the bag.

galfunk commented 6 years ago

Hi@musamarcusso , Thanks again I run the simulation with the original record_demo.launch, some how I'm still received errors ;

The kpi_labels.yaml show:

euclidean_error_angular_velocity: Euclidean Error euclidean_error_cross_track: Euclidean Error euclidean_error_linear_velocity: Euclidean Error euclidean_error_pitch: Euclidean Error euclidean_error_position: Euclidean Error euclidean_error_quaternion: Euclidean Error euclidean_error_roll: Euclidean Error euclidean_error_x: Euclidean Error euclidean_error_y: Euclidean Error euclidean_error_yaw: Euclidean Error euclidean_error_z: Euclidean Error max_abs_thrust: Maximum absolute thrust max_error_angular_velocity: Max. absolute error max_error_cross_track: Max. absolute error max_error_linear_velocity: Max. absolute error max_error_pitch: Max. absolute error max_error_position: Max. absolute error max_error_quaternion: Max. absolute error max_error_roll: Max. absolute error max_error_x: Max. absolute error max_error_y: Max. absolute error max_error_yaw: Max. absolute error max_error_z: Max. absolute error mean_abs_thrust: Maximum mean absolute average thrust mean_error_angular_velocity: Mean Absolute Error mean_error_cross_track: Mean Absolute Error mean_error_linear_velocity: Mean Absolute Error mean_error_pitch: Mean Absolute Error mean_error_position: Mean Absolute Error mean_error_quaternion: Mean Absolute Error mean_error_roll: Mean Absolute Error mean_error_x: Mean Absolute Error mean_error_y: Mean Absolute Error mean_error_yaw: Mean Absolute Error mean_error_z: Mean Absolute Error peak_to_peak_angular_velocity: Peak to peak peak_to_peak_cross_track: Peak to peak peak_to_peak_linear_velocity: Peak to peak peak_to_peak_pitch: Peak to peak peak_to_peak_position: Peak to peak peak_to_peak_quaternion: Peak to peak peak_to_peak_roll: Peak to peak peak_to_peak_x: Peak to peak peak_to_peak_y: Peak to peak peak_to_peak_yaw: Peak to peak peak_to_peak_z: Peak to peak rmse_angular_velocity: Root mean squared error rmse_cross_track: Root mean squared error rmse_linear_velocity: Root mean squared error rmse_pitch: Root mean squared error rmse_position: Root mean squared error rmse_quaternion: Root mean squared error rmse_roll: Root mean squared error rmse_x: Root mean squared error rmse_y: Root mean squared error rmse_yaw: Root mean squared error rmse_z: Root mean squared error

and the computed_kpsi.ymal show max_error_angular_velocity: 0.0 max_error_cross_track: 0.0 max_error_linear_velocity: 0.0 max_error_pitch: 0.0 max_error_position: 0.0 max_error_quaternion: 0.0 max_error_roll: 0.0 max_error_x: 0.0 max_error_y: 0.0 max_error_yaw: 0.0 max_error_z: 0.0 mean_abs_thrust: 25.903399972640663 mean_error_angular_velocity: 0.0 mean_error_cross_track: 0.0 mean_error_linear_velocity: 0.0 mean_error_pitch: 0.0 mean_error_position: 0.0 mean_error_quaternion: 0.0 mean_error_roll: 0.0 mean_error_x: 0.0 mean_error_y: 0.0 mean_error_yaw: 0.0 mean_error_z: 0.0 peak_to_peak_angular_velocity: 0.0 peak_to_peak_cross_track: 0.0 peak_to_peak_linear_velocity: 0.0 peak_to_peak_pitch: 0.0 peak_to_peak_position: 0.0 peak_to_peak_quaternion: 0.0 peak_to_peak_roll: 0.0 peak_to_peak_x: 0.0 peak_to_peak_y: 0.0 peak_to_peak_yaw: 0.0 peak_to_peak_z: 0.0 rmse_angular_velocity: 0.0 rmse_cross_track: 0.0 rmse_linear_velocity: 0.0 rmse_pitch: 0.0 rmse_position: 0.0 rmse_quaternion: 0.0 rmse_roll: 0.0 rmse_x: 0.0 rmse_y: 0.0 rmse_yaw: 0.0 rmse_z: 0.0

musamarcusso commented 6 years ago

Could you paste here all the launch files you are using so I can reproduce it here?

galfunk commented 6 years ago

roslaunch uuv_descriptions ocean_waves.launch

gal@gal-XPS-15-9560:~$ roslaunch uuv_descriptions ocean_waves.launch ... logging to /home/gal/.ros/log/53b16190-88ff-11e8-bba7-9cb6d0f2f06b/roslaunch-gal-XPS-15-9560-30647.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://gal-XPS-15-9560:37505/

SUMMARY

PARAMETERS

NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) publish_world_models (uuv_assistants/publish_world_models.py) world_ned_frame_publisher (tf2_ros/static_transform_publisher)

auto-starting new master process[master]: started with pid [30657] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 53b16190-88ff-11e8-bba7-9cb6d0f2f06b process[rosout-1]: started with pid [30670] started core service [/rosout] process[gazebo-2]: started with pid [30686] process[gazebo_gui-3]: started with pid [30699] process[world_ned_frame_publisher-4]: started with pid [30704] process[publish_world_models-5]: started with pid [30705] Gazebo multi-robot simulator, version 7.13.1 Copyright (C) 2012 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org

Gazebo multi-robot simulator, version 7.13.1 Copyright (C) 2012 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org

[ INFO] [1531749084.391552431]: Finished loading Gazebo ROS API Plugin. [Msg] Waiting for master. [ INFO] [1531749084.392188324]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [Msg] Publicized address: 192.168.1.104 [ INFO] [1531749084.424486218]: Finished loading Gazebo ROS API Plugin. [ INFO] [1531749084.424856069]: 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: 192.168.1.104 Warning [parser.cc:527] Can not find the XML attribute 'version' in sdf XML tag for model: NED frame. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used Start publishing vehicle footprints to RViz New model being published: north Position: [1000, 0, -50] Orientation: [0, 0, 0, 1] Scale: [1, 1, 1] New model being published: west Position: [0, -1000, -50] Orientation: [0, 0, 0, 1] Scale: [1, 1, 1] New model being published: heightmap Position: [0.0, 0.0, -95.0] Orientation: [0.0, 0.0, 0.0, 1.0] Scale: [1, 1, 1] New model being published: seafloor Position: [0, 0, -100] Orientation: [0, 0, 0, 1] Scale: [1, 1, 1] New model being published: east Position: [0, 1000, -50] Orientation: [0, 0, 0, 1] Scale: [1, 1, 1] New model being published: south Position: [-1000, 0, -50] Orientation: [0, 0, 0, 1] Scale: [1, 1, 1] [Msg] Loading underwater world... [Msg] Current velocity [m/s] Gauss-Markov process model: [Msg] Mean = 0 Min. Limit = 0 Max. Limit = 5 Mu = 0 Noise Amp. = 0 [Msg] Current velocity horizontal angle [rad] Gauss-Markov process model: [Msg] Mean = 0 Min. Limit = -3.14159 Max. Limit = 3.14159 Mu = 0 Noise Amp. = 0 [Msg] Current velocity horizontal angle [rad] Gauss-Markov process model: [Msg] Mean = 0 Min. Limit = -3.14159 Max. Limit = 3.14159 Mu = 0 Noise Amp. = 0 [Msg] Current velocity topic name: hydrodynamics/current_velocity [Msg] Underwater current plugin loaded! WARNING: Current velocity calculated in the ENU frame [Msg] UnderwaterCurrentROSPlugin::namespace=hydrodynamics [Msg] Spherical coordinates reference=

roslaunch eca_a9_gazebo start_demo_auv_control.launch

gal@gal-XPS-15-9560:~$ roslaunch eca_a9_gazebo start_demo_auv_control.launch ... logging to /home/gal/.ros/log/53b16190-88ff-11e8-bba7-9cb6d0f2f06b/roslaunch-gal-XPS-15-9560-31220.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.

redefining global property: gamma when processing file: /home/gal/catkin/src/eca_a9/eca_a9_description/urdf/eca_a9_sensors.xacro included from: /home/gal/catkin/src/eca_a9/eca_a9_description/robots/eca_a9_default.urdf.xacro started roslaunch server http://gal-XPS-15-9560:35709/

SUMMARY

PARAMETERS

NODES /eca_a9/ auv_geometric_tracking_controller (uuv_trajectory_control/auv_geometric_tracking_controller.py) robot_state_publisher (robot_state_publisher/robot_state_publisher) trajectory_marker_publisher (uuv_control_utils/trajectory_marker_publisher.py) urdf_spawner (uuv_descriptions/spawn_model) / ground_truth_to_tf_eca_a9 (message_to_tf/message_to_tf) recording (rosbag/record) rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[eca_a9/urdf_spawner-1]: started with pid [31241] process[eca_a9/robot_state_publisher-2]: started with pid [31242] process[ground_truth_to_tf_eca_a9-3]: started with pid [31243] process[eca_a9/trajectory_marker_publisher-4]: started with pid [31244] process[eca_a9/auv_geometric_tracking_controller-5]: started with pid [31258] process[rviz-6]: started with pid [31269] process[recording-7]: started with pid [31280] [ WARN] [1531749144.631433500]: The root link eca_a9/base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ INFO] [1531749144.850286790]: rviz version 1.12.16 [ INFO] [1531749144.850389117]: compiled against Qt version 5.5.1 [ INFO] [1531749144.850410682]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1531749145.037174157]: Stereo is NOT SUPPORTED [ INFO] [1531749145.037258802]: OpenGl version: 3 (GLSL 1.3). Package pymap3d is not available, WGS84 coordinates cannot be used Download pymap3d for Python 2.7 as

sudo pip install pymap3d==1.5.2 or for Python 3.x as sudo pip install pymap3d spawn_model script started Starting AUV trajectory tracker Starting trajectory and waypoint marker publisher [INFO] [1531749145.682440, 0.000000]: Loading model xml from ros parameter [INFO] [1531749145.693868, 60.348000]: Using the ENU coordinates to spawn the model [INFO] [1531749145.694224, 60.350000]: Initial position wrt the world frame: (0.00, 0.00, -5.00) [INFO] [1531749145.694516, 60.352000]: Waiting for service /gazebo/spawn_urdf_model [INFO] [1531749145.695875, 60.352000]: Calling service /gazebo/spawn_urdf_model [INFO] [1531749145.769302, 0.000000]: Initialize control for vehicle ECA_A9 -- 2018-07-16 14:52:25,770 | INFO | wp_trajectory_generator | Waypoint interpolators available: ECA_A9 -- 2018-07-16 14:52:25,772 | INFO | wp_trajectory_generator | - cubic ECA_A9 -- 2018-07-16 14:52:25,773 | INFO | wp_trajectory_generator | - lipb ECA_A9 -- 2018-07-16 14:52:25,773 | INFO | wp_trajectory_generator | - dubins ECA_A9 -- 2018-07-16 14:52:25,773 | INFO | wp_trajectory_generator | - linear ECA_A9 -- 2018-07-16 14:52:25,774 | INFO | dp_controller_local_planner | Max. forward speed [m/s]=2.00 ECA_A9 -- 2018-07-16 14:52:25,779 | INFO | dp_controller_local_planner | Idle circle radius [m] = 30.00 ECA_A9 -- 2018-07-16 14:52:25,789 | INFO | dp_controller_local_planner | Inertial frame ID=world [INFO] [1531749146.334093, 60.418000]: Spawn status: SpawnModel: Successfully spawned entity [eca_a9/urdf_spawner-1] process has finished cleanly log file: /home/gal/.ros/log/53b16190-88ff-11e8-bba7-9cb6d0f2f06b/eca_a9-urdf_spawner-1*.log ECA_A9 -- 2018-07-16 14:52:26,845 | INFO | dp_controller_local_planner | Transform world_ned (NED) to world (ENU)= [[ -3.74939946e-33 1.00000000e+00 1.22464680e-16] [ 1.00000000e+00 -4.44089210e-16 -2.46519033e-32] [ 0.00000000e+00 1.22464680e-16 -1.00000000e+00]] ECA_A9 -- 2018-07-16 14:52:26,846 | INFO | dp_controller_local_planner | Inertial frame ID=world ECA_A9 -- 2018-07-16 14:52:26,847 | INFO | dp_controller_local_planner | Max. forward speed = 2 ECA_A9 -- 2018-07-16 14:52:26,850 | INFO | dp_controller_local_planner | No parameters for interpolation method found ECA_A9 -- 2018-07-16 14:52:26,852 | INFO | dp_controller_local_planner | Parameters for interpolation method found ECA_A9 -- 2018-07-16 14:52:26,853 | INFO | dp_controller_local_planner | {'radius': 10} ECA_A9 -- 2018-07-16 14:52:26,859 | INFO | dp_controller_local_planner | Parameters for interpolation method found ECA_A9 -- 2018-07-16 14:52:26,861 | INFO | dp_controller_local_planner | {'max_pitch': 0.26, 'radius': 10} ECA_A9 -- 2018-07-16 14:52:26,865 | INFO | dp_controller_local_planner | No parameters for interpolation method found [INFO] [1531749146.968004, 60.570000]: Min. thrust [N]=0.00 [INFO] [1531749146.976202, 60.574000]: Max. thrust [N]=45.00 [INFO] [1531749147.028757, 60.622000]: Lookup: Thruster transform found eca_a9/base_link -> eca_a9/thruster_0 [INFO] [1531749147.087207, 60.674000]: Thruster transform found eca_a9/base_link -> eca_a9/thruster_0 [INFO] [1531749147.090579, 60.678000]: pos=[-0.9676 0. 0. ] [INFO] [1531749147.091635, 60.678000]: rot=[ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03411554e-13] Thruster #0 - proportional - /eca_a9/thrusters/0/input [INFO] [1531749147.096790, 60.684000]: Thruster model:

[INFO] [1531749147.098742, 60.684000]: Thruster configuration= {'framebase': 'thruster', 'conversion_fcn_params': {'gain': 4.9e-05}, 'conversion_fcn': 'proportional', 'topic_suffix': 'input', 'topic_prefix': 'thrusters', 'max_thrust': 45} [INFO] [1531749147.099352, 60.684000]: Thruster input topic=/eca_a9/thrusters/0/input ECA_A9 -- 2018-07-16 14:52:27,196 | INFO | wp_trajectory_generator | Interpolation method set: lipb ECA_A9 -- 2018-07-16 14:52:27,197 | INFO | dp_controller_local_planner | AUTOMATIC MODE = OFF ECA_A9 -- 2018-07-16 14:52:32,738 | INFO | dp_controller_local_planner | AUV STATION KEEPING ECA_A9 -- 2018-07-16 14:52:32,747 | INFO | dp_controller_local_planner | STATION KEEPING MODE = ON ECA_A9 -- 2018-07-16 14:52:32,747 | INFO | wp_trajectory_generator | Interpolation method set: cubic ECA_A9 -- 2018-07-16 14:52:32,748 | INFO | wp_trajectory_generator | Setting new starting time, t=65.52 s ECA_A9 -- 2018-07-16 14:52:32,752 | ERROR | dp_controller_local_planner | Error generating trajectory message ECA_A9 -- 2018-07-16 14:52:32,753 | INFO | dp_controller_local_planner | STATION KEEPING MODE = OFF ECA_A9 -- 2018-07-16 14:52:32,755 | INFO | dp_controller_local_planner | AUTOMATIC MODE = ON ECA_A9 -- 2018-07-16 14:52:32,756 | INFO | dp_controller_local_planner | TRAJECTORY TRACKING = ON ECA_A9 -- 2018-07-16 14:52:32,817 | INFO | wp_trajectory_generator | Setting new starting time, t=65.58 s ECA_A9 -- 2018-07-16 14:52:32,818 | INFO | wp_trajectory_generator | Waypoint interpolator initialized! Start time: 65.58 s