Environment not rendering after roslaunch agile_autonomy simulation.launch

[yukaryote]

When I run roslaunch agile_autonomy simulation.launch, I get the following error:

...
[ INFO] [1638835491.189653098]: Connecting to unity...
[ INFO] [1638835491.191211253]: [/hummingbird/agile_autonomy] unity/spawn_trees = 1
[ INFO] [1638835491.193514743]: [/hummingbird/agile_autonomy] unity/avg_tree_spacing = 4
[ INFO] [1638835491.194996597]: [/hummingbird/agile_autonomy] unity/perform_sgm = 1
[ INFO] [1638835491.197263122]: [/hummingbird/agile_autonomy] unity/spawn_objects = 0
[ INFO] [1638835491.200555849]: [/hummingbird/agile_autonomy] unity/avg_object_spacing = 5
[ INFO] [1638835491.203184788]: [/hummingbird/agile_autonomy] unity/rand_width = 5
[ INFO] [1638835491.206424910]: [/hummingbird/agile_autonomy] unity/seed = 69
[ INFO] [1638835491.209098221]: [/hummingbird/agile_autonomy] unity/env_idx = 4
[ INFO] [1638835491.224689504]: [/hummingbird/agile_autonomy] unity/pointcloud_resolution = 0.2
[ INFO] [1638835491.227539812]: [/hummingbird/agile_autonomy] camera/fov = 91
[ INFO] [1638835491.229623364]: [/hummingbird/agile_autonomy] camera/width = 640
[ INFO] [1638835491.233344206]: [/hummingbird/agile_autonomy] camera/height = 480
[ INFO] [1638835491.234598109]: [/hummingbird/agile_autonomy] camera/baseline = 0.1
[ INFO] [1638835491.235841083]: [/hummingbird/agile_autonomy] camera/pitch_angle_deg = 0
terminate called after throwing an instance of 'std::logic_error'
  what():  basic_string::_M_construct null not valid
[hummingbird/agile_autonomy-9] process has died [pid 296, exit code -6, cmd /home/improbable/agile_autonomy_ws/catkin_aa/devel/lib/agile_autonomy/agile_autonomy completed_global_plan:=/test_primitive/completed_planning __name:=agile_autonomy __log:=/home/improbable/.ros/log/4ae3846c-56f1-11ec-bc8d-0c9d92c3307d/hummingbird-agile_autonomy-9.log].
log file: /home/improbable/.ros/log/4ae3846c-56f1-11ec-bc8d-0c9d92c3307d/hummingbird-agile_autonomy-9*.log
[flight_render-20] process has died [pid 500, exit code -11, cmd /home/improbable/agile_autonomy_ws/catkin_aa/src/agile_autonomy/flightmare_agile_autonomy/flightrender/20201127/flightmare.x86_64 __name:=flight_render __log:=/home/improbable/.ros/log/4ae3846c-56f1-11ec-bc8d-0c9d92c3307d/flight_render-20.log].
log file: /home/improbable/.ros/log/4ae3846c-56f1-11ec-bc8d-0c9d92c3307d/flight_render-20*.log
[ INFO] [1638835492.436102818]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1638835492.584719, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1638835492.596939197, 0.013000000]: Physics dynamic reconfigure ready.
[INFO] [1638835492.854186, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[hummingbird/spawn_hummingbird-3] process has finished cleanly
log file: /home/improbable/.ros/log/4ae3846c-56f1-11ec-bc8d-0c9d92c3307d/hummingbird-spawn_hummingbird-3*.log

This is causing the environment to not show up in Rviz (and probably something more important isn't working).

[yuwei-wu]

Did you correctly do echo 'export RPGQ_PARAM_DIR=/home/<path/to/>catkin_aa/src/rpg_flightmare' >> ~/.bashrc and revise the path to your own path ?

I encountered the same issue and solve it by this. Hope it can help you

[yukaryote]

That resolved the std logic error, thanks! However, I get this spawn error now:

[ INFO] [1639270888.563694457, 185673.449000000]: [/hummingbird/generate_label_7] Q_perception = 0
[INFO] [1639270888.564393, 185673.450000]: Spawn status: SpawnModel: Failure - entity already exists.
[ INFO] [1639270888.564634212, 185673.450000000]: [/hummingbird/generate_label_1] max_thrust = 15
[ INFO] [1639270888.565668468, 185673.450000000]: [/hummingbird/generate_label_5] R_thrust = 1
[ INFO] [1639270888.568337943, 185673.452000000]: [/hummingbird/agile_autonomy] R_pitchroll = 1
[ INFO] [1639270888.569367256, 185673.452000000]: [/hummingbird/generate_label_6] R_thrust = 1
[ INFO] [1639270888.570364779, 185673.453000000]: [/hummingbird/generate_label_2] max_bodyrate_xy = 5
[ INFO] [1639270888.571569237, 185673.454000000]: [/hummingbird/autopilot] emergency_land_duration = 4
[ INFO] [1639270888.572609102, 185673.454000000]: [/hummingbird/generate_label_3] input_cost_exponential = 0
[ INFO] [1639270888.573576423, 185673.454000000]: [/hummingbird/generate_label_4] state_cost_exponential = 0
[ INFO] [1639270888.574805373, 185673.455000000]: [/hummingbird/generate_label_7] R_thrust = 1
[ERROR] [1639270888.577265, 185673.456000]: Spawn service failed. Exiting.
[ INFO] [1639270888.578192178, 185673.457000000]: [/hummingbird/generate_label_5] R_pitchroll = 1
[ INFO] [1639270888.579423778, 185673.457000000]: [/hummingbird/generate_label_0] traj_len = 10
[ INFO] [1639270888.580420477, 185673.458000000]: [/hummingbird/agile_autonomy] R_yaw = 1

[djmadden]

@yukaryote did you manage to resolve this issue? I am having the same problem.

Running on Ubuntu 20.04 server build (arm64). I am also having issues where the program doesn't believe PyQt5 and PySide2 are installed, but it still loads rviz, except there is no environment rendering.

If no response, I will raise as an issue.