supitalp
commented
5 years ago Hello, The output looks normal, no errors there. Please let me clarify what ESIM is actually doing.
-
Upon launching the ESIM node (
roslaunch ...), ESIM starts publishing simulated readings on different topics (/cam0/events, etc.). -
If you happen to have some visualization tool launched (e.g.
rvizorrqt), some visualizations of the sensors will show while the simulation is running (note that themulti_objects_2drendering does not output any camera trajectory of 3D map in RVIZ as this is only a 2D rendering engine -- in this case, better use therqtvisualization tool). -
Note that in parallel to publishing the simulated readings on ROS topics, ESIM also saves all the data in
rosbag(hence the message:Finished writing to bag: /tmp/out.bag), for later usage.
So, it you want to replay one simulation, you can:
- Make sure you have a visualization tool open (e.g.
rvizorrqt, or both). - Play the recorded rosbag as follows:
rosbag play /path/to/saved_bag.bag). Then, some visualization should be visible.
Hope that helps.
yuanhaowang1213
I have tried the Multi Objects 2d renderer example, and run roslaunch esim_ros esim.launch config:=cfg/multi_objects.conf
the out put is: ... logging to /home/wangy0k/.ros/log/99a41850-b74d-11e9-a932-ac1f6bd0c91d/roslaunch-VCC-SYS-7039A-I-4713.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://VCC-SYS-7039A-I:39191/
SUMMARY
PARAMETERS
NODES / dvs_renderer (dvs_renderer/dvs_renderer) esim_node (esim_ros/esim_node) hector_trajectory_server (hector_trajectory_server/hector_trajectory_server) optic_flow_viz (esim_visualization/optic_flow_converter.py)
auto-starting new master process[master]: started with pid [4723] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 99a41850-b74d-11e9-a932-ac1f6bd0c91d process[rosout-1]: started with pid [4736] started core service [/rosout] process[esim_node-2]: started with pid [4747] process[dvs_renderer-3]: started with pid [4754] process[optic_flow_viz-4]: started with pid [4755] process[hector_trajectory_server-5]: started with pid [4756] I0805 09:52:33.680042 4747 imp_multi_objects_2d_renderer.cpp:44] width = 346, height = 260 I0805 09:52:33.680193 4747 imp_multi_objects_2d_renderer.cpp:45] tmax = 1 I0805 09:52:33.680214 4747 object.cpp:12] Loading texture file from file: /home/wangy0k/sim_ws/src/rpg_esim/event_camera_simulator/imp/imp_planar_renderer/textures/office.jpg. [ INFO] [1564987953.684704422]: Waiting for tf transform data between frames map and cam0 to become available I0805 09:52:33.791405 4747 object.cpp:24] Pre-filtering the texture with median filter of size: 15. [INFO] [1564987954.093177]: Started flow converter node [INFO] [1564987954.093433]: Step size between arrows: 7 [INFO] [1564987954.093572]: Scale factor: 0.07 [INFO] [1564987954.093796]: Upsample factor: x1 [INFO] [1564987954.093885]: Publish rate: 100 Hz I0805 09:52:35.000685 4747 object.cpp:31] Pre-filtering the texture with gaussian filter of size: 1. I0805 09:52:35.241488 4747 object.cpp:12] Loading texture file from file: /home/wangy0k/sim_ws/src/rpg_esim/event_camera_simulator/imp/imp_multi_objects_2d/textures/rugby_ball.png. I0805 09:52:35.260526 4747 object.cpp:24] Pre-filtering the texture with median filter of size: 11. I0805 09:52:35.379128 4747 object.cpp:31] Pre-filtering the texture with gaussian filter of size: 1. I0805 09:52:35.405050 4747 ros_publisher.cpp:37] Initializing ROS I0805 09:52:35.511757 4747 rosbag_writer.cpp:39] Will write to bag: /tmp/out.bag W0805 09:52:35.511781 4747 adaptive_sampling_benchmark_publisher.cpp:57] Empty benchmark folder string: will not write benchmark files W0805 09:52:35.511885 4747 synthetic_optic_flow_publisher.cpp:41] Empty output folder string: will not write synthetic optic flow files I0805 09:52:35.518921 4747 event_simulator.cpp:27] Converting the image to log image with eps = 0.001. I0805 09:52:35.519232 4747 event_simulator.cpp:11] Initialized event camera simulator with sensor size: [346 x 260] I0805 09:52:35.519243 4747 event_simulator.cpp:12] and contrast thresholds: C+ = 0.5 , C- = 0.5 W0805 09:52:35.520195 4747 camera_simulator.cpp:43] The images do not cover a time span long enough to simulate the exposure time accurately. publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback I0805 09:52:48.169306 4747 rosbag_writer.cpp:62] Finalizing the bag... I0805 09:52:48.172581 4747 rosbag_writer.cpp:64] Finished writing to bag: /tmp/out.bag [esim_node-2] process has finished cleanly log file: /home/wangy0k/.ros/log/99a41850-b74d-11e9-a932-ac1f6bd0c91d/esim_node-2*.log [ WARN] [1564987973.686946297]: No transform between frames map and cam0 available after 20.002202 seconds of waiting. This warning only prints once.
And after that, I run the rviz roscd esim_visualization rviz -d cfg/esim.rviz
It shows no image. It seems the bag file is not read.