Git Product home page Git Product logo

Comments (8)

eliabntt avatar eliabntt commented on June 30, 2024

Hi there,

the method use the environment limits, which are loaded here to define the maximum side of a square which is then used to create a box based on zlim you provide. If you can please check those bounds.

update_location is needed to tell _om the center of the cube used to generate the occupancy map and its size.

The way it works is that it does a `raycasting' given the central location and flatten the obstacles on the image plane. Then

My guess rn is that you are not loading an environment/the bounds are empty. IDK what would happen if the zlim are both the same value.

The _om, as long as the dimensions are greater than 0, will return you something from my experience.

Last note. Here the generate_image method takes in input 3 colors for free, occupied and unknown space. As you can see, we set the unknown as white color for convienency.

from grade-rr.

lyndonchan avatar lyndonchan commented on June 30, 2024

@eliabntt I was loading the Warehouse_sketchfab.npy and the bounds seemed correct:

array([-14.248865127563477, -0.5738292336463928, -2.973909854888916,
       19.493680953979492, 12.91028118133545, 3.7584939002990723,
       array([[-14.24886513,  12.91028118],
       [-14.24886513,  -0.57382923],
       [ 18.93496323,  -0.57382923],
       [ 18.93496323,   0.26696423],
       [ 19.49368095,   0.26696423],
       [ 18.93496323,  12.91028118]])], dtype=object)

Likewise, center ([-1611.16, 114.68, 10]), lower_bound ([-3449.84, -5175.68, 0]), upper_bound ([6672.16, 4946.32, 80]), and zlim ([0, 1]) all seem reasonable.

In fact, it seems like the error is occurring at the line:

    om.set_transform(
        (start_location[0], start_location[1], start_location[2]),
        (lower_bound[0], lower_bound[1], lower_bound[2]),
        (upper_bound[0], upper_bound[1], upper_bound[2]),
    )

because the _om return variable is of type <class 'omni.isaac.occupancy_map._occupancy_map.OccupancyMap'> and even after running this function, its dimensions are still (0, 0, 0) and image_buffer is therefore also of length 0.

Do you have any idea what might be going wrong?

Thanks,
Lyndon

from grade-rr.

eliabntt avatar eliabntt commented on June 30, 2024

from grade-rr.

lyndonchan avatar lyndonchan commented on June 30, 2024

@eliabntt thanks for offering to check. Sure, here are my responses:

  1. You're right, set_location is wrapped up inside update_location in environment_utils.py
  2. I'm using the paper_simulation.py script now, because the setup_imu_sensor() function definition was changed into something incompatible for that script in the v2022 branch that I'm using
  3. v2022
  4. I tried that and nothing changed - so you can run your package with the GUI? It seems to run in headless mode by default, so is there a specific argument I can use to get that?
  5. The precise failing line is _im = Image.frombytes("RGBA", (dims.x, dims.y), bytes(image_buffer)) in environment_utils.py (you can see the trace in my first message). And that's failing because both dims.x and dims.y are 0.

from grade-rr.

lyndonchan avatar lyndonchan commented on June 30, 2024

Here are the messages being displayed to my console, by the way (I also added some debug messages) of my own:

SUMMARY
========

CLEAR PARAMETERS
 * /my_robot_0/custom_joint_controller_ros/
 * /my_robot_0/mav_nonlinear_mpc/

PARAMETERS
 * /fake/joint_state_publisher/source_list: ['move_group/fake...
 * /fake/move_group/allow_trajectory_execution: True
 * /fake/move_group/capabilities: 
 * /fake/move_group/controller_list: [{'name': 'fake_m...
 * /fake/move_group/default_planning_pipeline: ompl
 * /fake/move_group/disable_capabilities: 
 * /fake/move_group/initial: [{'group': 'my_fa...
 * /fake/move_group/max_range: 5.0
 * /fake/move_group/moveit_controller_manager: moveit_fake_contr...
 * /fake/move_group/moveit_manage_controllers: True
 * /fake/move_group/octomap_resolution: 0.025
 * /fake/move_group/planning_pipelines/chomp/collision_clearance: 0.2
 * /fake/move_group/planning_pipelines/chomp/collision_threshold: 0.07
 * /fake/move_group/planning_pipelines/chomp/enable_failure_recovery: False
 * /fake/move_group/planning_pipelines/chomp/jiggle_fraction: 0.05
 * /fake/move_group/planning_pipelines/chomp/joint_update_limit: 0.1
 * /fake/move_group/planning_pipelines/chomp/learning_rate: 0.01
 * /fake/move_group/planning_pipelines/chomp/max_iterations: 200
 * /fake/move_group/planning_pipelines/chomp/max_iterations_after_collision_free: 5
 * /fake/move_group/planning_pipelines/chomp/max_recovery_attempts: 5
 * /fake/move_group/planning_pipelines/chomp/obstacle_cost_weight: 1.0
 * /fake/move_group/planning_pipelines/chomp/planning_plugin: chomp_interface/C...
 * /fake/move_group/planning_pipelines/chomp/planning_time_limit: 10.0
 * /fake/move_group/planning_pipelines/chomp/pseudo_inverse_ridge_factor: 1e-4
 * /fake/move_group/planning_pipelines/chomp/request_adapters: default_planner_r...
 * /fake/move_group/planning_pipelines/chomp/ridge_factor: 0.0
 * /fake/move_group/planning_pipelines/chomp/smoothness_cost_acceleration: 1.0
 * /fake/move_group/planning_pipelines/chomp/smoothness_cost_jerk: 0.0
 * /fake/move_group/planning_pipelines/chomp/smoothness_cost_velocity: 0.0
 * /fake/move_group/planning_pipelines/chomp/smoothness_cost_weight: 0.1
 * /fake/move_group/planning_pipelines/chomp/start_state_max_bounds_error: 0.1
 * /fake/move_group/planning_pipelines/chomp/use_pseudo_inverse: False
 * /fake/move_group/planning_pipelines/chomp/use_stochastic_descent: True
 * /fake/move_group/planning_pipelines/ompl/jiggle_fraction: 0.05
 * /fake/move_group/planning_pipelines/ompl/my_fake_group/default_planner_config: RRTstar
 * /fake/move_group/planning_pipelines/ompl/my_fake_group/longest_valid_segment_fraction: 0.005
 * /fake/move_group/planning_pipelines/ompl/my_fake_group/planner_configs: ['AnytimePathShor...
 * /fake/move_group/planning_pipelines/ompl/my_fake_group/projection_evaluator: joints(fake/x_joi...
 * /fake/move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/hybridize: True
 * /fake/move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/max_hybrid_paths: 24
 * /fake/move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/num_planners: 4
 * /fake/move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/planners: 
 * /fake/move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/shortcut: True
 * /fake/move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/type: geometric::Anytim...
 * /fake/move_group/planning_pipelines/ompl/planner_configs/BFMT/balanced: 0
 * /fake/move_group/planning_pipelines/ompl/planner_configs/BFMT/cache_cc: 1
 * /fake/move_group/planning_pipelines/ompl/planner_configs/BFMT/extended_fmt: 1
 * /fake/move_group/planning_pipelines/ompl/planner_configs/BFMT/heuristics: 1
 * /fake/move_group/planning_pipelines/ompl/planner_configs/BFMT/nearest_k: 1
 * /fake/move_group/planning_pipelines/ompl/planner_configs/BFMT/num_samples: 1000
 * /fake/move_group/planning_pipelines/ompl/planner_configs/BFMT/optimality: 1
 * /fake/move_group/planning_pipelines/ompl/planner_configs/BFMT/radius_multiplier: 1.0
 * /fake/move_group/planning_pipelines/ompl/planner_configs/BFMT/type: geometric::BFMT
 * /fake/move_group/planning_pipelines/ompl/planner_configs/BKPIECE/border_fraction: 0.9
 * /fake/move_group/planning_pipelines/ompl/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
 * /fake/move_group/planning_pipelines/ompl/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
 * /fake/move_group/planning_pipelines/ompl/planner_configs/BKPIECE/range: 0.0
 * /fake/move_group/planning_pipelines/ompl/planner_configs/BKPIECE/type: geometric::BKPIECE
 * /fake/move_group/planning_pipelines/ompl/planner_configs/BiEST/range: 0.0
 * /fake/move_group/planning_pipelines/ompl/planner_configs/BiEST/type: geometric::BiEST
 * /fake/move_group/planning_pipelines/ompl/planner_configs/BiTRRT/cost_threshold: 1e300
 * /fake/move_group/planning_pipelines/ompl/planner_configs/BiTRRT/frountier_node_ratio: 0.1
 * /fake/move_group/planning_pipelines/ompl/planner_configs/BiTRRT/frountier_threshold: 0.0
 * /fake/move_group/planning_pipelines/ompl/planner_configs/BiTRRT/init_temperature: 100
 * /fake/move_group/planning_pipelines/ompl/planner_configs/BiTRRT/range: 0.0
 * /fake/move_group/planning_pipelines/ompl/planner_configs/BiTRRT/temp_change_factor: 0.1
 * /fake/move_group/planning_pipelines/ompl/planner_configs/BiTRRT/type: geometric::BiTRRT
 * /fake/move_group/planning_pipelines/ompl/planner_configs/EST/goal_bias: 0.05
 * /fake/move_group/planning_pipelines/ompl/planner_configs/EST/range: 0.0
 * /fake/move_group/planning_pipelines/ompl/planner_configs/EST/type: geometric::EST
 * /fake/move_group/planning_pipelines/ompl/planner_configs/FMT/cache_cc: 1
 * /fake/move_group/planning_pipelines/ompl/planner_configs/FMT/extended_fmt: 1
 * /fake/move_group/planning_pipelines/ompl/planner_configs/FMT/heuristics: 0
 * /fake/move_group/planning_pipelines/ompl/planner_configs/FMT/nearest_k: 1
 * /fake/move_group/planning_pipelines/ompl/planner_configs/FMT/num_samples: 1000
 * /fake/move_group/planning_pipelines/ompl/planner_configs/FMT/radius_multiplier: 1.1
 * /fake/move_group/planning_pipelines/ompl/planner_configs/FMT/type: geometric::FMT
 * /fake/move_group/planning_pipelines/ompl/planner_configs/KPIECE/border_fraction: 0.9
 * /fake/move_group/planning_pipelines/ompl/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
 * /fake/move_group/planning_pipelines/ompl/planner_configs/KPIECE/goal_bias: 0.05
 * /fake/move_group/planning_pipelines/ompl/planner_configs/KPIECE/min_valid_path_fraction: 0.5
 * /fake/move_group/planning_pipelines/ompl/planner_configs/KPIECE/range: 0.0
 * /fake/move_group/planning_pipelines/ompl/planner_configs/KPIECE/type: geometric::KPIECE
 * /fake/move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/border_fraction: 0.9
 * /fake/move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
 * /fake/move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/range: 0.0
 * /fake/move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/type: geometric::LBKPIECE
 * /fake/move_group/planning_pipelines/ompl/planner_configs/LBTRRT/epsilon: 0.4
 * /fake/move_group/planning_pipelines/ompl/planner_configs/LBTRRT/goal_bias: 0.05
 * /fake/move_group/planning_pipelines/ompl/planner_configs/LBTRRT/range: 0.0
 * /fake/move_group/planning_pipelines/ompl/planner_configs/LBTRRT/type: geometric::LBTRRT
 * /fake/move_group/planning_pipelines/ompl/planner_configs/LazyPRM/range: 0.0
 * /fake/move_group/planning_pipelines/ompl/planner_configs/LazyPRM/type: geometric::LazyPRM
 * /fake/move_group/planning_pipelines/ompl/planner_configs/LazyPRMstar/type: geometric::LazyPR...
 * /fake/move_group/planning_pipelines/ompl/planner_configs/PDST/type: geometric::PDST
 * /fake/move_group/planning_pipelines/ompl/planner_configs/PRM/max_nearest_neighbors: 10
 * /fake/move_group/planning_pipelines/ompl/planner_configs/PRM/type: geometric::PRM
 * /fake/move_group/planning_pipelines/ompl/planner_configs/PRMstar/type: geometric::PRMstar
 * /fake/move_group/planning_pipelines/ompl/planner_configs/ProjEST/goal_bias: 0.05
 * /fake/move_group/planning_pipelines/ompl/planner_configs/ProjEST/range: 0.0
 * /fake/move_group/planning_pipelines/ompl/planner_configs/ProjEST/type: geometric::ProjEST
 * /fake/move_group/planning_pipelines/ompl/planner_configs/RRT/goal_bias: 0.05
 * /fake/move_group/planning_pipelines/ompl/planner_configs/RRT/range: 0.0
 * /fake/move_group/planning_pipelines/ompl/planner_configs/RRT/type: geometric::RRT
 * /fake/move_group/planning_pipelines/ompl/planner_configs/RRTConnect/range: 0.0
 * /fake/move_group/planning_pipelines/ompl/planner_configs/RRTConnect/type: geometric::RRTCon...
 * /fake/move_group/planning_pipelines/ompl/planner_configs/RRTstar/delay_collision_checking: 1
 * /fake/move_group/planning_pipelines/ompl/planner_configs/RRTstar/goal_bias: 0.05
 * /fake/move_group/planning_pipelines/ompl/planner_configs/RRTstar/range: 0.0
 * /fake/move_group/planning_pipelines/ompl/planner_configs/RRTstar/type: geometric::RRTstar
 * /fake/move_group/planning_pipelines/ompl/planner_configs/SBL/range: 0.0
 * /fake/move_group/planning_pipelines/ompl/planner_configs/SBL/type: geometric::SBL
 * /fake/move_group/planning_pipelines/ompl/planner_configs/SPARS/dense_delta_fraction: 0.001
 * /fake/move_group/planning_pipelines/ompl/planner_configs/SPARS/max_failures: 1000
 * /fake/move_group/planning_pipelines/ompl/planner_configs/SPARS/sparse_delta_fraction: 0.25
 * /fake/move_group/planning_pipelines/ompl/planner_configs/SPARS/stretch_factor: 3.0
 * /fake/move_group/planning_pipelines/ompl/planner_configs/SPARS/type: geometric::SPARS
 * /fake/move_group/planning_pipelines/ompl/planner_configs/SPARStwo/dense_delta_fraction: 0.001
 * /fake/move_group/planning_pipelines/ompl/planner_configs/SPARStwo/max_failures: 5000
 * /fake/move_group/planning_pipelines/ompl/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
 * /fake/move_group/planning_pipelines/ompl/planner_configs/SPARStwo/stretch_factor: 3.0
 * /fake/move_group/planning_pipelines/ompl/planner_configs/SPARStwo/type: geometric::SPARStwo
 * /fake/move_group/planning_pipelines/ompl/planner_configs/STRIDE/degree: 16
 * /fake/move_group/planning_pipelines/ompl/planner_configs/STRIDE/estimated_dimension: 0.0
 * /fake/move_group/planning_pipelines/ompl/planner_configs/STRIDE/goal_bias: 0.05
 * /fake/move_group/planning_pipelines/ompl/planner_configs/STRIDE/max_degree: 18
 * /fake/move_group/planning_pipelines/ompl/planner_configs/STRIDE/max_pts_per_leaf: 6
 * /fake/move_group/planning_pipelines/ompl/planner_configs/STRIDE/min_degree: 12
 * /fake/move_group/planning_pipelines/ompl/planner_configs/STRIDE/min_valid_path_fraction: 0.2
 * /fake/move_group/planning_pipelines/ompl/planner_configs/STRIDE/range: 0.0
 * /fake/move_group/planning_pipelines/ompl/planner_configs/STRIDE/type: geometric::STRIDE
 * /fake/move_group/planning_pipelines/ompl/planner_configs/STRIDE/use_projected_distance: 0
 * /fake/move_group/planning_pipelines/ompl/planner_configs/TRRT/frountierNodeRatio: 0.1
 * /fake/move_group/planning_pipelines/ompl/planner_configs/TRRT/frountier_threshold: 0.0
 * /fake/move_group/planning_pipelines/ompl/planner_configs/TRRT/goal_bias: 0.05
 * /fake/move_group/planning_pipelines/ompl/planner_configs/TRRT/init_temperature: 10e-6
 * /fake/move_group/planning_pipelines/ompl/planner_configs/TRRT/k_constant: 0.0
 * /fake/move_group/planning_pipelines/ompl/planner_configs/TRRT/max_states_failed: 10
 * /fake/move_group/planning_pipelines/ompl/planner_configs/TRRT/min_temperature: 10e-10
 * /fake/move_group/planning_pipelines/ompl/planner_configs/TRRT/range: 0.0
 * /fake/move_group/planning_pipelines/ompl/planner_configs/TRRT/temp_change_factor: 2.0
 * /fake/move_group/planning_pipelines/ompl/planner_configs/TRRT/type: geometric::TRRT
 * /fake/move_group/planning_pipelines/ompl/planning_plugin: ompl_interface/OM...
 * /fake/move_group/planning_pipelines/ompl/request_adapters: default_planner_r...
 * /fake/move_group/planning_pipelines/ompl/start_state_max_bounds_error: 0.1
 * /fake/move_group/planning_pipelines/pilz_industrial_motion_planner/capabilities: pilz_industrial_m...
 * /fake/move_group/planning_pipelines/pilz_industrial_motion_planner/default_planner_config: PTP
 * /fake/move_group/planning_pipelines/pilz_industrial_motion_planner/planning_plugin: pilz_industrial_m...
 * /fake/move_group/planning_pipelines/pilz_industrial_motion_planner/request_adapters: 
 * /fake/move_group/planning_scene_monitor/publish_geometry_updates: True
 * /fake/move_group/planning_scene_monitor/publish_planning_scene: True
 * /fake/move_group/planning_scene_monitor/publish_state_updates: True
 * /fake/move_group/planning_scene_monitor/publish_transforms_updates: True
 * /fake/move_group/sense_for_plan/max_safe_path_cost: 1
 * /fake/move_group/sensors: []
 * /fake/move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /fake/move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /fake/move_group/trajectory_execution/allowed_start_tolerance: 0.01
 * /fake/robot_description: <?xml version="1....
 * /fake/robot_description_planning/cartesian_limits/max_rot_vel: 1.57
 * /fake/robot_description_planning/cartesian_limits/max_trans_acc: 2.25
 * /fake/robot_description_planning/cartesian_limits/max_trans_dec: -5
 * /fake/robot_description_planning/cartesian_limits/max_trans_vel: 1
 * /fake/robot_description_planning/default_acceleration_scaling_factor: 0.1
 * /fake/robot_description_planning/default_velocity_scaling_factor: 0.1
 * /fake/robot_description_planning/joint_limits/fake/pitch_joint/has_acceleration_limits: False
 * /fake/robot_description_planning/joint_limits/fake/pitch_joint/has_velocity_limits: True
 * /fake/robot_description_planning/joint_limits/fake/pitch_joint/max_acceleration: 0
 * /fake/robot_description_planning/joint_limits/fake/pitch_joint/max_velocity: 3.1415927
 * /fake/robot_description_planning/joint_limits/fake/roll_joint/has_acceleration_limits: False
 * /fake/robot_description_planning/joint_limits/fake/roll_joint/has_velocity_limits: True
 * /fake/robot_description_planning/joint_limits/fake/roll_joint/max_acceleration: 0
 * /fake/robot_description_planning/joint_limits/fake/roll_joint/max_velocity: 3.1415927
 * /fake/robot_description_planning/joint_limits/fake/x_joint/has_acceleration_limits: False
 * /fake/robot_description_planning/joint_limits/fake/x_joint/has_velocity_limits: True
 * /fake/robot_description_planning/joint_limits/fake/x_joint/max_acceleration: 0
 * /fake/robot_description_planning/joint_limits/fake/x_joint/max_velocity: 1000
 * /fake/robot_description_planning/joint_limits/fake/y_joint/has_acceleration_limits: False
 * /fake/robot_description_planning/joint_limits/fake/y_joint/has_velocity_limits: True
 * /fake/robot_description_planning/joint_limits/fake/y_joint/max_acceleration: 0
 * /fake/robot_description_planning/joint_limits/fake/y_joint/max_velocity: 1000
 * /fake/robot_description_planning/joint_limits/fake/yaw_joint/has_acceleration_limits: False
 * /fake/robot_description_planning/joint_limits/fake/yaw_joint/has_velocity_limits: True
 * /fake/robot_description_planning/joint_limits/fake/yaw_joint/max_acceleration: 0
 * /fake/robot_description_planning/joint_limits/fake/yaw_joint/max_velocity: 2
 * /fake/robot_description_planning/joint_limits/fake/z_joint/has_acceleration_limits: False
 * /fake/robot_description_planning/joint_limits/fake/z_joint/has_velocity_limits: True
 * /fake/robot_description_planning/joint_limits/fake/z_joint/max_acceleration: 0
 * /fake/robot_description_planning/joint_limits/fake/z_joint/max_velocity: 1000
 * /fake/robot_description_semantic: <?xml version="1....
 * /fake/robot_mesh_path: /home/lyndon.chan...
 * /my_robot_0/custom_joint_controller_ros/anti_windup_pitch: True
 * /my_robot_0/custom_joint_controller_ros/anti_windup_roll: True
 * /my_robot_0/custom_joint_controller_ros/anti_windup_x: True
 * /my_robot_0/custom_joint_controller_ros/anti_windup_y: True
 * /my_robot_0/custom_joint_controller_ros/anti_windup_yaw: True
 * /my_robot_0/custom_joint_controller_ros/anti_windup_z: True
 * /my_robot_0/custom_joint_controller_ros/d_gain_pitch: 0.001
 * /my_robot_0/custom_joint_controller_ros/d_gain_roll: 0.001
 * /my_robot_0/custom_joint_controller_ros/d_gain_x: 0.001
 * /my_robot_0/custom_joint_controller_ros/d_gain_y: 0.001
 * /my_robot_0/custom_joint_controller_ros/d_gain_yaw: 0.001
 * /my_robot_0/custom_joint_controller_ros/d_gain_z: 0.001
 * /my_robot_0/custom_joint_controller_ros/i_gain_pitch: 4
 * /my_robot_0/custom_joint_controller_ros/i_gain_roll: 4
 * /my_robot_0/custom_joint_controller_ros/i_gain_x: 4
 * /my_robot_0/custom_joint_controller_ros/i_gain_y: 4
 * /my_robot_0/custom_joint_controller_ros/i_gain_yaw: 4
 * /my_robot_0/custom_joint_controller_ros/i_gain_z: 4
 * /my_robot_0/custom_joint_controller_ros/i_max_pitch: 1
 * /my_robot_0/custom_joint_controller_ros/i_max_roll: 1
 * /my_robot_0/custom_joint_controller_ros/i_max_x: 1
 * /my_robot_0/custom_joint_controller_ros/i_max_y: 1
 * /my_robot_0/custom_joint_controller_ros/i_max_yaw: 1
 * /my_robot_0/custom_joint_controller_ros/i_max_z: 1
 * /my_robot_0/custom_joint_controller_ros/i_min_pitch: -1
 * /my_robot_0/custom_joint_controller_ros/i_min_roll: -1
 * /my_robot_0/custom_joint_controller_ros/i_min_x: -1
 * /my_robot_0/custom_joint_controller_ros/i_min_y: -1
 * /my_robot_0/custom_joint_controller_ros/i_min_yaw: -1
 * /my_robot_0/custom_joint_controller_ros/i_min_z: -1
 * /my_robot_0/custom_joint_controller_ros/joint_command: //my_robot_0/join...
 * /my_robot_0/custom_joint_controller_ros/joint_names: ['x_joint', 'y_jo...
 * /my_robot_0/custom_joint_controller_ros/joint_states: /placeholder
 * /my_robot_0/custom_joint_controller_ros/odom: //my_robot_0/odom
 * /my_robot_0/custom_joint_controller_ros/p_gain_pitch: 1.2
 * /my_robot_0/custom_joint_controller_ros/p_gain_roll: 1.2
 * /my_robot_0/custom_joint_controller_ros/p_gain_x: 1.2
 * /my_robot_0/custom_joint_controller_ros/p_gain_y: 1.2
 * /my_robot_0/custom_joint_controller_ros/p_gain_yaw: 1.2
 * /my_robot_0/custom_joint_controller_ros/p_gain_z: 1.2
 * /my_robot_0/custom_joint_controller_ros/position_limit_pitch: 0.35
 * /my_robot_0/custom_joint_controller_ros/position_limit_roll: 0.35
 * /my_robot_0/custom_joint_controller_ros/position_limit_x: 17.0713
 * /my_robot_0/custom_joint_controller_ros/position_limit_y: 6.9421
 * /my_robot_0/custom_joint_controller_ros/position_limit_yaw: 6.3
 * /my_robot_0/custom_joint_controller_ros/position_limit_z: 2.0
 * /my_robot_0/custom_joint_controller_ros/publish_rate: 50.0
 * /my_robot_0/custom_joint_controller_ros/setpoint: //my_robot_0/full...
 * /my_robot_0/custom_joint_controller_ros/velocity_limit_pitch: 0.7
 * /my_robot_0/custom_joint_controller_ros/velocity_limit_roll: 0.7
 * /my_robot_0/custom_joint_controller_ros/velocity_limit_x: 0.5
 * /my_robot_0/custom_joint_controller_ros/velocity_limit_y: 0.5
 * /my_robot_0/custom_joint_controller_ros/velocity_limit_yaw: 0.5
 * /my_robot_0/custom_joint_controller_ros/velocity_limit_z: 0.5
 * /my_robot_0/exploration_node/astar/allocate_num: 1000000
 * /my_robot_0/exploration_node/astar/lambda_heu: 10000.0
 * /my_robot_0/exploration_node/astar/max_search_time: 0.001
 * /my_robot_0/exploration_node/astar/resolution_astar: 0.1
 * /my_robot_0/exploration_node/bspline/limit_acc: 1.0
 * /my_robot_0/exploration_node/bspline/limit_ratio: 1.0
 * /my_robot_0/exploration_node/bspline/limit_vel: 1.0
 * /my_robot_0/exploration_node/exploration/am: 1.0
 * /my_robot_0/exploration_node/exploration/max_decay: 0.8
 * /my_robot_0/exploration_node/exploration/refine_local: True
 * /my_robot_0/exploration_node/exploration/refined_num: 10
 * /my_robot_0/exploration_node/exploration/refined_radius: 6.0
 * /my_robot_0/exploration_node/exploration/relax_time: 1.0
 * /my_robot_0/exploration_node/exploration/top_view_num: 20
 * /my_robot_0/exploration_node/exploration/tsp_dir: /home/lyndon.chan...
 * /my_robot_0/exploration_node/exploration/vm: 1.0
 * /my_robot_0/exploration_node/exploration/w_dir: 1.5
 * /my_robot_0/exploration_node/exploration/yd: 1.0471975333333332
 * /my_robot_0/exploration_node/exploration/ydd: 1.5707963
 * /my_robot_0/exploration_node/frontier/candidate_dphi: 0.2617993833333333
 * /my_robot_0/exploration_node/frontier/candidate_rmax: 2.5
 * /my_robot_0/exploration_node/frontier/candidate_rmin: 1.5
 * /my_robot_0/exploration_node/frontier/candidate_rnum: 3
 * /my_robot_0/exploration_node/frontier/cluster_min: 20
 * /my_robot_0/exploration_node/frontier/cluster_size_xy: 0.5
 * /my_robot_0/exploration_node/frontier/cluster_size_z: 10.0
 * /my_robot_0/exploration_node/frontier/down_sample: 3
 * /my_robot_0/exploration_node/frontier/min_candidate_clearance: 0.3
 * /my_robot_0/exploration_node/frontier/min_candidate_dist: 0.75
 * /my_robot_0/exploration_node/frontier/min_view_finish_fraction: 0.1
 * /my_robot_0/exploration_node/frontier/min_visib_num: 10
 * /my_robot_0/exploration_node/fsm/replan_time: 0.2
 * /my_robot_0/exploration_node/fsm/thresh_replan1: 1.5
 * /my_robot_0/exploration_node/fsm/thresh_replan2: 0.8
 * /my_robot_0/exploration_node/fsm/thresh_replan3: 0.6
 * /my_robot_0/exploration_node/heading_planner/half_vert_num: 5
 * /my_robot_0/exploration_node/heading_planner/lambda1: 2.0
 * /my_robot_0/exploration_node/heading_planner/lambda2: 1.0
 * /my_robot_0/exploration_node/heading_planner/max_yaw_rate: 0.4363323055555556
 * /my_robot_0/exploration_node/heading_planner/w: 20000.0
 * /my_robot_0/exploration_node/heading_planner/weight_type: 1.0
 * /my_robot_0/exploration_node/heading_planner/yaw_diff: 0.5235987666666666
 * /my_robot_0/exploration_node/manager/clearance_threshold: 0.2
 * /my_robot_0/exploration_node/manager/control_points_distance: 0.15
 * /my_robot_0/exploration_node/manager/dynamic_environment: 0
 * /my_robot_0/exploration_node/manager/local_segment_length: 6.0
 * /my_robot_0/exploration_node/manager/max_acc: 1.0
 * /my_robot_0/exploration_node/manager/max_jerk: 1.0
 * /my_robot_0/exploration_node/manager/max_vel: 1.0
 * /my_robot_0/exploration_node/manager/min_time: True
 * /my_robot_0/exploration_node/manager/use_active_perception: True
 * /my_robot_0/exploration_node/manager/use_geometric_path: True
 * /my_robot_0/exploration_node/manager/use_kinodynamic_path: True
 * /my_robot_0/exploration_node/manager/use_optimization: True
 * /my_robot_0/exploration_node/manager/use_topo_path: True
 * /my_robot_0/exploration_node/map_ros/cx: 320
 * /my_robot_0/exploration_node/map_ros/cy: 240
 * /my_robot_0/exploration_node/map_ros/depth_filter_margin: 2
 * /my_robot_0/exploration_node/map_ros/depth_filter_maxdist: 5.5
 * /my_robot_0/exploration_node/map_ros/depth_filter_mindist: 0
 * /my_robot_0/exploration_node/map_ros/esdf_slice_height: 0.3
 * /my_robot_0/exploration_node/map_ros/frame_id: world
 * /my_robot_0/exploration_node/map_ros/fx: 387
 * /my_robot_0/exploration_node/map_ros/fy: 387
 * /my_robot_0/exploration_node/map_ros/k_depth_scaling_factor: 1000.0
 * /my_robot_0/exploration_node/map_ros/show_all_map: True
 * /my_robot_0/exploration_node/map_ros/show_esdf_time: False
 * /my_robot_0/exploration_node/map_ros/show_occ_time: False
 * /my_robot_0/exploration_node/map_ros/skip_pixel: 2
 * /my_robot_0/exploration_node/map_ros/visualization_truncate_height: 5.09
 * /my_robot_0/exploration_node/map_ros/visualization_truncate_low: -2.0
 * /my_robot_0/exploration_node/optimization/algorithm1: 15
 * /my_robot_0/exploration_node/optimization/algorithm2: 11
 * /my_robot_0/exploration_node/optimization/dist0: 0.7
 * /my_robot_0/exploration_node/optimization/ld_dist: 10.0
 * /my_robot_0/exploration_node/optimization/ld_end: 0.5
 * /my_robot_0/exploration_node/optimization/ld_feasi: 2.0
 * /my_robot_0/exploration_node/optimization/ld_guide: 1.5
 * /my_robot_0/exploration_node/optimization/ld_smooth: 20.0
 * /my_robot_0/exploration_node/optimization/ld_start: 100.0
 * /my_robot_0/exploration_node/optimization/ld_time: 1.0
 * /my_robot_0/exploration_node/optimization/ld_view: 0.0
 * /my_robot_0/exploration_node/optimization/ld_waypt: 0.3
 * /my_robot_0/exploration_node/optimization/max_acc: 1.0
 * /my_robot_0/exploration_node/optimization/max_iteration_num1: 2
 * /my_robot_0/exploration_node/optimization/max_iteration_num2: 2000
 * /my_robot_0/exploration_node/optimization/max_iteration_num3: 200
 * /my_robot_0/exploration_node/optimization/max_iteration_num4: 200
 * /my_robot_0/exploration_node/optimization/max_iteration_time1: 0.0001
 * /my_robot_0/exploration_node/optimization/max_iteration_time2: 0.005
 * /my_robot_0/exploration_node/optimization/max_iteration_time3: 0.003
 * /my_robot_0/exploration_node/optimization/max_iteration_time4: 0.003
 * /my_robot_0/exploration_node/optimization/max_vel: 1.0
 * /my_robot_0/exploration_node/perception_utils/left_angle: 1.5
 * /my_robot_0/exploration_node/perception_utils/max_dist: 3.5
 * /my_robot_0/exploration_node/perception_utils/right_angle: 1.5
 * /my_robot_0/exploration_node/perception_utils/top_angle: 0.56
 * /my_robot_0/exploration_node/perception_utils/vis_dist: 1.0
 * /my_robot_0/exploration_node/sdf_map/box_max_x: 17.0713
 * /my_robot_0/exploration_node/sdf_map/box_max_y: 6.9421
 * /my_robot_0/exploration_node/sdf_map/box_max_z: 3.0
 * /my_robot_0/exploration_node/sdf_map/box_min_x: -17.0713
 * /my_robot_0/exploration_node/sdf_map/box_min_y: -6.9421
 * /my_robot_0/exploration_node/sdf_map/box_min_z: 0.0
 * /my_robot_0/exploration_node/sdf_map/default_dist: 0.0
 * /my_robot_0/exploration_node/sdf_map/ground_height: 0
 * /my_robot_0/exploration_node/sdf_map/local_bound_inflate: 0.4
 * /my_robot_0/exploration_node/sdf_map/local_map_margin: 150
 * /my_robot_0/exploration_node/sdf_map/map_size_x: 34.1426
 * /my_robot_0/exploration_node/sdf_map/map_size_y: 13.8842
 * /my_robot_0/exploration_node/sdf_map/map_size_z: 3.0
 * /my_robot_0/exploration_node/sdf_map/max_ray_length: 5
 * /my_robot_0/exploration_node/sdf_map/min_ray_length: 0
 * /my_robot_0/exploration_node/sdf_map/obstacles_inflation: 0.15
 * /my_robot_0/exploration_node/sdf_map/optimistic: False
 * /my_robot_0/exploration_node/sdf_map/p_hit: 0.65
 * /my_robot_0/exploration_node/sdf_map/p_max: 0.9
 * /my_robot_0/exploration_node/sdf_map/p_min: 0.12
 * /my_robot_0/exploration_node/sdf_map/p_miss: 0.35
 * /my_robot_0/exploration_node/sdf_map/p_occ: 0.8
 * /my_robot_0/exploration_node/sdf_map/resolution: 0.1
 * /my_robot_0/exploration_node/sdf_map/signed_dist: False
 * /my_robot_0/exploration_node/sdf_map/virtual_ceil_height: 3.0
 * /my_robot_0/exploration_node/search/allocate_num: 100000
 * /my_robot_0/exploration_node/search/check_num: 10
 * /my_robot_0/exploration_node/search/horizon: 6.0
 * /my_robot_0/exploration_node/search/init_max_tau: 1.0
 * /my_robot_0/exploration_node/search/lambda_heu: 10.0
 * /my_robot_0/exploration_node/search/margin: 0.2
 * /my_robot_0/exploration_node/search/max_acc: 1.0
 * /my_robot_0/exploration_node/search/max_tau: 0.6
 * /my_robot_0/exploration_node/search/max_vel: 1.0
 * /my_robot_0/exploration_node/search/optimistic: False
 * /my_robot_0/exploration_node/search/resolution_astar: 0.03
 * /my_robot_0/exploration_node/search/time_resolution: 0.8
 * /my_robot_0/exploration_node/search/vel_margin: 0.2
 * /my_robot_0/exploration_node/search/w_time: 10.0
 * /my_robot_0/mav_nonlinear_mpc/KF_observer/P0_angular_velocity: 0.1
 * /my_robot_0/mav_nonlinear_mpc/KF_observer/P0_attitude: 0.1
 * /my_robot_0/mav_nonlinear_mpc/KF_observer/P0_force: 0.1
 * /my_robot_0/mav_nonlinear_mpc/KF_observer/P0_position: 0.1
 * /my_robot_0/mav_nonlinear_mpc/KF_observer/P0_torque: 0.1
 * /my_robot_0/mav_nonlinear_mpc/KF_observer/P0_velocity: 0.1
 * /my_robot_0/mav_nonlinear_mpc/KF_observer/calibration_duration: 5
 * /my_robot_0/mav_nonlinear_mpc/KF_observer/drag_coefficients: [0.01, 0.01, 0]
 * /my_robot_0/mav_nonlinear_mpc/KF_observer/external_forces_limit: [5.0, 5.0, 3.0]
 * /my_robot_0/mav_nonlinear_mpc/KF_observer/external_moments_limit: [20.0, 20.0, 20.0]
 * /my_robot_0/mav_nonlinear_mpc/KF_observer/omega_limit: [3.0, 3.0, 2.0]
 * /my_robot_0/mav_nonlinear_mpc/KF_observer/pitch_damping: 0.76
 * /my_robot_0/mav_nonlinear_mpc/KF_observer/pitch_gain: 0.84
 * /my_robot_0/mav_nonlinear_mpc/KF_observer/pitch_omega: 7.07
 * /my_robot_0/mav_nonlinear_mpc/KF_observer/q_angular_velocity: 0.02
 * /my_robot_0/mav_nonlinear_mpc/KF_observer/q_attitude: 0.015
 * /my_robot_0/mav_nonlinear_mpc/KF_observer/q_force: 0.1
 * /my_robot_0/mav_nonlinear_mpc/KF_observer/q_position: 0.01
 * /my_robot_0/mav_nonlinear_mpc/KF_observer/q_torque: 0.1
 * /my_robot_0/mav_nonlinear_mpc/KF_observer/q_velocity: 0.025
 * /my_robot_0/mav_nonlinear_mpc/KF_observer/r_attitude: 0.01
 * /my_robot_0/mav_nonlinear_mpc/KF_observer/r_position: 0.001
 * /my_robot_0/mav_nonlinear_mpc/KF_observer/r_velocity: 0.0012
 * /my_robot_0/mav_nonlinear_mpc/KF_observer/roll_damping: 0.72
 * /my_robot_0/mav_nonlinear_mpc/KF_observer/roll_gain: 0.8
 * /my_robot_0/mav_nonlinear_mpc/KF_observer/roll_omega: 7.07
 * /my_robot_0/mav_nonlinear_mpc/KF_observer/yaw_damping: 0.95
 * /my_robot_0/mav_nonlinear_mpc/KF_observer/yaw_gain: 1.0
 * /my_robot_0/mav_nonlinear_mpc/KF_observer/yaw_omega: 5.0
 * /my_robot_0/mav_nonlinear_mpc/K_yaw: 1.8
 * /my_robot_0/mav_nonlinear_mpc/Ki_xy: 0.2
 * /my_robot_0/mav_nonlinear_mpc/Ki_z: 0.3
 * /my_robot_0/mav_nonlinear_mpc/antiwindup_ball: 0.4
 * /my_robot_0/mav_nonlinear_mpc/enable_integrator: True
 * /my_robot_0/mav_nonlinear_mpc/enable_offset_free: True
 * /my_robot_0/mav_nonlinear_mpc/linear_drag_coefficients: [0.01, 0.01, 0]
 * /my_robot_0/mav_nonlinear_mpc/mass: 1.56
 * /my_robot_0/mav_nonlinear_mpc/pitch_gain: 0.78
 * /my_robot_0/mav_nonlinear_mpc/pitch_max: 0.4363323129985824
 * /my_robot_0/mav_nonlinear_mpc/pitch_time_constant: 0.259
 * /my_robot_0/mav_nonlinear_mpc/position_error_integration_limit: 2
 * /my_robot_0/mav_nonlinear_mpc/prediction_sampling_time: 0.1
 * /my_robot_0/mav_nonlinear_mpc/q_pitch: 10
 * /my_robot_0/mav_nonlinear_mpc/q_roll: 10
 * /my_robot_0/mav_nonlinear_mpc/q_vx: 80
 * /my_robot_0/mav_nonlinear_mpc/q_vy: 80
 * /my_robot_0/mav_nonlinear_mpc/q_vz: 100
 * /my_robot_0/mav_nonlinear_mpc/q_x: 80
 * /my_robot_0/mav_nonlinear_mpc/q_y: 80
 * /my_robot_0/mav_nonlinear_mpc/q_z: 120
 * /my_robot_0/mav_nonlinear_mpc/r_pitch: 50
 * /my_robot_0/mav_nonlinear_mpc/r_roll: 50
 * /my_robot_0/mav_nonlinear_mpc/r_thrust: 1
 * /my_robot_0/mav_nonlinear_mpc/reference_frame: world
 * /my_robot_0/mav_nonlinear_mpc/roll_gain: 0.75
 * /my_robot_0/mav_nonlinear_mpc/roll_max: 0.4363323129985824
 * /my_robot_0/mav_nonlinear_mpc/roll_time_constant: 0.257
 * /my_robot_0/mav_nonlinear_mpc/sampling_time: 0.01
 * /my_robot_0/mav_nonlinear_mpc/thrust_max: 20
 * /my_robot_0/mav_nonlinear_mpc/thrust_min: 5
 * /my_robot_0/mav_nonlinear_mpc/use_rc_teleop: False
 * /my_robot_0/mav_nonlinear_mpc/verbose: True
 * /my_robot_0/waypoint_generator/waypoint_type: manual-lonely-way...
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /fake/
    collision_check (collision_check/collision_check_node)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    move_group (moveit_ros_move_group/move_group)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    virtual_joint_broadcaster_0 (tf2_ros/static_transform_publisher)
  /my_robot_0/
    custom_joint_controller_ros (custom_joint_controller_ros/custom_joint_controller_ros_node)
    exploration_node (exploration_manager/exploration_node)
    mav_nonlinear_mpc (mav_nonlinear_mpc/nonlinear_mpc_node)
    waypoint_generator (waypoint_generator/waypoint_generator)

ROS_MASTER_URI=http://localhost:11311/
process[my_robot_0/custom_joint_controller_ros-1]: started with pid [8889]
[ERROR] [1689391900.056316739]: Param 'frame_id' not set
process[my_robot_0/mav_nonlinear_mpc-2]: started with pid [8895]
process[my_robot_0/exploration_node-3]: started with pid [8896]
process[my_robot_0/waypoint_generator-4]: started with pid [8903]
process[fake/collision_check-5]: started with pid [8909]
process[fake/virtual_joint_broadcaster_0-6]: started with pid [8910]
process[fake/joint_state_publisher-7]: started with pid [8916]
process[fake/robot_state_publisher-8]: started with pid [8917]
process[fake/move_group-9]: started with pid [8938]
ros node launched
loading environment Warehouse_sketchfab
Correcting paths...
[ WARN] [1689391901.171936535]: No kinematics plugins defined. Fill and load kinematics.yaml!
[ WARN] [1689391901.224536883]: No odometry message received in the last 1 seconds!
[ WARN] [1689391902.211310493]: no odom.
[ WARN] [1689391902.224485641]: No odometry message received in the last 1 seconds!
[ WARN] [1689391903.213722150]: no odom.
[ WARN] [1689391903.224497760]: No odometry message received in the last 1 seconds!
[ WARN] [1689391903.335452976]: Multi-DOF-Joint 'fake/virtual' not supported.
[ WARN] [1689391903.335494216]: Multi-DOF-Joint 'fake/virtual' not supported.
[ WARN] [1689391903.527122063]: No kinematics plugins defined. Fill and load kinematics.yaml!
[ WARN] [1689391903.611479981]: Multi-DOF-Joint 'fake/virtual' not supported.
[ WARN] [1689391903.611523381]: Multi-DOF-Joint 'fake/virtual' not supported.
[ WARN] [1689391903.624137979]: Multi-DOF-Joint 'fake/virtual' not supported.
[ WARN] [1689391903.624181010]: Multi-DOF-Joint 'fake/virtual' not supported.
[ WARN] [1689391903.960197619]: No kinematics plugins defined. Fill and load kinematics.yaml!
[ WARN] [1689391904.221508042]: no odom.
[ WARN] [1689391904.224489119]: No odometry message received in the last 1 seconds!
[ WARN] [1689391905.224490700]: No odometry message received in the last 1 seconds!
[ WARN] [1689391905.231509950]: no odom.
[ WARN] [1689391906.224491120]: No odometry message received in the last 1 seconds!
[ WARN] [1689391906.241534379]: no odom.
[ WARN] [1689391907.224494662]: No odometry message received in the last 1 seconds!
[ WARN] [1689391907.251499048]: no odom.
[ WARN] [1689391908.224513925]: No odometry message received in the last 1 seconds!
[ WARN] [1689391908.261498388]: no odom.
[ WARN] [1689391909.224490069]: No odometry message received in the last 1 seconds!
[ WARN] [1689391909.271498548]: no odom.
[ WARN] [1689391910.224483832]: No odometry message received in the last 1 seconds!
[ WARN] [1689391910.271514283]: no odom.
[ WARN] [1689391911.224491127]: No odometry message received in the last 1 seconds!
[ WARN] [1689391911.281507575]: no odom.
[ WARN] [1689391912.224453203]: No odometry message received in the last 1 seconds!
[ WARN] [1689391912.291493528]: no odom.
[ WARN] [1689391913.224480769]: No odometry message received in the last 1 seconds!
[ WARN] [1689391913.291504914]: no odom.
[ WARN] [1689391914.224501307]: No odometry message received in the last 1 seconds!
[ WARN] [1689391914.301505909]: no odom.
[ WARN] [1689391915.224485075]: No odometry message received in the last 1 seconds!
[ WARN] [1689391915.313453076]: no odom.
[ WARN] [1689391916.224489453]: No odometry message received in the last 1 seconds!
[ WARN] [1689391916.321507821]: no odom.
[ WARN] [1689391917.224489893]: No odometry message received in the last 1 seconds!
[ WARN] [1689391917.331512439]: no odom.
[ WARN] [1689391918.224490073]: No odometry message received in the last 1 seconds!
[ WARN] [1689391918.341506606]: no odom.
[ WARN] [1689391919.224498934]: No odometry message received in the last 1 seconds!
[ WARN] [1689391919.341523147]: no odom.
[ WARN] [1689391920.224479205]: No odometry message received in the last 1 seconds!
[ WARN] [1689391920.351496266]: no odom.
[ WARN] [1689391921.224481268]: No odometry message received in the last 1 seconds!
[ WARN] [1689391921.351513929]: no odom.
[ WARN] [1689391922.224478611]: No odometry message received in the last 1 seconds!
[ WARN] [1689391922.363716055]: no odom.
[ WARN] [1689391923.224478335]: No odometry message received in the last 1 seconds!
[ WARN] [1689391923.371542212]: no odom.
[ WARN] [1689391924.224509810]: No odometry message received in the last 1 seconds!
[ WARN] [1689391924.381514214]: no odom.
[ WARN] [1689391925.224517386]: No odometry message received in the last 1 seconds!
[ WARN] [1689391925.391516757]: no odom.
[ WARN] [1689391926.224487931]: No odometry message received in the last 1 seconds!
[ WARN] [1689391926.401514301]: no odom.
Generating map...
[ WARN] [1689391927.224506189]: No odometry message received in the last 1 seconds!
Wait for service
Service loaded
[ WARN] [1689391927.411492965]: no odom.
[ WARN] [1689391928.224518316]: No odometry message received in the last 1 seconds!
[ WARN] [1689391928.421510601]: no odom.
[ WARN] [1689391928.730033203]: Empty quaternion found in pose message. Setting to neutral orientation.
[ WARN] [1689391929.224491194]: No odometry message received in the last 1 seconds!
[ WARN] [1689391929.431492957]: no odom.
[ WARN] [1689391930.224503273]: No odometry message received in the last 1 seconds!
[ WARN] [1689391930.431504206]: no odom.
[ WARN] [1689391931.224498944]: No odometry message received in the last 1 seconds!
[ WARN] [1689391931.441496734]: no odom.
[ WARN] [1689391932.224567635]: No odometry message received in the last 1 seconds!
[ WARN] [1689391932.441526285]: no odom.
[ WARN] [1689391932.711424669]: Empty quaternion found in pose message. Setting to neutral orientation.
[ WARN] [1689391933.224491475]: No odometry message received in the last 1 seconds!
[ WARN] [1689391933.451510044]: no odom.
[ WARN] [1689391934.224533138]: No odometry message received in the last 1 seconds!
[ WARN] [1689391934.461495473]: no odom.
[ WARN] [1689391935.224505150]: No odometry message received in the last 1 seconds!
[ WARN] [1689391935.461498206]: no odom.
[ WARN] [1689391936.224504564]: No odometry message received in the last 1 seconds!
[ WARN] [1689391936.463379610]: no odom.
[ WARN] [1689391936.732158696]: Empty quaternion found in pose message. Setting to neutral orientation.
[ WARN] [1689391937.224498978]: No odometry message received in the last 1 seconds!
[ WARN] [1689391937.471504022]: no odom.
[ WARN] [1689391938.224489233]: No odometry message received in the last 1 seconds!
[ WARN] [1689391938.481453864]: no odom.
[ WARN] [1689391939.224493328]: No odometry message received in the last 1 seconds!
[ WARN] [1689391939.491442777]: no odom.
[ WARN] [1689391940.224508055]: No odometry message received in the last 1 seconds!
[ WARN] [1689391940.491445014]: no odom.
[ WARN] [1689391940.675601068]: Empty quaternion found in pose message. Setting to neutral orientation.
self.env_limits_shifted =  [-16.871273040771484, -6.742055207490921, 0.0, 16.871273040771484, 6.742055207490921, 6.732403755187988]
self.meters_per_unit =  0.01
bound =  5061
_om type =  <class 'omni.isaac.occupancy_map._occupancy_map.OccupancyMap'>
pre-om dims =  (0,0,0)
center =  [ 560.1956194  -564.54632885   10.        ]
lower_bound =  [-5621.1956194  -4496.45367115     0.        ]
upper_bound =  [4500.8043806  5625.54632885   80.        ]
zlim =  [0, 1]
dims =  (0,0,0)
image_buffer size =  0
Traceback (most recent call last):
  File "GRADE-RR-2022/simulator/paper_simulation.py", line 296, in <module>
    environment.generate_map(out_dir, origin=[x[0], y[0], 0])
  File "/home/lyndon.chan/.local/share/ov/pkg/isaac_sim-2022.2.1/GRADE-RR-2022/simulator/utils/environment_utils.py", line 121, in generate_map
    _im = Image.frombytes("RGBA", (dims.x, dims.y), bytes(image_buffer))
  File "/home/lyndon.chan/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/extscore/omni.kit.pip_archive/pip_prebundle/PIL/Image.py", line 2882, in frombytes
    im.frombytes(data, decoder_name, args)
  File "/home/lyndon.chan/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/extscore/omni.kit.pip_archive/pip_prebundle/PIL/Image.py", line 811, in frombytes
    d.setimage([self.im](http://self.im/))
ValueError: tile cannot extend outside image
> /home/lyndon.chan/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/extscore/omni.kit.pip_archive/pip_prebundle/PIL/Image.py(811)frombytes()
    810         d = _getdecoder(self.mode, decoder_name, args)
--> 811         d.setimage([self.im](http://self.im/))
    812         s = d.decode(data)

from grade-rr.

eliabntt avatar eliabntt commented on June 30, 2024

Hey,

first thing I noticed is that you are not using rosparam set use_sim_time true.

I just tried in a fresh installation using a fresh download of Warehouse_sketchfab and it worked without crashing.

I used the old paper_simulation.py which became FUEL_indoor_simulation.py in the v2022 branch (since you seem to use 2002.2.1 version).

An issue I noticed with the 2022 version is the scaling factor, which I just corrected in the new version of the asset you can download here.

The resulting map is as follow
map

This will change based on the limits you can set.

As reference here are the values that generated that image:

origin: [-6.719610430777076, -1.4001689449839763, 0] # not scaled
center: [-671.96104308, -140.0168945 ,   10.        ]
lower_bound: [-4389.03895692, -4920.9831055 ,     0.        ]
upper_bound: [5732.96104308, 5201.0168945 ,   80.        ]

Note that upper and lower bounds will depend on the center.

However, if you do

my_upper-lower = [10122, 10122, 80] # i.e. 101 m, 101 m and 0.8 m
your_upper-lower = [10122, 10122, 80]

i.e. the numbers are compatible.

I was able to reproduce your error only by setting lower_bound = upper_bound (or vice-versa) manually in the code before update_location(...) or by setting the cell size to impossibly big values. As soon as there is a distance between lower and upper bounds which is bigger than the cell size the system works.

With cell size I mean _om.set_cell_size(cell_size/self.meters_per_unit) which, in my case, is 5 since I want a cell every 5 cm (and the simulation world operates in cm).

Can you please confirm that you are running the latest code and checked out the correct branch?

from grade-rr.

lyndonchan avatar lyndonchan commented on June 30, 2024

I downloaded your updated warehouse asset and the bound values changed but I'm still getting the same error:

origin =  [-5.278563897382066, 5.964852783234436, 0]
center =  [-527.85638974  596.48527832   10.        ]
lower_bound =  [-4533.14361026 -5657.48527832     0.        ]
upper_bound =  [5588.85638974 4464.51472168   80.        ]

The lower and upper bounds are obviously not equal to each other and the cell size is also 5 for me. I'm pretty sure I got the latest code for the v2022 branch: it's commit 9070754. I did have to make the following changes to some files to get it to run properly without errors at those lines (not sure if these fixes broke anything down the line):

  1. In paper_simulation.py, comment out start_simulation()
  2. In paper_simulation.py, replace stage = context.get_stage() with stage = omni.usd.get_context().get_stage()
  3. In robot_utils.py, redefine setup_imu_sensor() using the definition from the main branch

I'm not sure where FUEL_indoor_simulation.py is - it's not in the repo at all. I had a lot of trouble installing FUEL, MoveIt, and the custom_6dof_joint_controller, so I wouldn't be surprised if they're still not properly installed, although this bug seems to be independent of those packages.

Thanks for all the help so far, by the way. Not really sure what else I can do to get it working on my end. Any ideas?

from grade-rr.

eliabntt avatar eliabntt commented on June 30, 2024

Regarding FUEL_indoor_simulation.py my bad, I did not push the other day, sorry.

What troubles did you have? Can you please open issues on the corresponding repo? I did not see anything.

What I can tell you is that if stage = context.get_stage() does not work is probably because you deleted the previous line in which context = omni.usd.get_context() is called (this code did not change).
Clearly, context = .. + stage = context.get_stage() is equivalente to your new stage = ....

Also, if you had to comment physx_interface.start_simulation() (which is a very basic call, specific of 2022 version of Isaac Sim) or change the IMU sensor with the definition on main I've the suspect there's something wrong in your installation environment of either/both Isaac and GRADE. Or by checking the actual diff between your repo and the upstream. So I would start from there. I'm on holiday now so I might not be as responsive.

from grade-rr.

Related Issues (3)

Recommend Projects

  • React photo React

    A declarative, efficient, and flexible JavaScript library for building user interfaces.

  • Vue.js photo Vue.js

    🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.

  • Typescript photo Typescript

    TypeScript is a superset of JavaScript that compiles to clean JavaScript output.

  • TensorFlow photo TensorFlow

    An Open Source Machine Learning Framework for Everyone

  • Django photo Django

    The Web framework for perfectionists with deadlines.

  • D3 photo D3

    Bring data to life with SVG, Canvas and HTML. 📊📈🎉

Recommend Topics

  • javascript

    JavaScript (JS) is a lightweight interpreted programming language with first-class functions.

  • web

    Some thing interesting about web. New door for the world.

  • server

    A server is a program made to process requests and deliver data to clients.

  • Machine learning

    Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.

  • Game

    Some thing interesting about game, make everyone happy.

Recommend Org

  • Facebook photo Facebook

    We are working to build community through open source technology. NB: members must have two-factor auth.

  • Microsoft photo Microsoft

    Open source projects and samples from Microsoft.

  • Google photo Google

    Google ❤️ Open Source for everyone.

  • D3 photo D3

    Data-Driven Documents codes.