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demoA errors on cain #79

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huckl3b3rry87 opened this issue Oct 18, 2018 · 4 comments
Closed

demoA errors on cain #79

huckl3b3rry87 opened this issue Oct 18, 2018 · 4 comments

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@huckl3b3rry87
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@changyuhsuan after I built, I get this error

[rosrun]   /home/mavs/MAVs/ros/src/system/launch/demoA.launch
mavs@febbo-HP-ZBook-17-G2:~$ roslaunch system demoA.launch
... logging to /home/mavs/.ros/log/9214f882-d2da-11e8-afd8-104a7d04da99/roslaunch-febbo-HP-ZBook-17-G2-88.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://febbo-HP-ZBook-17-G2:45984/

SUMMARY
========

PARAMETERS
 * /case/actual/X0/ax: 0.0
 * /case/actual/X0/psi: 1.57079632679
 * /case/actual/X0/r: 0.0
 * /case/actual/X0/sa: 0.0
 * /case/actual/X0/ux: 0.0
 * /case/actual/X0/v: 0.0
 * /case/actual/X0/x: 200.0
 * /case/actual/X0/yVal: 0.0
 * /case/actual/obstacle/length: [5.0]
 * /case/actual/obstacle/num: 1
 * /case/actual/obstacle/radius: [6.0]
 * /case/actual/obstacle/vx: [0]
 * /case/actual/obstacle/vy: [0]
 * /case/actual/obstacle/x0: [200]
 * /case/actual/obstacle/y0: [110]
 * /case/goal/psi: 1.5701
 * /case/goal/tol: 4
 * /case/goal/x: 200.0
 * /case/goal/yVal: 125.0
 * /case_params_path: /home/mavs/MAVs/r...
 * /obstacle_detector/obstacle_extractor/active: true
 * /obstacle_detector/obstacle_extractor/circles_from_visibles: true
 * /obstacle_detector/obstacle_extractor/discard_converted_segments: false
 * /obstacle_detector/obstacle_extractor/distance_proportion: 0.001
 * /obstacle_detector/obstacle_extractor/frame_id: map
 * /obstacle_detector/obstacle_extractor/max_circle_radius: 4
 * /obstacle_detector/obstacle_extractor/max_group_distance: 0.5
 * /obstacle_detector/obstacle_extractor/max_merge_separation: 3
 * /obstacle_detector/obstacle_extractor/max_merge_spread: 2
 * /obstacle_detector/obstacle_extractor/max_split_distance: 5
 * /obstacle_detector/obstacle_extractor/min_group_points: 5
 * /obstacle_detector/obstacle_extractor/radius_enlargement: 0.3
 * /obstacle_detector/obstacle_extractor/transform_coordinates: true
 * /obstacle_detector/obstacle_extractor/use_pcl: true
 * /obstacle_detector/obstacle_extractor/use_scan: false
 * /obstacle_detector/obstacle_extractor/use_split_and_merge: true
 * /obstacle_detector/obstacle_tracker/active: true
 * /obstacle_detector/obstacle_tracker/frame_id: map
 * /obstacle_detector/obstacle_tracker/loop_rate: 100.0
 * /obstacle_detector/obstacle_tracker/measurement_variance: 1.0
 * /obstacle_detector/obstacle_tracker/min_correspondence_cost: 0.6
 * /obstacle_detector/obstacle_tracker/process_rate_variance: 0.1
 * /obstacle_detector/obstacle_tracker/process_variance: 0.1
 * /obstacle_detector/obstacle_tracker/std_correspondence_dev: 0.15
 * /obstacle_detector/obstacle_tracker/tracking_duration: 1
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /system/flags/paused: True
 * /system/obstacle_detector/flags/initialized: False
 * /system/obstacle_detector/flags/running: True
 * /system/params/simulation_time: 1.0
 * /system/params/step_size: 0.001
 * /system/vehicle_description/flags/lidar_initialized: False
 * /system/vehicle_description/flags/obstacles_initialized: False
 * /system/vehicle_description/flags/postion_update_external: False
 * /system/vehicle_description/flags/running: True
 * /use_sim_time: True
 * /vehicle/chrono/vehicle_params/axleDirection: [0, 1, 0]
 * /vehicle/chrono/vehicle_params/centroidLoc: [0.056, 0.0, 0.523],
 * /vehicle/chrono/vehicle_params/centroidOrientation: [1, 0, 0, 0]
 * /vehicle/chrono/vehicle_params/chassisInertia: [1078.52, 2955.66...
 * /vehicle/chrono/vehicle_params/chassisMass: 2688.70,
 * /vehicle/chrono/vehicle_params/conicalGearRatio: -0.2,
 * /vehicle/chrono/vehicle_params/differentialBoxInertia: 0.6
 * /vehicle/chrono/vehicle_params/differentialRatio: -1.0
 * /vehicle/chrono/vehicle_params/driverLoc: [0, 0.5, 1.2],
 * /vehicle/chrono/vehicle_params/driverOrientation: [1, 0, 0, 0]
 * /vehicle/chrono/vehicle_params/driveshaftInertia: 0.5,
 * /vehicle/chrono/vehicle_params/frict_coeff: 0.9
 * /vehicle/chrono/vehicle_params/gearRatios: [-0.3, 0.2, 0.4, ...
 * /vehicle/chrono/vehicle_params/maxBrakeTorque: 4000
 * /vehicle/chrono/vehicle_params/motorBlockDirection: [1, 0, 0],
 * /vehicle/chrono/vehicle_params/pinionMaxAngle: 0.87
 * /vehicle/chrono/vehicle_params/pinionRadius: 0.1,
 * /vehicle/chrono/vehicle_params/rest_coeff: 0.1
 * /vehicle/chrono/vehicle_params/steeringLinkInertia: [1, 1, 1],
 * /vehicle/chrono/vehicle_params/steeringLinkLength: 0.896
 * /vehicle/chrono/vehicle_params/steeringLinkMass: 9.072,
 * /vehicle/chrono/vehicle_params/steeringLinkRadius: 0.03,
 * /vehicle/common/Izz: 4110.1
 * /vehicle/common/la: 1.5775
 * /vehicle/common/lb: 1.7245
 * /vehicle/common/m: 2688.7
 * /vehicle/common/wheel_radius: 0.268
 * /vehicle/nloptcontrol_planner/AXC: [-0.0001280151804...
 * /vehicle/nloptcontrol_planner/Caf: -84138.0
 * /vehicle/nloptcontrol_planner/Car: -78126.0
 * /vehicle/nloptcontrol_planner/FZ0: 35000.0
 * /vehicle/nloptcontrol_planner/Fy_max: 7500
 * /vehicle/nloptcontrol_planner/Fy_min: -7500
 * /vehicle/nloptcontrol_planner/FzF0: 13680.0
 * /vehicle/nloptcontrol_planner/FzR0: 12696.0
 * /vehicle/nloptcontrol_planner/Fz_min: 1000.0
 * /vehicle/nloptcontrol_planner/Fz_off: 100.0
 * /vehicle/nloptcontrol_planner/Izz: 4110.1
 * /vehicle/nloptcontrol_planner/KZX: 806.0
 * /vehicle/nloptcontrol_planner/KZYF: 675.0
 * /vehicle/nloptcontrol_planner/KZYR: 1076.0
 * /vehicle/nloptcontrol_planner/PCY1: 1.5874
 * /vehicle/nloptcontrol_planner/PDY1: 0.73957
 * /vehicle/nloptcontrol_planner/PDY2: -0.075004
 * /vehicle/nloptcontrol_planner/PEY1: 0.37562
 * /vehicle/nloptcontrol_planner/PEY2: -0.069325
 * /vehicle/nloptcontrol_planner/PEY3: 0.29168
 * /vehicle/nloptcontrol_planner/PHY1: 0.0056509
 * /vehicle/nloptcontrol_planner/PHY2: -0.0020257
 * /vehicle/nloptcontrol_planner/PKY1: -10.289
 * /vehicle/nloptcontrol_planner/PKY2: 3.3343
 * /vehicle/nloptcontrol_planner/PVY1: 0.015216
 * /vehicle/nloptcontrol_planner/PVY2: -0.010365
 * /vehicle/nloptcontrol_planner/ax_max: 2.0
 * /vehicle/nloptcontrol_planner/ax_min: -2.0
 * /vehicle/nloptcontrol_planner/jx_max: 5.0
 * /vehicle/nloptcontrol_planner/jx_min: -5.0
 * /vehicle/nloptcontrol_planner/la: 1.5775
 * /vehicle/nloptcontrol_planner/lb: 1.7245
 * /vehicle/nloptcontrol_planner/m: 2688.7
 * /vehicle/nloptcontrol_planner/psi_max: 6.28318
 * /vehicle/nloptcontrol_planner/psi_min: -6.28318
 * /vehicle/nloptcontrol_planner/sa_max: 0.523598333333
 * /vehicle/nloptcontrol_planner/sa_min: -0.523598333333
 * /vehicle/nloptcontrol_planner/sr_max: 0.0872663888889
 * /vehicle/nloptcontrol_planner/sr_min: -0.0872663888889
 * /vehicle/nloptcontrol_planner/u_max: 29.0
 * /vehicle/nloptcontrol_planner/u_min: 0.0
 * /vehicle/vehicle_description/base_clearance: 0.5
 * /vehicle/vehicle_description/base_height: 1.2
 * /vehicle/vehicle_description/base_length: 3.3
 * /vehicle/vehicle_description/base_link: base_link
 * /vehicle/vehicle_description/base_width: 1.9
 * /vehicle/vehicle_description/frameName: map
 * /vehicle/vehicle_description/ground_truth_topic: base_pose_ground_...
 * /vehicle/vehicle_description/kp: 1e8
 * /vehicle/vehicle_description/la: 1.6
 * /vehicle/vehicle_description/lb: 1.7
 * /vehicle/vehicle_description/lidar_x: 1.75
 * /vehicle/vehicle_description/lidar_z: 1.4
 * /vehicle/vehicle_description/mesh_mode: 1
 * /vehicle/vehicle_description/minDepth: 0.005
 * /vehicle/vehicle_description/mu1: 0.9
 * /vehicle/vehicle_description/mu2: 0.9
 * /vehicle/vehicle_description/robotName: hmmwv
 * /vehicle/vehicle_description/robotNamespace: hmmwv
 * /vehicle/vehicle_description/scale_factor: 0.2
 * /vehicle/vehicle_description/topic: lidar_points
 * /vehicle/vehicle_description/wheel_base: 1
 * /vehicle/vehicle_description/wheel_mass: 2.5
 * /vehicle/vehicle_description/wheel_radius: 0.393
 * /vehicle/vehicle_description/wheel_width: 0.1
 * /velodyne_top_link_nodelet_manager/num_worker_threads: 20
 * /voxel_grid/filter_field_name: z
 * /voxel_grid/filter_limit_max: 3.5
 * /voxel_grid/filter_limit_min: 0.01
 * /voxel_grid/filter_limit_negative: false
 * /voxel_grid/leaf_size: 0.01

NODES
  /
    bootstrap (system/bootstrap.jl)
    frame_tf_broadcaster (vehicle_description/frame_tf_broadcaster)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    move_obstacles (vehicle_description/move_obstacles.jl)
    move_vehicle (vehicle_description/move_vehicle.jl)
    obstacle_extractor (nodelet/nodelet)
    obstacle_paramameters (obstacle_detector/obstacle_parameters.jl)
    obstacle_tracker (nodelet/nodelet)
    point_cloud_converter (point_cloud_converter/point_cloud_converter_node)
    postion (vehicle_description/link_positions.jl)
    postion_broadcaster (vehicle_description/position_broadcaster)
    ros_get_world_time_ (get_world_time_test/ros_get_world_time)
    rviz (rviz/rviz)
    spawn_obstacles (vehicle_description/spawn_obstacles.sh)
    spawn_urdf (gazebo_ros/spawn_model)
    unpause_gazebo (vehicle_description/unpause.jl)
    velodyne_top_link_nodelet_manager (nodelet/nodelet)
    voxel_grid (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [101]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 9214f882-d2da-11e8-afd8-104a7d04da99
process[rosout-1]: started with pid [114]
started core service [/rosout]
process[ros_get_world_time_-2]: started with pid [138]
process[gazebo-3]: started with pid [139]
process[gazebo_gui-4]: started with pid [146]
[ INFO] [1539869684.996305908]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1539869684.996872754]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
process[spawn_urdf-5]: started with pid [190]
[ INFO] [1539869685.223927846]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1539869685.250463275]: Physics dynamic reconfigure ready.
process[spawn_obstacles-6]: started with pid [253]
process[move_obstacles-7]: started with pid [409]
Segmentation fault (core dumped)
[gazebo_gui-4] process has died [pid 146, exit code 139, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/mavs/.ros/log/9214f882-d2da-11e8-afd8-104a7d04da99/gazebo_gui-4.log].
log file: /home/mavs/.ros/log/9214f882-d2da-11e8-afd8-104a7d04da99/gazebo_gui-4*.log
process[move_vehicle-8]: started with pid [419]
process[postion-9]: started with pid [810]
process[frame_tf_broadcaster-10]: started with pid [1306]
process[postion_broadcaster-11]: started with pid [1540]
process[velodyne_top_link_nodelet_manager-12]: started with pid [1664]
[ INFO] [1539869687.009537261]: Initializing nodelet with 20 worker threads.
process[obstacle_paramameters-13]: started with pid [1961]
process[voxel_grid-14]: started with pid [2322]
[ INFO] [1539869687.486777212]: Loading nodelet /voxel_grid of type pcl/VoxelGrid to manager velodyne_top_link_nodelet_manager with the following remappings:
[ INFO] [1539869687.486845288]: /voxel_grid/input -> /lidar_points
process[point_cloud_converter-15]: started with pid [2517]
process[obstacle_extractor-16]: started with pid [2668]
[ INFO] [1539869688.018665786]: [Obstacle Extractor]: Initializing nodelet
process[obstacle_tracker-17]: started with pid [3166]
[ INFO] [1539869688.265792521]: [Obstacle Tracker]: Initializing nodelet
process[rviz-18]: started with pid [3384]
[ INFO] [1539869688.551176556]: rviz version 1.12.16
[ INFO] [1539869688.551226831]: compiled against Qt version 5.5.1
[ INFO] [1539869688.551239708]: compiled against OGRE version 1.9.0 (Ghadamon)
Could not initialize OpenGL for RasterGLSurface, reverting to RasterSurface.
process[bootstrap-19]: started with pid [3752]
[rviz-18] process has died [pid 3384, exit code -11, cmd /opt/ros/kinetic/lib/rviz/rviz -d /home/mavs/MAVs/ros/src/computing/perception/detection/obstacle_detection/resources/display.rviz __name:=rviz __log:=/home/mavs/.ros/log/9214f882-d2da-11e8-afd8-104a7d04da99/rviz-18.log].
log file: /home/mavs/.ros/log/9214f882-d2da-11e8-afd8-104a7d04da99/rviz-18*.log
process[unpause_gazebo-20]: started with pid [3911]
[ INFO] [1539869697.937411656]: Velodyne laser plugin ready, 16 lasers
[spawn_urdf-5] process has finished cleanly
log file: /home/mavs/.ros/log/9214f882-d2da-11e8-afd8-104a7d04da99/spawn_urdf-5*.log
[spawn_obstacles-6] process has finished cleanly
log file: /home/mavs/.ros/log/9214f882-d2da-11e8-afd8-104a7d04da99/spawn_obstacles-6*.log
@huckl3b3rry87
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I think that the issue is that gazebo is not being installed properly if I just type,

gazebo

into the terminal, then the window pops up and disappears.

@huckl3b3rry87
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This may be related NVIDIA-AI-IOT/redtail#46

@huckl3b3rry87
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I am not sure why you have trouble running virgil and you have trouble running cain. I suspect it is due to differences in our graphics cards? Maybe we can try structuring the Dockerfile like this https://github.com/NVIDIA-Jetson/redtail/blob/master/tools/simulation/docker/Dockerfile.kinetic

@huckl3b3rry87
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closing due to meta issue #89

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