Comments (21)
The Error you get with parse_urdf can be ignored and is deprecated.
I will fix this so it works with moveit_example. It seems moveit is not properly loaded in the image.
I will try to get this to work before tomorrow.
zeid
from ariac.
Any luck with this? We're getting pretty close to the qual runs and it takes time to get docker up and running well.
from ariac.
Will be pushed today Dan. Had some power outage around here.
Thank you,
zeid
from ariac.
Fixed it! I tried to push the new images to dockerhub but the website seems to be down or overloaded. Will try again tomorrow.
from ariac.
Thanks for the fast action. I'll give it a try tomorrow.
from ariac.
I will let you know when it's ready.
zeid
from ariac.
Dan,
I have pushed the new images to dockerhub and modified docker scripts here https://github.com/usnistgov/ariac-docker. The docker container will start moveit automatically (your issue was due because moveit was not started). Some teams may not use moveit at all , if this is the case then I will have to make some modifications to provide moveit as an option.
-
I have added
moveit_example_team
inteam_config
as another submission example. -
The script
run_team_system.bash
will run a python script (moveit_example_docker.py
) which is a simplified version ofmoveit_example.py
.moveit_example.py
will not work in the competition mode because it calls the service/ariac/material_locations
, which is forbidden in competition mode (see the Cheats section).
-
You can try the new script with:
./prepare_team_system.bash moveit_example_team
./run_trial.bash moveit_example_team sample_docker
-
Try the new docker images with your own code and let me know how it goes.
-
I will update the wiki tomorrow to reflect those changes.
from ariac.
The good news is that it works, both with the example code and my code, both for single and all trials.
However, there are some issues:
There are some differences in performance, perhaps related to not having the GUI running, and I want to see what's going on. However, roslaunch nist_gear gear_playback.launch
fails with the following errors:
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/torso/meshes/torso_base.dae"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/torso/meshes/torso_main.dae"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/base.stl"]
On my system, the correct paths are:
~/ariac_ws/src/ARIAC/nist_gear/robots/torso/meshes/torso_base.dae
and
~/ariac_ws/src/ARIAC/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/base.stl
It is not obvious to me where those paths are being set or I would have tried changing them to get it to run.
from ariac.
I will try this today and in the best case scenario I will only need to change the path in gear_playback.launch
Thank you
from ariac.
Hi Dan,
Everything works fine on my end.
Do you have another nist_gear installed on your machine?
It seems the following line is pointing to libLogPlaybackPlugin.so
located somewhere else (from a different nist_gear package
).
args="-p $(arg state_log_path) -s $(find nist_gear)/../../lib/libLogPlaybackPlugin.so --pause $(arg extra_gazebo_args)" required="true" />
Can you try running everything in the gear_playback.launch
using the command line?
from ariac.
I pulled the code out of the launch file and ran it with absolute addresses and get the same result.
Here is the first command line:
rosrun gazebo_ros gzserver -p /home/dbarry/ariac_ws/ariac-docker/logs/sirius/march28/sample/gazebo/state.log -s /home/dbarry/ariac_ws/devel/lib/libLogPlaybackPlugin.so --pause --verbose __name:="gazebo" rosrun gazebo_ros gzclient __name:="gazebo_gui" output="screen" respawn="false"
and here is the second one (in another terminal):
rosrun gazebo_ros gzclient __name:="gazebo_gui" output="screen" respawn="false"
The output from the first one is:
Gazebo multi-robot simulator, version 9.0.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
[ INFO] [1585627001.129092118]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1585627001.130171406]: 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: 192.168.1.213
[Msg]
Log playback:
Log Version: 1.0
Gazebo Version: 9.12.0
Random Seed: 163728887
Log Start Time: 0 2000000
Log End Time: 86 332000000
World created. Model count: 81
[ INFO] [1585627002.566134902]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1585627002.593543098]: Physics dynamic reconfigure ready.
[Dbg] [ProximityRayPlugin.cc:74] Setting update rate of parent sensor to 20 Hz
[Dbg] [ProximityRayPlugin.cc:74] Setting update rate of parent sensor to 20 Hz
[Dbg] [ProximityRayPlugin.cc:74] Setting update rate of parent sensor to 20 Hz
[Dbg] [ProximityRayPlugin.cc:74] Setting update rate of parent sensor to 20 Hz
[Dbg] [ProximityRayPlugin.cc:74] Setting update rate of parent sensor to 20 Hz
[Dbg] [ProximityRayPlugin.cc:74] Setting update rate of parent sensor to 20 Hz
[Dbg] [ProximityRayPlugin.cc:74] Setting update rate of parent sensor to 20 Hz
[Dbg] [ProximityRayPlugin.cc:74] Setting update rate of parent sensor to 20 Hz
The output from the second one is:
[ INFO] [1585627052.535838817]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1585627052.537048504]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[Err] [REST.cc:205] Error in REST request
libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'
At this point the gazebo window is open and the parts are in place, but there is no robot present. When I hit the play button, that is when the errors (in the first terminal window) appear:
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/torso/meshes/torso_base.dae"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/torso/meshes/torso_main.dae"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/base.stl"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/base.stl"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/shoulder.stl"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/upperarm.stl"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/forearm.stl"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/wrist1.stl"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/wrist2.stl"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/wrist3.stl"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/shoulder.stl"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/upperarm.stl"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/forearm.stl"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/wrist1.stl"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/wrist2.stl"]
[Err] [MeshShape.cc:66] No mesh specified
[Err] [SystemPaths.cc:412] File or path does not exist["/home/ariac/ariac_ws/src/nist_gear/robots/ur10/ur_description/meshes/ur10/collision/wrist3.stl"]
[Err] [MeshShape.cc:66] No mesh specified
Segmentation fault
The second terminal does not have any messages, it just hangs at this point.
Note that there is no directory on this machine corresponding to /home/ariac
much less all those subdirectories listed below it.
I have no idea where it is getting that path name.
from ariac.
Everything looks good until you press the play button. Gazebo opening without showing the robot is expected and the robot appears and moves when you press the play button.
Let me look into this issue today.
PS: The error in REST request is also unexpected.
zeid
from ariac.
Can you email me ([email protected]) the file ~/.ariac/log/gazebo/state.log?
from ariac.
File sent just now.
from ariac.
I will look into this issue today.
from ariac.
@dan9thsense Finally figured out how to fix this and the instructions can be found here. Please give it a try and close the ticket if you are satisfied.
from ariac.
The state.log file is no longer showing up in the logs. The folder that used to contain it, gazebo
, is no longer present either.
from ariac.
@dan9thsense Can you check that you have the following at the top of your trial config file?
options:
gazebo_state_logging: true
from ariac.
Ah, that fixed it. I got it to work, thanks for figuring it out. However, the instructions are not quite correct. They say:
The easiest way to not get these errors is to create the following directory structure on the host
/home/ariac/ariac_ws/src
, then copy the whole robots directory from ARIAC into
/home/ariac/ariac_ws/src
But what you actually need is to create the following directory structure on the host
/home/ariac/ariac_ws/src/nist_gear
, then copy the whole robots directory from ARIAC into
/home/ariac/ariac_ws/src/nist_gear
Also, it is easy to make the mistake of adding the ariac/ariac_ws....
directory to your home user directory, but actually you need to add it like a new user folder, directly under the /home
directory.
from ariac.
oops, correct, I will fix this right away.
Thanks!
from ariac.
@zeidk Just saw your instructions -- instead of symlinking each file like you've got with your example, the easiest way is to symlink the directory
sudo mkdir -p /home/ariac/ariac_ws/src
sudo ln -s /home/YOUR_USER/ariac_ws/src/ARIAC/nist_gear /home/ariac/ariac_ws/src/
from ariac.
Related Issues (20)
- No orders announced after the start of the competition HOT 6
- playback fails HOT 3
- attaching a part with two robots causes explosion HOT 10
- automate eval error HOT 6
- Controlling multiple robots simultaneously HOT 2
- drop part challenge does not drop a part HOT 3
- clarification on priority orders HOT 7
- details on github release HOT 2
- time limit HOT 5
- error when running with github release HOT 1
- parseURDF error HOT 1
- Add ability to pass in additional build arguments to colcon build step. HOT 5
- frame_id specified in RGB camera topics do not follow usual convention of a frame aligned with image sensor. HOT 2
- OMPL error HOT 2
- criteria for being in a quadrant HOT 5
- run_trial continues to crash HOT 5
- kit_tray tape interfere with Aruco detection? HOT 6
- judges? HOT 1
- Problems with Docker testing HOT 13
- Docker image is not updated to 5.0 HOT 1
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