utexas-bwi / bwi Goto Github PK

I've updated http://www.cs.utexas.edu/~larg/bwi/index.php/Manipulating_users_and_groups with instructions for manipulating users and group. @JoQ, can you test these when you get some free time?

To make it easier for changing passwords:

• Change password of bwi template to match fri template.
• Create and document wrapper around password change script.

I did some config updates that were supposed to fix this, but bash (and zsh) are not in the list of possible shells for LDAP configuration when creating a new user.

I can login to hypnotoad, but my login shell is /bin/sh. Not good.

cc: @piyushk

This is extremely essential, as controllers may be giving too high a velocity to the driver. The segway is capable of going up to about 1.8 m/s. It should not be exceeding 1 m/s in an indoor setting.

Lab Machines:

• hypnotoad
• kif
• nibbler
• wernstrom
• zapp

Robots:

• bender
• clamps
• leela
• marvin
• pickle (former roberto robot base)
• roberto (laptop saved for Hydro and Precise)

Our fork of the segway-rmp-ros-pkg https://github.com/piyushk/segway-rmp-ros-pkg and https://github.com/piyushk/libsegwayrmp have diverged from the original ROS package from wjwwood. Try to figure out a way to merge code upstream, as well as potentially releasing it as a deb.

We probably don't need them all any more. The priority should be the summer staff:

• bwi
• fri
• piyushk
• joq
• jsinapov
• szhang
• jthomason
• pkhante
• mleonetti (matish in the list below; we can change that back, if desired)
• max
• yuqianj

The previoius user list retained from Hydro was:

mbroussard:x:10005:10002:Matthew Broussard,,,,:/nishome/mbroussard:/bin/bash
ocroomes:x:10008:10002:Oliver Croomes,,,:/nishome/ocroomes:/bin/bash
stkim:x:10022:10002:Thomas Kim,,,:/nishome/stkim:/bin/bash
fkyang:x:10053:10000:Fangkai Yang:/nishome/fkyang:/bin/bash
jthywiss:x:10058:10000:John Thywissen,,,:/nishome/jthywiss:/bin/bash
matish:x:10059:10000:Matteo Leonetti,,,:/nishome/matish:/bin/bash
jliang:x:10065:10000:Jason Liang,,,:/nishome/jliang:/bin/bash
gdc_touch:x:10068:10000:gdc_touch,,,:/nishome/gdc_touch:/bin/bash
szhang:x:10070:10000:Shiqi Zhang:/nishome/szhang:/bin/bash
stephenl:x:10071:10006:Stephen Langevin,,,:/nishome/stephenl:/bin/bash
shuuh:x:10078:10006:Susmita Hossain:/nishome/shuuh:/bin/bash
BrianW:x:10082:10006:Brian Wang,,,:/nishome/BrianW:/bin/bash
YuqianJ:x:10097:10006:Yuqian Jiang,,,:/nishome/YuqianJ:/bin/bash
JonathanC:x:10102:10006:Jonathan Christian,,,:/nishome/JonathanC:/bin/bash
msvetlik:x:10107:10006:Maxwell Svetlik,,,:/nishome/msvetlik:/bin/bash
jsinapov:x:10108:10000:Jivko Sinapov,,,:/nishome/jsinapov:/bin/bash
mkurian:x:10109:10006:Mathew Kurian,,,:/nishome/mkurian:/bin/bash
kdeholton:x:10110:10006:Kyle Deholton,,,:/nishome/kdeholton:/bin/bash
plankenau:x:10111:10006:Patricio Lankenau,,,:/nishome/plankenau:/bin/bash
jthomason:x:10112:10000:Jesse Thomason,,,:/nishome/jthomason:/bin/bash
aashokkaushik:x:10113:10000:Arati Ashok Kaushik,,,:/nishome/aashokkaushik:/bin/bash
pkhante:x:10114:10000:Priyanka Khante,,,:/nishome/pkhante:/bin/bash
rahmadzadeh:x:10116:10007:Reza Ahmadzadeh,,,:/nishome/rahmadzadeh:/bin/bash
sarah:x:10117:10002:Sarah Jee,,,:/nishome/sarah:/bin/bash
ggaudioso:x:10118:10000:Ginevra Gaudioso,,,:/nishome/ggaudioso:/bin/bash
jlim995:x:10119:10001:Jeremy Lim,,,:/nishome/jlim995:/bin/bash
max:x:10121:10000:Maxwell Svetlik,,,:/nishome/max:/bin/bash
carson:x:10122:10001:Carson Moore,,,:/nishome/carson:/bin/bash

At least segbot_v3.launch is missing

Check whether others are, too.

The bloom-release process threw up the following error:

Could not resolve rosdep key 'python-catkin-tools' for distro 'heisenbug':
No definition of [python-catkin-tools] for OS [fedora]
    rosdep key : python-catkin-tools
    OS name    : fedora
    OS version : heisenbug
    Data: osx:
  pip:
    packages:
    - catkin_tools
ubuntu:
- python-catkin-tools

Failed to resolve python-catkin-tools on fedora:heisenbug with: Error running generator: Failed to resolve rosdep key 'python-catkin-tools', aborting.
python-catkin-tools is depended on by these packages: ['bwi_desktop_full']
<== Failed
Could not resolve rosdep key 'rosemacs-el' for distro 'heisenbug':
No definition of [rosemacs-el] for OS [fedora]
    rosdep key : rosemacs-el
    OS name    : fedora
    OS version : heisenbug
    Data: ubuntu:
- rosemacs-el

Failed to resolve rosemacs-el on fedora:heisenbug with: Error running generator: Failed to resolve rosdep key 'rosemacs-el', aborting.
rosemacs-el is depended on by these packages: ['bwi_desktop_full']
<== Failed

I've proceeded with the release but skipped the generation action for heisenbug (fedora). We'll likely see this warning every time. Alternatives are:

• Skip the fedora release every time.
• Remove these extra packages from the manifest.

@jack-oquin: What do you think?

Upon setting up a workspace, the first catkin_make run produces the following error:

/home/users/jsinapov/catkin_ws/src/segway_rmp/src/segway_rmp_node.cpp:32:44: fatal error: segway_rmp/SegwayStatusStamped.h: No such file or directory
#include "segway_rmp/SegwayStatusStamped.h"
^
compilation terminated.

Chances are, the CMakeLists.txt needs to specify that the message needs to be compiled before the segway_rmp_node is compiled.

Greetings
I am trying to install BWI code on my desktop. I do not have access to Segbot and will like to use gazebo simulations. I am interested in Multi_level_map navigation package.
I am getting following errors in following listed instructions

$rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
bwi_virtour: Cannot locate rosdep definition for [web_video_server]
segbot_navigation: Cannot locate rosdep definition for [eband_local_planner]
segbot_sensors: Cannot locate rosdep definition for [hokuyo_node]
segway_navigation_apps: Cannot locate rosdep definition for [frontier_exploration]
segbot_bringup: Cannot locate rosdep definition for [segway_rmp]

On doing catkin build, following error is reported
Errors << velodyne_driver:make /home/nitin/catkinws_bwi/logs/velodyne_driver/build.make.000.log
In file included from /home/nitin/catkinws_bwi/src/velodyne/velodyne_driver/src/lib/input.cc:34:0:
/home/nitin/catkinws_bwi/src/velodyne/velodyne_driver/include/velodyne_driver/input.h:37:18: fatal error: pcap.h: No such file or directory
compilation terminated.
make[2]: *** [src/lib/CMakeFiles/velodyne_input.dir/input.cc.o] Error 1
make[1]: *** [src/lib/CMakeFiles/velodyne_input.dir/all] Error 2
make: *** [all] Error 2
cd /home/nitin/catkinws_bwi/build/velodyne_driver; catkin build --get-env velodyne_driver | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
..................................................................................................................................
Failed << velodyne_driver:make [ Exited with code 2 ]
Failed <<< velodyne_driver [ 6.1 seconds ]
Abandoned <<< bwi_launch [ Unrelated job failed ]
Abandoned <<< bwi_kr_execution [ Unrelated job failed ]
Abandoned <<< bwi_rqt_plugins [ Unrelated job failed ]
Abandoned <<< bwi_scavenger [ Unrelated job failed ]
Abandoned <<< bwi_services [ Unrelated job failed ]
Abandoned <<< bwi_tasks [ Unrelated job failed ]
Abandoned <<< bwi_virtour [ Unrelated job failed ]
Abandoned <<< segbot_bringup [ Unrelated job failed ]
Abandoned <<< segbot_gazebo [ Unrelated job failed ]
Abandoned <<< segbot_gui [ Unrelated job failed ]
Abandoned <<< segbot_led [ Unrelated job failed ]
Abandoned <<< segbot_logical_translator [ Unrelated job failed ]
Abandoned <<< segbot_navigation [ Unrelated job failed ]
Abandoned <<< segbot_sensors [ Unrelated job failed ]
Abandoned <<< segbot_simulation_apps [ Unrelated job failed ]
Abandoned <<< stop_base [ Unrelated job failed ]
Abandoned <<< velodyne_pointcloud [ Unrelated job failed ]
Finished <<< utexas_gdc [ 2.9 seconds ]
Finished <<< bwi_msgs [ 14.6 seconds ]
[build] Summary: 23 of 41 packages succeeded.
[build] Ignored: 7 packages were skipped or are blacklisted.
[build] Warnings: None.
[build] Abandoned: 17 packages were abandoned.
[build] Failed: 1 packages failed.
[build] Runtime: 1 minute and 28.9 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.

I understand that all the dependencies have not be installed by rosdep because of which further compilation errors are being reported. Is there a minimal subset for multi-level-map navigation and gazebo documented which i can try?

Rgds
Nitin

Some of the batteries are getting old and probably need replacement.

On roberto, we plan to track the /battery0 topic output to measure the voltage drop over time. The older segbots do not have a voltage meter built in, so we can only measure how long the robot runs until it starts beeping.

Robot batteries to test:

• bender
• clamps
• flexo
• marvin
• roberto

cc: @maxsvetlik, @mleonetti, @jsinapov, @shiqizhang6

I experienced the same issue as suggested in commit c37af4c:
utexas-bwi/segway_rmp@c37af4c

We probably should pull the the segway_rmp package from:
https://github.com/utexas-bwi/segway_rmp

To get our Hydro source tree working on Indigo, we need Indigo releases of:

• eband_local_planner
• libsegwayrmp
• segway_rmp

As a work-around, those repositories can be added to everyone's source workspace.

This was observed recently on flexo, the only Trusty/Indigo system currently running.

To reproduce:

• run low-level robot navigation: roslaunch bwi_launch segbot_v2.launch
• make sure the particle filter spread is visible in rviz
• assign various x, y navigation goals via rviz

After a while, the particle filter spreads out all over the place.

So far, the root cause is unclear. Maybe the navigation stack works differently in Indigo. Maybe the flexo base is periodically generating bogus odometry readings. Maybe it's something else entirely.

Shiqi installed Trusty and Indigo on the clamps laptop. I plan to try that on one of the other segbots.

cc: @shiqizhang6, @mleonetti, @maxsvetlik, @jsinapov

openni_tracker is no longer maintained and broken on Raring. I would recommend removing this dependency.

Does not react to /cmd_vel command after multiple restarts and with several different workspace contents.

To reproduce:

roslaunch segbot_navigation navigation.launch

Mainly failing segbot v3 launch checks. The equivalent checks in the segbot repo are currently commented out for similar reasons.

Once multi_level_map is up-to-date in the ROS package repositories, it should be deleted from indigo.rosinstall.

@piyushk : What should we do about hydro.rosinstall? It probably won't work anymore.

• Delete it?
• Update it to use the hydro_devel branches? They will be rather down-level, compared to the sources on roberto.
• Make another, more recent branch that will likely work? Is that worth the effort and testing?

Arduino IDE hangs with messages like:

avrdude: programmer is not responding

@piyushk: we had at least one Arduino in the lab with a broken firmware loader. It should have been labelled, but I am not certain what happened to it.

Not sure why. The /etc/udev/rules.d directory has been configured, but something is not working.

Autonomous navigation on the segbot works decently well on the real robot and (better) in simulation, but is still not good enough from a demo perspective and needs to be improved. The navigation parameters for dwa/navfn and amcl need to be tuned, as well as the footprint of the robot and costmap inflation parameters need to be tuned.

If Paul successfully adapts the eband local planner, it might make sense to switch to it.

The following should publish diagnostic messages
segway_rmpX
openni_camera (or whatever kinect driver alternative we use)

Nibbler stopped booting, after a faulty LDAP client configuration. I made one attempt to fix it, but no luck yet.

To get read/write access to the the root filesystem:

• boot into recovery mode
• select root shell option
• gain write access to the filesystem: mount -o remount,rw /dev/sda1 /

The solution will probably be similar to what was done for utexas-bwi/bwi_common#102

Access to that web page should be fairly lax, while admin should probably not be done by just anyone who knows the generic BWI password.

The LDAP is not fully configured

The wifi network does not connect automatically.

I've split the relevant portion of #18 into this new separate issue.

1. Create a separate segbot stack on github. Move code from the pharos_segbot stack to this github stack
2. Some of the simulation code for the segbot is in bwi_gazebo and bwi_gazebo_plugins. This should be moved out to the segbot stack. These pieces of code should use some of the default worlds like empty, or the willow garage maps.

I'll change the reference to use cv_bridge.

What we have today does work, but it's a rat's nest to modify and maintain.

Proposed approach:

• create specific packages containing roslaunch scripts and parameters for each major robot component
• each will have the minimum dependencies, completeness verified by roslaunch-check unit tests
• each different segbot base or major component will have its own launch package
• common subsystems will also have them, e.g.:
  • segbot simulation
  • segbot arm(s)
  • navigation
  • gmapping
  • graphical user interface components: rviz, rqt, diagnostics
  • basic features like logging, logical_translator, multi-level maps, KR execution, and virtour

Each of these launch packages can be used as an explicit whitelist parameter for catkin build, to only compile the packages needed on that platform or configuration. As much as possible, each robot should self-discover the components it needs.

This will require much experimentation, which will mostly be done in a separate branch based on our Kinetic software.

We may merge some of the top-level packages into the Kinetic branch early, so it's easier to do partial compilation of the whole system. Right now, compiling bwi_launch compiles everything, which is sometimes useful, but not always convenient.

@justinhart, @nickswalker, @harely22, @warnellg, @rdelfin, @FernandezR:
Comments? Suggestions?

There seems to be some redundancy here.

The segbot laptops have USB 3.0 only, which is not supported by the libfreenect based drivers (see piyushk/freenect_stack#5). For the time being, the segbot code has reverted back to using patched openni ones.

The segbots currently run openni drivers after modifications suggested by the following threads:
http://answers.ros.org/question/9179/kinect-and-usb-30/
http://answers.ros.org/question/33622/openni_launch-not-working-in-fuerte-ubuntu-precise-1204/

The driver is not extremely reliable and typically requires a reboot before relaunching it again.

Unfortunately that is a per-user configuration option, we need a system-wide solution.

Anyone know a clean solution?

Zapp.csres is not online. The user bwilab is able to log in, but no other users due to the lack of communication with the LDAP server

Need to move it back to segbot9.

I can't seem to find the code we used to work with the Parrot AR drones. Where is that code located?

Bringing these packages in has a few benefits:

• Simplifies the usage of the arm robot. No special workspace-creation procedures
• Sharing previously duplicated code will make future migrations, bug fixes easier
• Better integration will make moving the arm to an updated RMP base easier in the future

The cons include more packages in a default BWI workspace, but as @jack-oquin has highlighted, this is something that can be handled with catkin_tools blacklists. This will also have the effect of moving many previously centralized bits of arm infrastructure to their own separate corners.

After some discussion, @jack-oquin and I agreed that we're in a good position to do this now, as we're already going to induce a lot of changes with the Kinetic migration. I am especially interested in doing this quickly as @harely22 and @thomason-jesse are setting up to do more work on the platform.

I have already merged the launch/description/bringup components into the appropriate packages on the Kinetic branch, and I'll be moving the remaining packages soon.

It causes the roslaunch check test to fail.

This seems to work now. I am encouraging people to use the Kinetic branches for on-going activities.

The primary remaining task at this point is installing Xenial on every robot:

• bender
• calculon (arm robot)
• leela
• pickles
• roberto

Want to look into the possibility of adding some sort of continuous integration testing. Travis CI is free for educational use, so it might be worth integrating.

At the very least ensure that any merge does not break the compilation of the codebase, eventually we might even want to add some integration/unit tests.

It always returns "nothing found".

The one on flexo seems OK.

This has become more useful with the kinetic branch, because it has several significant dependencies that we can't release to the general ROS package repository.

The build time has gotten high for the segbot_v2 laptops, and there are problems running Travis CI (#53, utexas-bwi/segbot#98) that might be load-related. Some of that can be addressed by using catkin tools to whitelist or blacklist certain packages for specific purposes. But a custom binary package repository still looks like a good idea.