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Published 20 hours ago • verified publisher icon HKUST-Aerial-Robotics

Could you please provide a trained SPM model to use the planner? And how should I use that spm.pt? There is no explanation in the README, and I tried running the planner and the following problem occurred.

Open Willis814 opened this issue 1 year ago • 10 comments

image image

1.at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame front_center_optical (parent drone_1) at time 1701680381.192299 according to authority unknown_publisher

2.[ WARN] [1701680381.392415034]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame front_center_optical (parent drone_1) at time 1701680381.391582 according to authority unknown_publisher

3.[exploration_node-1] process has died [pid 505812, exit code -6, cmd /home/willis/AirSim-1.5.0-linux/ros/src/PredRecon/Planner/Code/devel/lib/exploration_manager/exploration_node /odom_world:=/airsim_node/drone_1/odom_local_enu /map_ros/pose:=/airsim_node/drone_1/odom_local_enu /map_ros/depth:=/airsim_node/drone_1/front_center/DepthPerspective /map_ros/cloud:=/cloud __name:=exploration_node __log:=/home/willis/.ros/log/f9a90822-9282-11ee-9a07-cd3be9faaba6/exploration_node-1.log]. log file: /home/willis/.ros/log/f9a90822-9282-11ee-9a07-cd3be9faaba6/exploration_node-1*.log [ WARN] [1,701,680,290.862,701,204]: [Traj server]: ready.

Willis814 avatar Dec 04 '23 09:12 Willis814

Pretrained model ckpt is shown in README. Put it in https://github.com/HKUST-Aerial-Robotics/PredRecon/blob/master/Planner/Code/src/fuel_planner/exploration_manager/launch/algorithm.xml#L147

  1. You can omit the tf warning.
  2. If you are ready, you can trigger to start.
  3. I see the errors in your terminal but I do not know why they occurred, could you provide more error outputs?

Chen-Albert-FENG avatar Dec 10 '23 02:12 Chen-Albert-FENG

Pretrained model ckpt is shown in README. Put it in https://github.com/HKUST-Aerial-Robotics/PredRecon/blob/master/Planner/Code/src/fuel_planner/exploration_manager/launch/algorithm.xml#L147

  1. You can omit the tf warning.
  2. If you are ready, you can trigger to start.
  3. I see the errors in your terminal but I do not know why they occurred, could you provide more error outputs?

Thank you for your reply! When I input "source devel/setup.zsh && roslaunch exploration_manager recon.launch", the terminal throws the following errors: start_pt_x:0 start_pt_y:0 start_pt_z:1.52977 -----Planning Start!----- -----Surface Prediction Start!----- infer_ms:2.08372ms ts_ms:6.98538ms vec_ms:0.01526ms [ WARN] [1,702,190,889.576,367,820]: near_ground 960 [ WARN] [1,702,190,889.601,474,524]: Visit Cloud! visit_num:6989 0.201732 Surface_Prediction_Time:40.2144ms! -----Surface Prediction Finished!----- -----Global Planning Start!----- preprocess_time:0.218305ms -----------cluster_size:18 CEC_time:3.2827ms visibility_time:0.063251ms cloud number:22876 update_time:66.7548ms partition_size:19 normal_select_time:0.697621ms qualified_partition_size:19 sample_time:5.60431ms

1,239 364 0 392 2,100 919 2,223 2,241 2,241 779 1,548

*** Error *** Unknown keyword: 1,239 [exploration_node-1] process has died [pid 67281, exit code 1, cmd /home/willis/AirSim-1.5.0-linux/ros/src/PredRecon/Planner/Code/devel/lib/exploration_manager/exploration_node /odom_world:=/airsim_node/drone_1/odom_local_enu /map_ros/pose:=/airsim_node/drone_1/odom_local_enu /map_ros/depth:=/airsim_node/drone_1/front_center/DepthPerspective /map_ros/cloud:=/cloud __name:=exploration_node __log:=/home/willis/.ros/log/f5a49432-9726-11ee-881e-91dd9683a4a7/exploration_node-1.log]. log file: /home/willis/.ros/log/f5a49432-9726-11ee-881e-91dd9683a4a7/exploration_node-1*.log Furthermore,I cannot find the log file in the specified location.😭

Willis814 avatar Dec 10 '23 06:12 Willis814

Pretrained model ckpt is shown in README. Put it in https://github.com/HKUST-Aerial-Robotics/PredRecon/blob/master/Planner/Code/src/fuel_planner/exploration_manager/launch/algorithm.xml#L147

  1. You can omit the tf warning.
  2. If you are ready, you can trigger to start.
  3. I see the errors in your terminal but I do not know why they occurred, could you provide more error outputs?

Thank you for your reply! When I input "source devel/setup.zsh && roslaunch exploration_manager recon.launch", the terminal throws the following errors: start_pt_x:0 start_pt_y:0 start_pt_z:1.52977 -----Planning Start!----- -----Surface Prediction Start!----- infer_ms:2.08372ms ts_ms:6.98538ms vec_ms:0.01526ms [ WARN] [1,702,190,889.576,367,820]: near_ground 960 [ WARN] [1,702,190,889.601,474,524]: Visit Cloud! visit_num:6989 0.201732 Surface_Prediction_Time:40.2144ms! -----Surface Prediction Finished!----- -----Global Planning Start!----- preprocess_time:0.218305ms -----------cluster_size:18 CEC_time:3.2827ms visibility_time:0.063251ms cloud number:22876 update_time:66.7548ms partition_size:19 normal_select_time:0.697621ms qualified_partition_size:19 sample_time:5.60431ms

1,239 364 0 392 2,100 919 2,223 2,241 2,241 779 1,548

*** Error *** Unknown keyword: 1,239 [exploration_node-1] process has died [pid 67281, exit code 1, cmd /home/willis/AirSim-1.5.0-linux/ros/src/PredRecon/Planner/Code/devel/lib/exploration_manager/exploration_node /odom_world:=/airsim_node/drone_1/odom_local_enu /map_ros/pose:=/airsim_node/drone_1/odom_local_enu /map_ros/depth:=/airsim_node/drone_1/front_center/DepthPerspective /map_ros/cloud:=/cloud __name:=exploration_node __log:=/home/willis/.ros/log/f5a49432-9726-11ee-881e-91dd9683a4a7/exploration_node-1.log]. log file: /home/willis/.ros/log/f5a49432-9726-11ee-881e-91dd9683a4a7/exploration_node-1*.log Furthermore,I cannot find the log file in the specified location.😭

I've encountered this error before, and the solution is to convert the corresponding int type to a string.

rebecca0011 avatar Dec 11 '23 07:12 rebecca0011

Pretrained model ckpt is shown in README. Put it in https://github.com/HKUST-Aerial-Robotics/PredRecon/blob/master/Planner/Code/src/fuel_planner/exploration_manager/launch/algorithm.xml#L147

  1. You can omit the tf warning.
  2. If you are ready, you can trigger to start.
  3. I see the errors in your terminal but I do not know why they occurred, could you provide more error outputs?

Thank you for your reply! When I input "source devel/setup.zsh && roslaunch exploration_manager recon.launch", the terminal throws the following errors: start_pt_x:0 start_pt_y:0 start_pt_z:1.52977 -----Planning Start!----- -----Surface Prediction Start!----- infer_ms:2.08372ms ts_ms:6.98538ms vec_ms:0.01526ms [ WARN] [1,702,190,889.576,367,820]: near_ground 960 [ WARN] [1,702,190,889.601,474,524]: Visit Cloud! visit_num:6989 0.201732 Surface_Prediction_Time:40.2144ms! -----Surface Prediction Finished!----- -----Global Planning Start!----- preprocess_time:0.218305ms -----------cluster_size:18 CEC_time:3.2827ms visibility_time:0.063251ms cloud number:22876 update_time:66.7548ms partition_size:19 normal_select_time:0.697621ms qualified_partition_size:19 sample_time:5.60431ms 1,239 364 0 392 2,100 919 2,223 2,241 2,241 779 1,548 *** Error *** Unknown keyword: 1,239 [exploration_node-1] process has died [pid 67281, exit code 1, cmd /home/willis/AirSim-1.5.0-linux/ros/src/PredRecon/Planner/Code/devel/lib/exploration_manager/exploration_node /odom_world:=/airsim_node/drone_1/odom_local_enu /map_ros/pose:=/airsim_node/drone_1/odom_local_enu /map_ros/depth:=/airsim_node/drone_1/front_center/DepthPerspective /map_ros/cloud:=/cloud __name:=exploration_node __log:=/home/willis/.ros/log/f5a49432-9726-11ee-881e-91dd9683a4a7/exploration_node-1.log]. log file: /home/willis/.ros/log/f5a49432-9726-11ee-881e-91dd9683a4a7/exploration_node-1*.log Furthermore,I cannot find the log file in the specified location.😭

I've encountered this error before, and the solution is to convert the corresponding int type to a string.

I tried to convert all "{prob_file << int_cost << " " }" to "{prob_file << to_string(int_cost) << " "}" like you ,but it still output the same errors.😂

Willis814 avatar Dec 11 '23 08:12 Willis814

After I changed prob_file << int_cost << " " to prob_file << to_string(int_cost) << " " and rebuilt the planner, I successfully solved the "*** Error *** Unknown keyword: 1,239", but a new Problem: He keeps displaying this information in a loop and the drone is not running, it just hangs in place: -----Planning Start!----- -----Surface Prediction Start!----- infer_ms:1.16194ms ts_ms:6.92364ms vec_ms:0.019369ms [ WARN] [1,702,344,703.549,550,530]: near_ground 934 [ WARN] [1,702,344,703.549,713,293]: Prediction Diff 0 [ WARN] [1,702,344,703.579,339,043]: Visit Cloud! visit_num:3628 0.201671 Surface_Prediction_Time:38.9771ms! -----Surface Prediction Finished!----- -----Global Planning Start!----- preprocess_time:0.114008ms -----------cluster_size:17 CEC_time:1.65646ms visibility_time:0.030469ms cloud number:23036 update_time:63.9538ms partition_size:18 normal_select_time:0.746859ms qualified_partition_size:18 sample_time:5.98481ms

TSP_time:4.04372ms [ WARN] [1,702,344,703.663,303,522]: global nbv yaw! 176.944deg. total_global:76.5301ms [ WARN] [1,702,344,703.663,374,943]: Global to NBV! dist to NBV:16.1951 Global_Planning_Time:83.8919ms! -----Global Planning Finished!----- -----Local Planning Start!----- None qualified viewpoints... i:8 None qualified viewpoints... i:8

None qualified viewpoints... ---Construct Graph--- ---Search optimal sequence--- Node: 27, edge: 153 ---Search Finish--- ---Push Finish--- -----Local Planning Finished!----- Local_Planning_Time:1.73802ms! [ WARN] [1,702,344,703.665,144,327]: Far Goal! initial_local_path_length:15.1357m initial_stoe:12.025 [ERROR] [1,702,344,703.692,957,541]: Real Length! real length:15.5618 start to end:12.025 duration: 38.9046, seg_num: 46, dt: 0.845752 Iter num: 163, time: 0.0050439, point num: 49, comb time: 0.000487832 dt_yaw: 1.61714, start yaw: -1.50794 0.0798276 0.00172666, end: -2.62996 Traj_Opt_Time:34.5558ms! Planning_Time:159.184ms! -----Planning Finished!----- traj_id:13_id! [FSM]: from PLAN to EXEC [ WARN] [1,702,344,703.768,466,691]: EXEC traj! [ INFO] [1,702,344,704.470,931,388]: [FSM]: state: EXEC [ INFO] [1,702,344,705.872,395,983]: [FSM]: state: EXEC [ INFO] [1,702,344,707.259,422,834]: [FSM]: state: EXEC [FSM]: from EXEC to PLAN [ WARN] [1,702,344,707.869,263,988]: Replan: periodic call======================================== == [ INFO] [1,702,344,708.591,800,038]: [FSM]: state: PLAN -----Planning Start!----- -----Surface Prediction Start!----- infer_ms:1.19942ms ts_ms:7.0301ms vec_ms:0.02171ms [ WARN] [1,702,344,708.601,155,434]: near_ground 909 [ WARN] [1,702,344,708.601,266,793]: Prediction Diff 0 [ WARN] [1,702,344,708.627,375,212]: Visit Cloud! visit_num:3628 0.201671 Surface_Prediction_Time:35.612ms! -----Surface Prediction Finished!----- -----Global Planning Start!----- preprocess_time:0.112772ms -----------cluster_size:17 CEC_time:1.8138ms visibility_time:0.080997ms cloud number:23011 update_time:63.9757ms partition_size:18 normal_select_time:0.398471ms qualified_partition_size:18 sample_time:5.05921ms

TSP_time:3.97052ms [ WARN] [1,702,344,708.709,349,651]: global nbv yaw! 176.944deg. total_global:75.4115ms [ WARN] [1,702,344,708.709,418,002]: Global to NBV! dist to NBV:13.6393 Global_Planning_Time:81.9606ms! -----Global Planning Finished!----- -----Local Planning Start!----- None qualified viewpoints... i:8 None qualified viewpoints... i:8

None qualified viewpoints... ---Construct Graph--- ---Search optimal sequence--- Node: 27, edge: 153 ---Search Finish--- ---Push Finish--- -----Local Planning Finished!----- Local_Planning_Time:1.65741ms! [ WARN] [1,702,344,708.711,101,762]: Far Goal! initial_local_path_length:15.4397m initial_stoe:13.6393 [ERROR] [1,702,344,708.741,865,714]: Real Length! real length:16.0116 start to end:13.6393 duration: 40.0289, seg_num: 52, dt: 0.769786 Iter num: 142, time: 0.0050301, point num: 55, comb time: 0.000508168 dt_yaw: 1.66368, start yaw: -1.4214 -0.050793 -0.023876, end: 3.08826 Traj_Opt_Time:37.8933ms! Planning_Time:157.141ms! Is there any solution? Thank you so much!

Willis814 avatar Dec 12 '23 01:12 Willis814

After I changed prob_file << int_cost << " " to prob_file << to_string(int_cost) << " " and rebuilt the planner, I successfully solved the "*** Error *** Unknown keyword: 1,239", but a new Problem: He keeps displaying this information in a loop and the drone is not running, it just hangs in place: -----Planning Start!----- -----Surface Prediction Start!----- infer_ms:1.16194ms ts_ms:6.92364ms vec_ms:0.019369ms [ WARN] [1,702,344,703.549,550,530]: near_ground 934 [ WARN] [1,702,344,703.549,713,293]: Prediction Diff 0 [ WARN] [1,702,344,703.579,339,043]: Visit Cloud! visit_num:3628 0.201671 Surface_Prediction_Time:38.9771ms! -----Surface Prediction Finished!----- -----Global Planning Start!----- preprocess_time:0.114008ms -----------cluster_size:17 CEC_time:1.65646ms visibility_time:0.030469ms cloud number:23036 update_time:63.9538ms partition_size:18 normal_select_time:0.746859ms qualified_partition_size:18 sample_time:5.98481ms

TSP_time:4.04372ms [ WARN] [1,702,344,703.663,303,522]: global nbv yaw! 176.944deg. total_global:76.5301ms [ WARN] [1,702,344,703.663,374,943]: Global to NBV! dist to NBV:16.1951 Global_Planning_Time:83.8919ms! -----Global Planning Finished!----- -----Local Planning Start!----- None qualified viewpoints... i:8 None qualified viewpoints... i:8

None qualified viewpoints... ---Construct Graph--- ---Search optimal sequence--- Node: 27, edge: 153 ---Search Finish--- ---Push Finish--- -----Local Planning Finished!----- Local_Planning_Time:1.73802ms! [ WARN] [1,702,344,703.665,144,327]: Far Goal! initial_local_path_length:15.1357m initial_stoe:12.025 [ERROR] [1,702,344,703.692,957,541]: Real Length! real length:15.5618 start to end:12.025 duration: 38.9046, seg_num: 46, dt: 0.845752 Iter num: 163, time: 0.0050439, point num: 49, comb time: 0.000487832 dt_yaw: 1.61714, start yaw: -1.50794 0.0798276 0.00172666, end: -2.62996 Traj_Opt_Time:34.5558ms! Planning_Time:159.184ms! -----Planning Finished!----- traj_id:13_id! [FSM]: from PLAN to EXEC [ WARN] [1,702,344,703.768,466,691]: EXEC traj! [ INFO] [1,702,344,704.470,931,388]: [FSM]: state: EXEC [ INFO] [1,702,344,705.872,395,983]: [FSM]: state: EXEC [ INFO] [1,702,344,707.259,422,834]: [FSM]: state: EXEC [FSM]: from EXEC to PLAN [ WARN] [1,702,344,707.869,263,988]: Replan: periodic call======================================== == [ INFO] [1,702,344,708.591,800,038]: [FSM]: state: PLAN -----Planning Start!----- -----Surface Prediction Start!----- infer_ms:1.19942ms ts_ms:7.0301ms vec_ms:0.02171ms [ WARN] [1,702,344,708.601,155,434]: near_ground 909 [ WARN] [1,702,344,708.601,266,793]: Prediction Diff 0 [ WARN] [1,702,344,708.627,375,212]: Visit Cloud! visit_num:3628 0.201671 Surface_Prediction_Time:35.612ms! -----Surface Prediction Finished!----- -----Global Planning Start!----- preprocess_time:0.112772ms -----------cluster_size:17 CEC_time:1.8138ms visibility_time:0.080997ms cloud number:23011 update_time:63.9757ms partition_size:18 normal_select_time:0.398471ms qualified_partition_size:18 sample_time:5.05921ms

TSP_time:3.97052ms [ WARN] [1,702,344,708.709,349,651]: global nbv yaw! 176.944deg. total_global:75.4115ms [ WARN] [1,702,344,708.709,418,002]: Global to NBV! dist to NBV:13.6393 Global_Planning_Time:81.9606ms! -----Global Planning Finished!----- -----Local Planning Start!----- None qualified viewpoints... i:8 None qualified viewpoints... i:8

None qualified viewpoints... ---Construct Graph--- ---Search optimal sequence--- Node: 27, edge: 153 ---Search Finish--- ---Push Finish--- -----Local Planning Finished!----- Local_Planning_Time:1.65741ms! [ WARN] [1,702,344,708.711,101,762]: Far Goal! initial_local_path_length:15.4397m initial_stoe:13.6393 [ERROR] [1,702,344,708.741,865,714]: Real Length! real length:16.0116 start to end:13.6393 duration: 40.0289, seg_num: 52, dt: 0.769786 Iter num: 142, time: 0.0050301, point num: 55, comb time: 0.000508168 dt_yaw: 1.66368, start yaw: -1.4214 -0.050793 -0.023876, end: 3.08826 Traj_Opt_Time:37.8933ms! Planning_Time:157.141ms! Is there any solution? Thank you so much!

Will there be a cloud display of rviz after you launch recon.launch?

My current problem is that Planner works fine after recon.launch but there is no point cloud in Rviz

rebecca0011 avatar Dec 12 '23 01:12 rebecca0011

My rviz is also blank and the depth image has output, but the drone does not move.😥

Willis814 avatar Dec 12 '23 04:12 Willis814

I find that there are some problems that may cause the rviz is blank since I have not these folders and some models.😥 image

Willis814 avatar Dec 21 '23 09:12 Willis814

You can find the help in this closed issue. https://github.com/HKUST-Aerial-Robotics/PredRecon/issues/12

Chen-Albert-FENG avatar Jan 28 '24 03:01 Chen-Albert-FENG

Pretrained model ckpt is shown in README. Put it in https://github.com/HKUST-Aerial-Robotics/PredRecon/blob/master/Planner/Code/src/fuel_planner/exploration_manager/launch/algorithm.xml#L147

  1. You can omit the tf warning.
  2. If you are ready, you can trigger to start.
  3. I see the errors in your terminal but I do not know why they occurred, could you provide more error outputs?

Thank you for your reply! When I input "source devel/setup.zsh && roslaunch exploration_manager recon.launch", the terminal throws the following errors: start_pt_x:0 start_pt_y:0 start_pt_z:1.52977 -----Planning Start!----- -----Surface Prediction Start!----- infer_ms:2.08372ms ts_ms:6.98538ms vec_ms:0.01526ms [ WARN] [1,702,190,889.576,367,820]: near_ground 960 [ WARN] [1,702,190,889.601,474,524]: Visit Cloud! visit_num:6989 0.201732 Surface_Prediction_Time:40.2144ms! -----Surface Prediction Finished!----- -----Global Planning Start!----- preprocess_time:0.218305ms -----------cluster_size:18 CEC_time:3.2827ms visibility_time:0.063251ms cloud number:22876 update_time:66.7548ms partition_size:19 normal_select_time:0.697621ms qualified_partition_size:19 sample_time:5.60431ms 1,239 364 0 392 2,100 919 2,223 2,241 2,241 779 1,548 *** Error *** Unknown keyword: 1,239 [exploration_node-1] process has died [pid 67281, exit code 1, cmd /home/willis/AirSim-1.5.0-linux/ros/src/PredRecon/Planner/Code/devel/lib/exploration_manager/exploration_node /odom_world:=/airsim_node/drone_1/odom_local_enu /map_ros/pose:=/airsim_node/drone_1/odom_local_enu /map_ros/depth:=/airsim_node/drone_1/front_center/DepthPerspective /map_ros/cloud:=/cloud __name:=exploration_node __log:=/home/willis/.ros/log/f5a49432-9726-11ee-881e-91dd9683a4a7/exploration_node-1.log]. log file: /home/willis/.ros/log/f5a49432-9726-11ee-881e-91dd9683a4a7/exploration_node-1*.log Furthermore,I cannot find the log file in the specified location.😭

I've encountered this error before, and the solution is to convert the corresponding int type to a string.

I tried to convert all "{prob_file << int_cost << " " }" to "{prob_file << to_string(int_cost) << " "}" like you ,but it still output the same errors.😂

I encountered the same problem, after convert all "{prob_file << int_cost << " " }" to "{prob_file << to_string(int_cost) << " "}" ，the errors still exists，Have you solved it? Any help is welcome.

Waiyva avatar Mar 02 '24 13:03 Waiyva