h2r/ein

Crashing ein

dwhit opened this issue · 4 comments

dwhit commented

I rebooted the robot and still got this error:

Loaded classHeightMemoryPicks from /home/dwhitney/ros_ws/src/ein/default/objects/kr_dash2/ein/pickMemories/graspMemories.yml[1 x 4]
Loaded aerial height 0 gradient from /home/dwhitney/ros_ws/src/ein/default/objects/kr_dash2/ein/servoCrops/aerialHeight0Gradients.yml[100 x 100]
Loaded aerial height 1 gradient from /home/dwhitney/ros_ws/src/ein/default/objects/kr_dash2/ein/servoCrops/aerialHeight1Gradients.yml[100 x 100]
Loaded aerial height 2 gradient from /home/dwhitney/ros_ws/src/ein/default/objects/kr_dash2/ein/servoCrops/aerialHeight2Gradients.yml[100 x 100]
Loaded aerial height 3 gradient from /home/dwhitney/ros_ws/src/ein/default/objects/kr_dash2/ein/servoCrops/aerialHeight3Gradients.yml[100 x 100]
Initializing classAerialGradients with classAerialHeight0Gradients.
Reading grasp information from /home/dwhitney/ros_ws/src/ein/default/objects/kr_dash2/ein/3dGrasps/3dGrasps.yml ...Expected to load 0 3d poses, loaded 0 ...
Expected to load 0 pup poses, loaded 0 ...
Expected to load 0 pop poses, loaded 0 ...
done.vocabularyPath: /home/dwhitney/ros_ws/src/ein/default/objects/vocab.yml
featuresPath: /home/dwhitney/ros_ws/src/ein/default/objects/knn.yml
labelsPath: /home/dwhitney/ros_ws/src/ein/default/objects/labels.yml
Writing labels and pose models... /home/dwhitney/ros_ws/src/ein/default/objects/labels.yml ...done.
Writing features and labels... /home/dwhitney/ros_ws/src/ein/default/objects/knn.yml ...
setMapAutoPick: was 0 will be 1
setMapServoMode was: 0 setting 2
setSnapToFlushGrasp: was 1 will be 1
setRandomPositionAfterPick: got value 1
currentBoundingBoxMode = mapping
Clearing blue box memory: 0
Clearing the map for a new patrol.
mappingPatrol
This pose was accepted by ikClient:
Next EE Position (x,y,z): -0.4375 -0.5 -0.0766479
Next EE Orientation (x,y,z,w): 0.00441297 0.993767 0.109517 0.02032
moveToNextMapPosition tries foundGoodPosition oldestI oldestJ oldestX oldestY: 0 1 50 100 -0.4375 -0.5
SampleHeight going to mappingHeightIdx: 1
mappingPatrolA
currentBoundingBoxMode = mapping
SampleHeight going to mappingHeightIdx: 1
[New Thread 0x7fffc8d37700 (LWP 22704)]
synchronicTakeClosest = 1
synchronicTakeClosest = 1
Waiting to come to a stop...
Came to a stop, moving on.
[ERROR] [1448153282.790744057]: Not receiving camera data, clearing call stack.
OpenCV error: cvtColor with message scn == 3 || scn == 4
File: /build/buildd/opencv-2.4.8+dfsg1/modules/imgproc/src/color.cpp line: 3737
ein: /home/dwhitney/ros_ws/src/ein/src/ein.cpp:14582: int opencvError(int, const char_, const char_, const char_, int, void_): Assertion `0' failed.

Program received signal SIGABRT, Aborted.
0x00007ffff188fcc9 in __GI_raise (sig=sig@entry=6) at ../nptl/sysdeps/unix/sysv/linux/raise.c:56
56 ../nptl/sysdeps/unix/sysv/linux/raise.c: No such file or directory.
(gdb)

exwu commented

Getting this one too, on an older version of ein. Checking out the .yml files didn't seem to help

joberlin commented

Did you try making sure the cameras are on? Looks like its not getting
camera data.
On Nov 22, 2015 3:15 PM, "exwu" notifications@github.com wrote:

Getting this one too, on an older version of ein. Checking out the .yml
files didn't seem to help

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#8 (comment).

stefie10 commented

When you get these errors, can you send a stack trace? Run bt in gdb.

Thanks!

Stefanie

On 11/21/2015 07:50 PM, David Whitney wrote:

I rebooted the robot and still got this error:

Loaded classHeightMemoryPicks from
/home/dwhitney/ros_ws/src/ein/default/objects/kr_dash2/ein/pickMemories/graspMemories.yml[1
x 4]
Loaded aerial height 0 gradient from
/home/dwhitney/ros_ws/src/ein/default/objects/kr_dash2/ein/servoCrops/aerialHeight0Gradients.yml[100
x 100]
Loaded aerial height 1 gradient from
/home/dwhitney/ros_ws/src/ein/default/objects/kr_dash2/ein/servoCrops/aerialHeight1Gradients.yml[100
x 100]
Loaded aerial height 2 gradient from
/home/dwhitney/ros_ws/src/ein/default/objects/kr_dash2/ein/servoCrops/aerialHeight2Gradients.yml[100
x 100]
Loaded aerial height 3 gradient from
/home/dwhitney/ros_ws/src/ein/default/objects/kr_dash2/ein/servoCrops/aerialHeight3Gradients.yml[100
x 100]
Initializing classAerialGradients with classAerialHeight0Gradients.
Reading grasp information from
/home/dwhitney/ros_ws/src/ein/default/objects/kr_dash2/ein/3dGrasps/3dGrasps.yml
...Expected to load 0 3d poses, loaded 0 ...
Expected to load 0 pup poses, loaded 0 ...
Expected to load 0 pop poses, loaded 0 ...
done.vocabularyPath: /home/dwhitney/ros_ws/src/ein/default/objects/vocab.yml
featuresPath: /home/dwhitney/ros_ws/src/ein/default/objects/knn.yml
labelsPath: /home/dwhitney/ros_ws/src/ein/default/objects/labels.yml
Writing labels and pose models...
/home/dwhitney/ros_ws/src/ein/default/objects/labels.yml ...done.
Writing features and labels...
/home/dwhitney/ros_ws/src/ein/default/objects/knn.yml ...
setMapAutoPick: was 0 will be 1
setMapServoMode was: 0 setting 2
setSnapToFlushGrasp: was 1 will be 1
setRandomPositionAfterPick: got value 1
currentBoundingBoxMode = mapping
Clearing blue box memory: 0
Clearing the map for a new patrol.
mappingPatrol
This pose was accepted by ikClient:
Next EE Position (x,y,z): -0.4375 -0.5 -0.0766479
Next EE Orientation (x,y,z,w): 0.00441297 0.993767 0.109517 0.02032
moveToNextMapPosition tries foundGoodPosition oldestI oldestJ oldestX
oldestY: 0 1 50 100 -0.4375 -0.5
SampleHeight going to mappingHeightIdx: 1
mappingPatrolA
currentBoundingBoxMode = mapping
SampleHeight going to mappingHeightIdx: 1
[New Thread 0x7fffc8d37700 (LWP 22704)]
synchronicTakeClosest = 1
synchronicTakeClosest = 1
Waiting to come to a stop...
Came to a stop, moving on.
[ERROR] [1448153282.790744057]: Not receiving camera data, clearing call
stack.
OpenCV error: cvtColor with message scn == 3 || scn == 4
File: /build/buildd/opencv-2.4.8+dfsg1/modules/imgproc/src/color.cpp
line: 3737
ein: /home/dwhitney/ros_ws/src/ein/src/ein.cpp:14582: int
opencvError(int, const char/, const char/, const char/, int, void/):
Assertion `0' failed.

Program received signal SIGABRT, Aborted.
0x00007ffff188fcc9 in __GI_raise (sig=sig@entry=6) at
../nptl/sysdeps/unix/sysv/linux/raise.c:56
56 ../nptl/sysdeps/unix/sysv/linux/raise.c: No such file or directory.
(gdb)

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#8.

joberlin commented

Closing because evidently this was due to ROS packages missing, but probably we should be handling this better somehow.