FQ - ver121door2fqr2 - b4b3af1d-b8a4-4c20-831c-465bf272f713-B120W600RH3600W
Opened this issue · 5 comments
2x Pam, 2x Freyja
A-drona skoncila v mlze, B neodstartovala, C-Freyja skoncila na helme a D-se propadla do propasti
celkove 3 body
0:33:04.480189 received: ['TYPE_HELMET', [16740, -51566, 488], 'D0W2C2400RH3600W', True]
1:15:35.922898 received: ['TYPE_BACKPACK', [35915, 29884, 1010], 'C60W2C2400LH3600W', None]
1:15:36.853544 received: ['TYPE_BACKPACK', [35915, 29884, 1010], 'C60W2C2400LH3600W', True]
1:45:58.860568 received: ['TYPE_BACKPACK', [56164, 19620, 203], 'C60W2C2400LH3600W', None]
1:45:59.071689 received: ['TYPE_BACKPACK', [56164, 19620, 203], 'C60W2C2400LH3600W', False]
6:35:40.570589 received: ['TYPE_ROPE', [117644, -155299, 764], 'D0W2C2400RH3600W', None]
6:35:40.727632 received: ['TYPE_ROPE', [117644, -155299, 764], 'D0W2C2400RH3600W', True]
Robot IDs ['A180W900LH3600W', 'B120W600RH3600W', 'C60W2C2400LH3600W', 'D0W2C2400RH3600W']
Report ale zakladam hlavne kvuli B-drone, kde log vypada divoce:
python -m osgar.logger d:\logs\aws\finals\FQ\ver121doors\B120W600RH3600W.log
k name bytes | count | freq Hz
--------------------------------------------------------------
0 sys 26730119 | 375098 | 5.0Hz
1 transmitter.raw 0 | 0 | 0.0Hz
2 transmitter.response 0 | 0 | 0.0Hz
3 transmitter.timeout 0 | 0 | 0.0Hz
4 reporter.artf_cmd 151 | 4 | 0.0Hz
5 reporter.artf_all 40935 | 263 | 0.0Hz
6 fromrospy.acc 0 | 0 | 0.0Hz
7 fromrospy.top_scan 565570 | 56557 | 0.8Hz
8 fromrospy.bottom_scan 565560 | 56556 | 0.8Hz
9 fromrospy.pose3d 8958246 | 135731 | 1.8Hz
10 fromrospy.battery_state 24444 | 2716 | 0.0Hz
11 fromrospy.score 74841 | 74841 | 1.0Hz
12 fromrospy.gas_detected 1 | 1 | 0.0Hz
13 fromrospy.rgbd_front 82258 | 82258 | 1.1Hz
14 fromrospy.rgbd_left 82257 | 82257 | 1.1Hz
15 fromrospy.rgbd_right 82256 | 82256 | 1.1Hz
16 fromrospy.air_pressure 488628 | 54292 | 0.7Hz
17 fromrospy.scan360 20528013 | 56551 | 0.8Hz
18 fromrospy.slopes 39547823 | 56551 | 0.8Hz
19 fromrospy.octomap 0 | 0 | 0.0Hz
20 fromrospy.robot_name 0 | 0 | 0.0Hz
21 receiver.raw 33474 | 33474 | 0.4Hz
22 receiver.response 0 | 0 | 0.0Hz
23 receiver.timeout 0 | 0 | 0.0Hz
24 app.desired_speed 0 | 0 | 0.0Hz
25 app.pose2d 1085848 | 135731 | 1.8Hz
26 app.stdout 154145 | 1250 | 0.0Hz
27 app.desired_z_speed 0 | 0 | 0.0Hz
28 app.flipped 0 | 0 | 0.0Hz
29 drone.desired_speed_3d 0 | 0 | 0.0Hz
30 gas_detector.localized_artf 0 | 0 | 0.0Hz
31 artifact_filter.artf_xyz 0 | 0 | 0.0Hz
32 black_box.crash_rgbd 0 | 0 | 0.0Hz
33 radio.radio 1098554 | 12895 | 0.2Hz
34 radio.artf_xyz 49641 | 354 | 0.0Hz
35 radio.breadcrumb 224 | 8 | 0.0Hz
36 radio.robot_xyz 185345 | 3788 | 0.1Hz
37 radio.trace_info 1207391 | 10563 | 0.1Hz
38 radio.robot_trace 894339 | 9505 | 0.1Hz
39 rosmsg.sim_time_sec 7808 | 2716 | 0.0Hz
40 rosmsg.sim_clock 13244 | 2716 | 0.0Hz
41 rosmsg.cmd 1390576 | 14151 | 0.2Hz
42 rosmsg.t265_rot 0 | 0 | 0.0Hz
43 rosmsg.debug 0 | 0 | 0.0Hz
44 rosmsg.radio 3276434 | 30755 | 0.4Hz
45 rosmsg.base_station 324 | 3 | 0.0Hz
46 rosmsg.joint_name 0 | 0 | 0.0Hz
47 rosmsg.joint_position 0 | 0 | 0.0Hz
48 rosmsg.joint_velocity 0 | 0 | 0.0Hz
49 rosmsg.joint_effort 0 | 0 | 0.0Hz
50 logimage_left.image 85562 | 1 | 0.0Hz
51 logimage_left.depth 0 | 0 | 0.0Hz
52 mtm.robot_trace 309723 | 3413 | 0.0Hz
53 mtm.trace_info 446399 | 3788 | 0.1Hz
54 marsupial.detach 0 | 0 | 0.0Hz
55 logimage_right.image 96302 | 1 | 0.0Hz
56 logimage_right.depth 0 | 0 | 0.0Hz
57 logimage.image 69979 | 1 | 0.0Hz
58 logimage.depth 0 | 0 | 0.0Hz
59 octomap.waypoints 0 | 0 | 0.0Hz
60 octomap.dropped 0 | 0 | 0.0Hz
61 detector.localized_artf 0 | 0 | 0.0Hz
62 detector.dropped 45333 | 45333 | 0.6Hz
63 detector.debug_rgbd 0 | 0 | 0.0Hz
64 detector.stdout 42 | 2 | 0.0Hz
65 detector.debug_result 4566009 | 42413 | 0.6Hz
66 detector.debug_cv_result 42589 | 42413 | 0.6Hz
67 detector.debug_camera 0 | 0 | 0.0Hz
68 detector_left.localized_artf 0 | 0 | 0.0Hz
69 detector_left.dropped 42889 | 42889 | 0.6Hz
70 detector_left.debug_rgbd 0 | 0 | 0.0Hz
71 detector_left.stdout 42 | 2 | 0.0Hz
72 detector_left.debug_result 182019610 | 42888 | 0.6Hz
73 detector_left.debug_cv_result 42888 | 42888 | 0.6Hz
74 detector_left.debug_camera 0 | 0 | 0.0Hz
75 detector_right.localized_artf 0 | 0 | 0.0Hz
76 detector_right.dropped 45472 | 45472 | 0.6Hz
77 detector_right.debug_rgbd 0 | 0 | 0.0Hz
78 detector_right.stdout 42 | 2 | 0.0Hz
79 detector_right.debug_result 108084843 | 45416 | 0.6Hz
80 detector_right.debug_cv_result 45416 | 45416 | 0.6Hz
81 detector_right.debug_camera 0 | 0 | 0.0Hz
Total time 20:47:36.217041
konkretne debug detekce vlevo a vpravo na startu!
Edit:
Ignore - it is not debug_rgbd
, but only 108MB of intermediate results. No panic!
OK, tak druhe (tentokrat snad spravne) pozorovani je, ze B-drona nema zadny fromrospy.acc
data, zatimco drona A ma:
10 fromrospy.acc 5661431 | 679226 | 9.1Hz
Pred acc
se publikuje z cloudsim2osgar
pouze scan360
a ten u B-drony je. Nasledne se jeste generuje robot_name
, ktery stejne jako acc
chybi, tj. vyrez:
17 fromrospy.scan360 20528013 | 56551 | 0.8Hz
6 fromrospy.acc 0 | 0 | 0.0Hz
20 fromrospy.robot_name 0 | 0 | 0.0Hz
V B-rosout.log je jeste:
22.644000000 ERROR /rtabmap/rgbd/rgbd_odometry [/tmp/binarydeb/ros-melodic-rtabmap-ros-0.20.9/src/OdometryROS.cpp:614(OdometryROS::processData)] [topics: /rosout, /tf, /rtabmap/rgbd/odom, /rtabmap/rgbd/odom_info, /rtabmap/rgbd/odom_info_lite, /rtabmap/rgbd/odom_local_map, /rtabmap/rgbd/odom_local_scan_map, /rtabmap/rgbd/odom_last_frame, /rtabmap/rgbd/odom_rgbd_image] "guess_frame_id" is set, but guess cannot be computed between frames "odom" -> "B120W600RH3600W". Aborting odometry update...
...
23.192000000 ERROR /B120W600RH3600W/local_map [/osgar-ws/src/osgar/subt/ros/proxy/flyability.cc:215(optional<tf::StampedTransform> osgar::Flyability::GetTransform)] [topics: /rosout, /tf, /B120W600RH3600W/local_map/output/map, /B120W600RH3600W/local_map/output/scan, /B120W600RH3600W/local_map/output/down, /B120W600RH3600W/local_map/output/up, /statistics] Lookup would require extrapolation into the past. Requested time 22.844000000 but the earliest data is at time 22.852000000, when looking up transform from frame [B120W600RH3600W/base_link/top_laser] to frame [odom]
Napsal jsem dotaz na subt-help, protoze kdyz porovnam statistiky A-drony a B-drony, tak A IMU data ma a B ma seznam prazdny (ale dany soubor existuje ... ale zase napr bridge_logger--B120W600RH3600W-air_pressure.log
je pro obe drony prazdny ... proste by bylo uzitecne vedet, co se z toho da vylamat.