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start_demo_auv_control.launch control data record #17

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galfunk opened this issue Jul 15, 2018 · 22 comments
Open

start_demo_auv_control.launch control data record #17

galfunk opened this issue Jul 15, 2018 · 22 comments

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@galfunk
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galfunk commented Jul 15, 2018

Hi,
I'm working on my master thesis and I found the simulation very interesting .
I'm running the following launch file :
start_demo_auv_control.launch
Gazebo and rviz are running smoothly

I'm trying to record the following actors only:
/eca_a9/thrusters/0/thrust
/eca_a9/thrusters/0/input
/eca_a9/fins/0/input
/eca_a9/fins/0/output

Should I able to see in the bag file the angle of fin or values of the thrust per time ?

I'm open the file in MATLAB and I'm only get Time, Topic, MessageType, Fileoffeset

What is required in order to analysis the control data for the fines angles and the propeller thrust from the running simulation?

Thank

Gal
@musamarcusso
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Hi @galfunk, that might be because the FinPlugin uses the custom message FloatStamped. I don't know much about the ROS integration in Matlab, but I think this tutorial might help.

@galfunk
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galfunk commented Jul 16, 2018

Hi @musamarcusso , thank you for your assistance. Is there a simpler way to read custom massages from a bag file?

@musamarcusso
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Hi @galfunk,

there is a good Python API to parse and write into ROS bags that is quite easy to use. You can find examples here.
Another options is to use the uuv_simulation_evaluation package where I put some parsers for the topics generated using uuv_simulator.

For instance, if you clone the uuv_simulation_evaluation repository and run

rosrun uuv_simulation_evaluation evaluate_bag --bag_file <rosbag_filename> --output_dir <output_dir_name>

the node will give you plots from the topics in the bag.

@galfunk
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galfunk commented Jul 16, 2018

I'm trying to used uuv_simulation_evaluation as you suggested, I clone the package,
and build the catkin with successful, when I run

rosrun uuv_simulation_evaluation evaluate_bag --bag_file recording.bag --output_dir ~/.ros

[rospack] Error: package 'uuv_simulation_evaluation' not found
find: ‘’: No such file or directory
Traceback (most recent call last):
File "/home/gal/catkin/src/uuv_simulation_evaluation/uuv_simulation_evaluation/scripts/evaluate_bag", line 23, in
from uuv_bag_evaluation import Evaluation
ImportError: No module named uuv_bag_evaluation

@musamarcusso
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Did you run catkin build and then source ~/catkin_ws/devel/setup.bash after cloning the repository?

@galfunk
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galfunk commented Jul 16, 2018

yes

@galfunk
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galfunk commented Jul 16, 2018

gal@gal-XPS-15-9560:~/catkin$ catkin build

Profile: default
Extending: [cached] /home/gal/catkin_ws/devel:/opt/ros/kinetic
Workspace: /home/gal/catkin

Source Space: [exists] /home/gal/catkin/src
Log Space: [exists] /home/gal/catkin/logs
Build Space: [exists] /home/gal/catkin/build
Devel Space: [exists] /home/gal/catkin/devel
Install Space: [unused] /home/gal/catkin/install
DESTDIR: [unused] None

Devel Space Layout: linked
Install Space Layout: None

Additional CMake Args: None
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False

Whitelisted Packages: None
Blacklisted Packages: None

Workspace configuration appears valid.

[build] Found '11' packages in 0.0 seconds.
[build] Package table is up to date.
Starting >>> eca_a9_control
Starting >>> eca_a9_description
Starting >>> eca_a9_dp_controller
Starting >>> uuv_batch_run_example
Starting >>> uuv_simulation_evaluation
Starting >>> uuv_simulation_timer_example
Starting >>> uuv_simulation_wrapper
Starting >>> uuv_smac_example
Finished <<< eca_a9_dp_controller [ 0.1 seconds ]
Finished <<< uuv_batch_run_example [ 0.1 seconds ]
Finished <<< uuv_simulation_evaluation [ 0.1 seconds ]
Finished <<< uuv_simulation_timer_example [ 0.1 seconds ]
Finished <<< eca_a9_control [ 0.1 seconds ]
Finished <<< uuv_simulation_wrapper [ 0.1 seconds ]
Starting >>> uuv_simulation_runner_example
Starting >>> uuv_smac_utils
Finished <<< uuv_smac_example [ 0.1 seconds ]
Finished <<< eca_a9_description [ 0.1 seconds ]
Starting >>> eca_a9_gazebo
Finished <<< uuv_smac_utils [ 0.1 seconds ]
Finished <<< uuv_simulation_runner_example [ 0.1 seconds ]
Finished <<< eca_a9_gazebo [ 0.1 seconds ]
[build] Summary: All 11 packages succeeded!
[build] Ignored: None.
[build] Warnings: None.
[build] Abandoned: None.
[build] Failed: None.
[build] Runtime: 0.7 seconds total.

@galfunk
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galfunk commented Jul 16, 2018

what should be my <output_dir_name> ?

@musamarcusso
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Any directory name where you would like the parser data and plots to be stored.

@galfunk
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galfunk commented Jul 16, 2018

what should be my <rosbag_filename>? the full located adders?

@galfunk
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galfunk commented Jul 16, 2018

gal@gal-XPS-15-9560:~$ rosrun uuv_simulation_evaluation evaluate_bag --bag_file recording.bag --output_dir ~/
usage: evaluate_bag [-h] [--bagfile BAGFILE] [--output_dir OUTPUT_DIR]
[--time_offset TIME_OFFSET]
evaluate_bag: error: unrecognized arguments: --bag_file recording.bag

@musamarcusso
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Yeah, sorry that was a typo, the argument should be --bagfile. If you put only recording.bag the default search folder will be .ros. I would add the full path in that case.

@galfunk
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galfunk commented Jul 16, 2018

rosrun uuv_simulation_evaluation evaluate_bag --bagfile recording.bag --output_dir ~/
Traceback (most recent call last):
File "/home/gal/catkin/src/uuv_simulation_evaluation/uuv_simulation_evaluation/scripts/evaluate_bag", line 40, in
assert os.path.isfile(args.bagfile), 'Invalid bag file'

@musamarcusso
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Does this happen if instead of recording.bag you put the full path?

@galfunk
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galfunk commented Jul 16, 2018

yes
rosrun uuv_simulation_evaluation evaluate_bag --bagfile ~/.log/recording.bag --output_dir ~/
Traceback (most recent call last):
File "/home/gal/catkin/src/uuv_simulation_evaluation/uuv_simulation_evaluation/scripts/evaluate_bag", line 40, in
assert os.path.isfile(args.bagfile), 'Invalid bag file'
AssertionError: Invalid bag file

@galfunk
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galfunk commented Jul 16, 2018

This is my rosbag info

rosbag info ~/.ros/recording.bag
path: /home/gal/.ros/recording.bag
version: 2.0
duration: 28.9s
start: Jan 01 1970 01:00:56.86 (56.86)
end: Jan 01 1970 01:01:25.76 (85.76)
size: 223.0 KB
messages: 2300
compression: none [1/1 chunks]
types: uuv_gazebo_ros_plugins_msgs/FloatStamped [e6c99c37e6f9fe98e071d524cc164e65]
topics: /eca_a9/fins/0/input 571 msgs : uuv_gazebo_ros_plugins_msgs/FloatStamped
/eca_a9/fins/0/output 579 msgs : uuv_gazebo_ros_plugins_msgs/FloatStamped
/eca_a9/thrusters/0/input 571 msgs : uuv_gazebo_ros_plugins_msgs/FloatStamped
/eca_a9/thrusters/0/thrust 579 msgs : uuv_gazebo_ros_plugins_msgs/FloatStamped

@musamarcusso
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I see that the path from the previous comment is ~/.log/recording.bag but the bag file seems to be under ~/.ros/recording.bag. Can you test with this ~/.ros/recording.bag instead?

@galfunk
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galfunk commented Jul 16, 2018

You right... now I got

2018-07-16 09:02:04,586 | INFO | evaluation | Opening bag: /home/gal/.ros/recording.bag
2018-07-16 09:02:04,594 | INFO | recording | Initializing parsers
2018-07-16 09:02:04,594 | INFO | recording | Initializing parser=auv_control
2018-07-16 09:02:04,623 | ERROR | auv_command_data | Error reading AUV command input topic, message='_uuv_gazebo_ros_plugins_msgs__FloatStamped' object has no attribute 'command'
2018-07-16 09:02:04,623 | INFO | recording | Initializing parser=concentration_sensor
2018-07-16 09:02:04,626 | ERROR | concentration_sensor_data | Error reading particle concentration topic, message='_uuv_gazebo_ros_plugins_msgs__FloatStamped' object has no attribute 'concentration'
2018-07-16 09:02:04,626 | INFO | recording | Initializing parser=current_velocity
2018-07-16 09:02:04,629 | ERROR | current_velocity_data | Error retrieving current velocity data from rosbag, message='_uuv_gazebo_ros_plugins_msgs__FloatStamped' object has no attribute 'twist'
2018-07-16 09:02:04,629 | INFO | recording | Initializing parser=error
-- 2018-07-16 09:02:04,632 | INFO | wp_trajectory_generator | Waypoint interpolators available:
-- 2018-07-16 09:02:04,632 | INFO | wp_trajectory_generator | - cubic
-- 2018-07-16 09:02:04,632 | INFO | wp_trajectory_generator | - lipb
-- 2018-07-16 09:02:04,632 | INFO | wp_trajectory_generator | - dubins
-- 2018-07-16 09:02:04,632 | INFO | wp_trajectory_generator | - linear
2018-07-16 09:02:04,632 | ERROR | error_data | Error retrieving error data from rosbag, message='_uuv_gazebo_ros_plugins_msgs__FloatStamped' object has no attribute 'pose'
2018-07-16 09:02:04,633 | INFO | recording | Initializing parser=fins
2018-07-16 09:02:04,646 | INFO | fins_data | /eca_a9/fins/0/input=loaded
2018-07-16 09:02:04,657 | INFO | fins_data | /eca_a9/fins/0/output=loaded
2018-07-16 09:02:04,657 | INFO | fins_data | /eca_a9/fins/0/wrench_topic=loaded
2018-07-16 09:02:04,658 | INFO | recording | Initializing parser=salinity_sensor
2018-07-16 09:02:04,660 | ERROR | salinity_data | Error reading salinity topic, message='_uuv_gazebo_ros_plugins_msgs__FloatStamped' object has no attribute 'salinity'
2018-07-16 09:02:04,661 | INFO | recording | Initializing parser=thrusters
2018-07-16 09:02:04,663 | INFO | thruster_data | Thruster topic prefix found </eca_a9/thrusters/0/thrust>
2018-07-16 09:02:04,673 | INFO | thruster_data | /eca_a9/thrusters/0/thrust=loaded
2018-07-16 09:02:04,684 | INFO | thruster_data | /eca_a9/thrusters/0/input=loaded
2018-07-16 09:02:04,684 | INFO | recording | Initializing parser=thruster_manager
2018-07-16 09:02:04,687 | ERROR | thruster_manager_data | Error retrieving thruster manager input wrench data from rosbag, message='_uuv_gazebo_ros_plugins_msgs__FloatStamped' object has no attribute 'wrench'
2018-07-16 09:02:04,687 | INFO | recording | Initializing parser=trajectory
-- 2018-07-16 09:02:04,690 | INFO | wp_trajectory_generator | Waypoint interpolators available:
-- 2018-07-16 09:02:04,690 | INFO | wp_trajectory_generator | - cubic
-- 2018-07-16 09:02:04,690 | INFO | wp_trajectory_generator | - lipb
-- 2018-07-16 09:02:04,690 | INFO | wp_trajectory_generator | - dubins
-- 2018-07-16 09:02:04,691 | INFO | wp_trajectory_generator | - linear
2018-07-16 09:02:04,691 | ERROR | trajectory_data | Error trajectories from rosbag, message='reference'
-- 2018-07-16 09:02:04,691 | INFO | wp_trajectory_generator | Waypoint interpolators available:
-- 2018-07-16 09:02:04,691 | INFO | wp_trajectory_generator | - cubic
-- 2018-07-16 09:02:04,691 | INFO | wp_trajectory_generator | - lipb
-- 2018-07-16 09:02:04,691 | INFO | wp_trajectory_generator | - dubins
-- 2018-07-16 09:02:04,691 | INFO | wp_trajectory_generator | - linear
2018-07-16 09:02:04,691 | ERROR | trajectory_data | Error retrieving odometry data from rosbag, message='odometry'
2018-07-16 09:02:04,691 | INFO | recording | Initializing parser=wrench_perturbation
2018-07-16 09:02:04,694 | ERROR | wrench_perturbation_data | Error retrieving wrench perturbation data from rosbag, message='_uuv_gazebo_ros_plugins_msgs__FloatStamped' object has no attribute 'wrench'
Traceback (most recent call last):
File "/home/gal/catkin/src/uuv_simulation_evaluation/uuv_simulation_evaluation/scripts/evaluate_bag", line 47, in
sim_eval = Evaluation(args.bagfile, args.output_dir, time_offset=time_offset)
File "/home/gal/catkin/src/uuv_simulation_evaluation/uuv_simulation_evaluation/src/uuv_bag_evaluation/evaluation.py", line 52, in init
self._error_set = ErrorSet.get_instance()
File "/home/gal/catkin/src/uuv_simulation_evaluation/uuv_simulation_evaluation/src/uuv_bag_evaluation/error.py", line 100, in get_instance
cls.__instance = ErrorSet()
File "/home/gal/catkin/src/uuv_simulation_evaluation/uuv_simulation_evaluation/src/uuv_bag_evaluation/error.py", line 94, in init
self.compute_errors()
File "/home/gal/catkin/src/uuv_simulation_evaluation/uuv_simulation_evaluation/src/uuv_bag_evaluation/error.py", line 114, in compute_errors
for p_act in self._bag.parsers['trajectory'].odometry.points:
AttributeError: 'NoneType' object has no attribute 'points'

@musamarcusso
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Hi @galfunk, I wrote this node for my experiments and in that case it expects odometry data to be available in the bag, which requires recording the bag in a way similar to this example. If you want to access just a very specific topic, you might find the data parsers a better example on how to extract the topic information from the bag.

@galfunk
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galfunk commented Jul 16, 2018

Hi@musamarcusso , Thanks again I run the simulation with the original record_demo.launch, some how I'm still received errors ;

The kpi_labels.yaml show:

euclidean_error_angular_velocity: Euclidean Error
euclidean_error_cross_track: Euclidean Error
euclidean_error_linear_velocity: Euclidean Error
euclidean_error_pitch: Euclidean Error
euclidean_error_position: Euclidean Error
euclidean_error_quaternion: Euclidean Error
euclidean_error_roll: Euclidean Error
euclidean_error_x: Euclidean Error
euclidean_error_y: Euclidean Error
euclidean_error_yaw: Euclidean Error
euclidean_error_z: Euclidean Error
max_abs_thrust: Maximum absolute thrust
max_error_angular_velocity: Max. absolute error
max_error_cross_track: Max. absolute error
max_error_linear_velocity: Max. absolute error
max_error_pitch: Max. absolute error
max_error_position: Max. absolute error
max_error_quaternion: Max. absolute error
max_error_roll: Max. absolute error
max_error_x: Max. absolute error
max_error_y: Max. absolute error
max_error_yaw: Max. absolute error
max_error_z: Max. absolute error
mean_abs_thrust: Maximum mean absolute average thrust
mean_error_angular_velocity: Mean Absolute Error
mean_error_cross_track: Mean Absolute Error
mean_error_linear_velocity: Mean Absolute Error
mean_error_pitch: Mean Absolute Error
mean_error_position: Mean Absolute Error
mean_error_quaternion: Mean Absolute Error
mean_error_roll: Mean Absolute Error
mean_error_x: Mean Absolute Error
mean_error_y: Mean Absolute Error
mean_error_yaw: Mean Absolute Error
mean_error_z: Mean Absolute Error
peak_to_peak_angular_velocity: Peak to peak
peak_to_peak_cross_track: Peak to peak
peak_to_peak_linear_velocity: Peak to peak
peak_to_peak_pitch: Peak to peak
peak_to_peak_position: Peak to peak
peak_to_peak_quaternion: Peak to peak
peak_to_peak_roll: Peak to peak
peak_to_peak_x: Peak to peak
peak_to_peak_y: Peak to peak
peak_to_peak_yaw: Peak to peak
peak_to_peak_z: Peak to peak
rmse_angular_velocity: Root mean squared error
rmse_cross_track: Root mean squared error
rmse_linear_velocity: Root mean squared error
rmse_pitch: Root mean squared error
rmse_position: Root mean squared error
rmse_quaternion: Root mean squared error
rmse_roll: Root mean squared error
rmse_x: Root mean squared error
rmse_y: Root mean squared error
rmse_yaw: Root mean squared error
rmse_z: Root mean squared error

and the computed_kpsi.ymal show
max_error_angular_velocity: 0.0
max_error_cross_track: 0.0
max_error_linear_velocity: 0.0
max_error_pitch: 0.0
max_error_position: 0.0
max_error_quaternion: 0.0
max_error_roll: 0.0
max_error_x: 0.0
max_error_y: 0.0
max_error_yaw: 0.0
max_error_z: 0.0
mean_abs_thrust: 25.903399972640663
mean_error_angular_velocity: 0.0
mean_error_cross_track: 0.0
mean_error_linear_velocity: 0.0
mean_error_pitch: 0.0
mean_error_position: 0.0
mean_error_quaternion: 0.0
mean_error_roll: 0.0
mean_error_x: 0.0
mean_error_y: 0.0
mean_error_yaw: 0.0
mean_error_z: 0.0
peak_to_peak_angular_velocity: 0.0
peak_to_peak_cross_track: 0.0
peak_to_peak_linear_velocity: 0.0
peak_to_peak_pitch: 0.0
peak_to_peak_position: 0.0
peak_to_peak_quaternion: 0.0
peak_to_peak_roll: 0.0
peak_to_peak_x: 0.0
peak_to_peak_y: 0.0
peak_to_peak_yaw: 0.0
peak_to_peak_z: 0.0
rmse_angular_velocity: 0.0
rmse_cross_track: 0.0
rmse_linear_velocity: 0.0
rmse_pitch: 0.0
rmse_position: 0.0
rmse_quaternion: 0.0
rmse_roll: 0.0
rmse_x: 0.0
rmse_y: 0.0
rmse_yaw: 0.0
rmse_z: 0.0

@musamarcusso
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Could you paste here all the launch files you are using so I can reproduce it here?

@galfunk
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galfunk commented Jul 16, 2018

roslaunch uuv_descriptions ocean_waves.launch

gal@gal-XPS-15-9560:~$ roslaunch uuv_descriptions ocean_waves.launch
... logging to /home/gal/.ros/log/53b16190-88ff-11e8-bba7-9cb6d0f2f06b/roslaunch-gal-XPS-15-9560-30647.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://gal-XPS-15-9560:37505/

SUMMARY

PARAMETERS

  • /publish_world_models/meshes/east/plane: [2000, 0.1, 100]
  • /publish_world_models/meshes/east/pose/position: [0, 1000, -50]
  • /publish_world_models/meshes/heightmap/mesh: package://uuv_des...
  • /publish_world_models/meshes/heightmap/model: sand_heightmap
  • /publish_world_models/meshes/north/plane: [0.1, 2000, 100]
  • /publish_world_models/meshes/north/pose/position: [1000, 0, -50]
  • /publish_world_models/meshes/seafloor/plane: [2000, 2000, 0.1]
  • /publish_world_models/meshes/seafloor/pose/position: [0, 0, -100]
  • /publish_world_models/meshes/south/plane: [0.1, 2000, 100]
  • /publish_world_models/meshes/south/pose/position: [-1000, 0, -50]
  • /publish_world_models/meshes/west/plane: [2000, 0.1, 100]
  • /publish_world_models/meshes/west/pose/position: [0, -1000, -50]
  • /rosdistro: kinetic
  • /rosversion: 1.12.13
  • /use_sim_time: True

NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
publish_world_models (uuv_assistants/publish_world_models.py)
world_ned_frame_publisher (tf2_ros/static_transform_publisher)

auto-starting new master
process[master]: started with pid [30657]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 53b16190-88ff-11e8-bba7-9cb6d0f2f06b
process[rosout-1]: started with pid [30670]
started core service [/rosout]
process[gazebo-2]: started with pid [30686]
process[gazebo_gui-3]: started with pid [30699]
process[world_ned_frame_publisher-4]: started with pid [30704]
process[publish_world_models-5]: started with pid [30705]
Gazebo multi-robot simulator, version 7.13.1
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 7.13.1
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[ INFO] [1531749084.391552431]: Finished loading Gazebo ROS API Plugin.
[Msg] Waiting for master.
[ INFO] [1531749084.392188324]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.1.104
[ INFO] [1531749084.424486218]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1531749084.424856069]: 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: 192.168.1.104
Warning [parser.cc:527] Can not find the XML attribute 'version' in sdf XML tag for model: NED frame. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Start publishing vehicle footprints to RViz
New model being published: north
Position: [1000, 0, -50]
Orientation: [0, 0, 0, 1]
Scale: [1, 1, 1]
New model being published: west
Position: [0, -1000, -50]
Orientation: [0, 0, 0, 1]
Scale: [1, 1, 1]
New model being published: heightmap
Position: [0.0, 0.0, -95.0]
Orientation: [0.0, 0.0, 0.0, 1.0]
Scale: [1, 1, 1]
New model being published: seafloor
Position: [0, 0, -100]
Orientation: [0, 0, 0, 1]
Scale: [1, 1, 1]
New model being published: east
Position: [0, 1000, -50]
Orientation: [0, 0, 0, 1]
Scale: [1, 1, 1]
New model being published: south
Position: [-1000, 0, -50]
Orientation: [0, 0, 0, 1]
Scale: [1, 1, 1]
[Msg] Loading underwater world...
[Msg] Current velocity [m/s] Gauss-Markov process model:
[Msg] Mean = 0
Min. Limit = 0
Max. Limit = 5
Mu = 0
Noise Amp. = 0
[Msg] Current velocity horizontal angle [rad] Gauss-Markov process model:
[Msg] Mean = 0
Min. Limit = -3.14159
Max. Limit = 3.14159
Mu = 0
Noise Amp. = 0
[Msg] Current velocity horizontal angle [rad] Gauss-Markov process model:
[Msg] Mean = 0
Min. Limit = -3.14159
Max. Limit = 3.14159
Mu = 0
Noise Amp. = 0
[Msg] Current velocity topic name: hydrodynamics/current_velocity
[Msg] Underwater current plugin loaded!
WARNING: Current velocity calculated in the ENU frame
[Msg] UnderwaterCurrentROSPlugin::namespace=hydrodynamics
[Msg] Spherical coordinates reference=
- Latitude [degrees]=56.719
- Longitude [degrees]=3.51562
- Altitude [m]=0
[ INFO] [1531749085.121980463, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1531749085.122806380, 0.024000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1531749085.178419814, 0.078000000]: Physics dynamic reconfigure ready.
[ INFO] [1531749085.178810895, 0.078000000]: Physics dynamic reconfigure ready.

roslaunch eca_a9_gazebo start_demo_auv_control.launch

gal@gal-XPS-15-9560:~$ roslaunch eca_a9_gazebo start_demo_auv_control.launch
... logging to /home/gal/.ros/log/53b16190-88ff-11e8-bba7-9cb6d0f2f06b/roslaunch-gal-XPS-15-9560-31220.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

redefining global property: gamma
when processing file: /home/gal/catkin/src/eca_a9/eca_a9_description/urdf/eca_a9_sensors.xacro
included from: /home/gal/catkin/src/eca_a9/eca_a9_description/robots/eca_a9_default.urdf.xacro
started roslaunch server http://gal-XPS-15-9560:35709/

SUMMARY

PARAMETERS

  • /eca_a9/auv_geometric_tracking_controller/base_link: base_link
  • /eca_a9/auv_geometric_tracking_controller/d_pitch: 0.0
  • /eca_a9/auv_geometric_tracking_controller/d_yaw: 0.0
  • /eca_a9/auv_geometric_tracking_controller/desired_pitch_limit: 0.26
  • /eca_a9/auv_geometric_tracking_controller/dubins/max_pitch: 0.26
  • /eca_a9/auv_geometric_tracking_controller/dubins/radius: 10
  • /eca_a9/auv_geometric_tracking_controller/fin_topic_prefix: fins
  • /eca_a9/auv_geometric_tracking_controller/fin_topic_suffix: input
  • /eca_a9/auv_geometric_tracking_controller/idle_radius: 30
  • /eca_a9/auv_geometric_tracking_controller/inertial_frame_id: world
  • /eca_a9/auv_geometric_tracking_controller/is_underactuated: True
  • /eca_a9/auv_geometric_tracking_controller/lipb/radius: 10
  • /eca_a9/auv_geometric_tracking_controller/look_ahead_delay: 0.0
  • /eca_a9/auv_geometric_tracking_controller/map_pitch: [1, 1, -1, -1]
  • /eca_a9/auv_geometric_tracking_controller/map_roll: [1, 1, 1, 1]
  • /eca_a9/auv_geometric_tracking_controller/map_yaw: [-1, 1, 1, -1]
  • /eca_a9/auv_geometric_tracking_controller/max_fin_angle: 1.396263402
  • /eca_a9/auv_geometric_tracking_controller/max_forward_speed: 2
  • /eca_a9/auv_geometric_tracking_controller/max_thrust: 45
  • /eca_a9/auv_geometric_tracking_controller/min_thrust: 0
  • /eca_a9/auv_geometric_tracking_controller/n_fins: 4
  • /eca_a9/auv_geometric_tracking_controller/p_pitch: 0.8
  • /eca_a9/auv_geometric_tracking_controller/p_roll: 0.2
  • /eca_a9/auv_geometric_tracking_controller/p_yaw: 0.8
  • /eca_a9/auv_geometric_tracking_controller/stamped_pose_only: False
  • /eca_a9/auv_geometric_tracking_controller/thrust_d_gain: 0.01
  • /eca_a9/auv_geometric_tracking_controller/thrust_p_gain: 5.0
  • /eca_a9/auv_geometric_tracking_controller/thruster_config/conversion_fcn: proportional
  • /eca_a9/auv_geometric_tracking_controller/thruster_config/conversion_fcn_params/gain: 4.9e-05
  • /eca_a9/auv_geometric_tracking_controller/thruster_config/frame_base: thruster_
  • /eca_a9/auv_geometric_tracking_controller/thruster_config/max_thrust: 45
  • /eca_a9/auv_geometric_tracking_controller/thruster_config/topic_prefix: thrusters
  • /eca_a9/auv_geometric_tracking_controller/thruster_config/topic_suffix: input
  • /eca_a9/auv_geometric_tracking_controller/thruster_topic: thrusters/0/input
  • /eca_a9/auv_geometric_tracking_controller/timeout_idle_mode: 5
  • /eca_a9/auv_geometric_tracking_controller/yaw_error_limit: 1.57
  • /eca_a9/robot_description: <?xml version="1....
  • /eca_a9/robot_state_publisher/publish_frequency: 5
  • /eca_a9/robot_state_publisher/robot_description: /eca_a9/robot_des...
  • /ground_truth_to_tf_eca_a9/child_frame_id: /eca_a9/base_link
  • /ground_truth_to_tf_eca_a9/footprint_frame_id: /eca_a9/base_foot...
  • /ground_truth_to_tf_eca_a9/frame_id: /world
  • /ground_truth_to_tf_eca_a9/odometry_topic: /eca_a9/pose_gt
  • /ground_truth_to_tf_eca_a9/stabilized_frame_id: /eca_a9/base_stab...
  • /rosdistro: kinetic
  • /rosversion: 1.12.13

NODES
/eca_a9/
auv_geometric_tracking_controller (uuv_trajectory_control/auv_geometric_tracking_controller.py)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
trajectory_marker_publisher (uuv_control_utils/trajectory_marker_publisher.py)
urdf_spawner (uuv_descriptions/spawn_model)
/
ground_truth_to_tf_eca_a9 (message_to_tf/message_to_tf)
recording (rosbag/record)
rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[eca_a9/urdf_spawner-1]: started with pid [31241]
process[eca_a9/robot_state_publisher-2]: started with pid [31242]
process[ground_truth_to_tf_eca_a9-3]: started with pid [31243]
process[eca_a9/trajectory_marker_publisher-4]: started with pid [31244]
process[eca_a9/auv_geometric_tracking_controller-5]: started with pid [31258]
process[rviz-6]: started with pid [31269]
process[recording-7]: started with pid [31280]
[ WARN] [1531749144.631433500]: The root link eca_a9/base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [1531749144.850286790]: rviz version 1.12.16
[ INFO] [1531749144.850389117]: compiled against Qt version 5.5.1
[ INFO] [1531749144.850410682]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1531749145.037174157]: Stereo is NOT SUPPORTED
[ INFO] [1531749145.037258802]: OpenGl version: 3 (GLSL 1.3).
Package pymap3d is not available, WGS84 coordinates cannot be used
Download pymap3d for Python 2.7 as

sudo pip install pymap3d==1.5.2
or for Python 3.x as
sudo pip install pymap3d
spawn_model script started
Starting AUV trajectory tracker
Starting trajectory and waypoint marker publisher
[INFO] [1531749145.682440, 0.000000]: Loading model xml from ros parameter
[INFO] [1531749145.693868, 60.348000]: Using the ENU coordinates to spawn the model
[INFO] [1531749145.694224, 60.350000]: Initial position wrt the world frame: (0.00, 0.00, -5.00)
[INFO] [1531749145.694516, 60.352000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1531749145.695875, 60.352000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1531749145.769302, 0.000000]: Initialize control for vehicle <eca_a9>
ECA_A9 -- 2018-07-16 14:52:25,770 | INFO | wp_trajectory_generator | Waypoint interpolators available:
ECA_A9 -- 2018-07-16 14:52:25,772 | INFO | wp_trajectory_generator | - cubic
ECA_A9 -- 2018-07-16 14:52:25,773 | INFO | wp_trajectory_generator | - lipb
ECA_A9 -- 2018-07-16 14:52:25,773 | INFO | wp_trajectory_generator | - dubins
ECA_A9 -- 2018-07-16 14:52:25,773 | INFO | wp_trajectory_generator | - linear
ECA_A9 -- 2018-07-16 14:52:25,774 | INFO | dp_controller_local_planner | Max. forward speed [m/s]=2.00
ECA_A9 -- 2018-07-16 14:52:25,779 | INFO | dp_controller_local_planner | Idle circle radius [m] = 30.00
ECA_A9 -- 2018-07-16 14:52:25,789 | INFO | dp_controller_local_planner | Inertial frame ID=world
[INFO] [1531749146.334093, 60.418000]: Spawn status: SpawnModel: Successfully spawned entity
[eca_a9/urdf_spawner-1] process has finished cleanly
log file: /home/gal/.ros/log/53b16190-88ff-11e8-bba7-9cb6d0f2f06b/eca_a9-urdf_spawner-1*.log
ECA_A9 -- 2018-07-16 14:52:26,845 | INFO | dp_controller_local_planner | Transform world_ned (NED) to world (ENU)=
[[ -3.74939946e-33 1.00000000e+00 1.22464680e-16]
[ 1.00000000e+00 -4.44089210e-16 -2.46519033e-32]
[ 0.00000000e+00 1.22464680e-16 -1.00000000e+00]]
ECA_A9 -- 2018-07-16 14:52:26,846 | INFO | dp_controller_local_planner | Inertial frame ID=world
ECA_A9 -- 2018-07-16 14:52:26,847 | INFO | dp_controller_local_planner | Max. forward speed = 2
ECA_A9 -- 2018-07-16 14:52:26,850 | INFO | dp_controller_local_planner | No parameters for interpolation method found
ECA_A9 -- 2018-07-16 14:52:26,852 | INFO | dp_controller_local_planner | Parameters for interpolation method found
ECA_A9 -- 2018-07-16 14:52:26,853 | INFO | dp_controller_local_planner | {'radius': 10}
ECA_A9 -- 2018-07-16 14:52:26,859 | INFO | dp_controller_local_planner | Parameters for interpolation method found
ECA_A9 -- 2018-07-16 14:52:26,861 | INFO | dp_controller_local_planner | {'max_pitch': 0.26, 'radius': 10}
ECA_A9 -- 2018-07-16 14:52:26,865 | INFO | dp_controller_local_planner | No parameters for interpolation method found
[INFO] [1531749146.968004, 60.570000]: Min. thrust [N]=0.00
[INFO] [1531749146.976202, 60.574000]: Max. thrust [N]=45.00
[INFO] [1531749147.028757, 60.622000]: Lookup: Thruster transform found eca_a9/base_link -> eca_a9/thruster_0
[INFO] [1531749147.087207, 60.674000]: Thruster transform found eca_a9/base_link -> eca_a9/thruster_0
[INFO] [1531749147.090579, 60.678000]: pos=[-0.9676 0. 0. ]
[INFO] [1531749147.091635, 60.678000]: rot=[ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03411554e-13]
Thruster #0 - proportional - /eca_a9/thrusters/0/input
[INFO] [1531749147.096790, 60.684000]: Thruster model:
[INFO] [1531749147.097582, 60.684000]: Gain=4.9e-05
[INFO] [1531749147.098742, 60.684000]: Thruster configuration=
{'frame_base': 'thruster_', 'conversion_fcn_params': {'gain': 4.9e-05}, 'conversion_fcn': 'proportional', 'topic_suffix': 'input', 'topic_prefix': 'thrusters', 'max_thrust': 45}
[INFO] [1531749147.099352, 60.684000]: Thruster input topic=/eca_a9/thrusters/0/input
ECA_A9 -- 2018-07-16 14:52:27,196 | INFO | wp_trajectory_generator | Interpolation method set: lipb
ECA_A9 -- 2018-07-16 14:52:27,197 | INFO | dp_controller_local_planner | AUTOMATIC MODE = OFF
ECA_A9 -- 2018-07-16 14:52:32,738 | INFO | dp_controller_local_planner | AUV STATION KEEPING
ECA_A9 -- 2018-07-16 14:52:32,747 | INFO | dp_controller_local_planner | STATION KEEPING MODE = ON
ECA_A9 -- 2018-07-16 14:52:32,747 | INFO | wp_trajectory_generator | Interpolation method set: cubic
ECA_A9 -- 2018-07-16 14:52:32,748 | INFO | wp_trajectory_generator | Setting new starting time, t=65.52 s
ECA_A9 -- 2018-07-16 14:52:32,752 | ERROR | dp_controller_local_planner | Error generating trajectory message
ECA_A9 -- 2018-07-16 14:52:32,753 | INFO | dp_controller_local_planner | STATION KEEPING MODE = OFF
ECA_A9 -- 2018-07-16 14:52:32,755 | INFO | dp_controller_local_planner | AUTOMATIC MODE = ON
ECA_A9 -- 2018-07-16 14:52:32,756 | INFO | dp_controller_local_planner | TRAJECTORY TRACKING = ON
ECA_A9 -- 2018-07-16 14:52:32,817 | INFO | wp_trajectory_generator | Setting new starting time, t=65.58 s
ECA_A9 -- 2018-07-16 14:52:32,818 | INFO | wp_trajectory_generator | Waypoint interpolator initialized! Start time: 65.58 s

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