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Unable to fully run slam #35

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sskorol opened this issue Oct 15, 2023 · 11 comments
Open

Unable to fully run slam #35

sskorol opened this issue Oct 15, 2023 · 11 comments

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@sskorol
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sskorol commented Oct 15, 2023

Steps:

  • start rae container: docker run -it -v /dev/:/dev/ -v /sys/:/sys/ --device-cgroup-rule='c 189:* rmw' --privileged --net=host luxonis/rae-ros-robot:humble /bin/bash
  • apply patch from GH-33: fixed inconsistency in slam params file naming #34
  • start the full stack: ros2 launch rae_bringup bringup.launch.py

Expected: rae ros stack has successfully been started
Actual: component container fails:

[ERROR] [component_container-1]: process has died [pid 235, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container --ros-args --log-level info --ros-args -r __node:=rae_container -r __ns:=/'].
  • Open rqt

Actual: only odom and base_footprint frames are available.

Full log:

oot@rae:/# ros2 launch rae_bringup bringup.launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2023-10-14-23-53-46-073512-rae-220
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [235]
[INFO] [ekf_node-2]: process started with pid [237]
[INFO] [ros2_control_node-3]: process started with pid [239]
[INFO] [spawner-4]: process started with pid [241]
[INFO] [spawner-5]: process started with pid [243]
[INFO] [battery_status.py-6]: process started with pid [245]
[ros2_control_node-3] [INFO] [1697327630.194026818] [resource_manager]: Loading hardware 'RAE' 
[ekf_node-2] X acceleration is being measured from IMU; X velocity control input is disabled
[ekf_node-2] use_control is set to true, but control_config has only false values. No control term will be used.
[ros2_control_node-3] [INFO] [1697327630.741925891] [resource_manager]: Initialize hardware 'RAE' 
[ros2_control_node-3] [INFO] [1697327630.747115921] [resource_manager]: Successful initialization of hardware 'RAE'
[ros2_control_node-3] [INFO] [1697327630.747494470] [resource_manager]: 'configure' hardware 'RAE' 
[ros2_control_node-3] [INFO] [1697327630.748695330] [resource_manager]: Successful 'configure' of hardware 'RAE'
[ros2_control_node-3] [INFO] [1697327630.748806457] [resource_manager]: 'activate' hardware 'RAE' 
[ros2_control_node-3] [INFO] [1697327630.748843417] [resource_manager]: Successful 'activate' of hardware 'RAE'
[ros2_control_node-3] [INFO] [1697327630.851791620] [controller_manager]: update rate is 50 Hz
[ros2_control_node-3] [INFO] [1697327630.863115117] [controller_manager]: RT kernel is recommended for better performance
[component_container-1] [INFO] [1697327631.647296593] [rae_container]: Load Library: /ws/install/rae_hw/lib/librae_hw.so
[ros2_control_node-3] [INFO] [1697327631.887450747] [controller_manager]: Loading controller 'joint_state_broadcaster'
[ros2_control_node-3] [INFO] [1697327632.073513180] [controller_manager]: Loading controller 'diff_controller'
[component_container-1] [INFO] [1697327632.254454709] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::BatteryNode>
[component_container-1] [INFO] [1697327632.259243730] [rae_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<rae_hw::BatteryNode>
[spawner-5] [INFO] [1697327632.312375347] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-3] [INFO] [1697327632.320940409] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-3] [INFO] [1697327632.321641716] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[component_container-1] [INFO] [1697327632.375429764] [battery_node]: Battery node running!
[component_container-1] [INFO] [1697327632.381812612] [rae_container]: Load Library: /depthai_ws/install/depthai_ros_driver/lib/libdepthai_ros_driver.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/battery_node' in container 'rae_container'
[spawner-4] [INFO] [1697327632.437703664] [spawner_diff_controller]: Loaded diff_controller
[spawner-5] [INFO] [1697327632.469314853] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[component_container-1] [INFO] [1697327632.509218765] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1697327632.513490108] [rae_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[ros2_control_node-3] [INFO] [1697327632.527935632] [controller_manager]: Configuring controller 'diff_controller'
[component_container-1] [INFO] [1697327632.640932263] [rae]: No ip/mxid specified, connecting to the next available device.
[spawner-4] [INFO] [1697327632.652512390] [spawner_diff_controller]: Configured and activated diff_controller
[component_container-1] [2023-10-14 23:53:52.660] [depthai] [warning] USB protocol not available - If running in a container, make sure that the following is set: "-v /dev/bus/usb:/dev/bus/usb --device-cgroup-rule='c 189:* rmw'"
[INFO] [spawner-5]: process has finished cleanly [pid 243]
[INFO] [spawner-4]: process has finished cleanly [pid 241]
[component_container-1] [INFO] [1697327637.308060896] [rae]: Camera with MXID: xlinkserver and Name: 127.0.0.1 connected!
[component_container-1] [INFO] [1697327637.308274609] [rae]: PoE camera detected. Consider enabling low bandwidth for specific image topics (see readme).
[component_container-1] [INFO] [1697327637.345671800] [rae]: Device type: RAE
[component_container-1] [INFO] [1697327637.610695748] [rae]: Pipeline type: rae
[component_container-1] [INFO] [1697327638.480506349] [rae]: Finished setting up pipeline.
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rae' in container '/rae_container'
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[component_container-1] [INFO] [1697327639.118345306] [rae]: Camera ready!
[component_container-1] [INFO] [1697327639.124933825] [battery_node]: Power supply status changed to [Charging] after 0 h 0 min 6 secs.
[component_container-1] [INFO] [1697327639.127592466] [rae_container]: Load Library: /opt/ros/humble/lib/librobot_state_publisher_node.so
[component_container-1] [INFO] [1697327639.146352250] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1697327639.146518754] [rae_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[component_container-1] [INFO] [1697327639.346806415] [rae_state_publisher]: got segment base_footprint
[component_container-1] [INFO] [1697327639.347117380] [rae_state_publisher]: got segment base_link
[component_container-1] [INFO] [1697327639.347177548] [rae_state_publisher]: got segment base_link_back
[component_container-1] [INFO] [1697327639.347376094] [rae_state_publisher]: got segment chassis
[component_container-1] [INFO] [1697327639.347433679] [rae_state_publisher]: got segment left_caster_wheel
[component_container-1] [INFO] [1697327639.347478513] [rae_state_publisher]: got segment left_wheel
[component_container-1] [INFO] [1697327639.347514639] [rae_state_publisher]: got segment rae_imu_frame
[component_container-1] [INFO] [1697327639.347562598] [rae_state_publisher]: got segment rae_left_back_camera_frame
[component_container-1] [INFO] [1697327639.347600349] [rae_state_publisher]: got segment rae_left_back_camera_optical_frame
[component_container-1] [INFO] [1697327639.347637225] [rae_state_publisher]: got segment rae_left_camera_frame
[component_container-1] [INFO] [1697327639.347673017] [rae_state_publisher]: got segment rae_left_camera_optical_frame
[component_container-1] [INFO] [1697327639.347709102] [rae_state_publisher]: got segment rae_rgb_camera_frame
[component_container-1] [INFO] [1697327639.347745686] [rae_state_publisher]: got segment rae_rgb_camera_optical_frame
[component_container-1] [INFO] [1697327639.347781228] [rae_state_publisher]: got segment rae_right_back_camera_frame
[component_container-1] [INFO] [1697327639.347816146] [rae_state_publisher]: got segment rae_right_back_camera_optical_frame
[component_container-1] [INFO] [1697327639.347882189] [rae_state_publisher]: got segment rae_right_camera_frame
[component_container-1] [INFO] [1697327639.347921440] [rae_state_publisher]: got segment rae_right_camera_optical_frame
[component_container-1] [INFO] [1697327639.347962107] [rae_state_publisher]: got segment right_caster_wheel
[component_container-1] [INFO] [1697327639.347999066] [rae_state_publisher]: got segment right_wheel
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[ekf_node-2] Warning: Invalid frame ID "rae_imu_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-2]          at line 93 in ./src/buffer_core.cpp
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rae_state_publisher' in container 'rae_container'
[component_container-1] [INFO] [1697327639.436295118] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::BatteryNode>
[component_container-1] [INFO] [1697327639.436470330] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::LCDNode>
[component_container-1] [INFO] [1697327639.436510831] [rae_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<rae_hw::LCDNode>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/lcd_node' in container 'rae_container'
[component_container-1] [INFO] [1697327639.552557571] [lcd_node]: LCD node running!
[component_container-1] [INFO] [1697327639.567819779] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::BatteryNode>
[component_container-1] [INFO] [1697327639.567982074] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::LCDNode>
[component_container-1] [INFO] [1697327639.568084743] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::LEDNode>
[component_container-1] [INFO] [1697327639.568124744] [rae_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<rae_hw::LEDNode>
[component_container-1] [ERROR] [1697327639.632199433] [led_node]: can't set spi mode
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/led_node' in container 'rae_container'
[component_container-1] [INFO] [1697327639.643101588] [led_node]: LED node running!
[component_container-1] [INFO] [1697327639.668089550] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::BatteryNode>
[component_container-1] [INFO] [1697327639.668661437] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::LCDNode>
[component_container-1] [INFO] [1697327639.668764898] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::LEDNode>
[component_container-1] [INFO] [1697327639.668807274] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::MicNode>
[component_container-1] [INFO] [1697327639.668846775] [rae_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<rae_hw::MicNode>
[component_container-1] [INFO] [1697327639.783675363] [mic_node]: Mic node running!
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/mic_node' in container 'rae_container'
[component_container-1] [INFO] [1697327639.909153643] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::BatteryNode>
[component_container-1] [INFO] [1697327639.909397523] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::LCDNode>
[component_container-1] [INFO] [1697327639.909455399] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::LEDNode>
[component_container-1] [INFO] [1697327639.909496983] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::MicNode>
[component_container-1] [INFO] [1697327639.909537026] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::SpeakersNode>
[component_container-1] [INFO] [1697327639.909575985] [rae_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<rae_hw::SpeakersNode>
[component_container-1] [INFO] [1697327639.975356087] [motors_node]: Speakers node running!
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/motors_node' in container 'rae_container'
[INFO] [async_slam_toolbox_node-7]: process started with pid [335]
[component_container-1] [INFO] [1697327640.452649459] [rae_container]: Load Library: /depthai_ws/install/laserscan_kinect/lib/liblaserscan_kinect.so
[component_container-1] [INFO] [1697327640.483981393] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<laserscan_kinect::LaserScanKinectNode>
[component_container-1] [INFO] [1697327640.490787791] [rae_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<laserscan_kinect::LaserScanKinectNode>
[component_container-1] [INFO] [1697327640.721407448] [laserscan_kinect_front]: Node laserscan_kinect initialized.
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/laserscan_kinect_front' in container 'rae_container'
[component_container-1] malloc(): corrupted top size
[ekf_node-2] Failed to meet update rate! Took 0.047769833999999997132seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[async_slam_toolbox_node-7] [INFO] [1697327640.842063164] [slam_toolbox]: Node using stack size 40000000
[async_slam_toolbox_node-7] [INFO] [1697327641.193614126] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
[async_slam_toolbox_node-7] [INFO] [1697327641.195509084] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.
[ERROR] [component_container-1]: process has died [pid 235, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container --ros-args --log-level info --ros-args -r __node:=rae_container -r __ns:=/'].
[INFO] [launch.user]: Resetting PWM.
[INFO] [busybox devmem 0x20320180 32 0x00000000-8]: process started with pid [356]
[INFO] [busybox devmem 0x20320180 32 0x00000000-8]: process has finished cleanly [pid 356]

TBH, there are a bunch of issues present in the above log. And I'm unsure what caused the failure.
But it's worth mentioning that running ros2 launch rae_bringup robot.launch.py works as expected. And I can see the full tree, play with teleop, see cameras, etc.
@sskorol sskorol changed the title Unable start run slam.launch Unable to fully run slam Oct 15, 2023
@Serafadam
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Hi, could you verify if you have the latest version of Docker image?

@sskorol
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sskorol commented Oct 16, 2023 •
edited
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Hi @Serafadam, I've pulled it yesterday. Anyway, as there was an issue with params, I'd say no one ever tried running the image with a full stack yet.

@Serafadam
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Latest update to the humble image was today, parameter name fix was changed during the API changes some time ago and unfortunately must've been missed when doing tests as lately more focus was put into RTABMap integration tests.

@sskorol
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sskorol commented Oct 16, 2023

Got it. Will try the new image in a couple of hours.

@sskorol
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sskorol commented Oct 16, 2023

@Serafadam in the meantime, could you confirm what has been changed in the most recent image? I mean, I don't see any commits except my fix for the params. If it’s the only change, I was able to do that manually within a docker container yesterday. And the original error log is the output after applying the patch. So it’s not the root cause.

@Serafadam
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One change that's not reflected in the commits here is the version of the Base Image, which contains a specific pre-built version of the DepthAI libraries. The base image has been updated recently for development/testing of new features in other branches and merging the latest PR automatically updated the humble branch to use the latest image as well.

@sskorol
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sskorol commented Oct 16, 2023

@Serafadam I've pulled the latest image and got the following:

root@rae:/# ros2 launch rae_bringup bringup.launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2023-10-16-15-33-26-110967-rae-70
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [85]
[INFO] [ekf_node-2]: process started with pid [87]
[INFO] [ros2_control_node-3]: process started with pid [89]
[INFO] [spawner-4]: process started with pid [91]
[INFO] [spawner-5]: process started with pid [93]
[INFO] [battery_status.py-6]: process started with pid [95]
[component_container-1] [INFO] [1697470411.245644979] [rae_container]: Load Library: /underlay_ws/install/depthai_ros_driver/lib/libdepthai_ros_driver.so
[ros2_control_node-3] [INFO] [1697470411.479061126] [resource_manager]: Loading hardware 'RAE' 
[ekf_node-2] X acceleration is being measured from IMU; X velocity control input is disabled
[ekf_node-2] use_control is set to true, but control_config has only false values. No control term will be used.
[component_container-1] [INFO] [1697470412.342055042] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1697470412.342314130] [rae_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[ros2_control_node-3] [INFO] [1697470412.442582483] [resource_manager]: Initialize hardware 'RAE' 
[component_container-1] [INFO] [1697470412.445100027] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [2023-10-16 15:33:32.449] [depthai] [warning] USB protocol not available - If running in a container, make sure that the following is set: "-v /dev/bus/usb:/dev/bus/usb --device-cgroup-rule='c 189:* rmw'"
[ros2_control_node-3] [INFO] [1697470412.476249189] [resource_manager]: Successful initialization of hardware 'RAE'
[ros2_control_node-3] [INFO] [1697470412.476970243] [resource_manager]: 'configure' hardware 'RAE' 
[ros2_control_node-3] [INFO] [1697470412.484218993] [resource_manager]: Successful 'configure' of hardware 'RAE'
[ros2_control_node-3] [INFO] [1697470412.484338786] [resource_manager]: 'activate' hardware 'RAE' 
[ros2_control_node-3] [INFO] [1697470412.484375079] [resource_manager]: Successful 'activate' of hardware 'RAE'
[ros2_control_node-3] [INFO] [1697470412.621271397] [controller_manager]: update rate is 50 Hz
[ros2_control_node-3] [INFO] [1697470412.630425679] [controller_manager]: RT kernel is recommended for better performance
[ros2_control_node-3] [INFO] [1697470414.782608116] [controller_manager]: Loading controller 'diff_controller'
[ros2_control_node-3] [INFO] [1697470415.055691492] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-4] [INFO] [1697470415.255786484] [spawner_diff_controller]: Loaded diff_controller
[ros2_control_node-3] [INFO] [1697470415.308479726] [controller_manager]: Configuring controller 'diff_controller'
[spawner-4] [INFO] [1697470415.438472676] [spawner_diff_controller]: Configured and activated diff_controller
[spawner-5] [INFO] [1697470415.719545814] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-3] [INFO] [1697470415.728814266] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-3] [INFO] [1697470415.729252649] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-5] [INFO] [1697470415.886748739] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[INFO] [spawner-4]: process has finished cleanly [pid 91]
[INFO] [spawner-5]: process has finished cleanly [pid 93]
[component_container-1] [INFO] [1697470417.690171803] [rae]: Camera with MXID: xlinkserver and Name: 127.0.0.1 connected!
[component_container-1] [INFO] [1697470417.690437933] [rae]: PoE camera detected. Consider enabling low bandwidth for specific image topics (see readme).
[component_container-1] [INFO] [1697470417.724063596] [rae]: Device type: RAE
[component_container-1] [INFO] [1697470418.011830602] [rae]: Pipeline type: rae
[component_container-1] [INFO] [1697470418.871754979] [rae]: Finished setting up pipeline.
[component_container-1] [INFO] [1697470419.588328218] [rae]: Camera ready!
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rae' in container '/rae_container'
[component_container-1] [INFO] [1697470419.594041941] [rae_container]: Load Library: /ws/install/rae_hw/lib/librae_hw.so
[component_container-1] [INFO] [1697470419.634115383] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::BatteryNode>
[component_container-1] [INFO] [1697470419.634295053] [rae_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<rae_hw::BatteryNode>
[component_container-1] [INFO] [1697470419.739992085] [battery_node]: Battery node running!
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/battery_node' in container 'rae_container'
[component_container-1] [INFO] [1697470419.742668339] [rae_container]: Load Library: /opt/ros/humble/lib/librobot_state_publisher_node.so
[component_container-1] [INFO] [1697470419.781459133] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1697470419.781687096] [rae_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1697470419.905541066] [rae_state_publisher]: got segment base_footprint
[component_container-1] [INFO] [1697470419.905762862] [rae_state_publisher]: got segment base_link
[component_container-1] [INFO] [1697470419.905804196] [rae_state_publisher]: got segment base_link_back
[component_container-1] [INFO] [1697470419.905841030] [rae_state_publisher]: got segment chassis
[component_container-1] [INFO] [1697470419.906003949] [rae_state_publisher]: got segment left_caster_wheel
[component_container-1] [INFO] [1697470419.906044283] [rae_state_publisher]: got segment left_wheel
[component_container-1] [INFO] [1697470419.906080034] [rae_state_publisher]: got segment rae_imu_frame
[component_container-1] [INFO] [1697470419.906115576] [rae_state_publisher]: got segment rae_left_back_camera_frame
[component_container-1] [INFO] [1697470419.906151035] [rae_state_publisher]: got segment rae_left_back_camera_optical_frame
[component_container-1] [INFO] [1697470419.906186661] [rae_state_publisher]: got segment rae_left_camera_frame
[component_container-1] [INFO] [1697470419.906222620] [rae_state_publisher]: got segment rae_left_camera_optical_frame
[component_container-1] [INFO] [1697470419.906257912] [rae_state_publisher]: got segment rae_rgb_camera_frame
[component_container-1] [INFO] [1697470419.906293412] [rae_state_publisher]: got segment rae_rgb_camera_optical_frame
[component_container-1] [INFO] [1697470419.906329580] [rae_state_publisher]: got segment rae_right_back_camera_frame
[component_container-1] [INFO] [1697470419.906365455] [rae_state_publisher]: got segment rae_right_back_camera_optical_frame
[component_container-1] [INFO] [1697470419.906400956] [rae_state_publisher]: got segment rae_right_camera_frame
[component_container-1] [INFO] [1697470419.906467290] [rae_state_publisher]: got segment rae_right_camera_optical_frame
[component_container-1] [INFO] [1697470419.906506874] [rae_state_publisher]: got segment right_caster_wheel
[component_container-1] [INFO] [1697470419.906542583] [rae_state_publisher]: got segment right_wheel
[component_container-1] [INFO] [1697470419.968059353] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::BatteryNode>
[component_container-1] [INFO] [1697470419.968244356] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::LCDNode>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rae_state_publisher' in container 'rae_container'
[component_container-1] [INFO] [1697470419.968289190] [rae_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<rae_hw::LCDNode>
[component_container-1] [INFO] [1697470420.157561415] [lcd_node]: LCD node running!
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/lcd_node' in container 'rae_container'
[component_container-1] [INFO] [1697470420.192819148] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::BatteryNode>
[component_container-1] [INFO] [1697470420.205539285] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::LCDNode>
[component_container-1] [INFO] [1697470420.210931628] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::LEDNode>
[component_container-1] [INFO] [1697470420.211175965] [rae_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<rae_hw::LEDNode>
[component_container-1] [ERROR] [1697470420.286026215] [led_node]: can't set spi mode
[component_container-1] [INFO] [1697470420.299519490] [led_node]: LED node running!
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/led_node' in container 'rae_container'
[component_container-1] [INFO] [1697470420.304073568] [battery_node]: Power supply status changed to [Charging] after 0 h 0 min 0 secs.
[component_container-1] [INFO] [1697470420.334210839] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::BatteryNode>
[component_container-1] [INFO] [1697470420.334436134] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::LCDNode>
[component_container-1] [INFO] [1697470420.334480426] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::LEDNode>
[component_container-1] [INFO] [1697470420.334518594] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::MicNode>
[component_container-1] [INFO] [1697470420.334555969] [rae_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<rae_hw::MicNode>
[component_container-1] [INFO] [1697470420.506691357] [mic_node]: Mic node running!
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/mic_node' in container 'rae_container'
[component_container-1] [INFO] [1697470420.626538383] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::BatteryNode>
[component_container-1] [INFO] [1697470420.626724136] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::LCDNode>
[component_container-1] [INFO] [1697470420.626766554] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::LEDNode>
[component_container-1] [INFO] [1697470420.626804305] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::MicNode>
[component_container-1] [INFO] [1697470420.626848305] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::SpeakersNode>
[component_container-1] [INFO] [1697470420.626886431] [rae_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<rae_hw::SpeakersNode>
[component_container-1] [INFO] [1697470420.732839093] [motors_node]: Speakers node running!
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/motors_node' in container 'rae_container'
[INFO] [async_slam_toolbox_node-7]: process started with pid [184]
[component_container-1] [INFO] [1697470421.671086578] [rae_container]: Load Library: /underlay_ws/install/laserscan_kinect/lib/liblaserscan_kinect.so
[component_container-1] [INFO] [1697470421.720177800] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<laserscan_kinect::LaserScanKinectNode>
[component_container-1] [INFO] [1697470421.732257300] [rae_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<laserscan_kinect::LaserScanKinectNode>
[component_container-1] [ERROR] [1697470421.964278555] [laserscan_kinect_front]: Invalid parameter: debug_image.format
[component_container-1] [ERROR] [1697470421.977978958] [laserscan_kinect_front]: Failed to load plugin image_transport/compressed_pub, error string: parameter 'debug_image.format' could not be set: Invalid parameter
[component_container-1] 
[component_container-1] [INFO] [1697470421.992347289] [laserscan_kinect_front]: Node laserscan_kinect initialized.
[component_container-1] [INFO] [1697470421.997143872] [laserscan_kinect_front]: Node 2 initialized.
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/laserscan_kinect_front' in container 'rae_container'
[component_container-1] [INFO] [1697470422.059243152] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<laserscan_kinect::LaserScanKinectNode>
[component_container-1] [INFO] [1697470422.063979109] [rae_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<laserscan_kinect::LaserScanKinectNode>
[component_container-1] [ERROR] [1697470422.457676197] [laserscan_kinect_back]: Invalid parameter: debug_image.format
[component_container-1] [ERROR] [1697470422.462268109] [laserscan_kinect_back]: Failed to load plugin image_transport/compressed_pub, error string: parameter 'debug_image.format' could not be set: Invalid parameter
[component_container-1] 
[component_container-1] [INFO] [1697470422.472126654] [laserscan_kinect_back]: Node laserscan_kinect initialized.
[component_container-1] [INFO] [1697470422.472309074] [laserscan_kinect_back]: Node 2 initialized.
[component_container-1] [ERROR] [1697470422.476868111] [mic_node]: Overrun occurred. Preparing the interface.
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/laserscan_kinect_back' in container 'rae_container'
[async_slam_toolbox_node-7] [INFO] [1697470422.607676911] [slam_toolbox]: Node using stack size 40000000
[component_container-1] [INFO] [1697470422.673365295] [rae_container]: Load Library: /underlay_ws/install/ira_laser_tools/lib/libira_laser_tools.so
[component_container-1] [INFO] [1697470422.697214540] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<ira_laser_tools::LaserscanMerger>
[component_container-1] [INFO] [1697470422.697442002] [rae_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ira_laser_tools::LaserscanMerger>
[async_slam_toolbox_node-7] [INFO] [1697470423.745809684] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
[async_slam_toolbox_node-7] [INFO] [1697470423.846933597] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.
[component_container-1] [INFO] [1697470424.209867572] [laser_scan_multi_merger]: Waiting for topics ...
[component_container-1] [INFO] [1697470425.226698630] [laser_scan_multi_merger]: Subscribing to topics	2
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/laser_scan_multi_merger' in container 'rae_container'
[component_container-1] [ERROR] [1697470425.262590167] [mic_node]: Overrun occurred. Preparing the interface.
[async_slam_toolbox_node-7] Registering sensor: [Custom Described Lidar]
[component_container-1] [INFO] [1697470425.827178292] [battery_node]: Power supply status changed to [Discharging] after 0 h 0 min 5 secs.
[INFO] [launch.user]: Resetting PWM.
[INFO] [busybox devmem 0x20320180 32 0x00000000-8]: process started with pid [209]
[INFO] [busybox devmem 0x20320180 32 0x00000000-8]: process has finished cleanly [pid 209]
[component_container-1] [ERROR] [1697470426.307475129] [mic_node]: Overrun occurred. Preparing the interface.
[component_container-1] [ERROR] [1697470427.150701610] [mic_node]: Overrun occurred. Preparing the interface.
[component_container-1] [ERROR] [1697470428.055051108] [mic_node]: Overrun occurred. Preparing the interface.
[component_container-1] [ERROR] [1697470429.012115726] [mic_node]: Overrun occurred. Preparing the interface.
[component_container-1] [ERROR] [1697470430.122882462] [mic_node]: Overrun occurred. Preparing the interface.

Key takes:

[component_container-1] [ERROR] [1697470420.286026215] [led_node]: can't set spi mode
...
[component_container-1] [ERROR] [1697470421.964278555] [laserscan_kinect_front]: Invalid parameter: debug_image.format
[component_container-1] [ERROR] [1697470421.977978958] [laserscan_kinect_front]: Failed to load plugin image_transport/compressed_pub, error string: parameter 'debug_image.format' could not be set: Invalid parameter
...
[component_container-1] [ERROR] [1697470426.307475129] [mic_node]: Overrun occurred. Preparing the interface.

The last line was continuously spamming the output log.
Also, note that the TF tree is still broken. I see only map and odom there.

Any thoughts?

@sskorol
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sskorol commented Oct 16, 2023

I manually disabled the mic/speaker nodes. Now I can see the full TF tree, and the last error is gone. The laserscan_kinect errors are still in place. I tried to disable debug mode, but no luck. Also, I found nothing related to debug_image.format in those plugin sources.

@Serafadam
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Hi, thanks for the information, we also observed some issues when using Audio nodes/TF Publisher as ROS Components in the same container as other SLAM parameters, this will be fixed in one of the next PR's, similarly with the laserscan_kinect issues (these can be treated more as a warnings than errors).

@sskorol
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sskorol commented Oct 18, 2023

Thanks! Looking forward.

@matlabbe matlabbe mentioned this issue Oct 18, 2023
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@sskorol
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sskorol commented Oct 19, 2023

Audio nodes are fixed in the most recent build. However, I noticed the IMU stopped working for some reason. See #41

danilo-pejovic added a commit that referenced this issue Oct 24, 2023
@danilo-pejovic
Merge pull request #50 from sskorol/GH-35-address-slam-issues
a4bc59a 
Addressed a bunch of issues as a part SLAM flow fixes
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@sskorol @Serafadam