facebookresearch/pyrobot

PyRobot: An Open Source Robotics Research Platform

PyRobot is a light weight, high-level interface which provides hardware independent APIs for robotic manipulation and navigation. This repository also contains the low-level stack for LoCoBot, a low cost mobile manipulator hardware platform.

• What can you do with PyRobot?
• Installation
• Getting Started
• The Team
• Citation
• License
• Future features

What can you do with PyRobot?

Installation

Installing both PyRobot and LoCoBot dependencies

• Install Ubuntu 16.04

• Download the installation script

  sudo apt update
  sudo apt-get install curl
  curl 'https://raw.githubusercontent.com/facebookresearch/pyrobot/main/robots/LoCoBot/install/locobot_install_all.sh' > locobot_install_all.sh

• Run the script to install everything (ROS, realsense driver, etc.).

If you want to use real LoCoBot robot, please run the following command: Please connect the nuc machine to a realsense camera before running the following commands.

#-t Decides the type of installation. Available Options: full or sim_only
#-p Decides the python version for pyRobot. Available Options: 2 or 3
#-l Decides the type of LoCoBot hardware platform. Available Options: cmu or interbotix
chmod +x locobot_install_all.sh
./locobot_install_all.sh -t full -p 2 -l interbotix

If you want to use simulated LoCoBot in Gazebo only, please run the following commands instead:

#-t Decides the type of installation. Available Options: full or sim_only
#-p Decides the python version for pyRobot. Available Options: 2 or 3
#-l Decides the type of LoCoBot hardware platform. Available Options: cmu or interbotix
chmod +x locobot_install_all.sh
./locobot_install_all.sh -t sim_only -p 2 -l interbotix

Note: To install Python 3 compatible PyRobot, modify -p 2 to -p 3 in the above commands.

Installing just PyRobot

• Install Ubuntu 16.04

• Install ROS kinetic

• Install PyRobot

  cd ~
  mkdir -p low_cost_ws/src
  cd ~/low_cost_ws/src
  git clone --recurse-submodules https://github.com/facebookresearch/pyrobot.git
  cd pyrobot/
  chmod +x install_pyrobot.sh
  ./install_pyrobot.sh -p 2  #For python3, modify the argumet to -p 3 

Warning: As realsense keeps updating, compatibility issues might occur if you accidentally update realsense-related packages from Software Updater in ubuntu. Therefore, we recommend you not to update any libraries related to realsense. Check the list of updates carefully when ubuntu prompts software udpates.

Getting Started

Please refer to pyrobot.org and locobot.org

The Team

Adithya Murali, Tao Chen, Dhiraj Gandhi, Kalyan Vasudev, Lerrel Pinto, Saurabh Gupta and Abhinav Gupta. We would also like to thank everyone who has helped PyRobot in any way.

Future features

We are planning several features, namely:

• Interfacing with other simulators like AI Habitat
• Gravity compensation
• PyRobot interface for UR5

Citation

@article{pyrobot2019,
  title={PyRobot: An Open-source Robotics Framework for Research and Benchmarking},
  author={Adithyavairavan Murali and Tao Chen and Kalyan Vasudev Alwala and Dhiraj Gandhi and Lerrel Pinto and Saurabh Gupta and Abhinav Gupta},
  journal={arXiv preprint arXiv:1906.08236},
  year={2019}
}

License

PyRobot is under MIT license, as found in the LICENSE file.

pyrobot's Issues

error code: CONTROL_FAILED with example app grasping

Steps to reproduce

1. _____python 2.7
2. _____locobot

3. ---

Observed Results

python locobot.py --n_grasps=1 --n_samples=20 --patch_size=100
[ERROR] [1591915854.422550]: Timeout waiting for Inverse Kinematics Service!!
[ERROR] [1591915857.475432]: Timeout waiting for Forward Kinematics Service!!
[WARN] [1591915857.741032]: Neither use_base, nor use_sim, is not set to True when the LoCoBot driver is launched. You may not be able to command the base correctly using PyRobot!
Loading grasp model
/home/lab/pyenv_locobot_grasping/local/lib/python2.7/site-packages/torch/serialization.py:325: SourceChangeWarning: source code of class 'grasp_samplers.deeper_models.IfullRobHWNet' has changed. Tried to save a patch, but couldn't create a writable file IfullRobHWNet.patch. Make sure it doesn't exist and your working directory is writable.
warnings.warn(msg, SourceChangeWarning)
Time taken to load model: 0.0426759719849s
[INFO] [1591915860.030768]: Grasp attempt #1
[INFO] [1591915860.031121]: Moveit Motion Planning...
[INFO] [1591915860.147579]: Moveit Failed with error code: CONTROL_FAILED
[INFO] [1591915860.147964]: Moveit Motion Planning...
[INFO] [1591915860.250241]: Moveit Failed with error code: CONTROL_FAILED
[INFO] [1591915860.250680]: Moveit Motion Planning...
[INFO] [1591915860.351707]: Moveit Failed with error code: CONTROL_FAILED
[INFO] [1591915860.352153]: Moveit Motion Planning...
[INFO] [1591915860.469831]: Moveit Failed with error code: CONTROL_FAILED
[INFO] [1591915860.470428]: Moveit Motion Planning...
[INFO] [1591915860.571781]: Moveit Failed with error code:

Expected Results

• What did you expect to happen?

Relevant Code

// TODO(you): code here to reproduce the problem

No module named forms.form

when I run "python locobot.py ", I get the following error.

(pyenv_locobot_grasping) wjw@wjw-ThinkPad-T480:~/low_cost_ws/src/pyrobot/examples/grasping$ python locobot.py
Traceback (most recent call last):
File "locobot.py", line 23, in
from pyrobot import Robot
File "/home/wjw/.local/lib/python2.7/site-packages/pyrobot/init.py", line 3, in
from .browser import RoboBrowser
File "/home/wjw/.local/lib/python2.7/site-packages/pyrobot/browser.py", line 12, in
from .forms.form import Form
ImportError: No module named forms.form

Ubuntu pops up "crash error" during install

Steps to reproduce

1. Ubuntu 16.04.6
2. ./locobot_install_all.sh -t full -p 2

3. ---

Observed Results

PyRobot still installs, but Ubuntu reports a crash caused by ros-kinetic-librealsense. ros-kinetic-librealsense is not to be confused with ros-kinetic-librealsense2, which is needed for Intel RealSense D435. ros-kinetic-librealsense seems to be part of unused "junk" dependencies required by ros-kinetic-turtlebot-* and ros-kinetic-rgbd-launch in locobot_install_all.sh. By the way, ros-kinetic-librealsense itself requires even more unused "junk" like linux-headers-4.4.0-164 for uvc patching.

Expected Results

Installation without Ubuntu complaining about crash error.

Relevant Code

Just run install Ubuntu 16.04.6 and run ./locobot_install_all.sh -t full -p 2

Python 3 Installation Issues

During the installation of Pyrobot (with Python 3), the locobot_install_all.sh script executes this command pip3 install --ignore-installed -r requirements_python3.txt.

While it's installing packages, an error message displays saying that the required Numpy version for 'bezier' is at least 1.18.1. However, the requirements_python3.txt file specifies that it must be equal to 1.17.0. I manually changed this to be 1.18.1 and the problem went away. I believe this occurred since the newest bezier package was released February 20th of this year.

On a different note, when trying to run the camera calibration script (in one terminal I type roslaunch locobot_calibration calibrate.launch base:=kobuki and in the second I type python scripts/collect_calibration_data.py \ --data_dir tmp/calibration-data/v1/ \ --botname locobot
after activating the virtual environment (load_pyrobot_env)). However, I get an error message of...

Traceback (most recent call last): File "scripts/collect_calibration_data.py", line 18, in <module> import cv2 ImportError: /opt/ros/kinetic/lib/python2.7/dist-packages/cv2.so: undefined symbol: PyCObject_Type.

This confuses me... if the python 3 environment was activated, why is python looking at python2 packages?!?!?!?

Could you help me fix this issue? I'm in the middle of creating a new SSD image with the most up-to-date PyRobot repo and Python3 (as Python2 is no longer supported) to go with the locobot platforms that we are distributing.

Thanks!

Note that if you do the following, the error goes away....

import sys

sys.path.remove('/opt/ros/kinetic/lib/python2.7/dist-packages') # in order to import cv2 under python3

import cv2

sys.path.append('/opt/ros/kinetic/lib/python2.7/dist-packages') # append back in order to import rospy

but this is very hacky...

...and then you get an error later on when the script tries to import tf...

Traceback (most recent call last):
  File "scripts/collect_calibration_data.py", line 22, in <module>
    import tf
  File "/home/locobot/pyrobot_catkin_ws/devel/lib/python2.7/dist-packages/tf/__init__.py", line 35, in <module>
    exec(__fh.read())
  File "<string>", line 30, in <module>
  File "/home/locobot/pyrobot_catkin_ws/devel/lib/python2.7/dist-packages/tf2_ros/__init__.py", line 35, in <module>
    exec(__fh.read())
  File "<string>", line 38, in <module>
  File "/home/locobot/pyrobot_catkin_ws/devel/lib/python2.7/dist-packages/tf2_py/__init__.py", line 35, in <module>
    exec(__fh.read())
  File "<string>", line 38, in <module>
ImportError: dynamic module does not define module export function (PyInit__tf2)

I noticed that you're using Python3.6, but over here, it looks like you might be building for Python3.5?

How to run grasping demo in gazebo

Excuse me, I do not have any robot now. I want to run the grasping demo in gazebo. How could I do it?

yaw returned from robot.base.get_state("vslam") is not correct

Steps to reproduce

1. run:
   roslaunch locobot_control main.launch use_arm:=true use_base:=true use_camera:=true use_rviz:=false use_vslam:=true

2. in a new terminal, run
   python base_position_control.py --base_planner none --base_controller ilqr --smooth --close_loop --relative_position 1.3,1.1,0.8 --botname locobot

when it is finished, run
r.base.get_state("vslam")
(array([1.34875655, 1.07990539, 0.01539037]), array([[ 0.69127667, -0.72255811, 0.00680753],
[ 0.72235108, 0.6912596 , 0.01921161],
[-0.01858727, -0.00836311, 0.99979226]]), array([[ 0.69127667, -0.72255811, 0.00680753, 1.34875655],
[ 0.72235108, 0.6912596 , 0.01921161, 1.07990539],
[-0.01858727, -0.00836311, 0.99979226, 0.01539037],
[ 0. , 0. , 0. , 1. ]]))

3. ---

Observed Results

yaw from robot.base.get_state("vslam") is 0.01539037, the expected value is 0.8

For reference, robot.base.get_state("odom") shows correct results

r.base.get_state("odom")
[1.284969687461853, 1.0872259140014648, 0.8089600801467896]

• What happened? This could be a description, log output, etc.

Expected Results

• What did you expect to happen?

Relevant Code

// TODO(you): code here to reproduce the problem

rviz_locobot process has died

Steps to reproduce

1. run 👍
   roslaunch locobot_control main.launch use_arm:=true use_base:=true use_camera:=true use_rviz:=true use_vslam:=true

2. ---

3. ---

Observed Results

[rviz_locobot_28759_2221210122411153159-20] process has died [pid 28938, exit code -11, cmd /opt/ros/kinetic/lib/rviz/rviz -d /home/locobot/low_cost_ws/src/pyrobot/robots/LoCoBot/locobot_moveit_config/launch/moveit.rviz __name:=rviz_locobot_28759_2221210122411153159 __log:=/home/locobot/.ros/log/ce06a5fe-c5e8-11ea-9916-d8f2cae6f041/rviz_locobot_28759_2221210122411153159-20.log].
log file: /home/locobot/.ros/log/ce06a5fe-c5e8-11ea-9916-d8f2cae6f041/rviz_locobot_28759_2221210122411153159-20*.log

actually, no rviz log file generated.

Expected Results

• What did you expect to happen?

Relevant Code

// TODO(you): code here to reproduce the problem

_loop_angle_pub_cmd crashes because no velocity info is given

If I implement the arm of a new robot but can't get any velocity / effort data for the arm's joints (through a JointState message), the go_home method will fail.

This is due to the fact that go_home calls _loop_angle_pub_cmd, in which the following snippet can be found:

vels = self.get_joint_velocities()
es_time = time.time() - start_time

if es_time > 0.5 and np.max(np.abs(vels)) < 0.01:
    vel_zero_times += 1

The if instruction will fail with a value error, the vels list being empty.

My question is the following, would it be more pertinent to override the _loop_angle_pub_cmd in the robot's Arm class, or to modify the original one in the core file ?

The depth image is NaN

Steps to reproduce

from pyrobot import Robot
import cv2
bot = Robot('locobot')

bot.camera.reset()
camera_pose = [0, 0.7]
bot.camera.set_pan_tilt(camera_pose[0], camera_pose[1], wait=True)

rgb, depth = bot.camera.get_rgb_depth()
cv2.imshow('Color', rgb[:, :, ::-1])
cv2.imshow('Depth', depth)
cv2.waitKey(3000)

Observed Results

rgb, depth = bot.camera.get_rgb_depth()
rgb image is correctly acquired but the depth image is NaN

Issue with active camera on LoCoBot

Steps to reproduce

I built the LoCoBot with active camera, but I can't get the active camera working. Only hardware difference is that I'm running everything on a NVIDIA Jetson instead of a NUC.

1. Run roslaunch locobot_control main.launch use_camera:=true use_arm:=true

Observed Results

Here's what I get when I run the above command

(pyenv_pyrobot) nvidia@tegra-ubuntu:~/low_cost_ws/src/pyrobot/robots/LoCoBot/locobot_control/launch$ roslaunch locobot_control main.launch use_arm:=true use_cam
era:=true
... logging to /home/nvidia/.ros/log/b2cd9c3a-dfe2-11e9-a017-00044bc76af9/roslaunch-tegra-ubuntu-7183.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://tegra-ubuntu:44271/

SUMMARY
========

PARAMETERS
 * /camera/realsense2_camera/accel_fps: 250
 * /camera/realsense2_camera/accel_frame_id: camera_accel_frame
 * /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
 * /camera/realsense2_camera/align_depth: True
 * /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/allow_no_texture_points: False
 * /camera/realsense2_camera/base_frame_id: camera_link
 * /camera/realsense2_camera/calib_odom_file: 
 * /camera/realsense2_camera/clip_distance: -1.0
 * /camera/realsense2_camera/color_fps: 30
 * /camera/realsense2_camera/color_frame_id: camera_color_frame
 * /camera/realsense2_camera/color_height: 480
 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
 * /camera/realsense2_camera/color_width: 640
 * /camera/realsense2_camera/depth_fps: 30
 * /camera/realsense2_camera/depth_frame_id: camera_depth_frame
 * /camera/realsense2_camera/depth_height: 480
 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
 * /camera/realsense2_camera/depth_width: 640
 * /camera/realsense2_camera/enable_accel: True
 * /camera/realsense2_camera/enable_color: True
 * /camera/realsense2_camera/enable_depth: True
 * /camera/realsense2_camera/enable_fisheye1: True
 * /camera/realsense2_camera/enable_fisheye2: True
 * /camera/realsense2_camera/enable_fisheye: True
 * /camera/realsense2_camera/enable_gyro: True
 * /camera/realsense2_camera/enable_infra1: True
 * /camera/realsense2_camera/enable_infra2: True
 * /camera/realsense2_camera/enable_pointcloud: False
 * /camera/realsense2_camera/enable_sync: True
 * /camera/realsense2_camera/filters: 
 * /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
 * /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
 * /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
 * /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
 * /camera/realsense2_camera/fisheye_fps: 30
 * /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
 * /camera/realsense2_camera/fisheye_height: 480
 * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
 * /camera/realsense2_camera/fisheye_width: 640
 * /camera/realsense2_camera/gyro_fps: 400
 * /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
 * /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
 * /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
 * /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
 * /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
 * /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
 * /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
 * /camera/realsense2_camera/infra_fps: 30
 * /camera/realsense2_camera/infra_height: 480
 * /camera/realsense2_camera/infra_width: 640
 * /camera/realsense2_camera/initial_reset: False
 * /camera/realsense2_camera/json_file_path: 
 * /camera/realsense2_camera/linear_accel_cov: 0.01
 * /camera/realsense2_camera/odom_frame_id: camera_odom_frame
 * /camera/realsense2_camera/pointcloud_texture_index: 0
 * /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /camera/realsense2_camera/pose_frame_id: camera_pose_frame
 * /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
 * /camera/realsense2_camera/publish_odom_tf: True
 * /camera/realsense2_camera/rosbag_filename: 
 * /camera/realsense2_camera/serial_no: 
 * /camera/realsense2_camera/topic_odom_in: camera/odom_in
 * /camera/realsense2_camera/unite_imu_method: none
 * /dynamixel_info: /home/nvidia/low_...
 * /locobot_controller/dxl_read_period: 0.01
 * /locobot_controller/dxl_write_period: 0.01
 * /locobot_controller/publish_period: 0.01
 * /move_group/allow_trajectory_execution: True
 * /move_group/arm/default_planner_config: ESTkConfigDefault
 * /move_group/arm/longest_valid_segment_fraction: 0.005
 * /move_group/arm/planner_configs: ['SBLkConfigDefau...
 * /move_group/arm/projection_evaluator: joints(joint_1,jo...
 * /move_group/capabilities: 
 * /move_group/controller_list: [{'default': True...
 * /move_group/disable_capabilities: 
 * /move_group/gripper/default_planner_config: ESTkConfigDefault
 * /move_group/gripper/longest_valid_segment_fraction: 0.005
 * /move_group/gripper/planner_configs: ['SBLkConfigDefau...
 * /move_group/gripper/projection_evaluator: joints(joint_6,jo...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BFMTkConfigDefault/balanced: 0
 * /move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1
 * /move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1
 * /move_group/planner_configs/BFMTkConfigDefault/heuristics: 1
 * /move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1
 * /move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000
 * /move_group/planner_configs/BFMTkConfigDefault/optimality: 1
 * /move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/BiESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/BiESTkConfigDefault/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRTkConfigDefault/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRTkConfigDefault/init_temperature: 100
 * /move_group/planner_configs/BiTRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/BiTRRTkConfigDefault/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRTkConfigDefault/type: geometric::BiTRRT
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/FMTkConfigDefault/cache_cc: 1
 * /move_group/planner_configs/FMTkConfigDefault/extended_fmt: 1
 * /move_group/planner_configs/FMTkConfigDefault/heuristics: 0
 * /move_group/planner_configs/FMTkConfigDefault/nearest_k: 1
 * /move_group/planner_configs/FMTkConfigDefault/num_samples: 1000
 * /move_group/planner_configs/FMTkConfigDefault/radius_multiplier: 1.1
 * /move_group/planner_configs/FMTkConfigDefault/type: geometric::FMT
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRTkConfigDefault/epsilon: 0.4
 * /move_group/planner_configs/LBTRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBTRRTkConfigDefault/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRMkConfigDefault/range: 0.0
 * /move_group/planner_configs/LazyPRMkConfigDefault/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstarkConfigDefault/type: geometric::LazyPR...
 * /move_group/planner_configs/PDSTkConfigDefault/type: geometric::PDST
 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/ProjESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ProjESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ProjESTkConfigDefault/type: geometric::ProjEST
 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/range: 0.0
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/SPARSkConfigDefault/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARSkConfigDefault/max_failures: 1000
 * /move_group/planner_configs/SPARSkConfigDefault/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARSkConfigDefault/stretch_factor: 3.0
 * /move_group/planner_configs/SPARSkConfigDefault/type: geometric::SPARS
 * /move_group/planner_configs/SPARStwokConfigDefault/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARStwokConfigDefault/max_failures: 5000
 * /move_group/planner_configs/SPARStwokConfigDefault/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARStwokConfigDefault/stretch_factor: 3.0
 * /move_group/planner_configs/SPARStwokConfigDefault/type: geometric::SPARStwo
 * /move_group/planner_configs/STRIDEkConfigDefault/degree: 16
 * /move_group/planner_configs/STRIDEkConfigDefault/estimated_dimension: 0.0
 * /move_group/planner_configs/STRIDEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/STRIDEkConfigDefault/max_degree: 18
 * /move_group/planner_configs/STRIDEkConfigDefault/max_pts_per_leaf: 6
 * /move_group/planner_configs/STRIDEkConfigDefault/min_degree: 12
 * /move_group/planner_configs/STRIDEkConfigDefault/min_valid_path_fraction: 0.2
 * /move_group/planner_configs/STRIDEkConfigDefault/range: 0.0
 * /move_group/planner_configs/STRIDEkConfigDefault/type: geometric::STRIDE
 * /move_group/planner_configs/STRIDEkConfigDefault/use_projected_distance: 0
 * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/sensors: [{'point_subsampl...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/allowed_start_tolerance: 0.0
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/arm/kinematics_solver: trac_ik_kinematic...
 * /robot_description_kinematics/arm/kinematics_solver_attempts: 3
 * /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/joint_1/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_1/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_1/max_velocity: 1
 * /robot_description_planning/joint_limits/joint_2/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_2/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_2/max_velocity: 1
 * /robot_description_planning/joint_limits/joint_3/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_3/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_3/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_3/max_velocity: 1
 * /robot_description_planning/joint_limits/joint_4/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_4/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_4/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_4/max_velocity: 1
 * /robot_description_planning/joint_limits/joint_5/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_5/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_5/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_5/max_velocity: 1
 * /robot_description_planning/joint_limits/joint_6/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_6/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_6/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_6/max_velocity: 1
 * /robot_description_planning/joint_limits/joint_7/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_7/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_7/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_7/max_velocity: 1
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /rviz_tegra_ubuntu_7183_8673672763949283869/arm/kinematics_solver: trac_ik_kinematic...
 * /rviz_tegra_ubuntu_7183_8673672763949283869/arm/kinematics_solver_attempts: 3
 * /rviz_tegra_ubuntu_7183_8673672763949283869/arm/kinematics_solver_search_resolution: 0.005
 * /rviz_tegra_ubuntu_7183_8673672763949283869/arm/kinematics_solver_timeout: 0.005
 * /teleop: False
 * /torque_control: False
 * /use_arm: True
 * /use_base: False
 * /use_camera: True
 * /use_sim: False
 * /use_vslam: False

NODES
  /camera/
    color_rectify_color (nodelet/nodelet)
    points_xyzrgb_hw_registered (nodelet/nodelet)
    realsense2_camera (nodelet/nodelet)
    realsense2_camera_manager (nodelet/nodelet)
  /
    calibration_tf_broadcaster (locobot_calibration/calibration_publish_transforms.py)
    locobot_controller (locobot_control/locobot_controller)
    move_group (moveit_ros_move_group/move_group)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz_tegra_ubuntu_7183_8673672763949283869 (rviz/rviz)

auto-starting new master
process[master]: started with pid [7232]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to b2cd9c3a-dfe2-11e9-a017-00044bc76af9
process[rosout-1]: started with pid [7254]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [7274]
process[camera/realsense2_camera-3]: started with pid [7275]
process[camera/color_rectify_color-4]: started with pid [7276]
process[camera/points_xyzrgb_hw_registered-5]: started with pid [7282]
process[locobot_controller-6]: started with pid [7290]
process[calibration_tf_broadcaster-7]: started with pid [7303]
process[robot_state_publisher-8]: started with pid [7308]
process[move_group-9]: started with pid [7313]
process[rviz_tegra_ubuntu_7183_8673672763949283869-10]: started with pid [7332]
[ INFO] [1569450041.221104224]: Initializing nodelet with 4 worker threads.
[ INFO] [1569450041.408023968]: Loading group arm from yaml file
[ INFO] [1569450041.410513568]: Loading group camera from yaml file
[ INFO] [1569450041.413155520]: Loading group gripper from yaml file
[ INFO] [1569450041.450104800]: Name : gripperMotor, ID : 7, Model Number : 1060
[ INFO] [1569450041.485689472]: Name : head_pan_joint, ID : 8, Model Number : 1060
[ INFO] [1569450041.521691136]: Name : head_tilt_joint, ID : 9, Model Number : 1060
[ INFO] [1569450041.545686432]: Loading robot model 'locobot'...
[ INFO] [1569450041.545950592]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1569450041.557929600]: Name : joint2Dual, ID : 3, Model Number : 1020
[ INFO] [1569450041.584188160]: RealSense ROS v2.2.8
[ INFO] [1569450041.588961312]: Running with LibRealSense v2.25.0
[ INFO] [1569450041.593822368]: Name : joint_1, ID : 1, Model Number : 1020
[ INFO] [1569450041.633947936]: Name : joint_2, ID : 2, Model Number : 1020
[ INFO] [1569450041.669691584]: Name : joint_3, ID : 4, Model Number : 1020
[ INFO] [1569450041.705200640]: Name : joint_4, ID : 5, Model Number : 1020
[ INFO] [1569450041.740668928]: Name : joint_5, ID : 6, Model Number : 1060
[ INFO] [1569450041.907295456]: rviz version 1.12.17
[ INFO] [1569450041.907853696]: compiled against Qt version 5.5.1
[ INFO] [1569450041.908491552]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1569450042.261974912]: getParameters...
[ INFO] [1569450042.538745600]: [DynamixelDriver] Succeeded to add sync write handler
[ INFO] [1569450042.538874304]: [DynamixelDriver] Succeeded to add sync write handler
[ INFO] [1569450043.195162112]: IK Using joint shoulder_link -1.57 1.57
[ INFO] [1569450043.195871872]: IK Using joint elbow_link -1.57 1.57
[ INFO] [1569450043.196275552]: IK Using joint forearm_link -1.57 1.57
[ INFO] [1569450043.196597760]: IK Using joint wrist_link -1.57 1.57
[ INFO] [1569450043.196928992]: IK Using joint gripper_link -1.57 1.57
[ INFO] [1569450043.197243168]: Looking in common namespaces for param name: arm/position_only_ik
[ERROR] [1569450043.229907232]: [TxRxResult] Incorrect status packet!
[ERROR] [1569450043.230040608]: groupSyncRead getdata failed
[ERROR] [1569450043.230078112]: groupSyncRead getdata failed
[ERROR] [1569450043.230110720]: groupSyncRead getdata failed
[ INFO] [1569450043.254802240]: Looking in common namespaces for param name: arm/solve_type
[ERROR] [1569450043.265862080]: [TxRxResult] Incorrect status packet!
[ERROR] [1569450043.265980288]: groupSyncRead getdata failed
[ERROR] [1569450043.266053024]: Motor joint_3 ID=4 has Hardware_Error_Status byte -1006254512
[ERROR] [1569450043.266100576]: Motor joint_3 ID=4 has Electrical Shock error
[ERROR] [1569450043.266158336]: Motor joint_1 ID=1 has Hardware_Error_Status byte 127
[ERROR] [1569450043.266199744]: Motor joint_1 ID=1 has Overload error
[ERROR] [1569450043.266236256]: Motor joint_1 ID=1 has Electrical Shock error
[ERROR] [1569450043.266273696]: Motor joint_1 ID=1 has Motor Encoder error
[ERROR] [1569450043.266318848]: Motor joint_1 ID=1 has Overheating error
[ERROR] [1569450043.266358784]: Motor joint_1 ID=1 has Input Volatage error
[ERROR] [1569450043.266399200]: Motor joint_2 ID=2 has Hardware_Error_Status byte -1006254512
[ERROR] [1569450043.266433248]: Motor joint_2 ID=2 has Electrical Shock error
[ERROR] [1569450043.266477792]: Motor joint2Dual ID=3 has Hardware_Error_Status byte 127
[ERROR] [1569450043.268573440]: Motor joint2Dual ID=3 has Overload error
[ERROR] [1569450043.269397440]: Motor joint2Dual ID=3 has Electrical Shock error
[ERROR] [1569450043.269856832]: Motor joint2Dual ID=3 has Motor Encoder error
[ERROR] [1569450043.270020128]: Motor joint2Dual ID=3 has Overheating error
[ERROR] [1569450043.270068768]: Motor joint2Dual ID=3 has Input Volatage error
[ERROR] [1569450043.270121632]: Motor head_pan_joint ID=8 has Hardware_Error_Status byte -1006254488
[ERROR] [1569450043.270160960]: Motor head_pan_joint ID=8 has Overload error
[ERROR] [1569450043.270194752]: Motor head_pan_joint ID=8 has Motor Encoder error
[ERROR] [1569450043.270948352]: Motor head_tilt_joint ID=9 has Hardware_Error_Status byte 127
[ERROR] [1569450043.271036224]: Motor head_tilt_joint ID=9 has Overload error
[ERROR] [1569450043.271370112]: Motor head_tilt_joint ID=9 has Electrical Shock error
[ERROR] [1569450043.271523040]: Motor head_tilt_joint ID=9 has Motor Encoder error
[ERROR] [1569450043.275550080]: Motor head_tilt_joint ID=9 has Overheating error
[ERROR] [1569450043.275596480]: Motor head_tilt_joint ID=9 has Input Volatage error
[ERROR] [1569450043.275646784]: Motor gripperMotor ID=7 has Hardware_Error_Status byte -1006254488
[ERROR] [1569450043.275691072]: Motor gripperMotor ID=7 has Overload error
[ERROR] [1569450043.275726496]: Motor gripperMotor ID=7 has Motor Encoder error
Going to rest joint... 
[ INFO] [1569450043.343118720]: Using solve type Speed
[ INFO] [1569450043.436528192]: setupDevice...
[ INFO] [1569450043.436664576]: JSON file is not provided
[ INFO] [1569450043.436998560]: ROS Node Namespace: camera
[ INFO] [1569450043.437140864]: Device Name: Intel RealSense D435
[ INFO] [1569450043.437204768]: Device Serial No: 829212071014
[ INFO] [1569450043.437255776]: Device FW version: 05.09.02.00
[ INFO] [1569450043.437301952]: Device Product ID: 0x0B07
[ INFO] [1569450043.437348832]: Enable PointCloud: Off
[ INFO] [1569450043.437391392]: Align Depth: On
[ INFO] [1569450043.437444096]: Sync Mode: On
[ INFO] [1569450043.437623744]: Device Sensors: 
[ INFO] [1569450043.437772768]: Stereo Module was found.
[ INFO] [1569450043.437930784]: RGB Camera was found.
[ INFO] [1569450043.438075680]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1569450043.438162816]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping...
[ INFO] [1569450043.438206336]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping...
[ INFO] [1569450043.438244704]: (Gyro, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1569450043.438294240]: (Accel, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1569450043.438340256]: (Pose, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1569450043.438422976]: num_filters: 0
[ INFO] [1569450043.438466848]: Setting Dynamic reconfig parameters.
[ INFO] [1569450043.789677376]: Stereo is NOT SUPPORTED
[ INFO] [1569450043.790236160]: OpenGl version: 4.6 (GLSL 4.6).
[ INFO] [1569450044.178717120]: Done Setting Dynamic reconfig parameters.
[ INFO] [1569450044.186997728]: depth stream is enabled - width: 640, height: 480, fps: 30
[ INFO] [1569450044.187581792]: infra1 stream is enabled - width: 640, height: 480, fps: 30
[ INFO] [1569450044.188037696]: infra2 stream is enabled - width: 640, height: 480, fps: 30
[ INFO] [1569450044.197814816]: color stream is enabled - width: 640, height: 480, fps: 30
[ INFO] [1569450044.201684096]: setupPublishers...
[ INFO] [1569450044.222812160]: Expected frequency for depth = 30.00000
[ERROR] [1569450044.255417]: Using default camera calibration
[ERROR] [1569450044.256150]: For better performance, calibrate your system.
[WARN] [1569450044.258029]: Will publish: 
[WARN] [1569450044.258647]:   head_tilt_link to camera_link
[ INFO] [1569450044.843222592]: Expected frequency for infra1 = 30.00000
[ INFO] [1569450045.035035072]: Expected frequency for aligned_depth_to_infra1 = 30.00000
[ INFO] [1569450045.287203936]: Expected frequency for infra2 = 30.00000
[ INFO] [1569450045.501397888]: Expected frequency for color = 30.00000
[ INFO] [1569450045.695081344]: Expected frequency for aligned_depth_to_color = 30.00000
[ INFO] [1569450045.807873984]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1569450045.829554720]: MoveGroup debug mode is ON
Starting context monitors...
[ INFO] [1569450045.829664256]: Starting scene monitor
[ INFO] [1569450045.854556192]: Listening to '/planning_scene'
[ INFO] [1569450045.854648608]: Starting world geometry monitor
[ INFO] [1569450045.876228864]: Listening to '/collision_object' using message notifier with target frame '/base_footprint '
[ INFO] [1569450045.901249088]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1569450045.908830560]: setupStreams...
[ INFO] [1569450045.967947808]: insert Depth to Stereo Module
[ INFO] [1569450045.968138464]: insert Color to RGB Camera
[ INFO] [1569450045.968227392]: insert Infrared to Stereo Module
[ INFO] [1569450045.968298400]: insert Infrared to Stereo Module
[ INFO] [1569450046.108236192]: SELECTED BASE:Depth, 0
[ INFO] [1569450046.200474496]: RealSense Node Is Up!
 25/09 15:20:46,425 WARNING [547295695248] (types.cpp:48) Region-of-interest is not implemented for this device!
[ERROR] [1569450046.425551328]: Region-of-interest is not implemented for this device!
[ INFO] [1569450048.332653696]: Loading robot model 'locobot'...
[ INFO] [1569450048.332863904]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1569450050.083233440]: IK Using joint shoulder_link -1.57 1.57
[ INFO] [1569450050.083374784]: IK Using joint elbow_link -1.57 1.57
[ INFO] [1569450050.083432448]: IK Using joint forearm_link -1.57 1.57
[ INFO] [1569450050.083473792]: IK Using joint wrist_link -1.57 1.57
[ INFO] [1569450050.083522976]: IK Using joint gripper_link -1.57 1.57
[ INFO] [1569450050.085008416]: Looking in common namespaces for param name: arm/position_only_ik
[ INFO] [1569450050.154725280]: Looking in common namespaces for param name: arm/solve_type
[ INFO] [1569450050.219498016]: Using solve type Speed
================================================================================REQUIRED process [locobot_controller-6] has died!
process has finished cleanly
log file: /home/nvidia/.ros/log/b2cd9c3a-dfe2-11e9-a017-00044bc76af9/locobot_controller-6*.log
Initiating shutdown!
================================================================================
[rviz_tegra_ubuntu_7183_8673672763949283869-10] killing on exit
[move_group-9] killing on exit
[robot_state_publisher-8] killing on exit
[locobot_controller-6] killing on exit
[camera/realsense2_camera_manager-2] killing on exit
[camera/realsense2_camera-3] killing on exit
[camera/points_xyzrgb_hw_registered-5] killing on exit
[calibration_tf_broadcaster-7] killing on exit
[camera/color_rectify_color-4] killing on exit
 25/09 15:20:53,856 WARNING [547348267408] (sensor.cpp:455) Frame received with streaming inactive,Depth0, Arrived,0.000000 1569450053856.381348
 25/09 15:20:53,866 WARNING [547348267408] (sensor.cpp:455) Frame received with streaming inactive,Depth0, Arrived,0.000000 1569450053866.028320
terminate called without an active exception
Context monitors started.
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...

You can start planning now!

[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

The same issue doesn't occur if I run roslaunch locobot_control main.launch use_arm:=true. A similar issue occurs if I run roslaunch locobot_control main.launch use_camera:=true.

Expected Results

I expected the node for the active camera to start running so I could run camera calibration.

Relevant Code

I haven't modified any of the launch scripts or source code. I've checked that the servos are all ID'd properly and have baudrate of 1000000. The fact that the arm control works in isolation tells me that it's an issue with the active camera specifically. From observation, it also seems that the servos aren't blinking red when all the errors pop up so I don't believe the servos are all actually experiencing overload/overheating/etc.

[Feature Contribution] (Add Azure Kinect Camera to PyRobot)

I'm gonna customize the PyRobot with Microsoft's new Azure Kinect Camera out of following considerations:

• The RealSense D435 camera has a very poor depth info accuracy, which make robotics application that relies on accurate depth info nearly impossible on PyRobot.
• Azure Kinect Camera can provide more information for robotics applications (like built-in body tracking parts in its ROS driver).
• Azure Kinect Camera itself is small enough to be mounted on PyRobot. So it just need to slightly modify the 3D printed part for camera mounting.
• The camera cost ($359) is low, which still fulfill the low-cost requirment of locobot.

Do you think it's a good feature to be added into PyRobot?

If it is, my expected workflow of this feature is:

1. Rewrite the locobot_install_all.sh file, add installation of Azure Kinect SDK and its ROS Driver, and dependencies for calibration.
2. Rewrite the PyRobot's files about camera and vision-related applications.
3. Add camera's URDF file.
4. Add modified 3D printed parts files.

Is there any other aspects of working that I fail to consider?

robot.base.get_state('odom') always returns [0,0,0]

Steps to reproduce

1. _____get current pose (robot.base.get_state('odom')), which is [0,0,0]
2. _____move locobot by running:
   python base_position_control.py --base_planner none --base_controller ilqr --smooth --close_loop --relative_position 0.2,0.00000001,0.0 --botname locobot
3. ______get current pose again (robot.base.get_state('odom')), which is still [0,0,0]

Observed Results

• What happened? This could be a description, log output, etc.

Expected Results

• What did you expect to happen?

Relevant Code

// TODO(you): code here to reproduce the problem

Habitat integration broken

After commit 73a741c which refactored the code to add Kinect2 integration, Habitat integration is broken.

This is because, the core camera class now expects all yacs configs to have attributes like CAMERA.ROSTOPIC_CAMERA_INFO_STREAM, but Habitat's yacs config doesn't have it.

The branch right before this commit has working Habitat integration

robot name parsing from config file is incomplete

I created config file name : kobuki_config or husky_config for kobuki and husky robot.
When I run :

robot = Robot(‘kobuki’) or
robot = Robot(‘husky’)

Program will throw an error that : it can’t find the robot name husk or kobuk
The letter i and y are not capture when parsing the file name robot_config.py .

I ended up naming the file and robot is husk instead of husky.

Improper placement of camera_link frame

Currently, the camera_link frame is located at the front-center of the D435 as shown below....

However, according to this, the camera_link frame should be located in the depth frame as shown below...

.. so that the transforms created by the RealSense node to the RGB and other IR sensor line up correctly as shown below...

slam problem in main.launch

Hi, I recently bought a LoCoBot. When I was trying the examples, I run into a problem.
$ roslaunch locobot_control main.launch use_base:=true use_vslam:=true use_camera:=true
The error message is,
[orb_slam2_rgbd-6] process has died [pid 2152, exit code -6, cmd /home/locobot/low_cost_ws/devel/lib/orb_slam2_ros/orb_slam2_rgbd __name:=orb_slam2_rgbd __log:=/home/locobot/.ros/log/39afd322-4b12-11ea-86ed-48f17fdf7f9b/orb_slam2_rgbd-6.log]. log file: /home/locobot/.ros/log/39afd322-4b12-11ea-86ed-48f17fdf7f9b/orb_slam2_rgbd-6*.log

As a result, I cannot run the navigation examples with slam involved.

Do I need to reinstall PyRobot? Because PyRobot is pre-installed on LoCoBot so I didn't do anything with it.

How to deploy a model trained in habitat-sim on a physical robot which is turtlebot2 through PyRobot

I want to deploy a model trained in habitat-sim on a physical robot which is turtlebot2 through PyRobot. I have no idea how to complete this process.

What I have done

1. Installed just PyRobot following the readme.md.
2. Installed ros packages related to turtlebot2 following the tutorial from sources which is fit for ROS kinetic.

Hardware for turtlebot2

Turtlebot2 has a Kobuki base and a 3D sensor which is Kinect.

My confusion

1. How to control turtlebot2 using PyRobot?
   I have noted the document about Interfacing a new robot with PyRobot. And the conclusion is that to control turtlebot2, I should follow four steps:

1. create turtlebot2_config.py
2. create a folder in src/pyrobot named as turtlebot2, and create python scripts named as base.py and camera.py
3. write unit tests
4. add examples
   But I am not familiar with turtlebot2 and ROS. I have no idea about the specific procedure.

2. Is it necessary to install ros packages related to turtlebot2?
3. I have noted that both turtlebot2 and LoCoBot use Kuboki Base. So, shall I install LoCoBot?
4. What role does PyRobot play between robot and the trained model?

no transform from [map] to [base_link] pyrobot

I'm trying to run locobot in simulation but have been stuck on this bug for a while. Would be great if you can help. I installed pyrobot on python3 and when I run
roslaunch locobot_control main.launch use_base:=true use_sim:=true
I get
[ WARN] [1586887842.616127497, 278.185000000]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.. canTransform returned after 0.109 timeout was 0.1.
And here is the transformations tree:

[Feature Contribution] Tests for a custom robot

Hi, I started to integrate a custom robot (Pepper robot) in PyRobot a while ago, and I ultimately wish to submit this work through a PR.

Most of the integration is already done, but I do have a question regarding the tests. Would it be better to modify the existing test files (filtering which tests should be launched according to the botname parameter), or to simply to add new test files for the Pepper robot ?

[Feature Request] Ubuntu Package

First off, great work with this project!

I believe having a Ubuntu Package that can be installed via apt would make the installation easier.
Are there/will there ever be plans for creating a Ubuntu package for this project?

Wrong Dynamixel Motor Power Hub Link on Locobot Page

Motor power hub's link on Locobot components page leads to the wrong product.

It leads to the following power hub:

However, the right power hub's port is slightly different. Here is the right one:

For those who don't buy the arm which come with the motor power hub, it's very easy to buy the wrong one given the instruction on locobot page. So please update the correct link.

Python3 Runtime Issues/Warnings

Platform is Ubuntu 16.04.6 ROS Kinetic using latest pyrobot code.

In one terminal, I launch...

roslaunch locobot_control main.launch use_base:=true use_arm:=true use_camera:=true

In a second terminal, I navigate to the manipulation directory for the locobot, and type (after sourcing the workspace)

python ee_pose_control.py or any other script.

Every time, I get a couple of warnings saying...

MoveIt also fails more often than not to plan. I believe this can be remedied by changing the default planner to RRTConnectkConfigDefault here.

import pyrobot error

Steps to reproduce

mkdir -p ~/code/habitat_navrobot/navrobot_ws/src
cd ~/code/habitat_navrobot/navrobot_ws/src
git clone --recurse-submodules https://github.com/facebookresearch/pyrobot.git
cd pyrobot/
chmod +x install_pyrobot.sh
./install_pyrobot.sh -p 3

Observed Results

(pyenv_pyrobot_python3) ee218@ee218-X555LI:~$ python
Python 3.6.2 (default, Jul 17 2017, 23:14:31) 
[GCC 5.4.0 20160609] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> import pyrobot
Traceback (most recent call last):
 File "<stdin>", line 1, in <module>
 File "/home/ee218/pyenv_pyrobot_python3/lib/python3.6/site-packages/pyrobot/__init__.py", line 6, in <module>
   from pyrobot.core import Robot
 File "/home/ee218/pyenv_pyrobot_python3/lib/python3.6/site-packages/pyrobot/core.py", line 18, in <module>
   import tf
 File "/opt/ros/kinetic/lib/python2.7/dist-packages/tf/__init__.py", line 28, in <module>
   from tf2_ros import TransformException as Exception, ConnectivityException, LookupException, ExtrapolationException
 File "/opt/ros/kinetic/lib/python2.7/dist-packages/tf2_ros/__init__.py", line 38, in <module>
   from tf2_py import *
 File "/opt/ros/kinetic/lib/python2.7/dist-packages/tf2_py/__init__.py", line 38, in <module>
   from ._tf2 import *
ImportError: dynamic module does not define module export function (PyInit__tf2)

The output of ./install_pyrobot.sh -p 3

Ubuntu 16.04 detected. ROS-Kinetic chosen for installation.
Python 3 chosen for pyRobot installation.
Reading package lists...
Building dependency tree...
Reading state information...
python-virtualenv is already the newest version (15.0.1+ds-3ubuntu1).
0 upgraded, 0 newly installed, 0 to remove and 451 not upgraded.
Reading package lists...
Building dependency tree...
Reading state information...
ros-kinetic-kdl-parser-py is already the newest version (1.12.11-0xenial-20191214-075722+0000).
ros-kinetic-orocos-kdl is already the newest version (1.3.2-1xenial-20191214-034014+0000).
ros-kinetic-python-orocos-kdl is already the newest version (1.3.2-1xenial-20191214-035826+0000).
ros-kinetic-trac-ik is already the newest version (1.5.1-1xenial-20200312-224142+0000).
0 upgraded, 0 newly installed, 0 to remove and 451 not upgraded.
Reading package lists...
Building dependency tree...
Reading state information...
software-properties-common is already the newest version (0.96.20.9).
0 upgraded, 0 newly installed, 0 to remove and 451 not upgraded.
Reading package lists...
Building dependency tree...
Reading state information...
python-software-properties is already the newest version (0.96.20.9).
0 upgraded, 0 newly installed, 0 to remove and 451 not upgraded.
OK
Hit:1 http://mirrors.zju.edu.cn/ubuntu xenial InRelease
Hit:2 http://mirrors.zju.edu.cn/ubuntu xenial-security InRelease
Hit:3 http://mirrors.zju.edu.cn/ubuntu xenial-updates InRelease
Hit:4 http://mirrors.zju.edu.cn/ubuntu xenial-backports InRelease
Hit:5 http://packages.ros.org/ros/ubuntu xenial InRelease
Hit:6 http://packages.microsoft.com/repos/vscode stable InRelease
Hit:7 http://ppa.launchpad.net/fkrull/deadsnakes/ubuntu xenial InRelease
Hit:8 http://ppa.launchpad.net/ubuntu-toolchain-r/test/ubuntu xenial InRelease
Reading package lists...
Reading package lists...
Building dependency tree...
Reading state information...
python3-numpy is already the newest version (1:1.11.0-1ubuntu1).
python3-yaml is already the newest version (3.11-3build1).
python3.6-dev is already the newest version (3.6.2-1+xenial1).
python-catkin-tools is already the newest version (0.6.1-1).
python3-catkin-pkg-modules is already the newest version (0.4.20-1).
0 upgraded, 0 newly installed, 0 to remove and 451 not upgraded.
Reading package lists...
Building dependency tree...
Reading state information...
python3-tk is already the newest version (3.5.1-1).
python3.6-tk is already the newest version (3.6.2-1+xenial1).
0 upgraded, 0 newly installed, 0 to remove and 451 not upgraded.
Using base prefix '/usr'
New python executable in /home/ee218/pyenv_pyrobot_python3/bin/python3.6
Also creating executable in /home/ee218/pyenv_pyrobot_python3/bin/python
Installing setuptools, pkg_resources, pip, wheel...done.
Running virtualenv with interpreter /usr/bin/python3.6
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Building wheels for collected packages: pyyaml, empy
  Building wheel for pyyaml (setup.py): started
  Building wheel for pyyaml (setup.py): finished with status 'done'
  Created wheel for pyyaml: filename=PyYAML-5.3.1-cp36-cp36m-linux_x86_64.whl size=44621 sha256=13c6619d55de4fb6a4aea2f0661221f99fe23b5e011727c9db8736f2fff7c2c9
  Stored in directory: /home/ee218/.cache/pip/wheels/e5/9d/ad/2ee53cf262cba1ffd8afe1487eef788ea3f260b7e6232a80fc
  Building wheel for empy (setup.py): started
  Building wheel for empy (setup.py): finished with status 'done'
  Created wheel for empy: filename=empy-3.3.4-py3-none-any.whl size=29329 sha256=3f40b7271fa0115ea9ddd0884e1e86e2abfc8911572118d602be865c981fcb64
  Stored in directory: /home/ee218/.cache/pip/wheels/db/22/d4/99f3395c08193a04ea67564f4f4f86b8d342a5538372227492
Successfully built pyyaml empy
Installing collected packages: pyparsing, six, python-dateutil, docutils, catkin-pkg, pyyaml, empy, distro, rospkg
Successfully installed catkin-pkg-0.4.20 distro-1.5.0 docutils-0.16 empy-3.3.4 pyparsing-2.4.7 python-dateutil-2.8.1 pyyaml-5.3.1 rospkg-1.2.7 six-1.15.0
Collecting numpy
  Downloading numpy-1.19.0-cp36-cp36m-manylinux2010_x86_64.whl (14.6 MB)
Installing collected packages: numpy
Successfully installed numpy-1.19.0
Processing /home/ee218/code/habitat_navrobot/navrobot_ws/src/pyrobot
Requirement already satisfied: numpy>=1.17.0 in /home/ee218/pyenv_pyrobot_python3/lib/python3.6/site-packages (from pyrobot==0.0.1) (1.19.0)
Requirement already satisfied: PyYAML>=3.11 in /home/ee218/pyenv_pyrobot_python3/lib/python3.6/site-packages (from pyrobot==0.0.1) (5.3.1)
Collecting scipy>=1.2.0
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Collecting matplotlib>=2.2.2
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Collecting Pillow>=5.1.0
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Collecting pyassimp
  Downloading pyassimp-4.1.4.tar.gz (98 kB)
Collecting pytz>=2015.7
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Collecting bezier>=0.10.0
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Collecting cycler>=0.10
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Collecting kiwisolver>=1.0.1
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Requirement already satisfied: python-dateutil>=2.1 in /home/ee218/pyenv_pyrobot_python3/lib/python3.6/site-packages (from matplotlib>=2.2.2->pyrobot==0.0.1) (2.8.1)
Requirement already satisfied: pyparsing!=2.0.4,!=2.1.2,!=2.1.6,>=2.0.1 in /home/ee218/pyenv_pyrobot_python3/lib/python3.6/site-packages (from matplotlib>=2.2.2->pyrobot==0.0.1) (2.4.7)
Collecting ipywidgets
  Downloading ipywidgets-7.5.1-py2.py3-none-any.whl (121 kB)
Collecting widgetsnbextension
  Downloading widgetsnbextension-3.5.1-py2.py3-none-any.whl (2.2 MB)
Collecting notebook
  Downloading notebook-6.0.3-py3-none-any.whl (9.7 MB)
Requirement already satisfied: six in /home/ee218/pyenv_pyrobot_python3/lib/python3.6/site-packages (from absl-py==0.7.1->pyrobot==0.0.1) (1.15.0)
Collecting coverage>=4.4
  Downloading coverage-5.1-cp36-cp36m-manylinux1_x86_64.whl (227 kB)
Collecting pytest>=3.6
  Downloading pytest-5.4.3-py3-none-any.whl (248 kB)
Collecting pytest-metadata
  Downloading pytest_metadata-1.9.0-py2.py3-none-any.whl (9.9 kB)
Collecting Sphinx>=1.2b1
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Collecting ipython>=4.0.0; python_version >= "3.3"
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Collecting traitlets>=4.3.1
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Collecting ipykernel>=4.5.1
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Collecting nbformat>=4.2.0
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Collecting jinja2
  Downloading Jinja2-2.11.2-py2.py3-none-any.whl (125 kB)
Collecting nbconvert
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Collecting prometheus-client
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Collecting tornado>=5.0
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Collecting jupyter-core>=4.6.1
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Collecting terminado>=0.8.1
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Collecting Send2Trash
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Collecting ipython-genutils
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Collecting pyzmq>=17
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Collecting jupyter-client>=5.3.4
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Collecting importlib-metadata>=0.12; python_version < "3.8"
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Collecting py>=1.5.0
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Collecting packaging
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Collecting pluggy<1.0,>=0.12
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Collecting snowballstemmer>=1.1
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Collecting requests>=2.5.0
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Requirement already satisfied: setuptools in /home/ee218/pyenv_pyrobot_python3/lib/python3.6/site-packages (from Sphinx>=1.2b1->guzzle-sphinx-theme==0.7.11->pyrobot==0.0.1) (47.3.1)
Collecting sphinxcontrib-devhelp
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Collecting Pygments>=2.0
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Requirement already satisfied: docutils>=0.12 in /home/ee218/pyenv_pyrobot_python3/lib/python3.6/site-packages (from Sphinx>=1.2b1->guzzle-sphinx-theme==0.7.11->pyrobot==0.0.1) (0.16)
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Collecting webencodings
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Building wheels for collected packages: pyrobot, absl-py, guzzle-sphinx-theme, pyassimp, tornado, pandocfilters, pyrsistent
  Building wheel for pyrobot (setup.py): started
  Building wheel for pyrobot (setup.py): finished with status 'done'
  Created wheel for pyrobot: filename=pyrobot-0.0.1-py3-none-any.whl size=78949 sha256=ffac38948bc2d78b039b3edd14504d091d99ccaafa5fee75cc33bef2c31b7632
  Stored in directory: /tmp/pip-ephem-wheel-cache-mpxxy7lo/wheels/8a/f9/f4/df234bce2a8f4add5fe4f31d57f73a7fb4bd1858a443081ce8
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  Building wheel for absl-py (setup.py): finished with status 'done'
  Created wheel for absl-py: filename=absl_py-0.7.1-py3-none-any.whl size=117847 sha256=6e19282d701d7b175940eda9b681abbd6bb1376f8551b3d10a39c0892501706f
  Stored in directory: /home/ee218/.cache/pip/wheels/e6/18/55/72da70503ed709c86faee3a9d3034befffc0f6d76d22e57104
  Building wheel for guzzle-sphinx-theme (setup.py): started
  Building wheel for guzzle-sphinx-theme (setup.py): finished with status 'done'
  Created wheel for guzzle-sphinx-theme: filename=guzzle_sphinx_theme-0.7.11-py3-none-any.whl size=2555155 sha256=4ea4130aeaf9c66ccbe21fb9e53d26893c8d8130923162c4b02fa2a8cc8a8333
  Stored in directory: /home/ee218/.cache/pip/wheels/6e/fc/d8/4419bdbccc44aef23104e1258fd4de744051a4db7ec28fe912
  Building wheel for pyassimp (setup.py): started
  Building wheel for pyassimp (setup.py): finished with status 'done'
  Created wheel for pyassimp: filename=pyassimp-4.1.4-py3-none-any.whl size=106596 sha256=9851b2b52fdf6d8eab43d8e89af61c5775e8a67785290927f4c143b7137cad37
  Stored in directory: /home/ee218/.cache/pip/wheels/13/03/9d/bc6f1d58f4b0ceb6e119ae0d4f8688b25e6bd18b6c66a022a6
  Building wheel for tornado (setup.py): started
  Building wheel for tornado (setup.py): finished with status 'done'
  Created wheel for tornado: filename=tornado-6.0.4-cp36-cp36m-linux_x86_64.whl size=422910 sha256=ca4c47923611b4c75a552f386d7a359edadf3ca41d015c6c977822801452dc2f
  Stored in directory: /home/ee218/.cache/pip/wheels/37/a7/db/2d592e44029ef817f3ef63ea991db34191cebaef087a96f505
  Building wheel for pandocfilters (setup.py): started
  Building wheel for pandocfilters (setup.py): finished with status 'done'
  Created wheel for pandocfilters: filename=pandocfilters-1.4.2-py3-none-any.whl size=7856 sha256=124b494579511efd197afd09c8d8675ab5ea6fa1d2076493503919c09cce406a
  Stored in directory: /home/ee218/.cache/pip/wheels/46/c4/40/718c6fd14c2129ccaee10e0cf03ef6c4d01d98cad5dbbfda38
  Building wheel for pyrsistent (setup.py): started
  Building wheel for pyrsistent (setup.py): finished with status 'done'
  Created wheel for pyrsistent: filename=pyrsistent-0.16.0-cp36-cp36m-linux_x86_64.whl size=94504 sha256=c5fc1fc7ffee04ca8e59f028eca3f2e185926941d4ca3a089f724203e47910ca
  Stored in directory: /home/ee218/.cache/pip/wheels/d1/8a/1c/32ab9017418a2c64e4fbaf503c08648bed2f8eb311b869a464
Successfully built pyrobot absl-py guzzle-sphinx-theme pyassimp tornado pandocfilters pyrsistent
Installing collected packages: scipy, cycler, kiwisolver, matplotlib, Pillow, opencv-python, decorator, ipython-genutils, traitlets, jupyter-core, attrs, pyrsistent, zipp, importlib-metadata, jsonschema, nbformat, MarkupSafe, jinja2, mistune, defusedxml, testpath, Pygments, packaging, webencodings, bleach, pandocfilters, entrypoints, nbconvert, prometheus-client, tornado, ptyprocess, terminado, Send2Trash, pyzmq, parso, jedi, pickleshare, pexpect, backcall, wcwidth, prompt-toolkit, ipython, jupyter-client, ipykernel, notebook, widgetsnbextension, ipywidgets, open3d-python, scikit-learn, absl-py, coverage, more-itertools, py, pluggy, pytest, pytest-cov, pytest-metadata, pytest-html, yacs, snowballstemmer, certifi, chardet, urllib3, idna, requests, sphinxcontrib-devhelp, sphinxcontrib-qthelp, sphinxcontrib-jsmath, sphinxcontrib-serializinghtml, imagesize, sphinxcontrib-applehelp, alabaster, pytz, babel, sphinxcontrib-htmlhelp, Sphinx, guzzle-sphinx-theme, mock, pyassimp, bezier, pyrobot
Successfully installed MarkupSafe-1.1.1 Pillow-7.1.2 Pygments-2.6.1 Send2Trash-1.5.0 Sphinx-3.1.1 absl-py-0.7.1 alabaster-0.7.12 attrs-19.3.0 babel-2.8.0 backcall-0.2.0 bezier-2020.5.19 bleach-3.1.5 certifi-2020.6.20 chardet-3.0.4 coverage-5.1 cycler-0.10.0 decorator-4.4.2 defusedxml-0.6.0 entrypoints-0.3 guzzle-sphinx-theme-0.7.11 idna-2.9 imagesize-1.2.0 importlib-metadata-1.6.1 ipykernel-5.3.0 ipython-7.15.0 ipython-genutils-0.2.0 ipywidgets-7.5.1 jedi-0.17.1 jinja2-2.11.2 jsonschema-3.2.0 jupyter-client-6.1.3 jupyter-core-4.6.3 kiwisolver-1.2.0 matplotlib-3.2.2 mistune-0.8.4 mock-3.0.5 more-itertools-8.4.0 nbconvert-5.6.1 nbformat-5.0.7 notebook-6.0.3 open3d-python-0.5.0.0 opencv-python-4.0.0.21 packaging-20.4 pandocfilters-1.4.2 parso-0.7.0 pexpect-4.8.0 pickleshare-0.7.5 pluggy-0.13.1 prometheus-client-0.8.0 prompt-toolkit-3.0.5 ptyprocess-0.6.0 py-1.8.2 pyassimp-4.1.4 pyrobot-0.0.1 pyrsistent-0.16.0 pytest-5.4.3 pytest-cov-2.6.1 pytest-html-1.20.0 pytest-metadata-1.9.0 pytz-2020.1 pyzmq-19.0.1 requests-2.24.0 scikit-learn-0.20.3 scipy-1.5.0 snowballstemmer-2.0.0 sphinxcontrib-applehelp-1.0.2 sphinxcontrib-devhelp-1.0.2 sphinxcontrib-htmlhelp-1.0.3 sphinxcontrib-jsmath-1.0.1 sphinxcontrib-qthelp-1.0.3 sphinxcontrib-serializinghtml-1.1.4 terminado-0.8.3 testpath-0.4.4 tornado-6.0.4 traitlets-4.3.3 urllib3-1.25.9 wcwidth-0.2.4 webencodings-0.5.1 widgetsnbextension-3.5.1 yacs-0.1.6 zipp-3.1.0
Setting up PyRobot Catkin Ws...
Reading package lists...
Building dependency tree...
Reading state information...
ros-kinetic-cv-bridge is already the newest version (1.12.8-0xenial-20191214-081444+0000).
0 upgraded, 0 newly installed, 0 to remove and 451 not upgraded.
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/ee218/pyrobot_catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Found PythonInterp: /home/ee218/pyenv_pyrobot_python3/bin/python (found version "3.6.2") 
-- Using PYTHON_EXECUTABLE: /home/ee218/pyenv_pyrobot_python3/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/ee218/pyrobot_catkin_ws/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests
-- catkin 0.7.14
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 54 packages in topological order:
-- ~~  - geometry (metapackage)
-- ~~  - geometry2 (metapackage)
-- ~~  - geometry_experimental (metapackage)
-- ~~  - opencv_tests
-- ~~  - ros_comm (metapackage)
-- ~~  - rosgraph
-- ~~  - rosmaster
-- ~~  - rosparam
-- ~~  - rospy
-- ~~  - rosservice
-- ~~  - roslaunch
-- ~~  - rosconsole
-- ~~  - roslz4
-- ~~  - rosbag_storage
-- ~~  - rostest
-- ~~  - eigen_conversions
-- ~~  - kdl_conversions
-- ~~  - rosmsg
-- ~~  - test_rosbag_storage
-- ~~  - test_roslib_comm
-- ~~  - tf2_msgs
-- ~~  - tf2
-- ~~  - tf2_bullet
-- ~~  - tf2_eigen
-- ~~  - vision_opencv (metapackage)
-- ~~  - xmlrpcpp
-- ~~  - roscpp
-- ~~  - rosout
-- ~~  - message_filters
-- ~~  - rosnode
-- ~~  - rostopic
-- ~~  - roswtf
-- ~~  - test_roscpp
-- ~~  - test_rosgraph
-- ~~  - test_roslaunch
-- ~~  - test_rosmaster
-- ~~  - test_rosparam
-- ~~  - test_rospy
-- ~~  - test_rosservice
-- ~~  - tf2_py
-- ~~  - topic_tools
-- ~~  - rosbag
-- ~~  - cv_bridge
-- ~~  - image_geometry
-- ~~  - test_rosbag
-- ~~  - test_rostopic
-- ~~  - tf2_ros
-- ~~  - tf
-- ~~  - tf2_geometry_msgs
-- ~~  - tf2_kdl
-- ~~  - test_tf2
-- ~~  - tf2_sensor_msgs
-- ~~  - tf2_tools
-- ~~  - tf_conversions
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin metapackage: 'geometry'
-- ==> add_subdirectory(geometry/geometry)
-- +++ processing catkin metapackage: 'geometry2'
-- ==> add_subdirectory(geometry2/geometry2)
-- +++ processing catkin metapackage: 'geometry_experimental'
-- ==> add_subdirectory(geometry2/geometry_experimental)
-- +++ processing catkin package: 'opencv_tests'
-- ==> add_subdirectory(vision_opencv/opencv_tests)
-- +++ processing catkin metapackage: 'ros_comm'
-- ==> add_subdirectory(ros_comm/ros_comm)
-- +++ processing catkin package: 'rosgraph'
-- ==> add_subdirectory(ros_comm/tools/rosgraph)
-- +++ processing catkin package: 'rosmaster'
-- ==> add_subdirectory(ros_comm/tools/rosmaster)
-- +++ processing catkin package: 'rosparam'
-- ==> add_subdirectory(ros_comm/tools/rosparam)
-- +++ processing catkin package: 'rospy'
-- ==> add_subdirectory(ros_comm/clients/rospy)
-- +++ processing catkin package: 'rosservice'
-- ==> add_subdirectory(ros_comm/tools/rosservice)
-- +++ processing catkin package: 'roslaunch'
-- ==> add_subdirectory(ros_comm/tools/roslaunch)
-- +++ processing catkin package: 'rosconsole'
-- ==> add_subdirectory(ros_comm/tools/rosconsole)
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   regex
--   system
--   thread
--   chrono
--   date_time
--   atomic
-- rosconsole backend: log4cxx
-- +++ processing catkin package: 'roslz4'
-- ==> add_subdirectory(ros_comm/utilities/roslz4)
-- Found PythonLibs: /usr/lib/x86_64-linux-gnu/libpython3.6m.so (found suitable version "3.6.2", minimum required is "3.6") 
-- +++ processing catkin package: 'rosbag_storage'
-- ==> add_subdirectory(ros_comm/tools/rosbag_storage)
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   date_time
--   filesystem
--   program_options
--   regex
--   system
-- Found BZip2: /usr/lib/x86_64-linux-gnu/libbz2.so (found version "1.0.6") 
-- Looking for BZ2_bzCompressInit
-- Looking for BZ2_bzCompressInit - found
-- +++ processing catkin package: 'rostest'
-- ==> add_subdirectory(ros_comm/tools/rostest)
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   system
--   thread
--   chrono
--   date_time
--   atomic
-- +++ processing catkin package: 'eigen_conversions'
-- ==> add_subdirectory(geometry/eigen_conversions)
-- +++ processing catkin package: 'kdl_conversions'
-- ==> add_subdirectory(geometry/kdl_conversions)
-- +++ processing catkin package: 'rosmsg'
-- ==> add_subdirectory(ros_comm/tools/rosmsg)
-- +++ processing catkin package: 'test_rosbag_storage'
-- ==> add_subdirectory(ros_comm/test/test_rosbag_storage)
-- Boost version: 1.58.0
-- +++ processing catkin package: 'test_roslib_comm'
-- ==> add_subdirectory(ros_comm/test/test_roslib_comm)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- test_roslib_comm: 15 messages, 0 services
-- +++ processing catkin package: 'tf2_msgs'
-- ==> add_subdirectory(geometry2/tf2_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   thread
--   chrono
--   system
--   date_time
--   atomic
-- Generating .msg files for action tf2_msgs/LookupTransform /home/ee218/pyrobot_catkin_ws/src/geometry2/tf2_msgs/action/LookupTransform.action
Generating for action LookupTransform
-- tf2_msgs: 9 messages, 1 services
-- +++ processing catkin package: 'tf2'
-- ==> add_subdirectory(geometry2/tf2)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   signals
--   system
--   thread
--   chrono
--   date_time
--   atomic
-- +++ processing catkin package: 'tf2_bullet'
-- ==> add_subdirectory(geometry2/tf2_bullet)
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1") 
-- Checking for module 'bullet'
--   No package 'bullet' found
-- Configuring incomplete, errors occurred!
See also "/home/ee218/pyrobot_catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/ee218/pyrobot_catkin_ws/build/CMakeFiles/CMakeError.log".
Base path: /home/ee218/pyrobot_catkin_ws
Source space: /home/ee218/pyrobot_catkin_ws/src
Build space: /home/ee218/pyrobot_catkin_ws/build
Devel space: /home/ee218/pyrobot_catkin_ws/devel
Install space: /home/ee218/pyrobot_catkin_ws/install
Creating symlink "/home/ee218/pyrobot_catkin_ws/src/CMakeLists.txt" pointing to "/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake"
####
#### Running command: "cmake /home/ee218/pyrobot_catkin_ws/src -DPYTHON_EXECUTABLE=/home/ee218/pyenv_pyrobot_python3/bin/python -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so -DCATKIN_DEVEL_PREFIX=/home/ee218/pyrobot_catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/ee218/pyrobot_catkin_ws/install -G Unix Makefiles" in "/home/ee218/pyrobot_catkin_ws/build"
####

Remote Networking Setup

Hi,

I noticed in your documentation for setting up a Locobot to work with a remote machine here, you specify that...

So you will run all the robot driver or PyRobot code on your local machine (hence, it can be much faster and it also means that you should have all the software setup in your local machine), and then the commands are sent to the NUC machine to control the robot.

When you say 'all the software setup in your local machine', does that mean I should run the 'locobot_install_all.sh' script on my local machine? If so, what should I do about the fact that it says the RealSense camera must be plugged in? Should I just plug the camera in to my local computer for the installation, and then plug it back into the locobot computer afterwards?

OR...

Would it be enough to just run the 'install_pyrobot.sh' script on my local machine?

OR...

Should I run the locobot_install_all.sh script on my local machine, but do sim_only? If so, will I still be able to access the real camera from my local computer after networking?

Thanks

Why I have the kinect but have error

My kinect works fine.

[ERROR] [1566562676.166651880]: No RealSense devices were found! Terminating RealSense Node...
[FATAL] [1566562676.371803560]: Failed to load nodelet '/camera/realsense2_cameraof typerealsense2_camera/RealSenseNodeFactoryto managerrealsense2_camera_manager'
[camera/realsense2_camera_manager-1] process has died [pid 2894, exit code 1, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=realsense2_camera_manager __log:=/home/ethan/.ros/log/d7eb47f0-c59e-11e9-bf66-6045cb6a2f1f/camera-realsense2_camera_manager-1.log].
log file: /home/ethan/.ros/log/d7eb47f0-c59e-11e9-bf66-6045cb6a2f1f/camera-realsense2_camera_manager-1*.log
[camera/realsense2_camera-2] process has died [pid 2895, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load realsense2_camera/RealSenseNodeFactory realsense2_camera_manager __name:=realsense2_camera __log:=/home/ethan/.ros/log/d7eb47f0-c59e-11e9-bf66-6045cb6a2f1f/camera-realsense2_camera-2.log].
log file: /home/ethan/.ros/log/d7eb47f0-c59e-11e9-bf66-6045cb6a2f1f/camera-realsense2_camera-2*.lo

Missing caster_back_link Gazebo tag

I'm not seeing simulation parameters for the 'caster_back_link' in the 'locobot_description.urdf' file over here (scroll to line number 787). I assume this could be fixed by just copying the gazebo tag for 'caster_front_link' and using it for 'caster_back_link'

vis_3d_map.py does not show any point cloud

Steps to reproduce

1. _____roslaunch locobot_control main.launch use_arm:=true use_base:=true use_camera:=true use_rviz:=false use_vslam:=true

2. _____python vis_3d_map.py

3. ---

Observed Results

vis_3d_map.py only shows coordinate axis, but no point cloud update, although the update while-loop runs every 4sec

further debuggging shows after running "pts, colors = bot.base.base_state.vslam.get_3d_map()", "pts" and "colors" are always empty

• What happened? This could be a description, log output, etc.

Expected Results

• What did you expect to happen?

Relevant Code

// TODO(you): code here to reproduce the problem

LoCoBot Launch File Crashes Every 15-20 Minutes

I am running data collection code on a LoCoBot where the robot randomly takes one of four actions (turn left, turn right, move forward, do nothing) and captures an image with the camera after each action. Approximately every 15-20 minutes, the launch file crashes and must be restarted. This is how I am launching the robot:

roslaunch locobot_control main.launch use_base:=true use_camera:=true use_rviz:=false

Here is the error message outputted when the launch file crashes:

[ERROR] [1574104984.338762683]: [TxRxResult] There is no status packet!
[ERROR] [1574104984.338863115]: groupSyncRead getdata failed
[ERROR] [1574104984.338922058]: Motor head_pan_joint ID=8 has Hardware_Error_Status byte -591776880
[ERROR] [1574104984.338978054]: Motor head_pan_joint ID=8 has Electrical Shock error
[ERROR] [1574104984.339027334]: Motor head_tilt_joint ID=9 has Hardware_Error_Status byte 32765
[ERROR] [1574104984.339070407]: Motor head_tilt_joint ID=9 has Overload error
[ERROR] [1574104984.339111020]: Motor head_tilt_joint ID=9 has Electrical Shock error
[ERROR] [1574104984.339160414]: Motor head_tilt_joint ID=9 has Motor Encoder error
[ERROR] [1574104984.339201517]: Motor head_tilt_joint ID=9 has Overheating error
[ERROR] [1574104984.339253017]: Motor head_tilt_joint ID=9 has Input Volatage error
[ WARN] [1574104984.339470336]: Costmap2DROS transform timeout. Current time: 1574104984.3394, global_pose stamp: 1574104983.6282, tolerance: 0.5000
[ WARN] [1574104984.339515407]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1574104984.366092564]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 0.6711 seconds
================================================================================REQUIRED process [locobot_controller-11] has died!
process has finished cleanly
log file: /home/locobot/.ros/log/e195d8b4-0a37-11ea-a4b6-48f17fdef7b5/locobot_controller-11*.log
Initiating shutdown!
================================================================================
[move_group-19] killing on exit
[odom_map_broadcaster-15] killing on exit
[map_server-14] killing on exit
[move_base-17] killing on exit
[robot_state_publisher-18] killing on exit
[navigation_velocity_smoother-16] killing on exit
[pyrobot_kinematics-13] killing on exit
[locobot_controller-11] killing on exit
[cmd_vel_mux-10] killing on exit
[calibration_tf_broadcaster-12] killing on exit
[bumper2pointcloud-9] killing on exit
[mobile_base-8] killing on exit
[mobile_base_nodelet_manager-7] killing on exit
[diagnostic_aggregator-6] killing on exit
[camera/points_xyzrgb_hw_registered-5] killing on exit
[camera/color_rectify_color-4] killing on exit
[camera/realsense2_camera-3] killing on exit
[camera/realsense2_camera_manager-2] killing on exit
[ INFO] [1574104985.595536924]: Interrupt Signal is received! Terminating RealSense Node...
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Ideally, I would like the robot to run uninterrupted for hours as it collects data. Is there any way to prevent this from happening?

Runtime Error

Hi,

I just installed the latest code on my locobot, and while the installation script worked flawlessly (full install, Python 3, interbotix locobot, ros kinetic on Ubuntu 16.04, Intel NUC7i5BNH), I ran into an issue right afterwards.

Specifically, I opened a terminal and typed roslaunch locobot_control main.launch use_arm:=true use_base:=true use_camera:=true, and got the following error...

I noticed (from your commits) that it looked like you were going to include some sort of gpmp action server but it didn't make the final cut. However, it looks like some part of it made it through to the latest commit. Any way that you could take a look at this?

Also, I just tried to run the ee_pose_control.py script. Unfortunately, while moveit is able to plan and move the arm successfully to the first goal pose, it consistently fails to move the arm to the second pose. The error message is:

Moveit Failed with error code: PLANNING_FAILED

Unknown attribute: name

Steps to reproduce

1. Launch the main.launch file making sure that the use_arm argument is set to true
2. run any example python script that creates an instance of 'Robot'

Observed Results

Besides for the normal terminal output (in the terminal that the script is run) dictating what joints moveit is using, there is a info message saying... 'Unknown attribute: name'

Expected Results

The 'Unknown attribute: name' message should not appear.

Relevant Code

Not sure what could cause this issue. I did note that there were other similar info messages about 'Unknown tag: hardwareInterface'. This was easily fixed by deleting all the hardwareInterface tags under the actuator tags in the locobot_description.urdf. As explained here and here, this tag is not needed for ROS versions higher than and including Indigo. I thought that perhaps the 'Unknown attribute: name' message might also be related to the URDF but still can't figure it out. From the fact that this message seems to only appear if the 'use_arm' argument in the main.launch file is set to True, it seems to be related to the 'arm' code in core.py.

This problem was found using ROS Kinetic on Ubuntu 16.04 with the Intel NUC7i5BNH

https://pyrobot.org/docs/network not opening

Steps to reproduce

https://pyrobot.org/docs/network

Observed Results

• What happened? This could be a description, log output, etc.
  

Realsense Camera Issues

Hi,

When the most current locobot_install_all.sh script (using 'full' and python 3 for the arguments) installs the librealsense2-dkms version, I get an error message essentially saying that librealsense2-dkms 1.3.4-0ubuntu1:librealsense2-dkms kernel module failed to build'. Currently, my kernel version is 4.15.0-96-generic (latest to date), and I'm working with Ubuntu 16.04.6. As a result, the realsense node is not working.

Is it possible that since you are installing librealsense 2.18.1 (which is outdated by more than a year), it is not able to build correctly on my kernel? I noticed that if I install the latest librealsense2 packages and the realsense_ros node as outlined at https://github.com/IntelRealSense/realsense-ros, that everything works as it should. I also noticed that version 2.18.1 is recommended to work with an outdated realsense firmware version (5.10.03). As Intel makes these cameras, they are putting the latest firmware on them by default (currently 5.12.03).

Would it be possible to update the installation script such that it always builds the latest stable version of librealsense and the realsense ros node?

Additionally, I noticed that when the 'rosrun orb_slam2_ros gen_cfg.py' command is run in the installation script, it always fails saying that there is no 'rs_camera.launch' in realsense2_camera, and that that package doesn't even exist.
After doing some debugging, I realized this issue was due to improper overlaying of catkin workspaces in the script.

In any event, I created a modified installation script that fixes all of the above issues which is attached below (note that in the script, I'm installing the pyrobot repo from here, instead of the facebook one. The version over at Interbotix contains a modified URDF that accounts for the discrepancies between the original Locobot version created at CMU and the one being mass produced by Trossen Robotics.

locobot_install_all_modified.sh.zip

Also note that when running the second half of the camera calibration procedure, I get an error originating from line 66 in the solve_for_calibration_params.py script saying 'UnicodeDecodeError: 'utf-8' codec can't decode byte 0x80 in position 0: invalid start byte.' I was able to fix this issue by editing that line to read...

tt = pickle.load(open(os.path.join(dir_name, "states.pkl"), 'rb'))

I believe the above issue has to do with the pickle.load function operating slightly different between Python 3 and lower versions. But I know that the above code fixes the issue when working in Python 3.

Thanks

I follow the "./locobot_install_all.sh" and have problem

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
locobot_description: No definition of [gazebo] for OS version []
ca_driver: No definition of [libcreate] for OS [debian]
dynamixel_workbench_operators: No definition of [yaml-cpp] for OS version []
ca_tools: No definition of [joy_teleop] for OS [debian]
dynamixel_workbench_controllers: No definition of [eigen] for OS version []
locobot_gazebo: No definition of [gazebo] for OS version []

Locobase vs. Locobot

There are quite a few times in the pyrobot repo where 'locobase' is used instead of 'locobot'. I'm not sure why this is the case considering that 'locobase' is not even a valid botname...

To find them, navigate to low_cost_ws/src and type...

grep -rn "locobase" pyroboot/

Could this be updated please to avoid confusion?

Thanks

example grasping: arm does not go down low enough

Steps to reproduce

1. _____py 2.7
2. _____locobot

3. ---

Observed Results

When running sample grasping, camera can location object. Arm also moves above object (roughly, looks OK). But arm does not go down low enough (I mean, go low to properly touch floor) to pick up object. Does it mean my camera /arm has some calibration error?

Expected Results

• What did you expect to happen?

Relevant Code

// TODO(you): code here to reproduce the problem

Documentation to control different motors

Is there a way to control different motor's like DC, stepper and servo. I could not find this in the documentation.

Is Ubuntu 18.04 supported?

[Very Weird] Suddenly Can't Load All Dynamixel Motors Anymore

Steps to reproduce

1. When I run PyRobot with Azure Kinect camera (with my own minor modified codes about camera and LoCoBot) on Ubuntu 16.04, sometimes there would be some issues about loading Dynamixel Motors, which caused Rivz and the whole ROS master failed to launch.
   
   But once I disconnected the DYNAMIXEL U2D2 and reconnected it, then the whole PyRobot can work fluently.

2. One day, however, all motors can't be loaded. And I even didn't modify any codes after the last successful run. When I run roslaunch locobot_control main.launch use_arm:=true teleop:=true, the arm motors errors is this:
   
   The same errors would occur on active camera motors when I run roslaunch locobot_control main.launch use_camera:=true:
   
   This error happened on pyrobot/robots/LoCoBot/locobot_control/src/locobot_controller.cpp Line 1408 when launch dynamixel_controllers.launch if I run anything about main.launch

More Info

1. I'm inclined that it may not a hardware issue. Since I tried a new DYNAMIXEL U2D2, DYNAMIXEL Hub and cables, the exact errors would occur.

2. I also don't think it has something to do with Azure Kinect. I didn't install RealSense library and SDK when I followed locobot_install_all.sh, but it shouldn't cause the arm's motors failure.

3. Then I reinstalled the whole PyRobot (Develop branch) on a fresh Ubuntu 18.04 with Python 3, there would be the same errors when lauch main.launch.

4. I can also connect all 9 motors (active camera's and arm's) via DYNAMIXEL Wizard 2.0 and control them fluently. Here is all motors info showed in GUI:
   
   They have correct motor IDs, the same protocol (2.0) and firmware version (43) and the same baud rate (1Mbps).

I got stuck on this issue for several weeks, and already tried all solutions to my best knowledge. So I really need PyRobot teams help. Do you have any clues about the issue and how to debug it?

Cannot import PyKDL

Hi, I am using pyrobot on Ubuntu 16.04.

After successful installation, I executed python base_position_control.py and got the following error:

Traceback (most recent call last):
  File "base_position_control.py", line 12, in <module>
    from pyrobot import Robot
  File "/home/jerrhe/miniconda3/envs/ros/lib/python2.7/site-packages/pyrobot/__init__.py", line 6, in <module>
    from pyrobot.core import Robot
  File "/home/jerrhe/miniconda3/envs/ros/lib/python2.7/site-packages/pyrobot/core.py", line 16, in <module>
    import PyKDL as kdl
ImportError: No module named sip

I also tried sudo apt-get install python-sip but doesn't seem to help. Have you any suggestion for the issue? Thanks!

Error while running Camera Calibration

I have built a LoCoBot without the robotic arm and movable camera. I get the following issue while I run Camera Calibration.LoCoBot installation is done using locobot_install_all.sh .

Command : roslaunch locobot_calibration calibrate.launch base:=kobuki
Hardware :

• Intel NUC i5 with 8 Gb Ram
• Intel D435 camera
• Base Kobuki base

Error:

(pyenv_pyrobot) vikash@vikash-desktop:~$ roslaunch locobot_calibration calibrate.launch base:=kobuki
... logging to /home/vikash/.ros/log/07f81912-ca6a-11e9-8875-00c2c6bcf3fe/roslaunch-vikash-desktop-27552.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://vikash-desktop:45445/

SUMMARY

PARAMETERS

• /ar_track_alvar/marker_size: 3.0
• /ar_track_alvar/max_new_marker_error: 0.08
• /ar_track_alvar/max_track_error: 0.2
• /ar_track_alvar/output_frame: camera_link
• /base: kobuki
• /camera/realsense2_camera/accel_fps: 250
• /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
• /camera/realsense2_camera/align_depth: True
• /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
• /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
• /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
• /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
• /camera/realsense2_camera/base_frame_id: camera_link
• /camera/realsense2_camera/clip_distance: -1.0
• /camera/realsense2_camera/color_fps: 30
• /camera/realsense2_camera/color_frame_id: camera_color_frame
• /camera/realsense2_camera/color_height: 480
• /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
• /camera/realsense2_camera/color_width: 640
• /camera/realsense2_camera/depth_fps: 30
• /camera/realsense2_camera/depth_frame_id: camera_depth_frame
• /camera/realsense2_camera/depth_height: 480
• /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
• /camera/realsense2_camera/depth_width: 640
• /camera/realsense2_camera/enable_color: True
• /camera/realsense2_camera/enable_depth: True
• /camera/realsense2_camera/enable_fisheye: True
• /camera/realsense2_camera/enable_imu: True
• /camera/realsense2_camera/enable_infra1: True
• /camera/realsense2_camera/enable_infra2: True
• /camera/realsense2_camera/enable_pointcloud: False
• /camera/realsense2_camera/enable_sync: True
• /camera/realsense2_camera/filters:
• /camera/realsense2_camera/fisheye_fps: 30
• /camera/realsense2_camera/fisheye_height: 480
• /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
• /camera/realsense2_camera/fisheye_width: 640
• /camera/realsense2_camera/gyro_fps: 400
• /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
• /camera/realsense2_camera/infra1_fps: 30
• /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
• /camera/realsense2_camera/infra1_height: 480
• /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
• /camera/realsense2_camera/infra1_width: 640
• /camera/realsense2_camera/infra2_fps: 30
• /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
• /camera/realsense2_camera/infra2_height: 480
• /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
• /camera/realsense2_camera/infra2_width: 640
• /camera/realsense2_camera/initial_reset: False
• /camera/realsense2_camera/json_file_path:
• /camera/realsense2_camera/linear_accel_cov: 0.01
• /camera/realsense2_camera/pointcloud_texture_index: 0
• /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
• /camera/realsense2_camera/rosbag_filename:
• /camera/realsense2_camera/serial_no:
• /camera/realsense2_camera/unite_imu_method: none
• /dynamixel_info: /home/vikash/low_...
• /locobot_controller/dxl_read_period: 0.01
• /locobot_controller/dxl_write_period: 0.01
• /locobot_controller/publish_period: 0.01
• /move_group/allow_trajectory_execution: True
• /move_group/arm/default_planner_config: ESTkConfigDefault
• /move_group/arm/longest_valid_segment_fraction: 0.005
• /move_group/arm/planner_configs: ['SBLkConfigDefau...
• /move_group/arm/projection_evaluator: joints(joint_1,jo...
• /move_group/capabilities:
• /move_group/controller_list: [{'default': True...
• /move_group/disable_capabilities:
• /move_group/gripper/default_planner_config: ESTkConfigDefault
• /move_group/gripper/longest_valid_segment_fraction: 0.005
• /move_group/gripper/planner_configs: ['SBLkConfigDefau...
• /move_group/gripper/projection_evaluator: joints(joint_6,jo...
• /move_group/jiggle_fraction: 0.05
• /move_group/max_range: 5.0
• /move_group/max_safe_path_cost: 1
• /move_group/moveit_controller_manager: moveit_simple_con...
• /move_group/moveit_manage_controllers: True
• /move_group/octomap_resolution: 0.025
• /move_group/planner_configs/BFMTkConfigDefault/balanced: 0
• /move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1
• /move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1
• /move_group/planner_configs/BFMTkConfigDefault/heuristics: 1
• /move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1
• /move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000
• /move_group/planner_configs/BFMTkConfigDefault/optimality: 1
• /move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0
• /move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT
• /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
• /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
• /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
• /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
• /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
• /move_group/planner_configs/BiESTkConfigDefault/range: 0.0
• /move_group/planner_configs/BiESTkConfigDefault/type: geometric::BiEST
• /move_group/planner_configs/BiTRRTkConfigDefault/cost_threshold: 1e300
• /move_group/planner_configs/BiTRRTkConfigDefault/frountier_node_ratio: 0.1
• /move_group/planner_configs/BiTRRTkConfigDefault/frountier_threshold: 0.0
• /move_group/planner_configs/BiTRRTkConfigDefault/init_temperature: 100
• /move_group/planner_configs/BiTRRTkConfigDefault/range: 0.0
• /move_group/planner_configs/BiTRRTkConfigDefault/temp_change_factor: 0.1
• /move_group/planner_configs/BiTRRTkConfigDefault/type: geometric::BiTRRT
• /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
• /move_group/planner_configs/ESTkConfigDefault/range: 0.0
• /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
• /move_group/planner_configs/FMTkConfigDefault/cache_cc: 1
• /move_group/planner_configs/FMTkConfigDefault/extended_fmt: 1
• /move_group/planner_configs/FMTkConfigDefault/heuristics: 0
• /move_group/planner_configs/FMTkConfigDefault/nearest_k: 1
• /move_group/planner_configs/FMTkConfigDefault/num_samples: 1000
• /move_group/planner_configs/FMTkConfigDefault/radius_multiplier: 1.1
• /move_group/planner_configs/FMTkConfigDefault/type: geometric::FMT
• /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
• /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
• /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
• /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
• /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
• /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
• /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
• /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
• /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
• /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
• /move_group/planner_configs/LBTRRTkConfigDefault/epsilon: 0.4
• /move_group/planner_configs/LBTRRTkConfigDefault/goal_bias: 0.05
• /move_group/planner_configs/LBTRRTkConfigDefault/range: 0.0
• /move_group/planner_configs/LBTRRTkConfigDefault/type: geometric::LBTRRT
• /move_group/planner_configs/LazyPRMkConfigDefault/range: 0.0
• /move_group/planner_configs/LazyPRMkConfigDefault/type: geometric::LazyPRM
• /move_group/planner_configs/LazyPRMstarkConfigDefault/type: geometric::LazyPR...
• /move_group/planner_configs/PDSTkConfigDefault/type: geometric::PDST
• /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
• /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
• /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
• /move_group/planner_configs/ProjESTkConfigDefault/goal_bias: 0.05
• /move_group/planner_configs/ProjESTkConfigDefault/range: 0.0
• /move_group/planner_configs/ProjESTkConfigDefault/type: geometric::ProjEST
• /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
• /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
• /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
• /move_group/planner_configs/RRTkConfigDefault/range: 0.0
• /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
• /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
• /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
• /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
• /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
• /move_group/planner_configs/SBLkConfigDefault/range: 0.0
• /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
• /move_group/planner_configs/SPARSkConfigDefault/dense_delta_fraction: 0.001
• /move_group/planner_configs/SPARSkConfigDefault/max_failures: 1000
• /move_group/planner_configs/SPARSkConfigDefault/sparse_delta_fraction: 0.25
• /move_group/planner_configs/SPARSkConfigDefault/stretch_factor: 3.0
• /move_group/planner_configs/SPARSkConfigDefault/type: geometric::SPARS
• /move_group/planner_configs/SPARStwokConfigDefault/dense_delta_fraction: 0.001
• /move_group/planner_configs/SPARStwokConfigDefault/max_failures: 5000
• /move_group/planner_configs/SPARStwokConfigDefault/sparse_delta_fraction: 0.25
• /move_group/planner_configs/SPARStwokConfigDefault/stretch_factor: 3.0
• /move_group/planner_configs/SPARStwokConfigDefault/type: geometric::SPARStwo
• /move_group/planner_configs/STRIDEkConfigDefault/degree: 16
• /move_group/planner_configs/STRIDEkConfigDefault/estimated_dimension: 0.0
• /move_group/planner_configs/STRIDEkConfigDefault/goal_bias: 0.05
• /move_group/planner_configs/STRIDEkConfigDefault/max_degree: 18
• /move_group/planner_configs/STRIDEkConfigDefault/max_pts_per_leaf: 6
• /move_group/planner_configs/STRIDEkConfigDefault/min_degree: 12
• /move_group/planner_configs/STRIDEkConfigDefault/min_valid_path_fraction: 0.2
• /move_group/planner_configs/STRIDEkConfigDefault/range: 0.0
• /move_group/planner_configs/STRIDEkConfigDefault/type: geometric::STRIDE
• /move_group/planner_configs/STRIDEkConfigDefault/use_projected_distance: 0
• /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
• /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
• /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
• /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
• /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
• /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
• /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
• /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
• /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
• /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
• /move_group/planning_plugin: ompl_interface/OM...
• /move_group/planning_scene_monitor/publish_geometry_updates: True
• /move_group/planning_scene_monitor/publish_planning_scene: True
• /move_group/planning_scene_monitor/publish_state_updates: True
• /move_group/planning_scene_monitor/publish_transforms_updates: True
• /move_group/request_adapters: default_planner_r...
• /move_group/sensors: [{'point_subsampl...
• /move_group/start_state_max_bounds_error: 0.1
• /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
• /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
• /move_group/trajectory_execution/allowed_start_tolerance: 0.0
• /robot_description: <?xml version="1....
• /robot_description_kinematics/arm/kinematics_solver: trac_ik_kinematic...
• /robot_description_kinematics/arm/kinematics_solver_attempts: 3
• /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
• /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
• /robot_description_planning/joint_limits/joint_1/has_acceleration_limits: False
• /robot_description_planning/joint_limits/joint_1/has_velocity_limits: True
• /robot_description_planning/joint_limits/joint_1/max_acceleration: 0
• /robot_description_planning/joint_limits/joint_1/max_velocity: 1
• /robot_description_planning/joint_limits/joint_2/has_acceleration_limits: False
• /robot_description_planning/joint_limits/joint_2/has_velocity_limits: True
• /robot_description_planning/joint_limits/joint_2/max_acceleration: 0
• /robot_description_planning/joint_limits/joint_2/max_velocity: 1
• /robot_description_planning/joint_limits/joint_3/has_acceleration_limits: False
• /robot_description_planning/joint_limits/joint_3/has_velocity_limits: True
• /robot_description_planning/joint_limits/joint_3/max_acceleration: 0
• /robot_description_planning/joint_limits/joint_3/max_velocity: 1
• /robot_description_planning/joint_limits/joint_4/has_acceleration_limits: False
• /robot_description_planning/joint_limits/joint_4/has_velocity_limits: True
• /robot_description_planning/joint_limits/joint_4/max_acceleration: 0
• /robot_description_planning/joint_limits/joint_4/max_velocity: 1
• /robot_description_planning/joint_limits/joint_5/has_acceleration_limits: False
• /robot_description_planning/joint_limits/joint_5/has_velocity_limits: True
• /robot_description_planning/joint_limits/joint_5/max_acceleration: 0
• /robot_description_planning/joint_limits/joint_5/max_velocity: 1
• /robot_description_planning/joint_limits/joint_6/has_acceleration_limits: False
• /robot_description_planning/joint_limits/joint_6/has_velocity_limits: True
• /robot_description_planning/joint_limits/joint_6/max_acceleration: 0
• /robot_description_planning/joint_limits/joint_6/max_velocity: 1
• /robot_description_planning/joint_limits/joint_7/has_acceleration_limits: False
• /robot_description_planning/joint_limits/joint_7/has_velocity_limits: True
• /robot_description_planning/joint_limits/joint_7/max_acceleration: 0
• /robot_description_planning/joint_limits/joint_7/max_velocity: 1
• /robot_description_semantic: <?xml version="1....
• /rosdistro: kinetic
• /rosversion: 1.12.14
• /rviz_vikash_desktop_27552_5079649717650137372/arm/kinematics_solver: trac_ik_kinematic...
• /rviz_vikash_desktop_27552_5079649717650137372/arm/kinematics_solver_attempts: 3
• /rviz_vikash_desktop_27552_5079649717650137372/arm/kinematics_solver_search_resolution: 0.005
• /rviz_vikash_desktop_27552_5079649717650137372/arm/kinematics_solver_timeout: 0.005
• /teleop: False
• /torque_control: False
• /use_arm: True
• /use_base: False
• /use_camera: True
• /use_sim: False
• /use_vslam: False

NODES
/camera/
color_rectify_color (nodelet/nodelet)
points_xyzrgb_hw_registered (nodelet/nodelet)
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)
/
ar_track_alvar (ar_track_alvar/individualMarkersNoKinect)
calibration_tf_broadcaster (locobot_calibration/calibration_publish_transforms.py)
locobot_controller (locobot_control/locobot_controller)
move_group (moveit_ros_move_group/move_group)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz_vikash_desktop_27552_5079649717650137372 (rviz/rviz)

auto-starting new master
process[master]: started with pid [27562]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 07f81912-ca6a-11e9-8875-00c2c6bcf3fe
process[rosout-1]: started with pid [27575]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [27592]
process[camera/realsense2_camera-3]: started with pid [27593]
process[camera/color_rectify_color-4]: started with pid [27594]
process[camera/points_xyzrgb_hw_registered-5]: started with pid [27602]
process[locobot_controller-6]: started with pid [27608]
process[calibration_tf_broadcaster-7]: started with pid [27624]
process[robot_state_publisher-8]: started with pid [27635]
[PortHandlerLinux::SetupPort] Error opening serial port!
[ERROR] [1567089237.319877760]: [DynamixelDriver] Failed to open the port!
[ERROR] [1567089237.319951456]: Please check USB port name
process[move_group-9]: started with pid [27643]
process[rviz_vikash_desktop_27552_5079649717650137372-10]: started with pid [27662]
process[ar_track_alvar-11]: started with pid [27670]

[ INFO] [1567089237.446671320]: Initializing nodelet with 4 worker threads.
[ INFO] [1567089237.458089386]: Loading robot model 'locobot'...
[ INFO] [1567089237.458204474]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1567089237.548355008]: Subscribing to info topic

REQUIRED process [locobot_controller-6] has died!
process has died [pid 27608, exit code -11, cmd /home/vikash/low_cost_ws/devel/lib/locobot_control/locobot_controller /dev/ttyUSB_dyna 1000000 __name:=locobot_controller __log:=/home/vikash/.ros/log/07f81912-ca6a-11e9-8875-00c2c6bcf3fe/locobot_controller-6.log].
log file: /home/vikash/.ros/log/07f81912-ca6a-11e9-8875-00c2c6bcf3fe/locobot_controller-6*.log
Initiating shutdown!

[ INFO] [1567089237.615415964]: rviz version 1.12.17
[ INFO] [1567089237.615529828]: compiled against Qt version 5.5.1
[ INFO] [1567089237.615580997]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1567089237.650988379]: AR tracker reconfigured: ENABLED 8.00 3.00 0.08 0.20
[ar_track_alvar-11] killing on exit
[rviz_vikash_desktop_27552_5079649717650137372-10] killing on exit
[move_group-9] killing on exit
[robot_state_publisher-8] killing on exit
[calibration_tf_broadcaster-7] killing on exit
Traceback (most recent call last):
File "/home/vikash/low_cost_ws/src/pyrobot/robots/LoCoBot/locobot_calibration/nodes/calibration_publish_transforms.py", line 16, in
import tf
File "/opt/ros/kinetic/lib/python2.7/dist-packages/tf/init.py", line 28, in
from tf2_ros import TransformException as Exception, ConnectivityException, LookupException, ExtrapolationException
File "/opt/ros/kinetic/lib/python2.7/dist-packages/tf2_ros/init.py", line 39, in
from .buffer_interface import *
File "/opt/ros/kinetic/lib/python2.7/dist-packages/tf2_ros/buffer_interface.py", line 32, in
import roslib; roslib.load_manifest('tf2_ros')
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslib/launcher.py", line 62, in load_manifest
sys.path = _generate_python_path(package_name, _rospack) + sys.path
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslib/launcher.py", line 93, in _generate_python_path
m = rospack.get_manifest(pkg)
File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 167, in get_manifest
return self._load_manifest(name)
File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 211, in _load_manifest
retval = self._manifests[name] = parse_manifest_file(self.get_path(name), self._manifest_name, rospack=self)
File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 201, in get_path
self._update_location_cache()
File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 184, in _update_location_cache
list_by_path(self._manifest_name, path, cache)
File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 61, in list_by_path
for d, dirs, files in os.walk(path, topdown=True, followlinks=True):
File "/home/vikash/pyenv_pyrobot/lib/python2.7/os.py", line 296, in walk
for x in walk(new_path, topdown, onerror, followlinks):
File "/home/vikash/pyenv_pyrobot/lib/python2.7/os.py", line 286, in walk
[locobot_controller-6] killing on exit
if isdir(join(top, name)):
File "/home/vikash/pyenv_pyrobot/lib/python2.7/genericpath.py", line 49, in isdir
st = os.stat(s)
KeyboardInterrupt
[camera/points_xyzrgb_hw_registered-5] killing on exit
[camera/realsense2_camera-3] killing on exit
[camera/color_rectify_color-4] killing on exit
[camera/realsense2_camera_manager-2] killing on exit
libGL error: failed to create drawable
individualMarkersNoKinect: /usr/include/boost/thread/pthread/recursive_mutex.hpp:113: void boost::recursive_mutex::lock(): Assertion `!pthread_mutex_lock(&m)' failed.
Starting context monitors...
Context monitors started.
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...

You can start planning now!

[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Installation script: Can't run catkin_init_workspace in ~/camera_ws folder

I ran this command:

chmod +x locobot_install_all.sh 
./locobot_install_all.sh

Until running cakin_init_workspace in ~/camera_ws folder, I got the error like this:

harry@harry:~/camera_ws/src$ catkin_init_workspace Could neither symlink nor copy file "/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake" to "/home/harry/camera_ws/src/CMakeLists.txt": - [Errno 13] Permission denied - [Errno 13] Permission denied: '/home/harry/camera_ws/src/CMakeLists.txt

Later I found out that if I run this script with root permission , the the camera_ws folder will be created with root permission. And then catkin_init_workspace will not work.
I had to removed the camera_ws folder, recreate it with user permission only, then I could run catkin_init_workspace.

The lesson learnt that don't create the workspace folder with root permission.
However, if I don't run script with sudo , I will be stopped at : "Installing camera dependencies..."

Does it only happen to me? Please help to check if you can reproduce the issue. Thank you.

camera.pix_to_3dpt does not work for None values

Steps to reproduce

from pyrobot import Robot
r = Robot("locobot")
r.camera.pix_to_3dpt(rs=None, cs=None)

Observed Results

This throws an exception because the underlying function

pyrobot/src/pyrobot/utils/util.py

Line 141 in c44d901

def pix_to_3dpt(depth_im, rs, cs, intrinsic_mat, depth_map_factor, reduce=None, k=5):

does not handle None values.

Expected Results

Return the result for all rows and columns as mentioned in the docstring. This would help simplify the client side call where I currently need to artificially create numpy arrays for all rows and columns and then pass it to the api.

Image Quality

The images that we obtain from the camera are a bit blue-ish and they are very different from the actual lighting of the room. We were wondering if there is any fix for this. I have attached an image for reference. That is a white couch.

Using PyRobot to control a custom robot

I am building a robot that can move around my front yard, identify certain objects ("gum tree seed pods") and pick them up. I have started documenting my journey as I go along. I am hoping to use it to control the robot arm. I looked into your documentation and had two questions:

1. If I want to start getting familiar with PyRobot APIs and just control one or two motors (i.e. 1-2 DOF robot arm) through an Arduino Uno board, do you have pointers on examples or tutorials to do this? I looked at the Locobot examples but found it a little harder to understand how to get this to work for a custom robot arm and scaling it from 1 to 5 DOF one step at a time if needed?

2. Also, based on my understanding Locobot and Sawyer have their own controllers and PyRobot is able to work with those controllers. In my case, since its Arduino, wondering what part of the code do I need to modify to get it to work?

Thanks
Manish

Unable to Run SLAM

I have built a LoCoBot without the robotic arm and movable camera. I get the following issue when I run SLAM.

LoCoBot installation is done using locobot_install_all.sh .

I have commented calibration_tf_broadcaster as suggested in issue #26 in main.launch and updated permission to /dev/ttyUSB0.

Command : roslaunch locobot_control main.launch use_base:=true use_vslam:=true use_camera:=true

Hardware :

Intel NUC i5 with 8 Gb Ram
Intel D435 camera
Base Kobuki base

Error:

========
... logging to /home/vikash/.ros/log/978b8314-cab2-11e9-97a9-00c2c6bcf3fe/roslaunch-vikash-desktop-2101.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://vikash-desktop:46073/

SUMMARY

PARAMETERS

• /bumper2pointcloud/pointcloud_radius: 0.24
• /camera/realsense2_camera/accel_fps: 250
• /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
• /camera/realsense2_camera/align_depth: True
• /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
• /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
• /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
• /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
• /camera/realsense2_camera/base_frame_id: camera_link
• /camera/realsense2_camera/clip_distance: -1.0
• /camera/realsense2_camera/color_fps: 30
• /camera/realsense2_camera/color_frame_id: camera_color_frame
• /camera/realsense2_camera/color_height: 480
• /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
• /camera/realsense2_camera/color_width: 640
• /camera/realsense2_camera/depth_fps: 30
• /camera/realsense2_camera/depth_frame_id: camera_depth_frame
• /camera/realsense2_camera/depth_height: 480
• /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
• /camera/realsense2_camera/depth_width: 640
• /camera/realsense2_camera/enable_color: True
• /camera/realsense2_camera/enable_depth: True
• /camera/realsense2_camera/enable_fisheye: True
• /camera/realsense2_camera/enable_imu: True
• /camera/realsense2_camera/enable_infra1: True
• /camera/realsense2_camera/enable_infra2: True
• /camera/realsense2_camera/enable_pointcloud: False
• /camera/realsense2_camera/enable_sync: True
• /camera/realsense2_camera/filters:
• /camera/realsense2_camera/fisheye_fps: 30
• /camera/realsense2_camera/fisheye_height: 480
• /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
• /camera/realsense2_camera/fisheye_width: 640
• /camera/realsense2_camera/gyro_fps: 400
• /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
• /camera/realsense2_camera/infra1_fps: 30
• /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
• /camera/realsense2_camera/infra1_height: 480
• /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
• /camera/realsense2_camera/infra1_width: 640
• /camera/realsense2_camera/infra2_fps: 30
• /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
• /camera/realsense2_camera/infra2_height: 480
• /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
• /camera/realsense2_camera/infra2_width: 640
• /camera/realsense2_camera/initial_reset: False
• /camera/realsense2_camera/json_file_path:
• /camera/realsense2_camera/linear_accel_cov: 0.01
• /camera/realsense2_camera/pointcloud_texture_index: 0
• /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
• /camera/realsense2_camera/rosbag_filename:
• /camera/realsense2_camera/serial_no:
• /camera/realsense2_camera/unite_imu_method: none
• /cmd_vel_mux/yaml_cfg_file: /opt/ros/kinetic/...
• /diagnostic_aggregator/analyzers/input_ports/contains: ['Digital Input',...
• /diagnostic_aggregator/analyzers/input_ports/path: Input Ports
• /diagnostic_aggregator/analyzers/input_ports/remove_prefix: mobile_base_nodel...
• /diagnostic_aggregator/analyzers/input_ports/timeout: 5.0
• /diagnostic_aggregator/analyzers/input_ports/type: diagnostic_aggreg...
• /diagnostic_aggregator/analyzers/kobuki/contains: ['Watchdog', 'Mot...
• /diagnostic_aggregator/analyzers/kobuki/path: Kobuki
• /diagnostic_aggregator/analyzers/kobuki/remove_prefix: mobile_base_nodel...
• /diagnostic_aggregator/analyzers/kobuki/timeout: 5.0
• /diagnostic_aggregator/analyzers/kobuki/type: diagnostic_aggreg...
• /diagnostic_aggregator/analyzers/power/contains: ['Battery', 'Lapt...
• /diagnostic_aggregator/analyzers/power/path: Power System
• /diagnostic_aggregator/analyzers/power/remove_prefix: mobile_base_nodel...
• /diagnostic_aggregator/analyzers/power/timeout: 5.0
• /diagnostic_aggregator/analyzers/power/type: diagnostic_aggreg...
• /diagnostic_aggregator/analyzers/sensors/contains: ['Cliff Sensor', ...
• /diagnostic_aggregator/analyzers/sensors/path: Sensors
• /diagnostic_aggregator/analyzers/sensors/remove_prefix: mobile_base_nodel...
• /diagnostic_aggregator/analyzers/sensors/timeout: 5.0
• /diagnostic_aggregator/analyzers/sensors/type: diagnostic_aggreg...
• /diagnostic_aggregator/base_path:
• /diagnostic_aggregator/pub_rate: 1.0
• /dynamixel_info: /home/vikash/low_...
• /locobot_controller/dxl_read_period: 0.01
• /locobot_controller/dxl_write_period: 0.01
• /locobot_controller/publish_period: 0.01
• /mobile_base/base_frame: base_footprint
• /mobile_base/battery_capacity: 16.5
• /mobile_base/battery_dangerous: 13.2
• /mobile_base/battery_low: 14.0
• /mobile_base/cmd_vel_timeout: 0.6
• /mobile_base/device_port: /dev/kobuki
• /mobile_base/odom_frame: odom
• /mobile_base/publish_tf: True
• /mobile_base/use_imu_heading: True
• /mobile_base/wheel_left_joint_name: wheel_left_joint
• /mobile_base/wheel_right_joint_name: wheel_right_joint
• /move_base/DWAPlannerROS/acc_lim_theta: 2.0
• /move_base/DWAPlannerROS/acc_lim_x: 1.0
• /move_base/DWAPlannerROS/acc_lim_y: 0.0
• /move_base/DWAPlannerROS/forward_point_distance: 0.325
• /move_base/DWAPlannerROS/global_frame_id: odom
• /move_base/DWAPlannerROS/goal_distance_bias: 24.0
• /move_base/DWAPlannerROS/latch_xy_goal_tolerance: True
• /move_base/DWAPlannerROS/max_rot_vel: 2.0
• /move_base/DWAPlannerROS/max_scaling_factor: 0.2
• /move_base/DWAPlannerROS/max_trans_vel: 0.1
• /move_base/DWAPlannerROS/max_vel_x: 0.15
• /move_base/DWAPlannerROS/max_vel_y: 0.0
• /move_base/DWAPlannerROS/min_rot_vel: 1.0
• /move_base/DWAPlannerROS/min_trans_vel: 0.1
• /move_base/DWAPlannerROS/min_vel_x: 0.1
• /move_base/DWAPlannerROS/min_vel_y: 0.0
• /move_base/DWAPlannerROS/occdist_scale: 0.5
• /move_base/DWAPlannerROS/oscillation_reset_dist: 0.05
• /move_base/DWAPlannerROS/path_distance_bias: 64.0
• /move_base/DWAPlannerROS/publish_cost_grid_pc: True
• /move_base/DWAPlannerROS/publish_traj_pc: True
• /move_base/DWAPlannerROS/rot_stopped_vel: 0.5
• /move_base/DWAPlannerROS/scaling_speed: 0.25
• /move_base/DWAPlannerROS/sim_time: 1.0
• /move_base/DWAPlannerROS/stop_time_buffer: 0.2
• /move_base/DWAPlannerROS/trans_stopped_vel: 0.1
• /move_base/DWAPlannerROS/vtheta_samples: 20
• /move_base/DWAPlannerROS/vx_samples: 20
• /move_base/DWAPlannerROS/vy_samples: 1
• /move_base/DWAPlannerROS/xy_goal_tolerance: 0.15
• /move_base/DWAPlannerROS/yaw_goal_tolerance: 0.15
• /move_base/GlobalPlanner/allow_unknown: True
• /move_base/GlobalPlanner/cost_factor: 3.0
• /move_base/GlobalPlanner/default_tolerance: 0.0
• /move_base/GlobalPlanner/lethal_cost: 253
• /move_base/GlobalPlanner/neutral_cost: 50
• /move_base/GlobalPlanner/old_navfn_behavior: False
• /move_base/GlobalPlanner/planner_costmap_publish_frequency: 0.0
• /move_base/GlobalPlanner/planner_window_x: 0.0
• /move_base/GlobalPlanner/planner_window_y: 0.0
• /move_base/GlobalPlanner/publish_potential: True
• /move_base/GlobalPlanner/publish_scale: 100
• /move_base/GlobalPlanner/use_dijkstra: True
• /move_base/GlobalPlanner/use_grid_path: False
• /move_base/GlobalPlanner/use_quadratic: True
• /move_base/NavfnROS/allow_unknown: False
• /move_base/NavfnROS/default_tolerance: 0.0
• /move_base/NavfnROS/planner_window_x: 0.0
• /move_base/NavfnROS/planner_window_y: 0.0
• /move_base/NavfnROS/visualize_potential: False
• /move_base/TrajectoryPlannerROS/acc_lim_theta: 1.0
• /move_base/TrajectoryPlannerROS/acc_lim_x: 0.3
• /move_base/TrajectoryPlannerROS/acc_lim_y: 0.0
• /move_base/TrajectoryPlannerROS/angular_sim_granularity: 0.025
• /move_base/TrajectoryPlannerROS/dwa: True
• /move_base/TrajectoryPlannerROS/escape_vel: -0.15
• /move_base/TrajectoryPlannerROS/gdist_scale: 0.7
• /move_base/TrajectoryPlannerROS/heading_lookahead: 0.375
• /move_base/TrajectoryPlannerROS/heading_scoring: False
• /move_base/TrajectoryPlannerROS/heading_scoring_timestep: 0.8
• /move_base/TrajectoryPlannerROS/holonomic_robot: False
• /move_base/TrajectoryPlannerROS/latch_xy_goal_tolerance: True
• /move_base/TrajectoryPlannerROS/max_vel_theta: 0.7
• /move_base/TrajectoryPlannerROS/max_vel_x: 0.36
• /move_base/TrajectoryPlannerROS/max_vel_y: 0.0
• /move_base/TrajectoryPlannerROS/meter_scoring: True
• /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.5
• /move_base/TrajectoryPlannerROS/min_vel_theta: -0.7
• /move_base/TrajectoryPlannerROS/min_vel_x: 0.2
• /move_base/TrajectoryPlannerROS/min_vel_y: 0.0
• /move_base/TrajectoryPlannerROS/occdist_scale: 0.01
• /move_base/TrajectoryPlannerROS/oscillation_reset_dist: 0.05
• /move_base/TrajectoryPlannerROS/pdist_scale: 0.6
• /move_base/TrajectoryPlannerROS/prune_plan: True
• /move_base/TrajectoryPlannerROS/publish_cost_grid_pc: False
• /move_base/TrajectoryPlannerROS/sim_granularity: 0.025
• /move_base/TrajectoryPlannerROS/simple_attractor: False
• /move_base/TrajectoryPlannerROS/vtheta_samples: 40
• /move_base/TrajectoryPlannerROS/vx_samples: 28
• /move_base/TrajectoryPlannerROS/vy_samples: 0
• /move_base/TrajectoryPlannerROS/xy_goal_tolerance: 0.2
• /move_base/TrajectoryPlannerROS/yaw_goal_tolerance: 0.2
• /move_base/base_global_planner: global_planner/Gl...
• /move_base/base_local_planner: base_local_planne...
• /move_base/controller_frequency: 5.0
• /move_base/controller_patience: 1.0
• /move_base/global_costmap/always_send_full_costmap: True
• /move_base/global_costmap/global_frame: map
• /move_base/global_costmap/inflation_layer/cost_scaling_factor: 5.0
• /move_base/global_costmap/inflation_layer/enabled: True
• /move_base/global_costmap/inflation_layer/inflation_radius: 0.25
• /move_base/global_costmap/map_type: costmap
• /move_base/global_costmap/max_obstacle_height: 0.6
• /move_base/global_costmap/obstacle_layer/bump/clearing: False
• /move_base/global_costmap/obstacle_layer/bump/data_type: PointCloud2
• /move_base/global_costmap/obstacle_layer/bump/marking: True
• /move_base/global_costmap/obstacle_layer/bump/max_obstacle_height: 0.15
• /move_base/global_costmap/obstacle_layer/bump/min_obstacle_height: 0.0
• /move_base/global_costmap/obstacle_layer/bump/topic: mobile_base/senso...
• /move_base/global_costmap/obstacle_layer/combination_method: 1
• /move_base/global_costmap/obstacle_layer/enabled: True
• /move_base/global_costmap/obstacle_layer/mark_threshold: 0
• /move_base/global_costmap/obstacle_layer/max_obstacle_height: 0.6
• /move_base/global_costmap/obstacle_layer/observation_sources: scan bump
• /move_base/global_costmap/obstacle_layer/obstacle_range: 2.5
• /move_base/global_costmap/obstacle_layer/origin_z: 0.0
• /move_base/global_costmap/obstacle_layer/publish_voxel_map: False
• /move_base/global_costmap/obstacle_layer/raytrace_range: 3.0
• /move_base/global_costmap/obstacle_layer/scan/clearing: True
• /move_base/global_costmap/obstacle_layer/scan/data_type: LaserScan
• /move_base/global_costmap/obstacle_layer/scan/marking: True
• /move_base/global_costmap/obstacle_layer/scan/max_obstacle_height: 0.35
• /move_base/global_costmap/obstacle_layer/scan/min_obstacle_height: 0.25
• /move_base/global_costmap/obstacle_layer/scan/topic: scan
• /move_base/global_costmap/obstacle_layer/track_unknown_space: True
• /move_base/global_costmap/obstacle_layer/unknown_threshold: 15
• /move_base/global_costmap/obstacle_layer/z_resolution: 0.2
• /move_base/global_costmap/obstacle_layer/z_voxels: 2
• /move_base/global_costmap/plugins: [{'type': 'costma...
• /move_base/global_costmap/publish_frequency: 0.5
• /move_base/global_costmap/robot_base_frame: base_footprint
• /move_base/global_costmap/robot_radius: 0.2
• /move_base/global_costmap/rolling_window: False
• /move_base/global_costmap/static_layer/enabled: True
• /move_base/global_costmap/static_layer/first_map_only: False
• /move_base/global_costmap/static_layer/map_topic: /occupancy_map
• /move_base/global_costmap/static_map: True
• /move_base/global_costmap/transform_tolerance: 0.5
• /move_base/global_costmap/update_frequency: 1.0
• /move_base/local_costmap/always_send_full_costmap: True
• /move_base/local_costmap/global_frame: odom
• /move_base/local_costmap/height: 4.0
• /move_base/local_costmap/inflation_layer/cost_scaling_factor: 5.0
• /move_base/local_costmap/inflation_layer/enabled: True
• /move_base/local_costmap/inflation_layer/inflation_radius: 0.25
• /move_base/local_costmap/map_type: costmap
• /move_base/local_costmap/max_obstacle_height: 0.6
• /move_base/local_costmap/obstacle_layer/bump/clearing: False
• /move_base/local_costmap/obstacle_layer/bump/data_type: PointCloud2
• /move_base/local_costmap/obstacle_layer/bump/marking: True
• /move_base/local_costmap/obstacle_layer/bump/max_obstacle_height: 0.15
• /move_base/local_costmap/obstacle_layer/bump/min_obstacle_height: 0.0
• /move_base/local_costmap/obstacle_layer/bump/topic: mobile_base/senso...
• /move_base/local_costmap/obstacle_layer/combination_method: 1
• /move_base/local_costmap/obstacle_layer/enabled: True
• /move_base/local_costmap/obstacle_layer/mark_threshold: 0
• /move_base/local_costmap/obstacle_layer/max_obstacle_height: 0.6
• /move_base/local_costmap/obstacle_layer/observation_sources: scan bump
• /move_base/local_costmap/obstacle_layer/obstacle_range: 2.5
• /move_base/local_costmap/obstacle_layer/origin_z: 0.0
• /move_base/local_costmap/obstacle_layer/publish_voxel_map: False
• /move_base/local_costmap/obstacle_layer/raytrace_range: 3.0
• /move_base/local_costmap/obstacle_layer/scan/clearing: True
• /move_base/local_costmap/obstacle_layer/scan/data_type: LaserScan
• /move_base/local_costmap/obstacle_layer/scan/marking: True
• /move_base/local_costmap/obstacle_layer/scan/max_obstacle_height: 0.35
• /move_base/local_costmap/obstacle_layer/scan/min_obstacle_height: 0.25
• /move_base/local_costmap/obstacle_layer/scan/topic: scan
• /move_base/local_costmap/obstacle_layer/track_unknown_space: True
• /move_base/local_costmap/obstacle_layer/unknown_threshold: 15
• /move_base/local_costmap/obstacle_layer/z_resolution: 0.2
• /move_base/local_costmap/obstacle_layer/z_voxels: 2
• /move_base/local_costmap/plugins: [{'type': 'costma...
• /move_base/local_costmap/publish_frequency: 2.0
• /move_base/local_costmap/resolution: 0.01
• /move_base/local_costmap/robot_base_frame: base_footprint
• /move_base/local_costmap/robot_radius: 0.2
• /move_base/local_costmap/rolling_window: True
• /move_base/local_costmap/static_layer/enabled: True
• /move_base/local_costmap/static_layer/first_map_only: False
• /move_base/local_costmap/static_layer/map_topic: /occupancy_map
• /move_base/local_costmap/static_map: False
• /move_base/local_costmap/transform_tolerance: 0.5
• /move_base/local_costmap/update_frequency: 5.0
• /move_base/local_costmap/width: 4.0
• /move_base/oscillation_distance: 0.2
• /move_base/oscillation_timeout: 10.0
• /move_base/planner_frequency: 1.0
• /move_base/planner_patience: 1.0
• /move_base/recovery_behavior_enabled: False
• /move_base/shutdown_costmaps: False
• /move_group/allow_trajectory_execution: True
• /move_group/arm/default_planner_config: ESTkConfigDefault
• /move_group/arm/longest_valid_segment_fraction: 0.005
• /move_group/arm/planner_configs: ['SBLkConfigDefau...
• /move_group/arm/projection_evaluator: joints(joint_1,jo...
• /move_group/capabilities:
• /move_group/controller_list: [{'default': True...
• /move_group/disable_capabilities:
• /move_group/gripper/default_planner_config: ESTkConfigDefault
• /move_group/gripper/longest_valid_segment_fraction: 0.005
• /move_group/gripper/planner_configs: ['SBLkConfigDefau...
• /move_group/gripper/projection_evaluator: joints(joint_6,jo...
• /move_group/jiggle_fraction: 0.05
• /move_group/max_range: 5.0
• /move_group/max_safe_path_cost: 1
• /move_group/moveit_controller_manager: moveit_simple_con...
• /move_group/moveit_manage_controllers: True
• /move_group/octomap_resolution: 0.025
• /move_group/planner_configs/BFMTkConfigDefault/balanced: 0
• /move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1
• /move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1
• /move_group/planner_configs/BFMTkConfigDefault/heuristics: 1
• /move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1
• /move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000
• /move_group/planner_configs/BFMTkConfigDefault/optimality: 1
• /move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0
• /move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT
• /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
• /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
• /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
• /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
• /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
• /move_group/planner_configs/BiESTkConfigDefault/range: 0.0
• /move_group/planner_configs/BiESTkConfigDefault/type: geometric::BiEST
• /move_group/planner_configs/BiTRRTkConfigDefault/cost_threshold: 1e300
• /move_group/planner_configs/BiTRRTkConfigDefault/frountier_node_ratio: 0.1
• /move_group/planner_configs/BiTRRTkConfigDefault/frountier_threshold: 0.0
• /move_group/planner_configs/BiTRRTkConfigDefault/init_temperature: 100
• /move_group/planner_configs/BiTRRTkConfigDefault/range: 0.0
• /move_group/planner_configs/BiTRRTkConfigDefault/temp_change_factor: 0.1
• /move_group/planner_configs/BiTRRTkConfigDefault/type: geometric::BiTRRT
• /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
• /move_group/planner_configs/ESTkConfigDefault/range: 0.0
• /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
• /move_group/planner_configs/FMTkConfigDefault/cache_cc: 1
• /move_group/planner_configs/FMTkConfigDefault/extended_fmt: 1
• /move_group/planner_configs/FMTkConfigDefault/heuristics: 0
• /move_group/planner_configs/FMTkConfigDefault/nearest_k: 1
• /move_group/planner_configs/FMTkConfigDefault/num_samples: 1000
• /move_group/planner_configs/FMTkConfigDefault/radius_multiplier: 1.1
• /move_group/planner_configs/FMTkConfigDefault/type: geometric::FMT
• /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
• /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
• /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
• /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
• /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
• /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
• /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
• /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
• /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
• /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
• /move_group/planner_configs/LBTRRTkConfigDefault/epsilon: 0.4
• /move_group/planner_configs/LBTRRTkConfigDefault/goal_bias: 0.05
• /move_group/planner_configs/LBTRRTkConfigDefault/range: 0.0
• /move_group/planner_configs/LBTRRTkConfigDefault/type: geometric::LBTRRT
• /move_group/planner_configs/LazyPRMkConfigDefault/range: 0.0
• /move_group/planner_configs/LazyPRMkConfigDefault/type: geometric::LazyPRM
• /move_group/planner_configs/LazyPRMstarkConfigDefault/type: geometric::LazyPR...
• /move_group/planner_configs/PDSTkConfigDefault/type: geometric::PDST
• /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
• /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
• /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
• /move_group/planner_configs/ProjESTkConfigDefault/goal_bias: 0.05
• /move_group/planner_configs/ProjESTkConfigDefault/range: 0.0
• /move_group/planner_configs/ProjESTkConfigDefault/type: geometric::ProjEST
• /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
• /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
• /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
• /move_group/planner_configs/RRTkConfigDefault/range: 0.0
• /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
• /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
• /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
• /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
• /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
• /move_group/planner_configs/SBLkConfigDefault/range: 0.0
• /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
• /move_group/planner_configs/SPARSkConfigDefault/dense_delta_fraction: 0.001
• /move_group/planner_configs/SPARSkConfigDefault/max_failures: 1000
• /move_group/planner_configs/SPARSkConfigDefault/sparse_delta_fraction: 0.25
• /move_group/planner_configs/SPARSkConfigDefault/stretch_factor: 3.0
• /move_group/planner_configs/SPARSkConfigDefault/type: geometric::SPARS
• /move_group/planner_configs/SPARStwokConfigDefault/dense_delta_fraction: 0.001
• /move_group/planner_configs/SPARStwokConfigDefault/max_failures: 5000
• /move_group/planner_configs/SPARStwokConfigDefault/sparse_delta_fraction: 0.25
• /move_group/planner_configs/SPARStwokConfigDefault/stretch_factor: 3.0
• /move_group/planner_configs/SPARStwokConfigDefault/type: geometric::SPARStwo
• /move_group/planner_configs/STRIDEkConfigDefault/degree: 16
• /move_group/planner_configs/STRIDEkConfigDefault/estimated_dimension: 0.0
• /move_group/planner_configs/STRIDEkConfigDefault/goal_bias: 0.05
• /move_group/planner_configs/STRIDEkConfigDefault/max_degree: 18
• /move_group/planner_configs/STRIDEkConfigDefault/max_pts_per_leaf: 6
• /move_group/planner_configs/STRIDEkConfigDefault/min_degree: 12
• /move_group/planner_configs/STRIDEkConfigDefault/min_valid_path_fraction: 0.2
• /move_group/planner_configs/STRIDEkConfigDefault/range: 0.0
• /move_group/planner_configs/STRIDEkConfigDefault/type: geometric::STRIDE
• /move_group/planner_configs/STRIDEkConfigDefault/use_projected_distance: 0
• /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
• /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
• /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
• /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
• /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
• /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
• /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
• /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
• /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
• /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
• /move_group/planning_plugin: ompl_interface/OM...
• /move_group/planning_scene_monitor/publish_geometry_updates: True
• /move_group/planning_scene_monitor/publish_planning_scene: True
• /move_group/planning_scene_monitor/publish_state_updates: True
• /move_group/planning_scene_monitor/publish_transforms_updates: True
• /move_group/request_adapters: default_planner_r...
• /move_group/sensors: [{'point_subsampl...
• /move_group/start_state_max_bounds_error: 0.1
• /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
• /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
• /move_group/trajectory_execution/allowed_start_tolerance: 0.0
• /navigation_velocity_smoother/accel_lim_v: 1.0
• /navigation_velocity_smoother/accel_lim_w: 2.0
• /navigation_velocity_smoother/decel_factor: 1.5
• /navigation_velocity_smoother/frequency: 20.0
• /navigation_velocity_smoother/robot_feedback: 2
• /navigation_velocity_smoother/speed_lim_v: 0.8
• /navigation_velocity_smoother/speed_lim_w: 5.4
• /orb_slam2_rgbd/depth_topic: /camera/aligned_d...
• /orb_slam2_rgbd/rgb_topic: /camera/color/ima...
• /orb_slam2_rgbd/settings_file: /home/vikash/low_...
• /orb_slam2_rgbd/voc_file: /home/vikash/low_...
• /robot/name: turtlebot
• /robot/type: turtlebot
• /robot_description: <?xml version="1....
• /robot_description_kinematics/arm/kinematics_solver: trac_ik_kinematic...
• /robot_description_kinematics/arm/kinematics_solver_attempts: 3
• /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
• /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
• /robot_description_planning/joint_limits/joint_1/has_acceleration_limits: False
• /robot_description_planning/joint_limits/joint_1/has_velocity_limits: True
• /robot_description_planning/joint_limits/joint_1/max_acceleration: 0
• /robot_description_planning/joint_limits/joint_1/max_velocity: 1
• /robot_description_planning/joint_limits/joint_2/has_acceleration_limits: False
• /robot_description_planning/joint_limits/joint_2/has_velocity_limits: True
• /robot_description_planning/joint_limits/joint_2/max_acceleration: 0
• /robot_description_planning/joint_limits/joint_2/max_velocity: 1
• /robot_description_planning/joint_limits/joint_3/has_acceleration_limits: False
• /robot_description_planning/joint_limits/joint_3/has_velocity_limits: True
• /robot_description_planning/joint_limits/joint_3/max_acceleration: 0
• /robot_description_planning/joint_limits/joint_3/max_velocity: 1
• /robot_description_planning/joint_limits/joint_4/has_acceleration_limits: False
• /robot_description_planning/joint_limits/joint_4/has_velocity_limits: True
• /robot_description_planning/joint_limits/joint_4/max_acceleration: 0
• /robot_description_planning/joint_limits/joint_4/max_velocity: 1
• /robot_description_planning/joint_limits/joint_5/has_acceleration_limits: False
• /robot_description_planning/joint_limits/joint_5/has_velocity_limits: True
• /robot_description_planning/joint_limits/joint_5/max_acceleration: 0
• /robot_description_planning/joint_limits/joint_5/max_velocity: 1
• /robot_description_planning/joint_limits/joint_6/has_acceleration_limits: False
• /robot_description_planning/joint_limits/joint_6/has_velocity_limits: True
• /robot_description_planning/joint_limits/joint_6/max_acceleration: 0
• /robot_description_planning/joint_limits/joint_6/max_velocity: 1
• /robot_description_planning/joint_limits/joint_7/has_acceleration_limits: False
• /robot_description_planning/joint_limits/joint_7/has_velocity_limits: True
• /robot_description_planning/joint_limits/joint_7/max_acceleration: 0
• /robot_description_planning/joint_limits/joint_7/max_velocity: 1
• /robot_description_semantic: <?xml version="1....
• /rosdistro: kinetic
• /rosversion: 1.12.14
• /rviz_vikash_desktop_2101_8648206597407369419/arm/kinematics_solver: trac_ik_kinematic...
• /rviz_vikash_desktop_2101_8648206597407369419/arm/kinematics_solver_attempts: 3
• /rviz_vikash_desktop_2101_8648206597407369419/arm/kinematics_solver_search_resolution: 0.005
• /rviz_vikash_desktop_2101_8648206597407369419/arm/kinematics_solver_timeout: 0.005
• /teleop: False
• /torque_control: False
• /use_arm: False
• /use_base: True
• /use_camera: True
• /use_sim: False
• /use_sim_time: False
• /use_vslam: True

NODES
/camera/
color_rectify_color (nodelet/nodelet)
points_xyzrgb_hw_registered (nodelet/nodelet)
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)
/
bumper2pointcloud (nodelet/nodelet)
cmd_vel_mux (nodelet/nodelet)
diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
locobot_controller (locobot_control/locobot_controller)
map_server (map_server/map_server)
mobile_base (nodelet/nodelet)
mobile_base_nodelet_manager (nodelet/nodelet)
move_base (move_base/move_base)
move_group (moveit_ros_move_group/move_group)
navigation_velocity_smoother (nodelet/nodelet)
odom_map_broadcaster (tf/static_transform_publisher)
orb_slam2_rgbd (orb_slam2_ros/orb_slam2_rgbd)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz_vikash_desktop_2101_8648206597407369419 (rviz/rviz)

auto-starting new master
process[master]: started with pid [2121]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 978b8314-cab2-11e9-97a9-00c2c6bcf3fe
process[rosout-1]: started with pid [2134]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [2151]
process[camera/realsense2_camera-3]: started with pid [2152]
process[camera/color_rectify_color-4]: started with pid [2153]
process[camera/points_xyzrgb_hw_registered-5]: started with pid [2154]
process[orb_slam2_rgbd-6]: started with pid [2169]
process[diagnostic_aggregator-7]: started with pid [2179]
process[mobile_base_nodelet_manager-8]: started with pid [2185]
process[mobile_base-9]: started with pid [2187]
process[bumper2pointcloud-10]: started with pid [2190]
process[cmd_vel_mux-11]: started with pid [2204]
process[locobot_controller-12]: started with pid [2216]
process[map_server-13]: started with pid [2230]
process[odom_map_broadcaster-14]: started with pid [2242]
process[navigation_velocity_smoother-15]: started with pid [2251]
process[move_base-16]: started with pid [2266]
process[robot_state_publisher-17]: started with pid [2287]
process[move_group-18]: started with pid [2291]
process[rviz_vikash_desktop_2101_8648206597407369419-19]: started with pid [2311]
[ INFO] [1567120402.460071955]: Initializing nodelet with 4 worker threads.
[PortHandlerLinux::SetupPort] Error opening serial port!
[ERROR] [1567120402.518783407]: [DynamixelDriver] Failed to open the port!
[ERROR] [1567120402.518853515]: Please check USB port name
[ INFO] [1567120402.543696185]: RealSense ROS v2.1.4
[ INFO] [1567120402.543791222]: Running with LibRealSense v2.18.1
[ INFO] [1567120402.619684333]: Loading robot model 'locobot'...
[ INFO] [1567120402.619800247]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1567120402.687132545]: getParameters...
[ INFO] [1567120402.689936966]: rviz version 1.12.17
[ INFO] [1567120402.690081544]: compiled against Qt version 5.5.1
[ INFO] [1567120402.690159583]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1567120402.854614440]: setupDevice...
[ INFO] [1567120402.854658898]: JSON file is not provided
[ INFO] [1567120402.854692867]: ROS Node Namespace: camera
[ INFO] [1567120402.854713734]: Device Name: Intel RealSense D435
[ INFO] [1567120402.854728714]: Device Serial No: 826212070362
[ INFO] [1567120402.854743304]: Device FW version: 05.11.06.250
[ INFO] [1567120402.854759744]: Device Product ID: 0x0B07
[ INFO] [1567120402.854776860]: Enable PointCloud: Off
[ INFO] [1567120402.854799854]: Align Depth: On
[ INFO] [1567120402.854813538]: Sync Mode: On
[ INFO] [1567120402.854852939]: Device Sensors:
[ INFO] [1567120402.854885991]: Stereo Module was found.
[ INFO] [1567120402.854903235]: RGB Camera was found.
[ INFO] [1567120402.854956741]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1567120402.854973672]: (Gyro, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1567120402.854989789]: (Accel, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1567120402.859358243]: setupPublishers...
[ INFO] [1567120402.864763799]: Expected frequency for depth = 30.00000

REQUIRED process [locobot_controller-12] has died!
process has finished cleanly
log file: /home/vikash/.ros/log/978b8314-cab2-11e9-97a9-00c2c6bcf3fe/locobot_controller-12*.log
Initiating shutdown!

[ INFO] [1567120402.912608763]: Using plugin "static_layer"
[ INFO] [1567120402.948156768]: Requesting the map...
[ INFO] [1567120402.954187009]: Expected frequency for infra1 = 30.00000
[rviz_vikash_desktop_2101_8648206597407369419-19] killing on exit
[robot_state_publisher-17] killing on exit
[move_group-18] killing on exit
[odom_map_broadcaster-14] killing on exit
[move_base-16] killing on exit
[navigation_velocity_smoother-15] killing on exit
[locobot_controller-12] killing on exit
[map_server-13] killing on exit
[mobile_base_nodelet_manager-8] killing on exit
[mobile_base-9] killing on exit
[bumper2pointcloud-10] killing on exit
[cmd_vel_mux-11] killing on exit
[diagnostic_aggregator-7] killing on exit
[orb_slam2_rgbd-6] killing on exit
[camera/points_xyzrgb_hw_registered-5] killing on exit
[camera/color_rectify_color-4] killing on exit
[camera/realsense2_camera-3] killing on exit
[camera/realsense2_camera_manager-2] killing on exit
[ INFO] [1567120403.008433772]: Interrupt Signal is received! Terminating RealSense Node...
30/08 07:13:23,008 WARNING [139724434769792] (types.cpp:57) stop_streaming() failed. UVC device is not streaming!
[ INFO] [1567120403.019812910]: Expected frequency for aligned_depth_to_infra1 = 30.00000
[ INFO] [1567120403.078924170]: Expected frequency for infra2 = 30.00000
[ INFO] [1567120403.243421644]: Expected frequency for aligned_depth_to_infra2 = 30.00000
[ INFO] [1567120403.366973194]: Expected frequency for color = 30.00000
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injectorboost::lock_error >'
what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument
[ INFO] [1567120403.445902938]: Expected frequency for aligned_depth_to_color = 30.00000
[ INFO] [1567120403.535946209]: setupStreams...
30/08 07:13:23,538 WARNING [139724434769792] (sensor.cpp:338) Unregistered Media formats : [ UYVY ]; Supported: [ ]
[ INFO] [1567120403.541783409]: depth stream is enabled - width: 640, height: 480, fps: 30
[ INFO] [1567120403.542054726]: infra1 stream is enabled - width: 640, height: 480, fps: 30
[ INFO] [1567120403.542283715]: infra2 stream is enabled - width: 640, height: 480, fps: 30
30/08 07:13:23,542 WARNING [139724434769792] (backend-v4l2.cpp:1248) Pixel format 36315752-1a66-a242-9065-d01814a likely requires patch for fourcc code RW16!
30/08 07:13:23,543 WARNING [139724434769792] (sensor.cpp:338) Unregistered Media formats : [ RW16 ]; Supported: [ ]
[ INFO] [1567120403.546500835]: color stream is enabled - width: 640, height: 480, fps: 30
[ INFO] [1567120403.576904732]: num_filters: 0
[ INFO] [1567120403.577603421]: RealSense Node Is Up!
[ INFO] [1567120403.577649104]: Setting Dynamic reconfig parameters.
[ INFO] [1567120403.740436127]: Done Setting Dynamic reconfig parameters.
30/08 07:13:23,758 WARNING [139723648333568] (ds5-timestamp.cpp:64) UVC metadata payloads not available. Please refer to installation chapter for details.
[ WARN] [1567120403.759075034]: Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME)
30/08 07:13:23,761 WARNING [139723637466880] (ds5-timestamp.cpp:64) UVC metadata payloads not available. Please refer to installation chapter for details.
Starting context monitors...
Context monitors started.
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...

You can start planning now!

[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

how to navigate and take pictures simultaneously

When I was trying the example code base_trajectory_tracking.py,
I was wondering if I can let the locobot take pictures during navigation.
Is there an API to use to do this? Or I have to modify execute_plan() in the base_control_utils.py directly?

tf error: Could not find a connection between 'map' and 'base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.. canTransform returned after 0.100597 timeout was 0.1. in real locobot enviornment

Steps to reproduce

1. In one terminal, type ‘roslaunch locobot_control main.launch use_base:=true use_arm:=true use_camera:=true use_rviz:=false.
2. In a second terminal, type ‘source ~/pyenv_pyrobot/bin/activate’ and hit Enter. Then navigate to the low_cost_ws/src/pyrobot/examples/locobot directory, and run
   python navigation/camera_image.py

Observed Results

first terminal
[ WARN] [1593657605.971560081]: The complete state of the robot is not yet known. Missing wheel_left_joint, wheel_right_joint
[ WARN] [1593657607.123305077]: The complete state of the robot is not yet known. Missing wheel_left_joint, wheel_right_joint
[ WARN] [1593657608.156443146]: The complete state of the robot is not yet known. Missing wheel_left_joint, wheel_right_joint
[ WARN] [1593657609.156806335]: The complete state of the robot is not yet known. Missing wheel_left_joint, wheel_right_joint
[ WARN] [1593657610.227221656]: The complete state of the robot is not yet known. Missing wheel_left_joint, wheel_right_joint
[ WARN] [1593657610.467207508]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: Could not find a connection between 'map' and 'base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.. canTransform returned after 0.100731 timeout was 0.1.
Second terminal
(pyenv_pyrobot) locobot@locobot:/low_cost_ws/src/pyrobot/examples/locobot$ python navigation/camera_image.py
[ INFO] [1593657538.427438486]: Loading robot model 'locobot'...
[ INFO] [1593657538.427505010]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1593657538.863965620]:(pyenv_pyrobot) locobot@locobot:/low_cost_ws/src/pyrobot/examples/locobot/navigation$ cd .. IK Using joint shoulder_link -1.57 1.57
[ INFO] [1593657538.863993998]: IK Using joint elbow_link -1.57 1.57
[ INFO] [1593657538.864010939]: IK Using joint forearm_link -1.57 1.57
[ INFO] [1593657538.864022995]: IK Using joint wrist_link -1.57 1.57
[ INFO] [1593657538.864032792]: IK Using joint gripper_link -1.57 1.57
[ INFO] [1593657538.864046149]: Looking in common namespaces for param name: arm/position_only_ik
[ INFO] [1593657538.865586838]: Looking in common namespaces for param name: arm/solve_type
[ INFO] [1593657538.867052729]: Using solve type Speed
[ INFO] [1593657539.869189503]: Ready to take commands for planning group arm.
Unknown attribute: name
Traceback (most recent call last):
File "navigation/camera_image.py", line 16, in
bot = Robot('locobot')
File "/home/locobot/pyenv_pyrobot/local/lib/python2.7/site-packages/pyrobot/core.py", line 108, in init
self.base = base_class(self.configs, **base_config)
File "/home/locobot/pyenv_pyrobot/local/lib/python2.7/site-packages/pyrobot/locobot/base.py", line 239, in init
self.planner = MoveBasePlanner(self.configs)
File "/home/locobot/pyenv_pyrobot/local/lib/python2.7/site-packages/pyrobot/locobot/base_control_utils.py", line 256, in init
rospy.wait_for_service(self.configs.BASE.PLAN_TOPIC, timeout=3)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 143, in wait_for_service
raise ROSException("timeout exceeded while waiting for service %s"%resolved_name)
rospy.exceptions.ROSException: timeout exceeded while waiting

Expected Results

It should give image.

Relevant Code

// TODO(you): code here to reproduce the problem

Installation issue with pip

After following the steps you shared for installation I am having trouble running locobot_install_all.sh. I get the following:

Traceback (most recent call last):
File "/usr/bin/pip", line 9, in
from pip import main
ImportError: cannot import name main

I searched online, but only got confused more about the issue. Do you have any idea about this?

Thank you!

PyRobot Installation Scripts Doesn't Work for Ubuntu 18.04 and Python 3

Hey Kalyan, I'm not sure whether PyRobot can also run on Ubuntu 18.04 by Python 3. But I did run issues with installation when execute locobot_install_all.sh on a fresh Ubuntu 18.04.

To make the installation scripts run without errors, I did 4 minor modifications:

1. I added sudo apt-get install python-rosdep before Line 134, otherwise, there would be sudo: rosdep: command not found error.
2. I deleted python-software-properties in install_pyrobot.sh Line 67, since python-software-properties package is only available for Ubuntu 12-, and software-properties-common is its alternative.
3. I commented out install_pyrobot.sh Line 68, otherwise, there would be errors like this:

4. For install_pyrobot.sh Line 107, instead of using catkin_make, I used catkin_make_isolated, otherwise would occur errors like this:
   

Observed Results

After installation, when import pyrobot module in PyRobot virtual env this ImportError would occur:

It has something do do with client.py Line 68 and roscpp.srv module. I noticed there isn't GetLoggersResponse, SetLoggerLevelResponse module. So is the installation scripts for Ubuntu 18.04 and Python 3 still unfinished?

Odom map broadcaster

This line seems to conflict with any other localization packages that tries to generate map -> odom transform right? I am wondering is this intended and what is the best way to avoid the conflict? (I can always comment it out but just wonder) thanks!

pyrobot/robots/LoCoBot/locobot_navigation/base_navigation/launch/move_base.launch

Line 10 in d3ca3c6

<node pkg="tf" type="static_transform_publisher" name="odom_map_broadcaster" args="0 0 0 0 0 0 /map /odom 100" />