hsr-project/hsrb_rosnav

hsrb_rosnav's Issues

error in ICP failed for some reason during use laser_base_scan in reinforcement learning

HI HSR development support @yosuke @yuka-hashiguchi @nobuyuki-matsuno
i am working on HSR obstacle avoidance using Deep Reinfocement Learning, i use laser_scan on HSR to detect the obstacle.
However, i have a problem during training and reset the simulation world in gazebo, the error appear as follows :

poly_greatest_real_root: Could not find real root for polynomial.
polynomial coefficients : -0.108676 -3.848780 -36.713641 -46.699968 -16.000000
Roots:
root z0 = -0.058845680678141284 + +0.000000169915968913 i
root z1 = -0.058845680678141284 + -0.000000169915968913 i
root z2 = -1.400528318515152693 + +0.000000460218494630 i
root z3 = -1.400528318515152693 + -0.000000460218494630 i
:err: gpc_solve_valid failed
:err: icp_loop: Cannot compute next estimate.
:err: icp: ICP failed for some reason.
2020-11-25 14:25:59+0900 [-] [WARN] [1606281959.168205, 60.035000]: Unable to start server: Couldn't listen on any:9090: [Errno 98] Address already in use. Retrying in 5s.
:err: compute_next_estimate: something's fishy here! Old error: 0.501156 new error: 5.228942 x_old -0.199497 1.290519 -3.034672 x_new -0.341285 0.784230 -1.453939
:err: : before trimming, only 0 correspondences.
:err: icp: ICP failed for some reason.
:err: : before trimming, only 0 correspondences.
:err: icp: ICP failed for some reason.
:err: : before trimming, only 0 correspondences.
:err: icp: ICP failed for some reason.
:err: : before trimming, only 0 correspondences.
:err: icp: ICP failed for some reason.
:err: : before trimming, only 0 correspondences.
:err: icp: ICP failed for some reason.
:err: : before trimming, only 34 correspondences.
:err: icp: ICP failed for some reason.
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i dont know how to solve this error, i have tried some recommendations from internet, but the error keep appear after the gazebo world reset in the looping program of reinforcement learning. i think this error because of the base_laser_scan keep estimating the pose. please kindly give us some suggestion.

odometry_switcher package

When i was trying to do the mapping using the simple gazebo world.launch with hector_slam, the odometry_switcher package was not found. I looked in the hsr project on GitHub and couldn't find it.
How can I get access to this package or a similar package?