Hi,
I connected my RMP, VLP-16 and my PC on the same router and I am running
bazel run apps/tutorials/simple_robot/simple_robot
But I got an error message:
"ERROR packages/segway/gems/segway.cpp@110: Command probably invalid (error -1) cbffeaac cbffeaae cbffeab2 cbffeab6
packages/segway/SegwayRmpDriver.cpp@89: Failed to send command
"
It seems that the lidar generated a large volume of data and cause the network congestion.
Any suggestions on how to resolve this problem?
Regards,
I too am having this problem with the RMP segway. Any suggestions? I am not connected directly to the host PC. I am using the robot and the Jetson TX2.
We will check and get back.
Hello,
Could you provide us the following information please?
Thanks
jetson@jetson-desktop:~/deploy/shatterhand/gmapping-pkg$ ./apps/carter/gmapping/gmapping
2019-11-06 15:15:17.537 INFO engine/alice/tools/websight.cpp@166: Loading websight...
2019-11-06 15:15:17.537 WARNING engine/alice/backend/application_json_loader.cpp@98: This application does not have an explicit scheduler configuration. One will be autogenerated to the best of the system's abilities if possible.
2019-11-06 15:15:17.539 INFO engine/alice/backend/application_json_loader.cpp@237: Modules requested by subgraph 'imu_odometry': imu, (navigation),
2019-11-06 15:15:17.540 INFO engine/alice/backend/application_json_loader.cpp@237: Modules requested by subgraph 'local_map': (navigation),
2019-11-06 15:15:17.540 WARNING engine/alice/backend/application_json_loader.cpp@241: Loaded a subgraph with no modules section. Did you forget to add one?
2019-11-06 15:15:17.541 INFO engine/alice/backend/application_json_loader.cpp@237: Modules requested by subgraph 'carter_hardware': (imu), segway, velodyne_lidar,
2019-11-06 15:15:17.542 INFO engine/alice/backend/application_json_loader.cpp@237: Modules requested by subgraph 'scan_flattener': perception,
2019-11-06 15:15:17.542 INFO engine/alice/backend/application_json_loader.cpp@237: Modules requested by subgraph 'commander': (navigation), sensors:joystick,
2019-11-06 15:15:17.542 WARNING engine/alice/backend/backend.cpp@168: This application does not have an execution group configuration. One will be autogenerated to the best of the systems abilities if possible.
2019-11-06 15:15:17.543 WARNING engine/gems/scheduler/scheduler.cpp@337: No default execution groups specified. Attempting to create scheduler configuration for 4 remaining cores. This may be non optimal for the system and application.
2019-11-06 15:15:17.543 INFO engine/gems/scheduler/scheduler.cpp@290: Scheduler execution groups are:
2019-11-06 15:15:17.543 INFO engine/gems/scheduler/scheduler.cpp@299: __BlockerGroup__: Cores = [3], Workers = No
2019-11-06 15:15:17.543 INFO engine/gems/scheduler/scheduler.cpp@299: __WorkerGroup__: Cores = [0, 1, 2], Workers = Yes
2019-11-06 15:15:17.570 INFO engine/alice/backend/modules.cpp@283: Loaded module 'packages/imu/libimu_module.so': Now has 43 components total
2019-11-06 15:15:17.606 INFO engine/alice/backend/modules.cpp@283: Loaded module 'packages/navigation/libnavigation_module.so': Now has 81 components total
2019-11-06 15:15:17.730 INFO engine/alice/backend/modules.cpp@283: Loaded module 'packages/perception/libperception_module.so': Now has 91 components total
2019-11-06 15:15:17.772 INFO engine/alice/backend/modules.cpp@283: Loaded module 'packages/segway/libsegway_module.so': Now has 92 components total
2019-11-06 15:15:17.804 INFO engine/alice/backend/modules.cpp@283: Loaded module 'packages/sensors/libjoystick_module.so': Now has 93 components total
2019-11-06 15:15:17.844 INFO engine/alice/backend/modules.cpp@283: Loaded module 'packages/sight/libsight_module.so': Now has 95 components total
2019-11-06 15:15:17.877 INFO engine/alice/backend/modules.cpp@283: Loaded module 'packages/velodyne_lidar/libvelodyne_lidar_module.so': Now has 96 components total
2019-11-06 15:15:17.878 INFO engine/alice/application.cpp@265: Loaded 96 components: isaac::Joystick, isaac::SegwayRmpDriver, isaac::alice::Behavior, isaac::alice::ChannelMonitor, isaac::alice::Config, isaac::alice::ConfigBridge, isaac::alice::Failsafe, isaac::alice::FailsafeHeartbeat, isaac::alice::InteractiveMarkersBridge, isaac::alice::MessageLedger, isaac::alice::NodeStatistics, isaac::alice::Pose, isaac::alice::PoseInitializer, isaac::alice::PoseMessageInjector, isaac::alice::PoseTreeJsonBridge, isaac::alice::PyCodelet, isaac::alice::Recorder, isaac::alice::RecorderBridge, isaac::alice::Replay, isaac::alice::ReplayBridge, isaac::alice::Scheduling, isaac::alice::Sight, isaac::alice::SightChannelStatus, isaac::alice::Subgraph, isaac::alice::Subprocess, isaac::alice::TcpPublisher, isaac::alice::TcpSubscriber, isaac::alice::Throttle, isaac::alice::TimeOffset, isaac::alice::TimeSynchronizer, isaac::alice::UdpPublisher, isaac::alice::UdpSubscriber, isaac::alice::behaviors::Behavior, isaac::alice::behaviors::MemorySelectorBehavior, isaac::alice::behaviors::MemorySequenceBehavior, isaac::alice::behaviors::NodeGroup, isaac::alice::behaviors::ParallelBehavior, isaac::alice::behaviors::SwitchBehavior, isaac::alice::behaviors::TimerBehavior, isaac::imu::IioBmi160, isaac::imu::ImuCalibration2D, isaac::imu::ImuCorrector, isaac::imu::ImuSim, isaac::map::Map, isaac::map::OccupancyGridMapLayer, isaac::map::PolygonMapLayer, isaac::map::WaypointMapLayer, isaac::navigation::BinaryToDistanceMap, isaac::navigation::CollisionMonitor, isaac::navigation::DifferentialBaseOdometry, isaac::navigation::DifferentialBaseWheelImuOdometry, isaac::navigation::DistanceMap, isaac::navigation::FollowPath, isaac::navigation::GoTo, isaac::navigation::GoToBehavior, isaac::navigation::GradientDescentLocalization, isaac::navigation::GridSearchLocalizer, isaac::navigation::GroupSelectorBehavior, isaac::navigation::HolonomicBaseWheelImuOdometry, isaac::navigation::LocalMap, isaac::navigation::LocalizationEvaluation, isaac::navigation::LocalizeBehavior, isaac::navigation::MapWaypointAsGoal, isaac::navigation::MapWaypointAsGoalSimulator, isaac::navigation::MoveAndScan, isaac::navigation::NavigationMap, isaac::navigation::NavigationMonitor, isaac::navigation::ObstacleWorld, isaac::navigation::OccupancyMapCleanup, isaac::navigation::OccupancyToBinaryMap, isaac::navigation::ParticleFilterLocalization, isaac::navigation::ParticleSwarmLocalization, isaac::navigation::Patrol, isaac::navigation::PoseAsGoal, isaac::navigation::RandomWalk, isaac::navigation::RangeScanModelClassic, isaac::navigation::RangeScanModelFlatloc, isaac::navigation::RobotRemoteControl, isaac::navigation::RobotViewer, isaac::navigation::SelectorBehavior, isaac::navigation::TravellingSalesman, isaac::navigation::VirtualGamepadBridge, isaac::perception::CropAndDownsampleCpu, isaac::perception::CropAndDownsampleCuda, isaac::perception::EstimateGroundPlane, isaac::perception::EstimateObstacleDistances, isaac::perception::FiducialAsGoal, isaac::perception::ImageUndistortion, isaac::perception::PointCloudAccumulator, isaac::perception::RangeScanFlattening, isaac::perception::RangeToPointCloud, isaac::perception::ScanAccumulator, isaac::sight::AliceSight, isaac::sight::WebsightServer, isaac::velodyne_lidar::VelodyneLidar, navigation::GMappingNode,
2019-11-06 15:15:17.878 DEBUG engine/alice/backend/node_backend.cpp@49: Creating node 'websight'
2019-11-06 15:15:17.880 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='websight', component='WebsightServer', key='tick_period'
2019-11-06 15:15:17.881 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='websight', component='isaac.sight.AliceSight', key='tick_period'
2019-11-06 15:15:17.881 DEBUG engine/alice/backend/node_backend.cpp@49: Creating node '_config_bridge'
2019-11-06 15:15:17.881 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='_config_bridge', component='isaac.alice.ConfigBridge', key='tick_period'
2019-11-06 15:15:17.881 DEBUG engine/alice/backend/node_backend.cpp@49: Creating node '_statistics'
2019-11-06 15:15:17.881 DEBUG engine/alice/backend/node_backend.cpp@49: Creating node '_pose_tree_bridge'
2019-11-06 15:15:17.881 DEBUG engine/alice/backend/node_backend.cpp@49: Creating node '_interactive_markers_bridge'
2019-11-06 15:15:17.881 DEBUG engine/alice/backend/node_backend.cpp@49: Creating node 'gmapping'
2019-11-06 15:15:17.882 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='gmapping', component='navigation.GMappingNode', key='tick_period'
2019-11-06 15:15:17.882 DEBUG engine/alice/backend/node_backend.cpp@49: Creating node 'imu_odometry.subgraph'
2019-11-06 15:15:17.882 DEBUG engine/alice/backend/node_backend.cpp@49: Creating node 'imu_odometry.odometry'
2019-11-06 15:15:17.882 DEBUG engine/alice/backend/node_backend.cpp@49: Creating node 'imu_odometry.imu_corrector'
2019-11-06 15:15:17.882 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='imu_odometry.imu_corrector', component='ImuCorrector', key='tick_period'
2019-11-06 15:15:17.882 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='imu_odometry.imu_corrector', component='ImuCorrector', key='calibration_file'
2019-11-06 15:15:17.882 DEBUG engine/alice/backend/node_backend.cpp@49: Creating node 'local_map.subgraph'
2019-11-06 15:15:17.882 DEBUG engine/alice/backend/node_backend.cpp@49: Creating node 'local_map.local_map'
2019-11-06 15:15:17.882 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='local_map.local_map', component='cleanup', key='tick_period'
2019-11-06 15:15:17.882 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='local_map.local_map', component='cleanup', key='additional_clear_region'
2019-11-06 15:15:17.882 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='local_map.local_map', component='isaac.navigation.BinaryToDistanceMap', key='tick_period'
2019-11-06 15:15:17.882 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='local_map.local_map', component='isaac.navigation.LocalMap', key='tick_period'
2019-11-06 15:15:17.883 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='local_map.local_map', component='isaac.navigation.OccupancyToBinaryMap', key='tick_period'
2019-11-06 15:15:17.883 DEBUG engine/alice/backend/node_backend.cpp@49: Creating node '2d_carter.subgraph'
2019-11-06 15:15:17.883 DEBUG engine/alice/backend/node_backend.cpp@49: Creating node '2d_carter.carter_hardware.subgraph'
2019-11-06 15:15:17.883 DEBUG engine/alice/backend/node_backend.cpp@49: Creating node '2d_carter.carter_hardware.segway_rmp'
2019-11-06 15:15:17.883 DEBUG engine/alice/backend/node_backend.cpp@49: Creating node '2d_carter.carter_hardware.vlp16'
2019-11-06 15:15:17.883 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='2d_carter.carter_hardware.vlp16', component='VelodyneLidar', key='tick_period'
2019-11-06 15:15:17.883 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='2d_carter.carter_hardware.vlp16', component='lidar_initializer', key='tick_period'
2019-11-06 15:15:17.884 DEBUG engine/alice/backend/node_backend.cpp@49: Creating node '2d_carter.carter_hardware.imu'
2019-11-06 15:15:17.884 DEBUG engine/alice/backend/node_backend.cpp@49: Creating node '2d_carter.scan_flattener.subgraph'
2019-11-06 15:15:17.884 DEBUG engine/alice/backend/node_backend.cpp@49: Creating node '2d_carter.scan_flattener.scan_accumulator'
2019-11-06 15:15:17.884 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='2d_carter.scan_flattener.scan_accumulator', component='isaac.perception.ScanAccumulator', key='tick_period'
2019-11-06 15:15:17.884 DEBUG engine/alice/backend/node_backend.cpp@49: Creating node '2d_carter.scan_flattener.range_scan_flattening'
2019-11-06 15:15:17.884 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='2d_carter.scan_flattener.range_scan_flattening', component='isaac.perception.RangeScanFlattening', key='tick_period'
2019-11-06 15:15:17.884 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='2d_carter.scan_flattener.range_scan_flattening', component='isaac.perception.RangeScanFlattening', key='target_pitch'
2019-11-06 15:15:17.884 DEBUG engine/alice/backend/node_backend.cpp@49: Creating node 'commander.subgraph'
2019-11-06 15:15:17.884 DEBUG engine/alice/backend/node_backend.cpp@49: Creating node 'commander.joystick'
2019-11-06 15:15:17.885 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='commander.joystick', component='isaac.Joystick', key='tick_period'
2019-11-06 15:15:17.885 DEBUG engine/alice/backend/node_backend.cpp@49: Creating node 'commander.virtual_gamepad_bridge'
2019-11-06 15:15:17.885 DEBUG engine/alice/backend/node_backend.cpp@49: Creating node 'commander.robot_remote'
2019-11-06 15:15:17.885 DEBUG engine/alice/backend/node_backend.cpp@49: Creating node 'recorder'
2019-11-06 15:15:17.885 DEBUG engine/alice/backend/node_backend.cpp@49: Creating node 'recorder_bridge'
2019-11-06 15:15:17.886 WARNING engine/alice/application.cpp@173: The function Application::findComponentByName is deprecated. Please use `getNodeComponentOrNull` instead. Note that the new method requires a node name instead of a component name. (argument: 'websight/isaac.sight.AliceSight')
2019-11-06 15:15:17.886 INFO engine/alice/application.cpp@213: Starting application 'gmapping' (instance UUID: '2663cf4c-00d2-11ea-bc4c-b5166e886b71') ...
2019-11-06 15:15:17.886 DEBUG engine/gems/scheduler/execution_groups.cpp@484: Launching 0 pre-start job(s)
2019-11-06 15:15:17.886 DEBUG engine/gems/scheduler/execution_groups.cpp@493: Replaying 0 pre-start event(s)
2019-11-06 15:15:17.886 DEBUG engine/gems/scheduler/execution_groups.cpp@484: Launching 0 pre-start job(s)
2019-11-06 15:15:17.886 DEBUG engine/gems/scheduler/execution_groups.cpp@493: Replaying 0 pre-start event(s)
2019-11-06 15:15:17.886 INFO engine/alice/backend/asio_backend.cpp@33: Starting ASIO service
2019-11-06 15:15:17.896 DEBUG engine/alice/backend/node_backend.cpp@317: Starting node 'websight'
2019-11-06 15:15:17.896 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'websight/WebsightServer' ...
2019-11-06 15:15:17.897 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'websight/WebsightServer' DONE
2019-11-06 15:15:17.898 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'websight/WebsightServer'
2019-11-06 15:15:17.898 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'websight/isaac.sight.AliceSight' ...
2019-11-06 15:15:17.898 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'websight/isaac.sight.AliceSight' DONE
2019-11-06 15:15:17.898 WARNING engine/alice/backend/codelet_backend.cpp@281: Codelet 'websight/isaac.sight.AliceSight' was not added to scheduler because no tick method is specified.
2019-11-06 15:15:17.898 DEBUG engine/alice/backend/node_backend.cpp@317: Starting node '_config_bridge'
2019-11-06 15:15:17.898 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet '_config_bridge/isaac.alice.ConfigBridge' ...
2019-11-06 15:15:17.898 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet '_config_bridge/isaac.alice.ConfigBridge' DONE
2019-11-06 15:15:17.898 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet '_config_bridge/isaac.alice.ConfigBridge'
2019-11-06 15:15:17.898 DEBUG engine/alice/backend/node_backend.cpp@317: Starting node '_statistics'
2019-11-06 15:15:17.898 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet '_statistics/NodeStatistics' ...
2019-11-06 15:15:17.898 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet '_statistics/NodeStatistics' DONE
2019-11-06 15:15:17.898 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet '_statistics/NodeStatistics'
2019-11-06 15:15:17.898 DEBUG engine/alice/backend/node_backend.cpp@317: Starting node '_pose_tree_bridge'
2019-11-06 15:15:17.898 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet '_pose_tree_bridge/PoseTreeJsonBridge' ...
2019-11-06 15:15:17.898 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet '_pose_tree_bridge/PoseTreeJsonBridge' DONE
2019-11-06 15:15:17.898 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet '_pose_tree_bridge/PoseTreeJsonBridge'
2019-11-06 15:15:17.898 DEBUG engine/alice/backend/node_backend.cpp@317: Starting node '_interactive_markers_bridge'
2019-11-06 15:15:17.898 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet '_interactive_markers_bridge/InteractiveMarkersBridge' ...
2019-11-06 15:15:17.898 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet '_interactive_markers_bridge/InteractiveMarkersBridge' DONE
2019-11-06 15:15:17.898 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet '_interactive_markers_bridge/InteractiveMarkersBridge'
2019-11-06 15:15:17.898 DEBUG engine/alice/backend/node_backend.cpp@317: Starting node 'recorder_bridge'
2019-11-06 15:15:17.898 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'recorder_bridge/RecorderBridge' ...
2019-11-06 15:15:17.898 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'recorder_bridge/RecorderBridge' DONE
2019-11-06 15:15:17.899 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'recorder_bridge/RecorderBridge'
2019-11-06 15:15:17.899 DEBUG engine/alice/backend/node_backend.cpp@317: Starting node 'recorder'
2019-11-06 15:15:17.899 WARNING engine/alice/application.cpp@173: The function Application::findComponentByName is deprecated. Please use `getNodeComponentOrNull` instead. Note that the new method requires a node name instead of a component name. (argument: 'recorder/isaac.alice.Recorder')
2019-11-06 15:15:17.899 INFO engine/gems/cask/cask.cpp@58: Creating new log '/tmp/isaac/2663cf4c-00d2-11ea-bc4c-b5166e886b71/kv' for writing
2019-11-06 15:15:17.899 WARNING engine/alice/components/RecorderBridge.cpp@66: Recording disabled since no channels are connected to Recorder component
2019-11-06 15:15:17.899 DEBUG engine/alice/backend/node_backend.cpp@317: Starting node 'commander.robot_remote'
2019-11-06 15:15:17.899 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'commander.robot_remote/isaac.navigation.RobotRemoteControl' ...
2019-11-06 15:15:17.899 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'commander.robot_remote/isaac.navigation.RobotRemoteControl' DONE
2019-11-06 15:15:17.900 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'commander.robot_remote/isaac.navigation.RobotRemoteControl'
2019-11-06 15:15:17.900 DEBUG engine/alice/backend/node_backend.cpp@317: Starting node 'commander.virtual_gamepad_bridge'
2019-11-06 15:15:17.900 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'commander.virtual_gamepad_bridge/VirtualGamepadBridge' ...
2019-11-06 15:15:17.900 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'commander.virtual_gamepad_bridge/VirtualGamepadBridge' DONE
2019-11-06 15:15:17.900 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'commander.virtual_gamepad_bridge/VirtualGamepadBridge'
2019-11-06 15:15:17.900 DEBUG engine/alice/backend/node_backend.cpp@317: Starting node 'commander.joystick'
2019-11-06 15:15:17.900 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'commander.joystick/isaac.Joystick' ...
2019-11-06 15:15:17.900 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'commander.joystick/isaac.Joystick' DONE
2019-11-06 15:15:17.900 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'commander.joystick/isaac.Joystick'
2019-11-06 15:15:17.900 DEBUG engine/alice/backend/node_backend.cpp@317: Starting node 'commander.subgraph'
2019-11-06 15:15:17.900 DEBUG engine/alice/backend/node_backend.cpp@317: Starting node '2d_carter.scan_flattener.range_scan_flattening'
2019-11-06 15:15:17.900 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet '2d_carter.scan_flattener.range_scan_flattening/isaac.perception.RangeScanFlattening' ...
2019-11-06 15:15:17.900 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet '2d_carter.scan_flattener.range_scan_flattening/isaac.perception.RangeScanFlattening' DONE
2019-11-06 15:15:17.900 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet '2d_carter.scan_flattener.range_scan_flattening/isaac.perception.RangeScanFlattening'
2019-11-06 15:15:17.900 DEBUG engine/alice/backend/node_backend.cpp@317: Starting node '2d_carter.scan_flattener.scan_accumulator'
2019-11-06 15:15:17.900 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet '2d_carter.scan_flattener.scan_accumulator/isaac.perception.ScanAccumulator' ...
2019-11-06 15:15:17.900 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet '2d_carter.scan_flattener.scan_accumulator/isaac.perception.ScanAccumulator' DONE
2019-11-06 15:15:17.900 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet '2d_carter.scan_flattener.scan_accumulator/isaac.perception.ScanAccumulator'
2019-11-06 15:15:17.900 DEBUG engine/alice/backend/node_backend.cpp@317: Starting node '2d_carter.scan_flattener.subgraph'
2019-11-06 15:15:17.900 DEBUG engine/alice/backend/node_backend.cpp@317: Starting node '2d_carter.carter_hardware.imu'
2019-11-06 15:15:17.900 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet '2d_carter.carter_hardware.imu/IioBmi160' ...
2019-11-06 15:15:18.163 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet '2d_carter.carter_hardware.imu/IioBmi160' DONE
2019-11-06 15:15:18.163 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet '2d_carter.carter_hardware.imu/IioBmi160'
2019-11-06 15:15:18.164 DEBUG engine/alice/backend/node_backend.cpp@317: Starting node '2d_carter.carter_hardware.vlp16'
2019-11-06 15:15:18.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet '2d_carter.carter_hardware.vlp16/VelodyneLidar' ...
2019-11-06 15:15:18.164 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet '2d_carter.carter_hardware.vlp16/VelodyneLidar' DONE
2019-11-06 15:15:18.164 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet '2d_carter.carter_hardware.vlp16/VelodyneLidar'
2019-11-06 15:15:18.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet '2d_carter.carter_hardware.vlp16/lidar_initializer' ...
2019-11-06 15:15:18.164 WARNING engine/alice/components/Codelet.cpp@87: Function deprecated. Set tick_period to the desired tick paramater
2019-11-06 15:15:18.164 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet '2d_carter.carter_hardware.vlp16/lidar_initializer' DONE
2019-11-06 15:15:18.164 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet '2d_carter.carter_hardware.vlp16/lidar_initializer'
2019-11-06 15:15:18.164 DEBUG engine/alice/backend/node_backend.cpp@317: Starting node '2d_carter.carter_hardware.segway_rmp'
2019-11-06 15:15:18.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet '2d_carter.carter_hardware.segway_rmp/isaac.SegwayRmpDriver' ...
2019-11-06 15:15:19.185 ERROR packages/segway/gems/segway.cpp@110: Command probably invalid (error -1) 765f3548 765f354a 765f354e 765f3552
2019-11-06 15:15:20.209 ERROR packages/segway/gems/segway.cpp@110: Command probably invalid (error -1) 765f3548 765f354a 765f354e 765f3552
2019-11-06 15:15:21.233 ERROR packages/segway/gems/segway.cpp@110: Command probably invalid (error -1) 765f3548 765f354a 765f354e 765f3552
2019-11-06 15:15:22.257 ERROR packages/segway/gems/segway.cpp@110: Command probably invalid (error -1) 765f3548 765f354a 765f354e 765f3552
2019-11-06 15:15:23.281 ERROR packages/segway/gems/segway.cpp@110: Command probably invalid (error -1) 765f3688 765f368a 765f368e 765f3692
2019-11-06 15:15:24.305 ERROR packages/segway/gems/segway.cpp@110: Command probably invalid (error -1) 765f3688 765f368a 765f368e 765f3692
2019-11-06 15:15:24.305 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet '2d_carter.carter_hardware.segway_rmp/isaac.SegwayRmpDriver' DONE
2019-11-06 15:15:24.305 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet '2d_carter.carter_hardware.segway_rmp/isaac.SegwayRmpDriver'
2019-11-06 15:15:24.305 DEBUG engine/alice/backend/node_backend.cpp@317: Starting node '2d_carter.carter_hardware.subgraph'
2019-11-06 15:15:24.305 DEBUG engine/alice/backend/node_backend.cpp@317: Starting node '2d_carter.subgraph'
2019-11-06 15:15:24.305 DEBUG engine/alice/backend/node_backend.cpp@317: Starting node 'local_map.local_map'
2019-11-06 15:15:24.305 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'local_map.local_map/cleanup' ...
2019-11-06 15:15:24.306 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'local_map.local_map/cleanup' DONE
2019-11-06 15:15:24.306 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'local_map.local_map/cleanup'
2019-11-06 15:15:24.306 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'local_map.local_map/isaac.navigation.BinaryToDistanceMap' ...
2019-11-06 15:15:24.306 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'local_map.local_map/isaac.navigation.BinaryToDistanceMap' DONE
2019-11-06 15:15:24.306 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'local_map.local_map/isaac.navigation.BinaryToDistanceMap'
2019-11-06 15:15:24.306 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'local_map.local_map/isaac.navigation.LocalMap' ...
2019-11-06 15:15:24.307 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'local_map.local_map/isaac.navigation.LocalMap' DONE
2019-11-06 15:15:24.307 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'local_map.local_map/isaac.navigation.LocalMap'
2019-11-06 15:15:24.307 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'local_map.local_map/isaac.navigation.OccupancyToBinaryMap' ...
2019-11-06 15:15:24.307 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'local_map.local_map/isaac.navigation.OccupancyToBinaryMap' DONE
2019-11-06 15:15:24.307 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'local_map.local_map/isaac.navigation.OccupancyToBinaryMap'
2019-11-06 15:15:24.307 DEBUG engine/alice/backend/node_backend.cpp@317: Starting node 'local_map.subgraph'
2019-11-06 15:15:24.307 DEBUG engine/alice/backend/node_backend.cpp@317: Starting node 'imu_odometry.imu_corrector'
2019-11-06 15:15:24.307 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'imu_odometry.imu_corrector/ImuCorrector' ...
2019-11-06 15:15:24.307 INFO packages/imu/ImuCorrector.cpp@43: No calibration file is supplied. Corrector will calibrate IMU.
2019-11-06 15:15:24.307 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'imu_odometry.imu_corrector/ImuCorrector' DONE
2019-11-06 15:15:24.307 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'imu_odometry.imu_corrector/ImuCorrector'
2019-11-06 15:15:24.307 DEBUG engine/alice/backend/node_backend.cpp@317: Starting node 'imu_odometry.odometry'
2019-11-06 15:15:24.307 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'imu_odometry.odometry/DifferentialBaseWheelImuOdometry' ...
2019-11-06 15:15:24.307 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'imu_odometry.odometry/DifferentialBaseWheelImuOdometry' DONE
2019-11-06 15:15:24.307 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'imu_odometry.odometry/DifferentialBaseWheelImuOdometry'
2019-11-06 15:15:24.307 DEBUG engine/alice/backend/node_backend.cpp@317: Starting node 'imu_odometry.subgraph'
2019-11-06 15:15:24.307 DEBUG engine/alice/backend/node_backend.cpp@317: Starting node 'gmapping'
2019-11-06 15:15:24.307 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'gmapping/navigation.GMappingNode' ...
-maxUrange 10 -maxUrange 34 -sigma 0.05 -kernelSize 1 -lstep 0.01 -lobsGain 3 -astep 0.01
-srr 0.0872665 -srt 0 -str 0 -stt 0.05
-linearUpdate 0.2 -angularUpdate 0.08 -resampleThreshold 0.5
-xmin -100 -xmax 100 -ymin -100 -ymax 100 -delta 0.05 -particles 150
2019-11-06 15:15:24.315 INFO packages/imu/ImuCorrector.cpp@116: Collecting IMU data to calibrate...
2019-11-06 15:15:24.442 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'gmapping/navigation.GMappingNode' DONE
2019-11-06 15:15:24.442 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'gmapping/navigation.GMappingNode'
2019-11-06 15:15:25.329 ERROR packages/segway/gems/segway.cpp@110: Command probably invalid (error -1) 57ffe498 57ffe49a 57ffe49e 57ffe4a2
2019-11-06 15:15:25.329 ERROR packages/segway/SegwayRmpDriver.cpp@89: Failed to send command
2019-11-06 15:15:26.357 ERROR packages/segway/gems/segway.cpp@110: Command probably invalid (error -1) 57ffe498 57ffe49a 57ffe49e 57ffe4a2
2019-11-06 15:15:26.357 ERROR packages/segway/SegwayRmpDriver.cpp@89: Failed to send command
2019-11-06 15:15:27.307 WARNING packages/navigation/DifferentialBaseWheelImuOdometry.cpp@155: Haven't received any IMU data. Please check the edges. If no IMU is available, please set 'use_imu' to false.
2019-11-06 15:15:27.377 ERROR packages/segway/gems/segway.cpp@110: Command probably invalid (error -1) 57ffe498 57ffe49a 57ffe49e 57ffe4a2
2019-11-06 15:15:27.377 ERROR packages/segway/SegwayRmpDriver.cpp@89: Failed to send command
2019-11-06 15:15:27.404 DEBUG packages/imu/gems/imu_calibration.cpp@98: Calibrated IMU data after 310 samples.
2019-11-06 15:15:27.404 DEBUG packages/imu/gems/imu_calibration.cpp@99: Maximum variation in acceleration sample window is 0.084655.
2019-11-06 15:15:27.404 DEBUG packages/imu/ImuCorrector.cpp@138: Finished IMU calibration.
update frame 0
update ld=0 ad=0
m_count 0
Registering First Scan
2019-11-06 15:15:27.591 INFO packages/navigation/GMappingNode.cpp@238: Pose 0.003802 0.000000 0.040047 - 0.000000 0.000000 0.000000
2019-11-06 15:15:28.401 ERROR packages/segway/gems/segway.cpp@110: Command probably invalid (error -1) 57ffe498 57ffe49a 57ffe49e 57ffe4a2
2019-11-06 15:15:28.401 ERROR packages/segway/SegwayRmpDriver.cpp@89: Failed to send command
2019-11-06 15:15:29.425 ERROR packages/segway/gems/segway.cpp@110: Command probably invalid (error -1) 57ffe498 57ffe49a 57ffe49e 57ffe4a2
2019-11-06 15:15:29.425 ERROR packages/segway/SegwayRmpDriver.cpp@89: Failed to send command
update frame 1
update ld=0.00164813 ad=0.255746
m_count 1
2019-11-06 15:15:30.449 ERROR packages/segway/gems/segway.cpp@110: Command probably invalid (error -1) 57ffe498 57ffe49a 57ffe49e 57ffe4a2
2019-11-06 15:15:30.449 ERROR packages/segway/SegwayRmpDriver.cpp@89: Failed to send command
2019-11-06 15:15:31.473 ERROR packages/segway/gems/segway.cpp@110: Command probably invalid (error -1) 57ffe498 57ffe49a 57ffe49e 57ffe4a2
2019-11-06 15:15:31.473 ERROR packages/segway/SegwayRmpDriver.cpp@89: Failed to send command
2019-11-06 15:15:32.497 ERROR packages/segway/gems/segway.cpp@110: Command probably invalid (error -1) 57ffe498 57ffe49a 57ffe49e 57ffe4a2
2019-11-06 15:15:32.497 ERROR packages/segway/SegwayRmpDriver.cpp@89: Failed to send command
2019-11-06 15:15:33.521 ERROR packages/segway/gems/segway.cpp@110: Command probably invalid (error -1) 57ffe498 57ffe49a 57ffe49e 57ffe4a2
2019-11-06 15:15:33.521 ERROR packages/segway/SegwayRmpDriver.cpp@89: Failed to send command
2019-11-06 15:15:34.545 ERROR packages/segway/gems/segway.cpp@110: Command probably invalid (error -1) 57ffe498 57ffe49a 57ffe49e 57ffe4a2
2019-11-06 15:15:34.545 ERROR packages/segway/SegwayRmpDriver.cpp@89: Failed to send command
2019-11-06 15:15:35.569 ERROR packages/segway/gems/segway.cpp@110: Command probably invalid (error -1) 57ffe498 57ffe49a 57ffe49e 57ffe4a2
2019-11-06 15:15:35.569 ERROR packages/segway/SegwayRmpDriver.cpp@89: Failed to send command
2019-11-06 15:15:36.593 ERROR packages/segway/gems/segway.cpp@110: Command probably invalid (error -1) 57ffe498 57ffe49a 57ffe49e 57ffe4a2
2019-11-06 15:15:36.593 ERROR packages/segway/SegwayRmpDriver.cpp@89: Failed to send command
2019-11-06 15:15:37.621 ERROR packages/segway/gems/segway.cpp@110: Command probably invalid (error -1) 57ffe498 57ffe49a 57ffe49e 57ffe4a2
2019-11-06 15:15:37.621 ERROR packages/segway/SegwayRmpDriver.cpp@89: Failed to send command
2019-11-06 15:15:38.641 ERROR packages/segway/gems/segway.cpp@110: Command probably invalid (error -1) 57ffe498 57ffe49a 57ffe49e 57ffe4a2
2019-11-06 15:15:38.641 ERROR packages/segway/SegwayRmpDriver.cpp@89: Failed to send command
2019-11-06 15:15:39.665 ERROR packages/segway/gems/segway.cpp@110: Command probably invalid (error -1) 57ffe498 57ffe49a 57ffe49e 57ffe4a2
2019-11-06 15:15:39.665 ERROR packages/segway/SegwayRmpDriver.cpp@89: Failed to send command
2019-11-06 15:15:40.689 ERROR packages/segway/gems/segway.cpp@110: Command probably invalid (error -1) 57ffe498 57ffe49a 57ffe49e 57ffe4a2
2019-11-06 15:15:40.689 ERROR packages/segway/SegwayRmpDriver.cpp@89: Failed to send command
However, instead of using the ethernet cable, when the USB is connected it seems to be detected with ‘lsusb’. Is it possible to use the USB? it seems there are no explicit parameters in isaac to do so.
Hi Navon, So, the application is not crashing. But only throwing these errors. This indeed is bizarre, but want to be sure that it is not a show-stopper. We will look into it.
Why are you using USB? Aren’t you using Ethernet?
And, Lawson, can you please share your status as well? Pls make sure the destination IP on the VLP16 is setup to the correct host destination (in this case, the IP of Jetson); It also recommended to separate network used for the sensor vs. Sight.
Hi shrinv,
Very bizzarre, we’ve been digging through the segway driver files from their site and still no luck. Correct - we are using Ethernet, and it is not working. Wondering if Isaac has any support for USB, because our Ethernet is still giving us trouble and it seems to detect the USB. We would really love to get the Carter working soon! Appreciate all of the help.
Segway driver supports ethernet connection only as far as I know. Does the problem go away if you unplug the lidar ethernet and remove the associated node(s) form the application? Does the robot move at all with the joystick?
Without the lidar, you could connect segway directly to the ethernet port of the jetson to eliminate ethernet hub/switch. What is the (lan) ip of your jetson? Can you ping 192.168.0.40 (default ip of segway)?
Oguz,
We have tried to remove the lidar and connect the segway directly by itself and still giving the error. We have also tried to ping it with that default ip 192.168.0.40 and no response, on the jetson and other computers. The robot does not move with the joystick. I can get you the lan ip on the jetson tomorrow.
The segway has a USB and CAN connector as well, so we were just wondering if Isaac had drivers to use it or plans to make them. But it seems more likely that the issue is with the segway itself.
If jetson lan ip is not 192.168.0.x (where x is not 40) you would not be able to ping 192.168.0.40. Could you double check that as well please? Maybe the cable went bad.
Oguz,
Thank you! That was the issue with the connectivity, now we can successfully ping the segway on 192.168.0.40. Now, when we start a carter app it beeps on start and shutdown, and the joystick is kind of working… when we move it, it moves for 1 second and stops and has trouble moving again - very intermittent. And, it is still giving us the error below:
Still giving the error about every second.
2019-11-12 09:36:45.403 ERROR packages/segway/gems/segway.cpp@110: Command probably invalid (error -1) 95bc4498 95bc449a 95bc449e 95bc44a2
2019-11-12 09:36:45.403 ERROR packages/segway/SegwayRmpDriver.cpp@89: Failed to send command
We do get a new error however, but its not all the time:
2019-11-12 09:36:45.434 ERROR packages/segway/gems/segway.cpp@123: Invalid response packet 7 vs 32
Glad to hear we are making progress! Did you try plugging segway ethernet cable directly to the jetson (to rule out ethernet hub)? Which jetson is this?
To answer my original question, I found out that I did not specify the destination address on the VLP. Previously the destination address on the VLP was ‘255.255.255.255’ by default. And now I changed it to the specific address of Jetson board, for example ‘192.168.0.125’, and now it works.
Great, I think that’s what Shri meant by
Oguz,
Connecting the segway ethernet cable directly worked! No stuttering. Although, now the lidar is unplugged. We were using a switch to connect both, now how can we do this?
Also the jetson is a TX2.
great! Did you set the destionation IP of the lidar to the ip of the jetson?
Yep, I saw that was lawrsons problem. I went in and changed the Host Destination and lidar IP. It seems to be working better, but still throwing errors. It sends the error less frequently. About every 2 seconds now.
Currently these are my IPs:
Jetson: 192.168.0.76
Segway: 192.168.0.40
Lidar: 192.168.0.201
Lidar gateway: 192.168.0.1
Lidar mask: 255.255.255.0
Lidar Host Destination: 192.168.0.76
Which ethernet hub/switch are you using? Maybe it’s not able to keep up with the traffic. Is there anything else connected to it other than the lidar, the segway, and the jetson? Can you try with a different switch?
We are using https://www.amazon.com/gp/product/B077V2QTG2/ref=oh_aui_detailpage_o01_s04?ie=UTF8&psc=1
although any hub with good bandwith should work.
With a good ethernet switch you shouldn’t need it, but a workaround would be to use a ethernet to usb adapter (usb goes to jetson).
We were using a colleague’s older netgear switch, we swapped it for another one and it works! No errors while both lidar and segway connected. Again, thank you for the help - super excited to work more with the carter. You and shri were a great help!