Hi,
I am trying to visualize the LIDAR scans from the simulator in Sight while running the navsim app. Therefore, I made the following changes in the code:
In navsim.subgraph.json::-
I added “viewers” to “modules”.
I added the following nodes:-
{
“name”: “scan_accumulator”,
“components”: [
{
“name”: “message_ledger”,
“type”: “isaac::alice::MessageLedger”
},
{
“name”: “scanAccumulator”,
“type”: “isaac::perception::ScanAccumulator”
}
]
},
{
“name”: “point_cloud”,
“components”: [
{
“name”: “ml”,
“type”: “isaac::alice::MessageLedger”
},
{
“name”: “rangeToPointCloud”,
“type”: “isaac::perception::RangeToPointCloud”
}
]
},
{
“name”: “viewer”,
“components”: [
{
“name”: “message_ledger”,
“type”: “isaac::alice::MessageLedger”
},
{
“name”: “pointCloudViewer”,
“type”: “isaac::viewers::PointCloudViewer”
}
]
},
I added the following edges:-
{
“source”: “interface/output/rangescan”,
“target”: “scan_accumulator/scanAccumulator/scan”
},
{
“source”: “scan_accumulator/scanAccumulator/fullscan”,
“target”: “point_cloud/rangeToPointCloud/scan”
},
{
“source”: “point_cloud/rangeToPointCloud/cloud”,
“target”: “viewer/pointCloudViewer/cloud”
}
I modified the BUILD file to include “viewers” as one of the modules for navsim_subgraph.
Yet when I run the code (fire up the isaac sim for the small warehouse and run the navsim_navigate app. The first 2 commands on the IsaacSim tutorials page), I get the following error:-
2020-02-26 15:54:39.036 ERROR messages/tensor.cpp@49: Buffer index 1 out of range (1):
2020-02-26 15:54:39.036 ERROR engine/alice/component.cpp@61: Component ‘simulation.scan_accumulator/scanAccumulator’ of type ‘isaac::perception::ScanAccumulator’ reported FAILURE:
Error reading intensity tensor
2020-02-26 15:54:39.036 ERROR engine/alice/backend/event_manager.cpp@40: Stopping node ‘simulation.scan_accumulator’ because it reached status ‘FAILURE’
Any help?