garbage sorting

I have made kaya robot according to relevant documents, and I think the kaya robot in video is very cool. However, I found only joystick, follow_me, object_detection, gmapping_distributed in the example, I want to know whether kaya waste sorting will be open source,I think garbage sorting is really cool.

Oh, I found it. It’s in the newly released Isaac2019.2. Problem solved.

Hi can you help me in running them, only follow_me, object_detection succeded. Other did not found at all

hp@hp-desktop:~/isaac$ cd isaac/ && bazel build apps/kaya/unreal_sim:waste_sorting
bash: cd: isaac/: File o directory non esistente
hp@hp-desktop:~/isaac$ bazel build apps/kaya/unreal_sim:waste_sorting
ERROR: Skipping 'apps/kaya/unreal_sim:waste_sorting': no such target '//apps/kaya/unreal_sim:waste_sorting': target 'waste_sorting' not declared in package 'apps/kaya/unreal_sim' defined by /home/hp/isaac/apps/kaya/unreal_sim/BUILD
WARNING: Target pattern parsing failed.
INFO: Analysed 0 targets (0 packages loaded, 0 targets configured).
INFO: Found 0 targets...
ERROR: command succeeded, but there were errors parsing the target pattern
INFO: Elapsed time: 1.708s, Critical Path: 0.00s, Remote (0.00% of the time): [queue: 0.00%, setup: 0.00%, process: 0.00%]
INFO: 0 processes.
FAILED: Build did NOT complete successfully
hp@hp-desktop:~/isaac$ bazel build apps/kaya/unreal_sim:gmapping_distributed
ERROR: Skipping 'apps/kaya/unreal_sim:gmapping_distributed': no such target '//apps/kaya/unreal_sim:gmapping_distributed': target 'gmapping_distributed' not declared in package 'apps/kaya/unreal_sim' defined by /home/hp/isaac/apps/kaya/unreal_sim/BUILD
WARNING: Target pattern parsing failed.
INFO: Analysed 0 targets (0 packages loaded, 0 targets configured).
INFO: Found 0 targets...
ERROR: command succeeded, but there were errors parsing the target pattern
INFO: Elapsed time: 1.280s, Critical Path: 0.00s, Remote (0.00% of the time): [queue: 0.00%, setup: 0.00%, process: 0.00%]
INFO: 0 processes.
FAILED: Build did NOT complete successfully
hp@hp-desktop:~/isaac$ bazel build apps/kaya/unreal_sim:gmapping_distributed_host
ERROR: Skipping 'apps/kaya/unreal_sim:gmapping_distributed_host': no such target '//apps/kaya/unreal_sim:gmapping_distributed_host': target 'gmapping_distributed_host' not declared in package 'apps/kaya/unreal_sim' defined by /home/hp/isaac/apps/kaya/unreal_sim/BUILD
WARNING: Target pattern parsing failed.
INFO: Analysed 0 targets (0 packages loaded, 0 targets configured).
INFO: Found 0 targets...
ERROR: command succeeded, but there were errors parsing the target pattern
INFO: Elapsed time: 1.350s, Critical Path: 0.00s, Remote (0.00% of the time): [queue: 0.00%, setup: 0.00%, process: 0.00%]
INFO: 0 processes.
FAILED: Build did NOT complete successfully
hp@hp-desktop:~/isaac$ bazel run apps/kaya/unreal_sim:gmapping_distributed_host
ERROR: Skipping 'apps/kaya/unreal_sim:gmapping_distributed_host': no such target '//apps/kaya/unreal_sim:gmapping_distributed_host': target 'gmapping_distributed_host' not declared in package 'apps/kaya/unreal_sim' defined by /home/hp/isaac/apps/kaya/unreal_sim/BUILD
WARNING: Target pattern parsing failed.
WARNING: No targets found to run. Will continue anyway
INFO: Analysed 0 targets (0 packages loaded, 0 targets configured).
INFO: Found 0 targets...
ERROR: command succeeded, but there were errors parsing the target pattern
INFO: Elapsed time: 1.217s, Critical Path: 0.01s, Remote (0.00% of the time): [queue: 0.00%, setup: 0.00%, process: 0.00%]
INFO: 0 processes.
FAILED: Build did NOT complete successfully
FAILED: Build did NOT complete successfully
hp@hp-desktop:~/isaac$ bazel run apps/kaya/unreal_sim:gmapping_distributed_kaya
ERROR: Skipping 'apps/kaya/unreal_sim:gmapping_distributed_kaya': no such target '//apps/kaya/unreal_sim:gmapping_distributed_kaya': target 'gmapping_distributed_kaya' not declared in package 'apps/kaya/unreal_sim' defined by /home/hp/isaac/apps/kaya/unreal_sim/BUILD
WARNING: Target pattern parsing failed.
WARNING: No targets found to run. Will continue anyway
INFO: Analysed 0 targets (0 packages loaded, 0 targets configured).
INFO: Found 0 targets...
ERROR: command succeeded, but there were errors parsing the target pattern
INFO: Elapsed time: 1.092s, Critical Path: 0.02s, Remote (0.00% of the time): [queue: 0.00%, setup: 0.00%, process: 0.00%]
INFO: 0 processes.
FAILED: Build did NOT complete successfully
FAILED: Build did NOT complete successfully

Get rid of unreal_sim in those commands.
So, apps/kaya:waste_sorting instead of apps/kaya/unreal_sim:waste_sorting.

Thanks for reply promptly but looks that app should work only on fisical kaya not vitual one

2019-10-31 15:27:29.322 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'websight/isaac.sight.AliceSight' DONE
2019-10-31 15:27:29.322 WARNING engine/alice/backend/codelet_backend.cpp@281: Codelet 'websight/isaac.sight.AliceSight' was not added to scheduler because no tick method is specified.
2019-10-31 15:27:29.322 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node '_config_bridge'
2019-10-31 15:27:29.322 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet '_config_bridge/isaac.alice.ConfigBridge' ...
2019-10-31 15:27:29.322 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet '_config_bridge/isaac.alice.ConfigBridge' DONE
2019-10-31 15:27:29.322 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet '_config_bridge/isaac.alice.ConfigBridge'
2019-10-31 15:27:29.322 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node '_statistics'
2019-10-31 15:27:29.322 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet '_statistics/NodeStatistics' ...
2019-10-31 15:27:29.322 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet '_statistics/NodeStatistics' DONE
2019-10-31 15:27:29.322 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet '_statistics/NodeStatistics'
2019-10-31 15:27:29.322 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node '_pose_tree_bridge'
2019-10-31 15:27:29.323 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet '_pose_tree_bridge/PoseTreeJsonBridge' ...
2019-10-31 15:27:29.323 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet '_pose_tree_bridge/PoseTreeJsonBridge' DONE
2019-10-31 15:27:29.323 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet '_pose_tree_bridge/PoseTreeJsonBridge'
2019-10-31 15:27:29.323 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node '_interactive_markers_bridge'
2019-10-31 15:27:29.323 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet '_interactive_markers_bridge/InteractiveMarkersBridge' ...
2019-10-31 15:27:29.323 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet '_interactive_markers_bridge/InteractiveMarkersBridge' DONE
2019-10-31 15:27:29.327 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet '_interactive_markers_bridge/InteractiveMarkersBridge'
2019-10-31 15:27:29.327 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'map'
2019-10-31 15:27:29.327 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: 'obstacle_world/obstacle_world')
2019-10-31 15:27:29.327 WARNING packages/navigation/NavigationMap.cpp@35: Could not find a DistanceMap component for the OccupancyGridLayer in this map. Creating one automatically now using ObstacleWorld node 'obstacle_world/obstacle_world'.
2019-10-31 15:27:29.327 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='map', component='isaac.navigation.DistanceMap', key='obstacle_world_node'
2019-10-31 15:27:29.345 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: 'obstacle_world/obstacle_world')
2019-10-31 15:27:29.345 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'map/isaac.map.Map' ...
2019-10-31 15:27:29.345 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'map/isaac.map.Map' DONE
2019-10-31 15:27:29.345 WARNING engine/alice/backend/codelet_backend.cpp@281: Codelet 'map/isaac.map.Map' was not added to scheduler because no tick method is specified.
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'scan_localization'
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'scan_localization/flatscan_viewer' ...
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'scan_localization/flatscan_viewer' DONE
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'scan_localization/flatscan_viewer'
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'scan_localization/initial_pose' ...
2019-10-31 15:27:29.889 WARNING engine/alice/components/Codelet.cpp@87: Function deprecated. Set tick_period to the desired tick paramater
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'scan_localization/initial_pose' DONE
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'scan_localization/initial_pose'
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'scan_localization/isaac.navigation.ParticleFilterLocalization' ...
2019-10-31 15:27:29.889 INFO    packages/navigation/ParticleFilterLocalization.cpp@215: Reseeding particles of scan localizer
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'scan_localization/isaac.navigation.ParticleFilterLocalization' DONE
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'scan_localization/isaac.navigation.ParticleFilterLocalization'
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'scan_localization/robot_viewer' ...
2019-10-31 15:27:29.889 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: 'shared_robot_model/SphericalRobotShapeComponent')
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'scan_localization/robot_viewer' DONE
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'scan_localization/robot_viewer'
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'april_tags_detection'
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'april_tags_detection/isaac.perception.AprilTagsDetection' ...
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'april_tags_detection/isaac.perception.AprilTagsDetection' DONE
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'april_tags_detection/isaac.perception.AprilTagsDetection'
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'april_tags_detection/isaac.viewers.FiducialsViewer' ...
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'april_tags_detection/isaac.viewers.FiducialsViewer' DONE
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'april_tags_detection/isaac.viewers.FiducialsViewer'
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'shared_robot_model'
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'obstacle_world'
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'yolo_image_throttle'
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'detection_unprojection'
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'detection_unprojection/isaac.navigation.DetectionUnprojection' ...
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'detection_unprojection/isaac.navigation.DetectionUnprojection' DONE
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'detection_unprojection/isaac.navigation.DetectionUnprojection'
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'detection_unprojection/isaac.viewers.Detections3Viewer' ...
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'detection_unprojection/isaac.viewers.Detections3Viewer' DONE
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'detection_unprojection/isaac.viewers.Detections3Viewer'
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'inference.subgraph'
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'odometry.subgraph'
2019-10-31 15:27:29.889 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'inference.bounding_box_visualizer'
2019-10-31 15:27:29.890 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'inference.bounding_box_visualizer/DetectionsViewer' ...
2019-10-31 15:27:29.890 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'inference.bounding_box_visualizer/DetectionsViewer' DONE
2019-10-31 15:27:29.890 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'inference.bounding_box_visualizer/DetectionsViewer'
2019-10-31 15:27:29.890 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'inference.detection_decoder'
2019-10-31 15:27:29.890 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'inference.detection_decoder/DetectionDecoder' ...
2019-10-31 15:27:29.890 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'inference.detection_decoder/DetectionDecoder' DONE
2019-10-31 15:27:29.890 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'inference.detection_decoder/DetectionDecoder'
2019-10-31 15:27:29.890 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node '2d_kaya.subgraph'
2019-10-31 15:27:29.890 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node '2d_kaya.kaya_hardware.subgraph'
2019-10-31 15:27:29.890 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node '2d_kaya.kaya_hardware.kaya_driver'
2019-10-31 15:27:29.890 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet '2d_kaya.kaya_hardware.kaya_driver/isaac.KayaBaseDriver' ...
[PortHandlerLinux::SetupPort] Error opening serial port!
2019-10-31 15:27:29.890 ERROR   packages/dynamixel/gems/dynamixel.cpp@54: Cannot open port /dev/ttyACM0: No such file or directory [errno 2]
2019-10-31 15:27:29.890 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet '2d_kaya.kaya_hardware.kaya_driver/isaac.KayaBaseDriver' DONE
2019-10-31 15:27:29.890 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet '2d_kaya.kaya_hardware.kaya_driver/isaac.KayaBaseDriver'
2019-10-31 15:27:29.890 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node '2d_kaya.kaya_hardware.camera'
2019-10-31 15:27:29.890 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet '2d_kaya.kaya_hardware.camera/color_viewer' ...
2019-10-31 15:27:29.890 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet '2d_kaya.kaya_hardware.camera/color_viewer' DONE
2019-10-31 15:27:29.890 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet '2d_kaya.kaya_hardware.camera/color_viewer'
2019-10-31 15:27:29.890 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet '2d_kaya.kaya_hardware.camera/depth_viewer' ...
2019-10-31 15:27:29.890 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet '2d_kaya.kaya_hardware.camera/depth_viewer' DONE
2019-10-31 15:27:29.890 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet '2d_kaya.kaya_hardware.camera/depth_viewer'
2019-10-31 15:27:29.890 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet '2d_kaya.kaya_hardware.camera/realsense' ...
2019-10-31 15:27:29.890 PANIC   packages/dynamixel/gems/dynamixel.cpp@87: Servo doesn't support MOVING_SPEED
====================================================================================================
|                            Isaac application terminated unexpectedly                             |
====================================================================================================
#01 engine/alice/tools/main(+0x8046a) [0x55fcc393446a]
#02 engine/alice/tools/main(+0xe86d0) [0x55fcc399c6d0]
#03 engine/alice/tools/main(+0xe8a40) [0x55fcc399ca40]
#04 /lib/x86_64-linux-gnu/libpthread.so.0(+0x12890) [0x7fb0ce02a890]
#05 /lib/x86_64-linux-gnu/libc.so.6(gsignal+0xc7) [0x7fb0cd6b6e97]
#06 /lib/x86_64-linux-gnu/libc.so.6(abort+0x141) [0x7fb0cd6b8801]
#07 /home/hp/.cache/bazel/_bazel_hp/a4517a4163ab430204cbbc8001f4903c/execroot/com_nvidia_isaac/bazel-out/k8-opt/bin/apps/kaya/waste_sorting.runfiles/com_nvidia_isaac//packages_x86_64/kaya_base/libkaya_base_module.so(+0x1011d9) [0x7fb0cc3091d9]
#08 isaac::KayaBaseDriver::computeAndCommandWheelSpeeds(isaac::messages::HolonomicBaseControls&) /home/hp/.cache/bazel/_bazel_hp/a4517a4163ab430204cbbc8001f4903c/execroot/com_nvidia_isaac/bazel-out/k8-opt/bin/apps/kaya/waste_sorting.runfiles/com_nvidia_isaac//packages_x86_64/kaya_base/libkaya_base_module.so(_ZN5isaac14KayaBaseDriver28computeAndCommandWheelSpeedsERNS_8messages21HolonomicBaseControlsE+0x208) [0x7fb0cc3044d8]
#09 isaac::KayaBaseDriver::tick() /home/hp/.cache/bazel/_bazel_hp/a4517a4163ab430204cbbc8001f4903c/execroot/com_nvidia_isaac/bazel-out/k8-opt/bin/apps/kaya/waste_sorting.runfiles/com_nvidia_isaac//packages_x86_64/kaya_base/libkaya_base_module.so(_ZN5isaac14KayaBaseDriver4tickEv+0x34e) [0x7fb0cc30528e]
#10 engine/alice/tools/main(+0x7170e) [0x55fcc392570e]
#11 engine/alice/tools/main(+0xdd2b6) [0x55fcc39912b6]
#12 engine/alice/tools/main(+0x1a5c9) [0x55fcc38ce5c9]
#13 /usr/lib/x86_64-linux-gnu/libstdc++.so.6(+0xbd66f) [0x7fb0cdd4566f]
#14 /lib/x86_64-linux-gnu/libpthread.so.0(+0x76db) [0x7fb0ce01f6db]
#15 /lib/x86_64-linux-gnu/libc.so.6(clone+0x3f) [0x7fb0cd79988f]
====================================================================================================

https://filebin.net/j1jlhodd1abkfegt