Hello,
We built a CARTER as the reference list.
Only lidar is changed to a Sick Lidar.
And we are tested each device with AGX Xavier.
It needed modifying some codes.
Anyway, we get success for communication to all devices on Isaac SDK.
Now, we are following carter tutorial.
And there is a error with gmapping sample.
nvidia@tegra-ubuntu:~/deploy/synaps-ki/gmapping-pkg$ ./apps/carter/gmapping/gmapping --more "./apps/carter/robots/carter_1.json"
2022-08-04 06:30:14.142 WARN external/com_nvidia_isaac_engine/engine/alice/backend/application_json_loader.cpp@183: This application does not have an explicit scheduler configuration. One will be autogenerated to the best of the system's abilities if possible.
2022-08-04 06:30:14.142 WARN external/com_nvidia_isaac_engine/engine/alice/backend/application_json_loader.cpp@379: Loaded a subgraph with no modules section. Did you forget to add one?
2022-08-04 06:30:14.143 INFO external/com_nvidia_isaac_engine/engine/alice/backend/application_json_loader.cpp@375: Modules requested by subgraph 'carter_hardware': packages/segwayrmp:segway_rmplite, imu, segway, (sight)sick_lidar_2d
2022-08-04 06:30:14.143 INFO external/com_nvidia_isaac_engine/engine/alice/backend/application_json_loader.cpp@375: Modules requested by subgraph 'scan_flattener': perception,
2022-08-04 06:30:14.144 INFO external/com_nvidia_isaac_engine/engine/alice/backend/application_json_loader.cpp@375: Modules requested by subgraph 'gmapping': lidar_slam:g_mapping, navigation, (sight),
2022-08-04 06:30:14.144 INFO external/com_nvidia_isaac_engine/engine/alice/backend/application_json_loader.cpp@375: Modules requested by subgraph 'odometry': (imu), (navigation),
2022-08-04 06:30:14.145 INFO external/com_nvidia_isaac_engine/engine/alice/backend/application_json_loader.cpp@375: Modules requested by subgraph 'commander': (navigation), sensors:joystick,
2022-08-04 06:30:14.145 INFO external/com_nvidia_isaac_engine/engine/alice/backend/application_json_loader.cpp@375: Modules requested by subgraph 'record': cask, (sight),
2022-08-04 06:30:14.148 INFO external/com_nvidia_isaac_engine/engine/alice/backend/redis_backend.cpp@40: Successfully connected to Redis server.
2022-08-04 06:30:14.149 WARN external/com_nvidia_isaac_engine/engine/alice/backend/backend.cpp@200: This application does not have an execution group configuration. One will be autogenerated to the best of the systems abilities if possible.
2022-08-04 06:30:14.149 WARN external/com_nvidia_isaac_engine/engine/gems/scheduler/scheduler.cpp@341: No default execution groups specified. Attempting to create scheduler configuration for 8 remaining cores. This may be non optimal for the system and application.
2022-08-04 06:30:14.149 INFO external/com_nvidia_isaac_engine/engine/gems/scheduler/scheduler.cpp@291: Scheduler execution groups are:
2022-08-04 06:30:14.149 INFO external/com_nvidia_isaac_engine/engine/gems/scheduler/scheduler.cpp@300: __BlockerGroup__: Cores = [4, 5], Workers = No
2022-08-04 06:30:14.149 INFO external/com_nvidia_isaac_engine/engine/gems/scheduler/scheduler.cpp@300: __WorkerGroup__: Cores = [7, 6, 1, 0, 2, 3], Workers = Yes
2022-08-04 06:30:14.155 INFO external/com_nvidia_isaac_engine/engine/alice/backend/modules.cpp@271: Loaded module 'packages/cask/libcask_module.so': Now has 31 components total
2022-08-04 06:30:14.161 INFO external/com_nvidia_isaac_engine/engine/alice/backend/modules.cpp@271: Loaded module 'packages/imu/libimu_module.so': Now has 35 components total
2022-08-04 06:30:14.169 INFO external/com_nvidia_isaac_engine/engine/alice/backend/modules.cpp@271: Loaded module 'packages/lidar_slam/libg_mapping_module.so': Now has 36 components total
2022-08-04 06:30:14.185 INFO external/com_nvidia_isaac_engine/engine/alice/backend/modules.cpp@271: Loaded module 'packages/navigation/libnavigation_module.so': Now has 89 components total
2022-08-04 06:30:14.208 INFO external/com_nvidia_isaac_engine/engine/alice/backend/modules.cpp@271: Loaded module 'packages/perception/libperception_module.so': Now has 101 components total
2022-08-04 06:30:14.225 INFO external/com_nvidia_isaac_engine/engine/alice/backend/modules.cpp@271: Loaded module 'packages/segway/libsegway_module.so': Now has 102 components total
2022-08-04 06:30:14.243 INFO external/com_nvidia_isaac_engine/engine/alice/backend/modules.cpp@271: Loaded module 'packages/segwayrmp/libsegway_rmplite_module.so': Now has 103 components total
2022-08-04 06:30:14.259 INFO external/com_nvidia_isaac_engine/engine/alice/backend/modules.cpp@271: Loaded module 'packages/sensors/libjoystick_module.so': Now has 104 components total
2022-08-04 06:30:14.279 INFO external/com_nvidia_isaac_engine/engine/alice/backend/modules.cpp@271: Loaded module 'packages/sick_lidar_2d/libsick_lidar_2d_module.so': Now has 105 components total
2022-08-04 06:30:14.298 INFO external/com_nvidia_isaac_engine/engine/alice/backend/modules.cpp@271: Loaded module 'packages/sight/libsight_module.so': Now has 110 components total
2022-08-04 06:30:14.298 INFO packages/sight/sight_start.cpp@157: Loading websight...
2022-08-04 06:30:14.300 DEBUG external/com_nvidia_isaac_engine/engine/alice/application.cpp@321: Loaded 110 components: isaac::Joystick, isaac::SegwayChassis, isaac::SegwayRmpDriver, isaac::alice::BufferAllocatorReport, isaac::alice::ChannelMonitor, isaac::alice::CheckJetsonPerformanceModel, isaac::alice::CheckOperatingSystem, isaac::alice::Config, isaac::alice::ConfigBridge, isaac::alice::ConfigLoader, isaac::alice::Failsafe, isaac::alice::FailsafeHeartbeat, isaac::alice::InteractiveMarkersBridge, isaac::alice::LifecycleReport, isaac::alice::MessageLedger, isaac::alice::MessagePassingReport, isaac::alice::NodeStatistics, isaac::alice::Pose, isaac::alice::PoseInitializer, isaac::alice::PoseTree, isaac::alice::PyCodelet, isaac::alice::Random, isaac::alice::Scheduling, isaac::alice::Sight, isaac::alice::SightChannelStatus, isaac::alice::Subgraph, isaac::alice::Subprocess, isaac::alice::Throttle, isaac::alice::TimeOffset, isaac::alice::TimeSynchronizer, isaac::behavior_tree::Behavior, isaac::behavior_tree::ConstantBehavior, isaac::behavior_tree::MemorySelectorBehavior, isaac::behavior_tree::MemorySequenceBehavior, isaac::behavior_tree::Mission, isaac::behavior_tree::NodeGroup, isaac::behavior_tree::ParallelBehavior, isaac::behavior_tree::RepeatBehavior, isaac::behavior_tree::SwitchBehavior, isaac::behavior_tree::TimerBehavior, isaac::behavior_tree::WaitUntilMessage, isaac::behavior_tree::deprecated::Behavior, isaac::behavior_tree::deprecated::GroupSelectorBehavior, isaac::behavior_tree::deprecated::SelectorBehavior, isaac::cask::Recorder, isaac::cask::RecorderBridge, isaac::cask::Replay, isaac::cask::ReplayBridge, isaac::imu::IioBmi160, isaac::imu::ImuCalibration2D, isaac::imu::ImuCorrector, isaac::imu::ImuSim, isaac::lidar_slam::GMapping, isaac::map::Map, isaac::map::ObstacleAtlas, isaac::map::OccupancyGridMapLayer, isaac::map::PolygonMapLayer, isaac::map::WaypointMapLayer, isaac::navigation::BinaryToDistanceMap, isaac::navigation::CollisionMonitor, isaac::navigation::DetectionsToAtlas, isaac::navigation::DifferentialBaseMockup, isaac::navigation::DifferentialBaseOdometry, isaac::navigation::DifferentialBaseWheelImuOdometry, isaac::navigation::DistanceMap, isaac::navigation::FollowPath, isaac::navigation::GoToBehavior, isaac::navigation::GoalMonitor, isaac::navigation::GoalToPlan, isaac::navigation::GotoWaypointBehavior, isaac::navigation::HolonomicBaseWheelImuOdometry, isaac::navigation::MapWaypointAsGoal, isaac::navigation::MapWaypointAsGoalSimulator, isaac::navigation::MapWaypointsAsPlan, isaac::navigation::MoveAndScan, isaac::navigation::MoveUntilArrival, isaac::navigation::NavigationMap, isaac::navigation::NavigationMonitor, isaac::navigation::PoseAsGoal, isaac::navigation::RandomMapPoseSampler, isaac::navigation::RandomWalk, isaac::navigation::RangeScanModelClassic, isaac::navigation::RangeScanModelFlatloc, isaac::navigation::RangeScanRobotRemoval, isaac::navigation::RangeScanToObservationMap, isaac::navigation::RobotPoseGenerator, isaac::navigation::RobotRemoteControl, isaac::navigation::RobotViewer, isaac::navigation::TemporaryObstacle, isaac::navigation::TravellingSalesman, isaac::navigation::VirtualGamepadBridge, isaac::navigation::WaitUntilStationary, isaac::perception::BirdViewProjection, isaac::perception::ColorSpaceConverter, isaac::perception::CropAndDownsample, isaac::perception::CropAndDownsampleCuda, isaac::perception::EstimateObstacleDistances, isaac::perception::FreespaceToFlatscan, isaac::perception::ImageWarp, isaac::perception::PointCloudAccumulator, isaac::perception::RangeScanFlattening, isaac::perception::RangeToPointCloud, isaac::perception::ScanAccumulator, isaac::perception::StereoRectification, isaac::sick_lidar_2d::TiM5xxFamily, isaac::sight::AliceSight, isaac::sight::PoseTreeJsonBridge, isaac::sight::SightTunnel, isaac::sight::SightWidget, isaac::sight::WebsightServer,
2022-08-04 06:30:14.302 WARN external/com_nvidia_isaac_engine/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')
2022-08-04 06:30:14.303 DEBUG external/com_nvidia_isaac_engine/engine/alice/application.cpp@321: Loaded 110 components: isaac::Joystick, isaac::SegwayChassis, isaac::SegwayRmpDriver, isaac::alice::BufferAllocatorReport, isaac::alice::ChannelMonitor, isaac::alice::CheckJetsonPerformanceModel, isaac::alice::CheckOperatingSystem, isaac::alice::Config, isaac::alice::ConfigBridge, isaac::alice::ConfigLoader, isaac::alice::Failsafe, isaac::alice::FailsafeHeartbeat, isaac::alice::InteractiveMarkersBridge, isaac::alice::LifecycleReport, isaac::alice::MessageLedger, isaac::alice::MessagePassingReport, isaac::alice::NodeStatistics, isaac::alice::Pose, isaac::alice::PoseInitializer, isaac::alice::PoseTree, isaac::alice::PyCodelet, isaac::alice::Random, isaac::alice::Scheduling, isaac::alice::Sight, isaac::alice::SightChannelStatus, isaac::alice::Subgraph, isaac::alice::Subprocess, isaac::alice::Throttle, isaac::alice::TimeOffset, isaac::alice::TimeSynchronizer, isaac::behavior_tree::Behavior, isaac::behavior_tree::ConstantBehavior, isaac::behavior_tree::MemorySelectorBehavior, isaac::behavior_tree::MemorySequenceBehavior, isaac::behavior_tree::Mission, isaac::behavior_tree::NodeGroup, isaac::behavior_tree::ParallelBehavior, isaac::behavior_tree::RepeatBehavior, isaac::behavior_tree::SwitchBehavior, isaac::behavior_tree::TimerBehavior, isaac::behavior_tree::WaitUntilMessage, isaac::behavior_tree::deprecated::Behavior, isaac::behavior_tree::deprecated::GroupSelectorBehavior, isaac::behavior_tree::deprecated::SelectorBehavior, isaac::cask::Recorder, isaac::cask::RecorderBridge, isaac::cask::Replay, isaac::cask::ReplayBridge, isaac::imu::IioBmi160, isaac::imu::ImuCalibration2D, isaac::imu::ImuCorrector, isaac::imu::ImuSim, isaac::lidar_slam::GMapping, isaac::map::Map, isaac::map::ObstacleAtlas, isaac::map::OccupancyGridMapLayer, isaac::map::PolygonMapLayer, isaac::map::WaypointMapLayer, isaac::navigation::BinaryToDistanceMap, isaac::navigation::CollisionMonitor, isaac::navigation::DetectionsToAtlas, isaac::navigation::DifferentialBaseMockup, isaac::navigation::DifferentialBaseOdometry, isaac::navigation::DifferentialBaseWheelImuOdometry, isaac::navigation::DistanceMap, isaac::navigation::FollowPath, isaac::navigation::GoToBehavior, isaac::navigation::GoalMonitor, isaac::navigation::GoalToPlan, isaac::navigation::GotoWaypointBehavior, isaac::navigation::HolonomicBaseWheelImuOdometry, isaac::navigation::MapWaypointAsGoal, isaac::navigation::MapWaypointAsGoalSimulator, isaac::navigation::MapWaypointsAsPlan, isaac::navigation::MoveAndScan, isaac::navigation::MoveUntilArrival, isaac::navigation::NavigationMap, isaac::navigation::NavigationMonitor, isaac::navigation::PoseAsGoal, isaac::navigation::RandomMapPoseSampler, isaac::navigation::RandomWalk, isaac::navigation::RangeScanModelClassic, isaac::navigation::RangeScanModelFlatloc, isaac::navigation::RangeScanRobotRemoval, isaac::navigation::RangeScanToObservationMap, isaac::navigation::RobotPoseGenerator, isaac::navigation::RobotRemoteControl, isaac::navigation::RobotViewer, isaac::navigation::TemporaryObstacle, isaac::navigation::TravellingSalesman, isaac::navigation::VirtualGamepadBridge, isaac::navigation::WaitUntilStationary, isaac::perception::BirdViewProjection, isaac::perception::ColorSpaceConverter, isaac::perception::CropAndDownsample, isaac::perception::CropAndDownsampleCuda, isaac::perception::EstimateObstacleDistances, isaac::perception::FreespaceToFlatscan, isaac::perception::ImageWarp, isaac::perception::PointCloudAccumulator, isaac::perception::RangeScanFlattening, isaac::perception::RangeToPointCloud, isaac::perception::ScanAccumulator, isaac::perception::StereoRectification, isaac::sick_lidar_2d::TiM5xxFamily, isaac::sight::AliceSight, isaac::sight::PoseTreeJsonBridge, isaac::sight::SightTunnel, isaac::sight::SightWidget, isaac::sight::WebsightServer,
2022-08-04 06:30:14.310 INFO external/com_nvidia_isaac_engine/engine/alice/application.cpp@295: Starting application 'gmapping' (instance UUID: 'e5fa7f52-13be-11ed-8989-b7b943cd806c') ...
2022-08-04 06:30:14.310 DEBUG external/com_nvidia_isaac_engine/engine/gems/scheduler/execution_groups.cpp@476: Launching 0 pre-start job(s)
2022-08-04 06:30:14.310 DEBUG external/com_nvidia_isaac_engine/engine/gems/scheduler/execution_groups.cpp@485: Replaying 0 pre-start event(s)
2022-08-04 06:30:14.311 DEBUG external/com_nvidia_isaac_engine/engine/gems/scheduler/execution_groups.cpp@476: Launching 0 pre-start job(s)
2022-08-04 06:30:14.311 DEBUG external/com_nvidia_isaac_engine/engine/gems/scheduler/execution_groups.cpp@485: Replaying 0 pre-start event(s)
2022-08-04 06:30:14.312 INFO packages/sight/WebsightServer.cpp@247: Sight webserver is loaded
2022-08-04 06:30:14.312 INFO packages/sight/WebsightServer.cpp@248: Please open Chrome Browser and navigate to http://<ip address>:3000
2022-08-04 06:30:14.313 WARN external/com_nvidia_isaac_engine/engine/alice/backend/codelet_canister.cpp@229: Codelet 'websight/isaac.sight.AliceSight' was not added to scheduler because no tick method is specified.
//-------------------- Segway401Pluse Start
host version build date:[22-02-21]
host version build time:[10:33:42]
Please place the password.txt file provided by Ninebot in /sdcard/firmware and enter the root passward into this file as required!
creat log_file err, errno:13
Communication interface adding SERIAL_INTERFACE
Use the specified serial port[/dev/ttyTHS0]
Please enter the administrator permission login password:
[sudo] password for nvidia: 2022-08-04 06:30:17.393 INFO packages/sight/WebsightServer.cpp@117: Server connected / 1
serial open success! serial port:/dev/ttyTHS0, baud:921600
Scheduler Num 0 Start. Task Num = 1. Period = 10000
Scheduler Num 2 Start. Task Num = 1. Period = 20000
Scheduler Num 1 Start. Task Num = 1. Period = 50000
2022-08-04 06:30:21.497 WARN external/com_nvidia_isaac_engine/engine/alice/backend/codelet_canister.cpp@229: Codelet '2d_carter.carter_hardware.segway_rmp/isaac.alice.Failsafe' was not added to scheduler because no tick method is specified.
////////////////////////////////////////////////////////
//////////// Sick Lidar start //////////////////////////
////////////////////////////////////////////////////////
Testing if device supports desired protocol => COLA B
Connecting to 192.168.0.1 on port 2112
//------------------------------- ClearFlag : Error code => 0000
Connection to 192.168.0.1 on port 2112 established.
Connecting to 192.168.0.1 on port 2112
Connection to 192.168.0.1 on port 2112 established.
2022-08-04 06:30:22.244 WARN external/com_nvidia_isaac_engine/engine/alice/components/Codelet.cpp@53: Function deprecated. Set tick_period to the desired tick parameter
2022-08-04 06:30:22.244 WARN external/com_nvidia_isaac_engine/engine/alice/components/Codelet.cpp@53: Function deprecated. Set tick_period to the desired tick parameter
2022-08-04 06:30:22.244 ERROR external/com_nvidia_isaac_engine/engine/alice/components/Codelet.cpp@229: Component '_check_operating_system/isaac.alice.CheckOperatingSystem' of type 'isaac::alice::CheckOperatingSystem' reported FAILURE:
'/etc/nv_tegra_release' does not start with '# R32 (release), REVISION: 5.1'. Please flash L4T using Jetpack 4.5.1.
2022-08-04 06:30:22.244 ERROR external/com_nvidia_isaac_engine/engine/alice/backend/event_manager.cpp@43: Stopping node '_check_operating_system' because it reached status 'FAILURE'
2022-08-04 06:30:22.251 WARN external/com_nvidia_isaac_engine/engine/alice/backend/codelet_canister.cpp@229: Codelet '_check_operating_system/isaac.alice.CheckOperatingSystem' was not added to scheduler because no tick method is specified.
2022-08-04 06:30:22.251 WARN external/com_nvidia_isaac_engine/engine/alice/components/Codelet.cpp@53: Function deprecated. Set tick_period to the desired tick parameter
2022-08-04 06:30:22.252 WARN external/com_nvidia_isaac_engine/engine/alice/components/Codelet.cpp@53: Function deprecated. Set tick_period to the desired tick parameter
2022-08-04 06:30:22.252 INFO packages/imu/ImuCorrector.cpp@43: No calibration file is supplied. Corrector will calibrate IMU.
2022-08-04 06:30:22.253 WARN external/com_nvidia_isaac_engine/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: 'gmapping.record.interface/input')
2022-08-04 06:30:22.253 ERROR external/com_nvidia_isaac_engine/engine/alice/components/Codelet.cpp@229: Component 'gmapping.gmapping/GMapping' of type 'isaac::lidar_slam::GMapping' reported FAILURE:
Failed to read robot_T_lidar
2022-08-04 06:30:22.253 ERROR external/com_nvidia_isaac_engine/engine/alice/backend/event_manager.cpp@43: Stopping node 'gmapping.gmapping' because it reached status 'FAILURE'
2022-08-04 06:30:22.253 WARN external/com_nvidia_isaac_engine/engine/alice/backend/codelet_canister.cpp@229: Codelet 'gmapping.gmapping/GMapping' was not added to scheduler because no tick method is specified.
2022-08-04 06:30:22.256 INFO packages/imu/ImuCorrector.cpp@116: Collecting IMU data to calibrate...
2022-08-04 06:30:23.247 DEBUG packages/imu/gems/imu_calibration.cpp@98: Calibrated IMU data after 100 samples.
2022-08-04 06:30:23.247 DEBUG packages/imu/gems/imu_calibration.cpp@99: Maximum variation in acceleration sample window is 0.000111.
2022-08-04 06:30:23.247 DEBUG packages/imu/ImuCorrector.cpp@138: Finished IMU calibration.
2022-08-04 06:30:24.310 INFO external/com_nvidia_isaac_engine/engine/alice/backend/allocator_backend.cpp@57: Optimized memory CPU allocator.
2022-08-04 06:30:24.310 INFO external/com_nvidia_isaac_engine/engine/alice/backend/allocator_backend.cpp@66: Optimized memory CUDA allocator.