How to add new environment to Isaac Sim and still with sdk support?

Hello, there!

I’ve created a small environment with Unreal Engine 4. I am wondering how to setup the environment with sdk support, such as spawning a carter with my environment. As stated in https://docs.nvidia.com/isaac/isaac_sim/content/maps/index.html#adding-new-environments, it says “This will allow JSON graph/config files to load from the commandline via the -isaac_sim_config_json=”…" commandline argument." I’m kind of confused. If say, my environment called “field” and the corresponding field.umap file has been copied to IsaacSimProject/Content folder, what should I do and what is the typical command to run?

Anyone has any ideas? Thanks in advance!

Best,
Rosy

Hi Rosy,

If you look at this part of doc, you will see how your command line arguments change with each environment:

https://docs.nvidia.com/isaac/isaac_sim/applications/sdk_examples.html#supported-environments-for-navigation.

So, what you can do is, make the “field.config.json” and “field.graph.json” files (you can get some idea about the configs with the current ones) and then add these files to “apps/assets/maps/”

Now run the “bazel run apps/carter/carter_sim:carter_sim” with these configs &

run the sim as "./Engine/Binaries/Linux/UE4Editor IsaacSimProject field -vulkan -isaac_sim_config_json=“ABSOLUTE_PATH_TO/apps/carter/carter_sim/bridge_config/carter_full.json”.

You can change the spawn pose in the “carter_full_config.json”.

Hope this helps,
Liila

Hello Liila,

Thank you for your information. Now I can run my environment in Isaac Sim!:) However, after I run command “bazel run apps/carter/carter_sim:carter_sim …” , in sight all the images are black as attached. While in bazel window, it shows

2019-09-29 14:17:18.428 INFO    packages/sight/WebsightServer.cpp@106: Server connected / 1

, which means the sight has been connected to isaac sdk, right?

I didn’t change anything about the carter json files. Do you have any idea about what the problem might be?

Thanks !!

Best regards,
Rosy

Hi Rosy,

Is good that you have it halfway working.
Do you see this problem only with your new environment, or you have the same problem if you run carter in the warehouse?

Liila

Hi Liila,

The same problem happens for all the environments including the warehouse, hospital and office now. It works before but it seems that the problem occurs after I tried to change the game mode.

As stated here(https://docs.nvidia.com/isaac/isaac_sim/content/maps/index.html), so I changed the game mode to IsaacSimGameModeBase, then UE4 crashed all the time when I clicked “PLAY” button. Now if I change game mode back to gamemodebase or anything else, UE4 won’t crash but Sight does not work as well. What is the right game mode for Sight?

Thank you Liila!!

Best regards,
Rosy

Hi Rosy,

Sorry for the late reply.
There is no game mode for Sight.
Have you resolved your issue or it still stands?

THanks,
Liila

Hi Liila,

Thank you for asking. Not yet, I still can not figure it out. Now I found that Sight works fine with kaya and it can show the object detection result. However, on carter side, it always shows the connection error which listed below.

bazel run apps/carter/carter_sim:carter_sim -- --config="apps/assets/maps/carter_office.config.json" --graph="apps/assets/maps/carter_office.graph.json"
WARNING: /home/dgxstation/isaac-sdk-2019-2/packages/viewers/BUILD:14:12: in srcs attribute of cc_binary rule //packages/viewers:libviewers_module.so: please do not import '//packages_x86_64/viewers:libviewers_module.so' directly. You should either move the file to this package or depend on an appropriate rule there
WARNING: /home/dgxstation/isaac-sdk-2019-2/packages/perception/BUILD:34:12: in srcs attribute of cc_binary rule //packages/perception:libperception_module.so: please do not import '//packages_x86_64/perception:libperception_module.so' directly. You should either move the file to this package or depend on an appropriate rule there
INFO: Analysed target //apps/carter/carter_sim:carter_sim (0 packages loaded, 0 targets configured).
INFO: Found 1 target...
Target //apps/carter/carter_sim:carter_sim up-to-date:
  bazel-genfiles/apps/carter/carter_sim/run_carter_sim
  bazel-bin/apps/carter/carter_sim/carter_sim
INFO: Elapsed time: 0.467s, Critical Path: 0.00s, Remote (0.00% of the time): [queue: 0.00%, setup: 0.00%, process: 0.00%]
INFO: 0 processes.
INFO: Build completed successfully, 1 total action
INFO: Running command line: bazel-bin/apps/carter/carter_sim/carter_sim '--config=apps/assets/maps/carter_office.config.json' '--graph=apps/assets/maps/carter_oINFO: Build completed successfully, 1 total action
2019-10-11 17:02:34.780 INFO    engine/alice/tools/websight.cpp@166: Loading websight...
2019-10-11 17:02:34.781 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.
2019-10-11 17:02:34.784 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.
2019-10-11 17:02:34.784 WARNING engine/gems/scheduler/scheduler.cpp@337: No default execution groups specified. Attempting to create scheduler configuration for 40 remaining cores. This may be non optimal for the system and application.
2019-10-11 17:02:34.784 INFO    engine/gems/scheduler/scheduler.cpp@290: Scheduler execution groups are:
2019-10-11 17:02:34.784 INFO    engine/gems/scheduler/scheduler.cpp@299: __BlockerGroup__: Cores = [30, 31, 32, 33, 34, 35, 36, 37, 38, 39], Workers = No
2019-10-11 17:02:34.784 INFO    engine/gems/scheduler/scheduler.cpp@299: __WorkerGroup__: Cores = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29], Workers = Yes
2019-10-11 17:02:34.791 INFO    engine/alice/backend/modules.cpp@283: Loaded module 'packages/flatsim/libflatsim_module.so': Now has 53 components total
2019-10-11 17:02:34.798 INFO    engine/alice/backend/modules.cpp@283: Loaded module 'packages/map/libmap_module.so': Now has 54 components total
2019-10-11 17:02:34.809 INFO    engine/alice/backend/modules.cpp@283: Loaded module 'packages/navigation/libnavigation_module.so': Now has 85 components total
2019-10-11 17:02:34.822 INFO    engine/alice/backend/modules.cpp@283: Loaded module 'packages/perception/libperception_module.so': Now has 95 components total
2019-10-11 17:02:34.836 INFO    engine/alice/backend/modules.cpp@283: Loaded module 'packages/planner/libplanner_module.so': Now has 103 components total
2019-10-11 17:02:34.848 INFO    engine/alice/backend/modules.cpp@283: Loaded module 'packages/sight/libsight_module.so': Now has 104 components total
2019-10-11 17:02:34.862 INFO    engine/alice/backend/modules.cpp@283: Loaded module 'packages/viewers/libviewers_module.so': Now has 120 components total
2019-10-11 17:02:34.862 INFO    engine/alice/application.cpp@265: Loaded 120 components: 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::flatsim::DifferentialBasePhysics, isaac::flatsim::DifferentialBaseSimulator, isaac::flatsim::HolonomicBaseSimulator, isaac::flatsim::SimPresetTrajectory, isaac::flatsim::SimRangeScan, isaac::map::Map, isaac::map::MapBridge, isaac::map::OccupancyGridMapLayer, isaac::map::PolygonMapLayer, isaac::map::WaypointMapLayer, isaac::ml::SampleAccumulator, 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::planner::DifferentialBaseControl, isaac::planner::DifferentialBaseLqrPlanner, isaac::planner::DifferentialBaseModel, isaac::planner::DifferentialBaseStop, isaac::planner::GlobalPlanSmoother, isaac::planner::GlobalPlanner, isaac::planner::HolonomicBaseControl, isaac::planner::HolonomicBaseLqrPlanner, isaac::planner::SphericalRobotShapeComponent, isaac::sight::AliceSight, isaac::sight::WebsightServer, isaac::viewers::BinaryMapViewer, isaac::viewers::ColorCameraViewer, isaac::viewers::DepthCameraViewer, isaac::viewers::Detections3Viewer, isaac::viewers::DetectionsViewer, isaac::viewers::FiducialsViewer, isaac::viewers::FlatscanViewer, isaac::viewers::GoalViewer, isaac::viewers::LidarViewer, isaac::viewers::MosaicViewer, isaac::viewers::OccupancyMapViewer, isaac::viewers::PointCloudViewer, isaac::viewers::SegmentationCameraViewer, isaac::viewers::SegmentationViewer, isaac::viewers::TensorListViewer, navigation::GMappingNode, 
2019-10-11 17:02:34.862 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'websight'
2019-10-11 17:02:34.862 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'
2019-10-11 17:02:34.862 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'
2019-10-11 17:02:34.862 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node '_config_bridge'
2019-10-11 17:02:34.862 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'
2019-10-11 17:02:34.862 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node '_statistics'
2019-10-11 17:02:34.862 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node '_pose_tree_bridge'
2019-10-11 17:02:34.862 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node '_interactive_markers_bridge'
2019-10-11 17:02:34.862 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'shared_robot_model'
2019-10-11 17:02:34.863 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'obstacle_world'
2019-10-11 17:02:34.863 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'global_localization'
2019-10-11 17:02:34.863 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'local_map'
2019-10-11 17:02:34.863 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='local_map', component='isaac.navigation.BinaryToDistanceMap', key='tick_period'
2019-10-11 17:02:34.863 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='local_map', component='isaac.navigation.LocalMap', key='tick_period'
2019-10-11 17:02:34.863 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='local_map', component='isaac.navigation.OccupancyToBinaryMap', key='tick_period'
2019-10-11 17:02:34.863 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'robot_pose_initializer'
2019-10-11 17:02:34.863 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='robot_pose_initializer', component='initial_pose', key='tick_period'
2019-10-11 17:02:34.863 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'scan_localization'
2019-10-11 17:02:34.863 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='scan_localization', component='flatscan_viewer', key='tick_period'
2019-10-11 17:02:34.863 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='scan_localization', component='isaac.navigation.ParticleFilterLocalization', key='tick_period'
2019-10-11 17:02:34.863 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'segway_odometry'
2019-10-11 17:02:34.863 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'lqr'
2019-10-11 17:02:34.863 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'control'
2019-10-11 17:02:34.863 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'global_plan'
2019-10-11 17:02:34.863 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='global_plan', component='isaac.navigation.BinaryToDistanceMap', key='tick_period'
2019-10-11 17:02:34.863 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='global_plan', component='isaac.navigation.OccupancyToBinaryMap', key='tick_period'
2019-10-11 17:02:34.863 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='global_plan', component='isaac.planner.GlobalPlanner', key='graph_file_in'
2019-10-11 17:02:34.864 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='global_plan', component='isaac.planner.GlobalPlanner', key='world_dimensions'
2019-10-11 17:02:34.864 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'global_plan_smoother'
2019-10-11 17:02:34.864 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='global_plan_smoother', component='smoother', key='tick_period'
2019-10-11 17:02:34.864 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'localize'
2019-10-11 17:02:34.864 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'go_to'
2019-10-11 17:02:34.864 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'random_walk'
2019-10-11 17:02:34.864 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'waypoint_as_goal'
2019-10-11 17:02:34.864 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'pose_as_goal'
2019-10-11 17:02:34.864 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='pose_as_goal', component='pose_as_goal_frame', key='tick_period'
2019-10-11 17:02:34.864 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'patrol'
2019-10-11 17:02:34.864 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='patrol', component='isaac.navigation.Patrol', key='route'
2019-10-11 17:02:34.864 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'goal_behavior'
2019-10-11 17:02:34.864 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'base_simulation'
2019-10-11 17:02:34.864 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'scan_accumulator'
2019-10-11 17:02:34.864 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='scan_accumulator', component='isaac.perception.ScanAccumulator', key='tick_period'
2019-10-11 17:02:34.864 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'range_scan_flattening'
2019-10-11 17:02:34.864 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='range_scan_flattening', component='isaac.perception.RangeScanFlattening', key='tick_period'
2019-10-11 17:02:34.864 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='range_scan_flattening', component='isaac.perception.RangeScanFlattening', key='target_pitch'
2019-10-11 17:02:34.864 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'ActuatorPublisher'
2019-10-11 17:02:34.864 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'RigidBodySubscriber'
2019-10-11 17:02:34.864 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'LidarSubscriber'
2019-10-11 17:02:34.864 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='LidarSubscriber', component='lidar_initializer', key='tick_period'
2019-10-11 17:02:34.864 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'LeftColorCameraViewer'
2019-10-11 17:02:34.864 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='LeftColorCameraViewer', component='isaac.viewers.ColorCameraViewer', key='tick_period'
2019-10-11 17:02:34.865 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'LeftDepthCameraViewer'
2019-10-11 17:02:34.865 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='LeftDepthCameraViewer', component='isaac.viewers.DepthCameraViewer', key='tick_period'
2019-10-11 17:02:34.865 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='LeftDepthCameraViewer', component='isaac.viewers.DepthCameraViewer', key='colormap'
2019-10-11 17:02:34.865 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'LeftSegmentationCameraViewer'
2019-10-11 17:02:34.865 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='LeftSegmentationCameraViewer', component='isaac.viewers.SegmentationCameraViewer', key='tick_period'
2019-10-11 17:02:34.865 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'LeftDetectionsViewer'
2019-10-11 17:02:34.865 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='LeftDetectionsViewer', component='isaac.viewers.DetectionsViewer', key='tick_period'
2019-10-11 17:02:34.865 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'RightColorCameraViewer'
2019-10-11 17:02:34.865 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='RightColorCameraViewer', component='isaac.viewers.ColorCameraViewer', key='tick_period'
2019-10-11 17:02:34.865 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'LeftCameraSubscriber'
2019-10-11 17:02:34.865 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='LeftCameraSubscriber', component='left_camera_initializer', key='tick_period'
2019-10-11 17:02:34.865 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'RightCameraSubscriber'
2019-10-11 17:02:34.865 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='RightCameraSubscriber', component='right_camera_initializer', key='tick_period'
2019-10-11 17:02:34.865 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'recorder'
2019-10-11 17:02:34.865 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'recorder_bridge'
2019-10-11 17:02:34.865 DEBUG   engine/alice/backend/node_backend.cpp@49: Creating node 'map'
2019-10-11 17:02:34.865 WARNING engine/alice/hooks/config_hook.cpp@59: Configuration does not contain a value and no default provided: node='map', component='isaac.map.Map', key='tick_period'
2019-10-11 17:02:34.865 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')
2019-10-11 17:02:34.865 INFO    engine/alice/application.cpp@213: Starting application 'carter_sim' (instance UUID: 'dd922420-ec05-11e9-949a-1b328234979e') ...
2019-10-11 17:02:34.865 DEBUG   engine/gems/scheduler/execution_groups.cpp@484: Launching 0 pre-start job(s)
2019-10-11 17:02:34.865 DEBUG   engine/gems/scheduler/execution_groups.cpp@493: Replaying 0 pre-start event(s)
2019-10-11 17:02:34.866 DEBUG   engine/gems/scheduler/execution_groups.cpp@484: Launching 0 pre-start job(s)
2019-10-11 17:02:34.866 DEBUG   engine/gems/scheduler/execution_groups.cpp@493: Replaying 0 pre-start event(s)
2019-10-11 17:02:34.866 INFO    engine/alice/backend/asio_backend.cpp@33: Starting ASIO service
2019-10-11 17:02:34.866 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'websight'
2019-10-11 17:02:34.866 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'websight/WebsightServer' ...
2019-10-11 17:02:34.867 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'websight/WebsightServer' DONE
2019-10-11 17:02:34.867 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'websight/WebsightServer'
2019-10-11 17:02:34.867 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'websight/isaac.sight.AliceSight' ...
2019-10-11 17:02:34.867 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'websight/isaac.sight.AliceSight' DONE
2019-10-11 17:02:34.867 WARNING engine/alice/backend/codelet_backend.cpp@281: Codelet 'websight/isaac.sight.AliceSight' was not added to scheduler because no tick method is specified.
2019-10-11 17:02:34.867 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node '_config_bridge'
2019-10-11 17:02:34.867 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet '_config_bridge/isaac.alice.ConfigBridge' ...
2019-10-11 17:02:34.867 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet '_config_bridge/isaac.alice.ConfigBridge' DONE
2019-10-11 17:02:34.867 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet '_config_bridge/isaac.alice.ConfigBridge'
2019-10-11 17:02:34.867 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node '_statistics'
2019-10-11 17:02:34.867 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet '_statistics/NodeStatistics' ...
2019-10-11 17:02:34.867 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet '_statistics/NodeStatistics' DONE
2019-10-11 17:02:34.867 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet '_statistics/NodeStatistics'
2019-10-11 17:02:34.867 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node '_pose_tree_bridge'
2019-10-11 17:02:34.867 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet '_pose_tree_bridge/PoseTreeJsonBridge' ...
2019-10-11 17:02:34.867 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet '_pose_tree_bridge/PoseTreeJsonBridge' DONE
2019-10-11 17:02:34.867 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet '_pose_tree_bridge/PoseTreeJsonBridge'
2019-10-11 17:02:34.867 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node '_interactive_markers_bridge'
2019-10-11 17:02:34.867 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet '_interactive_markers_bridge/InteractiveMarkersBridge' ...
2019-10-11 17:02:34.867 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet '_interactive_markers_bridge/InteractiveMarkersBridge' DONE
2019-10-11 17:02:34.867 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet '_interactive_markers_bridge/InteractiveMarkersBridge'
2019-10-11 17:02:34.867 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'robot_pose_initializer'
2019-10-11 17:02:34.867 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'robot_pose_initializer/initial_pose' ...
2019-10-11 17:02:34.867 WARNING engine/alice/components/Codelet.cpp@87: Function deprecated. Set tick_period to the desired tick paramater
2019-10-11 17:02:34.867 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'robot_pose_initializer/initial_pose' DONE
2019-10-11 17:02:34.867 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'robot_pose_initializer/initial_pose'
2019-10-11 17:02:34.867 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'map'
2019-10-11 17:02:34.867 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'.
2019-10-11 17:02:34.867 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'
2019-10-11 17:02:34.944 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')
2019-10-11 17:02:34.945 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'map/isaac.map.Map' ...
2019-10-11 17:02:34.945 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'map/isaac.map.Map' DONE
2019-10-11 17:02:34.945 WARNING engine/alice/backend/codelet_backend.cpp@281: Codelet 'map/isaac.map.Map' was not added to scheduler because no tick method is specified.
2019-10-11 17:02:35.350 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'base_simulation'
2019-10-11 17:02:35.350 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'base_simulation/isaac.flatsim.DifferentialBaseSimulator' ...
2019-10-11 17:02:35.350 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'base_simulation/isaac.flatsim.DifferentialBaseSimulator' DONE
2019-10-11 17:02:35.350 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'base_simulation/isaac.flatsim.DifferentialBaseSimulator'
2019-10-11 17:02:35.350 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'shared_robot_model'
2019-10-11 17:02:35.350 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'recorder_bridge'
2019-10-11 17:02:35.350 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'recorder_bridge/RecorderBridge' ...
2019-10-11 17:02:35.350 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'recorder_bridge/RecorderBridge' DONE
2019-10-11 17:02:35.350 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'recorder_bridge/RecorderBridge'
2019-10-11 17:02:35.350 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'recorder'
2019-10-11 17:02:35.350 INFO    engine/gems/cask/cask.cpp@58: Creating new log '/tmp/isaac/dd922420-ec05-11e9-949a-1b328234979e/kv' for writing
2019-10-11 17:02:35.350 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')
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'RightCameraSubscriber'
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'RightCameraSubscriber/right_camera_initializer' ...
2019-10-11 17:02:35.351 WARNING engine/alice/components/Codelet.cpp@87: Function deprecated. Set tick_period to the desired tick paramater
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'RightCameraSubscriber/right_camera_initializer' DONE
2019-10-11 17:02:35.351 INFO    engine/alice/components/TcpSubscriber.cpp@137: TCP receiver trying to connect to remote (localhost:5004)...
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'RightCameraSubscriber/right_camera_initializer'
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'LeftCameraSubscriber'
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'LeftCameraSubscriber/left_camera_initializer' ...
2019-10-11 17:02:35.351 WARNING engine/alice/components/Codelet.cpp@87: Function deprecated. Set tick_period to the desired tick paramater
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'LeftCameraSubscriber/left_camera_initializer' DONE
2019-10-11 17:02:35.351 INFO    engine/alice/components/TcpSubscriber.cpp@137: TCP receiver trying to connect to remote (localhost:5003)...
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'LeftCameraSubscriber/left_camera_initializer'
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'RightColorCameraViewer'
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'RightColorCameraViewer/isaac.viewers.ColorCameraViewer' ...
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'RightColorCameraViewer/isaac.viewers.ColorCameraViewer' DONE
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'RightColorCameraViewer/isaac.viewers.ColorCameraViewer'
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'LeftDetectionsViewer'
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'LeftDetectionsViewer/isaac.viewers.DetectionsViewer' ...
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'LeftDetectionsViewer/isaac.viewers.DetectionsViewer' DONE
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'LeftDetectionsViewer/isaac.viewers.DetectionsViewer'
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'LeftSegmentationCameraViewer'
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'LeftSegmentationCameraViewer/isaac.viewers.SegmentationCameraViewer' ...
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'LeftSegmentationCameraViewer/isaac.viewers.SegmentationCameraViewer' DONE
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'LeftSegmentationCameraViewer/isaac.viewers.SegmentationCameraViewer'
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'LeftDepthCameraViewer'
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'LeftDepthCameraViewer/isaac.viewers.DepthCameraViewer' ...
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'LeftDepthCameraViewer/isaac.viewers.DepthCameraViewer' DONE
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'LeftDepthCameraViewer/isaac.viewers.DepthCameraViewer'
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'LeftColorCameraViewer'
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'LeftColorCameraViewer/isaac.viewers.ColorCameraViewer' ...
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'LeftColorCameraViewer/isaac.viewers.ColorCameraViewer' DONE
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'LeftColorCameraViewer/isaac.viewers.ColorCameraViewer'
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'LidarSubscriber'
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'LidarSubscriber/lidar_initializer' ...
2019-10-11 17:02:35.351 WARNING engine/alice/components/Codelet.cpp@87: Function deprecated. Set tick_period to the desired tick paramater
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'LidarSubscriber/lidar_initializer' DONE
2019-10-11 17:02:35.351 INFO    engine/alice/components/TcpSubscriber.cpp@137: TCP receiver trying to connect to remote (localhost:5000)...
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'LidarSubscriber/lidar_initializer'
2019-10-11 17:02:35.351 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'RigidBodySubscriber'
2019-10-11 17:02:35.351 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:35.351 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'ActuatorPublisher'
2019-10-11 17:02:35.352 INFO    engine/alice/components/TcpPublisher.cpp@75: Starting TCP publisher on port 5002
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'range_scan_flattening'
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'range_scan_flattening/isaac.perception.RangeScanFlattening' ...
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'range_scan_flattening/isaac.perception.RangeScanFlattening' DONE
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'range_scan_flattening/isaac.perception.RangeScanFlattening'
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'scan_accumulator'
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'scan_accumulator/isaac.perception.ScanAccumulator' ...
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'scan_accumulator/isaac.perception.ScanAccumulator' DONE
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'scan_accumulator/isaac.perception.ScanAccumulator'
2019-10-11 17:02:35.352 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:35.352 INFO    engine/alice/components/TcpSubscriber.cpp@137: TCP receiver trying to connect to remote (localhost:5001)...
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'goal_behavior'
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'goal_behavior/isaac.navigation.SelectorBehavior' ...
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'goal_behavior/isaac.navigation.SelectorBehavior' DONE
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'goal_behavior/isaac.navigation.SelectorBehavior'
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'go_to'
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'go_to/isaac.navigation.GoTo' ...
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'go_to/isaac.navigation.GoTo' DONE
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'go_to/isaac.navigation.GoTo'
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'localize'
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'localize/isaac.navigation.LocalizeBehavior' ...
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'localize/isaac.navigation.LocalizeBehavior' DONE
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'localize/isaac.navigation.LocalizeBehavior'
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'global_plan_smoother'
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'global_plan_smoother/smoother' ...
2019-10-11 17:02:35.352 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:35.352 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')
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'global_plan_smoother/smoother' DONE
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'global_plan_smoother/smoother'
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'control'
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'control/isaac.planner.DifferentialBaseControl' ...
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'control/isaac.planner.DifferentialBaseControl' DONE
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'control/isaac.planner.DifferentialBaseControl'
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'lqr'
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'lqr/isaac.planner.DifferentialBaseLqrPlanner' ...
2019-10-11 17:02:35.352 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')
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'lqr/isaac.planner.DifferentialBaseLqrPlanner' DONE
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'lqr/isaac.planner.DifferentialBaseLqrPlanner'
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'segway_odometry'
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'segway_odometry/isaac.navigation.DifferentialBaseOdometry' ...
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'segway_odometry/isaac.navigation.DifferentialBaseOdometry' DONE
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'segway_odometry/isaac.navigation.DifferentialBaseOdometry'
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'obstacle_world'
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'local_map'
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'local_map/isaac.navigation.BinaryToDistanceMap' ...
2019-10-11 17:02:35.352 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')
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'local_map/isaac.navigation.BinaryToDistanceMap' DONE
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'local_map/isaac.navigation.BinaryToDistanceMap'
2019-10-11 17:02:35.352 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'local_map/isaac.navigation.LocalMap' ...
2019-10-11 17:02:35.353 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'local_map/isaac.navigation.LocalMap' DONE
2019-10-11 17:02:35.353 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'local_map/isaac.navigation.LocalMap'
2019-10-11 17:02:35.353 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'local_map/isaac.navigation.OccupancyToBinaryMap' ...
2019-10-11 17:02:35.353 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'local_map/isaac.navigation.OccupancyToBinaryMap' DONE
2019-10-11 17:02:35.353 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'local_map/isaac.navigation.OccupancyToBinaryMap'
2019-10-11 17:02:35.363 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'random_walk'
2019-10-11 17:02:35.363 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'random_walk/isaac.navigation.RandomWalk' ...
2019-10-11 17:02:35.363 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'random_walk/isaac.navigation.RandomWalk' DONE
2019-10-11 17:02:35.363 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'random_walk/isaac.navigation.RandomWalk'
2019-10-11 17:02:35.363 DEBUG   engine/alice/backend/node_backend.cpp@317: Starting node 'global_localization'
2019-10-11 17:02:35.363 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'global_localization/grid_search_localizer' ...
2019-10-11 17:02:35.363 INFO    packages/navigation/RandomWalk.cpp@76: Picked a new goal: p=(14.080559, 19.662536), q=0.826476
2019-10-11 17:02:35.365 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet 'global_localization/grid_search_localizer' DONE
2019-10-11 17:02:35.365 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'global_localization/grid_search_localizer'
2019-10-11 17:02:35.852 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:35.852 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:35.852 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:35.852 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:35.903 INFO    packages/sight/WebsightServer.cpp@106: Server connected / 1
2019-10-11 17:02:36.352 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:36.352 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:36.352 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:36.352 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:36.852 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:36.852 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:36.852 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:36.852 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:37.352 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:37.352 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:37.352 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:37.352 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:37.852 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:37.852 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:37.852 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:37.853 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:38.353 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:38.353 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:38.353 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:38.353 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:38.853 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:38.853 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:38.853 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:38.853 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:39.301 INFO    packages/sight/WebsightServer.cpp@117: Disconnected
2019-10-11 17:02:39.353 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:39.353 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:39.353 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:39.353 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:39.853 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:39.853 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:39.853 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:39.853 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:40.051 INFO    packages/sight/WebsightServer.cpp@106: Server connected / 1
2019-10-11 17:02:40.353 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:40.353 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:40.353 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:40.353 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2019-10-11 17:02:40.853 WARNING engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.

I already change the carter_full_graph.json and carter_full_config.json to its ABSOLUTE_PATH_TO. And start the SIM and play.

Do you have any ideas for the problems that might be?

Thank you!

Best,
Rosy