I’m trying to run navsim with isaac by starting the scripts found in the documentation here:
https://docs.nvidia.com/isaac/isaac/doc/simulation/unity3d.html#warehouse-navigation
However, the isaac process has an issue connecting to the unity simulator. After running both commands in the documentation, I end up here:
2020-02-07 23:43:04.172 WARN engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:04.673 WARN engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:05.173 WARN engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
The same issue is present on a cloud server and on my local linux PC (both running ubuntu 18.04 with nvidia hardware, the latest drivers, and all requirements.
Below are the output from both both processes.
Unity:
$ /home/ubuntu/isaac_sim_unity3d/builds/isaac_sim_unity3d.x86_64 --scene small_warehouse
Found path: /home/ubuntu/isaac_sim_unity3d/builds/isaac_sim_unity3d.x86_64
Mono path[0] = '/home/ubuntu/isaac_sim_unity3d/builds/isaac_sim_unity3d_Data/Managed'
Mono config path = '/home/ubuntu/isaac_sim_unity3d/builds/isaac_sim_unity3d_Data/MonoBleedingEdge/etc'
Preloaded 'libSubstance.Engine.so'
Preloaded 'libsubstance_sse2_blend.so'
Preloaded 'ScreenSelector.so'
Logging to /home/ubuntu/.config/unity3d/NVIDIA/Isaac SDK - IsaacSim Unity3D/Player.log
Isaac:
$ cd ~/isaac && bazel run //apps/navsim:navsim_navigate
Starting local Bazel server and connecting to it...
WARNING: /home/ubuntu/isaac/packages/ml/BUILD:15:12: in srcs attribute of cc_binary rule //packages/ml:libml_module.so: please do not import '//packages_x86_64/ml:libml_module.so' directly. You should either move the file to this package or depend on an appropriate rule there
WARNING: /home/ubuntu/isaac/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
WARNING: /home/ubuntu/isaac/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
INFO: Analysed target //apps/navsim:navsim_navigate (97 packages loaded, 5479 targets configured).
INFO: Found 1 target...
Target //apps/navsim:navsim_navigate up-to-date:
bazel-bin/apps/navsim/navsim_navigate
INFO: Elapsed time: 28.023s, Critical Path: 2.41s, 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: Build completed successfully, 1 total action
2020-02-07 23:43:03.144 INFO engine/alice/tools/websight.cpp@166: Loading websight...
2020-02-07 23:43:03.145 WARN engine/alice/backend/application_json_loader.cpp@171: This application does not have an explicit scheduler configuration. One will be autogenerated to the best of the system's abilities if possible.
2020-02-07 23:43:03.146 INFO engine/alice/backend/application_json_loader.cpp@340: Modules requested by subgraph 'simulation': navsim, ml, perception, utils,
2020-02-07 23:43:03.146 INFO engine/alice/backend/application_json_loader.cpp@340: Modules requested by subgraph 'noiser': (navsim),
2020-02-07 23:43:03.148 INFO engine/alice/backend/application_json_loader.cpp@340: Modules requested by subgraph 'navigation': map, navigation, planner, (sight),
2020-02-07 23:43:03.149 INFO engine/alice/backend/application_json_loader.cpp@340: Modules requested by subgraph 'local_map': (navigation),
2020-02-07 23:43:03.150 INFO engine/alice/backend/application_json_loader.cpp@340: Modules requested by subgraph 'go_to': (navigation), (viewers),
2020-02-07 23:43:03.151 INFO engine/alice/backend/application_json_loader.cpp@340: Modules requested by subgraph 'planner': (navigation), (planner),
2020-02-07 23:43:03.152 INFO engine/alice/backend/application_json_loader.cpp@340: Modules requested by subgraph 'control': (navigation), (planner),
2020-02-07 23:43:03.152 INFO engine/alice/backend/application_json_loader.cpp@340: Modules requested by subgraph 'localization': (navigation), (utils), (viewers),
2020-02-07 23:43:03.153 INFO engine/alice/backend/application_json_loader.cpp@340: Modules requested by subgraph 'imu_odometry': imu, (navigation),
2020-02-07 23:43:03.154 INFO engine/alice/backend/application_json_loader.cpp@340: Modules requested by subgraph 'goals': (navigation),
2020-02-07 23:43:03.156 WARN engine/alice/backend/backend.cpp@183: This application does not have an execution group configuration. One will be autogenerated to the best of the systems abilities if possible.
2020-02-07 23:43:03.156 WARN 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.
2020-02-07 23:43:03.156 INFO engine/gems/scheduler/scheduler.cpp@290: Scheduler execution groups are:
2020-02-07 23:43:03.157 INFO engine/gems/scheduler/scheduler.cpp@299: __BlockerGroup__: Cores = [3], Workers = No
2020-02-07 23:43:03.157 INFO engine/gems/scheduler/scheduler.cpp@299: __WorkerGroup__: Cores = [0, 1, 2], Workers = Yes
2020-02-07 23:43:03.168 INFO engine/alice/backend/modules.cpp@226: Loaded module 'packages/imu/libimu_module.so': Now has 50 components total
2020-02-07 23:43:03.175 INFO engine/alice/backend/modules.cpp@226: Loaded module 'packages/map/libmap_module.so': Now has 57 components total
2020-02-07 23:43:03.356 INFO engine/alice/backend/modules.cpp@226: Loaded module 'packages/ml/libml_module.so': Now has 82 components total
2020-02-07 23:43:03.367 INFO engine/alice/backend/modules.cpp@226: Loaded module 'packages/navigation/libnavigation_module.so': Now has 119 components total
2020-02-07 23:43:03.378 INFO engine/alice/backend/modules.cpp@226: Loaded module 'packages/navsim/libnavsim_module.so': Now has 122 components total
2020-02-07 23:43:03.396 INFO engine/alice/backend/modules.cpp@226: Loaded module 'packages/perception/libperception_module.so': Now has 133 components total
2020-02-07 23:43:03.417 INFO engine/alice/backend/modules.cpp@226: Loaded module 'packages/planner/libplanner_module.so': Now has 142 components total
2020-02-07 23:43:03.435 INFO engine/alice/backend/modules.cpp@226: Loaded module 'packages/sight/libsight_module.so': Now has 144 components total
2020-02-07 23:43:03.453 INFO engine/alice/backend/modules.cpp@226: Loaded module 'packages/utils/libutils_module.so': Now has 155 components total
2020-02-07 23:43:03.474 INFO engine/alice/backend/modules.cpp@226: Loaded module 'packages/viewers/libviewers_module.so': Now has 173 components total
2020-02-07 23:43:03.475 INFO engine/alice/application.cpp@282: Loaded 173 components: isaac::alice::Behavior, isaac::alice::ChannelMonitor, isaac::alice::Config, isaac::alice::ConfigBridge, isaac::alice::Failsafe, isaac::alice::FailsafeHeartbeat, isaac::alice::InteractiveMarkersBridge, isaac::alice::JsonToProto, isaac::alice::MessageLedger, isaac::alice::NodeStatistics, isaac::alice::Pose, isaac::alice::Pose2Comparer, isaac::alice::PoseInitializer, isaac::alice::PoseMessageInjector, isaac::alice::PoseToMessage, isaac::alice::PoseTree, isaac::alice::PoseTreeJsonBridge, isaac::alice::ProtoToJson, isaac::alice::PyCodelet, isaac::alice::Random, 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::MapBridge, isaac::map::ObstacleAtlas, isaac::map::OccupancyGridMapLayer, isaac::map::PolygonMapLayer, isaac::map::Spline, isaac::map::WaypointMapLayer, isaac::ml::ColorCameraEncoderCpu, isaac::ml::ColorCameraEncoderCuda, isaac::ml::ConfusionMatrixAggregator, isaac::ml::Detection3Encoder, isaac::ml::DetectionDecoder, isaac::ml::DetectionEncoder, isaac::ml::DetectionImageExtraction, isaac::ml::Detections3Comparer, isaac::ml::FilterDetectionsByLabel, isaac::ml::GenerateKittiDataset, isaac::ml::HeatmapDecoder, isaac::ml::HeatmapEncoder, isaac::ml::LabelToBoundingBox, isaac::ml::ResizeDetections, isaac::ml::RigidbodyToDetections3, isaac::ml::SampleAccumulator, isaac::ml::SegmentationComparer, isaac::ml::SegmentationDecoder, isaac::ml::SegmentationEncoder, isaac::ml::Teleportation, isaac::ml::TensorArgMax, isaac::ml::TensorChannelSum, isaac::ml::TensorRTInference, isaac::ml::TensorReshape, isaac::ml::TensorSynchronization, isaac::navigation::BinaryToDistanceMap, isaac::navigation::CollisionMonitor, isaac::navigation::DetectionsToAtlas, isaac::navigation::DifferentialBaseOdometry, isaac::navigation::DifferentialBaseWheelImuOdometry, isaac::navigation::DistanceMap, isaac::navigation::FollowPath, isaac::navigation::GoToBehavior, isaac::navigation::GoalMonitor, 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::MoveUntilArrival, isaac::navigation::NavigationMap, isaac::navigation::NavigationMonitor, isaac::navigation::OccupancyMapCleanup, isaac::navigation::OccupancyToBinaryMap, isaac::navigation::ParticleFilterLocalization, isaac::navigation::ParticleSwarmLocalization, isaac::navigation::Patrol, isaac::navigation::PoseAsGoal, isaac::navigation::RandomMapPoseSampler, isaac::navigation::RandomWalk, isaac::navigation::RangeScanModelClassic, isaac::navigation::RangeScanModelFlatloc, isaac::navigation::RangeScanToObservationMap, isaac::navigation::RobotPoseGenerator, isaac::navigation::RobotRemoteControl, isaac::navigation::RobotViewer, isaac::navigation::SelectorBehavior, isaac::navigation::TravellingSalesman, isaac::navigation::VirtualGamepadBridge, isaac::navsim::FlatscanNoiser, isaac::navsim::ScenarioManager, isaac::navsim::ScenarioMonitor, isaac::perception::BirdViewProjection, isaac::perception::CropAndDownsample, isaac::perception::CropAndDownsampleCuda, isaac::perception::EstimateGroundPlane, isaac::perception::EstimateObstacleDistances, isaac::perception::FiducialAsGoal, isaac::perception::ImageWarp, 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::SightWidget, isaac::sight::WebsightServer, isaac::utils::DetectionUnprojection, isaac::utils::DetectionsToPoseTree, isaac::utils::DifferentialTrajectoryToPlanConverter, isaac::utils::FlatscanToPointCloud, isaac::utils::Plan2Converter, isaac::utils::Pose2GaussianDistributionEstimation, isaac::utils::PoseMonitor, isaac::utils::PoseTreeFeed, isaac::utils::RigidBodiesToDetections, isaac::utils::SendTextMessages, isaac::utils::WaitUntilDetection, 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::SampleAccumulatorViewer, isaac::viewers::SegmentationCameraViewer, isaac::viewers::SegmentationViewer, isaac::viewers::SkeletonViewer, isaac::viewers::TensorListViewer, isaac::viewers::TrajectoryListViewer,
2020-02-07 23:43:03.475 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'websight'
2020-02-07 23:43:03.475 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node '_config_bridge'
2020-02-07 23:43:03.475 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node '_statistics'
2020-02-07 23:43:03.475 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node '_pose_tree_bridge'
2020-02-07 23:43:03.475 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node '_interactive_markers_bridge'
2020-02-07 23:43:03.475 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'simulation.interface'
2020-02-07 23:43:03.476 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'simulation.noiser.lidar'
2020-02-07 23:43:03.476 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'simulation.pose_injector'
2020-02-07 23:43:03.476 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'simulation.scenario_manager'
2020-02-07 23:43:03.476 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'simulation.scan_flattener'
2020-02-07 23:43:03.476 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'simulation.bounding_boxes'
2020-02-07 23:43:03.476 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'simulation.plan_converter'
2020-02-07 23:43:03.476 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.subgraph'
2020-02-07 23:43:03.476 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.local_map.subgraph'
2020-02-07 23:43:03.476 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.local_map.range_scan_to_observation_map'
2020-02-07 23:43:03.476 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.local_map.local_map'
2020-02-07 23:43:03.476 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.go_to.subgraph'
2020-02-07 23:43:03.476 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.go_to.goal_viewer'
2020-02-07 23:43:03.476 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.go_to.goal_monitor'
2020-02-07 23:43:03.476 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.go_to.go_to_behavior'
2020-02-07 23:43:03.476 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.go_to.move_until_arrival'
2020-02-07 23:43:03.477 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.planner.subgraph'
2020-02-07 23:43:03.477 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.planner.global_plan'
2020-02-07 23:43:03.477 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.planner.global_plan_smoother'
2020-02-07 23:43:03.477 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.control.subgraph'
2020-02-07 23:43:03.477 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.control.lqr'
2020-02-07 23:43:03.477 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.control.control'
2020-02-07 23:43:03.477 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.control.stop'
2020-02-07 23:43:03.477 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.control.navigation_mode'
2020-02-07 23:43:03.477 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.localization.subgraph'
2020-02-07 23:43:03.477 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.localization.global_localization'
2020-02-07 23:43:03.477 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.localization.scan_localization'
2020-02-07 23:43:03.478 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.localization.localization_evaluation'
2020-02-07 23:43:03.478 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.localization.robot_pose_initializer'
2020-02-07 23:43:03.478 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.localization.localize'
2020-02-07 23:43:03.478 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.imu_odometry.subgraph'
2020-02-07 23:43:03.478 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.imu_odometry.odometry'
2020-02-07 23:43:03.478 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.imu_odometry.imu_corrector'
2020-02-07 23:43:03.478 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.obstacle_atlas'
2020-02-07 23:43:03.478 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.shared_robot_model'
2020-02-07 23:43:03.478 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.sight_widgets'
2020-02-07 23:43:03.478 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'goals.subgraph'
2020-02-07 23:43:03.478 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'goals.random_walk'
2020-02-07 23:43:03.478 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'goals.waypoint_as_goal'
2020-02-07 23:43:03.478 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'goals.pose_as_goal'
2020-02-07 23:43:03.478 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'goals.patrol'
2020-02-07 23:43:03.479 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'goals.goal_behavior'
2020-02-07 23:43:03.479 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'camera_viewer'
2020-02-07 23:43:03.479 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'behavior_main'
2020-02-07 23:43:03.479 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'pose_initializers'
2020-02-07 23:43:03.479 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'map'
2020-02-07 23:43:03.479 WARN engine/alice/application.cpp@160: 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')
2020-02-07 23:43:03.479 INFO engine/alice/application.cpp@209: Starting application 'navigate' (instance UUID: '94e4415c-4a03-11ea-afd4-bdd4a94c4cca') ...
2020-02-07 23:43:03.479 DEBUG engine/gems/scheduler/execution_groups.cpp@489: Launching 0 pre-start job(s)
2020-02-07 23:43:03.479 DEBUG engine/gems/scheduler/execution_groups.cpp@498: Replaying 0 pre-start event(s)
2020-02-07 23:43:03.480 DEBUG engine/gems/scheduler/execution_groups.cpp@489: Launching 0 pre-start job(s)
2020-02-07 23:43:03.480 DEBUG engine/gems/scheduler/execution_groups.cpp@498: Replaying 0 pre-start event(s)
2020-02-07 23:43:03.480 INFO engine/alice/backend/asio_backend.cpp@33: Starting ASIO service
2020-02-07 23:43:03.480 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'backend'
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'websight'
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'websight/WebsightServer' ...
2020-02-07 23:43:03.485 INFO packages/sight/WebsightServer.cpp@200: Sight webserver is loaded
2020-02-07 23:43:03.485 INFO packages/sight/WebsightServer.cpp@201: Please open Chrome Browser and navigate to http://<ip address>:3000
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'websight/WebsightServer' DONE
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'websight/WebsightServer'
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'websight/isaac.sight.AliceSight' ...
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'websight/isaac.sight.AliceSight' DONE
2020-02-07 23:43:03.485 WARN engine/alice/backend/codelet_backend.cpp@277: Codelet 'websight/isaac.sight.AliceSight' was not added to scheduler because no tick method is specified.
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node '_config_bridge'
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet '_config_bridge/isaac.alice.ConfigBridge' ...
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet '_config_bridge/isaac.alice.ConfigBridge' DONE
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet '_config_bridge/isaac.alice.ConfigBridge'
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node '_statistics'
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet '_statistics/NodeStatistics' ...
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet '_statistics/NodeStatistics' DONE
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet '_statistics/NodeStatistics'
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node '_pose_tree_bridge'
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet '_pose_tree_bridge/PoseTreeJsonBridge' ...
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet '_pose_tree_bridge/PoseTreeJsonBridge' DONE
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet '_pose_tree_bridge/PoseTreeJsonBridge'
2020-02-07 23:43:03.486 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node '_interactive_markers_bridge'
2020-02-07 23:43:03.486 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet '_interactive_markers_bridge/InteractiveMarkersBridge' ...
2020-02-07 23:43:03.486 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet '_interactive_markers_bridge/InteractiveMarkersBridge' DONE
2020-02-07 23:43:03.486 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet '_interactive_markers_bridge/InteractiveMarkersBridge'
2020-02-07 23:43:03.486 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.localization.robot_pose_initializer'
2020-02-07 23:43:03.486 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.localization.robot_pose_initializer/initial_pose' ...
2020-02-07 23:43:03.486 WARN engine/alice/components/Codelet.cpp@87: Function deprecated. Set tick_period to the desired tick paramater
2020-02-07 23:43:03.486 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.localization.robot_pose_initializer/initial_pose' DONE
2020-02-07 23:43:03.500 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.localization.robot_pose_initializer/initial_pose'
2020-02-07 23:43:03.500 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'map'
2020-02-07 23:43:03.500 WARN packages/navigation/NavigationMap.cpp@34: Could not find a DistanceMap component for the OccupancyGridLayer in this map. Creating one automatically now using ObstacleAtlas node 'navigation.obstacle_atlas/obstacle_atlas'.
2020-02-07 23:43:03.510 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'map/isaac.map.Map' ...
2020-02-07 23:43:03.510 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'map/isaac.map.Map' DONE
2020-02-07 23:43:03.510 WARN engine/alice/backend/codelet_backend.cpp@277: Codelet 'map/isaac.map.Map' was not added to scheduler because no tick method is specified.
2020-02-07 23:43:03.510 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'map/unity_initializer' ...
2020-02-07 23:43:03.510 WARN engine/alice/components/Codelet.cpp@87: Function deprecated. Set tick_period to the desired tick paramater
2020-02-07 23:43:03.510 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'map/unity_initializer' DONE
2020-02-07 23:43:03.512 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'map/unity_initializer'
2020-02-07 23:43:04.151 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.obstacle_atlas'
2020-02-07 23:43:04.156 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.localization.subgraph'
2020-02-07 23:43:04.156 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.imu_odometry.imu_corrector'
2020-02-07 23:43:04.157 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.imu_odometry.imu_corrector/ImuCorrector' ...
2020-02-07 23:43:04.157 INFO packages/imu/ImuCorrector.cpp@43: No calibration file is supplied. Corrector will calibrate IMU.
2020-02-07 23:43:04.157 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.imu_odometry.imu_corrector/ImuCorrector' DONE
2020-02-07 23:43:04.157 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.imu_odometry.imu_corrector/ImuCorrector'
2020-02-07 23:43:04.157 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.imu_odometry.odometry'
2020-02-07 23:43:04.157 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.imu_odometry.odometry/DifferentialBaseWheelImuOdometry' ...
2020-02-07 23:43:04.157 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.imu_odometry.odometry/DifferentialBaseWheelImuOdometry' DONE
2020-02-07 23:43:04.163 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.imu_odometry.odometry/DifferentialBaseWheelImuOdometry'
2020-02-07 23:43:04.163 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.imu_odometry.subgraph'
2020-02-07 23:43:04.163 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.localization.localization_evaluation'
2020-02-07 23:43:04.163 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.localization.localization_evaluation/isaac.navigation.LocalizationEvaluation' ...
2020-02-07 23:43:04.163 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.localization.localization_evaluation/isaac.navigation.LocalizationEvaluation' DONE
2020-02-07 23:43:04.163 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.localization.localization_evaluation/isaac.navigation.LocalizationEvaluation'
2020-02-07 23:43:04.163 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'backend'
2020-02-07 23:43:04.163 DEBUG engine/alice/backend/event_manager.cpp@37: Stopping node 'backend' because it reached status 'SUCCESS'
2020-02-07 23:43:04.163 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.shared_robot_model'
2020-02-07 23:43:04.163 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.sight_widgets'
2020-02-07 23:43:04.163 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'goals.subgraph'
2020-02-07 23:43:04.163 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'goals.goal_behavior'
2020-02-07 23:43:04.163 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'goals.goal_behavior/isaac.navigation.SelectorBehavior' ...
2020-02-07 23:43:04.163 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'goals.goal_behavior/isaac.navigation.SelectorBehavior' DONE
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'goals.goal_behavior/isaac.navigation.SelectorBehavior'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'camera_viewer'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'camera_viewer/color_viewer' ...
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'camera_viewer/color_viewer' DONE
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'camera_viewer/color_viewer'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'camera_viewer/depth_viewer' ...
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'camera_viewer/depth_viewer' DONE
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'camera_viewer/depth_viewer'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'behavior_main'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'behavior_main/NodeGroup' ...
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'behavior_main/NodeGroup' DONE
2020-02-07 23:43:04.164 WARN engine/alice/backend/codelet_backend.cpp@277: Codelet 'behavior_main/NodeGroup' was not added to scheduler because no tick method is specified.
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'behavior_main/MemorySequenceBehavior' ...
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'behavior_main/MemorySequenceBehavior' DONE
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'behavior_main/MemorySequenceBehavior'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'pose_initializers'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'pose_initializers/lidar_initializer' ...
2020-02-07 23:43:04.164 WARN engine/alice/components/Codelet.cpp@87: Function deprecated. Set tick_period to the desired tick paramater
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'pose_initializers/lidar_initializer' DONE
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'pose_initializers/lidar_initializer'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.go_to.subgraph'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'simulation.interface'
2020-02-07 23:43:04.164 INFO engine/alice/components/TcpPublisher.cpp@75: Starting TCP publisher on port 55001
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'simulation.noiser.lidar'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'simulation.noiser.lidar/flatscanNoiser' ...
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'simulation.noiser.lidar/flatscanNoiser' DONE
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'simulation.noiser.lidar/flatscanNoiser'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'simulation.pose_injector'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'simulation.pose_injector/pose_injector' ...
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'simulation.pose_injector/pose_injector' DONE
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'simulation.pose_injector/pose_injector'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'simulation.scenario_manager'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'simulation.scenario_manager/scenario_manager' ...
2020-02-07 23:43:04.164 WARN engine/alice/components/Codelet.cpp@87: Function deprecated. Set tick_period to the desired tick paramater
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'simulation.scenario_manager/scenario_manager' DONE
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'simulation.scenario_manager/scenario_manager'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'simulation.scan_flattener'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'simulation.scan_flattener/rangeScanFlattening' ...
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'simulation.scan_flattener/rangeScanFlattening' DONE
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'simulation.scan_flattener/rangeScanFlattening'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'simulation.bounding_boxes'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'simulation.bounding_boxes/conversion' ...
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'simulation.bounding_boxes/conversion' DONE
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'simulation.bounding_boxes/conversion'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'simulation.plan_converter'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'simulation.plan_converter/global' ...
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'simulation.plan_converter/global' DONE
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'simulation.plan_converter/global'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'simulation.plan_converter/local' ...
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'simulation.plan_converter/local' DONE
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'simulation.plan_converter/local'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.subgraph'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.local_map.subgraph'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.local_map.range_scan_to_observation_map'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.local_map.range_scan_to_observation_map/isaac.navigation.RangeScanToObservationMap' ...
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.local_map.range_scan_to_observation_map/isaac.navigation.RangeScanToObservationMap' DONE
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.local_map.range_scan_to_observation_map/isaac.navigation.RangeScanToObservationMap'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.local_map.local_map'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.local_map.local_map/cleanup' ...
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.local_map.local_map/cleanup' DONE
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.local_map.local_map/cleanup'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.local_map.local_map/isaac.navigation.BinaryToDistanceMap' ...
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.local_map.local_map/isaac.navigation.BinaryToDistanceMap' DONE
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.local_map.local_map/isaac.navigation.BinaryToDistanceMap'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.local_map.local_map/isaac.navigation.LocalMap' ...
2020-02-07 23:43:04.165 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.local_map.local_map/isaac.navigation.LocalMap' DONE
2020-02-07 23:43:04.165 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.local_map.local_map/isaac.navigation.LocalMap'
2020-02-07 23:43:04.165 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.local_map.local_map/isaac.navigation.OccupancyToBinaryMap' ...
2020-02-07 23:43:04.165 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.local_map.local_map/isaac.navigation.OccupancyToBinaryMap' DONE
2020-02-07 23:43:04.165 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.local_map.local_map/isaac.navigation.OccupancyToBinaryMap'
2020-02-07 23:43:04.165 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.control.navigation_mode'
2020-02-07 23:43:04.165 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.control.navigation_mode/isaac.navigation.GroupSelectorBehavior' ...
2020-02-07 23:43:04.165 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.control.navigation_mode/isaac.navigation.GroupSelectorBehavior' DONE
2020-02-07 23:43:04.165 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.control.navigation_mode/isaac.navigation.GroupSelectorBehavior'
2020-02-07 23:43:04.165 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.go_to.goal_viewer'
2020-02-07 23:43:04.165 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.go_to.goal_viewer/GoalViewer' ...
2020-02-07 23:43:04.165 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.go_to.goal_viewer/GoalViewer' DONE
2020-02-07 23:43:04.165 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.go_to.goal_viewer/GoalViewer'
2020-02-07 23:43:04.165 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.go_to.goal_monitor'
2020-02-07 23:43:04.166 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.go_to.goal_monitor/GoalMonitor' ...
2020-02-07 23:43:04.166 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.go_to.goal_monitor/GoalMonitor' DONE
2020-02-07 23:43:04.166 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.go_to.goal_monitor/GoalMonitor'
2020-02-07 23:43:04.166 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.go_to.go_to_behavior'
2020-02-07 23:43:04.166 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.go_to.go_to_behavior/GoToBehavior' ...
2020-02-07 23:43:04.166 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.go_to.go_to_behavior/GoToBehavior' DONE
2020-02-07 23:43:04.166 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.go_to.go_to_behavior/GoToBehavior'
2020-02-07 23:43:04.166 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.go_to.move_until_arrival'
2020-02-07 23:43:04.166 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.go_to.move_until_arrival/MoveUntilArrival' ...
2020-02-07 23:43:04.166 WARN engine/alice/application.cpp@160: 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: 'navigation.control.navigation_mode/isaac.navigation.GroupSelectorBehavior')
2020-02-07 23:43:04.166 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.go_to.move_until_arrival/MoveUntilArrival' DONE
2020-02-07 23:43:04.166 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.go_to.move_until_arrival/MoveUntilArrival'
2020-02-07 23:43:04.166 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.planner.subgraph'
2020-02-07 23:43:04.167 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.planner.global_plan_smoother'
2020-02-07 23:43:04.167 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.planner.global_plan_smoother/smoother' ...
2020-02-07 23:43:04.167 WARN engine/alice/application.cpp@160: 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: 'navigation.shared_robot_model/SphericalRobotShapeComponent')
2020-02-07 23:43:04.167 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.planner.global_plan_smoother/smoother' DONE
2020-02-07 23:43:04.167 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.planner.global_plan_smoother/smoother'
2020-02-07 23:43:04.167 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.control.subgraph'
2020-02-07 23:43:04.167 DEBUG engine/alice/backend/node_backend.cpp@350: Stopping node 'backend'
2020-02-07 23:43:04.167 WARN engine/alice/backend/node_backend.cpp@322: Can not start node 'simulation.scenario_manager' because it is not in the stage 'constructed' or 'stopped'
2020-02-07 23:43:04.167 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'goals.pose_as_goal'
2020-02-07 23:43:04.167 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'goals.pose_as_goal/isaac.navigation.PoseAsGoal' ...
2020-02-07 23:43:04.168 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'goals.pose_as_goal/isaac.navigation.PoseAsGoal' DONE
2020-02-07 23:43:04.167 INFO engine/alice/components/TcpSubscriber.cpp@137: TCP receiver trying to connect to remote (localhost:55000)...
2020-02-07 23:43:04.172 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'goals.pose_as_goal/isaac.navigation.PoseAsGoal'
2020-02-07 23:43:04.172 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'goals.pose_as_goal/pose_as_goal_frame' ...
2020-02-07 23:43:04.172 ERROR packages/navigation/PoseAsGoal.cpp@47: Could not read pose 'world'_T_'pose_as_goal'.
2020-02-07 23:43:04.172 WARN engine/alice/components/Codelet.cpp@87: Function deprecated. Set tick_period to the desired tick paramater
2020-02-07 23:43:04.172 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'goals.pose_as_goal/pose_as_goal_frame' DONE
2020-02-07 23:43:04.172 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'goals.pose_as_goal/pose_as_goal_frame'
2020-02-07 23:43:04.172 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.control.lqr'
2020-02-07 23:43:04.172 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.control.lqr/isaac.planner.DifferentialBaseLqrPlanner' ...
2020-02-07 23:43:04.172 WARN engine/alice/application.cpp@160: 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: 'navigation.shared_robot_model/SphericalRobotShapeComponent')
2020-02-07 23:43:04.172 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.control.lqr/isaac.planner.DifferentialBaseLqrPlanner' DONE
2020-02-07 23:43:04.172 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.control.lqr/isaac.planner.DifferentialBaseLqrPlanner'
2020-02-07 23:43:04.172 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.control.control'
2020-02-07 23:43:04.172 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.control.control/isaac.planner.DifferentialBaseControl' ...
2020-02-07 23:43:04.172 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.control.control/isaac.planner.DifferentialBaseControl' DONE
2020-02-07 23:43:04.172 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.control.control/isaac.planner.DifferentialBaseControl'
2020-02-07 23:43:04.172 WARN engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:04.673 WARN engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:05.173 WARN engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:05.673 WARN engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:06.173 WARN engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:06.673 WARN engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:07.174 WARN engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:07.674 WARN engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:08.174 WARN engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:08.674 WARN engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:09.174 WARN engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:09.674 WARN engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:10.174 WARN engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:10.675 WARN engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:11.175 WARN engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:11.675 WARN engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:12.175 WARN engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:12.675 WARN engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:13.175 WARN engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:13.479 INFO engine/alice/backend/allocator_backend.cpp@56: Optimized memory CPU allocator.
2020-02-07 23:43:13.480 INFO engine/alice/backend/allocator_backend.cpp@65: Optimized memory CUDA allocator.
2020-02-07 23:43:13.675 WARN engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:14.175 WARN engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:14.675 WARN engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:15.176 WARN engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
Hardware and driver info:
$ nvidia-smi
Sat Feb 8 00:07:27 2020
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 440.33.01 Driver Version: 440.33.01 CUDA Version: 10.2 |
|-------------------------------+----------------------+----------------------+
| GPU Name Persistence-M| Bus-Id Disp.A | Volatile Uncorr. ECC |
| Fan Temp Perf Pwr:Usage/Cap| Memory-Usage | GPU-Util Compute M. |
|===============================+======================+======================|
| 0 Tesla T4 On | 00000000:00:1E.0 Off | 0 |
| N/A 28C P8 10W / 70W | 0MiB / 15109MiB | 0% Default |
+-------------------------------+----------------------+----------------------+
+-----------------------------------------------------------------------------+
| Processes: GPU Memory |
| GPU PID Type Process name Usage |
|=============================================================================|
| No running processes found |
+-----------------------------------------------------------------------------+
Any idea where I’m going wrong?