If you preface with sudo, I think it deploys to deploy/root/, not deploy//. When I didn’t preface with sudo, it gave errors, but I’ll do it again to make sure and post them here
Yes, my username was added to group . Not sure if I rebooted, but can double-check
Running with sudo did not solve it
running dmesg |grep tty returns “usb 1-2.1: FTDI USB Serial Device converter now attached to ttyUSB0” I’ll check “ls /dev/ttyUSB0” returns anything different.
if you don’t preface the deployment on the desktop with , you get a huge amount of errors like this:
chris@chris-NUC7i5BNK:~/isaac$ ./engine/build/deploy.sh --remote-user chris -d jetpack42 -h 192.168.86.47 -p //apps/kaya:joystick-pkg
================================================================================
Building Minidump tools
================================================================================
================================================================================
Building //apps/kaya:joystick-pkg for target platform 'jetpack42'
================================================================================
ERROR: /home/chris/isaac/WORKSPACE:18:1: Traceback (most recent call last):
File "/home/chris/isaac/WORKSPACE", line 18
isaac_engine_workspace()
File "/home/chris/isaac/third_party/engine.bzl", line 20, in isaac_engine_workspace
isaac_new_http_archive(name = "gtest", build_file = clean..."), <5 more arguments>)
File "/home/chris/isaac/engine/build/isaac.bzl", line 371, in isaac_new_http_archive
native.new_http_archive(**kwargs)
type 'struct' has no method new_http_archive()
[and so on for many more pages]
But if you do it with it works:
chris@chris-NUC7i5BNK:~/isaac$ sudo ./engine/build/deploy.sh --remote-user chris -d jetpack42 -h 192.168.86.47 -p //apps/kaya:joystick-pkg
================================================================================
Building Minidump tools
================================================================================
================================================================================
Building //apps/kaya:joystick-pkg for target platform 'jetpack42'
================================================================================
INFO: Analysed target //apps/kaya:joystick-pkg (61 packages loaded, 2694 targets configured).
INFO: Found 1 target...
Target //apps/kaya:joystick-pkg up-to-date:
bazel-bin/apps/kaya/joystick-pkg.tar
INFO: Elapsed time: 8.870s, Critical Path: 1.84s, 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
================================================================================
Deploying //apps/kaya:joystick-pkg (tar) to chris@192.168.86.47 under name 'root'
================================================================================
The authenticity of host '192.168.86.47 (192.168.86.47)' can't be established.
ECDSA key fingerprint is SHA256:mt3y0b7PMfE4v2SUPOtxOc9VOzcpZQh3DY6tspx9iCQ.
Are you sure you want to continue connecting (yes/no)? yes
Warning: Permanently added '192.168.86.47' (ECDSA) to the list of known hosts.
chris@192.168.86.47's password:
sending incremental file list
joystick-pkg/
joystick-pkg/_solib_arm64-v8a/
On the Kaya side, running the Joystick app with either or no works until the Serial Port part:
chris@chris-desktop:~/deploy/root/joystick-pkg$ ./apps/kaya/joystick
2019-05-15 07:16:45.912 WARNING engine/alice/backend/backend.cpp@141: This application does not have an explicit scheduler configuration. One will be autogenerated to the best of the systems abilities if possible.
2019-05-15 07:16:45.912 WARNING engine/gems/scheduler/scheduler.cpp@327: No default execution groups specified. Attempting to create scheduler configuration for 4 remaining cores. This may be non optimal for the system and application.
2019-05-15 07:16:45.912 INFO engine/gems/scheduler/scheduler.cpp@280: Scheduler execution groups are:
2019-05-15 07:16:45.912 INFO engine/gems/scheduler/scheduler.cpp@289: __BlockerGroup__: Cores = [3], Workers = No
2019-0
The location of the file and line number are printed with error message:
2019-05-15 07:17:08.477 ERROR packages/dynamixel/gems/dynamixel.cpp@53: Cannot open port
You seem to be doing everything right. All I can think of is double checking stuff. By printing port name, we would double check “usb_port” parameter indeed gets set to “/dev/ttyUSB0”.
@chris5pb1j
Wonder the version of Isaac SDK you are using.
And would you like to double check the version of bazel you are using, and if all dependencies are installed via engine/build/scripts/install_dependencies.sh.
Ah. That may be the problem. I’ll try downgrading later today.
Out of curiosity, why can’t the correct Bazel just be installed as part of the dependency installation process? It seems weird to have to install that one part manually
I’ve uninstalled Bazel and let the dependency script reinstall the right version. But when I try to deploy to the Jetson device (Kaya), I still get many screens of errors that all point to the same issue:
C++ compilation of rule '@lmdb//:lmdb' failed (Exit 1) crosstool_wrapper_driver_is_not_gcc.py
Furthermore, there is no dynamixel folder in the packages folder(and thus no packages/dynamixel/gems/dynamixel.cpp):
It’s weird you can’t find packages/dynamixel because the error message you are getting points to that path:
2019-05-15 07:17:08.477 ERROR packages/dynamixel/gems/dynamixel.cpp@53: Cannot open port
Can we double check that deploy script works fine for you? Can you delete or rename the ~/deploy folder and redeploy please? Is ~/deploy recreated? Maybe put some dummy text to config.json files of kaya versions and cat them on Nano after redeploying.
Oof, it’s going from bad to worse. I deleted the deploy folder and now when I try to rebuild I can’t get even get to the Nvidia servers. Maybe I should drive down there and let you guys try to debug in person?
ERROR: /home/chris/.cache/bazel/_bazel_root/9d332889b549d80feb9ab4adc49b1853/external/isaac/engine/build/BUILD:34:1: no such package '@nvcc_10//': Error downloading [https://developer.nvidia.com/isaac/download/third_party/cuda_10_nvcc-tar-xz] to /home/chris/.cache/bazel/_bazel_root/9d332889b549d80feb9ab4adc49b1853/external/nvcc_10/cuda_10_nvcc-tar-xz.tar.xz: GET returned 504 Gateway Timeout and referenced by '@isaac//engine/build:nvcc'
I have created my own custom 4-wheel differential drive robot assembly (without wheel odometry) with a Jetson Nano and realsense D435 camera. I also have access to a BMI088 IMU which I may or may not use.
My immediate overall objective is to run the gmapping application on Isaac with the current hardware. Is this possible/advisable with the mentioned approach? What are the intricacies involved in modifying the Kaya application for deployment on a custom robot such as mine?
Some additional info -
The SVIO GEM is running perfectly on my assembled robot
I tried running the object detection Kaya application directly on my robot and it gave the following error:
[PortHandlerLinux::SetupPort] Error opening serial port!
2020-10-06 15:33:56.298 ERROR packages/dynamixel/gems/dynamixel.cpp@51: Cannot open port /dev/ttyACM0: No such file or directory [errno 2]
2020-10-06 15:33:56.299 DEBUG packages/dynamixel/gems/dynamixel.cpp@108: Switching PanTiltDriver control mode to: SPEED
2020-10-06 15:33:56.299 DEBUG packages/dynamixel/gems/dynamixel.cpp@108: Switching PanTiltDriver control mode to: SPEED
2020-10-06 15:33:56.299 DEBUG packages/dynamixel/gems/dynamixel.cpp@108: Switching PanTiltDriver control mode to: SPEED
2020-10-06 15:33:56.299 WARN engine/alice/backend/codelet_canister.cpp@225: Codelet ‘2d_kaya.kaya_hardware.dynamixels/isaac.alice.Failsafe’ was not added to scheduler because no tick method is specified.
2020-10-06 15:33:56.299 PANIC packages/dynamixel/gems/dynamixel.cpp@91: Servo doesn’t support MOVING_SPEED
====================================================================================================
| Isaac application terminated unexpectedly |
====================================================================================================
The last line “Servo doesn’t support MOVING_SPEED” is similar to what @chris5pb1j mentioned in one of his comments.
Ofcourse, it is not surprising that that I am getting an error since I made no changes to the Kaya application to suit my custom robot. Since I am new to Isaac, I thought about asking my question here before I dive into the code to make changes. To restate my main questions -
Is it possible/advisable to follow the approach of modifying the Kaya application for deployment on my custom robot? If yes, what are the important steps that I should take/important points that I should keep in mind?
I am on a tight deadline, so any help at all would be really appreciated.