juliampc / mavs Goto Github PK

Michigan Autonomous Vehicles

CMake 0.19% Julia 0.58% Python 0.16% C++ 26.83% POV-Ray SDL 71.55% MATLAB 0.02% Shell 0.04% C 0.11% Tcl 0.02% Makefile 0.45% Dockerfile 0.04%

mavs's People

Contributors

Stargazers

Watchers

Forkers

tqshao shreysud sumjos yangsu1986 tb3-playground yuxuan83 kuanl1u fredrikekre bujanovic tulgaersal sycdlcrain

mavs's Issues

ros_chrono needs to wait for system/flags/initialized before starting to simulate

This commit adds a new demo where this issue is apparent

Basically when starting the simulation ros_chrono does not wait until the system is initialized

demoA rviz error

For some reason, the rviz display does not load annd just says that it is initializing

Error while resolving package dependencies

On running: rosdep install --from-paths src --ignore-src --rosdistro kinetic -y, we get error

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
ros_chrono: Cannot locate rosdep definition for [Chrono]
@sdhkr Please take a look

demoA errors

Huckleberry, When I try to run demoA I'm getting the following errors with the gazebo_gui and rvis processes:

process[gazebo_gui-4]: started with pid [139]
[ INFO] [1531239497.897672738]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1531239497.899199288]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
process[spawn_urdf-5]: started with pid [184]
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
process[spawn_obstacles-6]: started with pid [249]
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
process[move_obstacles-7]: started with pid [340]
process[move_vehicle-8]: started with pid [386]
Segmentation fault (core dumped)
[gazebo_gui-4] process has died [pid 139, exit code 139, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/mavs/.ros/log/d9b6b346-845c-11e8-98d4-ecb1d7429ebc/gazebo_gui-4.log].
log file: /home/mavs/.ros/log/d9b6b346-845c-11e8-98d4-ecb1d7429ebc/gazebo_gui-4*.log

process[rviz-18]: started with pid [1783]
[ INFO] [1531239501.512498631]: rviz version 1.12.16
[ INFO] [1531239501.512547901]: compiled against Qt version 5.5.1
[ INFO] [1531239501.512574255]: compiled against OGRE version 1.9.0 (Ghadamon)
process[bootstrap-19]: started with pid [1918]
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
Could not initialize OpenGL for RasterGLSurface, reverting to RasterSurface.
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
process[unpause_gazebo-20]: started with pid [2082]
[rviz-18] process has died [pid 1783, exit code -11, cmd /opt/ros/kinetic/lib/rviz/rviz -d /home/mavs/MAVs/ros/src/computing/perception/detection/obstacle_detection/resources/display.rviz __name:=rviz __log:=/home/mavs/.ros/log/d9b6b346-845c-11e8-98d4-ecb1d7429ebc/rviz-18.log].
log file: /home/mavs/.ros/log/d9b6b346-845c-11e8-98d4-ecb1d7429ebc/rviz-18*.log

Integrate Moving Obstacle Detector

Feature

Integrate the ROS package obstacle_detector into Autoware.

Motivation

The motication (and please let me know if I am wrong) is that (again from what I understand) the current obstacle detection algoritms in Autoware do not predict the, postion (x,y), velocty (x,y), and size (assuming circular obstacles) .

TODO

Install the obstacle_detector package as a submodule.
Make an obstacle_detector launch file so that it subscribes the point cloud topic from Autoware.
Test the performance of the obstacle_detector package.
Set up obstacle_detector as per this
Set up and test obstacle_detector as an example in Gazebo launch file, stationary platform
Set up and test obstacle_detector as an example in Gazebo some code for this and the above item, moving platform
set up obstacle detector_package with a real VLP16 some code for this here

Build error in MAVs

catkin_make fails with error message
fatal error: traj_gen_chrono/Control.h: No such file or directory
compilation terminated.

Temporary fix is to run:

Add <build_depend>traj_gen_chrono</build_depend> to ros_chrono/package.xml
catkin_make --pkg traj_gen_chrono
catkin_make

@shreysud could you please take a look and fix it

demoC.launch

I am getting this error

ERROR: cannot launch node of type [move_base/move_base]: move_base
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/febbo/Documents/workspace/MAVs/ros/src
ROS path [2]=/home/febbo/Documents/workspace/Autoware/ros/src
ROS path [3]=/home/febbo/.julia/v0.6/MAVs/catkin_ws/src
ROS path [4]=/opt/ros/kinetic/share
ERROR: cannot launch node of type [ros_base_planner/navsPathConverter]: can't locate node [navsPathConverter] in package [ros_base_planner]

I am assuming that we need to install more packages. We need to keep track as we add new requirements to the stack for Docker and our README.md. @sumjos can you please look into this?

running Docker image issue

@tqshao I am running into an issue with running the Docker image. It build without any errors but when I run it as:

AML@sumit-HP-Z420-Workstation:~/Documents/workspace/MAVs/docker$ ./run.sh kinetic

I get

Use kinetic
Shared directory: /home/AML/shared_dir
Unable to find image 'mav-kinetic:latest' locally
docker: Error response from daemon: pull access denied for mav-kinetic, repository does not exist or may require 'docker login'.
See 'docker run --help'.

Do you have any idea what may be causing this? I cannot figure it out.

Thanks!

Process died issue (Require a usable precomplied cache file)

sh run.sh

ubuntu@ubuntu-ThinkPad-E570:~/MAVs/image/mavs_dev$ sh run.sh
Shared directory: /home/ubuntu/shared_dir
To run a command as administrator (user "root"), use "sudo <command>".
See "man sudo_root" for details.

mavs@ubuntu-ThinkPad-E570:~$ roslaunch system demoA.launch
... logging to /home/mavs/.ros/log/0fb4d4b4-c323-11e8-8212-90cdb691c2c7/roslaunch-ubuntu-ThinkPad-E570-64.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu-ThinkPad-E570:37125/

SUMMARY
========

PARAMETERS
 * /case/actual/X0/ax: 0.0
 * /case/actual/X0/psi: 1.57079632679
 * /case/actual/X0/r: 0.0
 * /case/actual/X0/sa: 0.0
 * /case/actual/X0/ux: 0.0
 * /case/actual/X0/v: 0.0
 * /case/actual/X0/x: 200.0
 * /case/actual/X0/yVal: 0.0
 * /case/actual/obstacle/length: [5.0]
 * /case/actual/obstacle/num: 1
 * /case/actual/obstacle/radius: [6.0]
 * /case/actual/obstacle/vx: [0]
 * /case/actual/obstacle/vy: [0]
 * /case/actual/obstacle/x0: [200]
 * /case/actual/obstacle/y0: [110]
 * /case/goal/psi: 1.5701
 * /case/goal/tol: 4
 * /case/goal/x: 200.0
 * /case/goal/yVal: 125.0
 * /case_params_path: /home/mavs/MAVs/r...
 * /obstacle_detector/obstacle_extractor/active: true
 * /obstacle_detector/obstacle_extractor/circles_from_visibles: true
 * /obstacle_detector/obstacle_extractor/discard_converted_segments: false
 * /obstacle_detector/obstacle_extractor/distance_proportion: 0.001
 * /obstacle_detector/obstacle_extractor/frame_id: map
 * /obstacle_detector/obstacle_extractor/max_circle_radius: 4
 * /obstacle_detector/obstacle_extractor/max_group_distance: 0.5
 * /obstacle_detector/obstacle_extractor/max_merge_separation: 3
 * /obstacle_detector/obstacle_extractor/max_merge_spread: 2
 * /obstacle_detector/obstacle_extractor/max_split_distance: 5
 * /obstacle_detector/obstacle_extractor/min_group_points: 5
 * /obstacle_detector/obstacle_extractor/radius_enlargement: 0.3
 * /obstacle_detector/obstacle_extractor/transform_coordinates: true
 * /obstacle_detector/obstacle_extractor/use_pcl: true
 * /obstacle_detector/obstacle_extractor/use_scan: false
 * /obstacle_detector/obstacle_extractor/use_split_and_merge: true
 * /obstacle_detector/obstacle_tracker/active: true
 * /obstacle_detector/obstacle_tracker/frame_id: map
 * /obstacle_detector/obstacle_tracker/loop_rate: 100.0
 * /obstacle_detector/obstacle_tracker/measurement_variance: 1.0
 * /obstacle_detector/obstacle_tracker/min_correspondence_cost: 0.6
 * /obstacle_detector/obstacle_tracker/process_rate_variance: 0.1
 * /obstacle_detector/obstacle_tracker/process_variance: 0.1
 * /obstacle_detector/obstacle_tracker/std_correspondence_dev: 0.15
 * /obstacle_detector/obstacle_tracker/tracking_duration: 1
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /system/flags/paused: True
 * /system/obstacle_detector/flags/initialized: False
 * /system/obstacle_detector/flags/running: True
 * /system/params/simulation_time: 1.0
 * /system/params/step_size: 0.001
 * /system/vehicle_description/flags/lidar_initialized: False
 * /system/vehicle_description/flags/obstacles_initialized: False
 * /system/vehicle_description/flags/postion_update_external: False
 * /system/vehicle_description/flags/running: True
 * /use_sim_time: True
 * /vehicle/chrono/vehicle_params/axleDirection: [0, 1, 0]
 * /vehicle/chrono/vehicle_params/centroidLoc: [0.056, 0.0, 0.523],
 * /vehicle/chrono/vehicle_params/centroidOrientation: [1, 0, 0, 0]
 * /vehicle/chrono/vehicle_params/chassisInertia: [1078.52, 2955.66...
 * /vehicle/chrono/vehicle_params/chassisMass: 2688.70,
 * /vehicle/chrono/vehicle_params/conicalGearRatio: -0.2,
 * /vehicle/chrono/vehicle_params/differentialBoxInertia: 0.6
 * /vehicle/chrono/vehicle_params/differentialRatio: -1.0
 * /vehicle/chrono/vehicle_params/driverLoc: [0, 0.5, 1.2],
 * /vehicle/chrono/vehicle_params/driverOrientation: [1, 0, 0, 0]
 * /vehicle/chrono/vehicle_params/driveshaftInertia: 0.5,
 * /vehicle/chrono/vehicle_params/frict_coeff: 0.9
 * /vehicle/chrono/vehicle_params/gearRatios: [-0.3, 0.2, 0.4, ...
 * /vehicle/chrono/vehicle_params/maxBrakeTorque: 4000
 * /vehicle/chrono/vehicle_params/motorBlockDirection: [1, 0, 0],
 * /vehicle/chrono/vehicle_params/pinionMaxAngle: 0.87
 * /vehicle/chrono/vehicle_params/pinionRadius: 0.1,
 * /vehicle/chrono/vehicle_params/rest_coeff: 0.1
 * /vehicle/chrono/vehicle_params/steeringLinkInertia: [1, 1, 1],
 * /vehicle/chrono/vehicle_params/steeringLinkLength: 0.896
 * /vehicle/chrono/vehicle_params/steeringLinkMass: 9.072,
 * /vehicle/chrono/vehicle_params/steeringLinkRadius: 0.03,
 * /vehicle/common/Izz: 4110.1
 * /vehicle/common/la: 1.5775
 * /vehicle/common/lb: 1.7245
 * /vehicle/common/m: 2688.7
 * /vehicle/common/wheel_radius: 0.268
 * /vehicle/nloptcontrol_planner/AXC: [-0.0001280151804...
 * /vehicle/nloptcontrol_planner/Caf: -84138.0
 * /vehicle/nloptcontrol_planner/Car: -78126.0
 * /vehicle/nloptcontrol_planner/FZ0: 35000.0
 * /vehicle/nloptcontrol_planner/Fy_max: 7500
 * /vehicle/nloptcontrol_planner/Fy_min: -7500
 * /vehicle/nloptcontrol_planner/FzF0: 13680.0
 * /vehicle/nloptcontrol_planner/FzR0: 12696.0
 * /vehicle/nloptcontrol_planner/Fz_min: 1000.0
 * /vehicle/nloptcontrol_planner/Fz_off: 100.0
 * /vehicle/nloptcontrol_planner/Izz: 4110.1
 * /vehicle/nloptcontrol_planner/KZX: 806.0
 * /vehicle/nloptcontrol_planner/KZYF: 675.0
 * /vehicle/nloptcontrol_planner/KZYR: 1076.0
 * /vehicle/nloptcontrol_planner/PCY1: 1.5874
 * /vehicle/nloptcontrol_planner/PDY1: 0.73957
 * /vehicle/nloptcontrol_planner/PDY2: -0.075004
 * /vehicle/nloptcontrol_planner/PEY1: 0.37562
 * /vehicle/nloptcontrol_planner/PEY2: -0.069325
 * /vehicle/nloptcontrol_planner/PEY3: 0.29168
 * /vehicle/nloptcontrol_planner/PHY1: 0.0056509
 * /vehicle/nloptcontrol_planner/PHY2: -0.0020257
 * /vehicle/nloptcontrol_planner/PKY1: -10.289
 * /vehicle/nloptcontrol_planner/PKY2: 3.3343
 * /vehicle/nloptcontrol_planner/PVY1: 0.015216
 * /vehicle/nloptcontrol_planner/PVY2: -0.010365
 * /vehicle/nloptcontrol_planner/ax_max: 2.0
 * /vehicle/nloptcontrol_planner/ax_min: -2.0
 * /vehicle/nloptcontrol_planner/jx_max: 5.0
 * /vehicle/nloptcontrol_planner/jx_min: -5.0
 * /vehicle/nloptcontrol_planner/la: 1.5775
 * /vehicle/nloptcontrol_planner/lb: 1.7245
 * /vehicle/nloptcontrol_planner/m: 2688.7
 * /vehicle/nloptcontrol_planner/psi_max: 6.28318
 * /vehicle/nloptcontrol_planner/psi_min: -6.28318
 * /vehicle/nloptcontrol_planner/sa_max: 0.523598333333
 * /vehicle/nloptcontrol_planner/sa_min: -0.523598333333
 * /vehicle/nloptcontrol_planner/sr_max: 0.0872663888889
 * /vehicle/nloptcontrol_planner/sr_min: -0.0872663888889
 * /vehicle/nloptcontrol_planner/u_max: 29.0
 * /vehicle/nloptcontrol_planner/u_min: 0.0
 * /vehicle/vehicle_description/base_clearance: 0.5
 * /vehicle/vehicle_description/base_height: 1.2
 * /vehicle/vehicle_description/base_length: 3.3
 * /vehicle/vehicle_description/base_link: base_link
 * /vehicle/vehicle_description/base_width: 1.9
 * /vehicle/vehicle_description/frameName: map
 * /vehicle/vehicle_description/ground_truth_topic: base_pose_ground_...
 * /vehicle/vehicle_description/kp: 1e8
 * /vehicle/vehicle_description/la: 1.6
 * /vehicle/vehicle_description/lb: 1.7
 * /vehicle/vehicle_description/lidar_x: 1.75
 * /vehicle/vehicle_description/lidar_z: 1.4
 * /vehicle/vehicle_description/mesh_mode: 1
 * /vehicle/vehicle_description/minDepth: 0.005
 * /vehicle/vehicle_description/mu1: 0.9
 * /vehicle/vehicle_description/mu2: 0.9
 * /vehicle/vehicle_description/robotName: hmmwv
 * /vehicle/vehicle_description/robotNamespace: hmmwv
 * /vehicle/vehicle_description/scale_factor: 0.2
 * /vehicle/vehicle_description/topic: lidar_points
 * /vehicle/vehicle_description/wheel_base: 1
 * /vehicle/vehicle_description/wheel_mass: 2.5
 * /vehicle/vehicle_description/wheel_radius: 0.393
 * /vehicle/vehicle_description/wheel_width: 0.1
 * /velodyne_top_link_nodelet_manager/num_worker_threads: 20
 * /voxel_grid/filter_field_name: z
 * /voxel_grid/filter_limit_max: 3.5
 * /voxel_grid/filter_limit_min: 0.01
 * /voxel_grid/filter_limit_negative: false
 * /voxel_grid/leaf_size: 0.01

NODES
  /
    bootstrap (system/bootstrap.jl)
    frame_tf_broadcaster (vehicle_description/frame_tf_broadcaster)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    move_obstacles (vehicle_description/move_obstacles.jl)
    move_vehicle (vehicle_description/move_vehicle.jl)
    obstacle_extractor (nodelet/nodelet)
    obstacle_paramameters (obstacle_detector/obstacle_parameters.jl)
    obstacle_tracker (nodelet/nodelet)
    point_cloud_converter (point_cloud_converter/point_cloud_converter_node)
    postion (vehicle_description/link_positions.jl)
    postion_broadcaster (vehicle_description/position_broadcaster)
    ros_get_world_time_ (get_world_time_test/ros_get_world_time)
    rviz (rviz/rviz)
    spawn_obstacles (vehicle_description/spawn_obstacles.sh)
    spawn_urdf (gazebo_ros/spawn_model)
    unpause_gazebo (vehicle_description/unpause.jl)
    velodyne_top_link_nodelet_manager (nodelet/nodelet)
    voxel_grid (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [77]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 0fb4d4b4-c323-11e8-8212-90cdb691c2c7
process[rosout-1]: started with pid [90]
started core service [/rosout]
process[ros_get_world_time_-2]: started with pid [93]
process[gazebo-3]: started with pid [115]
process[gazebo_gui-4]: started with pid [119]
process[spawn_urdf-5]: started with pid [126]
process[spawn_obstacles-6]: started with pid [130]
process[move_obstacles-7]: started with pid [184]
process[move_vehicle-8]: started with pid [189]
process[postion-9]: started with pid [199]
process[frame_tf_broadcaster-10]: started with pid [201]
process[postion_broadcaster-11]: started with pid [205]
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
process[velodyne_top_link_nodelet_manager-12]: started with pid [256]
process[obstacle_paramameters-13]: started with pid [264]
[ INFO] [1538141607.055206315]: Initializing nodelet with 20 worker threads.
process[voxel_grid-14]: started with pid [266]
[ INFO] [1538141607.256331705]: Loading nodelet /voxel_grid of type pcl/VoxelGrid to manager velodyne_top_link_nodelet_manager with the following remappings:
[ INFO] [1538141607.256379281]: /voxel_grid/input -> /lidar_points
process[point_cloud_converter-15]: started with pid [331]
process[obstacle_extractor-16]: started with pid [332]
process[obstacle_tracker-17]: started with pid [338]
process[rviz-18]: started with pid [405]
[ INFO] [1538141609.476439517]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1538141609.479190571]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
process[bootstrap-19]: started with pid [407]
process[unpause_gazebo-20]: started with pid [436]
INFO: cannot create a symlink to latest log directory: [Errno 2] No such file or directory: '/home/mavs/.ros/log/latest'
[ INFO] [1538141611.485318559]: rviz version 1.12.16
[ INFO] [1538141611.485372622]: compiled against Qt version 5.5.1
[ INFO] [1538141611.485386542]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1538141611.962350727]: [Obstacle Extractor]: Initializing nodelet
[ INFO] [1538141612.044857922]: [Obstacle Tracker]: Initializing nodelet
[ INFO] [1538141613.586631951]: Stereo is NOT SUPPORTED
[ INFO] [1538141613.586741631]: OpenGl version: 4.6 (GLSL 4.6).
[ INFO] [1538141644.287966989]: Velodyne laser plugin ready, 16 lasers
[spawn_urdf-5] process has finished cleanly
log file: /home/mavs/.ros/log/0fb4d4b4-c323-11e8-8212-90cdb691c2c7/spawn_urdf-5*.log
[spawn_obstacles-6] process has finished cleanly
log file: /home/mavs/.ros/log/0fb4d4b4-c323-11e8-8212-90cdb691c2c7/spawn_obstacles-6*.log
WARNING: The call to compilecache failed to create a usable precompiled cache file for module PyCall. Got:
WARNING: The call to compilecache failed to create a usable precompiled cache file for module PyCall. Got:
WARNING: Module MacroTools uuid did not match cache file.
WARNING: eval from module Main to RobotOS:    
Expr(:call, Expr(:., :Base, :include_from_node1)::Any, "/home/mavs/.julia/v0.6/PyCall/src/PyCall.jl")::Any
  ** incremental compilation may be broken for this module **

WARNING: Module MacroTools uuid did not match cache file.
WARNING: eval from module Main to RobotOS:    
Expr(:call, Expr(:., :Base, :include_from_node1)::Any, "/home/mavs/.julia/v0.6/PyCall/src/PyCall.jl")::Any
  ** incremental compilation may be broken for this module **

WARNING: The call to compilecache failed to create a usable precompiled cache file for module PyCall. Got:
WARNING: Module MacroTools uuid did not match cache file.
WARNING: eval from module Main to RobotOS:    
Expr(:call, Expr(:., :Base, :include_from_node1)::Any, "/home/mavs/.julia/v0.6/PyCall/src/PyCall.jl")::Any
  ** incremental compilation may be broken for this module **

starting bootstrap node ...
waiting on move_vehicle.jl in vehicle_description ...
waiting on move_vehicle.jl in vehicle_description ...
Waiting for 'gazebo/get_link_state' service...
waiting on move_vehicle.jl in vehicle_description ...
WARNING: Module PyCall uuid did not match cache file.
obstacle plugin in julia has been initialized.
ERROR: LoadError: Module RobotOS declares __precompile__(true) but require failed to create a usable precompiled cache file.
Stacktrace:waiting on move_vehicle.jl in vehicle_description ...

 [1] _require(::Symbol) at ./loading.jl:502
 [2] require(::Symbol) at ./loading.jl:405
 [3] include_from_node1(::String) at ./loading.jl:576
 [4] include(::String) at ./sysimg.jl:14
 [5] process_options(::Base.JLOptions) at ./client.jl:305
 [6] _start() at ./client.jl:371
while loading /home/mavs/MAVs/ros/src/computing/perception/detection/obstacle_detection/obstacle_parameters.jl, in expression starting on line 2
[obstacle_paramameters-13] process has died [pid 264, exit code 1, cmd /home/mavs/MAVs/ros/src/computing/perception/detection/obstacle_detection/obstacle_parameters.jl __name:=obstacle_paramameters __log:=/home/mavs/.ros/log/0fb4d4b4-c323-11e8-8212-90cdb691c2c7/obstacle_paramameters-13.log].
log file: /home/mavs/.ros/log/0fb4d4b4-c323-11e8-8212-90cdb691c2c7/obstacle_paramameters-13*.log
waiting on move_vehicle.jl in vehicle_description ...
WARNING: Module PyCall uuid did not match cache file.
ERROR: LoadError: Module RobotOS declares __precompile__(true) but require failed to create a usable precompiled cache file.
Stacktrace:
 [1] _require(WARNING: Module PyCall uuid did not match cache file.
::Symbol) at ./loading.jl:502
 [2] require(::Symbol) at ./loading.jl:405
 [3] include_from_node1(::String) at ./loading.jl:576
 [4] include(::String) at ./sysimg.jl:14
 [5] process_options(::Base.JLOptions) at ./client.jl:305
 [6] _start() at ./client.jl:371
while loading /home/mavs/MAVs/ros/src/models/gazebo/vehicle_description/unpause.jl, in expression starting on line 3
waiting on move_vehicle.jl in vehicle_description ...
[unpause_gazebo-20] process has died [pid 436, exit code 1, cmd /home/mavs/MAVs/ros/src/models/gazebo/vehicle_description/unpause.jl __name:=unpause_gazebo __log:=/home/mavs/.ros/log/0fb4d4b4-c323-11e8-8212-90cdb691c2c7/unpause_gazebo-20.log].
log file: /home/mavs/.ros/log/0fb4d4b4-c323-11e8-8212-90cdb691c2c7/unpause_gazebo-20*.log
ERROR: LoadError: Module RobotOS declares __precompile__(true) but require failed to create a usable precompiled cache file.
Stacktrace:
 [1] _require(::Symbol) at ./loading.jl:502
 [2] require(::Symbol) at ./loading.jl:405
 [3] include_from_node1(::String) at ./loading.jl:576
 [4] include(::String) at ./sysimg.jl:14
 [5] process_options(::Base.JLOptions) at ./client.jl:305
 [6] _start() at ./client.jl:371
while loading /home/mavs/MAVs/ros/src/models/gazebo/vehicle_description/move_vehicle.jl, in expression starting on line 3
[move_vehicle-8] process has died [pid 189, exit code 1, cmd /home/mavs/MAVs/ros/src/models/gazebo/vehicle_description/move_vehicle.jl __name:=move_vehicle __log:=/home/mavs/.ros/log/0fb4d4b4-c323-11e8-8212-90cdb691c2c7/move_vehicle-8.log].
log file: /home/mavs/.ros/log/0fb4d4b4-c323-11e8-8212-90cdb691c2c7/move_vehicle-8*.log
waiting on move_vehicle.jl in vehicle_description ...
waiting on move_vehicle.jl in vehicle_description ...
waiting on move_vehicle.jl in vehicle_description ...

issue building cain: File "/home/mavs/MAVs/ros/src/CMakeLists.txt" already existsCMake Error:

@changyuhsuan I just ran into this issue building

febbo@febbo-HP-ZBook-17-G2:~/Documents/workspace/MAVs$ sh build.sh
Using default tag: latest
latest: Pulling from c1yxuan/avpg_base
3b37166ec614: Already exists 
504facff238f: Already exists 
ebbcacd28e10: Already exists 
c7fb3351ecad: Already exists 
2e3debadcbf7: Already exists 
7acbb21d37c1: Already exists 
8e0de1839bff: Pull complete 
c4ecce26bb2d: Pull complete 
909a4d505656: Pull complete 
4e889c9d9a5d: Pull complete 
933317eb9819: Pull complete 
35f0e0ae5178: Pull complete 
0123cac95dd0: Pull complete 
320bf8c53371: Pull complete 
80fd3676520c: Pull complete 
dbe02d47b782: Pull complete 
170cedfd4734: Pull complete 
d5b32dc65a6d: Pull complete 
4e4fe3d2f33b: Pull complete 
5930547c6629: Pull complete 
5a236a84596c: Pull complete 
ccc16409b80c: Pull complete 
bf9f47f7c5b5: Pull complete 
2dd542535892: Pull complete 
Digest: sha256:9d91224a00965a42a4b237841875f10f4b50f5e4a442034d4223bebca5741243
Status: Downloaded newer image for c1yxuan/avpg_base:latest
Sending build context to Docker daemon  346.2MB
Step 1/6 : FROM c1yxuan/avpg_base
 ---> ec31ab6036fb
Step 2/6 : RUN mkdir -p /home/$USERNAME/MAVs/ros
 ---> Running in d45a16697a1c
Removing intermediate container d45a16697a1c
 ---> f101d34f1cbd
Step 3/6 : COPY --chown=mavs:mavs ros /home/$USERNAME/MAVs/ros
 ---> 2805f6ecd228
Step 4/6 : RUN /bin/bash -c 'source /opt/ros/kinetic/setup.bash; cd /home/$USERNAME/MAVs/ros/src; sudo rosdep init; rosdep update; catkin_init_workspace; cd ..; catkin_make'     && echo "source /home/$USERNAME/MAVs/ros/devel/setup.bash" >> /home/$USERNAME/.bashrc     && echo 'alias julia='/opt/julia-d386e40c17/bin/julia'' >> ~/.bashrc     && echo 'export PATH="$PATH:/opt/julia-d386e40c17/bin"' >>  ~/.bashrc
 ---> Running in 8abd4df3f3be
Wrote /etc/ros/rosdep/sources.list.d/20-default.list
Recommended: please run

	rosdep update

reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index.yaml
Add distro "groovy"
Add distro "hydro"
Add distro "indigo"
Add distro "jade"
Add distro "kinetic"
Add distro "lunar"
Add distro "melodic"
updated cache in /home/mavs/.ros/rosdep/sources.cache
File "/home/mavs/MAVs/ros/src/CMakeLists.txt" already existsCMake Error: The current CMakeCache.txt directory /home/mavs/MAVs/ros/build/CMakeCache.txt is different than the directory /home/febbo/Documents/workspace/MAVs/ros/build where CMakeCache.txt was created. This may result in binaries being created in the wrong place. If you are not sure, reedit the CMakeCache.txt
CMake Error: The source "/home/mavs/MAVs/ros/src/CMakeLists.txt" does not match the source "/home/febbo/Documents/workspace/MAVs/ros/src/CMakeLists.txt" used to generate cache.  Re-run cmake with a different source directory.
Base path: /home/mavs/MAVs/ros
Source space: /home/mavs/MAVs/ros/src
Build space: /home/mavs/MAVs/ros/build
Devel space: /home/mavs/MAVs/ros/devel
Install space: /home/mavs/MAVs/ros/install
####
#### Running command: "cmake /home/mavs/MAVs/ros/src -DCATKIN_DEVEL_PREFIX=/home/mavs/MAVs/ros/devel -DCMAKE_INSTALL_PREFIX=/home/mavs/MAVs/ros/install -G Unix Makefiles" in "/home/mavs/MAVs/ros/build"
####
Invoking "cmake" failed
The command '/bin/sh -c /bin/bash -c 'source /opt/ros/kinetic/setup.bash; cd /home/$USERNAME/MAVs/ros/src; sudo rosdep init; rosdep update; catkin_init_workspace; cd ..; catkin_make'     && echo "source /home/$USERNAME/MAVs/ros/devel/setup.bash" >> /home/$USERNAME/.bashrc     && echo 'alias julia='/opt/julia-d386e40c17/bin/julia'' >> ~/.bashrc     && echo 'export PATH="$PATH:/opt/julia-d386e40c17/bin"' >>  ~/.bashrc' returned a non-zero code: 1
febbo@febbo-HP-ZBook-17-G2:~/Documents/workspace/MAVs$

ROS planner may display error and warning messages

When demoC or demoD is launched, following messages can be displayed:

[ WARN] [1523736594.947345603, 9.383000000]: Map update loop missed its desired rate of 2.0000Hz... the loop actually took 1.5250 seconds
[ERROR] [1523736595.193476441, 9.475000000]: [setParam] Failed to contact master at [localhost:11311]. Retrying...

Description

Warning means map update took longer than the set update frequency in config files. The reason for this is a large global and local cost map sizes, which is set in: /MAVs/ros/src/system/config/planner/ros_base_planner/global_costmap_params.yaml, and
/MAVs/ros/src/system/config/planner/ros_base_planner/local_costmap_params.yaml
These warnings might not occur in a fast system.
Error occurs while setting large vectors in ROS parameter server, generated by ROS planner(vector contains path coordinates) in file,
MAVs/ros/src/computing/planning/motion/mavs_ros_planner/src/NavsPathConverter.cpp
Agan, this might not occur in fast systems. It has been noticed that a smaller vector size didn't cause this issue.

Docker issue with space

If you get something like this:

Step 14/15 : RUN echo 9 &&     /opt/julia-d386e40c17/bin/julia -e 'Pkg.checkout("MichiganAutonomousVehicles")'
 ---> Running in bfb7f9405a85
9

signal (7): Bus error
while loading no file, in expression starting on line 0
unknown function (ip: 0x7f8d5a059a28)
_ZN4llvm15RuntimeDyldImpl11emitSectionERKNS_6object10ObjectFileERKNS1_10SectionRefEb at /opt/julia-d386e40c17/bin/../lib/julia/libLLVM-3.9.so (unknown line)
_ZN4llvm15RuntimeDyldImpl17findOrEmitSectionERKNS_6object10ObjectFileERKNS1_10SectionRefEbRSt3mapIS5_jSt4lessIS5_ESaISt4pairIS6_jEEE at /opt/julia-d386e40c17/bin/../lib/julia/libLLVM-3.9.so (unknown line)
_ZN4llvm15RuntimeDyldImpl14loadObjectImplERKNS_6object10ObjectFileE at /opt/julia-d386e40c17/bin/../lib/julia/libLLVM-3.9.so (unknown line)
_ZN4llvm14RuntimeDyldELF10loadObjectERKNS_6object10ObjectFileE at /opt/julia-d386e40c17/bin/../lib/julia/libLLVM-3.9.so (unknown line)
_ZN4llvm11RuntimeDyld10loadObjectERKNS_6object10ObjectFileE at /opt/julia-d386e40c17/bin/../lib/julia/libLLVM-3.9.so (unknown line)
operator() at /buildworker/worker/package_linux64/build/usr/include/llvm/ExecutionEngine/Orc/ObjectLinkingLayer.h:258 [inlined]
finalize at /buildworker/worker/package_linux64/build/usr/include/llvm/ExecutionEngine/Orc/ObjectLinkingLayer.h:125 [inlined]
emitAndFinalize at /buildworker/worker/package_linux64/build/usr/include/llvm/ExecutionEngine/Orc/ObjectLinkingLayer.h:333 [inlined]
emitAndFinalize at /buildworker/worker/package_linux64/build/usr/include/llvm/ExecutionEngine/Orc/IRCompileLayer.h:117 [inlined]

A fix may be

$ docker container prune
Total reclaimed space: 8.839GB

demoA errors on cain

@changyuhsuan after I built, I get this error

[rosrun]   /home/mavs/MAVs/ros/src/system/launch/demoA.launch
mavs@febbo-HP-ZBook-17-G2:~$ roslaunch system demoA.launch
... logging to /home/mavs/.ros/log/9214f882-d2da-11e8-afd8-104a7d04da99/roslaunch-febbo-HP-ZBook-17-G2-88.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://febbo-HP-ZBook-17-G2:45984/

SUMMARY
========

PARAMETERS
 * /case/actual/X0/ax: 0.0
 * /case/actual/X0/psi: 1.57079632679
 * /case/actual/X0/r: 0.0
 * /case/actual/X0/sa: 0.0
 * /case/actual/X0/ux: 0.0
 * /case/actual/X0/v: 0.0
 * /case/actual/X0/x: 200.0
 * /case/actual/X0/yVal: 0.0
 * /case/actual/obstacle/length: [5.0]
 * /case/actual/obstacle/num: 1
 * /case/actual/obstacle/radius: [6.0]
 * /case/actual/obstacle/vx: [0]
 * /case/actual/obstacle/vy: [0]
 * /case/actual/obstacle/x0: [200]
 * /case/actual/obstacle/y0: [110]
 * /case/goal/psi: 1.5701
 * /case/goal/tol: 4
 * /case/goal/x: 200.0
 * /case/goal/yVal: 125.0
 * /case_params_path: /home/mavs/MAVs/r...
 * /obstacle_detector/obstacle_extractor/active: true
 * /obstacle_detector/obstacle_extractor/circles_from_visibles: true
 * /obstacle_detector/obstacle_extractor/discard_converted_segments: false
 * /obstacle_detector/obstacle_extractor/distance_proportion: 0.001
 * /obstacle_detector/obstacle_extractor/frame_id: map
 * /obstacle_detector/obstacle_extractor/max_circle_radius: 4
 * /obstacle_detector/obstacle_extractor/max_group_distance: 0.5
 * /obstacle_detector/obstacle_extractor/max_merge_separation: 3
 * /obstacle_detector/obstacle_extractor/max_merge_spread: 2
 * /obstacle_detector/obstacle_extractor/max_split_distance: 5
 * /obstacle_detector/obstacle_extractor/min_group_points: 5
 * /obstacle_detector/obstacle_extractor/radius_enlargement: 0.3
 * /obstacle_detector/obstacle_extractor/transform_coordinates: true
 * /obstacle_detector/obstacle_extractor/use_pcl: true
 * /obstacle_detector/obstacle_extractor/use_scan: false
 * /obstacle_detector/obstacle_extractor/use_split_and_merge: true
 * /obstacle_detector/obstacle_tracker/active: true
 * /obstacle_detector/obstacle_tracker/frame_id: map
 * /obstacle_detector/obstacle_tracker/loop_rate: 100.0
 * /obstacle_detector/obstacle_tracker/measurement_variance: 1.0
 * /obstacle_detector/obstacle_tracker/min_correspondence_cost: 0.6
 * /obstacle_detector/obstacle_tracker/process_rate_variance: 0.1
 * /obstacle_detector/obstacle_tracker/process_variance: 0.1
 * /obstacle_detector/obstacle_tracker/std_correspondence_dev: 0.15
 * /obstacle_detector/obstacle_tracker/tracking_duration: 1
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /system/flags/paused: True
 * /system/obstacle_detector/flags/initialized: False
 * /system/obstacle_detector/flags/running: True
 * /system/params/simulation_time: 1.0
 * /system/params/step_size: 0.001
 * /system/vehicle_description/flags/lidar_initialized: False
 * /system/vehicle_description/flags/obstacles_initialized: False
 * /system/vehicle_description/flags/postion_update_external: False
 * /system/vehicle_description/flags/running: True
 * /use_sim_time: True
 * /vehicle/chrono/vehicle_params/axleDirection: [0, 1, 0]
 * /vehicle/chrono/vehicle_params/centroidLoc: [0.056, 0.0, 0.523],
 * /vehicle/chrono/vehicle_params/centroidOrientation: [1, 0, 0, 0]
 * /vehicle/chrono/vehicle_params/chassisInertia: [1078.52, 2955.66...
 * /vehicle/chrono/vehicle_params/chassisMass: 2688.70,
 * /vehicle/chrono/vehicle_params/conicalGearRatio: -0.2,
 * /vehicle/chrono/vehicle_params/differentialBoxInertia: 0.6
 * /vehicle/chrono/vehicle_params/differentialRatio: -1.0
 * /vehicle/chrono/vehicle_params/driverLoc: [0, 0.5, 1.2],
 * /vehicle/chrono/vehicle_params/driverOrientation: [1, 0, 0, 0]
 * /vehicle/chrono/vehicle_params/driveshaftInertia: 0.5,
 * /vehicle/chrono/vehicle_params/frict_coeff: 0.9
 * /vehicle/chrono/vehicle_params/gearRatios: [-0.3, 0.2, 0.4, ...
 * /vehicle/chrono/vehicle_params/maxBrakeTorque: 4000
 * /vehicle/chrono/vehicle_params/motorBlockDirection: [1, 0, 0],
 * /vehicle/chrono/vehicle_params/pinionMaxAngle: 0.87
 * /vehicle/chrono/vehicle_params/pinionRadius: 0.1,
 * /vehicle/chrono/vehicle_params/rest_coeff: 0.1
 * /vehicle/chrono/vehicle_params/steeringLinkInertia: [1, 1, 1],
 * /vehicle/chrono/vehicle_params/steeringLinkLength: 0.896
 * /vehicle/chrono/vehicle_params/steeringLinkMass: 9.072,
 * /vehicle/chrono/vehicle_params/steeringLinkRadius: 0.03,
 * /vehicle/common/Izz: 4110.1
 * /vehicle/common/la: 1.5775
 * /vehicle/common/lb: 1.7245
 * /vehicle/common/m: 2688.7
 * /vehicle/common/wheel_radius: 0.268
 * /vehicle/nloptcontrol_planner/AXC: [-0.0001280151804...
 * /vehicle/nloptcontrol_planner/Caf: -84138.0
 * /vehicle/nloptcontrol_planner/Car: -78126.0
 * /vehicle/nloptcontrol_planner/FZ0: 35000.0
 * /vehicle/nloptcontrol_planner/Fy_max: 7500
 * /vehicle/nloptcontrol_planner/Fy_min: -7500
 * /vehicle/nloptcontrol_planner/FzF0: 13680.0
 * /vehicle/nloptcontrol_planner/FzR0: 12696.0
 * /vehicle/nloptcontrol_planner/Fz_min: 1000.0
 * /vehicle/nloptcontrol_planner/Fz_off: 100.0
 * /vehicle/nloptcontrol_planner/Izz: 4110.1
 * /vehicle/nloptcontrol_planner/KZX: 806.0
 * /vehicle/nloptcontrol_planner/KZYF: 675.0
 * /vehicle/nloptcontrol_planner/KZYR: 1076.0
 * /vehicle/nloptcontrol_planner/PCY1: 1.5874
 * /vehicle/nloptcontrol_planner/PDY1: 0.73957
 * /vehicle/nloptcontrol_planner/PDY2: -0.075004
 * /vehicle/nloptcontrol_planner/PEY1: 0.37562
 * /vehicle/nloptcontrol_planner/PEY2: -0.069325
 * /vehicle/nloptcontrol_planner/PEY3: 0.29168
 * /vehicle/nloptcontrol_planner/PHY1: 0.0056509
 * /vehicle/nloptcontrol_planner/PHY2: -0.0020257
 * /vehicle/nloptcontrol_planner/PKY1: -10.289
 * /vehicle/nloptcontrol_planner/PKY2: 3.3343
 * /vehicle/nloptcontrol_planner/PVY1: 0.015216
 * /vehicle/nloptcontrol_planner/PVY2: -0.010365
 * /vehicle/nloptcontrol_planner/ax_max: 2.0
 * /vehicle/nloptcontrol_planner/ax_min: -2.0
 * /vehicle/nloptcontrol_planner/jx_max: 5.0
 * /vehicle/nloptcontrol_planner/jx_min: -5.0
 * /vehicle/nloptcontrol_planner/la: 1.5775
 * /vehicle/nloptcontrol_planner/lb: 1.7245
 * /vehicle/nloptcontrol_planner/m: 2688.7
 * /vehicle/nloptcontrol_planner/psi_max: 6.28318
 * /vehicle/nloptcontrol_planner/psi_min: -6.28318
 * /vehicle/nloptcontrol_planner/sa_max: 0.523598333333
 * /vehicle/nloptcontrol_planner/sa_min: -0.523598333333
 * /vehicle/nloptcontrol_planner/sr_max: 0.0872663888889
 * /vehicle/nloptcontrol_planner/sr_min: -0.0872663888889
 * /vehicle/nloptcontrol_planner/u_max: 29.0
 * /vehicle/nloptcontrol_planner/u_min: 0.0
 * /vehicle/vehicle_description/base_clearance: 0.5
 * /vehicle/vehicle_description/base_height: 1.2
 * /vehicle/vehicle_description/base_length: 3.3
 * /vehicle/vehicle_description/base_link: base_link
 * /vehicle/vehicle_description/base_width: 1.9
 * /vehicle/vehicle_description/frameName: map
 * /vehicle/vehicle_description/ground_truth_topic: base_pose_ground_...
 * /vehicle/vehicle_description/kp: 1e8
 * /vehicle/vehicle_description/la: 1.6
 * /vehicle/vehicle_description/lb: 1.7
 * /vehicle/vehicle_description/lidar_x: 1.75
 * /vehicle/vehicle_description/lidar_z: 1.4
 * /vehicle/vehicle_description/mesh_mode: 1
 * /vehicle/vehicle_description/minDepth: 0.005
 * /vehicle/vehicle_description/mu1: 0.9
 * /vehicle/vehicle_description/mu2: 0.9
 * /vehicle/vehicle_description/robotName: hmmwv
 * /vehicle/vehicle_description/robotNamespace: hmmwv
 * /vehicle/vehicle_description/scale_factor: 0.2
 * /vehicle/vehicle_description/topic: lidar_points
 * /vehicle/vehicle_description/wheel_base: 1
 * /vehicle/vehicle_description/wheel_mass: 2.5
 * /vehicle/vehicle_description/wheel_radius: 0.393
 * /vehicle/vehicle_description/wheel_width: 0.1
 * /velodyne_top_link_nodelet_manager/num_worker_threads: 20
 * /voxel_grid/filter_field_name: z
 * /voxel_grid/filter_limit_max: 3.5
 * /voxel_grid/filter_limit_min: 0.01
 * /voxel_grid/filter_limit_negative: false
 * /voxel_grid/leaf_size: 0.01

NODES
  /
    bootstrap (system/bootstrap.jl)
    frame_tf_broadcaster (vehicle_description/frame_tf_broadcaster)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    move_obstacles (vehicle_description/move_obstacles.jl)
    move_vehicle (vehicle_description/move_vehicle.jl)
    obstacle_extractor (nodelet/nodelet)
    obstacle_paramameters (obstacle_detector/obstacle_parameters.jl)
    obstacle_tracker (nodelet/nodelet)
    point_cloud_converter (point_cloud_converter/point_cloud_converter_node)
    postion (vehicle_description/link_positions.jl)
    postion_broadcaster (vehicle_description/position_broadcaster)
    ros_get_world_time_ (get_world_time_test/ros_get_world_time)
    rviz (rviz/rviz)
    spawn_obstacles (vehicle_description/spawn_obstacles.sh)
    spawn_urdf (gazebo_ros/spawn_model)
    unpause_gazebo (vehicle_description/unpause.jl)
    velodyne_top_link_nodelet_manager (nodelet/nodelet)
    voxel_grid (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [101]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 9214f882-d2da-11e8-afd8-104a7d04da99
process[rosout-1]: started with pid [114]
started core service [/rosout]
process[ros_get_world_time_-2]: started with pid [138]
process[gazebo-3]: started with pid [139]
process[gazebo_gui-4]: started with pid [146]
[ INFO] [1539869684.996305908]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1539869684.996872754]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
process[spawn_urdf-5]: started with pid [190]
[ INFO] [1539869685.223927846]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1539869685.250463275]: Physics dynamic reconfigure ready.
process[spawn_obstacles-6]: started with pid [253]
process[move_obstacles-7]: started with pid [409]
Segmentation fault (core dumped)
[gazebo_gui-4] process has died [pid 146, exit code 139, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/mavs/.ros/log/9214f882-d2da-11e8-afd8-104a7d04da99/gazebo_gui-4.log].
log file: /home/mavs/.ros/log/9214f882-d2da-11e8-afd8-104a7d04da99/gazebo_gui-4*.log
process[move_vehicle-8]: started with pid [419]
process[postion-9]: started with pid [810]
process[frame_tf_broadcaster-10]: started with pid [1306]
process[postion_broadcaster-11]: started with pid [1540]
process[velodyne_top_link_nodelet_manager-12]: started with pid [1664]
[ INFO] [1539869687.009537261]: Initializing nodelet with 20 worker threads.
process[obstacle_paramameters-13]: started with pid [1961]
process[voxel_grid-14]: started with pid [2322]
[ INFO] [1539869687.486777212]: Loading nodelet /voxel_grid of type pcl/VoxelGrid to manager velodyne_top_link_nodelet_manager with the following remappings:
[ INFO] [1539869687.486845288]: /voxel_grid/input -> /lidar_points
process[point_cloud_converter-15]: started with pid [2517]
process[obstacle_extractor-16]: started with pid [2668]
[ INFO] [1539869688.018665786]: [Obstacle Extractor]: Initializing nodelet
process[obstacle_tracker-17]: started with pid [3166]
[ INFO] [1539869688.265792521]: [Obstacle Tracker]: Initializing nodelet
process[rviz-18]: started with pid [3384]
[ INFO] [1539869688.551176556]: rviz version 1.12.16
[ INFO] [1539869688.551226831]: compiled against Qt version 5.5.1
[ INFO] [1539869688.551239708]: compiled against OGRE version 1.9.0 (Ghadamon)
Could not initialize OpenGL for RasterGLSurface, reverting to RasterSurface.
process[bootstrap-19]: started with pid [3752]
[rviz-18] process has died [pid 3384, exit code -11, cmd /opt/ros/kinetic/lib/rviz/rviz -d /home/mavs/MAVs/ros/src/computing/perception/detection/obstacle_detection/resources/display.rviz __name:=rviz __log:=/home/mavs/.ros/log/9214f882-d2da-11e8-afd8-104a7d04da99/rviz-18.log].
log file: /home/mavs/.ros/log/9214f882-d2da-11e8-afd8-104a7d04da99/rviz-18*.log
process[unpause_gazebo-20]: started with pid [3911]
[ INFO] [1539869697.937411656]: Velodyne laser plugin ready, 16 lasers
[spawn_urdf-5] process has finished cleanly
log file: /home/mavs/.ros/log/9214f882-d2da-11e8-afd8-104a7d04da99/spawn_urdf-5*.log
[spawn_obstacles-6] process has finished cleanly
log file: /home/mavs/.ros/log/9214f882-d2da-11e8-afd8-104a7d04da99/spawn_obstacles-6*.log

non-network local connections being added to access control list

@changyuhsuan why is this happening?

febbo@febbo-HP-ZBook-17-G2:~/Documents/workspace/MAVs$ sh run.sh
non-network local connections being added to access control list
[sudo] password for febbo:

figure out why pacejka tire model is broken

m_Fz > 0 is the error

@sdhkr please fix this or contact James to help you

Docker build issue

I am trying to build the docker image on my machine and I get this error:

Get:241 http://archive.ubuntu.com/ubuntu xenial/universe i386 libeigen3-dev all 3.3~beta1-2 [663 kB]
Err:241 http://archive.ubuntu.com/ubuntu xenial/universe i386 libeigen3-dev all 3.3~beta1-2
  Hash Sum mismatch
Fetched 98.4 MB in 9min 3s (181 kB/s)
E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/main/p/python2.7/libpython2.7-dev_2.7.12-1ubuntu0~16.04.3_amd64.deb  Hash Sum mismatch

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/main/p/python-defaults/libpython-dev_2.7.12-1~16.04_amd64.deb  Writing more data than expected (7980 > 7840) Writing more data than expected (12075 > 7840) Writing more data than expected (14236 > 7840) [IP: 91.189.88.161 80]

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/main/p/python2.7/python2.7-dev_2.7.12-1ubuntu0~16.04.3_amd64.deb  Hash Sum mismatch

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/main/p/python-defaults/python-dev_2.7.12-1~16.04_amd64.deb  Writing more data than expected (4109 > 1186) [IP: 91.189.88.161 80]

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/universe/b/boost1.58/libboost-python1.58-dev_1.58.0+dfsg-5ubuntu3.1_amd64.deb  Hash Sum mismatch

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/universe/b/boost-defaults/libboost-python-dev_1.58.0.1ubuntu1_amd64.deb  Writing more data than expected (3885 > 3170) Writing more data than expected (4114 > 3170) [IP: 91.189.88.161 80]

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/main/b/boost1.58/libboost-random1.58.0_1.58.0+dfsg-5ubuntu3.1_amd64.deb  Writing more data than expected (12581 > 11674) Writing more data than expected (12773 > 11674) [IP: 91.189.88.161 80]

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/universe/b/boost1.58/libboost-random1.58-dev_1.58.0+dfsg-5ubuntu3.1_amd64.deb  Writing more data than expected (11372 > 11056) [IP: 91.189.88.161 80]

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/universe/b/boost-defaults/libboost-random-dev_1.58.0.1ubuntu1_amd64.deb  Writing more data than expected (4389 > 2790) Writing more data than expected (8444 > 2790) [IP: 91.189.88.161 80]

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/universe/b/boost-defaults/libboost-regex-dev_1.58.0.1ubuntu1_amd64.deb  Writing more data than expected (4109 > 3058) [IP: 91.189.88.161 80]

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/universe/b/boost-defaults/libboost-serialization-dev_1.58.0.1ubuntu1_amd64.deb  Writing more data than expected (4388 > 3026) Writing more data than expected (8446 > 3026) [IP: 91.189.88.161 80]

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/universe/b/boost1.58/libboost-signals1.58.0_1.58.0+dfsg-5ubuntu3.1_amd64.deb  Hash Sum mismatch

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/universe/b/boost1.58/libboost-signals1.58-dev_1.58.0+dfsg-5ubuntu3.1_amd64.deb  Hash Sum mismatch

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/universe/b/boost-defaults/libboost-signals-dev_1.58.0.1ubuntu1_amd64.deb  Writing more data than expected (4109 > 2856) [IP: 91.189.88.161 80]

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/universe/b/boost-defaults/libboost-system-dev_1.58.0.1ubuntu1_amd64.deb  Writing more data than expected (4388 > 2930) Writing more data than expected (8446 > 2930) [IP: 91.189.88.161 80]

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/universe/b/boost-defaults/libboost-test-dev_1.58.0.1ubuntu1_amd64.deb  Writing more data than expected (4389 > 2830) Writing more data than expected (8485 > 2830) Writing more data than expected (11332 > 2830) [IP: 91.189.88.161 80]

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/universe/b/boost-defaults/libboost-thread-dev_1.58.0.1ubuntu1_amd64.deb  Writing more data than expected (4109 > 2818) [IP: 91.189.88.161 80]

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/universe/b/boost1.58/libboost-timer1.58.0_1.58.0+dfsg-5ubuntu3.1_amd64.deb  Writing more data than expected (12581 > 10176) Writing more data than expected (12581 > 10176) [IP: 91.189.88.161 80]

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/universe/b/boost1.58/libboost-timer1.58-dev_1.58.0+dfsg-5ubuntu3.1_amd64.deb  Writing more data than expected (9884 > 9632) [IP: 91.189.88.161 80]

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/universe/b/boost-defaults/libboost-timer-dev_1.58.0.1ubuntu1_amd64.deb  Writing more data than expected (3885 > 2922) Writing more data than expected (7010 > 2922) [IP: 91.189.88.161 80]

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/universe/b/boost1.58/libboost-wave1.58.0_1.58.0+dfsg-5ubuntu3.1_amd64.deb  Hash Sum mismatch

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/universe/b/boost1.58/libboost-wave1.58-dev_1.58.0+dfsg-5ubuntu3.1_amd64.deb  Hash Sum mismatch

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/universe/b/boost-defaults/libboost-wave-dev_1.58.0.1ubuntu1_amd64.deb  Writing more data than expected (4109 > 2838) [IP: 91.189.88.161 80]

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/universe/b/boost-defaults/libboost-all-dev_1.58.0.1ubuntu1_amd64.deb  Writing more data than expected (4388 > 2228) Writing more data than expected (6998 > 2228) [IP: 91.189.88.161 80]

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/main/libp/libpciaccess/libpciaccess0_0.13.4-1_amd64.deb  Hash Sum mismatch

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/main/libt/libtool/libtool_2.4.6-0.1_all.deb  Hash Sum mismatch

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/main/m/manpages/manpages-dev_4.04-2_all.deb  Hash Sum mismatch

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/main/p/pycurl/python3-pycurl_7.43.0-1ubuntu1_amd64.deb  Hash Sum mismatch

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/main/s/software-properties/python3-software-properties_0.96.20.7_all.deb  Hash Sum mismatch

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/main/s/software-properties/software-properties-common_0.96.20.7_all.deb  Writing more data than expected (9887 > 9452) [IP: 91.189.88.161 80]

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/main/u/unattended-upgrades/unattended-upgrades_0.90ubuntu0.9_all.deb  Hash Sum mismatch

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/universe/e/eigen3/libeigen3-dev_3.3~beta1-2_all.deb  Hash Sum mismatch

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/main/o/ocl-icd/ocl-icd-libopencl1_2.2.8-1_amd64.deb  Hash Sum mismatch

E: Failed to fetch http://archive.ubuntu.com/ubuntu/pool/universe/h/hwloc/libhwloc-plugins_1.11.2-3_amd64.deb  Writing more data than expected (14224 > 13238) [IP: 91.189.88.161 80]

E: Unable to fetch some archives, maybe run apt-get update or try with --fix-missing?
The command '/bin/sh -c apt-get update && apt-get install -y         software-properties-common         wget curl git cmake cmake-curses-gui         libboost-all-dev         libeigen3-dev 	language-pack-en         && update-locale LANG=en_US.UTF-8 LC_MESSAGES=POSIX' returned a non-zero code: 100

process died problem with demoA

$ docker run -i -t 93a99576c089
mavs@febeece3e120:~$ sudo rm -r /home/mavs/.julia/.cache

mavs@febeece3e120:~$ roslaunch system demoA.launch

To run a command as administrator (user "root"), use "sudo <command>".
See "man sudo_root" for details.

mavs@febeece3e120:~$ sudo rm -r /home/mavs/.julia/.cache
mavs@febeece3e120:~$ roslaunch system demoA.launch
... logging to /home/mavs/.ros/log/98553e5c-bd20-11e8-b2e5-0242ac110002/roslaunch-febeece3e120-84.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://febeece3e120:43173/

SUMMARY
========

PARAMETERS
 * /case/actual/X0/ax: 0.0
 * /case/actual/X0/psi: 1.57079632679
 * /case/actual/X0/r: 0.0
 * /case/actual/X0/sa: 0.0
 * /case/actual/X0/ux: 0.0
 * /case/actual/X0/v: 0.0
 * /case/actual/X0/x: 200.0
 * /case/actual/X0/yVal: 0.0
 * /case/actual/obstacle/length: [5.0]
 * /case/actual/obstacle/num: 1
 * /case/actual/obstacle/radius: [6.0]
 * /case/actual/obstacle/vx: [0]
 * /case/actual/obstacle/vy: [0]
 * /case/actual/obstacle/x0: [200]
 * /case/actual/obstacle/y0: [110]
 * /case/goal/psi: 1.5701
 * /case/goal/tol: 4
 * /case/goal/x: 200.0
 * /case/goal/yVal: 125.0
 * /case_params_path: /home/mavs/MAVs/r...
 * /obstacle_detector/obstacle_extractor/active: true
 * /obstacle_detector/obstacle_extractor/circles_from_visibles: true
 * /obstacle_detector/obstacle_extractor/discard_converted_segments: false
 * /obstacle_detector/obstacle_extractor/distance_proportion: 0.001
 * /obstacle_detector/obstacle_extractor/frame_id: map
 * /obstacle_detector/obstacle_extractor/max_circle_radius: 4
 * /obstacle_detector/obstacle_extractor/max_group_distance: 0.5
 * /obstacle_detector/obstacle_extractor/max_merge_separation: 3
 * /obstacle_detector/obstacle_extractor/max_merge_spread: 2
 * /obstacle_detector/obstacle_extractor/max_split_distance: 5
 * /obstacle_detector/obstacle_extractor/min_group_points: 5
 * /obstacle_detector/obstacle_extractor/radius_enlargement: 0.3
 * /obstacle_detector/obstacle_extractor/transform_coordinates: true
 * /obstacle_detector/obstacle_extractor/use_pcl: true
 * /obstacle_detector/obstacle_extractor/use_scan: false
 * /obstacle_detector/obstacle_extractor/use_split_and_merge: true
 * /obstacle_detector/obstacle_tracker/active: true
 * /obstacle_detector/obstacle_tracker/frame_id: map
 * /obstacle_detector/obstacle_tracker/loop_rate: 100.0
 * /obstacle_detector/obstacle_tracker/measurement_variance: 1.0
 * /obstacle_detector/obstacle_tracker/min_correspondence_cost: 0.6
 * /obstacle_detector/obstacle_tracker/process_rate_variance: 0.1
 * /obstacle_detector/obstacle_tracker/process_variance: 0.1
 * /obstacle_detector/obstacle_tracker/std_correspondence_dev: 0.15
 * /obstacle_detector/obstacle_tracker/tracking_duration: 1
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /system/flags/paused: True
 * /system/obstacle_detector/flags/initialized: False
 * /system/obstacle_detector/flags/running: True
 * /system/params/simulation_time: 1.0
 * /system/params/step_size: 0.001
 * /system/vehicle_description/flags/lidar_initialized: False
 * /system/vehicle_description/flags/obstacles_initialized: False
 * /system/vehicle_description/flags/postion_update_external: False
 * /system/vehicle_description/flags/running: True
 * /use_sim_time: True
 * /vehicle/chrono/vehicle_params/axleDirection: [0, 1, 0]
 * /vehicle/chrono/vehicle_params/centroidLoc: [0.056, 0.0, 0.523],
 * /vehicle/chrono/vehicle_params/centroidOrientation: [1, 0, 0, 0]
 * /vehicle/chrono/vehicle_params/chassisInertia: [1078.52, 2955.66...
 * /vehicle/chrono/vehicle_params/chassisMass: 2688.70,
 * /vehicle/chrono/vehicle_params/conicalGearRatio: -0.2,
 * /vehicle/chrono/vehicle_params/differentialBoxInertia: 0.6
 * /vehicle/chrono/vehicle_params/differentialRatio: -1.0
 * /vehicle/chrono/vehicle_params/driverLoc: [0, 0.5, 1.2],
 * /vehicle/chrono/vehicle_params/driverOrientation: [1, 0, 0, 0]
 * /vehicle/chrono/vehicle_params/driveshaftInertia: 0.5,
 * /vehicle/chrono/vehicle_params/frict_coeff: 0.9
 * /vehicle/chrono/vehicle_params/gearRatios: [-0.3, 0.2, 0.4, ...
 * /vehicle/chrono/vehicle_params/maxBrakeTorque: 4000
 * /vehicle/chrono/vehicle_params/motorBlockDirection: [1, 0, 0],
 * /vehicle/chrono/vehicle_params/pinionMaxAngle: 0.87
 * /vehicle/chrono/vehicle_params/pinionRadius: 0.1,
 * /vehicle/chrono/vehicle_params/rest_coeff: 0.1
 * /vehicle/chrono/vehicle_params/steeringLinkInertia: [1, 1, 1],
 * /vehicle/chrono/vehicle_params/steeringLinkLength: 0.896
 * /vehicle/chrono/vehicle_params/steeringLinkMass: 9.072,
 * /vehicle/chrono/vehicle_params/steeringLinkRadius: 0.03,
 * /vehicle/common/Izz: 4110.1
 * /vehicle/common/la: 1.5775
 * /vehicle/common/lb: 1.7245
 * /vehicle/common/m: 2688.7
 * /vehicle/common/wheel_radius: 0.268
 * /vehicle/nloptcontrol_planner/AXC: [-0.0001280151804...
 * /vehicle/nloptcontrol_planner/Caf: -84138.0
 * /vehicle/nloptcontrol_planner/Car: -78126.0
 * /vehicle/nloptcontrol_planner/FZ0: 35000.0
 * /vehicle/nloptcontrol_planner/Fy_max: 7500
 * /vehicle/nloptcontrol_planner/Fy_min: -7500
 * /vehicle/nloptcontrol_planner/FzF0: 13680.0
 * /vehicle/nloptcontrol_planner/FzR0: 12696.0
 * /vehicle/nloptcontrol_planner/Fz_min: 1000.0
 * /vehicle/nloptcontrol_planner/Fz_off: 100.0
 * /vehicle/nloptcontrol_planner/Izz: 4110.1
 * /vehicle/nloptcontrol_planner/KZX: 806.0
 * /vehicle/nloptcontrol_planner/KZYF: 675.0
 * /vehicle/nloptcontrol_planner/KZYR: 1076.0
 * /vehicle/nloptcontrol_planner/PCY1: 1.5874
 * /vehicle/nloptcontrol_planner/PDY1: 0.73957
 * /vehicle/nloptcontrol_planner/PDY2: -0.075004
 * /vehicle/nloptcontrol_planner/PEY1: 0.37562
 * /vehicle/nloptcontrol_planner/PEY2: -0.069325
 * /vehicle/nloptcontrol_planner/PEY3: 0.29168
 * /vehicle/nloptcontrol_planner/PHY1: 0.0056509
 * /vehicle/nloptcontrol_planner/PHY2: -0.0020257
 * /vehicle/nloptcontrol_planner/PKY1: -10.289
 * /vehicle/nloptcontrol_planner/PKY2: 3.3343
 * /vehicle/nloptcontrol_planner/PVY1: 0.015216
 * /vehicle/nloptcontrol_planner/PVY2: -0.010365
 * /vehicle/nloptcontrol_planner/ax_max: 2.0
 * /vehicle/nloptcontrol_planner/ax_min: -2.0
 * /vehicle/nloptcontrol_planner/jx_max: 5.0
 * /vehicle/nloptcontrol_planner/jx_min: -5.0
 * /vehicle/nloptcontrol_planner/la: 1.5775
 * /vehicle/nloptcontrol_planner/lb: 1.7245
 * /vehicle/nloptcontrol_planner/m: 2688.7
 * /vehicle/nloptcontrol_planner/psi_max: 6.28318
 * /vehicle/nloptcontrol_planner/psi_min: -6.28318
 * /vehicle/nloptcontrol_planner/sa_max: 0.523598333333
 * /vehicle/nloptcontrol_planner/sa_min: -0.523598333333
 * /vehicle/nloptcontrol_planner/sr_max: 0.0872663888889
 * /vehicle/nloptcontrol_planner/sr_min: -0.0872663888889
 * /vehicle/nloptcontrol_planner/u_max: 29.0
 * /vehicle/nloptcontrol_planner/u_min: 0.0
 * /vehicle/vehicle_description/base_clearance: 0.5
 * /vehicle/vehicle_description/base_height: 1.2
 * /vehicle/vehicle_description/base_length: 3.3
 * /vehicle/vehicle_description/base_link: base_link
 * /vehicle/vehicle_description/base_width: 1.9
 * /vehicle/vehicle_description/frameName: map
 * /vehicle/vehicle_description/ground_truth_topic: base_pose_ground_...
 * /vehicle/vehicle_description/kp: 1e8
 * /vehicle/vehicle_description/la: 1.6
 * /vehicle/vehicle_description/lb: 1.7
 * /vehicle/vehicle_description/lidar_x: 1.75
 * /vehicle/vehicle_description/lidar_z: 1.4
 * /vehicle/vehicle_description/mesh_mode: 1
 * /vehicle/vehicle_description/minDepth: 0.005
 * /vehicle/vehicle_description/mu1: 0.9
 * /vehicle/vehicle_description/mu2: 0.9
 * /vehicle/vehicle_description/robotName: hmmwv
 * /vehicle/vehicle_description/robotNamespace: hmmwv
 * /vehicle/vehicle_description/scale_factor: 0.2
 * /vehicle/vehicle_description/topic: lidar_points
 * /vehicle/vehicle_description/wheel_base: 1
 * /vehicle/vehicle_description/wheel_mass: 2.5
 * /vehicle/vehicle_description/wheel_radius: 0.393
 * /vehicle/vehicle_description/wheel_width: 0.1
 * /velodyne_top_link_nodelet_manager/num_worker_threads: 20
 * /voxel_grid/filter_field_name: z
 * /voxel_grid/filter_limit_max: 3.5
 * /voxel_grid/filter_limit_min: 0.01
 * /voxel_grid/filter_limit_negative: false
 * /voxel_grid/leaf_size: 0.01

NODES
  /
    bootstrap (system/bootstrap.jl)
    frame_tf_broadcaster (vehicle_description/frame_tf_broadcaster)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    move_obstacles (vehicle_description/move_obstacles.jl)
    move_vehicle (vehicle_description/move_vehicle.jl)
    obstacle_extractor (nodelet/nodelet)
    obstacle_paramameters (obstacle_detector/obstacle_parameters.jl)
    obstacle_tracker (nodelet/nodelet)
    point_cloud_converter (point_cloud_converter/point_cloud_converter_node)
    postion (vehicle_description/link_positions.jl)
    postion_broadcaster (vehicle_description/position_broadcaster)
    ros_get_world_time_ (get_world_time_test/ros_get_world_time)
    rviz (rviz/rviz)
    spawn_obstacles (vehicle_description/spawn_obstacles.sh)
    spawn_urdf (gazebo_ros/spawn_model)
    unpause_gazebo (vehicle_description/unpause.jl)
    velodyne_top_link_nodelet_manager (nodelet/nodelet)
    voxel_grid (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [97]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 98553e5c-bd20-11e8-b2e5-0242ac110002
process[rosout-1]: started with pid [110]
started core service [/rosout]
process[ros_get_world_time_-2]: started with pid [113]
process[gazebo-3]: started with pid [114]
process[gazebo_gui-4]: started with pid [138]
process[spawn_urdf-5]: started with pid [147]
process[spawn_obstacles-6]: started with pid [150]
process[move_obstacles-7]: started with pid [204]
process[move_vehicle-8]: started with pid [213]
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
process[postion-9]: started with pid [220]
process[frame_tf_broadcaster-10]: started with pid [224]
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
process[postion_broadcaster-11]: started with pid [236]
process[velodyne_top_link_nodelet_manager-12]: started with pid [278]
process[obstacle_paramameters-13]: started with pid [279]
[ INFO] [1537480842.390181179]: Initializing nodelet with 20 worker threads.
INFO: cannot create a symlink to latest log directory: [Errno 2] No such file or directory: '/home/mavs/.ros/log/latest'
process[voxel_grid-14]: started with pid [280]
[ INFO] [1537480842.705277232]: Loading nodelet /voxel_grid of type pcl/VoxelGrid to manager velodyne_top_link_nodelet_manager with the following remappings:
[ INFO] [1537480842.705328924]: /voxel_grid/input -> /lidar_points
process[point_cloud_converter-15]: started with pid [352]
process[obstacle_extractor-16]: started with pid [377]
process[obstacle_tracker-17]: started with pid [412]
process[rviz-18]: started with pid [457]
process[bootstrap-19]: started with pid [462]
process[unpause_gazebo-20]: started with pid [465]
[ INFO] [1537480848.307800850]: [Obstacle Extractor]: Initializing nodelet
[ INFO] [1537480848.520258740]: [Obstacle Tracker]: Initializing nodelet
QXcbConnection: Could not connect to display 
[rviz-18] process has died [pid 457, exit code -6, cmd /opt/ros/kinetic/lib/rviz/rviz -d /home/mavs/MAVs/ros/src/computing/perception/detection/obstacle_detection/resources/display.rviz __name:=rviz __log:=/home/mavs/.ros/log/98553e5c-bd20-11e8-b2e5-0242ac110002/rviz-18.log].
log file: /home/mavs/.ros/log/98553e5c-bd20-11e8-b2e5-0242ac110002/rviz-18*.log
[ INFO] [1537480851.047156076]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1537480851.048839236]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Aborted (core dumped)
[gazebo_gui-4] process has died [pid 138, exit code 134, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/mavs/.ros/log/98553e5c-bd20-11e8-b2e5-0242ac110002/gazebo_gui-4.log].
log file: /home/mavs/.ros/log/98553e5c-bd20-11e8-b2e5-0242ac110002/gazebo_gui-4*.log
Unhandled exception in thread started by 
sys.excepthook is missing
lost sys.stderr
[spawn_obstacles-6] process has finished cleanly
log file: /home/mavs/.ros/log/98553e5c-bd20-11e8-b2e5-0242ac110002/spawn_obstacles-6*.log
[ INFO] [1537480882.343100025]: Velodyne laser plugin ready, 16 lasers
[spawn_urdf-5] process has finished cleanly
log file: /home/mavs/.ros/log/98553e5c-bd20-11e8-b2e5-0242ac110002/spawn_urdf-5*.log
WARNING: The call to compilecache failed to create a usable precompiled cache file for module PyCall. Got:
WARNING: Module MacroTools uuid did not match cache file.
WARNING: eval from module Main to RobotOS:    
Expr(:call, Expr(:., :Base, :include_from_node1)::Any, "/home/mavs/.julia/v0.6/PyCall/src/PyCall.jl")::Any
  ** incremental compilation may be broken for this module **

WARNING: The call to compilecache failed to create a usable precompiled cache file for module PyCall. Got:
WARNING: Module MacroTools uuid did not match cache file.
WARNING: eval from module Main to RobotOS:    
Expr(:call, Expr(:., :Base, :include_from_node1)::Any, "/home/mavs/.julia/v0.6/PyCall/src/PyCall.jl")::Any
  ** incremental compilation may be broken for this module **

WARNING: The call to compilecache failed to create a usable precompiled cache file for module PyCall. Got:
WARNING: Module MacroTools uuid did not match cache file.
WARNING: eval from module Main to RobotOS:    
Expr(:call, Expr(:., :Base, :include_from_node1)::Any, "/home/mavs/.julia/v0.6/PyCall/src/PyCall.jl")::Any
  ** incremental compilation may be broken for this module **

WARNING: The call to compilecache failed to create a usable precompiled cache file for module PyCall. Got:
WARNING: Module MacroTools uuid did not match cache file.
WARNING: eval from module Main to RobotOS:    
Expr(:call, Expr(:., :Base, :include_from_node1)::Any, "/home/mavs/.julia/v0.6/PyCall/src/PyCall.jl")::Any
  ** incremental compilation may be broken for this module **

WARNING: The call to compilecache failed to create a usable precompiled cache file for module PyCall. Got:
WARNING: Module MacroTools uuid did not match cache file.
WARNING: eval from module Main to RobotOS:    
Expr(:call, Expr(:., :Base, :include_from_node1)::Any, "/home/mavs/.julia/v0.6/PyCall/src/PyCall.jl")::Any
  ** incremental compilation may be broken for this module **

the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
starting bootstrap node ...
waiting on move_vehicle.jl in vehicle_description ...
Waiting for '/gazebo/unpause_physics' service...
Waiting for 'gazebo/get_model_state' service...
Waiting for 'gazebo/set_model_state' service...
waiting on move_vehicle.jl in vehicle_description ...
lidar simulation in Gazebo has been initialized
waiting on move_obstacles.jl in vehicle_description ...
Waiting for 'gazebo/get_link_state' service...
waiting on move_obstacles.jl in vehicle_description ...
WARNING: Module PyCall uuid did not match cache file.
ERROR: LoadError: waiting on move_obstacles.jl in vehicle_description ...
Module RobotOS declares __precompile__(true) but require failed to create a usable precompiled cache file.
Stacktrace:
 [1] _require(::Symbol) at ./loading.jl:502
 [2] require(::Symbol) at ./loading.jl:405
 [3] include_from_node1(::String) at ./loading.jl:576
 [4] include(::String) at ./sysimg.jl:14
 [5] process_options(::Base.JLOptions) at ./client.jl:305
 [6] _start() at ./client.jl:371
while loading /home/mavs/MAVs/ros/src/models/gazebo/vehicle_description/move_obstacles.jl, in expression starting on line 3
[move_obstacles-7] process has died [pid 204, exit code 1, cmd /home/mavs/MAVs/ros/src/models/gazebo/vehicle_description/move_obstacles.jl __name:=move_obstacles __log:=/home/mavs/.ros/log/98553e5c-bd20-11e8-b2e5-0242ac110002/move_obstacles-7.log].
log file: /home/mavs/.ros/log/98553e5c-bd20-11e8-b2e5-0242ac110002/move_obstacles-7*.log
waiting on move_obstacles.jl in vehicle_description ...
waiting on move_obstacles.jl in vehicle_description ...
waiting on move_obstacles.jl in vehicle_description ...

Demos

This issue is going to make sure that all demos are working on the master branch

Demos

roslaunch nloptcontrol_planner demo.launch

nloptcontrol_planner

status = working

roslaunch system demoA.launch

obstacle_detector with vehicle_description
@tqshao can you please fix this?

status = broken

[ INFO] [1521730529.026696899, 0.483000000]: "map" passed to lookupTransform argument target_frame does not exist.
[INFO] [1521730529.071362, 0.508000]: Spawn status: SpawnModel: Successfully spawned entity
[Obstacle2/spawn_obstacles-6] process has finished cleanly
log file: /home/febbo/.ros/log/0717f39a-2de1-11e8-8052-104a7d04da99/Obstacle2-spawn_obstacles-6*.log
[ INFO] [1521730529.252805167, 0.599000000]: "map" passed to lookupTransform argument target_frame does not exist.
[Obstacle1/spawn_obstacles-5] process has finished cleanly
log file: /home/febbo/.ros/log/0717f39a-2de1-11e8-8052-104a7d04da99/Obstacle1-spawn_obstacles-5*.log
[ INFO] [1521730529.431333339, 0.704000000]: "map" passed to lookupTransform argument target_frame does not exist.

roslaunch system demoB.launch

nloptcontrol_planner with vehicle_description

status = needs fix

I do not see the path that is being planned displayed in RViz
@tqshao can you please fix this?

roslaunch system demoC.launch

vehicle_description and ros_base_planner

status = needs fix

I do not see the path that is being planned displayed in RViz
@sumjos can you please fix this?

roslaunch system demoD.launch

vehicle_description, ros_base_planner and chrono
@sumjos can you update this

status = unknown

roslaunch system demoE.launch

@tqshao can you please clarify this?
What is this demo showing? please make it clear in the top of the launch files like the rest of them

status = needs fix

Work Flow

Just update these demos with markdown and eventually they will serve as documentation

Thanks!

precompile mavs

Now that MichiganAutonomousVehicles.jl needs RobotOS.jl we can no longer precompile. So with this pull request, RobotOS.jl is precompiled. If you are trying to test before the following is merged add

isdefined(Base, :__precompile__) && __precompile__()

to RobotOS.jl in the .julia/RobotOS/ folder

jdlangs/RobotOS.jl#42

make chrono run from any directory

setting /run_id to a651feec-27a1-11e8-bf63-fc15b4ebb208
process[rosout-1]: started with pid [8629]
started core service [/rosout]
process[Reference-2]: started with pid [8632]
process[Chronode-3]: started with pid [8655]
terminate called after throwing an instance of 'chrono::ChException'
  what():  Cannot open input file
[Chronode-3] process has died [pid 8655, exit code -6, cmd /home/febbo/Documents/workspace/MAVs/ros/devel/lib/ros_chrono/hmmwv_model __name:=Chronode __log:=/home/febbo/.ros/log/a651feec-27a1-11e8-bf63-fc15b4ebb208/Chronode-3.log].
log file: /home/febbo/.ros/log/a651feec-27a1-11e8-bf63-fc15b4ebb208/Chronode-3*.log
^C[Reference-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete

@sdhkr please fix this

Problem with sh build.sh

I installed nvidia driver, docker and nvidia docker successfully.
I run:
$ cd MAVs/docker
$ sudo sh build.sh
The build (last two colomn) seems to be successful:

Successfully built a09322f64455
Successfully tagged base:latest

However, when I run:
$ sudo sh run.sh

The result and problem is:

Shared directory: /home/root/shared_dir
Unable to find image 'mav:latest' locally
docker: Error response from daemon: pull access denied for mav, repository does not exist or may require 'docker login'.
See 'docker run --help'.

Although I have logged in:
$ docker login

Authenticating with existing credentials...
WARNING! Your password will be stored unencrypted in /home/ubuntu/.docker/config.json.
Configure a credential helper to remove this warning. See
https://docs.docker.com/engine/reference/commandline/login/#credentials-store
Login Succeeded

docker seems to work well:
$ docker --version

nvidia driver also works:
$ nvidia-smi

Tue Sep 18 22:12:06 2018       
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 396.37                 Driver Version: 396.37                    |
|-------------------------------+----------------------+----------------------+
| GPU  Name        Persistence-M| Bus-Id        Disp.A | Volatile Uncorr. ECC |
| Fan  Temp  Perf  Pwr:Usage/Cap|         Memory-Usage | GPU-Util  Compute M. |
|===============================+======================+======================|
|   0  GeForce GTX 950M    Off  | 00000000:01:00.0 Off |                  N/A |
| N/A   48C    P8    N/A /  N/A |    640MiB /  2004MiB |     20%      Default |
+-------------------------------+----------------------+----------------------+
                                                                               
+-----------------------------------------------------------------------------+
| Processes:                                                       GPU Memory |
|  GPU       PID   Type   Process name                             Usage      |
|=============================================================================|
|    0      1255      G   /usr/lib/xorg/Xorg                           426MiB |
|    0      2378      G   compiz                                       178MiB |
|    0      3084      G   ...quest-channel-token=9315513773460001372    33MiB |
+-----------------------------------------------------------------------------+

nividia docker works, too:
$ nvidia-docker --version

Docker version 18.06.1-ce, build e68fc7a

New Features

I have several projects that I am working on and I am managing a team of masters students (this semester) at the University of Michigan to get this done. Below I have a summary of all of the features that I will be adding.

Projects / Features

Integrate Gazebo into MAVs
We have done a large amount of this already but could use help finishing up adding the path planning and tracking algorithms and making sure that the dependencies that needed to be removed are OK. While eventually, we will use the Chrono vehicle model, Gazebo will still be used to simulate the sensors (LiDAR etc.) and the environment.
Chrono
We want to add this so that we can use the validated and high fidelity vehicle models.
Moving Obstacle Avoidance
This is the algorithm that we are interested in testing, first in simulation and then in experimentation.
obstacle_detector
In order to test the moving obstacle avoidance algorithm, we need a package in Autoware that can estimate moving obstacle speed etc from raw LiDAR data.
simulate lidar in Gazebo
The LiDAR will be simulated in Gazebo and the vehicle will just be moved around to the current state of the vehicle that Chrono gives
Setup the A* Path Planning Algorithm in Gazebo
To see how the trajectory planning algorithm works compared to path planning algoritm

X Error with demoA

Issue #69 has been solved by downloading and using the branch of ruffsl/car_demo https://github.com/ruffsl/car_demo, however, new error appears.
X error leads to core dumped.

... logging to /home/mavs/.ros/log/79ea494c-c35d-11e8-8042-14109fe081c3/roslaunch-michael-143.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://michael:41107/

SUMMARY
========

PARAMETERS
 * /case/actual/X0/ax: 0.0
 * /case/actual/X0/psi: 1.57079632679
 * /case/actual/X0/r: 0.0
 * /case/actual/X0/sa: 0.0
 * /case/actual/X0/ux: 0.0
 * /case/actual/X0/v: 0.0
 * /case/actual/X0/x: 200.0
 * /case/actual/X0/yVal: 0.0
 * /case/actual/obstacle/length: [5.0]
 * /case/actual/obstacle/num: 1
 * /case/actual/obstacle/radius: [6.0]
 * /case/actual/obstacle/vx: [0]
 * /case/actual/obstacle/vy: [0]
 * /case/actual/obstacle/x0: [200]
 * /case/actual/obstacle/y0: [110]
 * /case/goal/psi: 1.5701
 * /case/goal/tol: 4
 * /case/goal/x: 200.0
 * /case/goal/yVal: 125.0
 * /case_params_path: /home/mavs/MAVs/r...
 * /obstacle_detector/obstacle_extractor/active: true
 * /obstacle_detector/obstacle_extractor/circles_from_visibles: true
 * /obstacle_detector/obstacle_extractor/discard_converted_segments: false
 * /obstacle_detector/obstacle_extractor/distance_proportion: 0.001
 * /obstacle_detector/obstacle_extractor/frame_id: map
 * /obstacle_detector/obstacle_extractor/max_circle_radius: 4
 * /obstacle_detector/obstacle_extractor/max_group_distance: 0.5
 * /obstacle_detector/obstacle_extractor/max_merge_separation: 3
 * /obstacle_detector/obstacle_extractor/max_merge_spread: 2
 * /obstacle_detector/obstacle_extractor/max_split_distance: 5
 * /obstacle_detector/obstacle_extractor/min_group_points: 5
 * /obstacle_detector/obstacle_extractor/radius_enlargement: 0.3
 * /obstacle_detector/obstacle_extractor/transform_coordinates: true
 * /obstacle_detector/obstacle_extractor/use_pcl: true
 * /obstacle_detector/obstacle_extractor/use_scan: false
 * /obstacle_detector/obstacle_extractor/use_split_and_merge: true
 * /obstacle_detector/obstacle_tracker/active: true
 * /obstacle_detector/obstacle_tracker/frame_id: map
 * /obstacle_detector/obstacle_tracker/loop_rate: 100.0
 * /obstacle_detector/obstacle_tracker/measurement_variance: 1.0
 * /obstacle_detector/obstacle_tracker/min_correspondence_cost: 0.6
 * /obstacle_detector/obstacle_tracker/process_rate_variance: 0.1
 * /obstacle_detector/obstacle_tracker/process_variance: 0.1
 * /obstacle_detector/obstacle_tracker/std_correspondence_dev: 0.15
 * /obstacle_detector/obstacle_tracker/tracking_duration: 1
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /system/flags/paused: True
 * /system/obstacle_detector/flags/initialized: False
 * /system/obstacle_detector/flags/running: True
 * /system/params/simulation_time: 1.0
 * /system/params/step_size: 0.001
 * /system/vehicle_description/flags/lidar_initialized: False
 * /system/vehicle_description/flags/obstacles_initialized: False
 * /system/vehicle_description/flags/postion_update_external: False
 * /system/vehicle_description/flags/running: True
 * /use_sim_time: True
 * /vehicle/chrono/vehicle_params/axleDirection: [0, 1, 0]
 * /vehicle/chrono/vehicle_params/centroidLoc: [0.056, 0.0, 0.523],
 * /vehicle/chrono/vehicle_params/centroidOrientation: [1, 0, 0, 0]
 * /vehicle/chrono/vehicle_params/chassisInertia: [1078.52, 2955.66...
 * /vehicle/chrono/vehicle_params/chassisMass: 2688.70,
 * /vehicle/chrono/vehicle_params/conicalGearRatio: -0.2,
 * /vehicle/chrono/vehicle_params/differentialBoxInertia: 0.6
 * /vehicle/chrono/vehicle_params/differentialRatio: -1.0
 * /vehicle/chrono/vehicle_params/driverLoc: [0, 0.5, 1.2],
 * /vehicle/chrono/vehicle_params/driverOrientation: [1, 0, 0, 0]
 * /vehicle/chrono/vehicle_params/driveshaftInertia: 0.5,
 * /vehicle/chrono/vehicle_params/frict_coeff: 0.9
 * /vehicle/chrono/vehicle_params/gearRatios: [-0.3, 0.2, 0.4, ...
 * /vehicle/chrono/vehicle_params/maxBrakeTorque: 4000
 * /vehicle/chrono/vehicle_params/motorBlockDirection: [1, 0, 0],
 * /vehicle/chrono/vehicle_params/pinionMaxAngle: 0.87
 * /vehicle/chrono/vehicle_params/pinionRadius: 0.1,
 * /vehicle/chrono/vehicle_params/rest_coeff: 0.1
 * /vehicle/chrono/vehicle_params/steeringLinkInertia: [1, 1, 1],
 * /vehicle/chrono/vehicle_params/steeringLinkLength: 0.896
 * /vehicle/chrono/vehicle_params/steeringLinkMass: 9.072,
 * /vehicle/chrono/vehicle_params/steeringLinkRadius: 0.03,
 * /vehicle/common/Izz: 4110.1
 * /vehicle/common/la: 1.5775
 * /vehicle/common/lb: 1.7245
 * /vehicle/common/m: 2688.7
 * /vehicle/common/wheel_radius: 0.268
 * /vehicle/nloptcontrol_planner/AXC: [-0.0001280151804...
 * /vehicle/nloptcontrol_planner/Caf: -84138.0
 * /vehicle/nloptcontrol_planner/Car: -78126.0
 * /vehicle/nloptcontrol_planner/FZ0: 35000.0
 * /vehicle/nloptcontrol_planner/Fy_max: 7500
 * /vehicle/nloptcontrol_planner/Fy_min: -7500
 * /vehicle/nloptcontrol_planner/FzF0: 13680.0
 * /vehicle/nloptcontrol_planner/FzR0: 12696.0
 * /vehicle/nloptcontrol_planner/Fz_min: 1000.0
 * /vehicle/nloptcontrol_planner/Fz_off: 100.0
 * /vehicle/nloptcontrol_planner/Izz: 4110.1
 * /vehicle/nloptcontrol_planner/KZX: 806.0
 * /vehicle/nloptcontrol_planner/KZYF: 675.0
 * /vehicle/nloptcontrol_planner/KZYR: 1076.0
 * /vehicle/nloptcontrol_planner/PCY1: 1.5874
 * /vehicle/nloptcontrol_planner/PDY1: 0.73957
 * /vehicle/nloptcontrol_planner/PDY2: -0.075004
 * /vehicle/nloptcontrol_planner/PEY1: 0.37562
 * /vehicle/nloptcontrol_planner/PEY2: -0.069325
 * /vehicle/nloptcontrol_planner/PEY3: 0.29168
 * /vehicle/nloptcontrol_planner/PHY1: 0.0056509
 * /vehicle/nloptcontrol_planner/PHY2: -0.0020257
 * /vehicle/nloptcontrol_planner/PKY1: -10.289
 * /vehicle/nloptcontrol_planner/PKY2: 3.3343
 * /vehicle/nloptcontrol_planner/PVY1: 0.015216
 * /vehicle/nloptcontrol_planner/PVY2: -0.010365
 * /vehicle/nloptcontrol_planner/ax_max: 2.0
 * /vehicle/nloptcontrol_planner/ax_min: -2.0
 * /vehicle/nloptcontrol_planner/jx_max: 5.0
 * /vehicle/nloptcontrol_planner/jx_min: -5.0
 * /vehicle/nloptcontrol_planner/la: 1.5775
 * /vehicle/nloptcontrol_planner/lb: 1.7245
 * /vehicle/nloptcontrol_planner/m: 2688.7
 * /vehicle/nloptcontrol_planner/psi_max: 6.28318
 * /vehicle/nloptcontrol_planner/psi_min: -6.28318
 * /vehicle/nloptcontrol_planner/sa_max: 0.523598333333
 * /vehicle/nloptcontrol_planner/sa_min: -0.523598333333
 * /vehicle/nloptcontrol_planner/sr_max: 0.0872663888889
 * /vehicle/nloptcontrol_planner/sr_min: -0.0872663888889
 * /vehicle/nloptcontrol_planner/u_max: 29.0
 * /vehicle/nloptcontrol_planner/u_min: 0.0
 * /vehicle/vehicle_description/base_clearance: 0.5
 * /vehicle/vehicle_description/base_height: 1.2
 * /vehicle/vehicle_description/base_length: 3.3
 * /vehicle/vehicle_description/base_link: base_link
 * /vehicle/vehicle_description/base_width: 1.9
 * /vehicle/vehicle_description/frameName: map
 * /vehicle/vehicle_description/ground_truth_topic: base_pose_ground_...
 * /vehicle/vehicle_description/kp: 1e8
 * /vehicle/vehicle_description/la: 1.6
 * /vehicle/vehicle_description/lb: 1.7
 * /vehicle/vehicle_description/lidar_x: 1.75
 * /vehicle/vehicle_description/lidar_z: 1.4
 * /vehicle/vehicle_description/mesh_mode: 1
 * /vehicle/vehicle_description/minDepth: 0.005
 * /vehicle/vehicle_description/mu1: 0.9
 * /vehicle/vehicle_description/mu2: 0.9
 * /vehicle/vehicle_description/robotName: hmmwv
 * /vehicle/vehicle_description/robotNamespace: hmmwv
 * /vehicle/vehicle_description/scale_factor: 0.2
 * /vehicle/vehicle_description/topic: lidar_points
 * /vehicle/vehicle_description/wheel_base: 1
 * /vehicle/vehicle_description/wheel_mass: 2.5
 * /vehicle/vehicle_description/wheel_radius: 0.393
 * /vehicle/vehicle_description/wheel_width: 0.1
 * /velodyne_top_link_nodelet_manager/num_worker_threads: 20
 * /voxel_grid/filter_field_name: z
 * /voxel_grid/filter_limit_max: 3.5
 * /voxel_grid/filter_limit_min: 0.01
 * /voxel_grid/filter_limit_negative: false
 * /voxel_grid/leaf_size: 0.01

NODES
  /
    bootstrap (system/bootstrap.jl)
    frame_tf_broadcaster (vehicle_description/frame_tf_broadcaster)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    move_obstacles (vehicle_description/move_obstacles.jl)
    move_vehicle (vehicle_description/move_vehicle.jl)
    obstacle_extractor (nodelet/nodelet)
    obstacle_paramameters (obstacle_detector/obstacle_parameters.jl)
    obstacle_tracker (nodelet/nodelet)
    point_cloud_converter (point_cloud_converter/point_cloud_converter_node)
    postion (vehicle_description/link_positions.jl)
    postion_broadcaster (vehicle_description/position_broadcaster)
    ros_get_world_time_ (get_world_time_test/ros_get_world_time)
    rviz (rviz/rviz)
    spawn_obstacles (vehicle_description/spawn_obstacles.sh)
    spawn_urdf (gazebo_ros/spawn_model)
    unpause_gazebo (vehicle_description/unpause.jl)
    velodyne_top_link_nodelet_manager (nodelet/nodelet)
    voxel_grid (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [156]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 79ea494c-c35d-11e8-8042-14109fe081c3
process[rosout-1]: started with pid [169]
started core service [/rosout]
process[ros_get_world_time_-2]: started with pid [193]
process[gazebo-3]: started with pid [194]
process[gazebo_gui-4]: started with pid [200]
[ INFO] [1538166690.586992978]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1538166690.587548017]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
X Error of failed request:  BadValue (integer parameter out of range for operation)
  Major opcode of failed request:  154 (GLX)
  Minor opcode of failed request:  3 (X_GLXCreateContext)
  Value in failed request:  0x0
  Serial number of failed request:  21
  Current serial number in output stream:  22
process[spawn_urdf-5]: started with pid [245]
X Error of failed request:  BadValue (integer parameter out of range for operation)
  Major opcode of failed request:  154 (GLX)
  Minor opcode of failed request:  3 (X_GLXCreateContext)
  Value in failed request:  0x0
  Serial number of failed request:  21
  Current serial number in output stream:  22
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
  what():  boost: mutex lock failed in pthread_mutex_lock: Invalid argument
Aborted (core dumped)
process[spawn_obstacles-6]: started with pid [304]
[gazebo-3] process has died [pid 194, exit code 134, cmd /opt/ros/kinetic/lib/gazebo_ros/gzserver -u -e ode /home/mavs/MAVs/ros/src/models/gazebo/vehicle_description/worlds/empty.world __name:=gazebo __log:=/home/mavs/.ros/log/79ea494c-c35d-11e8-8042-14109fe081c3/gazebo-3.log].
log file: /home/mavs/.ros/log/79ea494c-c35d-11e8-8042-14109fe081c3/gazebo-3*.log
[gazebo_gui-4] process has died [pid 200, exit code 1, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/mavs/.ros/log/79ea494c-c35d-11e8-8042-14109fe081c3/gazebo_gui-4.log].
log file: /home/mavs/.ros/log/79ea494c-c35d-11e8-8042-14109fe081c3/gazebo_gui-4*.log

New Obstacle Avoidance Algorithm

Feature

Integrate a the obstacle avoidance algorithm described in this paper which I can now solve in real time using an official julia package that I developed called NLOptControl.

Motivation

If a vehicle needs to drive quickly and avoid moving obstacles then NLOptControl is well suited to solve the trajectory planning problem. Where A* and OpenPlanner are path planning algorithms and are mostly concerned with satisfying kinematic/geometric constraints, they can identify a path to follow, but without a temporal component, they do not tell you how to follow the path. While, trajectory planning also considers how you can follow the path. So, for instance, what are the optimal steering and throttle trajectories (not simply what are the X and Y waypoints).

NLOptControl is designed as a high level tool, so resarchers can easily define their own optimization problems, see my documentation here.

TODO

Initialize with a particular case using yaml config file, get rid of CaseModule initialization in MAVs
Read new obstacle information data from a particular message and update optimization accordingly
Read new vehicle state from a particular message and update optimization accordingly

demoA stuck itself

bootstrap

I am going through all of the demos and making sure that they are being initialized properly.

TODO

demoC @sumjos please initialize your planner
demoD also has issues @sumjos

Cannot build ros_chrono when it's moved into ros->ros->model->chrono

This issue is moved from commit 'removed ros_chrono from build' to here. This is just a remind for everyone the possible problem when they want to add the ros_chrono.

Main reason for this issue is possibly that the current version of chrono is different to the version when ros_chrono was created. This cause a lot of class members in current version are missing. The solution is direct forward, we need to find out where is each member in current chrono version.

Below, I show the error code when build ros_chrono.

[ 71%] Building CXX object models/chrono/ros_chrono/CMakeFiles/hmmwv_model.dir/src/hmmwv_model.cpp.o
[ 72%] Linking CXX executable /home/mavs/MAVs/ros/devel/lib/ros_base_planner/move_base_goal_client
[ 72%] Built target move_base_goal_client
Scanning dependencies of target test_1
[ 73%] Building CXX object models/chrono/ros_chrono/CMakeFiles/test_1.dir/src/test_1.cpp.o
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/trajectory_follower.cpp: In function ‘int main(int, char**)’:
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/trajectory_follower.cpp:644:13: error: ‘class chrono::vehicle::RigidTerrain’ has no member named ‘SetContactMaterialProperties’
terrain.SetContactMaterialProperties(2e7f, 0.3f);
^
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/trajectory_follower.cpp:645:13: error: ‘class chrono::vehicle::RigidTerrain’ has no member named ‘SetColor’
terrain.SetColor(ChColor(1, 1, 1));
^
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/trajectory_follower.cpp:647:13: error: ‘class chrono::vehicle::RigidTerrain’ has no member named ‘SetTexture’
terrain.SetTexture(data_path+"terrain/textures/tile4.jpg", 200, 200);
^
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/trajectory_follower.cpp:648:66: error: no matching function for call to ‘chrono::vehicle::RigidTerrain::Initialize(double&, double&, double&)’
terrain.Initialize(terrainHeight, terrainLength, terrainWidth);
^
In file included from /home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/trajectory_follower.cpp:46:0:
/opt/chrono/chrono_source/chrono/src/chrono_vehicle/terrain/RigidTerrain.h:152:10: note: candidate: void chrono::vehicle::RigidTerrain::Initialize()
void Initialize();
^
/opt/chrono/chrono_source/chrono/src/chrono_vehicle/terrain/RigidTerrain.h:152:10: note: candidate expects 0 arguments, 3 provided
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/trajectory_follower.cpp:651:22: error: no matching function for call to ‘chrono::vehicle::hmmwv::HMMWV_Powertrain::HMMWV_Powertrain()’
HMMWV_Powertrain powertrain;
^
In file included from /opt/chrono/chrono_source/chrono/src/chrono_models/vehicle/hmmwv/HMMWV.h:31:0,
from /home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/trajectory_follower.cpp:50:
/opt/chrono/chrono_source/chrono/src/chrono_models/vehicle/hmmwv/HMMWV_Powertrain.h:37:5: note: candidate: chrono::vehicle::hmmwv::HMMWV_Powertrain::HMMWV_Powertrain(const string&)
HMMWV_Powertrain(const std::string& name);
^
/opt/chrono/chrono_source/chrono/src/chrono_models/vehicle/hmmwv/HMMWV_Powertrain.h:37:5: note: candidate expects 1 argument, 0 provided
/opt/chrono/chrono_source/chrono/src/chrono_models/vehicle/hmmwv/HMMWV_Powertrain.h:35:21: note: candidate: chrono::vehicle::hmmwv::HMMWV_Powertrain::HMMWV_Powertrain(const chrono::vehicle::hmmwv::HMMWV_Powertrain&)
class CH_MODELS_API HMMWV_Powertrain : public ChShaftsPowertrain {
^
/opt/chrono/chrono_source/chrono/src/chrono_models/vehicle/hmmwv/HMMWV_Powertrain.h:35:21: note: candidate expects 1 argument, 0 provided
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/trajectory_follower.cpp:703:37: error: ‘tire_forces’ was not declared in this scope
parameters hmmwv_params{terrain,tire_forces,my_hmmwv,realtime_timer,sim_frame,steering_input,throttle_input,braking_input,x_traj_curr,y_traj_curr,x_traj_prev,y_traj_prev,target_speed,render_steps,render_frame};
^
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/trajectory_follower.cpp:876:24: error: ‘struct parameters’ has no member named ‘tire_forces’
hmmwv_params.tire_forces[0] = tire_front_left.GetTireForce();
^
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/trajectory_follower.cpp:877:24: error: ‘struct parameters’ has no member named ‘tire_forces’
hmmwv_params.tire_forces[1] = tire_front_right.GetTireForce();
^
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/trajectory_follower.cpp:878:24: error: ‘struct parameters’ has no member named ‘tire_forces’
hmmwv_params.tire_forces[2] = tire_rear_left.GetTireForce();
^
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/trajectory_follower.cpp:879:24: error: ‘struct parameters’ has no member named ‘tire_forces’
hmmwv_params.tire_forces[3] = tire_rear_right.GetTireForce();
^
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/trajectory_follower.cpp:912:140: error: ‘struct parameters’ has no member named ‘tire_forces’
hmmwv_params.my_hmmwv.Synchronize(time, hmmwv_params.steering_input, hmmwv_params.braking_input, powertrain_torque, hmmwv_params.tire_forces);
^
models/chrono/ros_chrono/CMakeFiles/trajectory_follower.dir/build.make:62: recipe for target 'models/chrono/ros_chrono/CMakeFiles/trajectory_follower.dir/src/trajectory_follower.cpp.o' failed
make[2]: *** [models/chrono/ros_chrono/CMakeFiles/trajectory_follower.dir/src/trajectory_follower.cpp.o] Error 1
CMakeFiles/Makefile2:2121: recipe for target 'models/chrono/ros_chrono/CMakeFiles/trajectory_follower.dir/all' failed
make[1]: *** [models/chrono/ros_chrono/CMakeFiles/trajectory_follower.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 74%] Building CXX object computing/perception/detection/obstacle_detection/CMakeFiles/obstacle_detector_gui.dir/src/displays/circle_visual.cpp.o
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/hmmwv_model.cpp: In function ‘int main(int, char**)’:
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/hmmwv_model.cpp:630:13: error: ‘class chrono::vehicle::RigidTerrain’ has no member named ‘SetContactMaterialProperties’
terrain.SetContactMaterialProperties(2e7f, 0.3f);
^
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/hmmwv_model.cpp:631:13: error: ‘class chrono::vehicle::RigidTerrain’ has no member named ‘SetColor’
terrain.SetColor(ChColor(1, 1, 1));
^
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/hmmwv_model.cpp:633:13: error: ‘class chrono::vehicle::RigidTerrain’ has no member named ‘SetTexture’
terrain.SetTexture(data_path+"terrain/textures/tile4.jpg", 200, 200);
^
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/hmmwv_model.cpp:634:66: error: no matching function for call to ‘chrono::vehicle::RigidTerrain::Initialize(double&, double&, double&)’
terrain.Initialize(terrainHeight, terrainLength, terrainWidth);
^
In file included from /home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/hmmwv_model.cpp:35:0:
/opt/chrono/chrono_source/chrono/src/chrono_vehicle/terrain/RigidTerrain.h:152:10: note: candidate: void chrono::vehicle::RigidTerrain::Initialize()
void Initialize();
^
/opt/chrono/chrono_source/chrono/src/chrono_vehicle/terrain/RigidTerrain.h:152:10: note: candidate expects 0 arguments, 3 provided
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/hmmwv_model.cpp:637:22: error: no matching function for call to ‘chrono::vehicle::hmmwv::HMMWV_Powertrain::HMMWV_Powertrain()’
HMMWV_Powertrain powertrain;
^
In file included from /opt/chrono/chrono_source/chrono/src/chrono_models/vehicle/hmmwv/HMMWV.h:31:0,
from /home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/hmmwv_model.cpp:40:
/opt/chrono/chrono_source/chrono/src/chrono_models/vehicle/hmmwv/HMMWV_Powertrain.h:37:5: note: candidate: chrono::vehicle::hmmwv::HMMWV_Powertrain::HMMWV_Powertrain(const string&)
HMMWV_Powertrain(const std::string& name);
^
/opt/chrono/chrono_source/chrono/src/chrono_models/vehicle/hmmwv/HMMWV_Powertrain.h:37:5: note: candidate expects 1 argument, 0 provided
/opt/chrono/chrono_source/chrono/src/chrono_models/vehicle/hmmwv/HMMWV_Powertrain.h:35:21: note: candidate: chrono::vehicle::hmmwv::HMMWV_Powertrain::HMMWV_Powertrain(const chrono::vehicle::hmmwv::HMMWV_Powertrain&)
class CH_MODELS_API HMMWV_Powertrain : public ChShaftsPowertrain {
^
/opt/chrono/chrono_source/chrono/src/chrono_models/vehicle/hmmwv/HMMWV_Powertrain.h:35:21: note: candidate expects 1 argument, 0 provided
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/hmmwv_model.cpp:702:37: error: ‘tire_forces’ was not declared in this scope
parameters hmmwv_params{terrain,tire_forces,my_hmmwv,realtime_timer,sim_frame,steering_input,throttle_input,braking_input,ballS,ballT,x_traj_curr,y_traj_curr,x_traj_prev,y_traj_prev,target_speed,render_steps,render_frame};
^
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/hmmwv_model.cpp:884:24: error: ‘struct parameters’ has no member named ‘tire_forces’
hmmwv_params.tire_forces[0] = tire_front_left.GetTireForce();
^
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/hmmwv_model.cpp:885:24: error: ‘struct parameters’ has no member named ‘tire_forces’
hmmwv_params.tire_forces[1] = tire_front_right.GetTireForce();
^
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/hmmwv_model.cpp:886:24: error: ‘struct parameters’ has no member named ‘tire_forces’
hmmwv_params.tire_forces[2] = tire_rear_left.GetTireForce();
^
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/hmmwv_model.cpp:887:24: error: ‘struct parameters’ has no member named ‘tire_forces’
hmmwv_params.tire_forces[3] = tire_rear_right.GetTireForce();
^
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/hmmwv_model.cpp:921:140: error: ‘struct parameters’ has no member named ‘tire_forces’
hmmwv_params.my_hmmwv.Synchronize(time, hmmwv_params.steering_input, hmmwv_params.braking_input, powertrain_torque, hmmwv_params.tire_forces);
^
models/chrono/ros_chrono/CMakeFiles/hmmwv_model.dir/build.make:62: recipe for target 'models/chrono/ros_chrono/CMakeFiles/hmmwv_model.dir/src/hmmwv_model.cpp.o' failed
make[2]: *** [models/chrono/ros_chrono/CMakeFiles/hmmwv_model.dir/src/hmmwv_model.cpp.o] Error 1
CMakeFiles/Makefile2:2182: recipe for target 'models/chrono/ros_chrono/CMakeFiles/hmmwv_model.dir/all' failed
make[1]: *** [models/chrono/ros_chrono/CMakeFiles/hmmwv_model.dir/all] Error 2
[ 75%] Building CXX object computing/perception/detection/obstacle_detection/CMakeFiles/obstacle_detector_gui.dir/src/displays/segment_visual.cpp.o
[ 76%] Building CXX object computing/perception/detection/obstacle_detection/CMakeFiles/obstacle_detector_gui.dir/src/panels/scans_merger_panel.cpp.o
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/test_1.cpp:82:36: error: ‘FLAT’ is not a member of ‘chrono::vehicle::RigidTerrain’
RigidTerrain::Type terrain_model = RigidTerrain::FLAT;
^
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/test_1.cpp: In function ‘int main(int, char**)’:
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/test_1.cpp:138:14: error: ‘class chrono::vehicle::hmmwv::HMMWV_Full’ has no member named ‘SetPacejkaParamfile’
my_hmmwv.SetPacejkaParamfile("data/vehicle/hmmwv/tire/HMMWV_pacejka.tir");
^
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/test_1.cpp:152:13: error: ‘class chrono::vehicle::RigidTerrain’ has no member named ‘SetContactFrictionCoefficient’
terrain.SetContactFrictionCoefficient(0.9f);
^
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/test_1.cpp:153:13: error: ‘class chrono::vehicle::RigidTerrain’ has no member named ‘SetContactRestitutionCoefficient’
terrain.SetContactRestitutionCoefficient(0.01f);
^
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/test_1.cpp:154:13: error: ‘class chrono::vehicle::RigidTerrain’ has no member named ‘SetContactMaterialProperties’
terrain.SetContactMaterialProperties(2e7f, 0.3f);
^
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/test_1.cpp:155:13: error: ‘class chrono::vehicle::RigidTerrain’ has no member named ‘SetColor’
terrain.SetColor(ChColor(0.8f, 0.8f, 0.5f));
^
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/test_1.cpp:156:13: error: ‘class chrono::vehicle::RigidTerrain’ has no member named ‘EnableVisualization’
terrain.EnableVisualization(terrain_vis);
^
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/test_1.cpp:158:14: error: ‘FLAT’ is not a member of ‘chrono::vehicle::RigidTerrain’
case RigidTerrain::FLAT:
^
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/test_1.cpp:159:21: error: ‘class chrono::vehicle::RigidTerrain’ has no member named ‘SetTexture’
terrain.SetTexture(vehicle::GetDataFile("data/vehicle/terrain/textures/tile4.jpg"), 200, 200);
^
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/test_1.cpp:160:74: error: no matching function for call to ‘chrono::vehicle::RigidTerrain::Initialize(double&, double&, double&)’
terrain.Initialize(terrainHeight, terrainLength, terrainWidth);
^
In file included from /home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/test_1.cpp:29:0:
/opt/chrono/chrono_source/chrono/src/chrono_vehicle/terrain/RigidTerrain.h:152:10: note: candidate: void chrono::vehicle::RigidTerrain::Initialize()
void Initialize();
^
/opt/chrono/chrono_source/chrono/src/chrono_vehicle/terrain/RigidTerrain.h:152:10: note: candidate expects 0 arguments, 3 provided
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/test_1.cpp:163:21: error: ‘class chrono::vehicle::RigidTerrain’ has no member named ‘SetTexture’
terrain.SetTexture(vehicle::GetDataFile("data/vehicle/terrain/textures/grass.jpg"), 16, 16);
^
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/test_1.cpp:164:125: error: no matching function for call to ‘chrono::vehicle::RigidTerrain::Initialize(std::__cxx11::string, const char [7], int, int, int, int)’
terrain.Initialize(vehicle::GetDataFile("data/vehicle/terrain/height_maps/test64.bmp"), "test64", 128, 128, 0, 4);
^
In file included from /home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/test_1.cpp:29:0:
/opt/chrono/chrono_source/chrono/src/chrono_vehicle/terrain/RigidTerrain.h:152:10: note: candidate: void chrono::vehicle::RigidTerrain::Initialize()
void Initialize();
^
/opt/chrono/chrono_source/chrono/src/chrono_vehicle/terrain/RigidTerrain.h:152:10: note: candidate expects 0 arguments, 6 provided
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/test_1.cpp:167:21: error: ‘class chrono::vehicle::RigidTerrain’ has no member named ‘SetTexture’
terrain.SetTexture(vehicle::GetDataFile("data/vehicle/terrain/textures/grass.jpg"), 100, 100);
^
/home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/test_1.cpp:168:105: error: no matching function for call to ‘chrono::vehicle::RigidTerrain::Initialize(std::__cxx11::string, const char [10])’
terrain.Initialize(vehicle::GetDataFile("data/vehicle/terrain/meshes/test.obj"), "test_mesh");
^
In file included from /home/mavs/MAVs/ros/src/models/chrono/ros_chrono/src/test_1.cpp:29:0:
/opt/chrono/chrono_source/chrono/src/chrono_vehicle/terrain/RigidTerrain.h:152:10: note: candidate: void chrono::vehicle::RigidTerrain::Initialize()
void Initialize();
^
/opt/chrono/chrono_source/chrono/src/chrono_vehicle/terrain/RigidTerrain.h:152:10: note: candidate expects 0 arguments, 2 provided
make[2]: *** [models/chrono/ros_chrono/CMakeFiles/test_1.dir/src/test_1.cpp.o] Error 1
models/chrono/ros_chrono/CMakeFiles/test_1.dir/build.make:62: recipe for target 'models/chrono/ros_chrono/CMakeFiles/test_1.dir/src/test_1.cpp.o' failed
CMakeFiles/Makefile2:2245: recipe for target 'models/chrono/ros_chrono/CMakeFiles/test_1.dir/all' failed
make[1]: *** [models/chrono/ros_chrono/CMakeFiles/test_1.dir/all] Error 2
[ 78%] Building CXX object computing/perception/detection/obstacle_detection/CMakeFiles/obstacle_detector_gui.dir/src/panels/obstacle_extractor_panel.cpp.o
[ 78%] Building CXX object computing/perception/detection/obstacle_detection/CMakeFiles/obstacle_detector_gui.dir/src/panels/obstacle_tracker_panel.cpp.o
[ 79%] Building CXX object computing/perception/detection/obstacle_detection/CMakeFiles/obstacle_detector_gui.dir/src/panels/obstacle_publisher_panel.cpp.o
[ 80%] Building CXX object computing/perception/detection/obstacle_detection/CMakeFiles/obstacle_detector_gui.dir/obstacle_detector_gui_automoc.cpp.o
[ 81%] Linking CXX shared library /home/mavs/MAVs/ros/devel/lib/libobstacle_detector_gui.so
[ 81%] Built target obstacle_detector_gui
make: *** [all] Error 2
Makefile:138: recipe for target 'all' failed
Base path: /home/mavs/MAVs/ros
Source space: /home/mavs/MAVs/ros/src
Build space: /home/mavs/MAVs/ros/build
Devel space: /home/mavs/MAVs/ros/devel
Install space: /home/mavs/MAVs/ros/install

Running command: "cmake /home/mavs/MAVs/ros/src -DCATKIN_DEVEL_PREFIX=/home/mavs/MAVs/ros/devel -DCMAKE_INSTALL_PREFIX=/home/mavs/MAVs/ros/install -G Unix Makefiles" in "/home/mavs/MAVs/ros/build"

Running command: "make -j4 -l4" in "/home/mavs/MAVs/ros/build"

Invoking "make -j4 -l4" failed

Problems for running demoA using dev image

$ sh run.sh
$ roslaunch system demoA.launch

... logging to /home/mavs/.ros/log/55536c96-bdcf-11e8-818e-90cdb691c2c7/roslaunch-ubuntu-ThinkPad-E570-136.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu-ThinkPad-E570:40495/

SUMMARY
========

PARAMETERS
 * /case/actual/X0/ax: 0.0
 * /case/actual/X0/psi: 1.57079632679
 * /case/actual/X0/r: 0.0
 * /case/actual/X0/sa: 0.0
 * /case/actual/X0/ux: 0.0
 * /case/actual/X0/v: 0.0
 * /case/actual/X0/x: 200.0
 * /case/actual/X0/yVal: 0.0
 * /case/actual/obstacle/length: [5.0]
 * /case/actual/obstacle/num: 1
 * /case/actual/obstacle/radius: [6.0]
 * /case/actual/obstacle/vx: [0]
 * /case/actual/obstacle/vy: [0]
 * /case/actual/obstacle/x0: [200]
 * /case/actual/obstacle/y0: [110]
 * /case/goal/psi: 1.5701
 * /case/goal/tol: 4
 * /case/goal/x: 200.0
 * /case/goal/yVal: 125.0
 * /case_params_path: /home/mavs/MAVs/r...
 * /obstacle_detector/obstacle_extractor/active: true
 * /obstacle_detector/obstacle_extractor/circles_from_visibles: true
 * /obstacle_detector/obstacle_extractor/discard_converted_segments: false
 * /obstacle_detector/obstacle_extractor/distance_proportion: 0.001
 * /obstacle_detector/obstacle_extractor/frame_id: map
 * /obstacle_detector/obstacle_extractor/max_circle_radius: 4
 * /obstacle_detector/obstacle_extractor/max_group_distance: 0.5
 * /obstacle_detector/obstacle_extractor/max_merge_separation: 3
 * /obstacle_detector/obstacle_extractor/max_merge_spread: 2
 * /obstacle_detector/obstacle_extractor/max_split_distance: 5
 * /obstacle_detector/obstacle_extractor/min_group_points: 5
 * /obstacle_detector/obstacle_extractor/radius_enlargement: 0.3
 * /obstacle_detector/obstacle_extractor/transform_coordinates: true
 * /obstacle_detector/obstacle_extractor/use_pcl: true
 * /obstacle_detector/obstacle_extractor/use_scan: false
 * /obstacle_detector/obstacle_extractor/use_split_and_merge: true
 * /obstacle_detector/obstacle_tracker/active: true
 * /obstacle_detector/obstacle_tracker/frame_id: map
 * /obstacle_detector/obstacle_tracker/loop_rate: 100.0
 * /obstacle_detector/obstacle_tracker/measurement_variance: 1.0
 * /obstacle_detector/obstacle_tracker/min_correspondence_cost: 0.6
 * /obstacle_detector/obstacle_tracker/process_rate_variance: 0.1
 * /obstacle_detector/obstacle_tracker/process_variance: 0.1
 * /obstacle_detector/obstacle_tracker/std_correspondence_dev: 0.15
 * /obstacle_detector/obstacle_tracker/tracking_duration: 1
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /system/flags/paused: True
 * /system/obstacle_detector/flags/initialized: False
 * /system/obstacle_detector/flags/running: True
 * /system/params/simulation_time: 1.0
 * /system/params/step_size: 0.001
 * /system/vehicle_description/flags/lidar_initialized: False
 * /system/vehicle_description/flags/obstacles_initialized: False
 * /system/vehicle_description/flags/postion_update_external: False
 * /system/vehicle_description/flags/running: True
 * /use_sim_time: True
 * /vehicle/chrono/vehicle_params/axleDirection: [0, 1, 0]
 * /vehicle/chrono/vehicle_params/centroidLoc: [0.056, 0.0, 0.523],
 * /vehicle/chrono/vehicle_params/centroidOrientation: [1, 0, 0, 0]
 * /vehicle/chrono/vehicle_params/chassisInertia: [1078.52, 2955.66...
 * /vehicle/chrono/vehicle_params/chassisMass: 2688.70,
 * /vehicle/chrono/vehicle_params/conicalGearRatio: -0.2,
 * /vehicle/chrono/vehicle_params/differentialBoxInertia: 0.6
 * /vehicle/chrono/vehicle_params/differentialRatio: -1.0
 * /vehicle/chrono/vehicle_params/driverLoc: [0, 0.5, 1.2],
 * /vehicle/chrono/vehicle_params/driverOrientation: [1, 0, 0, 0]
 * /vehicle/chrono/vehicle_params/driveshaftInertia: 0.5,
 * /vehicle/chrono/vehicle_params/frict_coeff: 0.9
 * /vehicle/chrono/vehicle_params/gearRatios: [-0.3, 0.2, 0.4, ...
 * /vehicle/chrono/vehicle_params/maxBrakeTorque: 4000
 * /vehicle/chrono/vehicle_params/motorBlockDirection: [1, 0, 0],
 * /vehicle/chrono/vehicle_params/pinionMaxAngle: 0.87
 * /vehicle/chrono/vehicle_params/pinionRadius: 0.1,
 * /vehicle/chrono/vehicle_params/rest_coeff: 0.1
 * /vehicle/chrono/vehicle_params/steeringLinkInertia: [1, 1, 1],
 * /vehicle/chrono/vehicle_params/steeringLinkLength: 0.896
 * /vehicle/chrono/vehicle_params/steeringLinkMass: 9.072,
 * /vehicle/chrono/vehicle_params/steeringLinkRadius: 0.03,
 * /vehicle/common/Izz: 4110.1
 * /vehicle/common/la: 1.5775
 * /vehicle/common/lb: 1.7245
 * /vehicle/common/m: 2688.7
 * /vehicle/common/wheel_radius: 0.268
 * /vehicle/nloptcontrol_planner/AXC: [-0.0001280151804...
 * /vehicle/nloptcontrol_planner/Caf: -84138.0
 * /vehicle/nloptcontrol_planner/Car: -78126.0
 * /vehicle/nloptcontrol_planner/FZ0: 35000.0
 * /vehicle/nloptcontrol_planner/Fy_max: 7500
 * /vehicle/nloptcontrol_planner/Fy_min: -7500
 * /vehicle/nloptcontrol_planner/FzF0: 13680.0
 * /vehicle/nloptcontrol_planner/FzR0: 12696.0
 * /vehicle/nloptcontrol_planner/Fz_min: 1000.0
 * /vehicle/nloptcontrol_planner/Fz_off: 100.0
 * /vehicle/nloptcontrol_planner/Izz: 4110.1
 * /vehicle/nloptcontrol_planner/KZX: 806.0
 * /vehicle/nloptcontrol_planner/KZYF: 675.0
 * /vehicle/nloptcontrol_planner/KZYR: 1076.0
 * /vehicle/nloptcontrol_planner/PCY1: 1.5874
 * /vehicle/nloptcontrol_planner/PDY1: 0.73957
 * /vehicle/nloptcontrol_planner/PDY2: -0.075004
 * /vehicle/nloptcontrol_planner/PEY1: 0.37562
 * /vehicle/nloptcontrol_planner/PEY2: -0.069325
 * /vehicle/nloptcontrol_planner/PEY3: 0.29168
 * /vehicle/nloptcontrol_planner/PHY1: 0.0056509
 * /vehicle/nloptcontrol_planner/PHY2: -0.0020257
 * /vehicle/nloptcontrol_planner/PKY1: -10.289
 * /vehicle/nloptcontrol_planner/PKY2: 3.3343
 * /vehicle/nloptcontrol_planner/PVY1: 0.015216
 * /vehicle/nloptcontrol_planner/PVY2: -0.010365
 * /vehicle/nloptcontrol_planner/ax_max: 2.0
 * /vehicle/nloptcontrol_planner/ax_min: -2.0
 * /vehicle/nloptcontrol_planner/jx_max: 5.0
 * /vehicle/nloptcontrol_planner/jx_min: -5.0
 * /vehicle/nloptcontrol_planner/la: 1.5775
 * /vehicle/nloptcontrol_planner/lb: 1.7245
 * /vehicle/nloptcontrol_planner/m: 2688.7
 * /vehicle/nloptcontrol_planner/psi_max: 6.28318
 * /vehicle/nloptcontrol_planner/psi_min: -6.28318
 * /vehicle/nloptcontrol_planner/sa_max: 0.523598333333
 * /vehicle/nloptcontrol_planner/sa_min: -0.523598333333
 * /vehicle/nloptcontrol_planner/sr_max: 0.0872663888889
 * /vehicle/nloptcontrol_planner/sr_min: -0.0872663888889
 * /vehicle/nloptcontrol_planner/u_max: 29.0
 * /vehicle/nloptcontrol_planner/u_min: 0.0
 * /vehicle/vehicle_description/base_clearance: 0.5
 * /vehicle/vehicle_description/base_height: 1.2
 * /vehicle/vehicle_description/base_length: 3.3
 * /vehicle/vehicle_description/base_link: base_link
 * /vehicle/vehicle_description/base_width: 1.9
 * /vehicle/vehicle_description/frameName: map
 * /vehicle/vehicle_description/ground_truth_topic: base_pose_ground_...
 * /vehicle/vehicle_description/kp: 1e8
 * /vehicle/vehicle_description/la: 1.6
 * /vehicle/vehicle_description/lb: 1.7
 * /vehicle/vehicle_description/lidar_x: 1.75
 * /vehicle/vehicle_description/lidar_z: 1.4
 * /vehicle/vehicle_description/mesh_mode: 1
 * /vehicle/vehicle_description/minDepth: 0.005
 * /vehicle/vehicle_description/mu1: 0.9
 * /vehicle/vehicle_description/mu2: 0.9
 * /vehicle/vehicle_description/robotName: hmmwv
 * /vehicle/vehicle_description/robotNamespace: hmmwv
 * /vehicle/vehicle_description/scale_factor: 0.2
 * /vehicle/vehicle_description/topic: lidar_points
 * /vehicle/vehicle_description/wheel_base: 1
 * /vehicle/vehicle_description/wheel_mass: 2.5
 * /vehicle/vehicle_description/wheel_radius: 0.393
 * /vehicle/vehicle_description/wheel_width: 0.1
 * /velodyne_top_link_nodelet_manager/num_worker_threads: 20
 * /voxel_grid/filter_field_name: z
 * /voxel_grid/filter_limit_max: 3.5
 * /voxel_grid/filter_limit_min: 0.01
 * /voxel_grid/filter_limit_negative: false
 * /voxel_grid/leaf_size: 0.01

NODES
  /
    bootstrap (system/bootstrap.jl)
    frame_tf_broadcaster (vehicle_description/frame_tf_broadcaster)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    move_obstacles (vehicle_description/move_obstacles.jl)
    move_vehicle (vehicle_description/move_vehicle.jl)
    obstacle_extractor (nodelet/nodelet)
    obstacle_paramameters (obstacle_detector/obstacle_parameters.jl)
    obstacle_tracker (nodelet/nodelet)
    point_cloud_converter (point_cloud_converter/point_cloud_converter_node)
    postion (vehicle_description/link_positions.jl)
    postion_broadcaster (vehicle_description/position_broadcaster)
    ros_get_world_time_ (get_world_time_test/ros_get_world_time)
    rviz (rviz/rviz)
    spawn_obstacles (vehicle_description/spawn_obstacles.sh)
    spawn_urdf (gazebo_ros/spawn_model)
    unpause_gazebo (vehicle_description/unpause.jl)
    velodyne_top_link_nodelet_manager (nodelet/nodelet)
    voxel_grid (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [149]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 55536c96-bdcf-11e8-818e-90cdb691c2c7
process[rosout-1]: started with pid [162]
started core service [/rosout]
process[ros_get_world_time_-2]: started with pid [186]
process[gazebo-3]: started with pid [187]
[ INFO] [1537555884.529236649]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1537555884.530103084]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
process[gazebo_gui-4]: started with pid [194]
process[spawn_urdf-5]: started with pid [264]
process[spawn_obstacles-6]: started with pid [290]
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
process[move_obstacles-7]: started with pid [295]
process[move_vehicle-8]: started with pid [319]
process[postion-9]: started with pid [329]
process[frame_tf_broadcaster-10]: started with pid [419]
process[postion_broadcaster-11]: started with pid [514]
process[velodyne_top_link_nodelet_manager-12]: started with pid [566]
[ INFO] [1537555888.503233718]: Initializing nodelet with 20 worker threads.
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
process[obstacle_paramameters-13]: started with pid [673]
process[voxel_grid-14]: started with pid [781]
[ INFO] [1537555889.931471100]: Loading nodelet /voxel_grid of type pcl/VoxelGrid to manager velodyne_top_link_nodelet_manager with the following remappings:
[ INFO] [1537555889.931556229]: /voxel_grid/input -> /lidar_points
process[point_cloud_converter-15]: started with pid [875]
process[obstacle_extractor-16]: started with pid [981]
[ INFO] [1537555891.764975676]: [Obstacle Extractor]: Initializing nodelet
process[obstacle_tracker-17]: started with pid [1066]
process[rviz-18]: started with pid [1135]
[ INFO] [1537555892.340673035]: rviz version 1.12.16
[ INFO] [1537555892.340719494]: compiled against Qt version 5.5.1
[ INFO] [1537555892.340733781]: compiled against OGRE version 1.9.0 (Ghadamon)
process[bootstrap-19]: started with pid [1194]
[ INFO] [1537555893.220331472]: [Obstacle Tracker]: Initializing nodelet
process[unpause_gazebo-20]: started with pid [1277]
[ INFO] [1537555896.171391676]: Stereo is NOT SUPPORTED
[ INFO] [1537555896.171751707]: OpenGl version: 4.6 (GLSL 4.6).
[ INFO] [1537555922.527350438]: Velodyne laser plugin ready, 16 lasers
[spawn_urdf-5] process has finished cleanly
log file: /home/mavs/.ros/log/55536c96-bdcf-11e8-818e-90cdb691c2c7/spawn_urdf-5*.log
[spawn_obstacles-6] process has finished cleanly
log file: /home/mavs/.ros/log/55536c96-bdcf-11e8-818e-90cdb691c2c7/spawn_obstacles-6*.log
WARNING: The call to compilecache failed to create a usable precompiled cache file for module PyCall. Got:
WARNING: Module MacroTools uuid did not match cache file.
WARNING: eval from module Main to RobotOS:    
Expr(:call, Expr(:., :Base, :include_from_node1)::Any, "/home/mavs/.julia/v0.6/PyCall/src/PyCall.jl")::Any
  ** incremental compilation may be broken for this module **

WARNING: The call to compilecache failed to create a usable precompiled cache file for module PyCall. Got:
WARNING: Module MacroTools uuid did not match cache file.
WARNING: eval from module Main to RobotOS:    
Expr(:call, Expr(:., :Base, :include_from_node1)::Any, "/home/mavs/.julia/v0.6/PyCall/src/PyCall.jl")::Any
  ** incremental compilation may be broken for this module **

WARNING: The call to compilecache failed to create a usable precompiled cache file for module PyCall. Got:
WARNING: Module MacroTools uuid did not match cache file.
WARNING: eval from module Main to RobotOS:    
Expr(:call, Expr(:., :Base, :include_from_node1)::Any, "/home/mavs/.julia/v0.6/PyCall/src/PyCall.jl")::Any
  ** incremental compilation may be broken for this module **

WARNING: The call to compilecache failed to create a usable precompiled cache file for module PyCall. Got:
WARNING: Module MacroTools uuid did not match cache file.
WARNING: eval from module Main to RobotOS:    
Expr(:call, Expr(:., :Base, :include_from_node1)::Any, "/home/mavs/.julia/v0.6/PyCall/src/PyCall.jl")::Any
  ** incremental compilation may be broken for this module **

WARNING: The call to compilecache failed to create a usable precompiled cache file for module PyCall. Got:
WARNING: Module MacroTools uuid did not match cache file.
WARNING: eval from module Main to RobotOS:    
Expr(:call, Expr(:., :Base, :include_from_node1)::Any, "/home/mavs/.julia/v0.6/PyCall/src/PyCall.jl")::Any
  ** incremental compilation may be broken for this module **

starting bootstrap node ...
waiting on move_vehicle.jl in vehicle_description ...
waiting on move_vehicle.jl in vehicle_description ...
waiting on move_vehicle.jl in vehicle_description ...
waiting on move_vehicle.jl in vehicle_description ...
Waiting for 'gazebo/get_link_state' service...
Waiting for '/gazebo/unpause_physics' service...
obstacle plugin in julia has been initialized.waiting on move_vehicle.jl in vehicle_description ...

the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
waiting on move_vehicle.jl in vehicle_description ...
Waiting for 'gazebo/get_model_state' service...
Waiting for 'gazebo/set_model_state' service...
waiting on move_vehicle.jl in vehicle_description ...
lidar simulation in Gazebo has been initialized
system has been initialized!
[ INFO] [1537556013.916062742, 0.024000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
Warning: TF_OLD_DATA ignoring data from the past for frame base_footprintObs at time 1.53756e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained[ WARN] [1537556014.074379346, 0.102000000]: TF_OLD_DATA ignoring data from the past for frame base_footprintObs at time 1.53756e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained

         at line 277 in /tmp/binarydeb/ros-kinetic-tf2-0.5.18/src/buffer_core.cpp
Warning: TF_OLD_DATA ignoring data from the past for frame base_footprintObs at time 1.53756e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
         at line 277 in /tmp/binarydeb/ros-kinetic-tf2-0.5.18/src/buffer_core.cpp
[bootstrap-19] process has finished cleanly
log file: /home/mavs/.ros/log/55536c96-bdcf-11e8-818e-90cdb691c2c7/bootstrap-19*.log
Warning: [ WARN] [1537556014.224709703, 0.153000000]: TF_OLD_DATA ignoring data from the past for frame base_footprintObs at time 1.53756e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
TF_OLD_DATA ignoring data from the past for frame base_footprintObs at time 1.53756e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
         at line 277 in /tmp/binarydeb/ros-kinetic-tf2-0.5.18/src/buffer_core.cpp

The Gazebo and Rviz GUI can be loaded normally. The vehicle model first appears in the Gazebo, but disappears after the message system has been initialized! appears.

Potential Chrono Issues: cannot find JSON file

After building the ros-chrono successfully, one may still meet problem when run the test files like 'trajectory_follower' and the problem may look like:

"trajectory_follower: /opt/chrono/chrono_source/chrono/src/chrono_thirdparty/rapidjson/filereadstream.h:45: rapidjson::FileReadStream::FileReadStream(FILE*, char*, std::size_t): Assertion `fp_ != 0' failed.
Aborted (core dumped)"

hardcoded parameter in chrono package

All hardcoded parameters need to be added to YAML file, for instance
https://github.com/JuliaMPC/MAVs/blob/develop/ros/src/models/chrono/ros_chrono/src/steering_controller.cpp#L72

Is bad practice. Please see this commit
205a83b

to see how these YAML files are structured

all chrono parameters need to be put here
https://github.com/JuliaMPC/MAVs/blob/master/ros/src/system/config/vehicle/hmmwv.yaml#L97

then read as rosparams

Segmentation fault with demoA

Segmentation fault has led to [gazebo_gui-3] and [rviz-17] process died.
This issue is different from provious ones.

... logging to /home/mavs/.ros/log/375d45ea-c01d-11e8-a1ed-14109fe081c3/roslaunch-michael-28267.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://michael:46829/

SUMMARY
========

PARAMETERS
 * /case/actual/X0/ax: 0.0
 * /case/actual/X0/psi: 1.57079632679
 * /case/actual/X0/r: 0.0
 * /case/actual/X0/sa: 0.0
 * /case/actual/X0/ux: 0.0
 * /case/actual/X0/v: 0.0
 * /case/actual/X0/x: 200.0
 * /case/actual/X0/yVal: 0.0
 * /case/actual/obstacle/length: [5.0]
 * /case/actual/obstacle/num: 1
 * /case/actual/obstacle/radius: [6.0]
 * /case/actual/obstacle/vx: [0]
 * /case/actual/obstacle/vy: [0]
 * /case/actual/obstacle/x0: [200]
 * /case/actual/obstacle/y0: [110]
 * /case/goal/psi: 1.5701
 * /case/goal/tol: 4
 * /case/goal/x: 200.0
 * /case/goal/yVal: 125.0
 * /case_params_path: /home/mavs/MAVs/r...
 * /obstacle_detector/obstacle_extractor/active: true
 * /obstacle_detector/obstacle_extractor/circles_from_visibles: true
 * /obstacle_detector/obstacle_extractor/discard_converted_segments: false
 * /obstacle_detector/obstacle_extractor/distance_proportion: 0.001
 * /obstacle_detector/obstacle_extractor/frame_id: map
 * /obstacle_detector/obstacle_extractor/max_circle_radius: 4
 * /obstacle_detector/obstacle_extractor/max_group_distance: 0.5
 * /obstacle_detector/obstacle_extractor/max_merge_separation: 3
 * /obstacle_detector/obstacle_extractor/max_merge_spread: 2
 * /obstacle_detector/obstacle_extractor/max_split_distance: 5
 * /obstacle_detector/obstacle_extractor/min_group_points: 5
 * /obstacle_detector/obstacle_extractor/radius_enlargement: 0.3
 * /obstacle_detector/obstacle_extractor/transform_coordinates: true
 * /obstacle_detector/obstacle_extractor/use_pcl: true
 * /obstacle_detector/obstacle_extractor/use_scan: false
 * /obstacle_detector/obstacle_extractor/use_split_and_merge: true
 * /obstacle_detector/obstacle_tracker/active: true
 * /obstacle_detector/obstacle_tracker/frame_id: map
 * /obstacle_detector/obstacle_tracker/loop_rate: 100.0
 * /obstacle_detector/obstacle_tracker/measurement_variance: 1.0
 * /obstacle_detector/obstacle_tracker/min_correspondence_cost: 0.6
 * /obstacle_detector/obstacle_tracker/process_rate_variance: 0.1
 * /obstacle_detector/obstacle_tracker/process_variance: 0.1
 * /obstacle_detector/obstacle_tracker/std_correspondence_dev: 0.15
 * /obstacle_detector/obstacle_tracker/tracking_duration: 1
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /system/flags/paused: True
 * /system/obstacle_detector/flags/initialized: False
 * /system/obstacle_detector/flags/running: True
 * /system/params/simulation_time: 1.0
 * /system/params/step_size: 0.001
 * /system/vehicle_description/flags/lidar_initialized: False
 * /system/vehicle_description/flags/obstacles_initialized: False
 * /system/vehicle_description/flags/postion_update_external: False
 * /system/vehicle_description/flags/running: True
 * /use_sim_time: True
 * /vehicle/chrono/vehicle_params/axleDirection: [0, 1, 0]
 * /vehicle/chrono/vehicle_params/centroidLoc: [0.056, 0.0, 0.523],
 * /vehicle/chrono/vehicle_params/centroidOrientation: [1, 0, 0, 0]
 * /vehicle/chrono/vehicle_params/chassisInertia: [1078.52, 2955.66...
 * /vehicle/chrono/vehicle_params/chassisMass: 2688.70,
 * /vehicle/chrono/vehicle_params/conicalGearRatio: -0.2,
 * /vehicle/chrono/vehicle_params/differentialBoxInertia: 0.6
 * /vehicle/chrono/vehicle_params/differentialRatio: -1.0
 * /vehicle/chrono/vehicle_params/driverLoc: [0, 0.5, 1.2],
 * /vehicle/chrono/vehicle_params/driverOrientation: [1, 0, 0, 0]
 * /vehicle/chrono/vehicle_params/driveshaftInertia: 0.5,
 * /vehicle/chrono/vehicle_params/frict_coeff: 0.9
 * /vehicle/chrono/vehicle_params/gearRatios: [-0.3, 0.2, 0.4, ...
 * /vehicle/chrono/vehicle_params/maxBrakeTorque: 4000
 * /vehicle/chrono/vehicle_params/motorBlockDirection: [1, 0, 0],
 * /vehicle/chrono/vehicle_params/pinionMaxAngle: 0.87
 * /vehicle/chrono/vehicle_params/pinionRadius: 0.1,
 * /vehicle/chrono/vehicle_params/rest_coeff: 0.1
 * /vehicle/chrono/vehicle_params/steeringLinkInertia: [1, 1, 1],
 * /vehicle/chrono/vehicle_params/steeringLinkLength: 0.896
 * /vehicle/chrono/vehicle_params/steeringLinkMass: 9.072,
 * /vehicle/chrono/vehicle_params/steeringLinkRadius: 0.03,
 * /vehicle/common/Izz: 4110.1
 * /vehicle/common/la: 1.5775
 * /vehicle/common/lb: 1.7245
 * /vehicle/common/m: 2688.7
 * /vehicle/common/wheel_radius: 0.268
 * /vehicle/nloptcontrol_planner/AXC: [-0.0001280151804...
 * /vehicle/nloptcontrol_planner/Caf: -84138.0
 * /vehicle/nloptcontrol_planner/Car: -78126.0
 * /vehicle/nloptcontrol_planner/FZ0: 35000.0
 * /vehicle/nloptcontrol_planner/Fy_max: 7500
 * /vehicle/nloptcontrol_planner/Fy_min: -7500
 * /vehicle/nloptcontrol_planner/FzF0: 13680.0
 * /vehicle/nloptcontrol_planner/FzR0: 12696.0
 * /vehicle/nloptcontrol_planner/Fz_min: 1000.0
 * /vehicle/nloptcontrol_planner/Fz_off: 100.0
 * /vehicle/nloptcontrol_planner/Izz: 4110.1
 * /vehicle/nloptcontrol_planner/KZX: 806.0
 * /vehicle/nloptcontrol_planner/KZYF: 675.0
 * /vehicle/nloptcontrol_planner/KZYR: 1076.0
 * /vehicle/nloptcontrol_planner/PCY1: 1.5874
 * /vehicle/nloptcontrol_planner/PDY1: 0.73957
 * /vehicle/nloptcontrol_planner/PDY2: -0.075004
 * /vehicle/nloptcontrol_planner/PEY1: 0.37562
 * /vehicle/nloptcontrol_planner/PEY2: -0.069325
 * /vehicle/nloptcontrol_planner/PEY3: 0.29168
 * /vehicle/nloptcontrol_planner/PHY1: 0.0056509
 * /vehicle/nloptcontrol_planner/PHY2: -0.0020257
 * /vehicle/nloptcontrol_planner/PKY1: -10.289
 * /vehicle/nloptcontrol_planner/PKY2: 3.3343
 * /vehicle/nloptcontrol_planner/PVY1: 0.015216
 * /vehicle/nloptcontrol_planner/PVY2: -0.010365
 * /vehicle/nloptcontrol_planner/ax_max: 2.0
 * /vehicle/nloptcontrol_planner/ax_min: -2.0
 * /vehicle/nloptcontrol_planner/jx_max: 5.0
 * /vehicle/nloptcontrol_planner/jx_min: -5.0
 * /vehicle/nloptcontrol_planner/la: 1.5775
 * /vehicle/nloptcontrol_planner/lb: 1.7245
 * /vehicle/nloptcontrol_planner/m: 2688.7
 * /vehicle/nloptcontrol_planner/psi_max: 6.28318
 * /vehicle/nloptcontrol_planner/psi_min: -6.28318
 * /vehicle/nloptcontrol_planner/sa_max: 0.523598333333
 * /vehicle/nloptcontrol_planner/sa_min: -0.523598333333
 * /vehicle/nloptcontrol_planner/sr_max: 0.0872663888889
 * /vehicle/nloptcontrol_planner/sr_min: -0.0872663888889
 * /vehicle/nloptcontrol_planner/u_max: 29.0
 * /vehicle/nloptcontrol_planner/u_min: 0.0
 * /vehicle/vehicle_description/base_clearance: 0.5
 * /vehicle/vehicle_description/base_height: 1.2
 * /vehicle/vehicle_description/base_length: 3.3
 * /vehicle/vehicle_description/base_link: base_link
 * /vehicle/vehicle_description/base_width: 1.9
 * /vehicle/vehicle_description/frameName: map
 * /vehicle/vehicle_description/ground_truth_topic: base_pose_ground_...
 * /vehicle/vehicle_description/kp: 1e8
 * /vehicle/vehicle_description/la: 1.6
 * /vehicle/vehicle_description/lb: 1.7
 * /vehicle/vehicle_description/lidar_x: 1.75
 * /vehicle/vehicle_description/lidar_z: 1.4
 * /vehicle/vehicle_description/mesh_mode: 1
 * /vehicle/vehicle_description/minDepth: 0.005
 * /vehicle/vehicle_description/mu1: 0.9
 * /vehicle/vehicle_description/mu2: 0.9
 * /vehicle/vehicle_description/robotName: hmmwv
 * /vehicle/vehicle_description/robotNamespace: hmmwv
 * /vehicle/vehicle_description/scale_factor: 0.2
 * /vehicle/vehicle_description/topic: lidar_points
 * /vehicle/vehicle_description/wheel_base: 1
 * /vehicle/vehicle_description/wheel_mass: 2.5
 * /vehicle/vehicle_description/wheel_radius: 0.393
 * /vehicle/vehicle_description/wheel_width: 0.1
 * /velodyne_top_link_nodelet_manager/num_worker_threads: 20
 * /voxel_grid/filter_field_name: z
 * /voxel_grid/filter_limit_max: 3.5
 * /voxel_grid/filter_limit_min: 0.01
 * /voxel_grid/filter_limit_negative: false
 * /voxel_grid/leaf_size: 0.01

NODES
  /
    bootstrap (system/bootstrap.jl)
    frame_tf_broadcaster (vehicle_description/frame_tf_broadcaster)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    move_obstacles (vehicle_description/move_obstacles.jl)
    move_vehicle (vehicle_description/move_vehicle.jl)
    obstacle_extractor (nodelet/nodelet)
    obstacle_paramameters (obstacle_detector/obstacle_parameters.jl)
    obstacle_tracker (nodelet/nodelet)
    point_cloud_converter (point_cloud_converter/point_cloud_converter_node)
    postion (vehicle_description/link_positions.jl)
    postion_broadcaster (vehicle_description/position_broadcaster)
    ros_get_world_time_ (get_world_time_test/ros_get_world_time)
    rviz (rviz/rviz)
    spawn_obstacles (vehicle_description/spawn_obstacles.sh)
    spawn_urdf (gazebo_ros/spawn_model)
    unpause_gazebo (vehicle_description/unpause.jl)
    velodyne_top_link_nodelet_manager (nodelet/nodelet)
    voxel_grid (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[ros_get_world_time_-1]: started with pid [28795]
process[gazebo-2]: started with pid [29077]
process[gazebo_gui-3]: started with pid [29283]
[ INFO] [1537809529.520223119]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1537809529.524537455]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
process[spawn_urdf-4]: started with pid [29411]
process[spawn_obstacles-5]: started with pid [29545]
process[move_obstacles-6]: started with pid [29654]
process[move_vehicle-7]: started with pid [29796]
Segmentation fault (core dumped)
[gazebo_gui-3] process has died [pid 29283, exit code 139, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/mavs/.ros/log/375d45ea-c01d-11e8-a1ed-14109fe081c3/gazebo_gui-3.log].
log file: /home/mavs/.ros/log/375d45ea-c01d-11e8-a1ed-14109fe081c3/gazebo_gui-3*.log
process[postion-8]: started with pid [30136]
process[frame_tf_broadcaster-9]: started with pid [30236]
process[postion_broadcaster-10]: started with pid [30334]
process[velodyne_top_link_nodelet_manager-11]: started with pid [30432]
[ INFO] [1537809533.257038230]: Initializing nodelet with 20 worker threads.
process[obstacle_paramameters-12]: started with pid [30617]
process[voxel_grid-13]: started with pid [30748]
[ INFO] [1537809534.444731079]: Loading nodelet /voxel_grid of type pcl/VoxelGrid to manager velodyne_top_link_nodelet_manager with the following remappings:
[ INFO] [1537809534.445565411]: /voxel_grid/input -> /lidar_points
process[point_cloud_converter-14]: started with pid [30863]
process[obstacle_extractor-15]: started with pid [30945]
process[obstacle_tracker-16]: started with pid [31079]
[ INFO] [1537809535.657106648]: [Obstacle Extractor]: Initializing nodelet
process[rviz-17]: started with pid [31211]
[ INFO] [1537809536.254944677]: [Obstacle Tracker]: Initializing nodelet
[ INFO] [1537809536.307775743]: rviz version 1.12.16
[ INFO] [1537809536.307856518]: compiled against Qt version 5.5.1
[ INFO] [1537809536.307936785]: compiled against OGRE version 1.9.0 (Ghadamon)
Could not initialize OpenGL for RasterGLSurface, reverting to RasterSurface.
process[bootstrap-18]: started with pid [31412]
[rviz-17] process has died [pid 31211, exit code -11, cmd /opt/ros/kinetic/lib/rviz/rviz -d /home/mavs/MAVs/ros/src/computing/perception/detection/obstacle_detection/resources/display.rviz __name:=rviz __log:=/home/mavs/.ros/log/375d45ea-c01d-11e8-a1ed-14109fe081c3/rviz-17.log].
log file: /home/mavs/.ros/log/375d45ea-c01d-11e8-a1ed-14109fe081c3/rviz-17*.log
process[unpause_gazebo-19]: started with pid [31541]

Apparent graphics driver incompatibilities with certain base images on docker

Depending on the machine, certain computers are unable to run Gazebo.
This ongoing issue has caused quite a bit of frustration. In attempt to document what we have seem, consider the table:

Name	Make	GPU Type	Nvidia-docker’s version	Starting Points Where Gazebo Works	Starting Points Where Gazebo Does Not Work
Jan	Nvidia	GeForce GT 730 2GB GDDR5 128 Bit	Nvidia-docker 2	FROM nvidia/opengl:runtime
Huck	NVIDIA	GM107GLM [Quadro K2200M] (rev a2)	NVIDIA Docker: 1.0.1	FROM osrf/ros:kinetic-desktop FROM nvidia/cudagl:9.0-devel-ubuntu16.04	FROM nvidia/opengl:runtime
Weilin	Nvidia	GM107 M [GeForce GTX 950M] (rev a2)	Nvidia-docker 2	FROM nvidia/opengl:runtime
Yu-Hsuan	Nvidia	GP107M [GeForce GTX 1050 Mobile] (rev a1)	Nvidia-docker 2	FROMnvidia/opengl:runtime	FROMosrf/ros:kinetic-desktop
Michael	Nvidia	GK107M [GeForce GT 650M Mac Edition] (rev a1)	Nvidia-docker 2
Kuan	Nvidia	GF108GL [Quadro 600] (rev a1)	NVIDIA Docker: 2.0.3
Huck	NVIDIA	GF108GL [Quadro 600] (rev a1)	NVIDIA Docker: 2.0.3	FROM nvidia/cudagl:9.0-devel-ubuntu16.04

Setup the A* Path Planner Algorithm in Gazebo

Feature

Setup the A* Path Planning Algorithm (or others if there is a better one) in Gazebo.

TODO

1) figure out the topics that this node subscribes and publishes to
2) establish/ensure connection to this node and its subscribed topics
3) test using system described in #7

demoF

Currently demoF is broken and the output looks like

Other issues:
-[ ] often the target speed is negative.
-[ ] The ocp is running faster than expected. For instance at 9.1 s the model has been solved 203 times. It would be expected that it has only run about 18-20.

LiDAR simulation in Gazebo

New Feature

This feature will leverage Gazebo to simulate a LiDAR. With that vehicle dynamics will simulated by Chrono

Status

With this commit a HMMWV vehicle is visualized in Gazebo along with an obstacle. By running

roslaunch mavs_gazebo move_hmmwv.jl

Gazebo pops up and the vehicle moves along the y direction past an obstacle while publishing lidar points as

mavs/mavs_gazebo$ rostopic type lidar_points
sensor_msgs/PointCloud2

TODO

build error from chrono package

currently I am getting this error:

febbo@febbo-HP-ZBook-17-G2:~/Documents/workspace/MAVs/ros$ rosdep install --from-paths src --ignore-src --rosdistro kinetic -y

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
ros_chrono: Cannot locate rosdep definition for [Chrono]

demoB.launch

testing the nloptcontrol_planner with vehicle_description is in progress but there is an issue with the position update in Gazebo, the vehicle is moving all over the place (in what looks like the wrong position) despite this rosparam being upated as

Running model for the: waiting on obstacle_avoidance.jl in nloptcontrol_planner ...
0 time
waiting on obstacle_avoidance.jl in nloptcontrol_planner ...
waiting on obstacle_avoidance.jl in nloptcontrol_planner ...
waiting on obstacle_avoidance.jl in nloptcontrol_planner ...
[199.979, 8.47038, -0.0894539, 0.0779055, 1.58225, 0.0231724, 16.7688, -1.28913]
nloptcontrol_planner has been initialized.
system has been initialized!
Running model for the: 1 time
[bootstrap-12] process has finished cleanly
log file: /home/febbo/.ros/log/aad04dd4-28c3-11e8-8d35-104a7d04da99/bootstrap-12*.log
[199.604, 16.6825, -0.410351, 0.234313, 1.65833, 0.0498788, 16.1164, -1.3236]
Running model for the: 2 time
[198.365, 24.437, -0.745348, 0.379814, 1.80558, 0.0721998, 15.2049, -2.43961]
Running model for the: 3 time
[195.981, 31.342, -0.86143, 0.354039, 1.99306, 0.0548516, 14.0638, -2.05672]
Running model for the: 4 time
[192.73, 37.2798, -0.492023, 0.216648, 2.13049, 0.0335551, 13.006, -2.20651]
Running model for the: 5 time
[189.193, 42.3832, -0.228489, 0.086458, 2.205, 0.00625884, 11.7634, -2.98255]
Running model for the: 6 time
[185.935, 46.8453, -0.10263, -0.131559, 2.19871, -0.0530831, 10.3909, -2.37262]
Running model for the: 7 time
[183.386, 51.046, -0.0612147, -0.267659, 2.09683, -0.0927538, 9.31117, -1.84107]
Running model for the: 8 time
[181.692, 55.1575, -0.134945, -0.343495, 1.9464, -0.131068, 8.52348, -1.14554]
Running model for the: 9 time
[180.839, 59.1762, -0.141492, -0.293559, 1.77921, -0.107336, 7.80449, -1.88174]
Running model for the: 10 time
[180.606, 62.848, -0.190345, -0.235128, 1.64733, -0.101702, 6.89518, -1.6923]
Running model for the: 11 time
[180.764, 66.1033, -0.157787, -0.140137, 1.54933, -0.0660328, 6.16591, -1.11761]
Running model for the: 12 time
[181.109, 69.0263, -0.198489, -0.160585, 1.47918, -0.0935413, 5.57323, -1.27575]
Running model for the: 13 time
[181.644, 71.616, -0.151283, -0.103478, 1.40795, -0.0607844, 5.01683, -0.811568]
Running model for the: 14 time
[182.244, 73.9543, -0.180811, -0.125756, 1.35499, -0.0894665, 4.63397, -0.675359]
Running model for the: 15 time
[182.947, 76.0878, -0.125133, -0.0754458, 1.29967, -0.0503211, 4.35974, -0.307378]
Running model for the: 16 time
[183.658, 78.1178, -0.110308, -0.0676883, 1.26548, -0.0511751, 4.26155, 0.00846784]
Running model for the: 17 time
goal is in range
[184.425, 80.111, -0.0930383, -0.0544228, 1.23386, -0.0398801, 4.28094, 0.098926]
Running model for the: 18 time
goal is in range
[185.25, 82.1041, -0.107399, -0.0666033, 1.205, -0.0501081, 4.35014, 0.21383]
Running model for the: 19 time
goal is in range
[186.152, 84.1108, -0.0724743, -0.0390803, 1.17599, -0.0261842, 4.43061, 0.0686249]
Running model for the: 20 time
goal is in range
[187.091, 86.1271, -0.0931928, -0.0573595, 1.15402, -0.0421517, 4.46073, 0.0493344]
Running model for the: 21 time
goal is in range
[188.09, 88.1338, -0.043902, -0.0172866, 1.13138, -0.00696388, 4.51505, 0.207773]
Running model for the: 22 time
goal is in range
[189.085, 90.1915, -0.0257513, -0.00735487, 1.12689, -0.00585012, 4.63332, 0.285276]
Running model for the: 23 time
goal is in range
[190.099, 92.3185, 0.0193367, 0.0290614, 1.12908, 0.0233361, 4.80624, 0.445982]
Running model for the: 24 time
goal is in range
[191.115, 94.5586, -0.0191095, -0.00375003, 1.1392, -0.00500528, 5.03769, 0.489516]
Running model for the: 25 time
goal is in range
[192.187, 96.9038, 0.0311573, 0.0413558, 1.14434, 0.0294808, 5.27132, 0.439019]
Running model for the: 26 time
goal is in range
[193.241, 99.3799, -0.00391137, 0.00997209, 1.16097, 0.00305252, 5.49159, 0.439506]
Running model for the: 27 time
goal is in range
[194.321, 101.958, 0.0501295, 0.0610688, 1.17348, 0.0407184, 5.67042, 0.245055]
Running model for the: 28 time
goal is in range
[195.332, 104.642, 0.010409, 0.023582, 1.20005, 0.00912753, 5.80674, 0.299089]
Running model for the: 29 time
goal is in range
[196.338, 107.399, 0.0621812, 0.0747848, 1.21868, 0.0480927, 5.90896, 0.0857435]
Running model for the: 30 time
goal is in range
[197.229, 110.233, 0.0349381, 0.0475957, 1.25394, 0.0226255, 5.98474, 0.216279]
Running model for the: 31 time
goal is in range
[198.041, 113.13, 0.109976, 0.120142, 1.29069, 0.071212, 6.01187, -0.11675]
Running model for the: 32 time
goal is in range
[198.667, 116.068, 0.0554093, 0.0661684, 1.34226, 0.0312435, 6.01866, 0.134885]
Running model for the: 33 time
goal is in range
[199.182, 119.033, 0.124805, 0.133054, 1.38855, 0.0738903, 5.97577, -0.295332]
Running model for the: 34 time
goal is in range
[199.529, 121.979, 0.0367858, 0.0486044, 1.43517, 0.0217369, 5.90439, -0.022757]
Running model for the: 35 time
goal is in range
[199.819, 124.894, 0.0646031, 0.0750186, 1.46443, 0.0432061, 5.77021, -0.471086]
Goal Attained!

DemoB error

mavs@rosco-HP-Z440-Workstation:~$ roslaunch system demoB.launch
... logging to /home/mavs/.ros/log/28eba3b6-852c-11e8-8b08-ecb1d7429ebc/roslaunch-rosco-HP-Z440-Workstation-15535.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

roslaunch file contains multiple nodes named [/bootstrap].
Please check all 'name' attributes to make sure they are unique.
Also check that $(anon id) use different ids.
The traceback for the exception was written to the log file
mavs@rosco-HP-Z440-Workstation:~$

TF_OLD_DATA error

demoC

Goal sent!
Warning: TF_OLD_DATA ignoring data from the past for frame base_footprintObs at time 0 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
         at line 277 in /tmp/binarydeb/ros-kinetic-tf2-0.5.18/src/buffer_core.cpp
[ WARN] [1537754425.280846397, 4.038000000]: Map update loop missed its desired rate of 2.0000Hz... the loop actually took 2.4220 seconds
Exception in thread Thread-3 (most likely raised during interpreter shutdown):
Traceback (most recent call last):
  File "/usr/lib/python2.7/threading.py", line 801, in __bootstrap_inner
  File "/usr/lib/python2.7/threading.py", line 754, in run
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 154, in run
<type 'exceptions.AttributeError'>: 'NoneType' object has no attribute 'timeout'
[spawn_obstacles-5] process has finished cleanly
log file: /home/mavs/.ros/log/8e71c3e0-bf9d-11e8-bf8f-fc15b4ebb208/spawn_obstacles-5*.log
[ WARN] [1537754429.706444753, 6.521000000]: Map update loop missed its desired rate of 2.0000Hz... the loop actually took 2.4830 seconds
Warning: TF_OLD_DATA ignoring data from the past for frame base_footprintObs at time 1.2876e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
         at line 277 in /tmp/binarydeb/ros-kinetic-tf2-0.5.18/src/buffer_core.cpp
[ WARN] [1537754434.277358481, 9.060000000]: Map update loop missed its desired rate of 2.0000Hz... the loop actually took 2.0390 seconds
Warning: TF_OLD_DATA ignoring data from the past for frame base_footprintObs at time 0 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
         at line 277 in /tmp/binarydeb/ros-kinetic-tf2-0.5.18/src/buffer_core.cpp
Warning: TF_OLD_DATA ignoring data from the past for frame base_footprintObs at time 0 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
         at line 277 in /tmp/binarydeb/ros-kinetic-tf2-0.5.18/src/buffer_core.cpp
[ WARN] [1537754441.016676274, 12.864000000]: Map update loop missed its desired rate of 2.0000Hz... the loop actually took 3.8040 seconds

Further testing and use of MAVs with Docker

I created a dockerfile so that the MAVs software stack would be easy to install. But most of the time, when I run MAVs, I do it on my local machine and not in Docker.

While, I looked into actually using Docker in the workflow, I did not fully investigate it. To be clear, an issue (that I see) with using the current Docker build is that we the user needs to be able to easily modify .yaml file to test different cases and save data generated etc.

To use Docker to run MAVs I think that we should consider some of these options:

@gjhenley, I am no Docker expert either and given that you are about to be using MAVs (this was the next thing that I imagined that you would want), do you mind looking into this? And if you are able to establish a good workflow, and you feel like it, can you please make some documentation or create a pull request for MAVs with a modified dockerfile (if needed). I will try to help you as much as I can. Thanks

make documentation

need to build a website that has docs

Chrono Tire Model

Pacejka model loads, but vehicle behaves strangely.

Description

The source code loads the Pacejka tire model and the simulation starts, but the tires bounce off of the ground and eventually the simulation ends with the same error: Assertion : m_Fz >0 failed.
The tire model is specified in hmmwv_model.cpp code by the lines below.

To see the issue, replace:
RigidTire tire_front_left(rigid_tire_file);
RigidTire tire_front_right(rigid_tire_file);
RigidTire tire_rear_left(rigid_tire_file);
RigidTire tire_rear_right(rigid_tire_file);

with:

ChPacejkaTire tire_front_left(pacejka_tire_file_left);
ChPacejkaTire tire_front_right(pacejka_tire_file_right);
ChPacejkaTire tire_rear_left(pacejka_tire_file_left);
ChPacejkaTire tire_rear_right(pacejka_tire_file_right);

The other tire models in data/vehicle/hmmwv/tire similarly do not perform well.

A better tire model needs to be used, or the parameters in hmmwv_pacejka.tir need to be tuned better.

reorganize structure of Dockerfiles

@changyuhsuan can you please restructure your cain/image to include all the Docker related files. Please see virgil for an example. Basically it is a standalone thing and there are no Dockerfiles in the main directory in the repo

spawning obstacles in Gazebo

Sometime when trying to launch:

roslaunch vehicle_description demo.launch

this error pops up

[Obstacle3/spawn_obstacles-7] process has finished cleanly
log file: /home/febbo/.ros/log/9d430370-2899-11e8-906e-fc15b4ebb208/Obstacle3-spawn_obstacles-7*.log
[ INFO] [1521150091.412156132, 0.339000000]: Physics dynamic reconfigure ready.
[Obstacle1/spawn_obstacles-5] process has finished cleanly
log file: /home/febbo/.ros/log/9d430370-2899-11e8-906e-fc15b4ebb208/Obstacle1-spawn_obstacles-5*.log
ERROR: ERROR: LoadError: LoadError: SystemError: opening file /home/febbo/.julia/lib/v0.6/Conda.ji: No such file or directorySystemError: opening file /home/febbo/.julia/lib/v0.6/Conda.ji: No such file or directory
Stacktrace:
Stacktrace:
 [1] 
 [1] #systemerror#44 at ./error.jl:64 [inlined]#systemerror#44 at ./error.jl:64 [inlined]
 [2] systemerror(
 [2] ::systemerror(::String, ::Bool) at ./error.jl:64
 [3] open(::String, ::Bool, ::Bool, ::Bool, ::Bool, ::Bool) at ./iostream.jl:104
 [4] open(::String, ::String) at ./iostream.jl:132
 [5] stale_cachefile(::String, ::String) at ./loading.jl:777
 [6] _require_search_from_serialized(::Int64, ::Symbol, ::String, ::Bool) at ./loading.jl:228
 [7] _require(::Symbol) at ./loading.jl:441
 [8] require(::Symbol) at ./loading.jl:405
 [9] include_from_node1(::String) at ./loading.jl:576
 [10] include(::String) at ./sysimg.jl:14
 [11] anonymous at ./<missing>:2
while loading /home/febbo/.julia/v0.6/PyCall/src/PyCall.jl, in expression starting on line 28String, ::Bool) at ./error.jl:64
 [3] open(::String, ::Bool, ::Bool, ::Bool, ::Bool, ::Bool) at ./iostream.jl:104
 [4] open(::String, ::String) at ./iostream.jl:132
 [5] stale_cachefile(::String, ::String) at ./loading.jl:777
 [6] _require_search_from_serialized(::Int64, ::Symbol, ::String, ::Bool) at ./loading.jl:228
 [7] _require(::Symbol) at 
./loading.jl:441
 [8] require(::Symbol) at ./loading.jl:405
 [9] include_from_node1(::String) at ./loading.jl:576
 [10] include(::String) at ./sysimg.jl:14
 [11] anonymous at ./<missing>:2
while loading /home/febbo/.julia/v0.6/PyCall/src/PyCall.jl, in expression starting on line 28
ERROR: ERROR: LoadError: LoadError: LoadError: LoadError: Failed to precompile PyCall to /home/febbo/.julia/lib/v0.6/PyCall.ji.Failed to precompile PyCall to /home/febbo/.julia/lib/v0.6/PyCall.ji.
Stacktrace:
Stacktrace:
 [1] 
 [1] compilecachecompilecache((::::String) at ./loading.jl:710
 [2] _require(::Symbol) at ./loading.jl:463
 [3] require(::Symbol) at ./loading.jl:405
 [4] include_from_node1(::String) at ./loading.jl:576
while loading /home/febbo/.julia/v0.6/RobotOS/src/RobotOS.jl, in expression starting on line 3
while loading /home/febbo/Documents/workspace/MAVs/ros/src/models/gazebo/vehicle_description/move_vehicle.jl, in expression starting on line 3
String) at ./loading.jl:710
 [2] _require(::Symbol) at ./loading.jl:463
 [3] require(::Symbol) at ./loading.jl:405
 [4] include_from_node1(::String) at ./loading.jl:576
while loading /home/febbo/.julia/v0.6/RobotOS/src/RobotOS.jl, in expression starting on line 3
while loading /home/febbo/Documents/workspace/MAVs/ros/src/models/gazebo/vehicle_description/move_obstacles.jl, in expression starting on line 3
[move_obstacles-8] process has died [pid 8241, exit code 1, cmd /home/febbo/Documents/workspace/MAVs/ros/src/models/gazebo/vehicle_description/move_obstacles.jl __name:=move_obstacles __log:=/home/febbo/.ros/log/9d430370-2899-11e8-906e-fc15b4ebb208/move_obstacles-8.log].
log file: /home/febbo/.ros/log/9d430370-2899-11e8-906e-fc15b4ebb208/move_obstacles-8*.log
[move_vehicle-9] process has died [pid 8242, exit code 1, cmd /home/febbo/Documents/workspace/MAVs/ros/src/models/gazebo/vehicle_description/move_vehicle.jl __name:=move_vehicle __log:=/home/febbo/.ros/log/9d430370-2899-11e8-906e-fc15b4ebb208/move_vehicle-9.log].
log file: /home/febbo/.ros/log/9d430370-2899-11e8-906e-fc15b4ebb208/move_vehicle-9*.log

Then when everything is shut down and restarted it works fine.

potential build errors and fixes

julia> Pkg.clone("https://github.com/JuliaMPC/MAVs.jl")
INFO: Cloning MAVs from https://github.com/JuliaMPC/MAVs.jl
INFO: Computing changes...
ERROR: fixed packages introduce conflicting requirements for NLOptControl: 
         MAVs requires versions [0.1.5+,∞) [none of the available versions can satisfy this requirement]
       available versions are 0.1.2, 0.1.3, 0.1.4 and 0.1.5
Stacktrace:
 [1] check_requirements(::Dict{String,Base.Pkg.Types.VersionSet}, ::Dict{String,Dict{VersionNumber,Base.Pkg.Types.Available}}, ::Dict{String,Base.Pkg.Types.Fixed}) at ./pkg/query.jl:222
 [2] resolve(::Dict{String,Base.Pkg.Types.VersionSet}, ::Dict{String,Dict{VersionNumber,Base.Pkg.Types.Available}}, ::Dict{String,Tuple{VersionNumber,Bool}}, ::Dict{String,Base.Pkg.Types.Fixed}, ::Dict{String,VersionNumber}, ::Set{String}) at ./pkg/entry.jl:496
 [3] resolve(::Dict{String,Base.Pkg.Types.VersionSet}, ::Dict{String,Dict{VersionNumber,Base.Pkg.Types.Available}}, ::Dict{String,Tuple{VersionNumber,Bool}}, ::Dict{String,Base.Pkg.Types.Fixed}) at ./pkg/entry.jl:479
 [4] clone(::String, ::SubString{String}) at ./pkg/entry.jl:205
 [5] (::Base.Pkg.Dir.##4#7{Array{Any,1},Base.Pkg.Entry.#clone,Tuple{String}})() at ./pkg/dir.jl:36
 [6] cd(::Base.Pkg.Dir.##4#7{Array{Any,1},Base.Pkg.Entry.#clone,Tuple{String}}, ::String) at ./file.jl:70
 [7] #cd#1(::Array{Any,1}, ::Function, ::Function, ::String, ::Vararg{String,N} where N) at ./pkg/dir.jl:36
 [8] clone(::String) at ./pkg/pkg.jl:169

and

julia> Pkg.update()
INFO: Updating METADATA...
INFO: Updating MAVs master...
INFO: Computing changes...
ERROR: fixed packages introduce conflicting requirements for NLOptControl: 
         MAVs requires versions [0.1.5+,∞) [none of the available versions can satisfy this requirement]
       available versions are 0.1.2, 0.1.3, 0.1.4 and 0.1.5
Stacktrace:
 [1] check_requirements(::Dict{String,Base.Pkg.Types.VersionSet}, ::Dict{String,Dict{VersionNumber,Base.Pkg.Types.Available}}, ::Dict{String,Base.Pkg.Types.Fixed}) at ./pkg/query.jl:222
 [2] resolve(::Dict{String,Base.Pkg.Types.VersionSet}, ::Dict{String,Dict{VersionNumber,Base.Pkg.Types.Available}}, ::Dict{String,Tuple{VersionNumber,Bool}}, ::Dict{String,Base.Pkg.Types.Fixed}, ::Dict{String,VersionNumber}, ::Set{String}) at ./pkg/entry.jl:496
 [3] update(::String, ::Set{String}) at ./pkg/entry.jl:461
 [4] (::Base.Pkg.Dir.##4#7{Array{Any,1},Base.Pkg.Entry.#update,Tuple{String,Set{String}}})() at ./pkg/dir.jl:36
 [5] cd(::Base.Pkg.Dir.##4#7{Array{Any,1},Base.Pkg.Entry.#update,Tuple{String,Set{String}}}, ::String) at ./file.jl:70
 [6] #cd#1(::Array{Any,1}, ::Function, ::Function, ::String, ::Vararg{Any,N} where N) at ./pkg/dir.jl:36
 [7] update() at ./pkg/pkg.jl:228

Fix

julia> Pkg.checkout("VehicleModels")
INFO: Checking out VehicleModels master...
INFO: Pulling VehicleModels latest master...
WARNING: NLOptControl is fixed at 0.1.5 conflicting with requirement for MAVs: [0.1.5+,∞)
INFO: No packages to install, update or remove

julia> Pkg.checkout("NLOptControl")
INFO: Checking out NLOptControl master...
INFO: Pulling NLOptControl latest master...
INFO: No packages to install, update or remove

julia> Pkg.update()
INFO: Updating METADATA...
INFO: Updating MAVs master...
INFO: Updating NLOptControl master...
INFO: Updating VehicleModels master...
INFO: Computing changes...
INFO: No packages to install, update or remove

Got permission denied: cain on current develop branch

When I try to build the develop branch

febbo@febbo-HP-Z220-SFF-Workstation:~/Documents/workspace/MAVs$ sh build.sh

I get

febbo@febbo-HP-Z220-SFF-Workstation:~/Documents/workspace/MAVs$ sh build.sh
Using default tag: latest
Warning: failed to get default registry endpoint from daemon (Got permission denied while trying to connect to the Docker daemon socket at unix:///var/run/docker.sock: Get http://%2Fvar%2Frun%2Fdocker.sock/v1.38/info: dial unix /var/run/docker.sock: connect: permission denied). Using system default: https://index.docker.io/v1/
Got permission denied while trying to connect to the Docker daemon socket at unix:///var/run/docker.sock: Post http://%2Fvar%2Frun%2Fdocker.sock/v1.38/images/create?fromImage=c1yxuan%2Favpg_base&tag=latest: dial unix /var/run/docker.sock: connect: permission denied
Got permission denied while trying to connect to the Docker daemon socket at unix:///var/run/docker.sock: Post http://%2Fvar%2Frun%2Fdocker.sock/v1.38/build?buildargs=%7B%7D&cachefrom=%5B%5D&cgroupparent=&cpuperiod=0&cpuquota=0&cpusetcpus=&cpusetmems=&cpushares=0&dockerfile=Dockerfile&labels=%7B%7D&memory=0&memswap=0&networkmode=default&rm=1&session=b1rsbr1wnxftbta3xyh4o8qs0&shmsize=0&t=mavs&target=&ulimits=null&version=1: dial unix /var/run/docker.sock: connect: permission denied

WARNING: The call to compilecache failed to create a usable precompiled cache file for module PyCall. Got:
WARNING: Module BinDeps uuid did not match cache file.
WARNING: eval from module Main to RobotOS:    
Expr(:call, Expr(:., :Base, :include_from_node1)::Any, "/home/febbo/.julia/v0.6/PyCall/src/PyCall.jl")::Any
  ** incremental compilation may be broken for this module **

WARNING: Method definition run(Function) in module BinDeps at /home/febbo/.julia/v0.6/BinDeps/src/BinDeps.jl:486 overwritten in module BinDeps at /home/febbo/.julia/v0.6/BinDeps/src/BinDeps.jl:486.
WARNING: error while reinitializing value BinDeps:
ErrorException("Cannot replace module BinDeps during incremental precompile.")
WARNING: Method definition run(Function) in module BinDeps at /home/febbo/.julia/v0.6/BinDeps/src/BinDeps.jl:486 overwritten in module BinDeps at /home/febbo/.julia/v0.6/BinDeps/src/BinDeps.jl:486.
WARNING: error while reinitializing value BinDeps:
ErrorException("Cannot replace module BinDeps during incremental precompile.")
WARNING: The call to compilecache failed to create a usable precompiled cache file for module PyCall. Got:
WARNING: Module Conda uuid did not match cache file.
WARNING: eval from module Main to RobotOS:    
Expr(:call, Expr(:., :Base, :include_from_node1)::Any, "/home/febbo/.julia/v0.6/PyCall/src/PyCall.jl")::Any
  ** incremental compilation may be broken for this module **

WARNING: Module JSON uuid did not match cache file.
WARNING: Module BinDeps uuid did not match cache file.
WARNING: Module BinDeps uuid did not match cache file.
ERROR: LoadError: Module RobotOS declares __precompile__(true) but require failed to create a usable precompiled cache file.
Stacktrace:
 [1] ERROR: LoadError: _requireERROR: (::LoadError: Symbol) at ./loading.jl:502
 [2] require(::Symbol) at ./loading.jl:405
 [3] include_from_node1(::String) at ./loading.jl:576
 [4] include(::String) at ./sysimg.jl:14
 [5] process_options(::Base.JLOptions) at ./client.jl:305
 [6] _start() at ./client.jl:371
while loading /home/febbo/Documents/workspace/MAVs/ros/src/models/gazebo/vehicle_description/link_positions.jl, in expression starting on line 2
Module RobotOS declares __precompile__(true) but require failed to create a usable precompiled cache file.
Stacktrace:Module RobotOS declares __precompile__(true) but require failed to create a usable precompiled cache file.[postion-11] process has died [pid 15450, exit code 1, cmd /home/febbo/Documents/workspace/MAVs/ros/src/models/gazebo/vehicle_description/link_positions.jl __name:=postion __log:=/home/febbo/.ros/log/70e720e8-3688-11e8-a763-104a7d04da99/postion-11.log].
log file: /home/febbo/.ros/log/70e720e8-3688-11e8-a763-104a7d04da99/postion-11*.log

Stacktrace:
 [1] 
 [1] _require(::Symbol) at ./loading.jl:502
 [2] require(::Symbol) at ./loading.jl:405
 [3] include_from_node1(::String) at ./loading.jl:576
 [4] include(::String) at ./sysimg.jl:14
 [5] process_options(::Base.JLOptions) at ./client.jl:305
 [6] _start() at ./client.jl:371
while loading /home/febbo/Documents/workspace/MAVs/ros/src/computing/planning/motion/nloptcontrol_planner/obstacle_avoidance.jl, in expression starting on line 2
_require(::Symbol) at ./loading.jl:502
 [2] require(::Symbol) at ./loading.jl:405
 [3] include_from_node1(::String) at ./loading.jl:576
 [4] include(::String) at ./sysimg.jl:14
 [5] process_options(::Base.JLOptions) at ./client.jl:305
 [6] _start() at ./client.jl:371
while loading /home/febbo/Documents/workspace/MAVs/ros/src/system/bootstrap.jl, in expression starting on line 2
[obstacle_avoidance-4] process has died [pid 15433, exit code 1, cmd /home/febbo/Documents/workspace/MAVs/ros/src/computing/planning/motion/nloptcontrol_planner/obstacle_avoidance.jl __name:=obstacle_avoidance __log:=/home/febbo/.ros/log/70e720e8-3688-11e8-a763-104a7d04da99/obstacle_avoidance-4.log].
log file: /home/febbo/.ros/log/70e720e8-3688-11e8-a763-104a7d04da99/obstacle_avoidance-4*.log
[bootstrap-14] process has died [pid 15489, exit code 1, cmd /home/febbo/Documents/workspace/MAVs/ros/src/system/bootstrap.jl __name:=bootstrap __log:=/home/febbo/.ros/log/70e720e8-3688-11e8-a763-104a7d04da99/bootstrap-14.log].
log file: /home/febbo/.ros/log/70e720e8-3688-11e8-a763-104a7d04da99/bootstrap-14*.log
Waiting for 'gazebo/get_model_state' service...WARNING: 
Waiting for 'gazebo/set_model_state' service...
Module PyCall uuid did not match cache file.
ERROR: LoadError: Module RobotOS declares __precompile__(true) but require failed to create a usable precompiled cache file.
Stacktrace:
 [1] lidar simulation in Gazebo has been initialized
_require(::Symbol) at ./loading.jl:502
 [2] require(::Symbol) at ./loading.jl:405
 [3] include_from_node1(::String) at ./loading.jl:576
 [4] include(::String) at ./sysimg.jl:14
 [5] process_options(::Base.JLOptions) at ./client.jl:305
 [6] _start() at ./client.jl:371
while loading /home/febbo/Documents/workspace/MAVs/ros/src/models/gazebo/vehicle_description/move_obstacles.jl, in expression starting on line 3
[move_obstacles-9] process has died [pid 15447, exit code 1, cmd /home/febbo/Documents/workspace/MAVs/ros/src/models/gazebo/vehicle_description/move_obstacles.jl __name:=move_obstacles __log:=/home/febbo/.ros/log/70e720e8-3688-11e8-a763-104a7d04da99/move_obstacles-9.log].
log file: /home/febbo/.ros/log/70e720e8-3688-11e8-a763-104a7d04da99/move_obstacles-9*.log

@tqshao I am looking into the julia precompile issues now. @sdhkr or @tqshao are these warnings expected:

WARNING: WARNING: The call to compilecache failed to create a usable precompiled cache file for module JSON. Got:
Module Compat uuid did not match cache file.
WARNING: Module Compat uuid did not match cache file.

inexact error with DemoA and DemoB

[ INFO] [1537452093.686664491, 0.027000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[bootstrap-19] process has finished cleanly
log file: /home/mavs/.ros/log/a466d978-bcdd-11e8-97b0-104a7d04da99/bootstrap-19*.log
[ INFO] [1537452093.833351840, 0.118000000]: Physics dynamic reconfigure ready.
ERROR: [unpause_gazebo-20] process has finished cleanly
log file: /home/mavs/.ros/log/a466d978-bcdd-11e8-97b0-104a7d04da99/unpause_gazebo-20*.log
LoadError: InexactError()
Stacktrace:
 [1] _canonical_time(::Int64, ::Int64) at /home/mavs/.julia/v0.6/RobotOS/src/time.jl:52
 [2] RobotOS.Time(::Int64, ::Int64) at /home/mavs/.julia/v0.6/RobotOS/src/time.jl:22
 [3] convert(::Type{std_msgs.msg.Header}, ::PyCall.PyObject) at /home/mavs/.julia/v0.6/RobotOS/src/gentypes.jl:486 (repeats 2 times)
 [4] (::RobotOS.ServiceProxy{gazebo_msgs.srv.GetModelState})(::gazebo_msgs.srv.GetModelStateRequest) at /home/mavs/.julia/v0.6/RobotOS/src/services.jl:32
 [5] loop_straight_line(::RobotOS.ServiceProxy{gazebo_msgs.srv.SetModelState}, ::RobotOS.ServiceProxy{gazebo_msgs.srv.GetModelState}) at /home/mavs/MAVs/ros/src/models/gazebo/vehicle_description/move_vehicle.jl:48
 [6] main() at /home/mavs/MAVs/ros/src/models/gazebo/vehicle_description/move_vehicle.jl:205
 [7] include_from_node1(::String) at ./loading.jl:576
 [8] include(::String) at ./sysimg.jl:14
 [9] process_options(::Base.JLOptions) at ./client.jl:305
 [10] _start() at ./client.jl:371
while loading /home/mavs/MAVs/ros/src/models/gazebo/vehicle_description/move_vehicle.jl, in expression starting on line 212
[move_vehicle-8] process has died [pid 22908, exit code 1, cmd /home/mavs/MAVs/ros/src/models/gazebo/vehicle_description/move_vehicle.jl __name:=move_vehicle __log:=/home/mavs/.ros/log/a466d978-bcdd-11e8-97b0-104a7d04da99/move_vehicle-8.log].
log file: /home/mavs/.ros/log/a466d978-bcdd-11e8-97b0-104a7d04da99/move_vehicle-8*.log
[ INFO] [1537452093.686664491, 0.027000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[bootstrap-19] process has finished cleanly
log file: /home/mavs/.ros/log/a466d978-bcdd-11e8-97b0-104a7d04da99/bootstrap-19*.log
[ INFO] [1537452093.833351840, 0.118000000]: Physics dynamic reconfigure ready.
ERROR: [unpause_gazebo-20] process has finished cleanly
log file: /home/mavs/.ros/log/a466d978-bcdd-11e8-97b0-104a7d04da99/unpause_gazebo-20*.log
LoadError: InexactError()
Stacktrace:
 [1] _canonical_time(::Int64, ::Int64) at /home/mavs/.julia/v0.6/RobotOS/src/time.jl:52
 [2] RobotOS.Time(::Int64, ::Int64) at /home/mavs/.julia/v0.6/RobotOS/src/time.jl:22
 [3] convert(::Type{std_msgs.msg.Header}, ::PyCall.PyObject) at /home/mavs/.julia/v0.6/RobotOS/src/gentypes.jl:486 (repeats 2 times)
 [4] (::RobotOS.ServiceProxy{gazebo_msgs.srv.GetModelState})(::gazebo_msgs.srv.GetModelStateRequest) at /home/mavs/.julia/v0.6/RobotOS/src/services.jl:32
 [5] loop_straight_line(::RobotOS.ServiceProxy{gazebo_msgs.srv.SetModelState}, ::RobotOS.ServiceProxy{gazebo_msgs.srv.GetModelState}) at /home/mavs/MAVs/ros/src/models/gazebo/vehicle_description/move_vehicle.jl:48
 [6] main() at /home/mavs/MAVs/ros/src/models/gazebo/vehicle_description/move_vehicle.jl:205
 [7] include_from_node1(::String) at ./loading.jl:576
 [8] include(::String) at ./sysimg.jl:14
 [9] process_options(::Base.JLOptions) at ./client.jl:305
 [10] _start() at ./client.jl:371
while loading /home/mavs/MAVs/ros/src/models/gazebo/vehicle_description/move_vehicle.jl, in expression starting on line 212
[move_vehicle-8] process has died [pid 22908, exit code 1, cmd /home/mavs/MAVs/ros/src/models/gazebo/vehicle_description/move_vehicle.jl __name:=move_vehicle __log:=/home/mavs/.ros/log/a466d978-bcdd-11e8-97b0-104a7d04da99/move_vehicle-8.log].
log file: /home/mavs/.ros/log/a466d978-bcdd-11e8-97b0-104a7d04da99/move_vehicle-8*.log

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roslaunch nloptcontrol_planner demo.launch

status = working

roslaunch system demoA.launch

status = broken

roslaunch system demoB.launch

status = needs fix

roslaunch system demoC.launch

status = needs fix

roslaunch system demoD.launch

status = unknown

roslaunch system demoE.launch

status = needs fix

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