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    tug54297
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    ** I tried posting under the pdames account, but that did not work. Hopefully reposting does not violate any community rules. **

    I am unable to calibrate the gain parameter during the wheel calibration stage of setup. I am not sure why the test is failing. My process with output and logs are listed below.

    IN FIRST TERMINAL WINDOW:

    Open base container:
    $ dts duckiebot demo --demo_name base --duckiebot_name duckiebot02

    Then, within base container, launch kinematics calibration test:

    [email protected]:/home/software# roslaunch indefinite_navigation calibrate_kinematics.test veh:=duckiebot02
    ... logging to /root/.ros/log/c833a3de-9169-11e9-94ef-b827eb4ffefb/roslaunch-duckiebot02-239.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://192.168.1.202:40585/
    
    SUMMARY
    ========
    
    CLEAR PARAMETERS
     * /duckiebot02/forward_kinematics_node/
     * /duckiebot02/ground_projection/
     * /duckiebot02/inverse_kinematics_node/
     * /duckiebot02/joy_mapper_node/
     * /duckiebot02/lane_filter_node/
     * /duckiebot02/lane_pose_visualizer_node/
     * /duckiebot02/line_detector_node/
     * /duckiebot02/stop_line_filter_node/
     * /duckiebot02/velocity_to_pose_node/
    
    PARAMETERS
     * /duckiebot02/duckiebot_visualizer/veh_name: duckiebot02
     * /duckiebot02/ground_projection/config: baseline
     * /duckiebot02/ground_projection/config_file_name: duckiebot02
     * /duckiebot02/joy_mapper_node/bicycle_kinematics: 0.0
     * /duckiebot02/joy_mapper_node/simulated_vehicle_length: 0.18
     * /duckiebot02/joy_mapper_node/speed_gain: 0.41
     * /duckiebot02/joy_mapper_node/steer_angle_gain: 1.04
     * /duckiebot02/joy_mapper_node/steer_gain: 8.3
     * /duckiebot02/lane_filter_node/filter: ['lane_filter.Lan...
     * /duckiebot02/lane_filter_node/use_propagation: True
     * /duckiebot02/line_detector_node/detector: ['line_detector.L...
     * /duckiebot02/line_detector_node/detector_intersection: ['line_detector.L...
     * /duckiebot02/line_detector_node/img_size: [120, 160]
     * /duckiebot02/line_detector_node/top_cutoff: 40
     * /duckiebot02/line_detector_node/verbose: False
     * /duckiebot02/stop_line_filter_node/max_y: 0.2
     * /duckiebot02/stop_line_filter_node/min_segs: 6
     * /duckiebot02/stop_line_filter_node/off_time: 2
     * /duckiebot02/stop_line_filter_node/stop_distance: 0.22
     * /kinematics_test_node/veh: duckiebot02
     * /rosdistro: kinetic
     * /rosversion: 1.12.14
    
    NODES
      /duckiebot02/
        duckiebot_visualizer (duckiebot_visualizer/duckiebot_visualizer.py)
        forward_kinematics_node (dagu_car/forward_kinematics_node.py)
        ground_projection (ground_projection/ground_projection_node.py)
        inverse_kinematics_node (dagu_car/inverse_kinematics_node.py)
        joy_mapper_node (joy_mapper/joy_mapper_node.py)
        lane_filter_node (lane_filter/lane_filter_node.py)
        lane_pose_visualizer_node (lane_filter/lane_pose_visualizer_node.py)
        line_detector_node (line_detector/line_detector_node.py)
        stop_line_filter_node (stop_line_filter/stop_line_filter_node.py)
        velocity_to_pose_node (dagu_car/velocity_to_pose_node.py)
    
    ROS_MASTER_URI=http://192.168.1.202:11311
    
    process[duckiebot02/line_detector_node-1]: started with pid [248]
    process[duckiebot02/ground_projection-2]: started with pid [249]
    process[duckiebot02/duckiebot_visualizer-3]: started with pid [250]
    process[duckiebot02/lane_filter_node-4]: started with pid [251]
    process[duckiebot02/stop_line_filter_node-5]: started with pid [252]
    process[duckiebot02/lane_pose_visualizer_node-6]: started with pid [255]
    process[duckiebot02/joy_mapper_node-7]: started with pid [256]
    process[duckiebot02/inverse_kinematics_node-8]: started with pid [258]
    process[duckiebot02/forward_kinematics_node-9]: started with pid [259]
    process[duckiebot02/velocity_to_pose_node-10]: started with pid [261]
    INFO: cannot create a symlink to latest log directory: [Errno 2] No such file or directory: '/root/.ros/log/latest'
    [INFO] [1561388958.536224]: [/duckiebot02/joy_mapper_node] Initializing 
    [INFO] [1561388958.607487]: [/duckiebot02/joy_mapper_node] ~speed_gain = 0.41 
    [INFO] [1561388958.646054]: [/duckiebot02/duckiebot_visualizer] Initialzing.
    [INFO] [1561388958.738154]: [Stop Line Filter] ~stop_distance = 0.22 
    [INFO] [1561388958.749030]: [/duckiebot02/duckiebot_visualizer] ~veh_name = duckiebot02 
    [INFO] [1561388958.753595]: [/duckiebot02/joy_mapper_node] ~steer_gain = 8.3 
    [INFO] [1561388961.375972]: [Lane Filter] new filter config: ['lane_filter.LaneFilterHistogram', {'configuration': {'lanewidth': 0.23, 'range_min': 0.2, 'range_max': 0.6, 'd_max': 0.3, 'linewidth_white': 0.05, 'phi_min': -1.5, 'sigma_d_0': 0.1, 'curvature_res': 0, 'phi_max': 1.5, 'curvature_right': -0.054, 'mean_d_0': 0, 'sigma_d_mask': 1.0, 'mean_phi_0': 0, 'd_min': -0.15, 'linewidth_yellow': 0.025, 'curvature_left': 0.025, 'min_max': 0.1, 'range_est': 0.33, 'delta_d': 0.02, 'cov_v': 0.5, 'sigma_phi_mask': 2.0, 'sigma_phi_0': 0.1, 'delta_phi': 0.1}}]
    [INFO] [1561388961.430921]: [Stop Line Filter] ~min_segs = 6 
    [INFO] [1561388961.444895]: [/duckiebot02/velocity_to_pose_node] Initialized.
    [INFO] [1561388961.456469]: [/duckiebot02/joy_mapper_node] ~bicycle_kinematics = 0.0 
    [INFO] [1561388961.509107]: [/duckiebot02/duckiebot_visualizer] Initialzed.
    [INFO] [1561388961.538346]: [Stop Line Filter] ~off_time = 2 
    [INFO] [1561388961.549338]: [/duckiebot02/joy_mapper_node] ~steer_angle_gain = 1.04 
    /home/software/catkin_ws/src/20-indefinite-navigation/stop_line_filter/src/stop_line_filter_node.py:40: UserWarning: '~max_y ' is not a legal ROS graph resource name. This may cause problems with other ROS tools
      rospy.set_param(param_name,value) #Write to parameter server for transparancy
    [INFO] [1561388961.584090]: [/duckiebot02/joy_mapper_node] ~simulated_vehicle_length = 0.18 
    [INFO] [1561388961.598876]: [Stop Line Filter] ~max_y  = 0.2 
    [WARN] [1561388977.918362]: [/duckiebot02/inverse_kinematics_node] /data/config/calibrations/kinematics/duckiebot02.yaml does not exist. Using default.yaml.
    [INFO] [1561388978.361527]: [/duckiebot02/inverse_kinematics_node] ~gain = 1.0 
    [INFO] [1561388978.393454]: [/duckiebot02/inverse_kinematics_node] ~trim = 0.0 
    [WARN] [1561388978.418698]: [/duckiebot02/forward_kinematics_node] /data/config/calibrations/kinematics/duckiebot02.yaml does not exist. Using default.yaml.
    [INFO] [1561388978.504770]: [/duckiebot02/inverse_kinematics_node] ~baseline = 0.1 
    [INFO] [1561388978.625731]: [/duckiebot02/inverse_kinematics_node] ~radius = 0.0318 
    [INFO] [1561388978.649062]: [/duckiebot02/inverse_kinematics_node] ~k = 27.0 
    [INFO] [1561388978.668081]: [/duckiebot02/inverse_kinematics_node] ~limit = 1.0 
    [INFO] [1561388978.706424]: [/duckiebot02/forward_kinematics_node] ~gain = 1.0 
    [INFO] [1561388978.732608]: [/duckiebot02/forward_kinematics_node] ~trim = 0.0 
    [INFO] [1561388978.762675]: [/duckiebot02/forward_kinematics_node] ~baseline = 0.1 
    [INFO] [1561388978.782396]: [/duckiebot02/forward_kinematics_node] ~radius = 0.0318 
    [INFO] [1561388978.918682]: [/duckiebot02/forward_kinematics_node] ~k = 27.0 
    [INFO] [1561388978.930230]: [/duckiebot02/inverse_kinematics_node] Initialized.
    [INFO] [1561388978.933210]: [/duckiebot02/inverse_kinematics_node] gain: 1.0 trim: 0.0 baseline: 0.1 radius: 0.0318 k: 27.0 limit: 1.0
    [INFO] [1561388979.323612]: [/duckiebot02/forward_kinematics_node] Initialized.
    [INFO] [1561388979.335060]: [/duckiebot02/forward_kinematics_node] gain: 1.0 trim: 0.0 baseline: 0.1 radius: 0.0318 k: 27.0
    Instance of simpleColorBalanceClass created.
    [INFO] [1561388990.495852]: [LineDetectorNode] Verbose is now False
    [INFO] [1561388990.533791]: [LineDetectorNode] new detector config: ['line_detector.LineDetectorHSV', {'configuration': {'hough_max_line_gap': 1, 'dilation_kernel_size': 3, 'hsv_yellow1': [25, 140, 100], 'hsv_yellow2': [45, 255, 255], 'hsv_white1': [0, 0, 150], 'hsv_white2': [180, 100, 255], 'hough_min_line_length': 3, 'hough_threshold': 2, 'canny_thresholds': [80, 200], 'hsv_red4': [180, 255, 255], 'hsv_red1': [0, 140, 100], 'hsv_red3': [165, 140, 100], 'hsv_red2': [15, 255, 255]}}]
    [INFO] [1561388990.549185]: [LineDetectorNode] new detector_intersection config: ['line_detector.LineDetectorHSV', {'configuration': {'hough_max_line_gap': 1, 'dilation_kernel_size': 3, 'hsv_yellow1': [25, 140, 100], 'hsv_yellow2': [45, 255, 255], 'hsv_white1': [0, 0, 150], 'hsv_white2': [180, 100, 255], 'hough_min_line_length': 3, 'hough_threshold': 2, 'canny_thresholds': [80, 200], 'hsv_red4': [180, 255, 255], 'hsv_red1': [0, 50, 100], 'hsv_red3': [165, 50, 100], 'hsv_red2': [15, 255, 255]}}]
    [INFO] [1561388990.703190]: [/duckiebot02/lane_pose_visualizer_node] Initialzing.
    [INFO] [1561388990.704979]: [/duckiebot02/lane_pose_visualizer_node] Vehicle name: duckiebot02
    [INFO] [1561388990.758593]: [LineDetectorNode] Initialized (verbose = False).
    [INFO] [1561388990.773589]: [/duckiebot02/lane_pose_visualizer_node] Initialzed.

    IN SECOND TERMINAL WINDOW:

    Open second shell:
    $ docker -H duckiebot02.local exec -it demo_base /bin/bash

    Then, inside the shell, run the test script:

    root[email protected]:/home/software# rosrun indefinite_navigation test_kinematics.py 
    [ROSUNIT] Outputting test results to /root/.ros/test_results/rostest_kinematics_calibration/rosunit-kinematics_test_node.xml
    [Testcase: test_drive_forward] ... FAILURE!
    FAILURE: False is not true
      File "/usr/lib/python2.7/unittest/case.py", line 329, in run
        testMethod()
      File "/home/software/catkin_ws/src/20-indefinite-navigation/indefinite_navigation/tests/test_kinematics.py", line 54, in test_drive_forward
        self.setup()
      File "/home/software/catkin_ws/src/20-indefinite-navigation/indefinite_navigation/tests/test_kinematics.py", line 42, in setup
        self.assert_(self.lane_message_received)
      File "/usr/lib/python2.7/unittest/case.py", line 422, in assertTrue
        raise self.failureException(msg)
    --------------------------------------------------------------------------------
    -------------------------------------------------------------
    SUMMARY:
     * RESULT: FAIL
     * TESTS: 1
     * ERRORS: 0 []
     * FAILURES: 1 [test_drive_forward]

    LOGS:

    Examining the logs (/root/.ros/test_results/rostest_kinematics_calibration/rosunit-kinematics_test_node.xml):

    <?xml version="1.0" encoding="utf-8"?>
    <testsuite errors="0" failures="1" name="unittest.suite.TestSuite" tests="1" time="10.392"><testcase classname="__main__.KinematicsTestNode" name="test_drive_forward" time="10.3918"><failure type="AssertionError">False is not true
      File "/usr/lib/python2.7/unittest/case.py", line 329, in run
        testMethod()
      File "/home/software/catkin_ws/src/20-indefinite-navigation/indefinite_navigation/tests/test_kinematics.py", line 54, in test_drive_forward
        self.setup()
      File "/home/software/catkin_ws/src/20-indefinite-navigation/indefinite_navigation/tests/test_kinematics.py", line 42, in setup
        self.assert_(self.lane_message_received)
      File "/usr/lib/python2.7/unittest/case.py", line 422, in assertTrue
        raise self.failureException(msg)
    </failure></testcase><system-out><![CDATA[
    [INFO] [1561389014.720631]: wheel topic = /duckiebot02/joy_mapper_node/car_cmd
    [INFO] [1561389014.721766]: lane topic = /duckiebot02/lane_filter_node/lane_pose
    [INFO] [1561389014.722491]: stop_topic = /duckiebot02/stop_line_filter_node/stop_line_reading
    
    ]]></system-out><system-err><![CDATA[
    
    ]]></system-err></testsuite>
    • This topic was modified 3 weeks, 1 day ago by  tug54297. Reason: Formatting
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