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  • #34249

    thesocialrobot
    Participant

    I have successfully completed camera calibibration but I’ve been unable to complete the wheels calibration step for my duckiebots

    The first issue I encountered was that running dts duckiebot calibrate_wheels duckiebot2 did not mount the /data directory in the container. I managed to work around that and raised the following issue: https://github.com/duckietown/duckietown-shell-commands/issues/92

    However, even with the data directory mounted and the calibration files available inside the container the make hw-test-kinematics test fails and the robot does not move at all. The only error I see is the failure to open the joystick device but I do not know why it would require that. I’ve tried with the duckietown/rpi-duckiebot-joystick-demo:master18 running and not running but the error remains the same.

    Here’s the complete output that I see in the shell window. Can anyone shed any light on what the issue might be?

    [email protected]:/home/software# make hw-test-kinematics
    Makefiles/Makefile.build.mk:118: warning: overriding recipe for target 'build-pyc-clean'
    Makefiles/Makefile.build.mk:43: warning: ignoring old recipe for target 'build-pyc-clean'
    # Put here procedures to check the environment is valid
    #-./what-the-duck
    Testing Kinematics Calibration
    bash -c "rostest indefinite_navigation calibrate_kinematics.test veh:=duckiebot2"
    ... logging to /root/.ros/log/rostest-duckiebot2-776.log
    [ROSUNIT] Outputting test results to /root/.ros/test_results/indefinite_navigation/rostest-tests_calibrate_kinematics.xml
    [INFO] [1548533313.212423]: [/duckiebot2/camera_node] Initializing......
    [INFO] [1548533313.243814]: [/duckiebot2/camera_node] ~framerate_high = 30 
    [INFO] [1548533313.273882]: [/duckiebot2/camera_node] ~framerate_low = 15 
    [INFO] [1548533313.340555]: [/duckiebot2/camera_node] ~res_w = 640 
    [INFO] [1548533313.380899]: [/duckiebot2/camera_node] ~res_h = 480 
    [INFO] [1548533313.924926]: [/duckiebot2/camera_node] Initialized.
    [INFO] [1548533313.942541]: [/duckiebot2/camera_node] Start capturing.
    [INFO] [1548533314.023383]: [/duckiebot2/cam_info_reader_node] ~config = baseline 
    [INFO] [1548533314.043567]: [/duckiebot2/camera_node] Published the first image.
    [INFO] [1548533314.079280]: [/duckiebot2/cam_info_reader_node] ~cali_file_name = duckiebot2 
    [INFO] [1548533314.122602]: [/duckiebot2/cam_info_reader_node] ~image_type = compressed 
    [INFO] [1548533314.138577]: [/duckiebot2/duckiebot_visualizer] Initialzing.
    [INFO] [1548533314.154464]: [/duckiebot2/cam_info_reader_node] Using calibration file: /data/config/calibrations/camera_intrinsic/duckiebot2.yaml
    [INFO] [1548533314.176435]: [/duckiebot2/duckiebot_visualizer] ~veh_name = duckiebot2 
    [INFO] [1548533314.242484]: [/duckiebot2/duckiebot_visualizer] Initialzed.
    [INFO] [1548533314.271685]: [/duckiebot2/cam_info_reader_node] CameraInfo: header: 
      seq: 0
      stamp: 
        secs: 0
        nsecs:         0
      frame_id: "/duckiebot2/camera_optical_frame"
    height: 480
    width: 640
    distortion_model: "plumb_bob"
    D: [-0.2656611457928705, 0.0503147061229875, -0.00017810103535984586, -0.0038414674655902654, 0.0]
    K: [322.76725793967654, 0.0, 311.09984601488344, 0.0, 320.397441492282, 240.50403477963104, 0.0, 0.0, 1.0]
    R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
    P: [221.51451110839844, 0.0, 308.8954407095116, 0.0, 0.0, 259.38458251953125, 240.57561591854028, 0.0, 0.0, 0.0, 1.0, 0.0]
    binning_x: 0
    binning_y: 0
    roi: 
      x_offset: 0
      y_offset: 0
      height: 0
      width: 0
      do_rectify: False
    [WARN] [1548533314.275258]: [/duckiebot2/cam_info_reader_node] ==============CompressedImage
    [ERROR] [1548533315.201612140]: Couldn't open joystick /dev/input/js0. Will retry every second.
    [INFO] [1548533315.748621]: [Stop Line Filter] ~stop_distance = 0.22 
    [INFO] [1548533315.792402]: [Stop Line Filter] ~min_segs = 6 
    [INFO] [1548533315.827264]: [Stop Line Filter] ~off_time = 2 
    /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] [1548533315.873252]: [Stop Line Filter] ~max_y  = 0.2 
    [INFO] [1548533317.594405]: camera info topic is /duckiebot2/camera_node/camera_info
    [INFO] [1548533317.595885]: waiting for camera info
    [INFO] [1548533317.957318]: camera info received
    [INFO] [1548533318.159979]: [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] [1548533318.780874]: [/duckiebot2/joy_mapper_node] Initializing 
    [INFO] [1548533318.821596]: [/duckiebot2/joy_mapper_node] ~speed_gain = 0.41 
    [INFO] [1548533318.866648]: [/duckiebot2/joy_mapper_node] ~steer_gain = 8.3 
    [INFO] [1548533318.940187]: [/duckiebot2/joy_mapper_node] ~bicycle_kinematics = 0.0 
    [INFO] [1548533319.003910]: [/duckiebot2/joy_mapper_node] ~steer_angle_gain = 1.04 
    [INFO] [1548533319.052257]: [/duckiebot2/joy_mapper_node] ~simulated_vehicle_length = 0.18 
    [INFO] [1548533322.922690]: [/duckiebot2/velocity_to_pose_node] Initialized.
    [INFO] [1548533323.192147]: [/duckiebot2/wheels_driver_node] Initializing 
    Instance of simpleColorBalanceClass created.
    [INFO] [1548533323.208851]: [/duckiebot2/wheels_driver_node] ~use_rad_lim = False 
    [INFO] [1548533323.220774]: [LineDetectorNode] Verbose is now False
    [INFO] [1548533323.243173]: [/duckiebot2/wheels_driver_node] ~min_rad = 0.06 
    [INFO] [1548533323.261618]: [/duckiebot2/wheels_driver_node] ~wheel_distance = 0.103 
    [INFO] [1548533323.266949]: [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] [1548533323.284103]: [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] [1548533323.372853]: [LineDetectorNode] Initialized (verbose = False).
    INFO: cannot create a symlink to latest log directory: [Errno 2] No such file or directory: '/root/.ros/log/latest'
    [INFO] [1548533334.720845]: [/duckiebot2/lane_pose_visualizer_node] Initialzing.
    [INFO] [1548533334.725547]: [/duckiebot2/lane_pose_visualizer_node] Vehicle name: duckiebot2
    [INFO] [1548533334.758460]: [/duckiebot2/wheels_driver_node] Shutting down.
    [INFO] [1548533334.822613]: [StopLineFilterNode] Shutdown.
    [INFO] [1548533334.838164]: [/duckiebot2/duckiebot_visualizer] Shutting down.
    [INFO] [1548533334.858810]: [LaneFilterNode] Shutdown.
    [INFO] [1548533335.766923]: [GroundProjectionNode] Shutdown.
    [INFO] [1548533335.791021]: [LineDetectorNode] Shutdown.
    [INFO] [1548533335.829302]: [/duckiebot2/cam_info_reader_node] Shutdown.
    [INFO] [1548533335.890754]: [/duckiebot2/camera_node] Closing camera.
    [INFO] [1548533335.899882]: [/duckiebot2/camera_node] Shutdown.
    [INFO] [1548533336.124391]: [/duckiebot2/camera_node] Capture Ended.
    Traceback (most recent call last):
      File "/home/software/catkin_ws/src/05-teleop/dagu_car/src/forward_kinematics_node.py", line 105, in <module>
    Traceback (most recent call last):
      File "/home/software/catkin_ws/src/05-teleop/dagu_car/src/inverse_kinematics_node.py", line 221, in <module>
            rospy.init_node('inverse_kinematics_node', anonymous=False)
      File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/client.py", line 323, in init_node
    rospy.init_node('forward_kinematics_node', anonymous=False)
      File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/client.py", line 323, in init_node
        raise rospy.exceptions.ROSInitException("init_node interrupted before it could complete")
    rospy.exceptions.ROSInitException: init_node interrupted before it could complete
        raise rospy.exceptions.ROSInitException("init_node interrupted before it could complete")
    rospy.exceptions.ROSInitException: init_node interrupted before it could complete
    Traceback (most recent call last):
      File "/home/software/catkin_ws/src/10-lane-control/lane_filter/src/lane_pose_visualizer_node.py", line 80, in <module>
        node = LanePoseVisualzer()
      File "/home/software/catkin_ws/src/10-lane-control/lane_filter/src/lane_pose_visualizer_node.py", line 25, in __init__
        self.cbLanePose,queue_size=1)
      File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/topics.py", line 577, in __init__
        self.impl.add_callback(callback, callback_args)
      File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/topics.py", line 700, in add_callback
        raise ROSException("subscriber [%s] has been closed"%(self.resolved_name))
    rospy.exceptions.ROSException: subscriber [/duckiebot2/lane_filter_node/lane_pose] has been closed
    [Testcase: testkinematics_test_node] ... ok
    
    [ROSTEST]-----------------------------------------------------------------------
    
    [indefinite_navigation.rosunit-kinematics_test_node/test_drive_forward][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
    #34250
    https://www.duckietown.org/wp-content/uploads/ap_avatars/c203d8a151612acf12457e4d67635a95.jpg
    Kirsten Bowser
    Keymaster

    Hi Dave!
    I’ve poked a few people who can have a look. Someone will get back to you as soon as they can.
    Best,
    Kirsten

    #34299

    thesocialrobot
    Participant

    Thanks Kirsten!

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