Learning High-Speed Flight in the Wild

Robotics and Perception Group

Last update: Dec 29, 2022

Related tags

Deep Learning agile_autonomy

Overview

Learning High-Speed Flight in the Wild

This repo contains the code associated to the paper Learning Agile Flight in the Wild. For more information, please check the project webpage.

Paper, Video, and Datasets

If you use this code in an academic context, please cite the following publication:

Paper: Learning High-Speed Flight in the Wild

Video (Narrated): YouTube

Datasets: Zenodo

Science Paper: DOI

@inproceedings{Loquercio2021Science,
  title={Learning High-Speed Flight in the Wild},
    author={Loquercio, Antonio and Kaufmann, Elia and Ranftl, Ren{\'e} and M{\"u}ller, Matthias and Koltun, Vladlen and Scaramuzza, Davide},
      booktitle={Science Robotics}, 
      year={2021}, 
      month={October}, 
}

Installation

Requirements

The code was tested with Ubuntu 20.04, ROS Noetic, Anaconda v4.8.3., and gcc/g++ 7.5.0. Different OS and ROS versions are possible but not supported.

Before you start, make sure that your compiler versions match gcc/g++ 7.5.0. To do so, use the following commands:

sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-7 100
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-7 100

Step-by-Step Procedure

Use the following commands to create a new catkin workspace and a virtual environment with all the required dependencies.

export ROS_VERSION=noetic
mkdir agile_autonomy_ws
cd agile_autonomy_ws
export CATKIN_WS=./catkin_aa
mkdir -p $CATKIN_WS/src
cd $CATKIN_WS
catkin init
catkin config --extend /opt/ros/$ROS_VERSION
catkin config --merge-devel
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS=-fdiagnostics-color
cd src

git clone [email protected]:uzh-rpg/agile_autonomy.git
vcs-import < agile_autonomy/dependencies.yaml
cd rpg_mpl_ros
git submodule update --init --recursive

#install extra dependencies (might need more depending on your OS)
sudo apt-get install libqglviewer-dev-qt5

# Install external libraries for rpg_flightmare
sudo apt install -y libzmqpp-dev libeigen3-dev libglfw3-dev libglm-dev

# Install dependencies for rpg_flightmare renderer
sudo apt install -y libvulkan1 vulkan-utils gdb

# Add environment variables (Careful! Modify path according to your local setup)
echo 'export RPGQ_PARAM_DIR=/home/
   
   catkin_aa/src/rpg_flightmare' >> ~/.bashrc

Now open a new terminal and type the following commands.

# Build and re-source the workspace
catkin build
. ../devel/setup.bash

# Create your learning environment
roscd planner_learning
conda create --name tf_24 python=3.7
conda activate tf_24
conda install tensorflow-gpu
pip install rospkg==1.2.3,pyquaternion,open3d,opencv-python

Now download the flightmare standalone available at this link, extract it and put in the flightrender folder.

Let's Fly!

Once you have installed the dependencies, you will be able to fly in simulation with our pre-trained checkpoint. You don't need necessarely need a GPU for execution. Note that if the network can't run at least at 15Hz, you won't be able to fly successfully.

Lauch the simulation! Open a terminal and type:

cd agile_autonomy_ws
source catkin_aa/devel/setup.bash
roslaunch agile_autonomy simulation.launch

Run the Network in an other terminal:

cd agile_autonomy_ws
source catkin_aa/devel/setup.bash
conda activate tf_24
python test_trajectories.py --settings_file=config/test_settings.yaml

Change execution speed or environment

You can change the average speed at which the policy will fly as well as the environment type by changing the following files.

Environment Change:

rosed agile_autonomy flightmare.yaml

Set either the spawn_trees or spawn_objects to true. Doing both at the same time is possible but would make the environment too dense for navigation. Also adapt the spacings parameter in test_settings.yaml to the environment.

Speed Change:

rosed agile_autonomy default.yaml

Edit the test_time_velocity and maneuver_velocity to the required speed. Note that the ckpt we provide will work for all speeds in the range [1,10] m/s. However, to reach the best performance at a specific speed, please consider finetuning the ckpt at the desired speed (see code below).

Train your own navigation policy

There are two ways in which you can train your own policy. One easy and one more involved. The trained checkpoint can then be used to control a physical platform (if you have one!).

Use pre-collected dataset

The first method, requiring the least effort, is to use a dataset that we pre-collected. The dataset can be found at this link. This dataset was used to train the model we provide and collected at an average speed of 7 m/s. To do this, adapt the file train_settings.yaml to point to the train and test folder and run:

cd agile_autonomy_ws
source catkin_aa/devel/setup.bash
conda activate tf_24
python train.py --settings_file=config/train_settings.yaml

Feel free to ablate the impact of each parameter!

Collect your own dataset

You can use the following commands to generate data in simulation and train your model on it. Note that training a policy from scratch could require a lot of data, and depending on the speed of your machine this could take several days. Therefore, we always recommend finetuning the provided checkpoint to your use case. As a general rule of thumb, you need a dataset with comparable size to ours to train a policy from scratch, but only 1/10th of it to finetune.

Generate data

To train or finetune a policy, use the following commands: Launch the simulation in one terminal

cd agile_autonomy_ws
source catkin_aa/devel/setup.bash
roslaunch agile_autonomy simulation.launch

Launch data collection (with dagger) in an other terminal

cd agile_autonomy_ws
source catkin_aa/devel/setup.bash
conda activate tf_24
python dagger_training.py --settings_file=config/dagger_settings.yaml

It is possible to change parameters (number of rollouts, dagger constants, tracking a global trajectory, etc. ) in the file dagger_settings.yaml. Keep in mind that if you change the network or input, you will need to adapt the file test_settings.yaml for compatibility.

When training from scratch, follow a pre-computed global trajectory to give consistent labels. To activate this, you need to put to true the flag perform_global_planning in default.yaml and label_generation.yaml. Note that this will make the simulation slower (a global plan has to be computed at each iteration). The network will not have access to this global plan, but only to the straight (possibly in collision) reference.

Visualize the Data

You can visualize the generated trajectories in open3d using the visualize_trajectories.py script.

python visualize_trajectories.py --data_dir /PATH/TO/rollout_21-09-21-xxxx --start_idx 0 --time_steps 100 --pc_cutoff_z 2.0 --max_traj_to_plot 100

The result should more or less look as the following:

Test the Network

To test the network you trained, adapt the test_settings.yaml with the new checkpoint path. You might consider putting back the flag perform_global_planning in default.yaml to false to make the simulation faster. Then follow the instructions in the above section (Let's Fly!) to test.

Ackowledgements

We would like to thank Yunlong Song and Selim Naji for their help with the implementations of the simulation environment. The code for global planning is strongly inspired by the one of Search-based Motion Planning for Aggressive Flight in SE(3).

Comments

error while run python test_trajectories.py
2021-12-14 16:24:17.789855: I tensorflow/stream_executor/platform/default/dso_loader.cc:49] Successfully opened dynamic library libcudart.so.10.1 2021-12-14 16:24:18.717899: I tensorflow/compiler/jit/xla_cpu_device.cc:41] Not creating XLA devices, tf_xla_enable_xla_devices not set 2021-12-14 16:24:18.717983: I tensorflow/stream_executor/platform/default/dso_loader.cc:49] Successfully opened dynamic library libcuda.so.1 2021-12-14 16:24:18.718069: I tensorflow/stream_executor/cuda/cuda_gpu_executor.cc:941] successful NUMA node read from SysFS had negative value (-1), but there must be at least one NUMA node, so returning NUMA node zero 2021-12-14 16:24:18.718719: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1720] Found device 0 with properties: pciBusID: 0000:01:00.0 name: NVIDIA GeForce RTX 3090 computeCapability: 8.6 coreClock: 1.695GHz coreCount: 82 deviceMemorySize: 23.69GiB deviceMemoryBandwidth: 871.81GiB/s 2021-12-14 16:24:18.718752: I tensorflow/stream_executor/platform/default/dso_loader.cc:49] Successfully opened dynamic library libcudart.so.10.1 2021-12-14 16:24:18.719952: I tensorflow/stream_executor/platform/default/dso_loader.cc:49] Successfully opened dynamic library libcublas.so.10 2021-12-14 16:24:18.720016: I tensorflow/stream_executor/platform/default/dso_loader.cc:49] Successfully opened dynamic library libcublasLt.so.10 2021-12-14 16:24:18.721169: I tensorflow/stream_executor/platform/default/dso_loader.cc:49] Successfully opened dynamic library libcufft.so.10 2021-12-14 16:24:18.721397: I tensorflow/stream_executor/platform/default/dso_loader.cc:49] Successfully opened dynamic library libcurand.so.10 2021-12-14 16:24:18.722677: I tensorflow/stream_executor/platform/default/dso_loader.cc:49] Successfully opened dynamic library libcusolver.so.10 2021-12-14 16:24:18.723358: I tensorflow/stream_executor/platform/default/dso_loader.cc:49] Successfully opened dynamic library libcusparse.so.10 2021-12-14 16:24:18.725769: I tensorflow/stream_executor/platform/default/dso_loader.cc:49] Successfully opened dynamic library libcudnn.so.7 2021-12-14 16:24:18.725855: I tensorflow/stream_executor/cuda/cuda_gpu_executor.cc:941] successful NUMA node read from SysFS had negative value (-1), but there must be at least one NUMA node, so returning NUMA node zero 2021-12-14 16:24:18.726511: I tensorflow/stream_executor/cuda/cuda_gpu_executor.cc:941] successful NUMA node read from SysFS had negative value (-1), but there must be at least one NUMA node, so returning NUMA node zero 2021-12-14 16:24:18.727095: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1862] Adding visible gpu devices: 0 2021-12-14 16:24:18.728012: I tensorflow/core/platform/cpu_feature_guard.cc:142] This TensorFlow binary is optimized with oneAPI Deep Neural Network Library (oneDNN) to use the following CPU instructions in performance-critical operations: SSE4.1 SSE4.2 AVX AVX2 FMA To enable them in other operations, rebuild TensorFlow with the appropriate compiler flags. 2021-12-14 16:24:18.728749: I tensorflow/stream_executor/cuda/cuda_gpu_executor.cc:941] successful NUMA node read from SysFS had negative value (-1), but there must be at least one NUMA node, so returning NUMA node zero 2021-12-14 16:24:18.729386: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1720] Found device 0 with properties: pciBusID: 0000:01:00.0 name: NVIDIA GeForce RTX 3090 computeCapability: 8.6 coreClock: 1.695GHz coreCount: 82 deviceMemorySize: 23.69GiB deviceMemoryBandwidth: 871.81GiB/s 2021-12-14 16:24:18.729449: I tensorflow/stream_executor/platform/default/dso_loader.cc:49] Successfully opened dynamic library libcudart.so.10.1 2021-12-14 16:24:18.729514: I tensorflow/stream_executor/platform/default/dso_loader.cc:49] Successfully opened dynamic library libcublas.so.10 2021-12-14 16:24:18.729536: I tensorflow/stream_executor/platform/default/dso_loader.cc:49] Successfully opened dynamic library libcublasLt.so.10 2021-12-14 16:24:18.729555: I tensorflow/stream_executor/platform/default/dso_loader.cc:49] Successfully opened dynamic library libcufft.so.10 2021-12-14 16:24:18.729573: I tensorflow/stream_executor/platform/default/dso_loader.cc:49] Successfully opened dynamic library libcurand.so.10 2021-12-14 16:24:18.729591: I tensorflow/stream_executor/platform/default/dso_loader.cc:49] Successfully opened dynamic library libcusolver.so.10 2021-12-14 16:24:18.729608: I tensorflow/stream_executor/platform/default/dso_loader.cc:49] Successfully opened dynamic library libcusparse.so.10 2021-12-14 16:24:18.729627: I tensorflow/stream_executor/platform/default/dso_loader.cc:49] Successfully opened dynamic library libcudnn.so.7 2021-12-14 16:24:18.729672: I tensorflow/stream_executor/cuda/cuda_gpu_executor.cc:941] successful NUMA node read from SysFS had negative value (-1), but there must be at least one NUMA node, so returning NUMA node zero 2021-12-14 16:24:18.730287: I tensorflow/stream_executor/cuda/cuda_gpu_executor.cc:941] successful NUMA node read from SysFS had negative value (-1), but there must be at least one NUMA node, so returning NUMA node zero 2021-12-14 16:24:18.730868: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1862] Adding visible gpu devices: 0 2021-12-14 16:24:18.730925: I tensorflow/stream_executor/platform/default/dso_loader.cc:49] Successfully opened dynamic library libcudart.so.10.1 2021-12-14 16:30:48.839481: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1261] Device interconnect StreamExecutor with strength 1 edge matrix: 2021-12-14 16:30:48.839510: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1267] 0 2021-12-14 16:30:48.839519: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1280] 0: N 2021-12-14 16:30:48.839654: I tensorflow/stream_executor/cuda/cuda_gpu_executor.cc:941] successful NUMA node read from SysFS had negative value (-1), but there must be at least one NUMA node, so returning NUMA node zero 2021-12-14 16:30:48.840286: I tensorflow/stream_executor/cuda/cuda_gpu_executor.cc:941] successful NUMA node read from SysFS had negative value (-1), but there must be at least one NUMA node, so returning NUMA node zero 2021-12-14 16:30:48.840902: I tensorflow/stream_executor/cuda/cuda_gpu_executor.cc:941] successful NUMA node read from SysFS had negative value (-1), but there must be at least one NUMA node, so returning NUMA node zero 2021-12-14 16:30:48.841501: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1406] Created TensorFlow device (/job:localhost/replica:0/task:0/device:GPU:0 with 21697 MB memory) -> physical GPU (device: 0, name: NVIDIA GeForce RTX 3090, pci bus id: 0000:01:00.0, compute capability: 8.6) 2021-12-14 16:30:48.841690: I tensorflow/compiler/jit/xla_gpu_device.cc:99] Not creating XLA devices, tf_xla_enable_xla_devices not set

Restored from models/ckpt-50

2021-12-14 16:30:49.790317: I tensorflow/compiler/mlir/mlir_graph_optimization_pass.cc:116] None of the MLIR optimization passes are enabled (registered 2) 2021-12-14 16:30:49.825588: I tensorflow/core/platform/profile_utils/cpu_utils.cc:112] CPU Frequency: 3187200000 Hz 2021-12-14 16:30:50.065749: I tensorflow/stream_executor/platform/default/dso_loader.cc:49] Successfully opened dynamic library libcudnn.so.7 2021-12-14 16:41:34.065744: I tensorflow/stream_executor/platform/default/dso_loader.cc:49] Successfully opened dynamic library libcublas.so.10 Net initialized Setting Tree Spacing to 5 Setting Object Spacing to 5

RESET SIMULATION

Unpausing Physics...

Placing quadrotor... success: True status_message: "SetModelState: set model state done" Received call to Clear Buffer and Restart Experiment

/home/pc205/anaconda3/envs/rpg_uav/lib/python3.8/site-packages/tensorflow/python/keras/backend.py:434: UserWarning: tf.keras.backend.set_learning_phase is deprecated and will be removed after 2020-10-11. To update it, simply pass a True/False value to the training argument of the __call__ method of your layer or model. warnings.warn('tf.keras.backend.set_learning_phase is deprecated and ' Resetting experiment

Done Reset Doing experiment 0 Current experiment failed. Will try again

RESET SIMULATION

Unpausing Physics...

Placing quadrotor... success: True status_message: "SetModelState: set model state done" Received call to Clear Buffer and Restart Experiment

Resetting experiment

Done Reset Doing experiment 0 Current experiment failed. Will try again Traceback (most recent call last): File "test_trajectories.py", line 19, in main() File "test_trajectories.py", line 15, in main trainer.perform_testing() File "/home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/planner_learning/dagger_training.py", line 186, in perform_testing sorted(os.listdir(self.settings.expert_folder))[-1]) IndexError: list index out of range --- Logging error --- Traceback (most recent call last): File "/home/pc205/anaconda3/envs/rpg_uav/lib/python3.8/logging/handlers.py", line 69, in emit if self.shouldRollover(record): File "/home/pc205/anaconda3/envs/rpg_uav/lib/python3.8/logging/handlers.py", line 183, in shouldRollover self.stream = self._open() File "/home/pc205/anaconda3/envs/rpg_uav/lib/python3.8/logging/init.py", line 1176, in _open return open(self.baseFilename, self.mode, encoding=self.encoding) NameError: name 'open' is not defined Call stack: File "/home/pc205/anaconda3/envs/rpg_uav/lib/python3.8/site-packages/tensorflow/python/training/tracking/util.py", line 160, in del log_fn("Unresolved object in checkpoint: {}" File "/home/pc205/anaconda3/envs/rpg_uav/lib/python3.8/site-packages/tensorflow/python/platform/tf_logging.py", line 178, in warning get_logger().warning(msg, *args, **kwargs) Message: 'Unresolved object in checkpoint: (root).optimizer.iter' Arguments: ()
opened by Howardcl 10
[ INFO] [1638364145.246536777, 2.618000000]: Unity is ready! [ERROR] [1638364145.596009985, 2.793000000]: no kernel image is available for execution on the device 209

[ INFO] [1638364145.246536777, 2.618000000]: Unity is ready! [ERROR] [1638364145.596009985, 2.793000000]: no kernel image is available for execution on the device 209

Has anyone meet the problem? My environment is RTX3080ti, CUDA11.3. The error happened when I use unity. I don't know the reason. How can I resolve the problem?

opened by calmelo 8
open3d_conversions error when catkin build
[build] Found '71' packages in 0.0 seconds.
[build] Package table is up to date.
Starting >>> catkin_boost_python_buildtool
Starting >>> catkin_simple
Starting >>> decomp_util
Starting >>> mav_msgs
Starting >>> mav_state_machine_msgs
Starting >>> mav_system_msgs
Starting >>> motion_primitive_library
Starting >>> open3d_conversions
Starting >>> rotors_comm
Starting >>> rotors_description
Starting >>> rotors_evaluation
Starting >>> rqt_rotors
Finished <<< mav_state_machine_msgs [ 0.1 seconds ] Finished <<< mav_msgs [ 0.1 seconds ] Starting >>> mav_planning_msgs
Starting >>> rotors_control
Starting >>> rotors_hil_interface
Starting >>> rotors_joy_interface
Finished <<< rotors_evaluation [ 0.1 seconds ] Finished <<< catkin_boost_python_buildtool [ 0.0 seconds ] Finished <<< mav_system_msgs [ 0.1 seconds ] Finished <<< rqt_rotors [ 0.1 seconds ] Finished <<< catkin_simple [ 0.1 seconds ] Starting >>> assimp_catkin
Starting >>> catkin_boost_python_buildtool_test
Starting >>> decomp_ros_msgs
Starting >>> eigen_catkin
Starting >>> flightrender
Starting >>> gflags_catkin
Starting >>> minimum_jerk_trajectories
Starting >>> planning_ros_msgs
Starting >>> quad_launch_files
Starting >>> quadrotor_msgs
Starting >>> rpg_single_board_io
Starting >>> rpgq_msgs
Finished <<< rotors_comm [ 0.1 seconds ] Finished <<< rotors_description [ 0.1 seconds ] Finished <<< rotors_control [ 0.1 seconds ] Finished <<< rotors_hil_interface [ 0.1 seconds ] Starting >>> rotors_gazebo_plugins
Finished <<< mav_planning_msgs [ 0.1 seconds ] Starting >>> mav_comm
Finished <<< rotors_joy_interface [ 0.1 seconds ] Finished <<< decomp_ros_msgs [ 0.1 seconds ] Finished <<< quad_launch_files [ 0.1 seconds ] Finished <<< gflags_catkin [ 0.1 seconds ] Starting >>> glog_catkin

Warnings << open3d_conversions:check /home/pc205/agile_autonomy_ws/catkin_aa/logs/open3d_conversions/build.check.022.log Searching open3D in /usr/local/bin/cmake/ Found OpenMP TRUE 0.9.0.0 OpenMP::OpenMP_CXX Found Open3D 0.9.0.0 cd /home/pc205/agile_autonomy_ws/catkin_aa/build/open3d_conversions; catkin build --get-env open3d_conversions | catkin env -si /usr/bin/make cmake_check_build_system; cd -

............................................................................... Finished <<< open3d_conversions [ 0.5 seconds ] Finished <<< eigen_catkin [ 0.1 seconds ] Starting >>> numpy_eigen
Finished <<< catkin_boost_python_buildtool_test [ 0.1 seconds ] Finished <<< rpgq_msgs [ 0.1 seconds ] Starting >>> rpgq_common
Finished <<< planning_ros_msgs [ 0.1 seconds ] Finished <<< rpg_single_board_io [ 0.1 seconds ] Finished <<< assimp_catkin [ 0.1 seconds ] Finished <<< minimum_jerk_trajectories [ 0.1 seconds ] Finished <<< flightrender [ 0.1 seconds ] Finished <<< quadrotor_msgs [ 0.1 seconds ] Starting >>> agile_autonomy_msgs
Starting >>> quadrotor_common
Starting >>> rqt_quad_gui
Starting >>> vbat_thrust_calibration
Finished <<< motion_primitive_library [ 0.2 seconds ] Starting >>> planning_ros_utils
Finished <<< decomp_util [ 0.1 seconds ] Starting >>> decomp_ros_utils
Starting >>> mpl_external_planner
Finished <<< mav_comm [ 0.1 seconds ] Finished <<< rotors_gazebo_plugins [ 0.2 seconds ] Starting >>> rotors_gazebo
Finished <<< glog_catkin [ 0.1 seconds ] Starting >>> eigen_checks
Finished <<< numpy_eigen [ 0.1 seconds ] Finished <<< rpgq_common [ 0.1 seconds ] Starting >>> rpgq_command_bridge
Starting >>> rpgq_components
Finished <<< quadrotor_common [ 0.1 seconds ] Starting >>> polynomial_trajectories
Starting >>> position_controller
Starting >>> sbus_bridge
Starting >>> state_predictor
Starting >>> trajectory_visualizer
Finished <<< vbat_thrust_calibration [ 0.1 seconds ] Finished <<< agile_autonomy_msgs [ 0.1 seconds ] Finished <<< rqt_quad_gui [ 0.1 seconds ] Finished <<< planning_ros_utils [ 0.1 seconds ] Finished <<< decomp_ros_utils [ 0.1 seconds ] Starting >>> decomp_test_node
Finished <<< mpl_external_planner [ 0.1 seconds ] Finished <<< rotors_gazebo [ 0.1 seconds ] Starting >>> rotors_simulator
Finished <<< eigen_checks [ 0.1 seconds ] Starting >>> minkindr
Finished <<< rpgq_components [ 0.1 seconds ] Finished <<< rpgq_command_bridge [ 0.1 seconds ] Starting >>> rpgq_simulator
Finished <<< polynomial_trajectories [ 0.1 seconds ] Finished <<< position_controller [ 0.1 seconds ] Finished <<< trajectory_visualizer [ 0.1 seconds ] Finished <<< sbus_bridge [ 0.1 seconds ] Starting >>> manual_flight_assistant
Finished <<< state_predictor [ 0.1 seconds ] Finished <<< decomp_test_node [ 0.1 seconds ] Finished <<< rotors_simulator [ 0.1 seconds ] Finished <<< minkindr [ 0.1 seconds ] Starting >>> minkindr_conversions
Starting >>> minkindr_python
Starting >>> rpg_common
Finished <<< rpgq_simulator [ 0.1 seconds ] Starting >>> example_pcd
Starting >>> example_vision
Starting >>> example_vison
Finished <<< manual_flight_assistant [ 0.1 seconds ] Finished <<< rpg_common [ 0.1 seconds ] Starting >>> rpg_rotors_interface
Starting >>> trajectory_generation_helper
Finished <<< minkindr_conversions [ 0.1 seconds ] Finished <<< minkindr_python [ 0.1 seconds ] Finished <<< example_vison [ 0.1 seconds ] Finished <<< example_vision [ 0.1 seconds ] Finished <<< example_pcd [ 0.1 seconds ] Finished <<< trajectory_generation_helper [ 0.1 seconds ] Starting >>> autopilot
Finished <<< rpg_rotors_interface [ 0.1 seconds ] Finished <<< autopilot [ 0.1 seconds ] Starting >>> agile_autonomy_utils
Starting >>> example_control
Starting >>> planner_learning
Starting >>> rpg_mpc
Starting >>> rpg_quadrotor_integration_test
Finished <<< rpg_quadrotor_integration_test [ 0.1 seconds ] Finished <<< rpg_mpc [ 0.1 seconds ] Finished <<< example_control [ 0.1 seconds ] Finished <<< agile_autonomy_utils [ 0.1 seconds ] Starting >>> mpl_test_node
Starting >>> agile_autonomy
Starting >>> traj_sampler
Finished <<< planner_learning [ 0.1 seconds ] Finished <<< agile_autonomy [ 0.1 seconds ] Finished <<< traj_sampler [ 0.1 seconds ]

Errors << mpl_test_node:cmake /home/pc205/agile_autonomy_ws/catkin_aa/logs/mpl_test_node/build.cmake.013.log CMake Warning (dev) at CMakeLists.txt:2 (project): Policy CMP0048 is not set: project() command manages VERSION variables. Run "cmake --help-policy CMP0048" for policy details. Use the cmake_policy command to set the policy and suppress this warning.

The following variable(s) would be set to empty:

CMAKE_PROJECT_VERSION CMAKE_PROJECT_VERSION_MAJOR CMAKE_PROJECT_VERSION_MINOR CMAKE_PROJECT_VERSION_PATCH

This warning is for project developers. Use -Wno-dev to suppress it.

CMake Error at /home/pc205/agile_autonomy_ws/catkin_aa/devel/share/open3d_conversions/cmake/open3d_conversionsConfig.cmake:173 (message): Project 'mpl_test_node' tried to find library 'Open3D'. The library is neither a target nor built/installed properly. Did you compile project 'open3d_conversions'? Did you find_package() it before the subdirectory containing its code is included? Call Stack (most recent call first): CMakeLists.txt:27 (find_package)

cd /home/pc205/agile_autonomy_ws/catkin_aa/build/mpl_test_node; catkin build --get-env mpl_test_node | catkin env -si /usr/bin/cmake /home/pc205/agile_autonomy_ws/catkin_aa/src/rpg_mpl_ros/mpl_test_node --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/pc205/agile_autonomy_ws/catkin_aa/devel -DCMAKE_INSTALL_PREFIX=/home/pc205/agile_autonomy_ws/catkin_aa/install -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS=-fdiagnostics-color -DPYTHON_EXECUTABLE:FILEPATH=/usr/bin/python3; cd -

............................................................................... Failed << mpl_test_node:cmake [ Exited with code 1 ] Failed <<< mpl_test_node [ 0.4 seconds ] [build] Summary: 70 of 71 packages succeeded.
[build] Ignored: None.
[build] Warnings: 1 packages succeeded with warnings.
[build] Abandoned: None.
[build] Failed: 1 packages failed.
[build] Runtime: 4.2 seconds total.
opened by Howardcl 6

link error with generate_labels in traj_sampler

Hi, I'm trying to build this project in docker with ubuntu 20.04, gcc/g++7.5 installed. I struggle to build this project a lot, but still I failed to build generate_labels node in traj_sampler pkg. Below is the error I got:

root@tw:~/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/traj_sampler# catkin build traj_sampler 
---------------------------------------------------------------------------------------------
Profile:                     default
Extending:          [cached] /opt/ros/noetic
Workspace:                   /root/agile_autonomy_ws/catkin_aa
---------------------------------------------------------------------------------------------
Build Space:        [exists] /root/agile_autonomy_ws/catkin_aa/build
Devel Space:        [exists] /root/agile_autonomy_ws/catkin_aa/devel
Install Space:      [unused] /root/agile_autonomy_ws/catkin_aa/install
Log Space:          [exists] /root/agile_autonomy_ws/catkin_aa/logs
Source Space:       [exists] /root/agile_autonomy_ws/catkin_aa/src
DESTDIR:            [unused] None
---------------------------------------------------------------------------------------------
Devel Space Layout:          merged
Install Space Layout:        None
---------------------------------------------------------------------------------------------
Additional CMake Args:       -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS=-fdiagnostics-color
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
---------------------------------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
---------------------------------------------------------------------------------------------
Workspace configuration appears valid.
---------------------------------------------------------------------------------------------
[build] Found '70' packages in 0.0 seconds.                                                             
[build] Package table is up to date.                                                                    
Starting  >>> catkin_simple                                                                             
Finished  <<< catkin_simple                               [ 0.1 seconds ]                               
Starting  >>> eigen_catkin                                                                              
Starting  >>> gflags_catkin                                                                             
Starting  >>> minimum_jerk_trajectories                                                                 
Starting  >>> quadrotor_msgs                                                                            
Finished  <<< minimum_jerk_trajectories                   [ 0.1 seconds ]                               
Finished  <<< gflags_catkin                               [ 0.1 seconds ]                               
Starting  >>> glog_catkin                                                                               
Finished  <<< eigen_catkin                                [ 0.1 seconds ]                               
Finished  <<< quadrotor_msgs                              [ 0.1 seconds ]                               
Starting  >>> quadrotor_common                                                                          
Finished  <<< glog_catkin                                 [ 0.1 seconds ]                               
Starting  >>> eigen_checks                                                                              
Finished  <<< quadrotor_common                            [ 0.1 seconds ]                               
Starting  >>> polynomial_trajectories                                                                   
Starting  >>> position_controller                                                                       
Starting  >>> state_predictor                                                                           
Finished  <<< eigen_checks                                [ 0.1 seconds ]                               
Starting  >>> minkindr                                                                                  
Finished  <<< polynomial_trajectories                     [ 0.1 seconds ]                               
Finished  <<< state_predictor                             [ 0.1 seconds ]                               
Finished  <<< position_controller                         [ 0.1 seconds ]                               
Finished  <<< minkindr                                    [ 0.1 seconds ]                               
Starting  >>> rpg_common                                                                                
Finished  <<< rpg_common                                  [ 0.1 seconds ]                               
Starting  >>> trajectory_generation_helper                                                              
Finished  <<< trajectory_generation_helper                [ 0.1 seconds ]                               
Starting  >>> autopilot                                                                                 
Finished  <<< autopilot                                   [ 0.1 seconds ]                               
Starting  >>> agile_autonomy_utils                                                                      
Starting  >>> rpg_mpc                                                                                   
Finished  <<< rpg_mpc                                     [ 0.2 seconds ]                               
Finished  <<< agile_autonomy_utils                        [ 0.1 seconds ]                               
Starting  >>> traj_sampler                                                                              
________________________________________________________________________________________________________
Warnings   << traj_sampler:check /root/agile_autonomy_ws/catkin_aa/logs/traj_sampler/build.check.014.log
CMake Warning (dev) at CMakeLists.txt:1 (project):
  Policy CMP0048 is not set: project() command manages VERSION variables.
  Run "cmake --help-policy CMP0048" for policy details.  Use the cmake_policy
  command to set the policy and suppress this warning.

  The following variable(s) would be set to empty:

    CMAKE_PROJECT_VERSION
    CMAKE_PROJECT_VERSION_MAJOR
    CMAKE_PROJECT_VERSION_MINOR
    CMAKE_PROJECT_VERSION_PATCH
This warning is for project developers.  Use -Wno-dev to suppress it.

Detected cmake version 3.22.0-rc2
CMake Deprecation Warning at /usr/src/googletest/CMakeLists.txt:4 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.


CMake Deprecation Warning at /usr/src/googletest/googlemock/CMakeLists.txt:45 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.


CMake Deprecation Warning at /usr/src/googletest/googletest/CMakeLists.txt:56 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.


Searching open3D in /usr/local/lib/cmake/
CMake Deprecation Warning at /root/lib/Open3D/lib/cmake/Open3D/Open3DConfig.cmake:18 (cmake_policy):
  The OLD behavior for policy CMP0072 will be removed from a future version
  of CMake.

  The cmake-policies(7) manual explains that the OLD behaviors of all
  policies are deprecated and that a policy should be set to OLD only under
  specific short-term circumstances.  Projects should be ported to the NEW
  behavior and not rely on setting a policy to OLD.
Call Stack (most recent call first):
  CMakeLists.txt:12 (find_package)


Found OpenMP TRUE   4 0.13.0 OpenMP::OpenMP_CXX
Found Open3D 0.13.0
cd /root/agile_autonomy_ws/catkin_aa/build/traj_sampler; catkin build --get-env traj_sampler | catkin env -si  /usr/bin/make cmake_check_build_system; cd -

........................................................................................................
________________________________________________________________________________________________________
Errors     << traj_sampler:make /root/agile_autonomy_ws/catkin_aa/logs/traj_sampler/build.make.012.log  
/usr/bin/ld: CMakeFiles/generate_label.dir/src/generate_label.cpp.o: in function `generate_label::GenerateLabel::completedThreadCallback(boost::shared_ptr<std_msgs::Int8_<std::allocator<void> > const> const&)':
generate_label.cpp:(.text+0x449): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: CMakeFiles/generate_label.dir/src/generate_label.cpp.o: in function `generate_label::GenerateLabel::loadParameters()':
generate_label.cpp:(.text+0x51c): undefined reference to `ros::NodeHandle::getParam(std::string const&, std::string&) const'
/usr/bin/ld: generate_label.cpp:(.text+0x5d8): undefined reference to `ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&)'
/usr/bin/ld: generate_label.cpp:(.text+0x6cf): undefined reference to `ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&)'
/usr/bin/ld: generate_label.cpp:(.text+0x7ae): undefined reference to `ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&)'
/usr/bin/ld: generate_label.cpp:(.text+0x89d): undefined reference to `ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&)'
/usr/bin/ld: generate_label.cpp:(.text+0x990): undefined reference to `ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&)'
/usr/bin/ld: CMakeFiles/generate_label.dir/src/generate_label.cpp.o:generate_label.cpp:(.text+0xa83): more undefined references to `ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&)' follow
/usr/bin/ld: CMakeFiles/generate_label.dir/src/generate_label.cpp.o: in function `generate_label::GenerateLabel::loadParameters()':
generate_label.cpp:(.text+0x157d): undefined reference to `ros::NodeHandle::getParam(std::string const&, int&) const'
/usr/bin/ld: generate_label.cpp:(.text+0x15c9): undefined reference to `ros::NodeHandle::getParam(std::string const&, int&) const'
/usr/bin/ld: generate_label.cpp:(.text+0x164a): undefined reference to `ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&)'
/usr/bin/ld: generate_label.cpp:(.text+0x172e): undefined reference to `ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&)'
/usr/bin/ld: generate_label.cpp:(.text+0x180f): undefined reference to `ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&)'
/usr/bin/ld: generate_label.cpp:(.text+0x18f3): undefined reference to `ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&)'
/usr/bin/ld: CMakeFiles/generate_label.dir/src/generate_label.cpp.o: in function `computeReferenceTrajectoryPosBased(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, quadrotor_common::Trajectory const&, double, quadrotor_common::Trajectory*, int*)':
generate_label.cpp:(.text+0x2e25): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: CMakeFiles/generate_label.dir/src/generate_label.cpp.o: in function `generate_label::GenerateLabel::GenerateLabel(ros::NodeHandle const&, ros::NodeHandle const&)':
generate_label.cpp:(.text+0x5294): undefined reference to `ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&)'
/usr/bin/ld: generate_label.cpp:(.text+0x530d): undefined reference to `ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&)'
/usr/bin/ld: generate_label.cpp:(.text+0x532a): undefined reference to `rpg_mpc::MpcController<double>::MpcController(ros::NodeHandle const&, ros::NodeHandle const&, std::string const&)'
/usr/bin/ld: generate_label.cpp:(.text+0x608a): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: generate_label.cpp:(.text+0x60d9): undefined reference to `ros::this_node::getName()'
/usr/bin/ld: CMakeFiles/generate_label.dir/src/generate_label.cpp.o: in function `generate_label::GenerateLabel::generateInitialGuesses(boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const> const&)':
generate_label.cpp:(.text+0x8ac9): undefined reference to `logging::Logging::save_rollout_to_csv(std::vector<TrajectoryExt, std::allocator<TrajectoryExt> > const&, int, int, double, std::string, std::string, std::string, std::string, bool)'
/usr/bin/ld: generate_label.cpp:(.text+0x90b3): undefined reference to `logging::Logging::save_rollout_to_csv(std::vector<TrajectoryExt, std::allocator<TrajectoryExt> > const&, int, int, double, std::string, std::string, std::string, std::string, bool)'
/usr/bin/ld: generate_label.cpp:(.text+0x986c): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: CMakeFiles/generate_label.dir/src/generate_label.cpp.o: in function `generate_label::GenerateLabel::generateLabelCallback(boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const> const&)':
generate_label.cpp:(.text+0xb58c): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: generate_label.cpp:(.text+0xb827): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: CMakeFiles/generate_label.dir/src/generate_label.cpp.o: in function `bool quadrotor_common::getParam<int>(std::string const&, int&, int const&, ros::NodeHandle const&)':
generate_label.cpp:(.text._ZN16quadrotor_common8getParamIiEEbRKSsRT_RKS3_RKN3ros10NodeHandleE[_ZN16quadrotor_common8getParamIiEEbRKSsRT_RKS3_RKN3ros10NodeHandleE]+0x37): undefined reference to `ros::NodeHandle::getParam(std::string const&, int&) const'
/usr/bin/ld: generate_label.cpp:(.text._ZN16quadrotor_common8getParamIiEEbRKSsRT_RKS3_RKN3ros10NodeHandleE[_ZN16quadrotor_common8getParamIiEEbRKSsRT_RKS3_RKN3ros10NodeHandleE]+0x1c2): undefined reference to `ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits<char>, std::allocator<char> > const&, char const*, int, char const*)'
/usr/bin/ld: generate_label.cpp:(.text._ZN16quadrotor_common8getParamIiEEbRKSsRT_RKS3_RKN3ros10NodeHandleE[_ZN16quadrotor_common8getParamIiEEbRKSsRT_RKS3_RKN3ros10NodeHandleE]+0x215): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: generate_label.cpp:(.text._ZN16quadrotor_common8getParamIiEEbRKSsRT_RKS3_RKN3ros10NodeHandleE[_ZN16quadrotor_common8getParamIiEEbRKSsRT_RKS3_RKN3ros10NodeHandleE]+0x333): undefined reference to `ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits<char>, std::allocator<char> > const&, char const*, int, char const*)'
/usr/bin/ld: generate_label.cpp:(.text._ZN16quadrotor_common8getParamIiEEbRKSsRT_RKS3_RKN3ros10NodeHandleE[_ZN16quadrotor_common8getParamIiEEbRKSsRT_RKS3_RKN3ros10NodeHandleE]+0x37d): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: CMakeFiles/generate_label.dir/src/generate_label.cpp.o: in function `bool quadrotor_common::getParam<double>(std::string const&, double&, double const&, ros::NodeHandle const&)':
generate_label.cpp:(.text._ZN16quadrotor_common8getParamIdEEbRKSsRT_RKS3_RKN3ros10NodeHandleE[_ZN16quadrotor_common8getParamIdEEbRKSsRT_RKS3_RKN3ros10NodeHandleE]+0x37): undefined reference to `ros::NodeHandle::getParam(std::string const&, double&) const'
/usr/bin/ld: generate_label.cpp:(.text._ZN16quadrotor_common8getParamIdEEbRKSsRT_RKS3_RKN3ros10NodeHandleE[_ZN16quadrotor_common8getParamIdEEbRKSsRT_RKS3_RKN3ros10NodeHandleE]+0x1c8): undefined reference to `ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits<char>, std::allocator<char> > const&, char const*, int, char const*)'
/usr/bin/ld: generate_label.cpp:(.text._ZN16quadrotor_common8getParamIdEEbRKSsRT_RKS3_RKN3ros10NodeHandleE[_ZN16quadrotor_common8getParamIdEEbRKSsRT_RKS3_RKN3ros10NodeHandleE]+0x21d): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: generate_label.cpp:(.text._ZN16quadrotor_common8getParamIdEEbRKSsRT_RKS3_RKN3ros10NodeHandleE[_ZN16quadrotor_common8getParamIdEEbRKSsRT_RKS3_RKN3ros10NodeHandleE]+0x345): undefined reference to `ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits<char>, std::allocator<char> > const&, char const*, int, char const*)'
/usr/bin/ld: generate_label.cpp:(.text._ZN16quadrotor_common8getParamIdEEbRKSsRT_RKS3_RKN3ros10NodeHandleE[_ZN16quadrotor_common8getParamIdEEbRKSsRT_RKS3_RKN3ros10NodeHandleE]+0x38d): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: CMakeFiles/generate_label.dir/src/generate_label.cpp.o: in function `bool quadrotor_common::getParam<bool>(std::string const&, bool&, bool const&, ros::NodeHandle const&)':
generate_label.cpp:(.text._ZN16quadrotor_common8getParamIbEEbRKSsRT_RKS3_RKN3ros10NodeHandleE[_ZN16quadrotor_common8getParamIbEEbRKSsRT_RKS3_RKN3ros10NodeHandleE]+0x37): undefined reference to `ros::NodeHandle::getParam(std::string const&, bool&) const'
/usr/bin/ld: generate_label.cpp:(.text._ZN16quadrotor_common8getParamIbEEbRKSsRT_RKS3_RKN3ros10NodeHandleE[_ZN16quadrotor_common8getParamIbEEbRKSsRT_RKS3_RKN3ros10NodeHandleE]+0x1c4): undefined reference to `ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits<char>, std::allocator<char> > const&, char const*, int, char const*)'
/usr/bin/ld: generate_label.cpp:(.text._ZN16quadrotor_common8getParamIbEEbRKSsRT_RKS3_RKN3ros10NodeHandleE[_ZN16quadrotor_common8getParamIbEEbRKSsRT_RKS3_RKN3ros10NodeHandleE]+0x21d): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: generate_label.cpp:(.text._ZN16quadrotor_common8getParamIbEEbRKSsRT_RKS3_RKN3ros10NodeHandleE[_ZN16quadrotor_common8getParamIbEEbRKSsRT_RKS3_RKN3ros10NodeHandleE]+0x344): undefined reference to `ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits<char>, std::allocator<char> > const&, char const*, int, char const*)'
/usr/bin/ld: generate_label.cpp:(.text._ZN16quadrotor_common8getParamIbEEbRKSsRT_RKS3_RKN3ros10NodeHandleE[_ZN16quadrotor_common8getParamIbEEbRKSsRT_RKS3_RKN3ros10NodeHandleE]+0x38d): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: CMakeFiles/generate_label.dir/src/generate_label.cpp.o: in function `void ros::Publisher::publish<std_msgs::Bool_<std::allocator<void> > >(std_msgs::Bool_<std::allocator<void> > const&) const':
generate_label.cpp:(.text._ZNK3ros9Publisher7publishIN8std_msgs5Bool_ISaIvEEEEEvRKT_[_ZNK3ros9Publisher7publishIN8std_msgs5Bool_ISaIvEEEEEvRKT_]+0x2ca): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: CMakeFiles/generate_label.dir/src/generate_label.cpp.o: in function `void ros::Publisher::publish<std_msgs::Int8_<std::allocator<void> > >(std_msgs::Int8_<std::allocator<void> > const&) const':
generate_label.cpp:(.text._ZNK3ros9Publisher7publishIN8std_msgs5Int8_ISaIvEEEEEvRKT_[_ZNK3ros9Publisher7publishIN8std_msgs5Int8_ISaIvEEEEEvRKT_]+0x2ca): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: CMakeFiles/generate_label.dir/src/generate_label.cpp.o: in function `generate_label::GenerateLabel::GenerateLabel()':
generate_label.cpp:(.text._ZN14generate_label13GenerateLabelC2Ev[_ZN14generate_label13GenerateLabelC5Ev]+0x86): undefined reference to `ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&)'
/usr/bin/ld: generate_label.cpp:(.text._ZN14generate_label13GenerateLabelC2Ev[_ZN14generate_label13GenerateLabelC5Ev]+0xe1): undefined reference to `ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&)'
/usr/bin/ld: CMakeFiles/generate_label.dir/src/generate_label.cpp.o: in function `main':
generate_label.cpp:(.text.startup+0x4a): undefined reference to `ros::init(int&, char**, std::string const&, unsigned int)'
/usr/bin/ld: CMakeFiles/generate_label.dir/src/generate_label.cpp.o: in function `ros::SubscriptionCallbackHelperT<boost::shared_ptr<std_msgs::Int8_<std::allocator<void> > const> const&, void>::deserialize(ros::SubscriptionCallbackHelperDeserializeParams const&)':
generate_label.cpp:(.text._ZN3ros27SubscriptionCallbackHelperTIRKN5boost10shared_ptrIKN8std_msgs5Int8_ISaIvEEEEEvE11deserializeERKNS_43SubscriptionCallbackHelperDeserializeParamsE[_ZN3ros27SubscriptionCallbackHelperTIRKN5boost10shared_ptrIKN8std_msgs5Int8_ISaIvEEEEEvE11deserializeERKNS_43SubscriptionCallbackHelperDeserializeParamsE]+0x257): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: CMakeFiles/generate_label.dir/src/generate_label.cpp.o: in function `ros::SubscriptionCallbackHelperT<boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const> const&, void>::deserialize(ros::SubscriptionCallbackHelperDeserializeParams const&)':
generate_label.cpp:(.text._ZN3ros27SubscriptionCallbackHelperTIRKN5boost10shared_ptrIKN8std_msgs5Bool_ISaIvEEEEEvE11deserializeERKNS_43SubscriptionCallbackHelperDeserializeParamsE[_ZN3ros27SubscriptionCallbackHelperTIRKN5boost10shared_ptrIKN8std_msgs5Bool_ISaIvEEEEEvE11deserializeERKNS_43SubscriptionCallbackHelperDeserializeParamsE]+0x257): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: /root/agile_autonomy_ws/catkin_aa/devel/lib/libtraj_sampler.so: undefined reference to `google::base::CheckOpMessageBuilder::NewString()'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/generate_label.dir/build.make:410: /root/agile_autonomy_ws/catkin_aa/devel/lib/traj_sampler/generate_label] Error 1
make[1]: *** [CMakeFiles/Makefile2:1730: CMakeFiles/generate_label.dir/all] Error 2
make: *** [Makefile:146: all] Error 2
cd /root/agile_autonomy_ws/catkin_aa/build/traj_sampler; catkin build --get-env traj_sampler | catkin env -si  /usr/bin/make --jobserver-auth=3,4; cd -

........................................................................................................
Failed     << traj_sampler:make                           [ Exited with code 2 ]                        
Failed    <<< traj_sampler                                [ 1.4 seconds ]                               
[build] Summary: 17 of 18 packages succeeded.                                                           
[build]   Ignored:   52 packages were skipped or are blacklisted.                                       
[build]   Warnings:  1 packages succeeded with warnings.                                                
[build]   Abandoned: None.                                                                              
[build]   Failed:    1 packages failed.                                                                 
[build] Runtime: 2.8 seconds total.                                                                     
root@tw:~/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/traj_sampler#

I checked or tried below

I checked gcc/g++ version, which were 7.5 each.
I checked ${catkin_LIBRARIES} variable in CMakeLists.txt, and confirmed if necessary library(libroscpp.so) is included.
I tried not using catkin_simple and tried ordinary CMakelists.txt format

Did anyone give me hinks about this?

Thanks in advance.

opened by WhiteCri 6

Error while 'catkin build'

Environment: ubuntu 18.04, ROS Melodic, cmake version 3.22.1, gcc/g++7.5. open3d v0.14 installed.

The following errors occurred when I tried catkin build step.

I have tried to set set(CMAKE_CXX_FLAGS "-std=c++14 ") in CMakeList.txt, but it didn't work for that error.

Thanks for any helps!

Errors     << mpl_test_node:make /home/rui/agile_autonomy_ws/catkin_aa/logs/mpl_test_node/build.make.001.log
In file included from /usr/local/include/open3d/geometry/PointCloud.h:36:0,
                 from /home/rui/agile_autonomy_ws/catkin_aa/src/rpg_mpl_ros/mpl_external_planner/include/mpl_external_planner/ellipsoid_planner/ellipsoid_util.h:11,
                 from /home/rui/agile_autonomy_ws/catkin_aa/src/rpg_mpl_ros/mpl_external_planner/include/mpl_external_planner/ellipsoid_planner/env_cloud.h:8,
                 from /home/rui/agile_autonomy_ws/catkin_aa/src/rpg_mpl_ros/mpl_external_planner/include/mpl_external_planner/ellipsoid_planner/ellipsoid_planner.h:9,
                 from /home/rui/agile_autonomy_ws/catkin_aa/src/rpg_mpl_ros/mpl_test_node/src/ellipsoid_planner_node.cpp:3:
/usr/local/include/open3d/utility/Optional.h:308:18: error: ‘constexpr T& open3d::utility::optional<T>::contained_val() const &’ cannot be overloaded
     constexpr T& contained_val() & { return OptionalBase<T>::storage_.value_; }
                  ^~~~~~~~~~~~~
/usr/local/include/open3d/utility/Optional.h:302:24: error: with ‘constexpr const T& open3d::utility::optional<T>::contained_val() const &’
     constexpr const T& contained_val() const& {
                        ^~~~~~~~~~~~~
/usr/local/include/open3d/utility/Optional.h:478:36: error: ‘constexpr T* open3d::utility::optional<T>::operator->() const’ cannot be overloaded
     TR2_OPTIONAL_HOST_CONSTEXPR T* operator->() {
                                    ^~~~~~~~
/usr/local/include/open3d/utility/Optional.h:474:42: error: with ‘constexpr const T* open3d::utility::optional<T>::operator->() const’
     TR2_OPTIONAL_HOST_CONSTEXPR T const* operator->() const {
                                          ^~~~~~~~
/usr/local/include/open3d/utility/Optional.h:487:36: error: ‘constexpr T& open3d::utility::optional<T>::operator*() const &’ cannot be overloaded
     TR2_OPTIONAL_HOST_CONSTEXPR T& operator*() & {
                                    ^~~~~~~~
/usr/local/include/open3d/utility/Optional.h:483:42: error: with ‘constexpr const T& open3d::utility::optional<T>::operator*() const &’
     TR2_OPTIONAL_HOST_CONSTEXPR T const& operator*() const& {
                                          ^~~~~~~~
/usr/local/include/open3d/utility/Optional.h:504:36: error: ‘constexpr T& open3d::utility::optional<T>::value() const &’ cannot be overloaded
     TR2_OPTIONAL_HOST_CONSTEXPR T& value() & {
                                    ^~~~~
/usr/local/include/open3d/utility/Optional.h:497:42: error: with ‘constexpr const T& open3d::utility::optional<T>::value() const &’
     TR2_OPTIONAL_HOST_CONSTEXPR T const& value() const& {
                                          ^~~~~
In file included from /usr/local/include/open3d/core/Tensor.h:42:0,
                 from /usr/local/include/open3d/core/EigenConverter.h:34,
                 from /usr/local/include/open3d/Open3D.h:38,
                 from /home/rui/agile_autonomy_ws/catkin_aa/src/rpg_mpl_ros/open3d_conversions/include/open3d_conversions/open3d_conversions.h:19,
                 from /home/rui/agile_autonomy_ws/catkin_aa/src/rpg_mpl_ros/mpl_test_node/src/ellipsoid_planner_node.cpp:19:
/usr/local/include/open3d/core/TensorInit.h:95:49: error: ‘std::index_sequence’ has not been declared
 SizeVector InitializerShape(const L& list, std::index_sequence<D...>) {
                                                 ^~~~~~~~~~~~~~
/usr/local/include/open3d/core/TensorInit.h:95:63: error: expected ‘,’ or ‘...’ before ‘<’ token
 SizeVector InitializerShape(const L& list, std::index_sequence<D...>) {
                                                               ^
/usr/local/include/open3d/core/TensorInit.h: In function ‘open3d::core::SizeVector open3d::core::tensor_init::InferShape(const L&)’:
/usr/local/include/open3d/core/TensorInit.h:103:24: error: ‘make_index_sequence’ is not a member of ‘std’
             list, std::make_index_sequence<InitializerDim<L>::value>());
                        ^~~~~~~~~~~~~~~~~~~
/usr/local/include/open3d/core/TensorInit.h:103:24: note: suggested alternative:
In file included from /usr/local/include/open3d/utility/Logging.h:47:0,
                 from /usr/local/include/open3d/core/Device.h:32,
                 from /usr/local/include/open3d/core/Blob.h:33,
                 from /usr/local/include/open3d/Open3D.h:34,
                 from /home/rui/agile_autonomy_ws/catkin_aa/src/rpg_mpl_ros/open3d_conversions/include/open3d_conversions/open3d_conversions.h:19,
                 from /home/rui/agile_autonomy_ws/catkin_aa/src/rpg_mpl_ros/mpl_test_node/src/ellipsoid_planner_node.cpp:19:
/usr/local/include/open3d/3rdparty/fmt/ranges.h:141:66: note:   ‘fmt::v6::internal::make_index_sequence’
 using make_index_sequence = make_integer_sequence<std::size_t, N>;
                                                                  ^
In file included from /usr/local/include/open3d/core/Tensor.h:42:0,
                 from /usr/local/include/open3d/core/EigenConverter.h:34,
                 from /usr/local/include/open3d/Open3D.h:38,
                 from /home/rui/agile_autonomy_ws/catkin_aa/src/rpg_mpl_ros/open3d_conversions/include/open3d_conversions/open3d_conversions.h:19,
                 from /home/rui/agile_autonomy_ws/catkin_aa/src/rpg_mpl_ros/mpl_test_node/src/ellipsoid_planner_node.cpp:19:
/usr/local/include/open3d/core/TensorInit.h:103:70: error: expected primary-expression before ‘)’ token
             list, std::make_index_sequence<InitializerDim<L>::value>());
                                                                      ^
In file included from /usr/local/include/open3d/visualization/gui/UIImage.h:30:0,
                 from /usr/local/include/open3d/visualization/gui/Button.h:33,
                 from /usr/local/include/open3d/Open3D.h:119,
                 from /home/rui/agile_autonomy_ws/catkin_aa/src/rpg_mpl_ros/open3d_conversions/include/open3d_conversions/open3d_conversions.h:19,
                 from /home/rui/agile_autonomy_ws/catkin_aa/src/rpg_mpl_ros/mpl_test_node/src/ellipsoid_planner_node.cpp:19:
/usr/local/include/open3d/visualization/rendering/RendererHandle.h: At global scope:
/usr/local/include/open3d/visualization/rendering/RendererHandle.h:189:35: error: ‘format’ function uses ‘auto’ type specifier without trailing return type
                 FormatContext& ctx) {
                                   ^
/usr/local/include/open3d/visualization/rendering/RendererHandle.h:189:35: note: deduced return type only available with -std=c++14 or -std=gnu++14
/usr/local/include/open3d/visualization/rendering/RendererHandle.h:197:43: error: ‘parse’ function uses ‘auto’ type specifier without trailing return type
     constexpr auto parse(ParseContext& ctx) {
                                           ^
/usr/local/include/open3d/visualization/rendering/RendererHandle.h:197:43: note: deduced return type only available with -std=c++14 or -std=gnu++14
make[2]: *** [CMakeFiles/ellipsoid_planner_node.dir/src/ellipsoid_planner_node.cpp.o] Error 1
make[1]: *** [CMakeFiles/ellipsoid_planner_node.dir/all] Error 2
make: *** [all] Error 2

opened by Kevinlibaba 5

can't fly when run test_trajectories.py

When run "python test_trajectories.py --settings_file=config/test_settings.yaml", it will loop as follows:

In rviz, the RGM is NO Image

Check the rostopic, I find many topics received no message.

What's wrong with this? It's the fightmare can't communicate with ROS ? Thanks a lot !

opened by AndyYan2 3

Error occurs when catkin build `mpl_test_node`

I was running catkin b and some strange events happened on mpl_test_node. As you can see in the following error message, in my opinion it seems like something to do with C/C++ compiler. The versions of gcc/g++ are both 7.5.0

Errors     << mpl_test_node:make /home/m/agile_autonomy_ws/catkin_aa/logs/mpl_test_node/build.make.010.log
In file included from /usr/local/include/open3d/geometry/PointCloud.h:36:0,
                 from /home/m/agile_autonomy_ws/catkin_aa/src/rpg_mpl_ros/mpl_external_planner/include/mpl_external_planner/ellipsoid_planner/ellipsoid_util.h:11,
                 from /home/m/agile_autonomy_ws/catkin_aa/src/rpg_mpl_ros/mpl_external_planner/include/mpl_external_planner/ellipsoid_planner/env_cloud.h:8,
                 from /home/m/agile_autonomy_ws/catkin_aa/src/rpg_mpl_ros/mpl_external_planner/include/mpl_external_planner/ellipsoid_planner/ellipsoid_planner.h:9,
                 from /home/m/agile_autonomy_ws/catkin_aa/src/rpg_mpl_ros/mpl_test_node/src/ellipsoid_planner_node.cpp:3:
/usr/local/include/open3d/utility/Optional.h:308:18: error: ‘constexpr T& open3d::utility::optional<T>::contained_val() const &’ cannot be overloaded
     constexpr T& contained_val() & { return OptionalBase<T>::storage_.value_; }
                  ^~~~~~~~~~~~~
/usr/local/include/open3d/utility/Optional.h:302:24: error: with ‘constexpr const T& open3d::utility::optional<T>::contained_val() const &’
     constexpr const T& contained_val() const& {
                        ^~~~~~~~~~~~~
/usr/local/include/open3d/utility/Optional.h:478:36: error: ‘constexpr T* open3d::utility::optional<T>::operator->() const’ cannot be overloaded
     TR2_OPTIONAL_HOST_CONSTEXPR T* operator->() {
                                    ^~~~~~~~
/usr/local/include/open3d/utility/Optional.h:474:42: error: with ‘constexpr const T* open3d::utility::optional<T>::operator->() const’
     TR2_OPTIONAL_HOST_CONSTEXPR T const* operator->() const {
                                          ^~~~~~~~
/usr/local/include/open3d/utility/Optional.h:487:36: error: ‘constexpr T& open3d::utility::optional<T>::operator*() const &’ cannot be overloaded
     TR2_OPTIONAL_HOST_CONSTEXPR T& operator*() & {
                                    ^~~~~~~~
/usr/local/include/open3d/utility/Optional.h:483:42: error: with ‘constexpr const T& open3d::utility::optional<T>::operator*() const &’
     TR2_OPTIONAL_HOST_CONSTEXPR T const& operator*() const& {
                                          ^~~~~~~~
/usr/local/include/open3d/utility/Optional.h:504:36: error: ‘constexpr T& open3d::utility::optional<T>::value() const &’ cannot be overloaded
     TR2_OPTIONAL_HOST_CONSTEXPR T& value() & {
                                    ^~~~~
/usr/local/include/open3d/utility/Optional.h:497:42: error: with ‘constexpr const T& open3d::utility::optional<T>::value() const &’
     TR2_OPTIONAL_HOST_CONSTEXPR T const& value() const& {
                                          ^~~~~
In file included from /usr/local/include/open3d/core/Tensor.h:43:0,
                 from /usr/local/include/open3d/core/EigenConverter.h:34,
                 from /usr/local/include/open3d/Open3D.h:38,
                 from /home/m/agile_autonomy_ws/catkin_aa/src/rpg_mpl_ros/open3d_conversions/include/open3d_conversions/open3d_conversions.h:19,
                 from /home/m/agile_autonomy_ws/catkin_aa/src/rpg_mpl_ros/mpl_test_node/src/ellipsoid_planner_node.cpp:19:
/usr/local/include/open3d/core/TensorInit.h:95:49: error: ‘std::index_sequence’ has not been declared
 SizeVector InitializerShape(const L& list, std::index_sequence<D...>) {
                                                 ^~~~~~~~~~~~~~
/usr/local/include/open3d/core/TensorInit.h:95:63: error: expected ‘,’ or ‘...’ before ‘<’ token
 SizeVector InitializerShape(const L& list, std::index_sequence<D...>) {
                                                               ^
/usr/local/include/open3d/core/TensorInit.h: In function ‘open3d::core::SizeVector open3d::core::tensor_init::InferShape(const L&)’:
/usr/local/include/open3d/core/TensorInit.h:103:24: error: ‘make_index_sequence’ is not a member of ‘std’
             list, std::make_index_sequence<InitializerDim<L>::value>());
                        ^~~~~~~~~~~~~~~~~~~
/usr/local/include/open3d/core/TensorInit.h:103:24: note: suggested alternatives:
In file included from /usr/include/boost/mp11/algorithm.hpp:25:0,
                 from /usr/include/boost/mp11/bind.hpp:11,
                 from /usr/include/boost/parameter/aux_/is_placeholder.hpp:46,
                 from /usr/include/boost/parameter/value_type.hpp:101,
                 from /usr/include/boost/parameter/aux_/name.hpp:31,
                 from /usr/include/boost/parameter/name.hpp:10,
                 from /usr/include/boost/heap/policies.hpp:13,
                 from /usr/include/boost/heap/detail/stable_heap.hpp:20,
                 from /usr/include/boost/heap/d_ary_heap.hpp:21,
                 from /home/m/agile_autonomy_ws/catkin_aa/devel/share/motion_primitive_library/cmake/../../../include/mpl_planner/common/state_space.h:10,
                 from /home/m/agile_autonomy_ws/catkin_aa/devel/share/motion_primitive_library/cmake/../../../include/mpl_planner/common/graph_search.h:10,
                 from /home/m/agile_autonomy_ws/catkin_aa/devel/share/motion_primitive_library/cmake/../../../include/mpl_planner/common/planner_base.h:12,
                 from /home/m/agile_autonomy_ws/catkin_aa/src/rpg_mpl_ros/mpl_external_planner/include/mpl_external_planner/ellipsoid_planner/ellipsoid_planner.h:10,
                 from /home/m/agile_autonomy_ws/catkin_aa/src/rpg_mpl_ros/mpl_test_node/src/ellipsoid_planner_node.cpp:3:
/usr/include/boost/mp11/integer_sequence.hpp:104:90: note:   ‘boost::mp11::make_index_sequence’
 template<std::size_t N> using make_index_sequence = make_integer_sequence<std::size_t, N>;
                                                                                          ^
In file included from /usr/local/include/open3d/utility/Logging.h:42:0,
                 from /usr/local/include/open3d/core/Device.h:32,
                 from /usr/local/include/open3d/core/Blob.h:33,
                 from /usr/local/include/open3d/Open3D.h:34,
                 from /home/m/agile_autonomy_ws/catkin_aa/src/rpg_mpl_ros/open3d_conversions/include/open3d_conversions/open3d_conversions.h:19,
                 from /home/m/agile_autonomy_ws/catkin_aa/src/rpg_mpl_ros/mpl_test_node/src/ellipsoid_planner_node.cpp:19:
/usr/local/include/open3d/3rdparty/fmt/ranges.h:141:66: note:   ‘fmt::v6::internal::make_index_sequence’
 using make_index_sequence = make_integer_sequence<std::size_t, N>;
                                                                  ^
In file included from /usr/local/include/open3d/core/Tensor.h:43:0,
                 from /usr/local/include/open3d/core/EigenConverter.h:34,
                 from /usr/local/include/open3d/Open3D.h:38,
                 from /home/m/agile_autonomy_ws/catkin_aa/src/rpg_mpl_ros/open3d_conversions/include/open3d_conversions/open3d_conversions.h:19,
                 from /home/m/agile_autonomy_ws/catkin_aa/src/rpg_mpl_ros/mpl_test_node/src/ellipsoid_planner_node.cpp:19:
/usr/local/include/open3d/core/TensorInit.h:103:70: error: expected primary-expression before ‘)’ token
             list, std::make_index_sequence<InitializerDim<L>::value>());
                                                                      ^
In file included from /usr/local/include/open3d/visualization/gui/UIImage.h:30:0,
                 from /usr/local/include/open3d/visualization/gui/Button.h:33,
                 from /usr/local/include/open3d/Open3D.h:119,
                 from /home/m/agile_autonomy_ws/catkin_aa/src/rpg_mpl_ros/open3d_conversions/include/open3d_conversions/open3d_conversions.h:19,
                 from /home/m/agile_autonomy_ws/catkin_aa/src/rpg_mpl_ros/mpl_test_node/src/ellipsoid_planner_node.cpp:19:
/usr/local/include/open3d/visualization/rendering/RendererHandle.h: At global scope:
/usr/local/include/open3d/visualization/rendering/RendererHandle.h:181:35: error: ‘format’ function uses ‘auto’ type specifier without trailing return type
                 FormatContext& ctx) {
                                   ^
/usr/local/include/open3d/visualization/rendering/RendererHandle.h:181:35: note: deduced return type only available with -std=c++14 or -std=gnu++14
/usr/local/include/open3d/visualization/rendering/RendererHandle.h:189:43: error: ‘parse’ function uses ‘auto’ type specifier without trailing return type
     constexpr auto parse(ParseContext& ctx) {
                                           ^
/usr/local/include/open3d/visualization/rendering/RendererHandle.h:189:43: note: deduced return type only available with -std=c++14 or -std=gnu++14
make[2]: *** [CMakeFiles/ellipsoid_planner_node.dir/build.make:63：CMakeFiles/ellipsoid_planner_node.dir/src/ellipsoid_planner_node.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:4364：CMakeFiles/ellipsoid_planner_node.dir/all] 错误 2
make: *** [Makefile:141：all] 错误 2
cd /home/m/agile_autonomy_ws/catkin_aa/build/mpl_test_node; catkin build --get-env mpl_test_node | catkin env -si  /usr/bin/make --jobserver-auth=3,4; cd -

....................................................................................................
Failed     << mpl_test_node:make                          [ Exited with code 2 ]                    
Failed    <<< mpl_test_node                               [ 27.0 seconds ]

opened by zhengzaiyi 3

Failed to reach repository

vcs-import < agile_autonomy/dependencies.yaml

EEEEEEEEEEEEEEEEEEEE === ./assimp_catkin (git) === Could not determine ref type of version: [email protected]: Permission denied (publickey). fatal: Could not read from remote repository.

Please make sure you have the correct access rights and the repository exists. === ./catkin_boost_python_buildtool (git) === Could not determine ref type of version: [email protected]: Permission denied (publickey). fatal: Could not read from remote repository.

Please make sure you have the correct access rights and the repository exists. === ./catkin_simple (git) === Could not determine ref type of version: Warning: Permanently added the RSA host key for IP address '13.234.176.102' to the list of known hosts. [email protected]: Permission denied (publickey). fatal: Could not read from remote repository.

Please make sure you have the correct access rights and the repository exists. === ./eigen_catkin (git) === Could not determine ref type of version: [email protected]: Permission denied (publickey). fatal: Could not read from remote repository.

Please make sure you have the correct access rights and the repository exists. === ./eigen_checks (git) === Could not determine ref type of version: [email protected]: Permission denied (publickey). fatal: Could not read from remote repository.

Please make sure you have the correct access rights and the repository exists. === ./gflags_catkin (git) === Could not determine ref type of version: [email protected]: Permission denied (publickey). fatal: Could not read from remote repository.

Please make sure you have the correct access rights and the repository exists. === ./glog_catkin (git) === Could not determine ref type of version: [email protected]: Permission denied (publickey). fatal: Could not read from remote repository.

Please make sure you have the correct access rights and the repository exists. === ./mav_comm (git) === Could not determine ref type of version: [email protected]: Permission denied (publickey). fatal: Could not read from remote repository.

Please make sure you have the correct access rights and the repository exists. === ./minimum_jerk_trajectories (git) === Could not determine ref type of version: [email protected]: Permission denied (publickey). fatal: Could not read from remote repository.

Please make sure you have the correct access rights and the repository exists. === ./minkindr (git) === Could not determine ref type of version: [email protected]: Permission denied (publickey). fatal: Could not read from remote repository.

Please make sure you have the correct access rights and the repository exists. === ./minkindr_ros (git) === Could not determine ref type of version: [email protected]: Permission denied (publickey). fatal: Could not read from remote repository.

Please make sure you have the correct access rights and the repository exists. === ./numpy_eigen (git) === Could not determine ref type of version: [email protected]: Permission denied (publickey). fatal: Could not read from remote repository.

Please make sure you have the correct access rights and the repository exists. === ./rotors_simulator (git) === Could not determine ref type of version: [email protected]: Permission denied (publickey). fatal: Could not read from remote repository.

Please make sure you have the correct access rights and the repository exists. === ./rpg_common (git) === Could not determine ref type of version: [email protected]: Permission denied (publickey). fatal: Could not read from remote repository.

Please make sure you have the correct access rights and the repository exists. === ./rpg_flightmare (git) === Could not determine ref type of version: [email protected]: Permission denied (publickey). fatal: Could not read from remote repository.

Please make sure you have the correct access rights and the repository exists. === ./rpg_mpc (git) === Could not determine ref type of version: [email protected]: Permission denied (publickey). fatal: Could not read from remote repository.

Please make sure you have the correct access rights and the repository exists. === ./rpg_mpl_ros (git) === Could not determine ref type of version: [email protected]: Permission denied (publickey). fatal: Could not read from remote repository.

Please make sure you have the correct access rights and the repository exists. === ./rpg_quadrotor_common (git) === Could not determine ref type of version: [email protected]: Permission denied (publickey). fatal: Could not read from remote repository.

Please make sure you have the correct access rights and the repository exists. === ./rpg_quadrotor_control (git) === Could not determine ref type of version: [email protected]: Permission denied (publickey). fatal: Could not read from remote repository.

Please make sure you have the correct access rights and the repository exists. === ./rpg_single_board_io (git) === Could not determine ref type of version: [email protected]: Permission denied (publickey). fatal: Could not read from remote repository.

Please make sure you have the correct access rights and the repository exists.

opened by EhrazImam 3
Failed to reach some repository

vcs-import < agile_autonomy/dependencies.yaml results some errors that failed to reach repositories.

=== ./rpg_common (git) === Could not determine ref type of version: ERROR: Repository not found. fatal: Could not read from remote repository.

Please make sure you have the correct access rights and the repository exists. === ./rpg_flightmare (git) === Could not determine ref type of version: ERROR: Repository not found. fatal: Could not read from remote repository.

Please make sure you have the correct access rights and the repository exists. === ./rpg_mpl_ros (git) === Could not determine ref type of version: ERROR: Repository not found. fatal: Could not read from remote repository.

Please make sure you have the correct access rights and the repository exists.

opened by Jiroh 3
Build is failing for Open3D
Hello,

I am trying to build the project but its failing while running the build for open3d_conversion package. I am getting below error --

fatal error: Open3D/Open3D.h: No such file or directory #include <Open3D/Open3D.h>

I have build Open3D from source using the instruction in this link --> http://www.open3d.org/docs/release/compilation.html. I was able to build and verify the build by using the instruction in this repo --> https://github.com/isl-org/open3d-cmake-find-package

So Open3D is working in my system.

I also checked the CMakeLists.txt file in package src/rpg_mpl_ros/open3d_conversions and I found that its trying to find the open3d by using this statement --

find_package(Open3D HINTS /usr/local/lib/cmake/)

I also checked my /usr/local/lib/cmake library and it has a open3d folder present in it with below files inside -->

Open3DConfig.cmake Open3DTargets.cmake Open3DConfigVersion.cmake Open3DTargets-release.cmake

I am a beginner with c++ and CMake and so I don't know if it's trying to find open3d.h file here.

Can someone please let me know what might have gone wrong with the build?
opened by saurabhprasun20 2
Cannot see flightmare simulator after running simulation.lauch
Hi, I build the package by handing several issues and ran the code through the command roslaunch agile_autonomy simulation.launch. However, I could only see popup windows of rivz and controller GUI, which excludes the flightmare simulator. Also, it continuously shows the Ready ?: 0. Are there any related issues or solutions for this?

hardware setup

Docker: Ubuntu 20.04

GPU: Titan X

I have changed the CMakelist in agile_autonomy/data_generation/agile_autonomy/CMakeLists.txt, which is already handled in another issue here. I have refered this blog.

One thing I've noticed from the error log is that the flightmare simulator in the flightrender is shutdown automatically. Following is the error log.

[flight_render-20] process has died [pid 188249, exit code -11, cmd /root/agile_autonomy_ws/catkin_aa/src/rpg_flightmare/flightrender/standalone/flightmare.x86_64 __name:=flight_render __log:=/root/.ros/log/a514f09a-d81c-11ec-bece-88366cf6d71f/flight_render-20.log]. log file: /root/.ros/log/a514f09a-d81c-11ec-bece-88366cf6d71f/flight_render-20*.log
opened by mw9385 2
Possible error in nets.py freeze
Hi, while looking through the source code, I noticed a tiny error.

In agile_autonomy/planner_learning/src/PlannerLearning/models/nets.py, from line 52-58:

# Freeze only BN model = self.backbone[0] for layer in model.layers: if layer.name.endswith('_bn'): layer.trainable = True else: layer.trainable = True

It seems that the code is not actually freezing the BN layers.

I'm new to this, so I'm not sure if I'm correct.
opened by blu666 0
Can this project be implemented on virtualbox vm or do i need dual boot?
Hi, i have acee predator helios 300 machine running on windows. To run the project, i have installed oracle virtual box and have set up a virtual machine with ubuntu 20.04 lts. With a lot of attempts, i have finally been able to build the workspace but i am facing the following issues:

Failure to launch simulation

when i try to run the network i get the error : 'ModuleNotFoundError: No module named 'PlannerLearning'

when i try to train the network, then the process gets killed. Do i need to run the code by dual booting the system with ubuntu 20.04 lts to address these issues? Kindly help, i am new to ubuntu and ros :)
opened by Abhinavjoshi7891 1
File named 'decomp-util' missing but can't be downloaded when catkin build

Hey, guys. I met a problem but no one else met. When I catkin build, here is my error :

By not providing "Finddecomp_util.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "decomp_util", but CMake did not find one.

It seemed that I lacked some ROS package, then I tried to download by this "sudo apt-get install ros-noetic-decomp-util". But there is no such package, even on the ROS offical website. Help,pls...

opened by xiaolaji0426 0
potential & concerns
This end-to-end motion planning strategy was realized by taking advantage of AI and NPU development, a pioneering work. However, I doubt quite much about the practical application.

What I have learned from this work are:

The actual inputs of the network are the processed depth image and its corresponding flying robot's state, and the goal direction. Therefore, one can use fake depth to train the network

The range of the depth matters to the training. Even the depth information very far from the robot can affect the output of the network.

the raw output network is the exact training result, why does it need to be fitted again before being sent to the controller? Does this mean the network is not trained well?

What I am concerned about is, how far is it from practical applications. The training is the key to the whole work. The combination of the depth and odometry information can be infinitely large, and the amount of these different scenarios can affect the network model. Therefore, the training work would be extremely hard, in order to get a proper model that works for most of the application scenarios.
opened by coffear 0
Network prediction is not symmetric

I have tried to train a low-speed (1.5 m/s) flight model in the forest, I find that the predicted trajectory provided by the network is not symmetric. It always tries to avoid the obstacles by turning left, even if an obstacle is already in the left front of the robot.

Are there some ideas to address this problem?

Thank you!

opened by coffear 0

Learning High-Speed Flight in the Wild

Related tags

Overview

Learning High-Speed Flight in the Wild

Paper, Video, and Datasets

Installation

Requirements

Step-by-Step Procedure

Let's Fly!

Change execution speed or environment

Train your own navigation policy

Use pre-collected dataset

Collect your own dataset

Generate data

Visualize the Data

Test the Network

Ackowledgements

Comments

By not providing "Finddecomp_util.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "decomp_util", but CMake did not find one.

Owner

Robotics and Perception Group

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