ci-group / revolve Goto Github PK
View Code? Open in Web Editor NEWRobot evolution framework for the Triangle of Life project
Home Page: https://evosphere.eu/
Robot evolution framework for the Triangle of Life project
Home Page: https://evosphere.eu/
python: error while loading shared libraries: libcrypt.so.1: cannot open shared object file: No such file or directory
when you meet the error above, please remove your virtualenv
(just delete the folder directly), then reinstall it. It should works.
In the tutorial 1, seems there's a problem with the paths.
After typing:
(.venv) ./revolve.py --simulator-cmd=gazebo --manager ./tutorial1.py
I have:
STARTING
Traceback (most recent call last):
File "./revolve.py", line 69, in
main()
File "./revolve.py", line 62, in main
run(loop, arguments)
File "./revolve.py", line 28, in run
manager = importlib.import_module(manager_lib).run
File "/usr/lib/python3.6/importlib/init.py", line 121, in import_module
raise TypeError(msg.format(name))
TypeError: the 'package' argument is required to perform a relative import for '...revolveProject.tutorial'
Actually I used another folder and not the root one as mentioned in the tutorial, but following exactly the tutorial I received the same message.
The most urgent TODO list:
RLPower
back as a learning mechanismbody-analyzer
Was not able to install MultiNEAT manually on MacOS, due to problems recognizing the integration of boost and python3.
learners
and controllers
(mu+1)ES
aka rlpower
NEAT
spline-based policies
differential CPGs
In the c++ evaluator (simulator) somehow the total path length can results smaller than the distance between first and last position.
This is matematically impossible.
It could be an accumulating error problem, but we are not certain
Code found here:
revolve/cpprevolve/revolve/gazebo/brains/Evaluator.cpp
Lines 101 to 106 in abdb362
pygazebo
is a separate library but quite integrate. It's a pain in the ass to keep separated in another repo
[manager] DISCONNECT ERROR <pygazebo.pygazebo._Connection object at 0x7f88f068a4e0> manager_client_n
[manager] DISCONNECT ERROR <pygazebo.pygazebo._Connection object at 0x7f88f0680a20> subscriber_/gazebo/default/revolve/robot_states
[manager] DISCONNECT ERROR <pygazebo.pygazebo._Connection object at 0x7f88f067bd30> manager_client_n
[manager] DISCONNECT ERROR <pygazebo.pygazebo._Connection object at 0x7f88f067bb00> subscriber_/gazebo/default/response
[manager] DISCONNECT ERROR <pygazebo.pygazebo._Connection object at 0x7f88f067bc50> manager_client_n
[manager] DISCONNECT ERROR <pygazebo.pygazebo._Connection object at 0x7f88f06e1eb8> Manager_master
[manager] Got disconnect / connection reset - shutting down.
Program 'simulator' exited with code -11
Evaluation time is configured in two different places: from command line and in the population config. If the two times differ, this could cause weird and difficult to debug issues.
tol-revolve
as the connected projectrevolve-brain
We need to add an experiment runner image
I am trying to install Revolve on Ubuntu version: 20.04 (VirtualBox 7.0.12).
I attempt to do: Minimal installation.
However, installation fails with a namespace problem:
/home/erik/UNI_project/revolve/cpprevolve/revolve/gazebo/brains/BrainFactory.cpp:25:22: error: ‘namespace gz = gazebo;’ conflicts with a previous declaration
25 | namespace gz = gazebo;
| ^
In file included from /usr/include/ignition/math6/gz/math/Helpers.hh:34,
from /usr/include/ignition/math6/gz/math/Spline.hh:22,
from /usr/include/ignition/math6/ignition/math/Spline.hh:18,
from /usr/include/gazebo-11/gazebo/common/Animation.hh:22,
from /usr/include/gazebo-11/gazebo/common/common.hh:5,
from /home/erik/UNI_project/revolve/cpprevolve/revolve/gazebo/brains/BrainFactory.h:27,
from /home/erik/UNI_project/revolve/cpprevolve/revolve/gazebo/brains/BrainFactory.cpp:22:
/usr/include/ignition/math6/gz/math/config.hh:23:11: note: previous declaration ‘namespace gz { }’
23 | namespace gz
| ^~
Any ideas will be appreciated.
When pip
installing on ubuntu, you may see that you get pycairo installation/compilation errors. You probably have to install:
python3-dev
and python3-cairocffi
If you are using python3.7, install
python3.7-dev
instead of python3-dev
Both me and another student have problems with using Python 3.8, probably caused by an asyncio implementation problem.
Traceback (most recent call last):
File "./revolve.py", line 69, in <module>
main()
File "./revolve.py", line 62, in main
run(loop, arguments)
File "./revolve.py", line 32, in run
loop.run_until_complete(only_gazebo.run())
File "/usr/lib/python3.8/asyncio/base_events.py", line 608, in run_until_complete
return future.result()
asyncio.exceptions.CancelledError
[2020-05-08 06:16:15,168 gazebo] INFO Terminating processes...
Exception handling an incoming connection
Traceback (most recent call last):
File "/Users/lewis/revolve/.venv/src/pygazebo/pygazebo/connection.py", line 163, in read_raw
header = await self._reader.readexactly(8)
File "/Library/Frameworks/Python.framework/Versions/3.8/lib/python3.8/asyncio/streams.py", line 721, in readexactly
raise exceptions.IncompleteReadError(incomplete, n)
asyncio.exceptions.IncompleteReadError: 0 bytes read on a total of 8 expected bytes
Restarting the terminal fixed it
CMakeListx.txt
and C++ files to work as an independent libraryWe should supply the revolve CMakeLists.txt with
add_subdirectory(thirdparty/MultiNEAT)
But this does not build MultiNEAT successfully.
CMake Error at build/thirdparty/MultiNEAT/MultiNEATConfig.cmake:21 (include):
include could not find load file:
/home/daanz/revolve_workspace/revolve_battery/build/thirdparty/MultiNEAT/MultiNEATTargets.cmake
Call Stack (most recent call first):
cpprevolve/revolve/brains/CMakeLists.txt:21 (find_package)
The MultiNEAT cmake file should create the MultiNEATTargets.cmake, but this is not the case.
when we run the experiments (e.g., the branch learners) for n_jobs
(run in a core). each run in a core will consume a lot of memory. After a lot of testing and meet a lot of weird problems, I finally found the rough consume memory for each run in a core.
It is about 4 Gbits
each n_jobs
(run in a core). Therefore, generally, do not run more than 16 cores for 64 Gbits memory on ripper1/ ripper2/ripper3.
If you run more cores, you will probably meet the problem like:
If you run 16 cores on ripper1/ripper2/ripper3, you will see the perfect ending like:
note that 1500 is the terminal iteration.
for more computing platform, we could calculate it with 4 Gbits per cores at least.
python2
-> python3
trollius
-> asyncio
gazebo6.5
-> gazebo9
protobuf2
-> protobuf3
OR removeIf there is an error regarding limbo not compiling, you probably haven't downloaded limbo.
To do so you need to use git submodules.
git submodule init #only the first time per object
git submodule update
The instructions for installing Gazebo on Ubuntu 20.04 on the wiki are missing the following steps (taken from http://gazebosim.org/tutorials?tut=install_ubuntu):
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update
Only then will sudo apt-get install libgazebo11-dev gazebo11
work. Not sure if Gazebo is in the standard Ubuntu/Debian repositories for other versions, but on 20.04 they aren't, so these extra steps are necessary.
I also had to install the following packages to build revolve: libpqxx-dev libyaml-cpp-dev libnlopt-dev libopencv-dev
revolve/pyrevolve/util/time.py
Line 198 in ecdc525
nanoseconds should be divided by 1.0e9
, not 1.0e10
Tutorial 3 doesn't work with the current version of revolve.py. This is the error that comes up when executing it:
(.venv) (base) p058170:revolve tarigarma$ ./revolve.py --simulator-cmd=gazebo --manager experiments/examples/tutorial3.py
STARTING
Traceback (most recent call last):
File "./revolve.py", line 69, in <module>
main()
File "./revolve.py", line 62, in main
run(loop, arguments)
File "./revolve.py", line 28, in run
manager = importlib.import_module(manager_lib).run
File "/Users/tarigarma/revolve/.venv/lib/python3.7/importlib/__init__.py", line 127, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "<frozen importlib._bootstrap>", line 1006, in _gcd_import
File "<frozen importlib._bootstrap>", line 983, in _find_and_load
File "<frozen importlib._bootstrap>", line 967, in _find_and_load_unlocked
File "<frozen importlib._bootstrap>", line 677, in _load_unlocked
File "<frozen importlib._bootstrap_external>", line 728, in exec_module
File "<frozen importlib._bootstrap>", line 219, in _call_with_frames_removed
File "/Users/tarigarma/revolve/experiments/examples/tutorial3.py", line 11, in <module>
from pygazebo.pygazebo import DisconnectError
ImportError: cannot import name 'DisconnectError' from 'pygazebo.pygazebo' (/Users/tarigarma/revolve/.venv/src/pygazebo/pygazebo/pygazebo.py)```
Followed all the installation tutorials for macOS. gzserver
and gazebo
launch without a problem, GUI is functional too.
However, when trying to run ./revolve.py
it ends abruptly with
Process exited with code -15
My full output:
./revolve.py
STARTING
[2020-11-10 12:06:14,805 gazebo] INFO Created Supervisor with:
- simulator command: gzserver ['--verbose']
- world file: worlds/plane.world
- GAZEBO_PLUGIN_PATH: /Users/jorijnsmit/Documents/uva/thesis/revolve/build/lib
- GAZEBO_MODEL_PATH: /Users/jorijnsmit/Documents/uva/thesis/revolve/models
[2020-11-10 12:06:14,805 gazebo] INFO Launching the simulator...
[2020-11-10 12:06:15,603 gazebo] INFO [starting] [Msg] Waiting for master.
[2020-11-10 12:06:15,603 gazebo] INFO [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[2020-11-10 12:06:15,604 gazebo] INFO [Msg] Publicized address: 192.168.178.44
[2020-11-10 12:06:15,604 gazebo] INFO World plugin loaded.
[2020-11-10 12:06:15,604 gazebo] ERROR Gazebo multi-robot simulator, version 9.15.0
[2020-11-10 12:06:15,604 gazebo] ERROR Copyright (C) 2012 Open Source Robotics Foundation.
[2020-11-10 12:06:15,604 gazebo] ERROR Released under the Apache 2 License.
[2020-11-10 12:06:15,604 gazebo] ERROR http://gazebosim.org
[2020-11-10 12:06:15,604 gazebo] ERROR
[2020-11-10 12:06:20,642 gazebo] INFO Setting robot state update frequency to 5.
Traceback (most recent call last):
<...>
[2020-11-10 12:06:21,663 gazebo] ERROR
[2020-11-10 12:06:21,663 gazebo] INFO
[2020-11-10 12:06:21,663 gazebo] INFO Process exited with code -15
The full traceback is pygazebo
and asyncio
disconnecting by throwing exceptions.
What is code -15
? I can't find much about it.
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