mapirlab / gaden Goto Github PK

In my GADEN_player simulation, the filaments are passing through my obstacles. The Photo below shows the inside of a wall where filaments can be seen passing; I also positioned a PID sensor inside of the wall just to make the issue clear.

I am working with a slightly older version of GADEN, however, when using the practice scenarios (on which I am basing my launch files) they don't seem to face the same issue (at least nowhere near to the same 'passing' extent).

My GADEN.launch file does not show filaments passing through the wall when doing the same basic visual inspection as was done in GADEN_player (Photo 2). I'm not entirely sure whether this narrows down the problem.

My occupancy files generated from the pre-processing seem fine (Onshape was used to create the COLLADA and STL files).

No errors appear in the terminal other than, "map" passed to lookupTransform argument target_frame does not exist._
, but this ceases shortly after it starts running
Have you experienced the same issue before in the past? Any help to solve this issue is much appreciated (I am new to ROS).

Hi! I would like to run any of the examples of the test_env folder, but I don't know how to do it very well because I get this error when I launch the GADEN_preprocessing.launch file:
("roslaunch /home/usuario/catkin_ws/src/gaden-master/test_env/10x6_central_obstacle/launch/GADEN_preprocessing.launch")

ERROR: cannot launch node of type [gaden_preprocessing/preprocessing]: can't locate node [preprocessing] in package [gaden_preprocessing]

(Or when I do: "roslaunch test_env GADEN_preprocessing.launch"
I get this error:

multiple files named [GADEN_preprocessing.launch] in package [test_env]:

• /home/usuario/catkin_ws/src/gaden-master/test_env/10x6_snake/launch/GADEN_preprocessing.launch
• /home/usuario/catkin_ws/src/gaden-master/test_env/10x6_central_obstacle/launch/GADEN_preprocessing.launch
• /home/usuario/catkin_ws/src/gaden-master/test_env/MAPIRlab/launch/GADEN_preprocessing.launch
• /home/usuario/catkin_ws/src/gaden-master/test_env/10x6_empty_room/launch/GADEN_preprocessing.launch
• /home/usuario/catkin_ws/src/gaden-master/test_env/10x6_maze/launch/GADEN_preprocessing.launch
  Please specify full path instead
  The traceback for the exception was written to the log file
  )

I only installed the complete project into my catkin_ws/src folder and compile it.

Anybody could tell me any advice? Thank you very much, and sorry for the inconveniences.

I encountered the following problems when running the '10x6_central_obstacle' in 'test_env' under GADEN:

1. After running 'GADEN.preprocessing.launch', I get an error when running 'GADEN.launch'."
   
   BUT it do exist!
   
   and the code follows:
   
   2.Then I run GADEN_player.launch，it shows:
   
   the image in rviz follows:
   
   maybe it have something to do with the ROS version?the version i ues is ROS melodic,which i git clone form your project is ROS 1
   3.at last,i run the main_simbot.launch，it met more problem
   
   
   Have you encountered these issues before?
   How should I resolve them?
   I really want to use GADEN to validate my robot olfaction algorithm,
   but I'm facing these problems in the simulation environment.
   I hope you can give me some advice! Thank you."

Hi, I encountered the following problem while building, how should I solve it? Sorry for disturbing , I have very less experience with ROS2.

The fake PID sensor in the GADEN_player.launch file reads 0 gas concentrations even in the presence of gas at the sampling location. The topic /PID/Sensor_reading is subscribed to:

Type: olfaction_msgs/gas_sensor
Publishers: 

• /PID/fake_pid
  Subscribers: 
• /rqt_plot2

Is the topic subscribed to the correct msg from the olfaction package?

Hello!
When I tried to compile all the ROS packages included in Gaden (including the supplementary olfaction_msgs package),
an error occurred during the compilation:
The marchRay function defined at line 323 in DDA.h only accepts six parameters, but seven parameters were used when marchRay was called at line 145 in simulated_tadlas.cpp.
The versions I downloaded are all corresponding to ROS1, and the system itself is ROS Melodic Ubuntu 18.0.
Have you encountered this error during debugging? How did you solve it? thanks for replying.

Hello,
I have an other question about how, how many and what files should be extracted from Paraview?
Because, when I extract the files from Paraview, only 6 files are exported and in the Gaden examples there are several .CSV files

Hello
After compiling Gaden, I first ran ros2 launch test_env gaden_preproc_launch.py. In the CoppeliaSimulator, it displayed the error "the argument ('/home/gouqin/Gaden_ws/install/coppelia_ros2_pkg/share/coppelia_ros2_pkg/scenes/ros2_mapirlab_pioneer.ttt') for option '--auto-start' is invalid". I suspect the parameter '/home/gouqin/Gaden_ws/install/coppelia_ros2_pkg/share/coppelia_ros2_pkg/scenes/ros2_mapirlab_pioneer.ttt' was incorrectly assigned to the '--auto-start' option, but I can't find this option in the launch file.

Hi,
First, it's a really great job, rare are the gas simulation on ROS.

The background :
I work with Gaden to implement a robot to simulate a chemical servoing. We would like to test few algorithms to locate the gas source. I installed Stage from source in my /home space.
I success to compile in a workspace dedicated :
Finished <<< gaden_preprocessing [ 0.1 seconds ]
Finished <<< gaden_filament_simulator [ 0.1 seconds ]
Finished <<< gaden_environment [ 0.1 seconds ]
Finished <<< test_env [ 0.1 seconds ]
Finished <<< olfaction_msgs [ 0.1 seconds ]
Finished <<< gaden_player [ 0.2 seconds ]
[build] Summary: All 6 packages succeeded!

I also be able to preprocess, GADEN.launch, GADEN_player.launch & main_simbot.launch.
But the robot doesn't move, probably due to the packages which don't compile.

The Problem :
When I want to compile the following package :
gsl_actionserver
simulated_gas_sensor
simulated_gas_sensor_array

I got the following error :
fatal error: olfaction_msgs/gas_sensor_array.h: No such file or directory
#include <olfaction_msgs/gas_sensor_array.h>

I tried :

• copy paste and rename fake_sensor_array.h to the include folder.
• recompile it

Did you encounter the same problem ?
How I can resolve the lacking header ?

Thank's you so much

Hi, I tried to compile agian after update , but it still has some errors...

Hello,
I came across a weird inconsistency where the environment is divided into too many cells.
For example, when running preprocessing this is the output (with some extra printout):

$ roslaunch GADEN_preprocessing.launch 
... logging to #########
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server #########

SUMMARY
========

PARAMETERS
 * /preprocessing/cell_size: 0.2
 * /preprocessing/empty_point_x: 5.0
 * /preprocessing/empty_point_y: 0.6
 * /preprocessing/empty_point_z: 2.0
 * /preprocessing/model_0: #######
 * /preprocessing/number_of_models: 1
 * /preprocessing/number_of_outlet_models: 2
 * /preprocessing/outlets_model_0: #######
 * /preprocessing/outlets_model_1: #######
 * /preprocessing/output_path: #######
 * /preprocessing/wind_files: #######
 * /preprocessing/worldFile: #######
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /
    preprocessing (gaden_preprocessing/preprocessing)

auto-starting new master
process[master]: started with pid [13487]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 2f1fb62e-4321-11ee-a6d2-3ffe59c554a6
process[rosout-1]: started with pid [13513]
started core service [/rosout]
process[preprocessing-2]: started with pid [13517]
Dimensions are:
x: (-0.2, 10.2)
y: (-0.2, 16.2)
z: (0, 8)
Processing the mesh...
0%
12%
18%
43%
54%
93%
Took 0.0116553 seconds 
Processing the mesh...
0%
41%
33%
83%
66%
Processing the mesh...
0%
75%
91%
Filling...
env_size: 83 52 40
U.size():172640
V.size():172640
W.size():172640
[ INFO] [1692952030.504346063]: Preprocessing done
================================================================================REQUIRED process [preprocessing-2] has died!
process has finished cleanly
log file: ########
Initiating shutdown!
================================================================================
[preprocessing-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

For the y-direction, the environment size is 16.4 and the cell_size is 0.2, so 82 cells are expected in the y-direction. However, due to floating point errors in this line it becomes 83

#include <iostream>
#include <cmath>

int main() {
    float cell_size = 0.2;
    float roundFactor = 100.0/cell_size;
    float env_min_y = -0.2;
    float env_max_y = 16.2;
    
    float y_cells_orig = ceil((env_max_y-env_min_y)*(roundFactor)/(cell_size*(roundFactor)));
    float y_cells_preceil_float = ((env_max_y-env_min_y)*(roundFactor)/(cell_size*(roundFactor)));
    
    std::cout << "y_cells_orig: " << y_cells_orig << " (should be 82!) \n";
    std::cout << "y_cells_preceil_float: \n";
    printf("%.20f", y_cells_preceil_float); std::cout << "\n";
    return 0;
}

output:

y_cells_orig: 83 (should be 82!) 
y_cells_preceil_float: 
82.00000762939453125000

Looking forward to hearing from you, many thanks in advance!

I tried to run GADEN preprocessing on my test environment "wwt_plant" but it gives me an error. I run in Debug mode and it gave me a segmentation fault in line:

This happens when I have meshed the objects with a resolution of 0.2 meters, but it is fine when the mesh has a resolution of 1 meter (test environment "wwt_plant2").

Do you know why? Thank you!

I have attached both environments folders in this WeTransfer link: https://we.tl/t-PgfYfQkJ8w

Timed out waiting for transform from base_link_PioneerP3DX to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist

I noticed that your project is based on ROS Kinetic.
Have you ever run the 10x6_central_obstacle case in the test_env of GADEN on the ROS Melodic version?
After I ran preprocessing, I encountered the following problem when running main_simbot.launch.
My ROS version is ROS Melodic.
By the way, when do you expect to release the help documentation for the GADEN code?
thanks a lot!

Correct me if I am wrong, but I think there is a missing package "msgs_and_srvs", which is required for the simulated_gas_sensor package. Where might I find this?

Hey BTW the repository is missing the folder "logs_gas_dipersion_simulator".

Also, how do you get wind data "wind_at_cell_center_points_0.csv_U" from the CFD results U.gz? I am new to CFD so sorry in advance if this is straight forward.

thanks for the help,
Joseph

I encountered the following issue when running ros2 launch test_env main_simbot_launch.py:
ros2 launch test_env main_simbot_launch.py
[INFO] [launch]: All log files can be found below /home/gouqin/.ros/log/2024-04-07-11-58-04-904422-gouqin-virtual-machine-10573
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [10574]
[INFO] [xterm-2]: process started with pid [10576]
[INFO] [environment-3]: process started with pid [10578]
[INFO] [player-4]: process started with pid [10580]
[INFO] [coppelia_simulator-5]: process started with pid [10582]
[INFO] [simulated_anemometer-6]: process started with pid [10584]
[INFO] [static_transform_publisher-7]: process started with pid [10621]
[INFO] [simulated_gas_sensor-8]: process started with pid [10625]
[INFO] [static_transform_publisher-9]: process started with pid [10640]
[INFO] [map_server-10]: process started with pid [10647]
[INFO] [bt_navigator-11]: process started with pid [10662]
[INFO] [planner_server-12]: process started with pid [10679]
[INFO] [controller_server-13]: process started with pid [10681]
[INFO] [behavior_server-14]: process started with pid [10685]
[INFO] [lifecycle_manager-15]: process started with pid [10687]
[robot_state_publisher-1] [INFO] [1712462285.284175971] [PioneerP3DX.robot_state_publisher]: got segment PioneerP3DX_base_link
[robot_state_publisher-1] [INFO] [1712462285.284288396] [PioneerP3DX.robot_state_publisher]: got segment PioneerP3DX_body
[robot_state_publisher-1] [INFO] [1712462285.284304591] [PioneerP3DX.robot_state_publisher]: got segment PioneerP3DX_green_button
[robot_state_publisher-1] [INFO] [1712462285.284312715] [PioneerP3DX.robot_state_publisher]: got segment PioneerP3DX_head
[robot_state_publisher-1] [INFO] [1712462285.284320115] [PioneerP3DX.robot_state_publisher]: got segment PioneerP3DX_hokuyo_front
[robot_state_publisher-1] [INFO] [1712462285.284327334] [PioneerP3DX.robot_state_publisher]: got segment PioneerP3DX_left_wheel
[robot_state_publisher-1] [INFO] [1712462285.284334148] [PioneerP3DX.robot_state_publisher]: got segment PioneerP3DX_neck
[robot_state_publisher-1] [INFO] [1712462285.284340843] [PioneerP3DX.robot_state_publisher]: got segment PioneerP3DX_red_button
[robot_state_publisher-1] [INFO] [1712462285.284347665] [PioneerP3DX.robot_state_publisher]: got segment PioneerP3DX_right_wheel
[robot_state_publisher-1] [INFO] [1712462285.284354347] [PioneerP3DX.robot_state_publisher]: got segment PioneerP3DX_screen
[player-4] [INFO] [1712462285.266799002] [gaden_player]: Initializing 1 instances
[coppelia_simulator-5] [INFO] [1712462285.276154144] [coppelia_simulator]: coppelia_root_dir: /home/gouqin/CoppeliaSim_Pro_V4_5_1_rev4_Ubuntu22_04/
[coppelia_simulator-5] [INFO] [1712462285.276249634] [coppelia_simulator]: coppelia_scene_path: /home/gouqin/gaden/install/test_env/share/test_env/scenarios/10x6_empty_room/coppeliaScene.ttt
[coppelia_simulator-5] [INFO] [1712462285.276264293] [coppelia_simulator]: coppelia_headless: 0
[coppelia_simulator-5] [WARN] [1712462285.276341068] [coppelia_simulator]: Running coppelia with command:
[coppelia_simulator-5] /home/gouqin/CoppeliaSim_Pro_V4_5_1_rev4_Ubuntu22_04/coppeliaSim.sh coppeliaSim /home/gouqin/gaden/install/test_env/share/test_env/scenarios/10x6_empty_room/coppeliaScene.ttt -s -vwarnings &
[coppelia_simulator-5] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[simulated_anemometer-6] [INFO] [1712462285.314613444] [fake_anemometer]: wind noise: 0.300000
[simulated_anemometer-6] [ERROR] [1712462285.338933448] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist.
[static_transform_publisher-7] [WARN] [1712462285.282443997] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-7] [INFO] [1712462285.342206753] [anemometer_tf_pub]: Spinning until stopped - publishing transform
[static_transform_publisher-7] translation: ('0.000000', '0.000000', '0.500000')
[static_transform_publisher-7] rotation: ('1.000000', '0.000000', '0.000000', '0.000000')
[static_transform_publisher-7] from 'PioneerP3DX_base_link' to 'PioneerP3DX_anemometer_frame'
[static_transform_publisher-9] [WARN] [1712462285.310978995] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-9] [INFO] [1712462285.380241001] [pid_tf_pub]: Spinning until stopped - publishing transform
[static_transform_publisher-9] translation: ('0.000000', '0.000000', '0.500000')
[static_transform_publisher-9] rotation: ('1.000000', '0.000000', '0.000000', '0.000000')
[static_transform_publisher-9] from 'PioneerP3DX_base_link' to 'PioneerP3DX_pid_frame'
[simulated_gas_sensor-8] [INFO] [1712462285.413706021] [fake_pid]: The data provided in the roslaunch file is:
[simulated_gas_sensor-8] [INFO] [1712462285.413852107] [fake_pid]: Sensor model: 30
[simulated_gas_sensor-8] [INFO] [1712462285.413871680] [fake_pid]: Fixed frame: map
[simulated_gas_sensor-8] [INFO] [1712462285.413879838] [fake_pid]: Sensor frame: PioneerP3DX_pid_frame
[simulated_gas_sensor-8] [INFO] [1712462285.413887579] [fake_pid]: Running at 10.000000Hz
[simulated_gas_sensor-8] [ERROR] [1712462285.449524307] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist.
[map_server-10] [INFO] [1712462285.544061872] [PioneerP3DX.map_server]:
[map_server-10] map_server lifecycle node launched.
[map_server-10] Waiting on external lifecycle transitions to activate
[map_server-10] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[map_server-10] [INFO] [1712462285.544402348] [PioneerP3DX.map_server]: Creating
[planner_server-12] [INFO] [1712462285.631461923] [PioneerP3DX.planner_server]:
[planner_server-12] planner_server lifecycle node launched.
[planner_server-12] Waiting on external lifecycle transitions to activate
[planner_server-12] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-12] [INFO] [1712462285.641278970] [PioneerP3DX.planner_server]: Creating
[lifecycle_manager-15] [INFO] [1712462285.648135281] [PioneerP3DX.lifecycle_manager_navigation]: Creating
[bt_navigator-11] [INFO] [1712462285.689723541] [PioneerP3DX.bt_navigator]:
[bt_navigator-11] bt_navigator lifecycle node launched.
[bt_navigator-11] Waiting on external lifecycle transitions to activate
[bt_navigator-11] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-11] [INFO] [1712462285.690051251] [PioneerP3DX.bt_navigator]: Creating
[coppelia_simulator-5] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[lifecycle_manager-15] [INFO] [1712462285.709920588] [PioneerP3DX.lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[behavior_server-14] [INFO] [1712462285.720021828] [PioneerP3DX.behavior_server]:
[behavior_server-14] behavior_server lifecycle node launched.
[behavior_server-14] Waiting on external lifecycle transitions to activate
[behavior_server-14] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-13] [INFO] [1712462285.772404462] [PioneerP3DX.controller_server]:
[controller_server-13] controller_server lifecycle node launched.
[controller_server-13] Waiting on external lifecycle transitions to activate
[controller_server-13] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-12] [INFO] [1712462285.780030926] [PioneerP3DX.global_costmap.global_costmap]:
[planner_server-12] global_costmap lifecycle node launched.
[planner_server-12] Waiting on external lifecycle transitions to activate
[planner_server-12] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-12] [INFO] [1712462285.780670291] [PioneerP3DX.global_costmap.global_costmap]: Creating Costmap
[controller_server-13] [INFO] [1712462285.784930953] [PioneerP3DX.controller_server]: Creating controller server
[controller_server-13] [INFO] [1712462285.833482098] [PioneerP3DX.local_costmap.local_costmap]:
[controller_server-13] local_costmap lifecycle node launched.
[controller_server-13] Waiting on external lifecycle transitions to activate
[controller_server-13] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-13] [INFO] [1712462285.834232185] [PioneerP3DX.local_costmap.local_costmap]: Creating Costmap
[simulated_anemometer-6] [ERROR] [1712462286.340709849] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist.
[simulated_gas_sensor-8] [ERROR] [1712462286.453331927] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist.
[lifecycle_manager-15] [INFO] [1712462286.476817226] [PioneerP3DX.lifecycle_manager_navigation]: Starting managed nodes bringup...
[lifecycle_manager-15] [INFO] [1712462286.477052447] [PioneerP3DX.lifecycle_manager_navigation]: Configuring map_server
[map_server-10] [INFO] [1712462286.477556923] [PioneerP3DX.map_server]: Configuring
[map_server-10] [INFO] [map_io]: Loading yaml file: /home/gouqin/gaden/install/test_env/share/test_env/scenarios/10x6_empty_room/occupancy.yaml
[map_server-10] [DEBUG] [map_io]: resolution: 0.01
[map_server-10] [DEBUG] [map_io]: origin[0]: -0.2
[map_server-10] [DEBUG] [map_io]: origin[1]: -0.2
[map_server-10] [DEBUG] [map_io]: origin[2]: 0
[map_server-10] [DEBUG] [map_io]: free_thresh: 0.1
[map_server-10] [DEBUG] [map_io]: occupied_thresh: 0.9
[map_server-10] [DEBUG] [map_io]: mode: trinary
[map_server-10] [DEBUG] [map_io]: negate: 0
[map_server-10] [INFO] [map_io]: Loading image_file: /home/gouqin/gaden/install/test_env/share/test_env/scenarios/10x6_empty_room/occupancy.pgm
[map_server-10] [DEBUG] [map_io]: Read map /home/gouqin/gaden/install/test_env/share/test_env/scenarios/10x6_empty_room/occupancy.pgm: 1040 X 640 map @ 0.01 m/cell
[lifecycle_manager-15] [INFO] [1712462286.586990683] [PioneerP3DX.lifecycle_manager_navigation]: Configuring planner_server
[planner_server-12] [INFO] [1712462286.587843673] [PioneerP3DX.planner_server]: Configuring
[planner_server-12] [INFO] [1712462286.587929162] [PioneerP3DX.global_costmap.global_costmap]: Configuring
[planner_server-12] [INFO] [1712462286.597632419] [PioneerP3DX.global_costmap.global_costmap]: Using plugin "static_layer"
[planner_server-12] [INFO] [1712462286.603671339] [PioneerP3DX.global_costmap.global_costmap]: Subscribing to the map topic (/PioneerP3DX/map) with transient local durability
[planner_server-12] [INFO] [1712462286.605849722] [PioneerP3DX.global_costmap.global_costmap]: Initialized plugin "static_layer"
[planner_server-12] [INFO] [1712462286.605892029] [PioneerP3DX.global_costmap.global_costmap]: Using plugin "obstacle_layer"
[planner_server-12] [INFO] [1712462286.608248254] [PioneerP3DX.global_costmap.global_costmap]: Subscribed to Topics: scan
[planner_server-12] [INFO] [1712462286.618473958] [PioneerP3DX.global_costmap.global_costmap]: Initialized plugin "obstacle_layer"
[planner_server-12] [INFO] [1712462286.618527690] [PioneerP3DX.global_costmap.global_costmap]: Using plugin "inflation_layer"
[planner_server-12] [INFO] [1712462286.620390518] [PioneerP3DX.global_costmap.global_costmap]: Initialized plugin "inflation_layer"
[planner_server-12] [INFO] [1712462286.635553829] [PioneerP3DX.planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner
[planner_server-12] [INFO] [1712462286.635612092] [PioneerP3DX.planner_server]: Configuring plugin GridBased of type NavfnPlanner
[planner_server-12] [INFO] [1712462286.637476089] [PioneerP3DX.planner_server]: Planner Server has GridBased planners available.
[lifecycle_manager-15] [INFO] [1712462286.660113851] [PioneerP3DX.lifecycle_manager_navigation]: Configuring controller_server
[controller_server-13] [INFO] [1712462286.661770336] [PioneerP3DX.controller_server]: Configuring controller interface
[controller_server-13] [INFO] [1712462286.662053053] [PioneerP3DX.controller_server]: getting goal checker plugins..
[controller_server-13] [INFO] [1712462286.662169112] [PioneerP3DX.controller_server]: Controller frequency set to 20.0000Hz
[controller_server-13] [INFO] [1712462286.662230519] [PioneerP3DX.local_costmap.local_costmap]: Configuring
[controller_server-13] [INFO] [1712462286.672915509] [PioneerP3DX.local_costmap.local_costmap]: Using plugin "voxel_layer"
[controller_server-13] [INFO] [1712462286.678311084] [PioneerP3DX.local_costmap.local_costmap]: Subscribed to Topics: scan
[controller_server-13] [INFO] [1712462286.698502140] [PioneerP3DX.local_costmap.local_costmap]: Initialized plugin "voxel_layer"
[controller_server-13] [INFO] [1712462286.698553024] [PioneerP3DX.local_costmap.local_costmap]: Using plugin "inflation_layer"
[controller_server-13] [INFO] [1712462286.700393761] [PioneerP3DX.local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[controller_server-13] [INFO] [1712462286.717429603] [PioneerP3DX.controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-13] [INFO] [1712462286.717968756] [PioneerP3DX.controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker
[controller_server-13] [INFO] [1712462286.718157958] [PioneerP3DX.controller_server]: Controller Server has general_goal_checker goal checkers available.
[controller_server-13] [INFO] [1712462286.719995571] [PioneerP3DX.controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[controller_server-13] [INFO] [1712462286.722692556] [PioneerP3DX.controller_server]: Setting transform_tolerance to 0.200000
[controller_server-13] [INFO] [1712462286.740989829] [PioneerP3DX.controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
[controller_server-13] [INFO] [1712462286.741876947] [PioneerP3DX.controller_server]: Critic plugin initialized
[controller_server-13] [INFO] [1712462286.742072238] [PioneerP3DX.controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
[controller_server-13] [INFO] [1712462286.742455573] [PioneerP3DX.controller_server]: Critic plugin initialized
[controller_server-13] [INFO] [1712462286.742552856] [PioneerP3DX.controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
[controller_server-13] [INFO] [1712462286.742701945] [PioneerP3DX.controller_server]: Critic plugin initialized
[controller_server-13] [INFO] [1712462286.742770947] [PioneerP3DX.controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
[controller_server-13] [INFO] [1712462286.742978632] [PioneerP3DX.controller_server]: Critic plugin initialized
[controller_server-13] [INFO] [1712462286.743058394] [PioneerP3DX.controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
[controller_server-13] [INFO] [1712462286.743234460] [PioneerP3DX.controller_server]: Critic plugin initialized
[controller_server-13] [INFO] [1712462286.743311298] [PioneerP3DX.controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
[controller_server-13] [INFO] [1712462286.743491770] [PioneerP3DX.controller_server]: Critic plugin initialized
[controller_server-13] [INFO] [1712462286.743570235] [PioneerP3DX.controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
[controller_server-13] [INFO] [1712462286.743729497] [PioneerP3DX.controller_server]: Critic plugin initialized
[controller_server-13] [INFO] [1712462286.743746869] [PioneerP3DX.controller_server]: Controller Server has FollowPath controllers available.
[lifecycle_manager-15] [INFO] [1712462286.758426705] [PioneerP3DX.lifecycle_manager_navigation]: Configuring bt_navigator
[bt_navigator-11] [INFO] [1712462286.758773963] [PioneerP3DX.bt_navigator]: Configuring
[lifecycle_manager-15] [INFO] [1712462286.847958168] [PioneerP3DX.lifecycle_manager_navigation]: Configuring behavior_server
[behavior_server-14] [INFO] [1712462286.848351306] [PioneerP3DX.behavior_server]: Configuring
[behavior_server-14] [INFO] [1712462286.867708603] [PioneerP3DX.behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin
[behavior_server-14] [INFO] [1712462286.868701579] [PioneerP3DX.behavior_server]: Configuring spin
[behavior_server-14] [INFO] [1712462286.884329043] [PioneerP3DX.behavior_server]: Creating behavior plugin backup of type nav2_behaviors/BackUp
[behavior_server-14] [INFO] [1712462286.885195640] [PioneerP3DX.behavior_server]: Configuring backup
[behavior_server-14] [INFO] [1712462286.900180166] [PioneerP3DX.behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading
[behavior_server-14] [INFO] [1712462286.901265440] [PioneerP3DX.behavior_server]: Configuring drive_on_heading
[behavior_server-14] [INFO] [1712462286.917033706] [PioneerP3DX.behavior_server]: Creating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop
[behavior_server-14] [INFO] [1712462286.921918935] [PioneerP3DX.behavior_server]: Configuring assisted_teleop
[behavior_server-14] [INFO] [1712462286.942379399] [PioneerP3DX.behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait
[behavior_server-14] [INFO] [1712462286.943205900] [PioneerP3DX.behavior_server]: Configuring wait
[lifecycle_manager-15] [INFO] [1712462286.958697196] [PioneerP3DX.lifecycle_manager_navigation]: Activating map_server
[map_server-10] [INFO] [1712462286.958993084] [PioneerP3DX.map_server]: Activating
[map_server-10] [INFO] [1712462286.960061299] [PioneerP3DX.map_server]: Creating bond (map_server) to lifecycle manager.
[planner_server-12] [INFO] [1712462286.972403882] [PioneerP3DX.global_costmap.global_costmap]: StaticLayer: Resizing costmap to 1040 X 640 at 0.010000 m/pix
[lifecycle_manager-15] [INFO] [1712462287.068265214] [PioneerP3DX.lifecycle_manager_navigation]: Server map_server connected with bond.
[lifecycle_manager-15] [INFO] [1712462287.068338100] [PioneerP3DX.lifecycle_manager_navigation]: Activating planner_server
[planner_server-12] [INFO] [1712462287.070124572] [PioneerP3DX.planner_server]: Activating
[planner_server-12] [INFO] [1712462287.070185067] [PioneerP3DX.global_costmap.global_costmap]: Activating
[planner_server-12] [INFO] [1712462287.070193731] [PioneerP3DX.global_costmap.global_costmap]: Checking transform
[planner_server-12] [INFO] [1712462287.070214367] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[simulated_anemometer-6] [ERROR] [1712462287.341715419] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist.
[simulated_gas_sensor-8] [ERROR] [1712462287.453737200] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist.
[planner_server-12] [INFO] [1712462287.570620653] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[planner_server-12] [INFO] [1712462288.070898392] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[simulated_anemometer-6] [ERROR] [1712462288.342421840] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist.
[simulated_gas_sensor-8] [ERROR] [1712462288.454875279] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist.
[planner_server-12] [INFO] [1712462288.570901598] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[coppelia_simulator-5] [CoppeliaSimClient] loading the CoppeliaSim library...
[coppelia_simulator-5] [CoppeliaSimClient] done.
[coppelia_simulator-5] 2024-04-07 11:58:08.994 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7419: open_and_lock_file failed -> Function open_port_internal
[planner_server-12] [INFO] [1712462289.070517635] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[simulated_anemometer-6] [ERROR] [1712462289.343558132] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist.
[simulated_gas_sensor-8] [ERROR] [1712462289.456688896] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist.
[planner_server-12] [INFO] [1712462289.570994887] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[planner_server-12] [INFO] [1712462290.071207111] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[simulated_anemometer-6] [ERROR] [1712462290.344673269] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist.
[simulated_gas_sensor-8] [ERROR] [1712462290.457639864] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist.
[planner_server-12] [INFO] [1712462290.570455418] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[planner_server-12] [INFO] [1712462291.070688074] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[simulated_anemometer-6] [ERROR] [1712462291.345732576] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist.
[simulated_gas_sensor-8] [ERROR] [1712462291.458023102] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist.
[planner_server-12] [INFO] [1712462291.572867632] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[planner_server-12] [INFO] [1712462292.070317491] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[simulated_anemometer-6] [ERROR] [1712462292.346882963] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist.
[simulated_gas_sensor-8] [ERROR] [1712462292.459109223] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist.
[planner_server-12] [INFO] [1712462292.570252066] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[planner_server-12] [INFO] [1712462293.070423695] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[simulated_anemometer-6] [ERROR] [1712462293.350455276] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist.
[simulated_gas_sensor-8] [ERROR] [1712462293.460945201] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist.
[planner_server-12] [INFO] [1712462293.570651378] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[planner_server-12] [INFO] [1712462294.073245092] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[simulated_anemometer-6] [ERROR] [1712462294.351765492] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist.
[simulated_gas_sensor-8] [ERROR] [1712462294.462510099] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist.
[planner_server-12] [INFO] [1712462294.570423777] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[planner_server-12] [INFO] [1712462295.070640614] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[simulated_anemometer-6] [ERROR] [1712462295.352971452] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist.
[simulated_gas_sensor-8] [ERROR] [1712462295.463914482] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist.
[planner_server-12] [INFO] [1712462295.570448512] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[planner_server-12] [INFO] [1712462296.070778971] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[simulated_anemometer-6] [ERROR] [1712462296.353944356] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist.
[simulated_gas_sensor-8] [ERROR] [1712462296.465170876] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist.
[planner_server-12] [INFO] [1712462296.570509080] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[planner_server-12] [INFO] [1712462297.070821369] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[simulated_anemometer-6] [ERROR] [1712462297.355179997] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist.
[simulated_gas_sensor-8] [ERROR] [1712462297.465630339] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist.
[planner_server-12] [INFO] [1712462297.570647967] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[planner_server-12] [INFO] [1712462298.074649485] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[simulated_anemometer-6] [ERROR] [1712462298.356172047] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist.
[simulated_gas_sensor-8] [ERROR] [1712462298.466990592] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist.
[planner_server-12] [INFO] [1712462298.570725824] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[planner_server-12] [INFO] [1712462299.070962736] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[simulated_anemometer-6] [ERROR] [1712462299.358027877] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist.
[simulated_gas_sensor-8] [ERROR] [1712462299.468239778] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist.
[planner_server-12] [INFO] [1712462299.570442243] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[planner_server-12] [INFO] [1712462300.071034547] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[simulated_anemometer-6] [ERROR] [1712462300.359007973] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist.
[simulated_gas_sensor-8] [ERROR] [1712462300.469063253] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist.
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[lifecycle_manager-15] [INFO] [1712462300.523213345] [rclcpp]: signal_handler(signum=2)
[lifecycle_manager-15] [INFO] [1712462300.523394731] [PioneerP3DX.lifecycle_manager_navigation]: Running Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation)
[ERROR] [xterm-2]: process has died [pid 10576, exit code 2, cmd 'xterm -hold -e /opt/ros/humble/lib/rviz2/rviz2 -d/home/gouqin/gaden/install/test_env/share/test_env/launch/gaden.rviz --ros-args -r __node:=rviz2 -r /initialpose:=/PioneerP3DX/initialpose -r /goal_pose:=/PioneerP3DX/goal_pose'].
[bt_navigator-11] [INFO] [1712462300.523249863] [rclcpp]: signal_handler(signum=2)
[bt_navigator-11] [INFO] [1712462300.525173059] [PioneerP3DX.bt_navigator]: Running Nav2 LifecycleNode rcl preshutdown (bt_navigator)
[bt_navigator-11] [INFO] [1712462300.525221357] [PioneerP3DX.bt_navigator]: Cleaning up
[controller_server-13] [INFO] [1712462300.523253140] [rclcpp]: signal_handler(signum=2)
[controller_server-13] [INFO] [1712462300.523396636] [PioneerP3DX.local_costmap.local_costmap]: Running Nav2 LifecycleNode rcl preshutdown (local_costmap)
[controller_server-13] [INFO] [1712462300.523462898] [PioneerP3DX.local_costmap.local_costmap]: Cleaning up
[simulated_gas_sensor-8] [INFO] [1712462300.523272106] [rclcpp]: signal_handler(signum=2)
[simulated_gas_sensor-8] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[simulated_gas_sensor-8] what(): failed to create guard condition: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/guard_condition.c:67
[static_transform_publisher-9] [INFO] [1712462300.523299065] [rclcpp]: signal_handler(signum=2)
[map_server-10] [INFO] [1712462300.523305901] [rclcpp]: signal_handler(signum=2)
[map_server-10] [INFO] [1712462300.524966589] [PioneerP3DX.map_server]: Running Nav2 LifecycleNode rcl preshutdown (map_server)
[map_server-10] [INFO] [1712462300.525042413] [PioneerP3DX.map_server]: Deactivating
[map_server-10] [INFO] [1712462300.525056584] [PioneerP3DX.map_server]: Destroying bond (map_server) to lifecycle manager.
[robot_state_publisher-1] [INFO] [1712462300.523319844] [rclcpp]: signal_handler(signum=2)
[simulated_anemometer-6] [INFO] [1712462300.523343726] [rclcpp]: signal_handler(signum=2)
[simulated_anemometer-6] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[simulated_anemometer-6] what(): failed to create guard condition: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/guard_condition.c:67
[behavior_server-14] [INFO] [1712462300.524178682] [rclcpp]: signal_handler(signum=2)
[behavior_server-14] [INFO] [1712462300.524984069] [PioneerP3DX.behavior_server]: Running Nav2 LifecycleNode rcl preshutdown (behavior_server)
[behavior_server-14] [INFO] [1712462300.525089339] [PioneerP3DX.behavior_server]: Cleaning up
[planner_server-12] [INFO] [1712462300.524240190] [rclcpp]: signal_handler(signum=2)
[planner_server-12] [INFO] [1712462300.524913634] [PioneerP3DX.global_costmap.global_costmap]: Running Nav2 LifecycleNode rcl preshutdown (global_costmap)
[planner_server-12] [INFO] [1712462300.524955352] [PioneerP3DX.global_costmap.global_costmap]: Destroying bond (global_costmap) to lifecycle manager.
[planner_server-12] [INFO] [1712462300.524960954] [PioneerP3DX.planner_server]: Running Nav2 LifecycleNode rcl preshutdown (planner_server)
[planner_server-12] [INFO] [1712462300.524994009] [PioneerP3DX.planner_server]: Destroying bond (planner_server) to lifecycle manager.
[planner_server-12] [INFO] [1712462300.526212288] [PioneerP3DX.global_costmap.global_costmap]: start
[planner_server-12] [ERROR] [1712462300.526369400] [PioneerP3DX.global_costmap.global_costmap]: Caught exception in callback for transition 13
[planner_server-12] [ERROR] [1712462300.526373645] [PioneerP3DX.global_costmap.global_costmap]: Original error: could not create subscription: rcl node's context is invalid, at ./src/rcl/node.c:428
[planner_server-12] [ERROR] [1712462300.526384573] [PioneerP3DX.global_costmap.global_costmap]: Failed to finish transition 3. Current state is now: errorprocessing (Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368)
[planner_server-12] [INFO] [1712462300.526390329] [PioneerP3DX.planner_server]: Activating plugin GridBased of type NavfnPlanner
[planner_server-12] [ERROR] [1712462300.526443625] [PioneerP3DX.planner_server]: Caught exception in callback for transition 13
[planner_server-12] [ERROR] [1712462300.526446416] [PioneerP3DX.planner_server]: Original error: could not create service: rcl node's context is invalid, at ./src/rcl/node.c:428
[planner_server-12] [ERROR] [1712462300.526450171] [PioneerP3DX.planner_server]: Failed to finish transition 3. Current state is now: errorprocessing (Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368)
[planner_server-12] [INFO] [1712462300.530533351] [PioneerP3DX.planner_server]: Destroying plugin GridBased of type NavfnPlanner
[static_transform_publisher-7] [INFO] [1712462300.524267660] [rclcpp]: signal_handler(signum=2)
[coppelia_simulator-5] [INFO] [1712462300.527987301] [rclcpp]: signal_handler(signum=2)
[map_server-10] [INFO] [1712462300.535556120] [PioneerP3DX.map_server]: Cleaning up
[map_server-10] [INFO] [1712462300.535667438] [PioneerP3DX.map_server]: Destroying bond (map_server) to lifecycle manager.
[player-4] [INFO] [1712462300.540483847] [rclcpp]: signal_handler(signum=2)
[environment-3] [INFO] [1712462300.540667798] [rclcpp]: signal_handler(signum=2)
[controller_server-13] [INFO] [1712462300.541797923] [PioneerP3DX.local_costmap.local_costmap]: Destroying bond (local_costmap) to lifecycle manager.
[controller_server-13] [INFO] [1712462300.541831562] [PioneerP3DX.controller_server]: Running Nav2 LifecycleNode rcl preshutdown (controller_server)
[controller_server-13] [INFO] [1712462300.541932675] [PioneerP3DX.controller_server]: Cleaning up
[behavior_server-14] [INFO] [1712462300.548342137] [PioneerP3DX.behavior_server]: Destroying bond (behavior_server) to lifecycle manager.
[controller_server-13] [INFO] [1712462300.576285255] [PioneerP3DX.controller_server]: Destroying bond (controller_server) to lifecycle manager.
[controller_server-13] [INFO] [1712462300.586800852] [PioneerP3DX.local_costmap.local_costmap]: Destroying
[map_server-10] [INFO] [1712462300.587838485] [PioneerP3DX.map_server]: Destroying
[controller_server-13] [INFO] [1712462300.603662007] [PioneerP3DX.controller_server]: Destroying
[planner_server-12] Warning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded.
[planner_server-12] at line 127 in ./src/class_loader.cpp
[planner_server-12] terminate called without an active exception
[bt_navigator-11] [INFO] [1712462300.684585367] [PioneerP3DX.bt_navigator]: Completed Cleaning up
[bt_navigator-11] [INFO] [1712462300.684661489] [PioneerP3DX.bt_navigator]: Destroying bond (bt_navigator) to lifecycle manager.
[ERROR] [simulated_anemometer-6]: process has died [pid 10584, exit code -6, cmd '/home/gouqin/gaden/install/simulated_anemometer/lib/simulated_anemometer/simulated_anemometer --ros-args -r __node:=fake_anemometer --params-file /tmp/launch_params_hz2sjysp --params-file /tmp/launch_params_9kmcttmg --params-file /tmp/launch_params_7bxlrjbp --params-file /tmp/launch_params_uz_i_3qv --params-file /tmp/launch_params_kldsq069'].
[INFO] [static_transform_publisher-9]: process has finished cleanly [pid 10640]
[ERROR] [simulated_gas_sensor-8]: process has died [pid 10625, exit code -6, cmd '/home/gouqin/gaden/install/simulated_gas_sensor/lib/simulated_gas_sensor/simulated_gas_sensor --ros-args -r __node:=fake_pid --params-file /tmp/launch_params_emsja3i2 --params-file /tmp/launch_params_46s_z56y --params-file /tmp/launch_params_aiyn8n0t --params-file /tmp/launch_params_x_suuzhq --params-file /tmp/launch_params_uo8lx7is'].
[bt_navigator-11] [INFO] [1712462300.717194803] [PioneerP3DX.bt_navigator]: Destroying
[behavior_server-14] [INFO] [1712462300.728257816] [PioneerP3DX.behavior_server]: Destroying
[ERROR] [planner_server-12]: process has died [pid 10679, exit code -6, cmd '/opt/ros/humble/lib/nav2_planner/planner_server --ros-args -r __node:=planner_server -r __ns:=/PioneerP3DX --params-file /tmp/launch_params_fypyr3r2'].
[INFO] [static_transform_publisher-7]: process has finished cleanly [pid 10621]
[coppelia_simulator-5] double free or corruption (out)
[INFO] [controller_server-13]: process has finished cleanly [pid 10681]
[INFO] [map_server-10]: process has finished cleanly [pid 10647]
[INFO] [player-4]: process has finished cleanly [pid 10580]
[INFO] [environment-3]: process has finished cleanly [pid 10578]
[INFO] [bt_navigator-11]: process has finished cleanly [pid 10662]
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 10574]
[INFO] [behavior_server-14]: process has finished cleanly [pid 10685]
[coppelia_simulator-5] /home/gouqin/CoppeliaSim_Pro_V4_5_1_rev4_Ubuntu22_04/coppeliaSim.sh: 第 35 行： 10654 已中止 （核心已转储） "$dirname/$appname" "${PARAMETERS[@]}"
[ERROR] [coppelia_simulator-5]: process has died [pid 10582, exit code 134, cmd '/home/gouqin/gaden/install/coppelia_ros2_pkg/lib/coppelia_ros2_pkg/coppelia_simulator --ros-args -r __node:=coppelia_simulator --params-file /tmp/launch_params_93ljhqkj --params-file /tmp/launch_params__3k09xka --params-file /tmp/launch_params_k2n1vrep --params-file /tmp/launch_params_1rrwhuy3 --params-file /tmp/launch_params_gyts_sa1 --params-file /home/gouqin/gaden/install/coppelia_ros2_pkg/share/coppelia_ros2_pkg/launch/scene_params.yaml --params-file /tmp/launch_params_ml6y09k0 --params-file /tmp/launch_params_uvfj5j6e --params-file /tmp/launch_params_3zzdkk6w --params-file /tmp/launch_params_uaw3hws3 --params-file /tmp/launch_params_pv81if3x --params-file /tmp/launch_params_n6y92lnd'].
[lifecycle_manager-15] [ERROR] [1712462302.528133963] [PioneerP3DX.lifecycle_manager_navigation]: Failed to change state for node: planner_server. Exception: planner_server/get_state service client: async_send_request failed.
[lifecycle_manager-15] [ERROR] [1712462302.528207281] [PioneerP3DX.lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup.
[lifecycle_manager-15] [INFO] [1712462302.560227211] [PioneerP3DX.lifecycle_manager_navigation]: Destroying lifecycle_manager_navigation
[INFO] [lifecycle_manager-15]: process has finished cleanly [pid 10687]
I'm new to ROS2 and haven't been able to solve it on my own. Can you help me, please?

Dear developers,
Hi!

When I run the launch file roslaunch GADEN_player.launch I get the error and the rpt_plot is blank .

I think GADEN is properly installed, because catkin_make was run without errors. There is only one scenario named 10x6_snake in the file /test_env, I had tried to run the below commands and got outputs:

roslaunch GADEN_preprocessing.launch
..
[ INFO] [1564687470.057891299]: Preprocessing done

roslaunch GADEN.launch
..
[ WARN] [1564687479.027664857]: [filament] File /home/karuka/catkin_ws/src/olfaction/gaden-master/test_env/10x6_snake/wind_simulations/05ms/wind_at_cell_centers_1.csv_U Does N
ot Exists!
[ WARN] [1564687479.027731377]: [filament] No more wind data available. Using last Wind snapshopt as SteadyState.
..
[filament_simulator-2] process has finished cleanly
log file: /home/karuka/.ros/log/fa286c44-b491-11e9-9b46-3413e858c5ff/filament_simulator-2*.log

roslaunch GADEN_player.launch
..
[ INFO] [1564690259.227063810]: [fake anemometer]: wind noise: 0.100000
[ INFO] [1564690259.234434708]: [Player] Initializing 1 instances
[ERROR] [1564690259.298156718]: "map" passed to lookupTransform argument target_frame does not exist.
[ERROR] [1564690259.299691619]: "map" passed to lookupTransform argument target_frame does not exist.
[ERROR] [1564690259.300692760]: "map" passed to lookupTransform argument target_frame does not exist.
[ERROR] [1564690259.304641330]: "map" passed to lookupTransform argument target_frame does not exist.
[ERROR] [1564690259.339587204]: "map" passed to lookupTransform argument target_frame does not exist.

When I try this in docker, the rpt_plot shows some information about MOX sensor, but I still get map error:
[ INFO] [1564739869.898903926]: The data provided in the roslaunch file is:
[ INFO] [1564739869.898993050]: Sensor model: 0
[ INFO] [1564739869.899013439]: Fixed frame: map
[ INFO] [1564739869.899037516]: Sensor frame: mox0_frame
[ERROR] [1564739869.909679069]: "map" passed to lookupTransform argument target_frame
does not exist.
process[Mox01/fake_mox-8]: started with pid [11272]
[ INFO] [1564739870.032379941]: The data provided in the roslaunch file is:
[ INFO] [1564739870.032465837]: Sensor model: 1
[ INFO] [1564739870.032489484]: Fixed frame: map
[ INFO] [1564739870.032510124]: Sensor frame: mox1_frame
[ERROR] [1564739870.045695617]: "map" passed to lookupTransform argument target_frame
does not exist.
process[Mox02/fake_mox-9]: started with pid [11304]
[ INFO] [1564739870.168956773]: The data provided in the roslaunch file is:
[ INFO] [1564739870.169069584]: Sensor model: 2
[ INFO] [1564739870.169112096]: Fixed frame: map
[ INFO] [1564739870.169157154]: Sensor frame: mox2_frame
[ERROR] [1564739870.186675179]: "map" passed to lookupTransform argument target_frame
does not exist.
process[PID/fake_pid-10]: started with pid [11337]
[ INFO] [1564739870.321006666]: The data provided in the roslaunch file is:
[ INFO] [1564739870.321111828]: Sensor model: 30
[ INFO] [1564739870.321139194]: Fixed frame: map
[ INFO] [1564739870.321179821]: Sensor frame: pid_frame
[ERROR] [1564739870.340633288]: "map" passed to lookupTransform argument target_frame
does not exist.
process[anemometer_broadcaster-11]: started with pid [11368]
process[Anemometer01/fake_anemometer-12]: started with pid [11401]
[ INFO] [1564739870.590835196]: [fake anemometer]: wind noise: 0.100000
[ERROR] [1564739870.611087688]: "map" passed to lookupTransform argument target_frame
does not exist.
Please help me!

I was wondering if you could explain the response of the simulated MOX sensors specifically, why does the concentration (in ppm) go down when the sensors are within the emitting filaments?

Hi, how should I fix this error? Could someone help me please?

Hi again , I encountered the following error when I trying to colcon build :,(

Hello,

When I run the launch file gaden_simulator_demo.launch I get the error:
Error in opening the final output files.
When I exit, it tries to write to the log file "filament_simulator1-3*.log", but I this file is not in the log directory.
After running the debugger gdb on the filament simulator, I get:

Also, this error may or may not be related to #7

Thank you in advance for your help,
Rebecca

Hello,

Do you have a plugin into PyBullet? (I saw one for Unity)

Thank you!

Hello!
I am a student interested in the field of robot active olfaction.
I have carefully studied your papers related to Gaden and downloaded your open source project on GitHub.
Is there any documentation on how to use the test_env folder? The systerm i use is ros melodic ubuntu18
By the way,the link given in the Gaden tutorial:http://mapir.isa.uma.es/work/gaden is no longer valid.
Thank you very much!

I want to use the GADEN to create my project, but i met some issues about GADEN_preprocessing.launch.

I use the "gui.py" provided by GADEN to import the wind data created by FLUENT software, and CAD models built by myself. When i roslaunch the GADEN_preprocessing.launch,there is no result but no error either as the picture show.Is there something so important i ignored? Was it related to the cad models?

There is the picture about my .csv file.

thank you

I'm sorry to bother you with another issue, but where are these deprecated parameters defined, and where should I go to modify them?

Thanks for sharing the code. I encountered some issues during compilation:
Make Error at CMakeLists.txt:39 (find_package):
-- stderr: gaden_preprocessing
CMake Error at CMakeLists.txt:39 (find_package):
By not providing "Findcoppelia_remote_api.cmake" in CMAKE_MODULE_PATH this
project has asked CMake to find a package configuration file provided by
"coppelia_remote_api", but CMake did not find one.

Could not find a package configuration file provided by
"coppelia_remote_api" with any of the following names:

coppelia_remote_apiConfig.cmake
coppelia_remote_api-config.cmake

Add the installation prefix of "coppelia_remote_api" to CMAKE_PREFIX_PATH
or set "coppelia_remote_api_DIR" to a directory containing one of the above
files. If "coppelia_remote_api" provides a separate development package or
SDK, be sure it has been installed.
I have installed coppeliasim4.6.0-rev18 and the ZMQ remote API plugin, but I still can't find the coppelia_remote_apiConfig.cmake or coppelia_remote_api-config.cmake files in the root directory of coppeliasim.
Cheers

Hello, I use GADEN_file, encountered some problems like asking for your help. I can use the home30 environment completely, but when I use other environments, I get an error. The picture in question is shown below.
[ WARN] [1693490820.069516246]: [filament] File /home/miracle/wzp_ws/src/GADEN_file/House11/wind_simulations/1-2,3_fast/1-2,3_fast_0.csv_U Does Not Exists!
[ WARN] [1693490820.073787891]: [filament] No more wind data available. Using last Wind snapshopt as SteadyState.
[ERROR] [1693490827.932828416]: Could not load resource [package://my_env/House11/cad_models/House11.dae]: Unable to open file "package://my_env/House11/cad_models/House11.dae".

@PepeOjeda

ROS2 gaden_preprocessing: CMakeLists.txt 35: list(APPEND AMENT_DEPS coppelia_remote_api)
I only find CoppeliaSim/programming/zmqRemoteApi and other romote api. There is no package names coppelia_remote_api.

Hi,

when trying to compile GADEN I get stuck with the following error:

In file included from /<...>/gaden/gaden_player/src/simulation_player.cpp:8:0:gaden/gaden_player/src/simulation_player.h:9:38: fatal error: gaden_player/GasPosition.h: No such file or directory

There doesn't seem to be a GasPosition.h in the repository, only GasPosition.srv at gaden/gaden_player/srv/GasPosition.srv.

Am I missing a step in the preparation, or another repo to include?

Thanks in advance,

Michael

Hi
I am using Gaden for BS my project. I want to generate my own environment and then use the GADEN c++ filament node to generate plum in my own environment. I followed all the procedures given in the gaden tutorial. when I run preprocessing launch file it is neither giving me any error nor generating an environment. I run the simulation for 6s to generate the wind file(.csv file) and got many files. i am unable to find the problem at which step I did wrong. Can any one help me please

Hello,

When I run the launch file gaden_simulator_demo.launch I get this error:

Have I missed something?

Thanks in advance,
Rebecca

Hello,
First of all, I would like to congratulations on the developed GADEN package. He's sensational. I am trying to create a scenario similar to what you have developed known as "10x6_empty_room", but with reduced measures, as I need a 50x40 cm "room". I used your cad as a basis to change the scale and get an inner ".stl" file next to what I need. So I imported this file into SimScale, I managed to perform the "Mesh", but when I try to run the CFD simulation, I have problems related to the "Courant number (CFL)", because it exceeds the limit of 1. I don't know if the problem is with the settings I made for the simulation or some other. Could you help me in any way? I used the parameters suggested by you as: Boundary Conditions: Velocity Inlet (assigns random values ​​for these speeds) and Pressure Outlet and the other recommended settings. I need some help.
Thank you. Ronnier Frates Rohrich.

it seems that "vec3.hpp" is not exist in ros1 project
how can i deal with this problem
thanks!

First of all, thank you for the great piece of software and documentation. It has been nice to use!

The 10x6_central_obstacle test environment runs without issues. When I try to use my own environment resembling a small warehouse however, it seems as if the wind data is not coming through properly according to the fake anemometer that is used when running the gaden_player pkg, some details:

• I am using ROS Noetic. The environment is a small warehouse (10x15x9m) occupied with filled/empty racks, it has one inlet and one outlet. The inlet (depicted top left) introduces a flow of ~1.5m/s, see picture: (taken after roslaunch GADEN.launch)
  
• I've checked the formatting of the wind data .csv, it should agree with the example.
• I've checked the "wind_data" param for both the preprocessing and filament simulator launch files
• gaden_preprocessing seems to work as expected, it produces the '.cvs_U' etc., the occupancy.pgm/yaml and the OccupancyGrid3D.csv also seems to be ok (although there are some little artefacts in the top left of each frame, I think they should not be a problem, or should they?)
• The GADEN.launch file seems to work as expected, although it might already indicate the lack of a windfield. However, because the CFD is only run until 5s simulated time it is hard to tell. In this case I've set the filament simulator to loop over the single wind data snapshot available.
• I've checked the wind data in I used in paraview, verifying that there should be significant wind velocity present at the location (2.0 0.6 1.0) of the anemometer:
  
• When running the gaden_player package the arrow depicting the anemometer is flat due to the lack of wind field data, this is confirmed by the the ROS_INFO printout I added to fake_anemometer.cpp:
  [ INFO] [1686152927.480873745]: [fake anemometer]: wind readings u v: 0.000000, 0.000000
• Although for the 10x6_central_obstacle environment it produces:
  [ INFO] [1686154211.311332298]: [fake anemometer]: wind readings u v: 0.842310, 0.025746
  as expected

I've included a .zip of my environment, I am eager to get to the bottom of this!
warehouse.zip
Many thanks in advance.

error: no matching function for call to ‘Environment::get_parameter_orstd::string(const char*, const char [1])’
227 | CAD_models[i] = get_parameter_orstd::string(paramName.c_str(), "");

Hello,

When I run the launch file gaden_player_demo.launch I get the error:

Thank you in advance for your help,
Rebecca

Dear developer：
hi！
I'd like to run the example in the test_env. when i roslaunch test_env/10x6_central_obstacle/launch/GADEN.launch after i roslaunch test_env/10x6_central_obstacle/launch/GADEN.launch. there is the warm i got as the picture show.

Thank you in advance for your help
doulew