An error occurred while running recon.launch about predrecon

[Chen-Albert-FENG]

Thanks for following our work!
For the first question, you can check whether the main building with complete texture is shown in your simulator. If yes, it will not have an effect on running the demo.
For the second question, I guess you should change the "tsp_dir/single.par" as the file path to your own computer path.

[rebecca0011]

Thanks for following our work! For the first question, you can check whether the main building with complete texture is shown in your simulator. If yes, it will not have an effect on running the demo. For the second question, I guess you should change the "tsp_dir/single.par" as the file path to your own computer path.

I replaced all the paths containing boboyu and albert in the code with my own paths, but I still encountered the above problems.
Do you include other relative paths in the code? How can I change it to make it work?
Thx!

[Chen-Albert-FENG]

Maybe you can change this line as your file path: https://github.com/HKUST-Aerial-Robotics/PredRecon/blob/master/Planner/Code/src/fuel_planner/exploration_manager/launch/algorithm.xml#L170.

[rebecca0011]

Maybe you can change this line as your file path: https://github.com/HKUST-Aerial-Robotics/PredRecon/blob/master/Planner/Code/src/fuel_planner/exploration_manager/launch/algorithm.xml#L170.

Thank you for your answer.

I replaced global/tsp_dir_ and local/tsp_dir_ with /home/rc/Projects/src/PredRecon/Planner/Code/tsp_dir and /home/rc/Projects/src/PredRecon/Planner/Code/local_tsp (the local path) respectively.

I'm not sure what the correct input above should be, because I get the following error message.

[ INFO] [1,698,830,626.717,546,125]: [FSM]: state: INITIAL
[FSM]: from INITIAL to WAIT
[ WARN] [1,698,830,627.335,922,102]: wait for trigger.
[ INFO] [1,698,830,628.8,128,332]: [FSM]: state: WAIT
[ WARN] [1,698,830,628.765,570,255]: wait for trigger.
[ INFO] [1,698,830,629.533,028,940]: [FSM]: state: WAIT
[ WARN] [1,698,830,630.344,409,708]: wait for trigger.
[ INFO] [1,698,830,631.156,134,872]: [FSM]: state: WAIT
[ WARN] [1,698,830,631.949,229,759]: wait for trigger.
[ INFO] [1,698,830,632.817,176,224]: [FSM]: state: WAIT
Triggered!
[triggerCallback]: from WAIT to PLAN
[ WARN] [1,698,830,633.624,409,013]: STATIC!
start_pt_x:0
start_pt_y:0
start_pt_z:1.52771
-----Planning Start!-----
-----Surface Prediction Start!-----
infer_ms:1.04291ms
ts_ms:6.01334ms
vec_ms:0.010979ms
[ WARN] [1,698,830,633.632,542,837]: near_ground
2177
[ WARN] [1,698,830,633.664,354,008]: Visit Cloud!
visit_num:9543
0.21035
Surface_Prediction_Time:40.0412ms!
-----Surface Prediction Finished!-----
-----Global Planning Start!-----
preprocess_time:0.063377ms
-----------cluster_size:69
CEC_time:17.0436ms
visibility_time:0.034105ms
cloud number:21873
update_time:132.168ms
global planner
No:0no normal mech!!!!!!!!!!!!
global planner
No:4no normal mech!!!!!!!!!!!!
global planner
No:6no normal mech!!!!!!!!!!!!
global planner
No:10no normal mech!!!!!!!!!!!!
global planner
No:13no normal mech!!!!!!!!!!!!
global planner
No:14no normal mech!!!!!!!!!!!!
global planner
No:16no normal mech!!!!!!!!!!!!
global planner
No:22no normal mech!!!!!!!!!!!!
global planner
No:24no normal mech!!!!!!!!!!!!
global planner
No:25no normal mech!!!!!!!!!!!!
global planner
No:27no normal mech!!!!!!!!!!!!
global planner
No:28no normal mech!!!!!!!!!!!!
global planner
No:31no normal mech!!!!!!!!!!!!
global planner
No:32no normal mech!!!!!!!!!!!!
global planner
No:39no normal mech!!!!!!!!!!!!
global planner
No:40no normal mech!!!!!!!!!!!!
global planner
No:42no normal mech!!!!!!!!!!!!
global planner
No:43no normal mech!!!!!!!!!!!!
global planner
No:44no normal mech!!!!!!!!!!!!
global planner
No:46no normal mech!!!!!!!!!!!!
global planner
No:47no normal mech!!!!!!!!!!!!
global planner
No:54no normal mech!!!!!!!!!!!!
global planner
No:55no normal mech!!!!!!!!!!!!
global planner
No:57no normal mech!!!!!!!!!!!!
global planner
No:58no normal mech!!!!!!!!!!!!
global planner
No:59no normal mech!!!!!!!!!!!!
partition_size:71
normal_select_time:1.58404ms
qualified_partition_size:71
sample_time:9.47398ms
reading file /home/rc/Projects/src/PredRecon/Planner/Code/tsp_dir/single.parreading problem file /home/rc/Projects/src/PredRecon/Planner/Code/tsp_dir/single.tsp
392 3,991 3,833 691 1,269 1,252 1,422 1,648 1,313 2,937 2,797 3,192 3,466 3,282 3,408 3,851 3,775 3,877 0 610 1,317 368 928 1,435 2,645 2,393 3,216 3,378 3,358 3,400 3,673 3,728 3,833 345 798 2,195 1,231 1,496 1,682 2,243 2,680 2,813 3,401 3,367 3,144 3,746 3,836 1,839 1,540 3,075 2,667 2,620 

*** Error ***
Unknown keyword: 392
[exploration_node-1] process has died [pid 17446, exit code 1, cmd /home/rc/Projects/devel/lib/exploration_manager/exploration_node /odom_world:=/airsim_node/drone_1/odom_local_enu /map_ros/pose:=/airsim_node/drone_1/odom_local_enu /map_ros/depth:=/airsim_node/drone_1/front_center/DepthPerspective /map_ros/cloud:=/cloud __name:=exploration_node __log:=/home/rc/.ros/log/4e95a5fc-7898-11ee-8e5a-592c468efd6b/exploration_node-1.log].
log file: /home/rc/.ros/log/4e95a5fc-7898-11ee-8e5a-592c468efd6b/exploration_node-1*.log
[ WARN] [1,698,830,640.777,066,084]: [Traj server]: ready.
^C[waypoint_generator-3] killing on exit
[traj_server-2] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

[rebecca0011]

Also, the path I used in the singlet.tar file is

PROBLEM_FILE = /home/rc/Projects/src/PredRecon/Planner/Code/local_tsp/single.tsp
GAIN23 = NO
OUTPUT_TOUR_FILE =/home/rc/Projects/src/PredRecon/Planner/Code/local_tsp/single.txt
RUNS = 1

[rebecca0011]

Also, the path I used in the singlet.tar file is

PROBLEM_FILE = /home/rc/Projects/src/PredRecon/Planner/Code/local_tsp/single.tsp
GAIN23 = NO
OUTPUT_TOUR_FILE =/home/rc/Projects/src/PredRecon/Planner/Code/local_tsp/single.txt
RUNS = 1

Solved by replace all prob_file << int_cost << " " to prob_file << to_string(int_cost) << " "