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A MORSE-based simulation for the STRANDS project

Python 77.51% Shell 0.67% C++ 2.07% CMake 2.52% Smarty 17.24%

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depth camera scans through walls

Some bham cs environments don't have a light source

Environments without light source:

cs_ug
cs_1
cs_2

Improving of robot model

Improving a robot model to have more realistic model

Add simple launch files for all environments

To avoid commands with many arguments like rosrun strand_morse simulator.sh tum_kitchen default-with-kinect.py simple wrapper launch files should be added for convenience.

DWA planner always fails in simulation

DWA planner always fails for me in simulation. The output is repeated pairs of:

[ WARN] [1399971614.546500000]: DWA planner failed to produce path.
[ INFO] [1399971615.044754000]: Got new plan

This is just launching this the cs_lg env plus scitos_2d_nav. Do i need a special nav launch for simulation or should the normal one work?

emergency_stop doesn't work in simulation

rosservice call /emergency_stop doesn't stop the robot in simulation

faster than real-time simulation

10x faster than real-time works in principle

observations:

planner fails often (wrong localization?) and therefoe is a bottle neck
octo-mapping misses lots of points and builds the map only piece-wise

Deprecated api. Use 'set_camera_location' in the build script.

place_camera is deprecated, use set_camera_location instead
aim_camera is deprecated, use set_camera_rocation instead

strands_morse needs topic_republisher from strands_utils.

Has to be added to run dependencies.
topic_republisher has to be moved to strands_apps.

Pointcloud upside down

Due to a bug in MORSE, the depth camera point cloud is upside down with the latest URDF from scitos_description. I've already reported the bug to the MORSE developers.

As a workaround you can use an old version of the URDF:

    $ roscd scitos_description 
    $ git checkout b15a539c4f7c250b6526b4460837da4b396fc9c3

create uol environment with multiple humans

Crowd dynamics

To make long-term patrolling in simulation more effective, it would be great to have people in the simulation. If anyone is able to start implementing this, please claim this issue ;)

scitos_description dependency missing

this should be a <run_depend>

Installation problem

We were following the instructions on the Hydro Installation Instructions Wiki in order to install MORSE (step 2 - the steup.sh script). However, when we tried to run sth like

roslaunch strands_morse bham_cs_morse.launch env:=cs_1

we get an error message saying:

... logging to /home/lukas/.ros/log/d1d72d00-05bb-11e4-b511-208984d6462f/roslaunch-ThinkPad-S5-S531-14866.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

DEPRECATED IN HYDRO:
  The <include> tag should be prepended with 'xacro' if that is the intended use
  of it, such as <xacro:include ...>. Use the following script to fix incorrect
  xacro includes:
     sed -i 's/<include/<xacro:include/g' `find . -iname *.xacro`
started roslaunch server http://ThinkPad-S5-S531:33347/

SUMMARY
========

PARAMETERS
 * /joint_state_publisher/source_list
 * /robot_description
 * /rosdistro
 * /rosversion

NODES
  /
    chest_calibration_publisher (calibrate_chest/chest_calibration_publisher)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    ptu_jointstate_republisher (topic_republisher/republish_ptu_jointstate.py)
    robot_pose_publisher (robot_pose_publisher/robot_pose_publisher)
    robot_state_publisher (robot_state_publisher/state_publisher)
    scitos_node (strands_morse/scitos_node.py)
    strands_morse (strands_morse/simulator.sh)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[joint_state_publisher-1]: started with pid [14888]
process[robot_state_publisher-2]: started with pid [14891]
process[robot_pose_publisher-3]: started with pid [14949]
process[chest_calibration_publisher-4]: started with pid [14969]
process[scitos_node-5]: started with pid [14988]
[INFO] [WallTime: 1404741659.949839] [0.000000] Starting fake scitos_node
process[ptu_jointstate_republisher-6]: started with pid [15005]
[INFO] [WallTime: 1404741660.237608] [0.000000] /ptu_jointstate_republisher setting up
process[strands_morse-7]: started with pid [15020]
Running morse on /home/lukas/strands_project/strands_catkin_ws/src/strands_morse/bham with PYTHONPATH=/home/lukas/strands_project/strands_catkin_ws/src/strands_morse/bham/src:/home/lukas/strands_project/strands_catkin_ws/src/strands_morse/strands_sim/src:/home/lukas/strands_project/strands_catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/hydro/lib/python2.7/dist-packages:/home/lukas/strands_project/morse/lib/python3.3/dist-packages and MORSE_RESOURCE_PATH=/home/lukas/strands_project/strands_catkin_ws/src/strands_morse:/home/lukas/strands_project/strands_catkin_ws/src/strands_morse/strands_sim/data:/home/lukas/strands_project/strands_catkin_ws/src/strands_morse/strands_sim/robots:/home/lukas/strands_project/strands_catkin_ws/src/strands_morse/bham/data:
* Using environment <bham>.

* Adding </home/lukas/strands_project/strands_catkin_ws/src/strands_morse/bham> to PYTHONPATH and MORSE_RESOURCE_PATH.

* Loading simulation </home/lukas/strands_project/strands_catkin_ws/src/strands_morse/bham/cs_1.py>.

* morse 1.0-250-g9ad97

connect failed: No such file or directory
found bundled python: /home/lukas/strands_project/morse/opt/blender/2.65/python
read blend: /home/lukas/strands_project/morse/share/morse/data/morse_default_autorun.blend
strands_sim.robots.scitosA5.Scitosa5: no interfaces available for this component! Check builder/data.py.
bham.actuators.platform.Platform: no interfaces available for this component! Trying to use default one for socket.
[ERROR][MORSE] Your builder script is invalid!
  File "/home/lukas/strands_project/strands_catkin_ws/src/strands_morse/bham/cs_1.py", line 28, in <module>
    env = Environment(model_file,fastmode=False)
  File "/home/lukas/strands_project/morse/lib/python3.3/site-packages/morse/builder/environment.py", line 29, in __init__
    self._handle_default_interface()
  File "/home/lukas/strands_project/morse/lib/python3.3/site-packages/morse/builder/environment.py", line 149, in _handle_default_interface
    child.add_stream(component.default_interface)
  File "/home/lukas/strands_project/morse/lib/python3.3/site-packages/morse/builder/abstractcomponent.py", line 332, in add_stream
    klass = get_class(classpath)
  File "/home/lukas/strands_project/morse/lib/python3.3/site-packages/morse/helpers/loading.py", line 11, in get_class
    klass = load_module_attribute(module_name, class_name)
  File "/home/lukas/strands_project/morse/lib/python3.3/site-packages/morse/helpers/loading.py", line 23, in load_module_attribute
    __import__(module_name)
  File "/home/lukas/strands_project/strands_catkin_ws/src/strands_morse/bham/src/bham/actuators/slidingdoor.py", line 11, in <module>
    from morse.middleware.ros_request_manager import ros_action, ros_service,MorseAnyService
  File "/home/lukas/strands_project/morse/lib/python3.3/site-packages/morse/middleware/ros_request_manager.py", line 11, in <module>
    import roslib; roslib.load_manifest('rospy'); roslib.load_manifest('actionlib_msgs')
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslib/launcher.py", line 62, in load_manifest
    sys.path = _generate_python_path(package_name, _rospack) + sys.path
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslib/launcher.py", line 93, in _generate_python_path
    m = rospack.get_manifest(pkg)
  File "/home/lukas/strands_project/morse/lib/python3.3/site-packages/rospkg-1.0.20-py3.3.egg/rospkg/rospack.py", line 133, in get_manifest
    return self._load_manifest(name)
  File "/home/lukas/strands_project/morse/lib/python3.3/site-packages/rospkg-1.0.20-py3.3.egg/rospkg/rospack.py", line 172, in _load_manifest
    retval = self._manifests[name] = parse_manifest_file(self.get_path(name), self._manifest_name)
  File "/home/lukas/strands_project/morse/lib/python3.3/site-packages/rospkg-1.0.20-py3.3.egg/rospkg/rospack.py", line 162, in get_path
    self._update_location_cache()
  File "/home/lukas/strands_project/morse/lib/python3.3/site-packages/rospkg-1.0.20-py3.3.egg/rospkg/rospack.py", line 145, in _update_location_cache
    list_by_path(self._manifest_name, path, cache)
  File "/home/lukas/strands_project/morse/lib/python3.3/site-packages/rospkg-1.0.20-py3.3.egg/rospkg/rospack.py", line 60, in list_by_path
    root = ElementTree(None, os.path.join(d, PACKAGE_FILE))
  File "/home/lukas/strands_project/morse/lib/python3.3/xml/etree/ElementTree.py", line 618, in __init__
    self.parse(file)
  File "/home/lukas/strands_project/morse/lib/python3.3/xml/etree/ElementTree.py", line 1730, in parse
    self._root = parser._parse(source)


no element found: line 1, column 0
[strands_morse-7] process has died [pid 15020, exit code 255, cmd /home/lukas/strands_project/strands_catkin_ws/src/strands_morse/simulator.sh bham cs_1.py __name:=strands_morse __log:=/home/lukas/.ros/log/d1d72d00-05bb-11e4-b511-208984d6462f/strands_morse-7.log].
log file: /home/lukas/.ros/log/d1d72d00-05bb-11e4-b511-208984d6462f/strands_morse-7*.log

Does anybody know the error or can help us finding the cause of the error? Thanks!

move_base not working in uol_mht environment

Some people reported to have problems with move_base in the uol mht environment. The robot would only spin in place but never move. I cannot reproduce the error but maybe someone has an idea? @kunzel maybe?

Laser message has no intensities, only ranges

This is different from how the actual laser behaves. We should probably have a constant intensity in the laser messages in simulation. See example of simulation laser message below:

header: 
  seq: 12
  stamp: 
    secs: 1425722175
    nsecs: 704088211
  frame_id: /base_laser_link
angle_min: -1.57079637051
angle_max: 1.57079637051
angle_increment: 0.0174532923847
time_increment: 0.000138888892252
scan_time: 1.0
range_min: 0.300000011921
range_max: 30.0
ranges: [0.7400559782981873, ... , 5.430670261383057]
intensities: []

The intensities vector should be as long as the ranges.

image topics should be the same as on the robot (e.g. head_xtion...)

currently, we still have different topics in simulation and reality, e.g. /camera/depth/points and /videocam/image

/odom reports non-zero y velocity

'/odom' reports a very small non-zero y velocity when driving normally. When sliding along an object it reports higher velocities. It should always report zero since this is how the real-world scitos behaves.

This interferes with the DWA planner, and may be related to #66.

human model not working if run with morse-blender-bundle package

The morse-blender-bundle package uses the newest version of morse where the humanarmature has been changed. Therefore if strands_morse is run with the human enabled, it will crash with an error that the humanarmature cannot be loaded. (This doesn't happen if you use the old strands way of installing it.)

We'll use the normal blender human until it has been migrated.

morse-blender should be a dependency of strands_morse

This package should depend on the actual morse-blender-2.65-py-3.3 as a run dependency.

Generate/Configure robot model from URDF

scitos_drivers topics and services in MORSE

As other components such as the autonomous docking and patrolling rely more and more on the topics and services provided by the scitos_drives package they become incompatible with the simulation.

In the end we want to run the same control program on both the real robot and the simulated one. So, basically all topics and services should also be provided by the simualtion.

@cburbridge, do you have a good idea how to provide the services regarding the motor?

Discrepancies of the vision output

I would like to test the people detection in simulation as well, so I had a look at what morse is offering. It seems there are a few discrepancies:

The image size , encoding and frame_id are different:

Kinect:

header: 
  seq: 580271
  stamp: 
    secs: 1376906509
    nsecs: 211710102
  frame_id: /head_xtion_rgb_optical_frame
height: 480
width: 640
encoding: bgr8
is_bigendian: 0
step: 1920
data: [...]

Morse:

header: 
  seq: 8502
  stamp: 
    secs: 1376906403
    nsecs: 950938940
  frame_id: /head_xtion_rgb_optical_frame/base_image
height: 256
width: 256
encoding: rgba8
is_bigendian: 0
step: 1024
data: [...]

The camera info differs: (probably due to the different image sizes?!)

Kinect:

header: 
  seq: 7767413
  stamp: 
    secs: 1376907007
    nsecs: 114224
  frame_id: /head_xtion_rgb_optical_frame
height: 480
width: 640
distortion_model: plumb_bob
D: [0.0, 0.0, 0.0, 0.0, 0.0]
K: [525.0, 0.0, 319.5, 0.0, 525.0, 239.5, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [525.0, 0.0, 319.5, 0.0, 0.0, 525.0, 239.5, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi: 
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: False

Morse:

header: 
  seq: 3426
  stamp: 
    secs: 1376906989
    nsecs: 161215782
  frame_id: /head_xtion_rgb_optical_frame/base_image
height: 256
width: 256
distortion_model: plumb_bob
D: []
K: [280.0, 0.0, 128.0, 0.0, 280.0, 128.0, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [280.0, 0.0, 128.0, 0.0, 0.0, 280.0, 128.0, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi: 
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: False

The depth image is missing. Just the point cloud is published. Is there a way to provide this in morse?
And of course issue #48

If any one knows how to fix this the easiest, I am happy to provide help where I can because I think I am not the only one who would needs this kind of data in the future.

Publish PTU pose for updating corresponding frames

morse-blender package not found

The morse-blender package can not be found:

sudo apt-get install morse-blender-2.65-py-3.3
Reading package lists... Done
Building dependency tree       
Reading state information... Done
E: Unable to locate package morse-blender-2.65-py-3.3
E: Couldn't find any package by regex 'morse-blender-2.65-py-3.3'

Am I missing a repository entry?

python3-netifaces debian dependency missing

When bringing up strands_morse (regardless of environment) on Ubuntu 14.04 (or rather Linux Mint 17) it gives the following error whenever it would subscribe to a topic:

Traceback (most recent call last):
  File "/usr/lib/python3.4/threading.py", line 920, in _bootstrap_inner
    self.run()
  File "/usr/lib/python3.4/threading.py", line 868, in run
    self._target(*self._args, **self._kwargs)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/impl/tcpros_pubsub.py", line 168, in robust_connect_subscriber
    conn.connect(dest_addr, dest_port, pub_uri, timeout=60.)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 524, in connect
    if not rosgraph.network.is_local_address(dest_addr):
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rosgraph/network.py", line 176, in is_local_address
    local_addresses = ['localhost'] + get_local_addresses()
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rosgraph/network.py", line 218, in get_local_addresses
    import netifaces
ImportError: No module named 'netifaces'

This was fixed by installing the python3-netifaces debian package. Everything looked fine but obviously there was no communication between morse and the ROS stuff (hence the robot didn't move in any nav2d environment even though valid plans and velocities were given). Thanks to @marc-hanheide for figuring it out.

Adding RGB-D cameras to robot model

Our robot model needs at least one RGB-D camera. It could be in a fixed position to start, but ideally on a PTU.

PTU spins continuously if set to -180 pan

At least this is what I observed.

Adding and moving static obstacles in the simulation dynamically

adding a human doesn't work

I tried to add a human to our simulation using human=Human() but it fails with the following message

[ERROR][MORSE] Your builder script is invalid!
  File "/opt/strands/lib/python3.3/site-packages/morse/blender/human_interaction/human_control.py", line 549, in rotate
    pos =  scene.objects['POS_EMPTY' + suffix]

Any idea about that? I checked that there is a POS_EMPTY object in Human.blend, so I don't know what's going wrong. Before I bother the morse people, I thought you might have an idea.

navigation in indigo

The navigation in the simulation environment doesn't work properly in indigo. The robot generates the plan and rotates towards the goal normally, but then in it doesn't move forward. /cmd_vel looks like this:

linear: 
  x: 0.100002683699
  y: 0.0
  z: 0.0
angular: 
  x: 0.0
  y: 0.0
  z: 0.0

If i drive him in blender towards the goal it will then rotate into position and achieve the goal, so it's some weird thing with the linear velocities

Ptu unit in simulation

Is there any way to move the PTU unit in simulation?

AAF simulation is not installed

install targets are missing form CMakeLists.txt...

I want to reiterate how important it is to test catkin_make install before releasing packages...

Simplified CS model

The multi-floor CS model is cool, but I find it a bit hard to navigate and view. Please could we have a single-floor version for initial use?

morse_config.py assumes python3 is installed in /usr/bin/

Refactor namining scheme of environments

Currenty the naming of the different files is a little bit confusion, in particular with the different levels of the bham_cs building. All files related to the same level should have a common prefix.

Floating robot in bham_cs_morse

When I run roslaunch strands_morse bham_cs_morse.launch I get a floating robot. Does anyone see this? Any idea where I should start looking for the problem?

Video camera crashes morse

Morse regularly won't start because of a bug related to the video camera. It starts up, but then just after the scene is initialised it crashes:

[SCENE INITIALIZED]
[    2.498] [sensors.camera]    Focal length of the camera is: 35.0
[    2.498] [sensors.camera]    Near clipping distance of the camera is: 0.10000000149011612
[    2.498] [sensors.camera]    Far clipping distance of the camera is: 100.0
[    2.498] [sensors.camera] Camera 'robot.ptu.videocam': Exporting an image of capsize: (640, 480) pixels
Traceback (most recent call last):
  File "/opt/strands/lib/python3.3/site-packages/morse/blender/calling.py", line 47, in component_action
    cmpt_object.action()
  File "/opt/strands/lib/python3.3/site-packages/morse/core/sensor.py", line 79, in action
    function(self)
  File "/opt/strands/lib/python3.3/site-packages/morse/middleware/ros/video_camera.py", line 43, in default
    image.data = bytes(image_local)
TypeError: 'NoneType' object is not iterable

This happens most times, but if I keep restarting eventually I get going.

    <node name="ptu_action_server" pkg="flir_pantilt_d46" type="ptu_action_server.py" output="screen">
        <remap from="cmd" to="/ptu/cmd"/>
        <remap from="state" to="/ptu/state"/>
    </node>

one without any cameras but fastmode=False
one without any cameras and fastmode=True
one without any depth_cameras

both above with a human included

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