- edited description
Bug on delivery?
I get the following error when I try to deliver a shipment.
[ INFO] [1554995839.768574102, 9.167000000]: Announcing order: order_0
[ERROR] [1554995942.251601951, 40.906000000]: agv1::kit_tray_1::kit_tray_1::tray: Handle get content service called by: /gazebo
[ERROR] [1554995942.252541255, 40.906000000]: [INFO] AGV 'agv1' delivery triggered
[ INFO] [1554995946.012338406, 41.658000000]: AGV successfully triggered.
The AGV delivers the tray, but even though there are parts in it, the score remains 0. I used qual_a_2 to try it out, but even with custom ones it doesn't work
Comments (8)
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Those error statements can be ignored; they should actually be
info
.Are you sure the shipment is being delivered to the correct AGV?
qual_a_2
requires the first shipment to be delivered via agv1 and the second via agv2.The following works fine for me. If it doesn't work for you, mind posting the output of these commands?
Spawn qual_a_2 with perfect shipments already on the trays
rosrun osrf_gear gear.py -f $(catkin_find osrf_gear --share)/config/quals/qual_a_2.yaml $(catkin_find osrf_gear --share)/config/quals/shipments/qual_a_2.yaml $(catkin_find osrf_gear --share)/config/sample_user_config.yaml --development-mode --verbose
In another terminal:
$ rosservice call /ariac/start_competition success: True message: "competition started successfully!" $ rosservice call /ariac/agv1 "shipment_type: 'order_0_shipment_0'" success: True message: '' $ rostopic echo -n 1 /ariac/current_score data: 15.0 --- $ rosservice call /ariac/agv2 "shipment_type: 'order_0_shipment_1'" success: True message: '' $ rostopic echo -n 1 /ariac/current_score data: 30.0 ---
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No idea if this is the same issue, but I had some test code that called
gazebo_ros spawn_model
to test getting parts on trays. I had to modify it to spawn the parts a little above the tray, then wait for them to drop onto the tray.Good way to check is to see how many parts Gazebo says are on the tray, and if gazebo creates fixed joints between parts and tray when you submit. This info probably only prints out if
osrf_gear
is set to verbose. -
My bad, I was using the id shipment_0 instead of order_0_shipment_0 .
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When trying the execution on docker with the sample.yaml trial, I get the following error when delivering:
[ERROR] [1555091338.103465212, 91.947000000]: agv1::kit_tray_1::kit_tray_1::tray: Handle get content service called by: /gazebo [ERROR] [1555091338.104798886, 91.947000000]: [INFO] AGV 'agv1' delivery triggered terminate called after throwing an instance of 'std::system_error' what(): Resource deadlock avoided Aborted (core dumped) ================================================================================REQUIRED process [gazebo-3] has died! process has died [pid 87, exit code 134, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -u --verbose -e ode -r --record_period 0.01 --record_path=/home/ariac/.ariac/log/gazebo /tmp/ariac/gear.world __name:=gazebo __log:=/home/ariac/.ros/log/0cb41eb6-5d4a-11e9-92ba-0242ac120016/gazebo-3.log]. log file: /home/ariac/.ros/log/0cb41eb6-5d4a-11e9-92ba-0242ac120016/gazebo-3*.log Initiating shutdown! ================================================================================
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@fraR Mind opening a new issue for that one?
Do you see that every time or only sometimes? I don't see it on my machine. Do you have an example I can use to reproduce it? What are the values of the fields in the service request being sent?
Here's what I'm running
rosrun osrf_gear gear.py -f $(catkin_find osrf_gear --share)/config/sample.yaml $(catkin_find osrf_gear --share)/config/sample_user_config.yaml --verbose
And in another terminal
$ rosservice call /ariac/start_competition success: True message: "competition started successfully!" $ rosservice call /ariac/agv1 "shipment_type: 'order_0_shipment_0'" success: True message: ''
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similar error here. See issue
#168 -
- changed status to resolved
Question answered, and second issue in comments fixed by pull request #136
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