Issue #11 resolved
Anonymous created an issue

Hello, When running through the RViz tutorial, I am unable to get the laser scanner data from X2 to visualize. Looking at the topic, it appears that the data is invalid.

Launched with: roslaunch subt_gazebo competition.launch scenario:=tunnel_practice_1 -and- X2_SENSOR_CONFIG_3=1 roslaunch subt_example team.launch

rostopic echo /X2/front_scan
---
header: 
  seq: 456
  stamp: 
    secs: 559
    nsecs: 366000000
  frame_id: "X2/front_laser"
angle_min: -2.35619997978
angle_max: 2.35619997978
angle_increment: 0.00655410299078
time_increment: 0.0
scan_time: 0.0
range_min: 0.0399999991059
range_max: 20.0
ranges: [-inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf]
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---

Comments (14)

  1. Nathan Koenig

    I assume you are referring to the inf values. These are valid values when there is no obstacle in front of the laser.

    Try moving the robot around, or place an object in front of the laser. You should see the message change.

  2. Nathan Koenig

    Thanks for the clarification Steve. Negative infinity would indicate that something is too close.

    I ran through your example, and here is the data I see:

    ---
    header: 
      seq: 5
      stamp: 
        secs: 18
        nsecs: 718000000
      frame_id: "X2/front_laser"
    angle_min: -2.35619997978
    angle_max: 2.35619997978
    angle_increment: 0.00655410299078
    time_increment: 0.0
    scan_time: 0.0
    range_min: 0.0399999991059
    range_max: 20.0
    ranges: [inf, inf, inf, inf, 16.276222229003906, 16.176904678344727, 16.067590713500977, 15.971165657043457, 15.887438774108887, 15.783154487609863, 15.696062088012695, 15.595876693725586, 15.516378402709961, 15.422418594360352, 15.35619068145752, 15.259506225585938, 15.189403533935547, 15.089157104492188, 15.008049964904785, 14.942575454711914, 14.870964050292969, 14.788548469543457, 14.722979545593262, 14.64167594909668, 14.567253112792969, 14.505144119262695, 14.44874382019043, 14.37331771850586, 14.303044319152832, 14.241345405578613, 14.185982704162598, 14.126524925231934, 14.064481735229492, 14.017069816589355, 13.961195945739746, 13.87728214263916, 13.951285362243652, 14.109147071838379, 13.724540710449219, 13.678869247436523, 13.618038177490234, 13.582727432250977, 13.511452674865723, 13.464743614196777, 13.424107551574707, 13.397626876831055, 13.329699516296387, 13.295251846313477, 13.245798110961914, 13.20932388305664, 13.147257804870605, 13.102482795715332, 13.075450897216797, 13.02672290802002, 12.985288619995117, 12.926891326904297, 12.901429176330566, 12.864654541015625, 12.84964370727539, 12.795308113098145, 12.76545524597168, 12.732060432434082, 12.71032428741455, 12.661107063293457, 12.637238502502441, 12.598007202148438, 12.581689834594727, 12.540765762329102, 12.537176132202148, 12.486896514892578, 12.46382999420166, 12.402366638183594, 12.403596878051758, 12.374285697937012, 12.351954460144043, 12.32684326171875, 12.290864944458008, 12.258177757263184, 12.246017456054688, 12.231693267822266, 12.211716651916504, 12.185746192932129, 12.182687759399414, 12.527836799621582, inf, 12.14513874053955, 12.078328132629395, 12.070165634155273, 12.051222801208496, 12.040292739868164, 12.035993576049805, 12.006915092468262, 12.002120018005371, 11.980741500854492, 11.965461730957031, 11.971275329589844, 11.935955047607422, 11.925069808959961, 11.905288696289062, 11.924125671386719, 11.894439697265625, 11.890976905822754, 11.873129844665527, 11.869179725646973, 11.853520393371582, 11.862911224365234, 11.847554206848145, 11.850672721862793, 11.8390474319458, 11.828882217407227, 11.820810317993164, 11.808457374572754, 11.800618171691895, 11.801738739013672, 11.808927536010742, 11.800860404968262, 11.796825408935547, 11.801006317138672, 11.792892456054688, 11.795032501220703, 11.800087928771973, 11.796661376953125, 11.800048828125, 11.804879188537598, 11.798378944396973, 11.799723625183105, 11.799917221069336, 11.803566932678223, 11.835598945617676, 11.81291389465332, 11.830732345581055, 11.84827995300293, 11.824729919433594, 11.833074569702148, 11.84168815612793, 11.87014389038086, 11.861870765686035, inf, inf, inf, 11.918336868286133, 11.91401195526123, 11.92404842376709, 11.927427291870117, 11.95864200592041, 11.960884094238281, 11.980635643005371, 11.971687316894531, 12.014973640441895, 12.013656616210938, 12.045099258422852, 12.037649154663086, 12.074996948242188, 12.071297645568848, 12.091774940490723, 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    ---
    

    Can you include a screenshot of Gazebo so that we can see what your environment and robot configuration look like?

  3. dinesh lama

    Screenshot from 2018-11-14 21-13-38.png

    above is the screen shot, i also put some obstacles in front of the robot, but still i only see the -inf range values. I also tried the rrbot laser scan from thishttp://gazebosim.org/tutorials?tut=ros_gzplugins tutorial and i get the same result. is using dedicated nvidia gpu neccesary to run this simulation? cas i'm not using dedicated graphics card currentely as written in system requirment page, all other system requirment are matching.

  4. Nathan Koenig

    You can try changing gpu_ray toray` on this line. This will cause the the ray sensor to be CPU based instead of GPU based.

    Can you also post the command you are running to launch simulation? And do have the latest code?

  5. dineshlama

    o.. ok thanks. now i got it. and as described in the system requirment page, is using gpu neccesary to run subt simulation with multiple robots with laser scanner? cas right now my system don't have dedicated gpu like described in system requirment page. i am using the same command as described in the rviz tutorials to launch the simulation. i sometime pull the latest codes from the repository, by using hg pull command than build it.

  6. dineshlama

    What is the drawback of having no GPU? after i changed gpu_ray with ray sensor the laser scan is coming properly, and i could also run the SubT environment properly in my PCwith decent performance. Isn't it ok if i use this PC for the final event also? Because i have to buy a new laptop with required GPU if it in necessary.

  7. Nathan Koenig

    You won't be able to use your PC for the final event. All circuit events will be run in the cloud. We are using GPUs because they can scale to larger teams of robots in larger environments than solely a CPU based approach.

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