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  1. (venv) thalion@thalion-Latitude-E5500:~/deepracer$ docker run --rm --name dr --env-file ./robomaker.env -v $(pwd)/simulation/aws-robomaker-sample-application-deepracer/simulation_ws/src:/app/robomaker-deepracer/simulation_ws/src --network sagemaker-local -p 8080:5900 -it richardfan1126/deepracer_robomaker:console_v2.0
  2. rm: cannot remove 'build': No such file or directory
  3. rm: cannot remove 'install': No such file or directory
  4. Starting >>> deepracer_simulation
  5. Starting >>> sagemaker_rl_agent
  6. Finished <<< sagemaker_rl_agent [1.60s]
  7. Finished <<< deepracer_simulation [10.9s]
  8.  
  9. Summary: 2 packages finished [11.6s]
  10. 23/02/2020 08:27:08 passing arg to libvncserver: -rfbport
  11. 23/02/2020 08:27:08 passing arg to libvncserver: 5900
  12. 23/02/2020 08:27:08 x11vnc version: 0.9.13 lastmod: 2011-08-10 pid: 907
  13. 23/02/2020 08:27:08
  14. 23/02/2020 08:27:08 wait_for_client: WAIT:0
  15. 23/02/2020 08:27:08
  16. 23/02/2020 08:27:08 initialize_screen: fb_depth/fb_bpp/fb_Bpl 24/32/2560
  17. 23/02/2020 08:27:08
  18. 23/02/2020 08:27:08 Listening for VNC connections on TCP port 5900
  19. 23/02/2020 08:27:08 Listening for VNC connections on TCP6 port 5900
  20. 23/02/2020 08:27:08 listen6: bind: Address already in use
  21. 23/02/2020 08:27:08 Not listening on IPv6 interface.
  22. 23/02/2020 08:27:08
  23.  
  24. The VNC desktop is: 4c6c09d69311:0
  25. PORT=5900
  26. [ INFO] [1582446428.915445144]: rviz version 1.12.17
  27. [ INFO] [1582446428.916431585]: compiled against Qt version 5.5.1
  28. [ INFO] [1582446428.916964895]: compiled against OGRE version 1.9.0 (Ghadamon)
  29. ... logging to /root/.ros/log/486a6f76-5616-11ea-8274-0242ac120002/roslaunch-4c6c09d69311-908.log
  30. Checking log directory for disk usage. This may take awhile.
  31. Press Ctrl-C to interrupt
  32. Done checking log file disk usage. Usage is <1GB.
  33.  
  34. IP: 172.18.0.2 (4c6c09d69311)
  35. started roslaunch server http://4c6c09d69311:45335/
  36.  
  37. SUMMARY
  38. ========
  39.  
  40. PARAMETERS
  41. * /rosdistro: kinetic
  42. * /rosversion: 1.12.14
  43.  
  44. NODES
  45. /
  46. download_params_and_roslaunch_agent_node (deepracer_simulation/download_params_and_roslaunch_agent.py)
  47.  
  48. auto-starting new master
  49. process[master]: started with pid [944]
  50. ROS_MASTER_URI=http://localhost:11311
  51.  
  52. setting /run_id to 486a6f76-5616-11ea-8274-0242ac120002
  53. process[rosout-1]: started with pid [957]
  54. started core service [/rosout]
  55. [ INFO] [1582446431.762606888]: Stereo is NOT SUPPORTED
  56. [ INFO] [1582446431.763195722]: OpenGl version: 3 (GLSL 1.3).
  57. process[download_params_and_roslaunch_agent_node-2]: started with pid [974]
  58. custom_files/model_metadata.json - /root/.ros/model_metadata.json
  59. custom_files/training_params.yaml - /root/.ros/s3-yaml.yml
  60. Sensor list [u'LIDAR', u'STEREO_CAMERAS'], network DEEP_CONVOLUTIONAL_NETWORK_SHALLOW, simapp_version 2.0
  61. [download_params_and_roslaunch_agent_node-2] process has finished cleanly
  62. log file: /root/.ros/log/486a6f76-5616-11ea-8274-0242ac120002/download_params_and_roslaunch_agent_node-2*.log
  63. ... logging to /root/.ros/log/486a6f76-5616-11ea-8274-0242ac120002/roslaunch-4c6c09d69311-1028.log
  64. Checking log directory for disk usage. This may take awhile.
  65. Press Ctrl-C to interrupt
  66. Done checking log file disk usage. Usage is <1GB.
  67.  
  68. started roslaunch server http://4c6c09d69311:41051/
  69.  
  70. SUMMARY
  71. ========
  72.  
  73. PARAMETERS
  74. * /ALTERNATE_DRIVING_DIRECTION: false
  75. * /AWS_REGION: us-east-1
  76. * /CAR_COLOR: Black
  77. * /CAR_NAME: MyCar
  78. * /CHANGE_START_POSITION: true
  79. * /JOB_TYPE: TRAINING
  80. * /KINESIS_VIDEO_STREAM_NAME: dr-kvs-local
  81. * /METRICS_S3_BUCKET: bucket
  82. * /METRICS_S3_OBJECT_KEY: DeepRacer-Metrics...
  83. * /METRIC_NAME: TrainingRewardScore
  84. * /METRIC_NAMESPACE: AWSDeepRacer
  85. * /MODEL_METADATA_FILE_S3_KEY: custom_files/mode...
  86. * /NUMBER_OF_EPISODES: 0
  87. * /RACE_TYPE: TIME_TRIAL
  88. * /REWARD_FILE_S3_KEY: custom_files/rewa...
  89. * /ROBOMAKER_SIMULATION_JOB_ACCOUNT_ID: 123456789012
  90. * /SAGEMAKER_SHARED_S3_BUCKET: bucket
  91. * /SAGEMAKER_SHARED_S3_PREFIX: rl-deepracer-sage...
  92. * /TARGET_REWARD_SCORE: None
  93. * /TRAINING_JOB_ARN: arn:aws:deepracer...
  94. * /WORLD_NAME: Vegas_track
  95. * /h264_video_encoder/bitrate: 2048000
  96. * /h264_video_encoder/fps_denominator: 1
  97. * /h264_video_encoder/fps_numerator: 15
  98. * /h264_video_encoder/image_transport: raw
  99. * /h264_video_encoder/publication_topic: /b9/kvs/video/enc...
  100. * /h264_video_encoder/subscription_topic: /deepracer/kvs_st...
  101. * /racecar/joint_state_controller/publish_rate: 60
  102. * /racecar/joint_state_controller/type: joint_state_contr...
  103. * /racecar/left_front_wheel_velocity_controller/joint: left_front_wheel_...
  104. * /racecar/left_front_wheel_velocity_controller/pid/d: 0.0
  105. * /racecar/left_front_wheel_velocity_controller/pid/i: 0.0
  106. * /racecar/left_front_wheel_velocity_controller/pid/i_clamp: 0.0
  107. * /racecar/left_front_wheel_velocity_controller/pid/p: 0.5
  108. * /racecar/left_front_wheel_velocity_controller/type: effort_controller...
  109. * /racecar/left_rear_wheel_velocity_controller/joint: left_rear_wheel_j...
  110. * /racecar/left_rear_wheel_velocity_controller/pid/d: 0.0
  111. * /racecar/left_rear_wheel_velocity_controller/pid/i: 0.0
  112. * /racecar/left_rear_wheel_velocity_controller/pid/i_clamp: 0.0
  113. * /racecar/left_rear_wheel_velocity_controller/pid/p: 1.0
  114. * /racecar/left_rear_wheel_velocity_controller/type: effort_controller...
  115. * /racecar/left_steering_hinge_position_controller/joint: left_steering_hin...
  116. * /racecar/left_steering_hinge_position_controller/pid/d: 0.5
  117. * /racecar/left_steering_hinge_position_controller/pid/i: 0.0
  118. * /racecar/left_steering_hinge_position_controller/pid/p: 1.0
  119. * /racecar/left_steering_hinge_position_controller/type: effort_controller...
  120. * /racecar/right_front_wheel_velocity_controller/joint: right_front_wheel...
  121. * /racecar/right_front_wheel_velocity_controller/pid/d: 0.0
  122. * /racecar/right_front_wheel_velocity_controller/pid/i: 0.0
  123. * /racecar/right_front_wheel_velocity_controller/pid/i_clamp: 0.0
  124. * /racecar/right_front_wheel_velocity_controller/pid/p: 0.5
  125. * /racecar/right_front_wheel_velocity_controller/type: effort_controller...
  126. * /racecar/right_rear_wheel_velocity_controller/joint: right_rear_wheel_...
  127. * /racecar/right_rear_wheel_velocity_controller/pid/d: 0.0
  128. * /racecar/right_rear_wheel_velocity_controller/pid/i: 0.0
  129. * /racecar/right_rear_wheel_velocity_controller/pid/i_clamp: 0.0
  130. * /racecar/right_rear_wheel_velocity_controller/pid/p: 1.0
  131. * /racecar/right_rear_wheel_velocity_controller/type: effort_controller...
  132. * /racecar/right_steering_hinge_position_controller/joint: right_steering_hi...
  133. * /racecar/right_steering_hinge_position_controller/pid/d: 0.5
  134. * /racecar/right_steering_hinge_position_controller/pid/i: 0.0
  135. * /racecar/right_steering_hinge_position_controller/pid/p: 1.0
  136. * /racecar/right_steering_hinge_position_controller/type: effort_controller...
  137. * /robot_description: <?xml version="1....
  138. * /robot_description_bot: <?xml version="1....
  139. * /rosdistro: kinetic
  140. * /rosversion: 1.12.14
  141. * /use_sim_time: True
  142.  
  143. NODES
  144. /racecar/
  145. controller_manager (controller_manager/spawner)
  146. /
  147. agent (deepracer_simulation/run_rollout_rl_agent.sh)
  148. better_odom (topic_tools/relay)
  149. car_reset_node (deepracer_simulation/car_node.py)
  150. gazebo (gazebo_ros/gzserver)
  151. gazebo_gui (gazebo_ros/gzclient)
  152. h264_video_encoder (h264_video_encoder/h264_video_encoder)
  153. kinesis_video_camera_node (deepracer_simulation/kinesis_video_camera_node.py)
  154. racecar_spawn (gazebo_ros/spawn_model)
  155. robot_state_publisher (robot_state_publisher/robot_state_publisher)
  156. visualization_node (deepracer_simulation/visualization_node.py)
  157.  
  158. ROS_MASTER_URI=http://localhost:11311
  159.  
  160. process[gazebo-1]: started with pid [1055]
  161. process[gazebo_gui-2]: started with pid [1058]
  162. [ INFO] [1582446436.278616259]: Finished loading Gazebo ROS API Plugin.
  163. [ INFO] [1582446436.287448555]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
  164. [ INFO] [1582446437.041794061]: Finished loading Gazebo ROS API Plugin.
  165. [ INFO] [1582446437.055994236]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
  166. process[racecar_spawn-3]: started with pid [1097]
  167. process[racecar/controller_manager-4]: started with pid [1182]
  168. [INFO] [1582446439.582830, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
  169. SpawnModel script started
  170. process[robot_state_publisher-5]: started with pid [1238]
  171. [INFO] [1582446440.215553, 0.000000]: Loading model XML from ros parameter
  172. [INFO] [1582446440.228357, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
  173. [INFO] [1582446440.248622, 0.000000]: Calling service /gazebo/spawn_urdf_model
  174. process[car_reset_node-6]: started with pid [1280]
  175. process[kinesis_video_camera_node-7]: started with pid [1326]
  176. [ INFO] [1582446443.898549802, 0.001000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
  177. [ INFO] [1582446443.898699054, 0.001000000]: Starting Laser Plugin (ns = /)
  178. [ INFO] [1582446443.931120175, 0.001000000]: Laser Plugin (ns = /) <tf_prefix_>, set to ""
  179. [INFO] [1582446443.957438, 0.001000]: Spawn status: SpawnModel: Successfully spawned entity
  180. process[visualization_node-8]: started with pid [1345]
  181. Unhandled exception in thread started by
  182. sys.excepthook is missing
  183. lost sys.stderr
  184. [racecar_spawn-3] process has finished cleanly
  185. log file: /root/.ros/log/486a6f76-5616-11ea-8274-0242ac120002/racecar_spawn-3*.log
  186. /usr/lib/python2.7/dist-packages/matplotlib/font_manager.py:273: UserWarning: Matplotlib is building the font cache using fc-list. This may take a moment.
  187. warnings.warn('Matplotlib is building the font cache using fc-list. This may take a moment.')
  188. process[better_odom-9]: started with pid [1388]
  189. [ INFO] [1582446446.464378152, 0.001000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
  190. [ INFO] [1582446446.473205698, 0.001000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
  191. [ INFO] [1582446446.517647168, 0.001000000]: Camera Plugin (ns = /) <tf_prefix_>, set to ""
  192. [ INFO] [1582446446.529145592, 0.001000000]: Camera Plugin (ns = /) <tf_prefix_>, set to ""
  193. [ INFO] [1582446446.566678272, 0.001000000]: Loading gazebo_ros_control plugin
  194. [ INFO] [1582446446.568599821, 0.001000000]: Starting gazebo_ros_control plugin in namespace: /racecar
  195. [ INFO] [1582446446.625141749, 0.001000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
  196. [ INFO] [1582446447.355342184, 0.001000000]: Loaded gazebo_ros_control.
  197. [INFO] [1582446447.403253, 0.001000]: Controller Spawner: Waiting for service controller_manager/switch_controller
  198. [INFO] [1582446447.427402, 0.001000]: Controller Spawner: Waiting for service controller_manager/unload_controller
  199. [INFO] [1582446447.447192, 0.001000]: Loading controller: left_rear_wheel_velocity_controller
  200. process[h264_video_encoder-10]: started with pid [1437]
  201. [INFO] [1582446448.539966, 0.001000]: Loading controller: right_rear_wheel_velocity_controller
  202. [ INFO] [1582446448.754989036, 0.001000000]: Camera Plugin: Using the 'robotNamespace' param: '/sub_camera'
  203. [ INFO] [1582446448.760441352, 0.001000000]: Camera Plugin: Using the 'robotNamespace' param: '/main_camera'
  204. [ INFO] [1582446448.807038967, 0.001000000]: Camera Plugin (ns = /main_camera) <tf_prefix_>, set to "/main_camera"
  205. [ INFO] [1582446448.850177613, 0.001000000]: Camera Plugin (ns = /sub_camera) <tf_prefix_>, set to "/sub_camera"
  206. process[agent-11]: started with pid [1634]
  207. + export PYTHONUNBUFFERED=1
  208. + PYTHONUNBUFFERED=1
  209. + python3 -m markov.rollout_worker
  210. [INFO] [1582446449.814325, 0.001000]: Loading controller: left_front_wheel_velocity_controller
  211. [INFO] [1582446450.723497, 0.001000]: Loading controller: right_front_wheel_velocity_controller
  212. [INFO] [1582446451.299721, 0.001000]: Loading controller: left_steering_hinge_position_controller
  213. [INFO] [1582446451.756041, 0.001000]: Loading controller: right_steering_hinge_position_controller
  214. [INFO] [1582446452.072822, 0.001000]: Loading controller: joint_state_controller
  215. [INFO] [1582446452.131749, 0.001000]: Controller Spawner: Loaded controllers: left_rear_wheel_velocity_controller, right_rear_wheel_velocity_controller, left_front_wheel_velocity_controller, right_front_wheel_velocity_controller, left_steering_hinge_position_controller, right_steering_hinge_position_controller, joint_state_controller
  216. /app/robomaker-deepracer/simulation_ws/install/deepracer_simulation/lib/deepracer_simulation/run_rollout_rl_agent.sh: line 10: 1846 Illegal instruction (core dumped) python3 -m markov.rollout_worker
  217. + exit
  218. ================================================================================REQUIRED process [agent-11] has died!
  219. process has finished cleanly
  220. log file: /root/.ros/log/486a6f76-5616-11ea-8274-0242ac120002/agent-11*.log
  221. Initiating shutdown!
  222. ================================================================================
  223. [agent-11] killing on exit
  224. [h264_video_encoder-10] killing on exit
  225. [better_odom-9] killing on exit
  226. [visualization_node-8] killing on exit
  227. [kinesis_video_camera_node-7] killing on exit
  228. [car_reset_node-6] killing on exit
  229. [robot_state_publisher-5] killing on exit
  230. [racecar/controller_manager-4] killing on exit
  231. [INFO] [1582446454.738077, 0.001000]: Shutting down spawner. Stopping and unloading controllers...
  232. [gazebo_gui-2] killing on exit
  233. [INFO] [1582446454.739524, 0.001000]: Stopping all controllers...
  234. [gazebo-1] killing on exit
  235. [kinesis_video_camera_node-7] escalating to SIGTERM
  236. [gazebo_gui-2] escalating to SIGTERM[racecar/controller_manager-4] escalating to SIGTERM
  237. [WARN] [1582446469.768803, 0.001000]: Controller Spawner error while taking down controllers: transport error completing service call: receive_once[/racecar/controller_manager/switch_controller]: unexpected error [Errno 4] Interrupted system call
  238. [gazebo-1] escalating to SIGTERM
  239.  
  240. Traceback (most recent call last):
  241. File "/opt/ros/kinetic/lib/controller_manager/spawner", line 207, in <module>
  242. if __name__ == '__main__': main()
  243. File "/opt/ros/kinetic/lib/controller_manager/spawner", line 199, in main
  244. resp = switch_controller(loaded, [], 2)
  245. File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 435, in __call__
  246. return self.call(*args, **kwds)
  247. File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 523, in call
  248. raise rospy.exceptions.ROSInterruptException("node shutdown interrupted service call")
  249. rospy.exceptions.ROSInterruptException: node shutdown interrupted service call
  250. [kinesis_video_camera_node-7] escalating to SIGKILL
  251. Shutdown errors:
  252. * process[kinesis_video_camera_node-7, pid 1326]: required SIGKILL. May still be running.
  253. shutting down processing monitor...
  254. ... shutting down processing monitor complete
  255. done
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