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  1. root@573a3c209750:/duckietown# roslaunch notebooks/lf_slim.launch
  2. ... logging to /root/.ros/log/6d975658-d4f0-11e9-815d-0242ac120002/roslaunch-573a3c209750-146.log
  3. Checking log directory for disk usage. This may take awhile.
  4. Press Ctrl-C to interrupt
  5. Done checking log file disk usage. Usage is <1GB.
  6.  
  7. started roslaunch server http://573a3c209750:33727/
  8.  
  9. SUMMARY
  10. ========
  11.  
  12. CLEAR PARAMETERS
  13.  * /baseline/ground_projection/
  14.  * /baseline/inverse_kinematics_node/
  15.  * /baseline/lane_controller_node/
  16.  * /baseline/lane_filter_node/
  17.  * /baseline/line_detector_node/
  18.  
  19. PARAMETERS
  20.  * /baseline/ground_projection/config_file_name: baseline
  21.  * /baseline/lane_controller_node/d_offset: 0.0
  22.  * /baseline/lane_controller_node/d_thres: 0.2615
  23.  * /baseline/lane_controller_node/k_Id: 1
  24.  * /baseline/lane_controller_node/k_Iphi: 0.0
  25.  * /baseline/lane_controller_node/k_d: -3.5
  26.  * /baseline/lane_controller_node/k_theta: -1
  27.  * /baseline/lane_controller_node/min_rad: 0.06
  28.  * /baseline/lane_controller_node/theta_thres: 0.523
  29.  * /baseline/lane_controller_node/use_rad_lim: False
  30.  * /baseline/lane_controller_node/v_bar: 0.23
  31.  * /baseline/lane_controller_node/wheel_distance: 0.103
  32.  * /baseline/lane_filter_node/filter: ['lane_filter.Lan...
  33. * /baseline/lane_filter_node/use_propagation: True
  34. * /baseline/line_detector_node/detector: ['line_detector.L...
  35.  * /baseline/line_detector_node/detector_intersection: ['line_detector.L...
  36. * /baseline/line_detector_node/img_size: [120, 160]
  37. * /baseline/line_detector_node/top_cutoff: 40
  38. * /baseline/line_detector_node/verbose: True
  39. * /rosdistro: melodic
  40. * /rosversion: 1.14.3
  41.  
  42. NODES
  43.  /
  44.    gymdt (gymdt/gymdt_node.py)
  45.  /baseline/
  46.    ground_projection (ground_projection/ground_projection_node.py)
  47.    inverse_kinematics_node (dagu_car/inverse_kinematics_node.py)
  48.    lane_controller_node (lane_control/lane_controller_node.py)
  49.    lane_filter_node (lane_filter/lane_filter_node.py)
  50.    line_detector_node (line_detector/line_detector_node.py)
  51.  
  52. auto-starting new master
  53. process[master]: started with pid [156]
  54. ROS_MASTER_URI=http://localhost:11311
  55.  
  56. setting /run_id to 6d975658-d4f0-11e9-815d-0242ac120002
  57. process[rosout-1]: started with pid [167]
  58. started core service [/rosout]
  59. process[gymdt-2]: started with pid [172]
  60. process[baseline/line_detector_node-3]: started with pid [176]
  61. process[baseline/ground_projection-4]: started with pid [179]
  62. process[baseline/lane_filter_node-5]: started with pid [197]
  63. process[baseline/lane_controller_node-6]: started with pid [206]
  64. process[baseline/inverse_kinematics_node-7]: started with pid [211]
  65. libGL error: No matching fbConfigs or visuals found
  66. libGL error: failed to load driver: swrast
  67. Traceback (most recent call last):
  68.  File "/usr/local/lib/python3.6/dist-packages/pyglet/__init__.py", line 353, in __getattr__
  69.    return getattr(self._module, name)
  70. AttributeError: 'NoneType' object has no attribute 'Window'
  71.  
  72. During handling of the above exception, another exception occurred:
  73.  
  74. Traceback (most recent call last):
  75.  File "/duckietown/custom_ws/src/gymdt/scripts/gymdt_node.py", line 77, in <module>
  76.    env = launch_env()
  77.  File "/duckietown/utils/ros_helpers.py", line 20, in launch_env
  78.    distortion=True,
  79.  File "/duckietown/simulation/gym_duckietown/simulator.py", line 250, in __init__
  80.    self.shadow_window = pyglet.window.Window(width=1, height=1, visible=False)
  81.  File "/usr/local/lib/python3.6/dist-packages/pyglet/__init__.py", line 359, in __getattr__
  82.    __import__(import_name)
  83.  File "/usr/local/lib/python3.6/dist-packages/pyglet/window/__init__.py", line 1890, in <module>
  84.    gl._create_shadow_window()
  85.  File "/usr/local/lib/python3.6/dist-packages/pyglet/gl/__init__.py", line 209, in _create_shadow_window
  86.    _shadow_window = Window(width=1, height=1, visible=False)
  87.  File "/usr/local/lib/python3.6/dist-packages/pyglet/window/xlib/__init__.py", line 171, in __init__
  88.    super(XlibWindow, self).__init__(*args, **kwargs)
  89.  File "/usr/local/lib/python3.6/dist-packages/pyglet/window/__init__.py", line 596, in __init__
  90.    context = config.create_context(gl.current_context)
  91.  File "/usr/local/lib/python3.6/dist-packages/pyglet/gl/xlib.py", line 219, in create_context
  92.    return XlibContext13(self, share)
  93.  File "/usr/local/lib/python3.6/dist-packages/pyglet/gl/xlib.py", line 326, in __init__
  94.    super(XlibContext13, self).__init__(config, share)
  95.  File "/usr/local/lib/python3.6/dist-packages/pyglet/gl/xlib.py", line 231, in __init__
  96.    raise gl.ContextException('Could not create GL context')
  97. pyglet.gl.ContextException: Could not create GL context
  98. [INFO] [1568246485.331423]: [/baseline/lane_controller_node] ~v_bar = 0.23
  99. [INFO] [1568246485.338033]: [/baseline/lane_controller_node] ~k_d = -3.5
  100. [INFO] [1568246485.342899]: [/baseline/lane_controller_node] ~k_theta = -1
  101. [INFO] [1568246485.360868]: [/baseline/lane_controller_node] ~d_thres = 0.2615
  102. [INFO] [1568246485.365852]: [/baseline/lane_controller_node] ~theta_thres = 0.523
  103. [INFO] [1568246485.370707]: [/baseline/lane_controller_node] ~d_offset = 0.0
  104. [INFO] [1568246485.373438]: [/baseline/lane_controller_node] ~k_Id = 1
  105. [INFO] [1568246485.388756]: [/baseline/lane_controller_node] ~k_Iphi = 0.0
  106. [INFO] [1568246485.394357]: [/baseline/lane_controller_node] ~use_feedforward_part = False
  107. [INFO] [1568246485.408088]: [/baseline/lane_controller_node] ~omega_ff = 0
  108. [INFO] [1568246485.430811]: [/baseline/lane_controller_node] ~omega_max = 999
  109. [INFO] [1568246485.435939]: [/baseline/lane_controller_node] ~omega_min = -999
  110. [INFO] [1568246485.441246]: [/baseline/lane_controller_node] ~use_radius_limit = True
  111. [INFO] [1568246485.446488]: [/baseline/lane_controller_node] ~min_rad = 0.06
  112. [INFO] [1568246485.451868]: [/baseline/lane_controller_node] ~d_ref = 0
  113. [INFO] [1568246485.457062]: [/baseline/lane_controller_node] ~phi_ref = 0
  114. [INFO] [1568246485.463187]: [/baseline/lane_controller_node] ~object_detected = 0
  115. [INFO] [1568246485.534640]: [/baseline/lane_controller_node] Initialized
  116. [gymdt-2] process has died [pid 172, exit code 1, cmd /duckietown/custom_ws/src/gymdt/scripts/gymdt_node.py __name:=gymdt __log:=/root/.ros/log/6d975658-d4f0-11e9-815d-0242ac120002/gymdt-2.log].
  117. log file: /root/.ros/log/6d975658-d4f0-11e9-815d-0242ac120002/gymdt-2*.log
  118. [INFO] [1568246492.461060]: [Lane Filter] new filter config: ['lane_filter.LaneFilterHistogram', {'configuration': {'lanewidth': 0.23, 'range_min': 0.2, 'range_max': 0.6, 'd_max': 0.3, 'linewidth_white': 0.05, 'phi_min': -1.5, 'sigma_d_0': 0.1, 'curvature_res': 0, 'phi_max': 1.5, 'curvature_right': -0.054, 'mean_d_0': 0, 'sigma_d_mask': 1.0, 'mean_phi_0': 0, 'd_min': -0.15, 'linewidth_yellow': 0.025, 'curvature_left': 0.025, 'min_max': 0.1, 'range_est': 0.33, 'delta_d': 0.02, 'cov_v': 0.5, 'sigma_phi_mask': 2.0, 'sigma_phi_0': 0.1, 'delta_phi': 0.1}}]
  119. Instance of simpleColorBalanceClass created.
  120. [INFO] [1568246493.597134]: [LineDetectorNode] Verbose is now True
  121. [INFO] [1568246493.602789]: [LineDetectorNode] new detector config: ['line_detector.LineDetectorHSV', {'configuration': {'hough_max_line_gap': 1, 'dilation_kernel_size': 3, 'hsv_yellow1': [25, 140, 100], 'hsv_yellow2': [45, 255, 255], 'hsv_white1': [0, 0, 150], 'hsv_white2': [180, 100, 255], 'hough_min_line_length': 3, 'hough_threshold': 2, 'canny_thresholds': [80, 200], 'hsv_red4': [180, 255, 255], 'hsv_red1': [0, 140, 100], 'hsv_red3': [165, 140, 100], 'hsv_red2': [15, 255, 255]}}]
  122. [INFO] [1568246493.621149]: [LineDetectorNode] new detector_intersection config: ['line_detector.LineDetectorHSV', {'configuration': {'hough_max_line_gap': 1, 'dilation_kernel_size': 3, 'hsv_yellow1': [25, 140, 100], 'hsv_yellow2': [45, 255, 255], 'hsv_white1': [0, 0, 150], 'hsv_white2': [180, 100, 255], 'hough_min_line_length': 3, 'hough_threshold': 2, 'canny_thresholds': [80, 200], 'hsv_red4': [180, 255, 255], 'hsv_red1': [0, 50, 100], 'hsv_red3': [165, 50, 100], 'hsv_red2': [15, 255,255]}}]
  123. [INFO] [1568246493.687396]: [LineDetectorNode] Initialized (verbose = True).
  124. [WARN] [1568246494.181993]: [/baseline/inverse_kinematics_node] /data/config/calibrations/kinematics/baseline.yaml does not exist. Using default.yaml.
  125. [INFO] [1568246494.200213]: [/baseline/inverse_kinematics_node] ~gain = 1.0
  126. [INFO] [1568246494.204337]: [/baseline/inverse_kinematics_node] ~trim = 0.0
  127. [INFO] [1568246494.207730]: [/baseline/inverse_kinematics_node] ~baseline = 0.1
  128. [INFO] [1568246494.211419]: [/baseline/inverse_kinematics_node] ~radius = 0.0318
  129. [INFO] [1568246494.214093]: [/baseline/inverse_kinematics_node] ~k = 27.0
  130. [INFO] [1568246494.216898]: [/baseline/inverse_kinematics_node] ~limit = 1.0
  131. [INFO] [1568246494.247974]: [/baseline/inverse_kinematics_node] Initialized.
  132. [INFO] [1568246494.249851]: [/baseline/inverse_kinematics_node] gain: 1.0 trim: 0.0 baseline: 0.1 radius: 0.0318 k: 27.0 limit: 1.0
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