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alpaficia Nov 12th, 2019 56 in 2 days
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  1. ... logging to /root/.ros/log/bc5ad37c-0561-11ea-ab50-0242ac120002/roslaunch-5ada40737b40-4063.log
  2. Checking log directory for disk usage. This may take awhile.
  3. Press Ctrl-C to interrupt
  4. Done checking log file disk usage. Usage is <1GB.
  5.  
  6. started roslaunch server http://5ada40737b40:35392/
  7.  
  8. SUMMARY
  9. ========
  10.  
  11. PARAMETERS
  12.  * /default/anti_instagram_node/ai_interval: 5
  13.  * /default/anti_instagram_node/cb_percentage: 0.8
  14.  * /default/anti_instagram_node/resize: 0.2
  15.  * /default/anti_instagram_node/scale_percentage: 0.2
  16.  * /default/anti_instagram_node/veh: default
  17.  * /default/duckiebot_visualizer/veh_name: default
  18.  * /default/fsm_node/events/apriltag_intersection/msg_type: BoolStamped
  19.  * /default/fsm_node/events/apriltag_intersection/topic: apriltags_postpro...
  20.  * /default/fsm_node/events/apriltag_intersection/trigger: True
  21.  * /default/fsm_node/events/apriltag_parking_and_parking_active/msg_type: BoolStamped
  22.  * /default/fsm_node/events/apriltag_parking_and_parking_active/topic: logic_gate_node/a...
  23.  * /default/fsm_node/events/apriltag_parking_and_parking_active/trigger: True
  24.  * /default/fsm_node/events/at_stop_line/msg_type: BoolStamped
  25.  * /default/fsm_node/events/at_stop_line/topic: stop_line_filter_...
  26.  * /default/fsm_node/events/at_stop_line/trigger: True
  27.  * /default/fsm_node/events/at_stop_line_and_charging_exit/msg_type: BoolStamped
  28.  * /default/fsm_node/events/at_stop_line_and_charging_exit/topic: logic_gate_node/a...
  29.  * /default/fsm_node/events/at_stop_line_and_charging_exit/trigger: True
  30.  * /default/fsm_node/events/at_stop_line_and_parking_off/msg_type: BoolStamped
  31.  * /default/fsm_node/events/at_stop_line_and_parking_off/topic: logic_gate_node/a...
  32.  * /default/fsm_node/events/at_stop_line_and_parking_off/trigger: True
  33.  * /default/fsm_node/events/at_stop_line_and_parking_on/msg_type: BoolStamped
  34.  * /default/fsm_node/events/at_stop_line_and_parking_on/topic: logic_gate_node/a...
  35.  * /default/fsm_node/events/at_stop_line_and_parking_on/trigger: True
  36.  * /default/fsm_node/events/calibration_calculation_start/msg_type: BoolStamped
  37.  * /default/fsm_node/events/calibration_calculation_start/topic: auto_calibration_...
  38.  * /default/fsm_node/events/calibration_calculation_start/trigger: True
  39.  * /default/fsm_node/events/calibration_calculation_stop/msg_type: BoolStamped
  40.  * /default/fsm_node/events/calibration_calculation_stop/topic: auto_calibration_...
  41.  * /default/fsm_node/events/calibration_calculation_stop/trigger: True
  42.  * /default/fsm_node/events/calibration_start/msg_type: BoolStamped
  43.  * /default/fsm_node/events/calibration_start/topic: auto_calibration_...
  44.  * /default/fsm_node/events/calibration_start/trigger: True
  45.  * /default/fsm_node/events/calibration_stop/msg_type: BoolStamped
  46.  * /default/fsm_node/events/calibration_stop/topic: auto_calibration_...
  47.  * /default/fsm_node/events/calibration_stop/trigger: True
  48.  * /default/fsm_node/events/deep_lane_following_off/msg_type: BoolStamped
  49.  * /default/fsm_node/events/deep_lane_following_off/topic: joy_mapper_node/d...
  50.  * /default/fsm_node/events/deep_lane_following_off/trigger: False
  51.  * /default/fsm_node/events/deep_lane_following_on/msg_type: BoolStamped
  52.  * /default/fsm_node/events/deep_lane_following_on/topic: joy_mapper_node/d...
  53.  * /default/fsm_node/events/deep_lane_following_on/trigger: True
  54.  * /default/fsm_node/events/in_charger/msg_type: BoolStamped
  55.  * /default/fsm_node/events/in_charger/topic: maintenance_contr...
  56.  * /default/fsm_node/events/in_charger/trigger: True
  57.  * /default/fsm_node/events/intersection_done_and_deep_lane_off/msg_type: BoolStamped
  58.  * /default/fsm_node/events/intersection_done_and_deep_lane_off/topic: logic_gate_node/i...
  59.  * /default/fsm_node/events/intersection_done_and_deep_lane_off/trigger: True
  60.  * /default/fsm_node/events/intersection_done_and_deep_lane_on/msg_type: BoolStamped
  61.  * /default/fsm_node/events/intersection_done_and_deep_lane_on/topic: logic_gate_node/i...
  62.  * /default/fsm_node/events/intersection_done_and_deep_lane_on/trigger: True
  63.  * /default/fsm_node/events/intersection_go/msg_type: BoolStamped
  64.  * /default/fsm_node/events/intersection_go/topic: logic_gate_node/i...
  65.  * /default/fsm_node/events/intersection_go/trigger: True
  66.  * /default/fsm_node/events/intersection_path_computed/msg_type: BoolStamped
  67.  * /default/fsm_node/events/intersection_path_computed/topic: intersection_navi...
  68.  * /default/fsm_node/events/intersection_path_computed/trigger: True
  69.  * /default/fsm_node/events/joystick_override_off_and_deep_lane_off/msg_type: BoolStamped
  70.  * /default/fsm_node/events/joystick_override_off_and_deep_lane_off/topic: logic_gate_node/j...
  71.  * /default/fsm_node/events/joystick_override_off_and_deep_lane_off/trigger: True
  72.  * /default/fsm_node/events/joystick_override_off_and_deep_lane_on/msg_type: BoolStamped
  73.  * /default/fsm_node/events/joystick_override_off_and_deep_lane_on/topic: logic_gate_node/j...
  74.  * /default/fsm_node/events/joystick_override_off_and_deep_lane_on/trigger: True
  75.  * /default/fsm_node/events/joystick_override_on_and_parallel_autonomy_off/msg_type: BoolStamped
  76.  * /default/fsm_node/events/joystick_override_on_and_parallel_autonomy_off/topic: logic_gate_node/j...
  77.  * /default/fsm_node/events/joystick_override_on_and_parallel_autonomy_off/trigger: True
  78.  * /default/fsm_node/events/joystick_override_on_and_parallel_autonomy_on/msg_type: BoolStamped
  79.  * /default/fsm_node/events/joystick_override_on_and_parallel_autonomy_on/topic: logic_gate_node/j...
  80.  * /default/fsm_node/events/joystick_override_on_and_parallel_autonomy_on/trigger: True
  81.  * /default/fsm_node/events/parallel_autonomy_off/msg_type: BoolStamped
  82.  * /default/fsm_node/events/parallel_autonomy_off/topic: joy_mapper_node/p...
  83.  * /default/fsm_node/events/parallel_autonomy_off/trigger: False
  84.  * /default/fsm_node/events/parallel_autonomy_on/msg_type: BoolStamped
  85.  * /default/fsm_node/events/parallel_autonomy_on/topic: joy_mapper_node/p...
  86.  * /default/fsm_node/events/parallel_autonomy_on/trigger: True
  87.  * /default/fsm_node/events/start_avoidance/msg_type: BoolStamped
  88.  * /default/fsm_node/events/start_avoidance/topic: joy_mapper_node/s...
  89.  * /default/fsm_node/events/start_avoidance/trigger: True
  90.  * /default/fsm_node/global_transitions/joystick_override_on_and_parallel_autonomy_off: NORMAL_JOYSTICK_C...
  91.  * /default/fsm_node/global_transitions/joystick_override_on_and_parallel_autonomy_on: SAFE_JOYSTICK_CON...
  92.  * /default/fsm_node/initial_state: NORMAL_JOYSTICK_C...
  93.  * /default/fsm_node/nodes/anti_instagram: anti_instagram_no...
  94.  * /default/fsm_node/nodes/apriltag_node: apriltag_detector...
  95.  * /default/fsm_node/nodes/auto_calibration_calculation_node: auto_calibration_...
  96.  * /default/fsm_node/nodes/auto_calibration_node: auto_calibration_...
  97.  * /default/fsm_node/nodes/central_fleet_planning_node: central_fleet_pla...
  98.  * /default/fsm_node/nodes/charging_control: charging_control_...
  99.  * /default/fsm_node/nodes/coordinator_node: coordinator_node/...
  100.  * /default/fsm_node/nodes/decoder_node: decoder_node/switch
  101.  * /default/fsm_node/nodes/duckiebot_il_lane_following: duckiebot_il_lane...
  102.  * /default/fsm_node/nodes/framerate_high: camera_node/frame...
  103.  * /default/fsm_node/nodes/implicit_coordination_node: implicit_coordina...
  104.  * /default/fsm_node/nodes/intersection_localizer_node: intersection_loca...
  105.  * /default/fsm_node/nodes/intersection_navigation_node: intersection_navi...
  106.  * /default/fsm_node/nodes/lane_controller_node: lane_controller_n...
  107.  * /default/fsm_node/nodes/lane_filter_node: lane_filter_node/...
  108.  * /default/fsm_node/nodes/led_detector_node: led_detector_node...
  109.  * /default/fsm_node/nodes/led_emitter_node: led_emitter_node/...
  110.  * /default/fsm_node/nodes/line_detector_node: line_detector_nod...
  111.  * /default/fsm_node/nodes/obstacle_avoidance_node: obstacle_avoidanc...
  112.  * /default/fsm_node/nodes/obstacle_detection_node: obstacle_detectio...
  113.  * /default/fsm_node/nodes/parking_control: parking_control/s...
  114.  * /default/fsm_node/nodes/parking_path_planning: parking_path_plan...
  115.  * /default/fsm_node/nodes/parking_perception_localization: parking_perceptio...
  116.  * /default/fsm_node/nodes/static_object_detector_node: static_object_det...
  117.  * /default/fsm_node/nodes/stop_line_filter_node: stop_line_filter_...
  118.  * /default/fsm_node/nodes/unicorn_intersection_node: unicorn_intersect...
  119.  * /default/fsm_node/nodes/vehicle_avoidance_control_node: vehicle_avoidance...
  120.  * /default/fsm_node/nodes/vehicle_detection_node: vehicle_detection...
  121.  * /default/fsm_node/nodes/vehicle_filter_node: vehicle_filter_no...
  122.  * /default/fsm_node/states/ARRIVE_AT_STOP_LINE/active_nodes: ['apriltag_node',...
  123.  * /default/fsm_node/states/ARRIVE_AT_STOP_LINE/current_status: implemented
  124.  * /default/fsm_node/states/ARRIVE_AT_STOP_LINE/transitions/apriltag_intersection: INTERSECTION_COOR...
  125.  * /default/fsm_node/states/CALIBRATING/active_nodes: ['auto_calibratio...
  126.  * /default/fsm_node/states/CALIBRATING/transitions/calibration_calculation_start: CALIBRATING_CALC
  127.  * /default/fsm_node/states/CALIBRATING/transitions/calibration_stop: LANE_FOLLOWING
  128.  * /default/fsm_node/states/CALIBRATING_CALC/active_nodes: ['auto_calibratio...
  129.  * /default/fsm_node/states/CALIBRATING_CALC/transitions/calibration_calculation_stop: CALIBRATING
  130.  * /default/fsm_node/states/CHARGING_FIRST_IN_LINE/active_nodes: ['decoder_node', ...
  131.  * /default/fsm_node/states/CHARGING_FIRST_IN_LINE/transitions/at_stop_line_and_charging_exit: LANE_FOLLOWING
  132.  * /default/fsm_node/states/DEEP_LANE_FOLLOWING/active_nodes: ['decoder_node', ...
  133.  * /default/fsm_node/states/DEEP_LANE_FOLLOWING/transitions/at_stop_line_and_parking_off: INTERSECTION_COOR...
  134.  * /default/fsm_node/states/DEEP_LANE_FOLLOWING/transitions/at_stop_line_and_parking_on: ARRIVE_AT_STOP_LINE
  135.  * /default/fsm_node/states/DEEP_LANE_FOLLOWING/transitions/deep_lane_following_off: LANE_FOLLOWING
  136.  * /default/fsm_node/states/INTERSECTION_CONTROL/active_nodes: ['apriltag_node',...
  137.  * /default/fsm_node/states/INTERSECTION_CONTROL/current_status: in_progress
  138.  * /default/fsm_node/states/INTERSECTION_CONTROL/transitions/in_charger: IN_CHARGING_AREA
  139.  * /default/fsm_node/states/INTERSECTION_CONTROL/transitions/intersection_done_and_deep_lane_off: LANE_FOLLOWING
  140.  * /default/fsm_node/states/INTERSECTION_CONTROL/transitions/intersection_done_and_deep_lane_on: DEEP_LANE_FOLLOWING
  141.  * /default/fsm_node/states/INTERSECTION_COORDINATION/active_nodes: ['apriltag_node',...
  142.  * /default/fsm_node/states/INTERSECTION_COORDINATION/current_status: in_progress
  143.  * /default/fsm_node/states/INTERSECTION_COORDINATION/lights: ['coordination']
  144.  * /default/fsm_node/states/INTERSECTION_COORDINATION/transitions/intersection_go: INTERSECTION_CONTROL
  145.  * /default/fsm_node/states/IN_CHARGING_AREA/active_nodes: ['decoder_node', ...
  146.  * /default/fsm_node/states/IN_CHARGING_AREA/transitions/at_stop_line_and_parking_off: CHARGING_FIRST_IN...
  147.  * /default/fsm_node/states/IN_CHARGING_AREA/transitions/at_stop_line_and_parking_on: CHARGING_FIRST_IN...
  148.  * /default/fsm_node/states/LANE_FOLLOWING/active_nodes: ['anti_instagram'...
  149.  * /default/fsm_node/states/LANE_FOLLOWING/current_status: in_progress
  150.  * /default/fsm_node/states/LANE_FOLLOWING/lights: ['lane_following']
  151.  * /default/fsm_node/states/LANE_FOLLOWING/transitions/at_stop_line_and_parking_off: INTERSECTION_COOR...
  152.  * /default/fsm_node/states/LANE_FOLLOWING/transitions/at_stop_line_and_parking_on: ARRIVE_AT_STOP_LINE
  153.  * /default/fsm_node/states/LANE_FOLLOWING/transitions/calibration_start: CALIBRATING
  154.  * /default/fsm_node/states/LANE_FOLLOWING/transitions/deep_lane_following_on: DEEP_LANE_FOLLOWING
  155.  * /default/fsm_node/states/LANE_FOLLOWING/transitions/in_charger: IN_CHARGING_AREA
  156.  * /default/fsm_node/states/NORMAL_JOYSTICK_CONTROL/active_nodes: ['lane_filter_nod...
  157.  * /default/fsm_node/states/NORMAL_JOYSTICK_CONTROL/current_status: implemented
  158.  * /default/fsm_node/states/NORMAL_JOYSTICK_CONTROL/lights: ['joystick']
  159.  * /default/fsm_node/states/NORMAL_JOYSTICK_CONTROL/transitions/joystick_override_off_and_deep_lane_off: LANE_FOLLOWING
  160.  * /default/fsm_node/states/NORMAL_JOYSTICK_CONTROL/transitions/joystick_override_off_and_deep_lane_on:DEEP_LANE_FOLLOWING
  161.  * /default/fsm_node/states/NORMAL_JOYSTICK_CONTROL/transitions/parallel_autonomy_on: SAFE_JOYSTICK_CON...
  162.  * /default/fsm_node/states/SAFE_JOYSTICK_CONTROL/active_nodes: ['decoder_node', ...
  163.  * /default/fsm_node/states/SAFE_JOYSTICK_CONTROL/current_status: implemented
  164.  * /default/fsm_node/states/SAFE_JOYSTICK_CONTROL/lights: ['joystick']
  165.  * /default/fsm_node/states/SAFE_JOYSTICK_CONTROL/transitions/joystick_override_off_and_deep_lane_off: LANE_FOLLOWING
  166.  * /default/fsm_node/states/SAFE_JOYSTICK_CONTROL/transitions/joystick_override_off_and_deep_lane_on: DEEP_LANE_FOLLOWING
  167.  * /default/fsm_node/states/SAFE_JOYSTICK_CONTROL/transitions/parallel_autonomy_off: NORMAL_JOYSTICK_C...
  168.  * /default/ground_projection/config_file_name: default
  169.  * /default/lane_controller_node/d_offset: 0.0
  170.  * /default/lane_controller_node/d_thres: 0.2615
  171.  * /default/lane_controller_node/k_Id: 1
  172.  * /default/lane_controller_node/k_Iphi: 0.0
  173.  * /default/lane_controller_node/k_d: -3.5
  174.  * /default/lane_controller_node/k_theta: -1
  175.  * /default/lane_controller_node/min_rad: 0.06
  176.  * /default/lane_controller_node/theta_thres: 0.523
  177.  * /default/lane_controller_node/use_rad_lim: False
  178.  * /default/lane_controller_node/v_bar: 0.23
  179.  * /default/lane_controller_node/wheel_distance: 0.103
  180.  * /default/lane_filter_node/filter: ['lane_filter.Lan...
  181.  * /default/lane_filter_node/use_propagation: True
  182.  * /default/line_detector_node/detector: ['line_detector.L...
  183.  * /default/line_detector_node/detector_intersection: ['line_detector.L...
  184.  * /default/line_detector_node/img_size: [120, 160]
  185.  * /default/line_detector_node/top_cutoff: 40
  186.  * /default/line_detector_node/verbose: True
  187.  * /default/logic_gate_node/events/apriltag_parking/msg_type: BoolStamped
  188.  * /default/logic_gate_node/events/apriltag_parking/topic: apriltags_postpro...
  189.  * /default/logic_gate_node/events/apriltag_parking/trigger: True
  190.  * /default/logic_gate_node/events/at_stop_line/msg_type: BoolStamped
  191.  * /default/logic_gate_node/events/at_stop_line/topic: stop_line_filter_...
  192.  * /default/logic_gate_node/events/at_stop_line/trigger: True
  193.  * /default/logic_gate_node/events/charging_exit/default: False
  194.  * /default/logic_gate_node/events/charging_exit/msg_type: BoolStamped
  195.  * /default/logic_gate_node/events/charging_exit/topic: charging_control_...
  196.  * /default/logic_gate_node/events/charging_exit/trigger: True
  197.  * /default/logic_gate_node/events/deep_lane_following_off/default: True
  198.  * /default/logic_gate_node/events/deep_lane_following_off/msg_type: BoolStamped
  199.  * /default/logic_gate_node/events/deep_lane_following_off/topic: joy_mapper_node/d...
  200.  * /default/logic_gate_node/events/deep_lane_following_off/trigger: False
  201.  * /default/logic_gate_node/events/deep_lane_following_on/default: False
  202.  * /default/logic_gate_node/events/deep_lane_following_on/msg_type: BoolStamped
  203.  * /default/logic_gate_node/events/deep_lane_following_on/topic: joy_mapper_node/d...
  204.  * /default/logic_gate_node/events/deep_lane_following_on/trigger: True
  205.  * /default/logic_gate_node/events/intersection_done/msg_type: BoolStamped
  206.  * /default/logic_gate_node/events/intersection_done/topic: intersection_navi...
  207.  * /default/logic_gate_node/events/intersection_done/trigger: True
  208.  * /default/logic_gate_node/events/intersection_go_explicit/msg_type: BoolStamped
  209.  * /default/logic_gate_node/events/intersection_go_explicit/topic: coordinator_node/...
  210.  * /default/logic_gate_node/events/intersection_go_explicit/trigger: True
  211.  * /default/logic_gate_node/events/intersection_go_implicit/msg_type: BoolStamped
  212.  * /default/logic_gate_node/events/intersection_go_implicit/topic: implicit_intersec...
  213.  * /default/logic_gate_node/events/intersection_go_implicit/trigger: True
  214.  * /default/logic_gate_node/events/joystick_override_off/msg_type: BoolStamped
  215.  * /default/logic_gate_node/events/joystick_override_off/topic: joy_mapper_node/j...
  216.  * /default/logic_gate_node/events/joystick_override_off/trigger: False
  217.  * /default/logic_gate_node/events/joystick_override_on/msg_type: BoolStamped
  218.  * /default/logic_gate_node/events/joystick_override_on/topic: joy_mapper_node/j...
  219.  * /default/logic_gate_node/events/joystick_override_on/trigger: True
  220.  * /default/logic_gate_node/events/parallel_autonomy_off/default: True
  221.  * /default/logic_gate_node/events/parallel_autonomy_off/msg_type: BoolStamped
  222.  * /default/logic_gate_node/events/parallel_autonomy_off/topic: joy_mapper_node/p...
  223.  * /default/logic_gate_node/events/parallel_autonomy_off/trigger: False
  224.  * /default/logic_gate_node/events/parallel_autonomy_on/default: False
  225.  * /default/logic_gate_node/events/parallel_autonomy_on/msg_type: BoolStamped
  226.  * /default/logic_gate_node/events/parallel_autonomy_on/topic: joy_mapper_node/p...
  227.  * /default/logic_gate_node/events/parallel_autonomy_on/trigger: True
  228.  * /default/logic_gate_node/events/parking_off/default: True
  229.  * /default/logic_gate_node/events/parking_off/msg_type: BoolStamped
  230.  * /default/logic_gate_node/events/parking_off/topic: parking_on
  231.  * /default/logic_gate_node/events/parking_off/trigger: False
  232.  * /default/logic_gate_node/events/parking_on/default: False
  233.  * /default/logic_gate_node/events/parking_on/msg_type: BoolStamped
  234.  * /default/logic_gate_node/events/parking_on/topic: parking_on
  235.  * /default/logic_gate_node/events/parking_on/trigger: True
  236.  * /default/logic_gate_node/gates/at_stop_line_and_charging_exit/gate_type: AND
  237.  * /default/logic_gate_node/gates/at_stop_line_and_charging_exit/inputs: ['at_stop_line', ...
  238.  * /default/logic_gate_node/gates/at_stop_line_and_charging_exit/output_topic: ~at_stop_line_and...
  239.  * /default/logic_gate_node/gates/at_stop_line_and_parking_off/gate_type: AND
  240.  * /default/logic_gate_node/gates/at_stop_line_and_parking_off/inputs: ['at_stop_line', ...
  241.  * /default/logic_gate_node/gates/at_stop_line_and_parking_off/output_topic: ~at_stop_line_and...
  242.  * /default/logic_gate_node/gates/at_stop_line_and_parking_on/gate_type: AND
  243.  * /default/logic_gate_node/gates/at_stop_line_and_parking_on/inputs: ['at_stop_line', ...
  244.  * /default/logic_gate_node/gates/at_stop_line_and_parking_on/output_topic: ~at_stop_line_and...
  245.  * /default/logic_gate_node/gates/intersection_done_and_deep_lane_off/gate_type: AND
  246.  * /default/logic_gate_node/gates/intersection_done_and_deep_lane_off/inputs: ['intersection_do...
  247.  * /default/logic_gate_node/gates/intersection_done_and_deep_lane_off/output_topic: ~intersection_don...
  248.  * /default/logic_gate_node/gates/intersection_done_and_deep_lane_on/gate_type: AND
  249.  * /default/logic_gate_node/gates/intersection_done_and_deep_lane_on/inputs: ['intersection_do...
  250.  * /default/logic_gate_node/gates/intersection_done_and_deep_lane_on/output_topic: ~intersection_don...
  251.  * /default/logic_gate_node/gates/intersection_go/gate_type: OR
  252.  * /default/logic_gate_node/gates/intersection_go/inputs: ['intersection_go...
  253.  * /default/logic_gate_node/gates/intersection_go/output_topic: ~intersection_go
  254.  * /default/logic_gate_node/gates/joystick_override_off_and_deep_lane_off/gate_type: AND
  255.  * /default/logic_gate_node/gates/joystick_override_off_and_deep_lane_off/inputs: ['joystick_overri...
  256.  * /default/logic_gate_node/gates/joystick_override_off_and_deep_lane_off/output_topic: ~joystick_overrid...
  257.  * /default/logic_gate_node/gates/joystick_override_off_and_deep_lane_on/gate_type: AND
  258.  * /default/logic_gate_node/gates/joystick_override_off_and_deep_lane_on/inputs: ['joystick_overri...
  259.  * /default/logic_gate_node/gates/joystick_override_off_and_deep_lane_on/output_topic: ~joystick_overrid...
  260.  * /default/logic_gate_node/gates/joystick_override_on_and_parallel_autonomy_off/gate_type: AND
  261.  * /default/logic_gate_node/gates/joystick_override_on_and_parallel_autonomy_off/inputs: ['joystick_overri...
  262.  * /default/logic_gate_node/gates/joystick_override_on_and_parallel_autonomy_off/output_topic: ~joystick_overrid...
  263.  * /default/logic_gate_node/gates/joystick_override_on_and_parallel_autonomy_on/gate_type: AND
  264.  * /default/logic_gate_node/gates/joystick_override_on_and_parallel_autonomy_on/inputs: ['joystick_overri...
  265.  * /default/logic_gate_node/gates/joystick_override_on_and_parallel_autonomy_on/output_topic: ~joystick_overrid...
  266.  * /enable_statistics: False
  267.  * /rosdistro: melodic
  268.  * /rosversion: 1.14.3
  269.  
  270. NODES
  271.   /default/
  272.     anti_instagram_node (anti_instagram/anti_instagram_node.py)
  273.     duckiebot_visualizer (duckiebot_visualizer/duckiebot_visualizer.py)
  274.     fsm_node (fsm/fsm_node.py)
  275.     ground_projection (ground_projection/ground_projection_node.py)
  276.     lane_controller_node (lane_control/lane_controller_node.py)
  277.     lane_filter_node (sw_07_lane_filter/lane_filter_node.py)
  278.     lane_pose_visualizer_node (lane_filter/lane_pose_visualizer_node.py)
  279.     line_detector_node (line_detector/line_detector_node.py)
  280.     logic_gate_node (fsm/logic_gate_node.py)
  281.   /
  282.     default_to_map (tf/static_transform_publisher)
  283.  
  284. ROS_MASTER_URI=http://sim:11311
  285.  
  286. process[default/fsm_node-1]: started with pid [4072]
  287. process[default/logic_gate_node-2]: started with pid [4073]
  288. [INFO] [1573575656.230852]: [/default/fsm_node] Initialized.
  289. [INFO] [1573575656.232325]: [/default/fsm_node] FSMState: NORMAL_JOYSTICK_CONTROL
  290. process[default/line_detector_node-3]: started with pid [4079]
  291. process[default/ground_projection-4]: started with pid [4092]
  292. process[default/duckiebot_visualizer-5]: started with pid [4146]
  293. [INFO] [1573575657.547959]: [/default/duckiebot_visualizer] Initialzing.
  294. [INFO] [1573575657.551260]: [/default/duckiebot_visualizer] ~veh_name = default
  295. [INFO] [1573575657.590054]: [/default/duckiebot_visualizer] Initialzed.
  296. process[default_to_map-6]: started with pid [4151]
  297. process[default/lane_filter_node-7]: started with pid [4158]
  298. process[default/lane_controller_node-8]: started with pid [4164]
  299. process[default/lane_pose_visualizer_node-9]: started with pid [4165]
  300. [INFO] [1573575658.900483]: [/default/lane_controller_node] ~v_bar = 0.23
  301. [INFO] [1573575658.910922]: [/default/lane_controller_node] ~k_d = -3.5
  302. [INFO] [1573575658.924414]: [/default/lane_controller_node] ~k_theta = -1
  303. [INFO] [1573575658.929030]: [/default/lane_controller_node] ~d_thres = 0.2615
  304. [INFO] [1573575658.932134]: [/default/lane_controller_node] ~theta_thres = 0.523
  305. [INFO] [1573575658.935229]: [/default/lane_controller_node] ~d_offset = 0.0
  306. [INFO] [1573575658.964028]: [/default/lane_controller_node] ~k_Id = 1
  307. [INFO] [1573575658.967580]: [/default/lane_controller_node] ~k_Iphi = 0.0
  308. [INFO] [1573575658.978345]: [/default/lane_controller_node] ~use_feedforward_part = False
  309. [INFO] [1573575658.994324]: [/default/lane_controller_node] ~omega_ff = 0
  310. [INFO] [1573575659.000202]: [/default/lane_controller_node] ~omega_max = 999
  311. [INFO] [1573575659.003232]: [/default/lane_controller_node] ~omega_min = -999
  312. [INFO] [1573575659.027343]: [/default/lane_controller_node] ~use_radius_limit = True
  313. [INFO] [1573575659.031277]: [/default/lane_controller_node] ~min_rad = 0.06
  314. [INFO] [1573575659.034932]: [/default/lane_controller_node] ~d_ref = 0
  315. [INFO] [1573575659.055148]: [/default/lane_controller_node] ~phi_ref = 0
  316. [INFO] [1573575659.060906]: [/default/lane_controller_node] ~object_detected = 0
  317. [INFO] [1573575659.157268]: [/default/lane_controller_node] Initialized
  318. fsm_state changed in lane_controller_node to:  NORMAL_JOYSTICK_CONTROL
  319. [INFO] [1573575659.209697]: active: False
  320. process[default/anti_instagram_node-10]: started with pid [4174]
  321. [INFO] [1573575659.685493]: [LineDetectorNode] Verbose is now True
  322. [INFO] [1573575659.689290]: [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]}}]
  323. [INFO] [1573575659.691881]: [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]}}]
  324. [INFO] [1573575659.714961]: [LineDetectorNode] Initialized (verbose = True).
  325. [INFO] [1573575659.897642]: [/default/lane_pose_visualizer_node] Initialzing.
  326. [INFO] [1573575659.899207]: [/default/lane_pose_visualizer_node] Vehicle name: default
  327. [INFO] [1573575659.925940]: [/default/lane_pose_visualizer_node] Initialzed.
  328. [INFO] [1573575662.240361]: [/default/anti_instagram_node] ~ai_interval = 5
  329. [INFO] [1573575662.244630]: [/default/anti_instagram_node] ~cb_percentage = 0.8
  330. [INFO] [1573575662.249350]: [/default/anti_instagram_node] ~scale_percent = 0.4
  331. [INFO] [1573575662.253270]: [/default/anti_instagram_node] ~resize = 0.2
  332. [INFO] [1573575662.303198]: [/default/anti_instagram_node] New parameters computed
  333. [INFO] [1573575662.353468]: line_detector_node received first image.
  334. [INFO] [1573575662.354608]: line_detector_node processing first image.
  335. [INFO] [1573575662.359796]: [LineDetectorNode]   1:# segments: white   8 yellow  23 red   0
  336. [INFO] [1573575662.362659]: [LineDetectorNode]   1:
  337. Latencies:
  338.                acquired | total latency    11.7 ms | delta wall     None clock     None
  339.                 decoded | total latency    12.5 ms | delta wall   0.8 ms clock   0.9 ms
  340.                 resized | total latency    12.9 ms | delta wall   0.3 ms clock   0.3 ms
  341.                detected | total latency    15.5 ms | delta wall   2.7 ms clock   3.4 ms
  342.                prepared | total latency    17.1 ms | delta wall   1.6 ms clock   1.2 ms
  343.           --pub_lines-- | total latency    17.4 ms | delta wall   0.2 ms clock   0.2 ms
  344.                   drawn | total latency    17.6 ms | delta wall   0.2 ms clock   0.4 ms
  345.               pub_image | total latency    17.7 ms | delta wall   0.1 ms clock   0.1 ms
  346.    pub_edge/pub_segment | total latency    18.7 ms | delta wall   1.0 ms clock   1.0 ms
  347.  
  348. [INFO] [1573575662.418717]: [LineDetectorNode]   1:In the last 2.7 s: received 2 (0.7 fps) processed 2 (0.7 fps) skipped 0 (0.0 fps) (0%)
  349. /duckietown/catkin_ws/src/sw07-SE/packages/sw_07_lane_filter/include/sw_07_lane_filter/lane_filter.py:64: RuntimeWarning: invalid value encountered in double_scalars
  350.   average_distance = np.sum(distance_weight) / len(distance_weight)
  351. [INFO] [1573575664.909755]: active: True
  352. [INFO] [1573575664.910060]: [/default/fsm_node] FSMState: LANE_FOLLOWING
  353. fsm_state changed in lane_controller_node to:  LANE_FOLLOWING
  354. [ERROR] [1573575665.067071]: inside threshold
  355. [ERROR] [1573575666.080341]: inside threshold
  356. [ERROR] [1573575666.154652]: inside threshold
  357. [ERROR] [1573575666.346001]: inside threshold
  358. [ERROR] [1573575666.467881]: inside threshold
  359. [ERROR] [1573575666.682299]: inside threshold
  360. [ERROR] [1573575667.212249]: inside threshold
  361. [INFO] [1573575667.260827]: [/default/anti_instagram_node] New parameters computed
  362. [ERROR] [1573575667.291958]: inside threshold
  363. [ERROR] [1573575667.341476]: inside threshold
  364. [ERROR] [1573575667.406301]: inside threshold
  365. [ERROR] [1573575667.535072]: inside threshold
  366. [ERROR] [1573575667.740734]: inside threshold
  367. [ERROR] [1573575667.807793]: inside threshold
  368. [ERROR] [1573575668.269036]: inside threshold
  369. [ERROR] [1573575668.331818]: inside threshold
  370. [ERROR] [1573575668.406027]: inside threshold
  371. [ERROR] [1573575668.542462]: inside threshold
  372. [ERROR] [1573575668.794937]: inside threshold
  373. [ERROR] [1573575668.941678]: inside threshold
  374. [INFO] [1573575669.020107]: [LineDetectorNode] 101:# segments: white  27 yellow   4 red   0
  375. [INFO] [1573575669.023518]: [LineDetectorNode] 101:
  376. Latencies:
  377.                acquired | total latency     7.4 ms | delta wall     None clock     None
  378.                 decoded | total latency     8.0 ms | delta wall   0.6 ms clock   0.6 ms
  379.                 resized | total latency     8.0 ms | delta wall   0.1 ms clock   0.1 ms
  380.                detected | total latency     9.7 ms | delta wall   1.7 ms clock   2.3 ms
  381.                prepared | total latency    11.6 ms | delta wall   1.9 ms clock   1.6 ms
  382.           --pub_lines-- | total latency    12.1 ms | delta wall   0.5 ms clock   0.6 ms
  383.                   drawn | total latency    12.4 ms | delta wall   0.3 ms clock   0.4 ms
  384.               pub_image | total latency    12.5 ms | delta wall   0.1 ms clock   0.1 ms
  385.    pub_edge/pub_segment | total latency    13.4 ms | delta wall   0.9 ms clock   0.9 ms
  386.  
  387. [ERROR] [1573575669.073899]: inside threshold
  388. [INFO] [1573575669.086009]: [LineDetectorNode] 101:In the last 6.7 s: received 100 (15.0 fps) processed100 (15.0 fps) skipped 0 (0.0 fps) (0%)
  389. ^C[ERROR] [1573575669.141507]: inside threshold
  390. [default/anti_instagram_node-10] killing on exit
  391. [default/lane_pose_visualizer_node-9] killing on exit
  392. [default/lane_controller_node-8] killing on exit
  393. [INFO] [1573575669.150324]: [/default/lane_pose_visualizer_node] Shutting down.
  394. [default_to_map-6] killing on exit
  395. [default/duckiebot_visualizer-5] killing on exit
  396. [default/lane_filter_node-7] killing on exit
  397. [INFO] [1573575669.154012]: [LaneFilterNode] Shutdown.
  398. [default/ground_projection-4] killing on exit
  399. [INFO] [1573575669.155458]: [/default/lane_controller_node] Shutting down...
  400. [INFO] [1573575669.156181]: [/default/duckiebot_visualizer] Shutting down.
  401. [INFO] [1573575669.158673]: [GroundProjectionNode] Shutdown.
  402. [default/line_detector_node-3] killing on exit
  403. [default/logic_gate_node-2] killing on exit
  404. [INFO] [1573575669.166125]: [LineDetectorNode] Shutdown.
  405. [default/fsm_node-1] killing on exit
  406. [INFO] [1573575669.169627]: [/default/logic_gate_node] Shutting down.
  407. [INFO] [1573575669.169935]: [/default/fsm_node] Shutting down.
  408. [INFO] [1573575669.721749]: [/default/lane_controller_node] Shutdown
  409. shutting down processing monitor...
  410. ... shutting down processing monitor complete
  411. done
RAW Paste Data
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