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  1. (sagemaker_venv) thalion@thalion-Latitude-E5500:~/Documents/deepracer$ docker run --rm --name dr --env-file ./robomaker.env --network sagemaker-local -p 8080:5900 -it crr0004/deepracer_robomaker:console
  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 [1.47s]
  7. Finished <<< deepracer_simulation [9.11s]
  8.  
  9. Summary: 2 packages finished [9.84s]
  10. 23/02/2020 20:16:03 passing arg to libvncserver: -rfbport
  11. 23/02/2020 20:16:03 passing arg to libvncserver: 5900
  12. 23/02/2020 20:16:03 x11vnc version: 0.9.13 lastmod: 2011-08-10 pid: 801
  13. 23/02/2020 20:16:03
  14. 23/02/2020 20:16:03 wait_for_client: WAIT:0
  15. 23/02/2020 20:16:03
  16. 23/02/2020 20:16:03 initialize_screen: fb_depth/fb_bpp/fb_Bpl 24/32/2560
  17. 23/02/2020 20:16:03
  18. 23/02/2020 20:16:03 Listening for VNC connections on TCP port 5900
  19. 23/02/2020 20:16:03 Listening for VNC connections on TCP6 port 5900
  20. 23/02/2020 20:16:03 listen6: bind: Address already in use
  21. 23/02/2020 20:16:03 Not listening on IPv6 interface.
  22. 23/02/2020 20:16:03
  23.  
  24. The VNC desktop is: fbd6a6c8d0bf:0
  25. PORT=5900
  26. [ INFO] [1582488963.902870710]: rviz version 1.12.17
  27. [ INFO] [1582488963.903692110]: compiled against Qt version 5.5.1
  28. [ INFO] [1582488963.904306642]: compiled against OGRE version 1.9.0 (Ghadamon)
  29. ... logging to /root/.ros/log/514bfe4e-5679-11ea-bc3d-0242ac120003/roslaunch-fbd6a6c8d0bf-802.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: 172.18.0.3 (fbd6a6c8d0bf)
  35. started roslaunch server http://fbd6a6c8d0bf:39739/
  36.  
  37. SUMMARY
  38. ========
  39.  
  40. PARAMETERS
  41. * /ALTERNATE_DRIVING_DIRECTION: False
  42. * /AWS_REGION: us-east-1
  43. * /AWS_ROBOMAKER_SIMULATION_JOB_ID: aaa
  44. * /CHANGE_START_POSITION: True
  45. * /JOB_TYPE: TRAINING
  46. * /METRICS_S3_BUCKET: bucket
  47. * /METRICS_S3_OBJECT_KEY: custom_files/metr...
  48. * /METRIC_NAME: reward
  49. * /METRIC_NAMESPACE: deepracer
  50. * /NUMBER_OF_EPISODES: 20000
  51. * /ROBOMAKER_SIMULATION_JOB_ACCOUNT_ID: aaa
  52. * /SAGEMAKER_SHARED_S3_BUCKET: bucket
  53. * /SAGEMAKER_SHARED_S3_PREFIX: rl-deepracer-sage...
  54. * /TARGET_REWARD_SCORE: 100000
  55. * /TRAINING_JOB_ARN: aaa
  56. * /WORLD_NAME: Oval_track
  57. * /racecar/joint_state_controller/publish_rate: 60
  58. * /racecar/joint_state_controller/type: joint_state_contr...
  59. * /racecar/left_front_wheel_velocity_controller/joint: left_front_wheel_...
  60. * /racecar/left_front_wheel_velocity_controller/pid/d: 0.0
  61. * /racecar/left_front_wheel_velocity_controller/pid/i: 0.0
  62. * /racecar/left_front_wheel_velocity_controller/pid/i_clamp: 0.0
  63. * /racecar/left_front_wheel_velocity_controller/pid/p: 0.5
  64. * /racecar/left_front_wheel_velocity_controller/type: effort_controller...
  65. * /racecar/left_rear_wheel_velocity_controller/joint: left_rear_wheel_j...
  66. * /racecar/left_rear_wheel_velocity_controller/pid/d: 0.0
  67. * /racecar/left_rear_wheel_velocity_controller/pid/i: 0.0
  68. * /racecar/left_rear_wheel_velocity_controller/pid/i_clamp: 0.0
  69. * /racecar/left_rear_wheel_velocity_controller/pid/p: 1.0
  70. * /racecar/left_rear_wheel_velocity_controller/type: effort_controller...
  71. * /racecar/left_steering_hinge_position_controller/joint: left_steering_hin...
  72. * /racecar/left_steering_hinge_position_controller/pid/d: 0.5
  73. * /racecar/left_steering_hinge_position_controller/pid/i: 0.0
  74. * /racecar/left_steering_hinge_position_controller/pid/p: 1.0
  75. * /racecar/left_steering_hinge_position_controller/type: effort_controller...
  76. * /racecar/right_front_wheel_velocity_controller/joint: right_front_wheel...
  77. * /racecar/right_front_wheel_velocity_controller/pid/d: 0.0
  78. * /racecar/right_front_wheel_velocity_controller/pid/i: 0.0
  79. * /racecar/right_front_wheel_velocity_controller/pid/i_clamp: 0.0
  80. * /racecar/right_front_wheel_velocity_controller/pid/p: 0.5
  81. * /racecar/right_front_wheel_velocity_controller/type: effort_controller...
  82. * /racecar/right_rear_wheel_velocity_controller/joint: right_rear_wheel_...
  83. * /racecar/right_rear_wheel_velocity_controller/pid/d: 0.0
  84. * /racecar/right_rear_wheel_velocity_controller/pid/i: 0.0
  85. * /racecar/right_rear_wheel_velocity_controller/pid/i_clamp: 0.0
  86. * /racecar/right_rear_wheel_velocity_controller/pid/p: 1.0
  87. * /racecar/right_rear_wheel_velocity_controller/type: effort_controller...
  88. * /racecar/right_steering_hinge_position_controller/joint: right_steering_hi...
  89. * /racecar/right_steering_hinge_position_controller/pid/d: 0.5
  90. * /racecar/right_steering_hinge_position_controller/pid/i: 0.0
  91. * /racecar/right_steering_hinge_position_controller/pid/p: 1.0
  92. * /racecar/right_steering_hinge_position_controller/type: effort_controller...
  93. * /robot_description: <?xml version="1....
  94. * /rosdistro: kinetic
  95. * /rosversion: 1.12.14
  96. * /use_sim_time: True
  97.  
  98. NODES
  99. /racecar/
  100. controller_manager (controller_manager/spawner)
  101. /
  102. agent (deepracer_simulation/run_rollout_rl_agent.sh)
  103. better_odom (topic_tools/relay)
  104. car_reset_node (deepracer_simulation/car_node.py)
  105. gazebo (gazebo_ros/gzserver)
  106. gazebo_gui (gazebo_ros/gzclient)
  107. racecar_spawn (gazebo_ros/spawn_model)
  108. robot_state_publisher (robot_state_publisher/robot_state_publisher)
  109.  
  110. auto-starting new master
  111. process[master]: started with pid [841]
  112. ROS_MASTER_URI=http://localhost:11311
  113.  
  114. setting /run_id to 514bfe4e-5679-11ea-bc3d-0242ac120003
  115. [ INFO] [1582488966.748682040]: Stereo is NOT SUPPORTED
  116. [ INFO] [1582488966.749718691]: OpenGl version: 3 (GLSL 1.3).
  117. process[rosout-1]: started with pid [857]
  118. started core service [/rosout]
  119. process[gazebo-2]: started with pid [909]
  120. [ INFO] [1582488968.275266037]: Finished loading Gazebo ROS API Plugin.
  121. [ INFO] [1582488968.280198142]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
  122. process[gazebo_gui-3]: started with pid [923]
  123. process[racecar_spawn-4]: started with pid [992]
  124. [ INFO] [1582488969.660685710]: Finished loading Gazebo ROS API Plugin.
  125. [ INFO] [1582488970.176895461, 0.026000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
  126. [ INFO] [1582488970.198949377, 0.047000000]: Physics dynamic reconfigure ready.
  127. process[racecar/controller_manager-5]: started with pid [1029]
  128. [ INFO] [1582488970.628926601, 0.466000000]: Physics dynamic reconfigure ready.
  129. [INFO] [1582488971.876315, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
  130. SpawnModel script started
  131. [INFO] [1582488972.258107, 0.000000]: Loading model XML from ros parameter
  132. [INFO] [1582488972.268285, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
  133. [INFO] [1582488972.278611, 0.000000]: Calling service /gazebo/spawn_urdf_model
  134. process[robot_state_publisher-6]: started with pid [1201]
  135. [INFO] [1582488972.710864, 2.179000]: Spawn status: SpawnModel: Successfully spawned entity
  136. [racecar_spawn-4] process has finished cleanly
  137. log file: /root/.ros/log/514bfe4e-5679-11ea-bc3d-0242ac120003/racecar_spawn-4*.log
  138. process[car_reset_node-7]: started with pid [1255]
  139. [ INFO] [1582488974.449343440, 2.179000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
  140. [ INFO] [1582488974.486382520, 2.179000000]: Camera Plugin (ns = /) <tf_prefix_>, set to ""
  141. [ INFO] [1582488974.779095414, 2.179000000]: Loading gazebo_ros_control plugin
  142. [ INFO] [1582488974.780078636, 2.179000000]: Starting gazebo_ros_control plugin in namespace: /racecar
  143. [ INFO] [1582488974.791752916, 2.179000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
  144. process[better_odom-8]: started with pid [1297]
  145. [ INFO] [1582488975.260553309, 2.179000000]: Loaded gazebo_ros_control.
  146. [INFO] [1582488975.321732, 2.210000]: Controller Spawner: Waiting for service controller_manager/switch_controller
  147. [INFO] [1582488975.329583, 2.213000]: Controller Spawner: Waiting for service controller_manager/unload_controller
  148. [INFO] [1582488975.335532, 2.215000]: Loading controller: left_rear_wheel_velocity_controller
  149. [INFO] [1582488976.043624, 2.628000]: Loading controller: right_rear_wheel_velocity_controller
  150. [INFO] [1582488976.483889, 2.801000]: Loading controller: left_front_wheel_velocity_controller
  151. process[agent-9]: started with pid [1352]
  152. + export PYTHONUNBUFFERED=1
  153. + PYTHONUNBUFFERED=1
  154. + python3 -m markov.rollout_worker
  155. [INFO] [1582488977.277005, 3.268000]: Loading controller: right_front_wheel_velocity_controller
  156. [INFO] [1582488978.025037, 3.554000]: Loading controller: left_steering_hinge_position_controller
  157. [INFO] [1582488978.713200, 3.805000]: Loading controller: right_steering_hinge_position_controller
  158. [INFO] [1582488979.427436, 4.062000]: Loading controller: joint_state_controller
  159. [INFO] [1582488979.507812, 4.089000]: 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
  160. [INFO] [1582488979.522885, 4.094000]: Started 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
  161. /app/robomaker-deepracer/simulation_ws/install/deepracer_simulation/lib/deepracer_simulation/run_rollout_rl_agent.sh: line 8: 1586 Illegal instruction (core dumped) python3 -m markov.rollout_worker
  162. ================================================================================REQUIRED process [agent-9] has died!
  163. process has died [pid 1352, exit code 132, cmd /app/robomaker-deepracer/simulation_ws/install/deepracer_simulation/lib/deepracer_simulation/run_rollout_rl_agent.sh __name:=agent __log:=/root/.ros/log/514bfe4e-5679-11ea-bc3d-0242ac120003/agent-9.log].
  164. log file: /root/.ros/log/514bfe4e-5679-11ea-bc3d-0242ac120003/agent-9*.log
  165. Initiating shutdown!
  166. ================================================================================
  167. [agent-9] killing on exit
  168. [better_odom-8] killing on exit
  169. [car_reset_node-7] killing on exit
  170. [robot_state_publisher-6] killing on exit
  171. [racecar/controller_manager-5] killing on exit
  172. [INFO] [1582488980.401380, 4.428000]: Shutting down spawner. Stopping and unloading controllers...
  173. [INFO] [1582488980.401885, 4.428000]: Stopping all controllers...
  174. [gazebo_gui-3] killing on exit
  175. [gazebo-2] killing on exit
  176. [racecar/controller_manager-5] escalating to SIGTERM
  177. [WARN] [1582488995.444007, 4.431000]: 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
  178. [gazebo-2] escalating to SIGTERM
  179. [rosout-1] killing on exit
  180. [master] killing on exit
  181. shutting down processing monitor...
  182. ... shutting down processing monitor complete
  183. done
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