Integration with CMU development Environment

[ShayonMitra]

Integration with cmu-exploration: Guidance Needed

I'm attempting to integrate this planner with the cmu-exploration development environment. I'm encountering some challenges and would appreciate guidance on the process. Could you please point me towards any relevant documentation or examples? Information about appropriate launch files to use as a starting point would be particularly helpful.

[MihirDharmadhikari]

Hi @ShayonMitra

GBPlanner requires the point cloud and odometry as inputs to operate. It will output a trajectory in the form of trajectory_msgs/MultiDOFJointTrajectory. As long as the simulator can provide the two topics the planner can work.
The next step is to have a position controller that can take the trajectory and interface with the cmu-exploration development environment. This environment provides a waypoint tracking method. If you can modify it to use the trajectory from gbplanner then that should do the job.
Let me know if this works.

Best,
Mihir

[ShayonMitra]

Hi @MihirDharmadhikari
Thanks for the reply. I have written this launch file. I am launching this alongside system_indoor.launch(the simulator's file).

And when I run this file, the following error pops up: process[tf_53-1]: started with pid [6151] process[gbplanner_node-2]: started with pid [6152] process[pci_general_ros_node-3]: started with pid [6157] process[gbplanner_ui-4]: started with pid [6159] [ INFO] [1738896894.393355941]: rviz version 1.14.25 [ INFO] [1738896894.393397068]: compiled against Qt version 5.12.8 [ INFO] [1738896894.393407197]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1738896894.401445710]: Forcing OpenGl version 0. /gbplanner_node/SensorParams/VLP16 0, 0, 0 [ERROR] [1738896894.700832603, 8.960000000]: Client [/rvizGA] wants topic /trajectory to have datatype/md5sum [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181], but our version has [trajectory_msgs/MultiDOFJointTrajectory/ef145a45a5f47b77b7f5cdde4b16c942]. Dropping connection. [ INFO] [1738896894.897918268, 9.151000000]: Stereo is NOT SUPPORTED [ INFO] [1738896894.897970826, 9.151000000]: OpenGL device: NVIDIA GeForce RTX 4050 Laptop GPU/PCIe/SSE2 [ INFO] [1738896894.897983380, 9.151000000]: OpenGl version: 4.6 (GLSL 4.6). [ERROR] [1738896894.980712102, 9.226000000]: Could not parse visual element for Link [base_origin] [ INFO] [1738896906.058155970, 19.900000000]: Planning iteration 0 [ERROR] [1738896906.078341469, 19.920000000]: Exception thrown while processing service call: bool pcl::PCA<PointT>::initCompute() [with PointT = pcl::PointXYZI] in /usr/include/pcl-1.10/pcl/common/impl/pca.hpp @ 58 : [pcl::PCA::initCompute] number of points < 3 [ERROR] [1738896906.079731893, 19.921000000]: Service call failed: service [/gbplanner] responded with an error: bool pcl::PCA<PointT>::initCompute() [with PointT = pcl::PointXYZI] in /usr/include/pcl-1.10/pcl/common/impl/pca.hpp @ 58 : [pcl::PCA::initCompute] number of points < 3 [ERROR] [1738896906.079781486, 19.921000000]: Planner service failed [ INFO] [1738896906.606308006, 20.431000000]: Planning iteration 0
I would be glad if you could help me resolve this issue. Thanks

[ShayonMitra]

This is smb_sim.launch file. I am using.
https://github.com/ShayonMitra/smb_sim_myversion.git

[MihirDharmadhikari]

Hi @ShayonMitra

Seems like you are subscribing to the wrong message type on a topic. I am unable to access the files that you shared (the first one has no link and the second one gives a 404 error). If you can share the files again maybe I will be able to check what the issue is.

Best,
Mihir