In the notebook it shows example screenshots from rviz, showing a OverlayMenu. The topic this module subscribes to in rviz
/rviz_graps_menu/test_menu
never gets published.
Install and everything seemed to work, and the rest of the execution too. Just in case I copied the webshell output:
user:~$ cd /home/user/catkin_ws
user:~/catkin_ws$ rm -rf build/ devel/
user:~/catkin_ws$ source /home/user/.catkin_ws_python3/dnn_venv/bin/activate
(dnn_venv) user:~/catkin_ws$ source /home/user/.catkin_ws_python3/devel/setup.bash
(dnn_venv) user:~/catkin_ws$ catkin_make
Base path: /home/user/catkin_ws
Source space: /home/user/catkin_ws/src
Build space: /home/user/catkin_ws/build
Devel space: /home/user/catkin_ws/devel
Install space: /home/user/catkin_ws/install
####
#### Running command: "cmake /home/user/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/user/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/user/catkin_ws/install -G Unix Makefiles" in "/home/user/catkin_ws/build"
####
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/user/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/user/.catkin_ws_python3/devel;/home/simulations/public_sim_ws/devel;/opt/ros/kinetic
-- This workspace overlays: /home/user/.catkin_ws_python3/devel;/home/simulations/public_sim_ws/devel;/opt/ros/kinetic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.12", minimum required is "2")
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/user/catkin_ws/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.12")
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/local/bin/nosetests-2.7
-- catkin 0.7.18
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- Configuring done
-- Generating done
-- Build files have been written to: /home/user/catkin_ws/build
####
#### Running command: "make -j4 -l4" in "/home/user/catkin_ws/build"
####
(dnn_venv) user:~/catkin_ws$ source devel/setup.bash
(dnn_venv) user:~/catkin_ws$ rospack profile
Full tree crawl took 0.411797 seconds.
Directories marked with (*) contain no manifest. You may
want to delete these directories.
To get just of list of directories without manifests,
re-run the profile with --zombie-only
-------------------------------------------------------------
0.179571 /home/user/.catkin_ws_python3/src
0.139945 /home/simulations/public_sim_ws/src
0.139219 /home/simulations/public_sim_ws/src/all
0.136778 * /home/user/.catkin_ws_python3/src/dlib_mod
0.136570 * /home/user/.catkin_ws_python3/src/dlib_mod/dlib-19.17
0.087509 /opt/ros/kinetic/share
0.050666 * /home/user/.catkin_ws_python3/src/dlib_mod/dlib-19.17/dlib
0.050591 * /home/user/.catkin_ws_python3/src/dlib_mod/dlib-19.17/docs
0.042388 * /home/user/.catkin_ws_python3/src/dlib_mod/dlib-19.17/docs/dlib
0.017123 /home/simulations/public_sim_ws/src/all/tiago_sim
0.016753 * /home/user/.catkin_ws_python3/src/baselines_tc
0.016484 * /home/user/.catkin_ws_python3/src/baselines_tc/baselines
0.015943 * /home/user/.catkin_ws_python3/src/dlib_mod/dlib-19.17/build
0.015579 * /home/user/.catkin_ws_python3/src/dlib_mod/dlib-19.17/build/temp.linux-x86_64-3.5
0.014057 * /home/user/.catkin_ws_python3/src/baselines_tc/baselines/baselines
0.013908 /home/simulations/public_sim_ws/src/all/orb_slam2_tc
0.013744 /home/simulations/public_sim_ws/src/all/orb_slam2_tc/ORB_SLAM2
0.013022 /home/simulations/public_sim_ws/src/all/rb1_tc
0.011635 * /home/user/.catkin_ws_python3/src/dlib_mod/dlib-19.17/build/temp.linux-x86_64-3.5/dlib_build
0.010755 /home/simulations/public_sim_ws/src/all/rb_kairos_sim_new
(dnn_venv) user:~/catkin_ws$ roslaunch dcnn_training_pkg start_fetch_randomenv_10obj.launch
... logging to /home/user/.ros/log/02a50978-a4d2-11ea-8719-06e1972386c6/roslaunch-rosdscomputer-14858.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://rosdscomputer:38789/
SUMMARY
========
PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.14
NODES
/
fetch_randomenv_node (dcnn_training_pkg/fetch_randomenv.py)
rviz (rviz/rviz)
ROS_MASTER_URI=http://master:11311
process[fetch_randomenv_node-1]: started with pid [14928]
process[rviz-2]: started with pid [14948]
[ INFO] [1591104094.260295201]: rviz version 1.12.17
[ INFO] [1591104094.260392324]: compiled against Qt version 5.5.1
[ INFO] [1591104094.260426056]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1591104098.960366631, 650.440000000]: Stereo is NOT SUPPORTED
[ INFO] [1591104098.960561188, 650.440000000]: OpenGl version: 3 (GLSL 1.3).
QXcbConnection: XCB error: 2 (BadValue), sequence: 546, resource id: 400, major code: 130 (Unknown), minor code: 3
Start Module Loading...Remove CV ROS-Kinetic version due to incompatibilities
Its already removed..../opt/ros/kinetic/lib/python2.7/dist-packages
Using TensorFlow backend.
[WARN] [1591104140.792099, 0.000000]: ['/home/user/.catkin_ws_python3/src/domain_randomization_dcnn_training/dcnn_training_pkg/scripts/fetch_randomenv.py', 'FetchMoveTCP-v0', 'model-10objects_fetchrange_randomenv_retrain_model-120K_fetchrange_randomenv-96-1.0-30-32-TIME-1541533751.1727235-0.00074307.h5', 'True', '10', '5.0', '96', '1.0', '2', 'True', '__name:=fetch_randomenv_node', '__log:=/home/user/.ros/log/02a50978-a4d2-11ea-8719-06e1972386c6/fetch_randomenv_node-1.log']
[WARN] [1591104140.793982, 0.000000]: environment_name:FetchMoveTCP-v0
[WARN] [1591104140.795762, 0.000000]: weight_file_name:model-10objects_fetchrange_randomenv_retrain_model-120K_fetchrange_randomenv-96-1.0-30-32-TIME-1541533751.1727235-0.00074307.h5
[WARN] [1591104140.796560, 0.000000]: grasp_activated:True
[WARN] [1591104140.798709, 0.000000]: number_of_tests:10
[WARN] [1591104140.801389, 0.000000]: camera_period:5.0
[WARN] [1591104140.805409, 0.000000]: image_size:96
[WARN] [1591104140.808056, 0.000000]: ALPHA:1.0
[WARN] [1591104140.812100, 0.000000]: number_of_elements_to_be_output:2
[WARN] [1591104140.837124, 679.699000]: Waiting for service /fetch_move_service
Going to Sage Grasp Init Pose...
[WARN] [1591104140.854337, 679.705000]: START Move Joints
[WARN] [1591104141.588317, 680.102000]: END Move Joints, result=success: True
[INFO] [1591104141.589326, 680.103000]: Start RGB Camera Init process...
[INFO] [1591104141.590685, 680.103000]: Start camera suscriber...
[INFO] [1591104144.467763, 681.449000]: RGB Camera Init process...Ready
[INFO] [1591104144.470035, 681.450000]: Retrieveing Model indexes
[INFO] [1591104144.566124, 681.501000]: Final robots_index_dict = {'demo_table1': 1, 'demo_spam1': 3}
2020-06-02 13:22:25.426761: I tensorflow/core/platform/cpu_feature_guard.cc:142] Your CPU supports instructions that this TensorFlow binary was not compiled to use: AVX2 FMA
2020-06-02 13:22:25.973139: I tensorflow/core/platform/profile_utils/cpu_utils.cc:94] CPU Frequency: 2199830000 Hz
2020-06-02 13:22:25.974275: I tensorflow/compiler/xla/service/service.cc:168] XLA service 0x54c22a0 executing computations on platform Host. Devices:
2020-06-02 13:22:25.975214: I tensorflow/compiler/xla/service/service.cc:175] StreamExecutor device (0): <undefined>, <undefined>
2020-06-02 13:22:27.441857: W tensorflow/compiler/jit/mark_for_compilation_pass.cc:1412] (One-time warning): Not usingXLA:CPU for cluster because envvar TF_XLA_FLAGS=--tf_xla_cpu_global_jit was not set. If you want XLA:CPU, either set that envvar, or use experimental_jit_scope to enable XLA:CPU. To confirm that XLA is active, pass --vmodule=xla_compilation_cache=1 (as a proper command-line flag, not via TF_XLA_FLAGS) or set the envvar XLA_FLAGS=--xla_hlo_profile.
Downloading data from https://github.com/JonathanCMitchell/mobilenet_v2_keras/releases/download/v1.1/mobilenet_v2_weights_tf_dim_ordering_tf_kernels_1.0_96_no_top.h5
9412608/9406464 [==============================] - 1s 0us/step
[WARN] [1591104188.777524, 696.072000]: CREATED MODEL 2D XY Output
/home/user/.catkin_ws_python3/src/domain_randomization_dcnn_training/dcnn_training_pkg/bk/model-10objects_fetchrange_randomenv_retrain_model-120K_fetchrange_randomenv-96-1.0-30-32-TIME-1541533751.1727235-0.00074307.h5
Starting Service to Reset World Randomly....
Starting Service to Reset World Randomly....DONE
Number of Image=>0
Waiting for Reset Env to settle=>
Waiting for Reset Env to settle...DONE
Class Prediction=>[0.49631032 0.18190283]
Class Prediction Corrected=>[0.49631032, 0.18190283, 0.642]
Class Reality SIMULATION=>[0.4914454222134223, 0.17962488571962046, 0.6397487758003331]
Class RealityTabel SIMULATION=>[0.3, 0.3, 0.3]
Going to Sage Grasp Init Pose...
[WARN] [1591104210.664374, 703.304000]: START Move Joints
[WARN] [1591104211.295958, 703.572000]: END Move Joints, result=success: True
[WARN] [1591104211.297086, 703.572000]: START Move Torso
[WARN] [1591104223.717924, 708.607000]: START Move ENd Effector
[WARN] [1591104234.661220, 712.877000]: END Move End Effector, result=success: True
[WARN] [1591104234.661983, 712.877000]: START Move Gripper
[WARN] [1591104239.605833, 714.906000]: START Move Gripper
[WARN] [1591104240.957428, 715.412000]: START Move Gripper
[WARN] [1591104246.810151, 717.932000]: START Move ENd Effector
[WARN] [1591104262.745034, 723.439000]: END Move End Effector, result=success: False
[WARN] [1591104262.746113, 723.439000]: START Move Gripper
[WARN] [1591104264.079530, 723.919000]: START Move ENd Effector
[WARN] [1591104280.373166, 729.128000]: END Move End Effector, result=success: False
model_to_track_reality=>[0.8275512852161929, 0.3439774609240381, 0.4006166256644328]
tcp_xyz=>[0.49631032, 0.18190283, 0.942]
[WARN] [1591104280.381418, 729.129000]: delta==0.5413833743355672 <= 0.2
[WARN] [1591104286.363444, 731.132000]: START Move Gripper
Going to Sage Grasp Init Pose...
[WARN] [1591104294.261314, 733.638000]: START Move Joints
[WARN] [1591104307.472215, 738.148000]: END Move Joints, result=success: True
Number of Image=>1
Waiting for Reset Env to settle=>
Waiting for Reset Env to settle...DONE
Class Prediction=>[0.30483443 0.12958448]
Class Prediction Corrected=>[0.30483443, 0.12958448, 0.642]
Class Reality SIMULATION=>[0.30797848128001637, 0.1310741608715049, 0.6397487758003331]
Class RealityTabel SIMULATION=>[0.3, 0.3, 0.3]
Going to Sage Grasp Init Pose...
[WARN] [1591104323.411075, 741.176000]: START Move Joints
[WARN] [1591104324.575857, 741.403000]: END Move Joints, result=success: True
[WARN] [1591104324.576519, 741.403000]: START Move Torso
[WARN] [1591104349.507512, 746.410000]: START Move ENd Effector
[WARN] [1591104365.449169, 749.636000]: END Move End Effector, result=success: True
[WARN] [1591104365.450192, 749.636000]: START Move Gripper
[WARN] [1591104376.041569, 751.660000]: START Move Gripper
[WARN] [1591104378.837191, 752.161000]: START Move Gripper
[WARN] [1591104391.651613, 754.662000]: START Move ENd Effector
[WARN] [1591104414.302809, 759.061000]: END Move End Effector, result=success: False
[WARN] [1591104414.305114, 759.061000]: START Move Gripper
[WARN] [1591104425.771863, 761.245000]: START Move ENd Effector
[WARN] [1591104439.245281, 764.122000]: END Move End Effector, result=success: True
model_to_track_reality=>[0.3037573274579041, 0.15160580450109942, 0.6407906020158924]
tcp_xyz=>[0.30483443, 0.12958448, 0.942]
[WARN] [1591104439.251385, 764.122000]: delta==0.3012093979841075 <= 0.2
[WARN] [1591104449.843678, 766.124000]: START Move Gripper
Going to Sage Grasp Init Pose...
[WARN] [1591104462.579773, 768.628000]: START Move Joints
[WARN] [1591104478.873080, 771.903000]: END Move Joints, result=success: True
Number of Image=>2
Waiting for Reset Env to settle=>
Waiting for Reset Env to settle...DONE
Class Prediction=>[0.34403464 0.27946913]
Class Prediction Corrected=>[0.34403464, 0.27946913, 0.642]
Class Reality SIMULATION=>[0.3389412644660483, 0.2802306299823689, 0.6400301868333802]
Class RealityTabel SIMULATION=>[0.3, 0.3, 0.3]
Going to Sage Grasp Init Pose...
[WARN] [1591104492.452465, 774.923000]: START Move Joints
[WARN] [1591104492.576362, 774.941000]: END Move Joints, result=success: True
[WARN] [1591104492.577660, 774.941000]: START Move Torso
[WARN] [1591104514.423312, 779.945000]: START Move ENd Effector
[WARN] [1591104528.983664, 783.320000]: END Move End Effector, result=success: True
[WARN] [1591104528.984274, 783.320000]: START Move Gripper
[WARN] [1591104533.536562, 785.023000]: START Move Gripper
[WARN] [1591104534.991887, 785.574000]: START Move Gripper
[WARN] [1591104541.198679, 788.084000]: START Move ENd Effector
[WARN] [1591104562.159252, 792.918000]: END Move End Effector, result=success: False
[WARN] [1591104562.162390, 792.918000]: START Move Gripper
[WARN] [1591104563.180134, 793.181000]: START Move ENd Effector
[WARN] [1591104564.506715, 793.462000]: END Move End Effector, result=success: False
model_to_track_reality=>[0.3324216969417357, 0.2856380518744396, 0.6487187886398808]
tcp_xyz=>[0.34403464, 0.27946913, 0.942]
[WARN] [1591104564.507379, 793.462000]: delta==0.2932812113601192 <= 0.2
[WARN] [1591104571.980881, 795.462000]: START Move Gripper
Going to Sage Grasp Init Pose...
[WARN] [1591104581.838331, 798.432000]: START Move Joints
[WARN] [1591104592.088715, 802.076000]: END Move Joints, result=success: True
Number of Image=>3
Waiting for Reset Env to settle=>
Waiting for Reset Env to settle...DONE
Class Prediction=>[0.3521712 0.11723542]
Class Prediction Corrected=>[0.3521712, 0.11723542, 0.642]
Class Reality SIMULATION=>[0.3564694388314819, 0.10398633434982639, 0.6397483236621748]
Class RealityTabel SIMULATION=>[0.3, 0.3, 0.3]
Going to Sage Grasp Init Pose...
[WARN] [1591104608.306437, 805.104000]: START Move Joints
[WARN] [1591104608.383395, 805.119000]: END Move Joints, result=success: True
[WARN] [1591104608.384431, 805.119000]: START Move Torso
[WARN] [1591104635.942349, 810.128000]: START Move ENd Effector
[WARN] [1591104657.013975, 814.386000]: END Move End Effector, result=success: True
[WARN] [1591104657.014682, 814.386000]: START Move Gripper
[WARN] [1591104666.675168, 816.393000]: START Move Gripper
[WARN] [1591104669.209536, 816.878000]: START Move Gripper
[WARN] [1591104681.101522, 819.386000]: START Move ENd Effector
[WARN] [1591104682.899905, 819.767000]: END Move End Effector, result=success: False
[WARN] [1591104682.900474, 819.767000]: START Move Gripper
[WARN] [1591104685.226931, 820.255000]: START Move ENd Effector
[WARN] [1591104685.598302, 820.319000]: END Move End Effector, result=success: True
model_to_track_reality=>[0.3566601565092035, 0.10387735241572893, 0.6397487842487346]
tcp_xyz=>[0.3521712, 0.11723542, 0.942]
[WARN] [1591104685.599709, 820.319000]: delta==0.30225121575126535 <= 0.2
[WARN] [1591104695.641944, 822.319000]: START Move Gripper
Going to Sage Grasp Init Pose...
[WARN] [1591104707.706499, 824.827000]: START Move Joints
[WARN] [1591104708.952591, 825.058000]: END Move Joints, result=success: False
Number of Image=>4
Waiting for Reset Env to settle=>
Waiting for Reset Env to settle...DONE
Class Prediction=>[0.3433083 0.31825787]
Class Prediction Corrected=>[0.3433083, 0.31825787, 0.642]
Class Reality SIMULATION=>[0.36272425506949046, 0.43473914339643327, 0.6401230907132219]
Class RealityTabel SIMULATION=>[0.3, 0.3, 0.3]
Going to Sage Grasp Init Pose...
[WARN] [1591104719.261891, 828.112000]: START Move Joints
[WARN] [1591104719.989057, 828.400000]: END Move Joints, result=success: False
[WARN] [1591104719.990204, 828.400000]: START Move Torso
[WARN] [1591104732.533493, 833.419000]: START Move ENd Effector
[WARN] [1591104734.323399, 834.008000]: END Move End Effector, result=success: False
[WARN] [1591104734.324710, 834.014000]: START Move Gripper
[WARN] [1591104739.385938, 836.057000]: START Move Gripper
[WARN] [1591104740.515629, 836.544000]: START Move Gripper
[WARN] [1591104746.655074, 839.046000]: START Move ENd Effector
[WARN] [1591104765.067154, 843.768000]: END Move End Effector, result=success: False
[WARN] [1591104765.068065, 843.768000]: START Move Gripper
[WARN] [1591104770.441182, 844.621000]: START Move ENd Effector