I was trying to launch the
start_training.launch file in the
my_turtlebot3_openai_example package but everytime the episode ends and the simulation has to reset I keep getting this error:
[ERROR] [1658482040.339361]: Current /imu not ready yet, retrying for getting imu
Eventually the simulation starts but I lose a lot of time waiting for the /Imu to be ready. Does anyone know a way to fix this problem?
Hi @Cloe, welcome to the community!
This sounds like the simulation’s imu plugin takes a while to start. Do other sensors load quickly?
Yes I think the other sensors load properly, it’s only the imu giving this message over and over again. I’m not sure where to look for the error
[ERROR] [1658823672.406653]: EP: 1 - [alpha: 0.1 - gamma: 0.7 - epsilon: 0.9] - Reward: 570 Time: 0:00:13
[WARN] [1658823672.408341]: DONT RESET CONTROLLERS
[ERROR] [1658823672.659175]: SIMULATION RESET
[ WARN] [1658823672.675441267, 0.011000000]: Moved backwards in time (probably because ROS clock was reset), re-publishing joint transforms!
[ERROR] [1658823677.749206]: Current /imu not ready yet, retrying for getting imu
[ERROR] [1658823682.759104]: Current /imu not ready yet, retrying for getting imu
[ERROR] [1658823687.769512]: Current /imu not ready yet, retrying for getting imu
[ERROR] [1658823692.780132]: Current /imu not ready yet, retrying for getting imu
What course/rosject are you working on?
The IMU in the simulation is managed by a Gazebo plugin, and since the creators of the TurtleBot are the maintainers of the simulation, then you could probably clone a new version of the repository and that would in theory fix it