An error occurred while running recon.launch

[rebecca0011]

Thank you for open-source such outstanding work. I encountered the following error while replicating the Planner module, any advice is useful.

I used UE4.25 with Airsim, CUDA11.7, and other LiBs provided in readme. However, the following error occurs.

1. The following error message occurs when I open UE with se3plan.uproject, but I don't know how to solve it.

2. After running recon.launch in the terminal, use the 2D Nav trigger in Rviz to specify a point, and the terminal displays the following error. What is the reason for this?

lefttop: -3.73084  -2.3951      4.5
leftbottom: -2.87212   2.3951      4.5
righttop: 2.86098 -2.3951     4.5
rightbottom: 2.86098  2.3951     4.5
T_cb:  0 -1  0  0
 0  0  1  0
 1  0  0  0
 0  0  0  1
T_bc: -0 -0  1  0
-1 -0  0 -0
-0  1 -0  0
 0 -0  0  1
origin_:    -1 -22.5    -1
map size: 45 45 23
[ INFO] [1,698,631,932.852,163,587]: [FSM]: state: INITIAL
[FSM]: from INITIAL to WAIT
[ WARN] [1,698,631,933.525,175,465]: wait for trigger.
[ INFO] [1,698,631,934.247,925,808]: [FSM]: state: WAIT
[ WARN] [1,698,631,935.69,684,683]: wait for trigger.
[ INFO] [1,698,631,935.984,829,927]: [FSM]: state: WAIT
[ WARN] [1,698,631,936.930,577,487]: wait for trigger.
[ INFO] [1,698,631,937.848,227,305]: [FSM]: state: WAIT
[ WARN] [1,698,631,938.802,711,156]: wait for trigger.
[ INFO] [1,698,631,939.690,280,084]: [FSM]: state: WAIT
[ WARN] [1,698,631,940.633,264,040]: wait for trigger.
[ INFO] [1,698,631,941.465,522,071]: [FSM]: state: WAIT
[ WARN] [1,698,631,942.351,742,612]: wait for trigger.
[ INFO] [1,698,631,943.289,493,764]: [FSM]: state: WAIT
[ WARN] [1,698,631,944.248,082,794]: wait for trigger.
[ INFO] [1,698,631,945.289,668,668]: [FSM]: state: WAIT
[ WARN] [1,698,631,945.289,708,432]: wait for trigger.
Triggered!
[triggerCallback]: from WAIT to PLAN
[ WARN] [1,698,631,945.346,573,251]: [Traj server]: ready.
[ WARN] [1,698,631,946.255,639,930]: STATIC!
start_pt_x:0
start_pt_y:0
start_pt_z:1.52774
-----Planning Start!-----
-----Surface Prediction Start!-----
infer_ms:1.17383ms
ts_ms:3.74282ms
vec_ms:0.014298ms
[ WARN] [1,698,631,946.263,879,686]: near_ground
416
[ WARN] [1,698,631,946.296,217,317]: Visit Cloud!
visit_num:8635
0.313125
Surface_Prediction_Time:40.6787ms!
-----Surface Prediction Finished!-----
-----Global Planning Start!-----
preprocess_time:0.105435ms
-----------cluster_size:66
CEC_time:19.0792ms
visibility_time:0.040305ms
cloud number:24216
update_time:160.389ms
No:2no normal mech!!!!!!!!!!!!
No:12no normal mech!!!!!!!!!!!!
No:13no normal mech!!!!!!!!!!!!
No:15no normal mech!!!!!!!!!!!!
No:16no normal mech!!!!!!!!!!!!
No:18no normal mech!!!!!!!!!!!!
No:26no normal mech!!!!!!!!!!!!
No:27no normal mech!!!!!!!!!!!!
No:29no normal mech!!!!!!!!!!!!
No:30no normal mech!!!!!!!!!!!!
No:31no normal mech!!!!!!!!!!!!
No:32no normal mech!!!!!!!!!!!!
No:33no normal mech!!!!!!!!!!!!
No:41no normal mech!!!!!!!!!!!!
No:42no normal mech!!!!!!!!!!!!
No:44no normal mech!!!!!!!!!!!!
No:45no normal mech!!!!!!!!!!!!
No:46no normal mech!!!!!!!!!!!!
No:47no normal mech!!!!!!!!!!!!
No:48no normal mech!!!!!!!!!!!!
No:58no normal mech!!!!!!!!!!!!
No:60no normal mech!!!!!!!!!!!!
No:61no normal mech!!!!!!!!!!!!
partition_size:68
normal_select_time:1.88258ms
qualified_partition_size:68
sample_time:10.6405ms

*** Error ***
Cannot open PARAMETER_FILE: "tsp_dir/single.par"
[exploration_node-1] process has died [pid 10944, exit code 1, cmd /home/rc/Projects/devel/lib/exploration_manager/exploration_node /odom_world:=/airsim_node/drone_1/odom_local_enu /map_ros/pose:=/airsim_node/drone_1/odom_local_enu /map_ros/depth:=/airsim_node/drone_1/front_center/DepthPerspective /map_ros/cloud:=/cloud __name:=exploration_node __log:=/home/rc/.ros/log/3d8e8498-76c9-11ee-9644-9980a9a90628/exploration_node-1.log].
log file: /home/rc/.ros/log/3d8e8498-76c9-11ee-9644-9980a9a90628/exploration_node-1*.log
^C[waypoint_generator-3] killing on exit
[traj_server-2] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

[Chen-Albert-FENG]

Thanks for following our work!
For the first question, you can check whether the main building with complete texture is shown in your simulator. If yes, it will not have an effect on running the demo.
For the second question, I guess you should change the "tsp_dir/single.par" as the file path to your own computer path.

[rebecca0011]

Thanks for following our work! For the first question, you can check whether the main building with complete texture is shown in your simulator. If yes, it will not have an effect on running the demo. For the second question, I guess you should change the "tsp_dir/single.par" as the file path to your own computer path.

I replaced all the paths containing boboyu and albert in the code with my own paths, but I still encountered the above problems.
Do you include other relative paths in the code? How can I change it to make it work?
Thx!

[Chen-Albert-FENG]

Maybe you can change this line as your file path: https://github.com/HKUST-Aerial-Robotics/PredRecon/blob/master/Planner/Code/src/fuel_planner/exploration_manager/launch/algorithm.xml#L170.

[rebecca0011]

Maybe you can change this line as your file path: https://github.com/HKUST-Aerial-Robotics/PredRecon/blob/master/Planner/Code/src/fuel_planner/exploration_manager/launch/algorithm.xml#L170.

Thank you for your answer.

I replaced global/tsp_dir_ and local/tsp_dir_ with /home/rc/Projects/src/PredRecon/Planner/Code/tsp_dir and /home/rc/Projects/src/PredRecon/Planner/Code/local_tsp (the local path) respectively.

I'm not sure what the correct input above should be, because I get the following error message.

[ INFO] [1,698,830,626.717,546,125]: [FSM]: state: INITIAL
[FSM]: from INITIAL to WAIT
[ WARN] [1,698,830,627.335,922,102]: wait for trigger.
[ INFO] [1,698,830,628.8,128,332]: [FSM]: state: WAIT
[ WARN] [1,698,830,628.765,570,255]: wait for trigger.
[ INFO] [1,698,830,629.533,028,940]: [FSM]: state: WAIT
[ WARN] [1,698,830,630.344,409,708]: wait for trigger.
[ INFO] [1,698,830,631.156,134,872]: [FSM]: state: WAIT
[ WARN] [1,698,830,631.949,229,759]: wait for trigger.
[ INFO] [1,698,830,632.817,176,224]: [FSM]: state: WAIT
Triggered!
[triggerCallback]: from WAIT to PLAN
[ WARN] [1,698,830,633.624,409,013]: STATIC!
start_pt_x:0
start_pt_y:0
start_pt_z:1.52771
-----Planning Start!-----
-----Surface Prediction Start!-----
infer_ms:1.04291ms
ts_ms:6.01334ms
vec_ms:0.010979ms
[ WARN] [1,698,830,633.632,542,837]: near_ground
2177
[ WARN] [1,698,830,633.664,354,008]: Visit Cloud!
visit_num:9543
0.21035
Surface_Prediction_Time:40.0412ms!
-----Surface Prediction Finished!-----
-----Global Planning Start!-----
preprocess_time:0.063377ms
-----------cluster_size:69
CEC_time:17.0436ms
visibility_time:0.034105ms
cloud number:21873
update_time:132.168ms
global planner
No:0no normal mech!!!!!!!!!!!!
global planner
No:4no normal mech!!!!!!!!!!!!
global planner
No:6no normal mech!!!!!!!!!!!!
global planner
No:10no normal mech!!!!!!!!!!!!
global planner
No:13no normal mech!!!!!!!!!!!!
global planner
No:14no normal mech!!!!!!!!!!!!
global planner
No:16no normal mech!!!!!!!!!!!!
global planner
No:22no normal mech!!!!!!!!!!!!
global planner
No:24no normal mech!!!!!!!!!!!!
global planner
No:25no normal mech!!!!!!!!!!!!
global planner
No:27no normal mech!!!!!!!!!!!!
global planner
No:28no normal mech!!!!!!!!!!!!
global planner
No:31no normal mech!!!!!!!!!!!!
global planner
No:32no normal mech!!!!!!!!!!!!
global planner
No:39no normal mech!!!!!!!!!!!!
global planner
No:40no normal mech!!!!!!!!!!!!
global planner
No:42no normal mech!!!!!!!!!!!!
global planner
No:43no normal mech!!!!!!!!!!!!
global planner
No:44no normal mech!!!!!!!!!!!!
global planner
No:46no normal mech!!!!!!!!!!!!
global planner
No:47no normal mech!!!!!!!!!!!!
global planner
No:54no normal mech!!!!!!!!!!!!
global planner
No:55no normal mech!!!!!!!!!!!!
global planner
No:57no normal mech!!!!!!!!!!!!
global planner
No:58no normal mech!!!!!!!!!!!!
global planner
No:59no normal mech!!!!!!!!!!!!
partition_size:71
normal_select_time:1.58404ms
qualified_partition_size:71
sample_time:9.47398ms
reading file /home/rc/Projects/src/PredRecon/Planner/Code/tsp_dir/single.parreading problem file /home/rc/Projects/src/PredRecon/Planner/Code/tsp_dir/single.tsp
392 3,991 3,833 691 1,269 1,252 1,422 1,648 1,313 2,937 2,797 3,192 3,466 3,282 3,408 3,851 3,775 3,877 0 610 1,317 368 928 1,435 2,645 2,393 3,216 3,378 3,358 3,400 3,673 3,728 3,833 345 798 2,195 1,231 1,496 1,682 2,243 2,680 2,813 3,401 3,367 3,144 3,746 3,836 1,839 1,540 3,075 2,667 2,620 

*** Error ***
Unknown keyword: 392
[exploration_node-1] process has died [pid 17446, exit code 1, cmd /home/rc/Projects/devel/lib/exploration_manager/exploration_node /odom_world:=/airsim_node/drone_1/odom_local_enu /map_ros/pose:=/airsim_node/drone_1/odom_local_enu /map_ros/depth:=/airsim_node/drone_1/front_center/DepthPerspective /map_ros/cloud:=/cloud __name:=exploration_node __log:=/home/rc/.ros/log/4e95a5fc-7898-11ee-8e5a-592c468efd6b/exploration_node-1.log].
log file: /home/rc/.ros/log/4e95a5fc-7898-11ee-8e5a-592c468efd6b/exploration_node-1*.log
[ WARN] [1,698,830,640.777,066,084]: [Traj server]: ready.
^C[waypoint_generator-3] killing on exit
[traj_server-2] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

[rebecca0011]

Also, the path I used in the singlet.tar file is

PROBLEM_FILE = /home/rc/Projects/src/PredRecon/Planner/Code/local_tsp/single.tsp
GAIN23 = NO
OUTPUT_TOUR_FILE =/home/rc/Projects/src/PredRecon/Planner/Code/local_tsp/single.txt
RUNS = 1

[rebecca0011]

Also, the path I used in the singlet.tar file is

PROBLEM_FILE = /home/rc/Projects/src/PredRecon/Planner/Code/local_tsp/single.tsp
GAIN23 = NO
OUTPUT_TOUR_FILE =/home/rc/Projects/src/PredRecon/Planner/Code/local_tsp/single.txt
RUNS = 1

Solved by replace all prob_file << int_cost << " " to prob_file << to_string(int_cost) << " "