Driving Timeout #126

pascalzauberzeug · 2024-07-19T06:30:07Z

When running a weeding automation the robot sometimes stops and the navigation raises a 'Driving Timeout' error.
I got a log for this but sadly it misses the current position and yaw, but U5 had this problem yesterday and we can try to reproduce it this afternoon.

rosys_1       | 2024-07-17 16:10:25.731 [INFO] field_friend/automations/navigation/straight_line_navigation.py:44: Driving 0.02 m to Point(-0.812, -4.259) with yaw -1.78.
rosys_1       | 2024-07-17 16:10:25.936 [INFO] field_friend/automations/implements/tornado.py:68: Target crop is not reachable
rosys_1       | 2024-07-17 16:10:25.937 [INFO] field_friend/automations/navigation/straight_line_navigation.py:44: Driving 0.02 m to Point(-0.818, -4.282) with yaw -1.78.
rosys_1       | 2024-07-17 16:10:26.092 [INFO] field_friend/automations/implements/tornado.py:68: Target crop is not reachable
rosys_1       | 2024-07-17 16:10:26.093 [INFO] field_friend/automations/navigation/straight_line_navigation.py:44: Driving 0.02 m to Point(-0.823, -4.303) with yaw -1.79.
rosys_1       | 2024-07-17 16:10:26.248 [INFO] field_friend/automations/implements/tornado.py:68: Target crop is not reachable
rosys_1       | 2024-07-17 16:10:26.251 [INFO] field_friend/automations/navigation/straight_line_navigation.py:44: Driving 0.02 m to Point(-0.828, -4.323) with yaw -1.79.
rosys_1       | 2024-07-17 16:10:26.425 [INFO] field_friend/automations/implements/tornado.py:68: Target crop is not reachable
rosys_1       | 2024-07-17 16:10:26.426 [INFO] field_friend/automations/navigation/straight_line_navigation.py:44: Driving 0.02 m to Point(-0.833, -4.343) with yaw -1.79.
rosys_1       | 2024-07-17 16:10:26.574 [INFO] field_friend/automations/implements/tornado.py:68: Target crop is not reachable
rosys_1       | 2024-07-17 16:10:26.575 [INFO] field_friend/automations/navigation/straight_line_navigation.py:44: Driving 0.02 m to Point(-0.838, -4.363) with yaw -1.79.
rosys_1       | 2024-07-17 16:10:26.773 [INFO] field_friend/automations/navigation/straight_line_navigation.py:44: Driving 0.02 m to Point(-0.843, -4.385) with yaw -1.79.
rosys_1       | 2024-07-17 16:10:26.920 [INFO] field_friend/automations/navigation/straight_line_navigation.py:44: Driving 0.02 m to Point(-0.848, -4.405) with yaw -1.79.
rosys_1       | 2024-07-17 16:10:27.107 [INFO] field_friend/automations/navigation/straight_line_navigation.py:44: Driving 0.02 m to Point(-0.853, -4.425) with yaw -1.79.
rosys_1       | 2024-07-17 16:10:27.267 [INFO] field_friend/automations/navigation/straight_line_navigation.py:44: Driving 0.02 m to Point(-0.858, -4.447) with yaw -1.79.
rosys_1       | 2024-07-17 16:10:27.421 [INFO] field_friend/automations/navigation/straight_line_navigation.py:44: Driving 0.02 m to Point(-0.864, -4.468) with yaw -1.79.
rosys_1       | 2024-07-17 16:10:27.566 [INFO] field_friend/automations/navigation/straight_line_navigation.py:44: Driving 0.02 m to Point(-0.869, -4.487) with yaw -1.80.
rosys_1       | 2024-07-17 16:10:27.743 [INFO] field_friend/automations/navigation/straight_line_navigation.py:44: Driving 0.02 m to Point(-0.874, -4.508) with yaw -1.79.
rosys_1       | 2024-07-17 16:10:27.921 [INFO] field_friend/automations/navigation/straight_line_navigation.py:44: Driving 0.02 m to Point(-0.879, -4.529) with yaw -1.80.
rosys_1       | 2024-07-17 16:10:28.055 [INFO] field_friend/automations/navigation/straight_line_navigation.py:44: Driving 0.02 m to Point(-0.883, -4.549) with yaw -1.80.
rosys_1       | 2024-07-17 16:10:28.240 [INFO] field_friend/automations/navigation/straight_line_navigation.py:44: Driving 0.02 m to Point(-0.889, -4.569) with yaw -1.80.
rosys_1       | 2024-07-17 16:10:28.387 [INFO] field_friend/automations/navigation/straight_line_navigation.py:44: Driving 0.02 m to Point(-0.893, -4.589) with yaw -1.80.
rosys_1       | 2024-07-17 16:10:28.547 [INFO] field_friend/automations/navigation/straight_line_navigation.py:44: Driving 0.02 m to Point(-0.898, -4.610) with yaw -1.80.
rosys_1       | 2024-07-17 16:10:28.759 [INFO] field_friend/automations/navigation/straight_line_navigation.py:44: Driving 0.02 m to Point(-0.904, -4.631) with yaw -1.80.
rosys_1       | 2024-07-17 16:10:28.883 [INFO] field_friend/automations/navigation/straight_line_navigation.py:44: Driving 0.02 m to Point(-0.909, -4.653) with yaw -1.80.
rosys_1       | 2024-07-17 16:10:29.092 [INFO] field_friend/automations/navigation/straight_line_navigation.py:44: Driving 0.02 m to Point(-0.914, -4.674) with yaw -1.80.
rosys_1       | 2024-07-17 16:10:29.249 [INFO] field_friend/automations/navigation/straight_line_navigation.py:44: Driving 0.02 m to Point(-0.919, -4.694) with yaw -1.80.
rosys_1       | 2024-07-17 16:10:29.421 [INFO] field_friend/automations/navigation/straight_line_navigation.py:44: Driving 0.02 m to Point(-0.924, -4.715) with yaw -1.80.
rosys_1       | 2024-07-17 16:10:29.618 [INFO] field_friend/automations/navigation/straight_line_navigation.py:44: Driving 0.02 m to Point(-0.929, -4.735) with yaw -1.80.
rosys_1       | 2024-07-17 16:10:31.620 [INFO] field_friend/automations/plant_locator.py:130: pausing plant detection
rosys_1       | 2024-07-17 16:10:31.620 [ERROR] rosys/automation/automation.py:68: automation failed
rosys_1       | Traceback (most recent call last):
rosys_1       |   File "/app/rosys/automation/automation.py", line 56, in __await__
rosys_1       |     signal = send(message)
rosys_1       |              ^^^^^^^^^^^^^
rosys_1       |   File "/app/field_friend/automations/navigation/navigation.py", line 52, in start
rosys_1       |     await self._drive(self.DEFAULT_DRIVE_DISTANCE)
rosys_1       |   File "/app/field_friend/automations/navigation/straight_line_navigation.py", line 45, in _drive
rosys_1       |     await self._drive_to_yaw(distance, start_position.direction(local_target))
rosys_1       |   File "/app/field_friend/automations/navigation/navigation.py", line 92, in _drive_to_yaw
rosys_1       |     raise TimeoutError('Driving Timeout')
rosys_1       | TimeoutError: Driving Timeout
rosys_1       | 2024-07-17 16:10:31.624 [INFO] rosys/rosys.py:69: automation stopped because an exception occurred in an automation
rosys_1       | 2024-07-17 16:10:31.624 [INFO] rosys/rosys.py:69: automation failed
rosys_1       | 2024-07-17 16:10:31.652 [ERROR] nicegui/app/app.py:118: Driving Timeout
rosys_1       | Traceback (most recent call last):
rosys_1       |   File "/home/zauberzeug/.local/lib/python3.11/site-packages/nicegui/background_tasks.py", line 52, in _handle_task_result
rosys_1       |     task.result()
rosys_1       |   File "/app/rosys/automation/automation.py", line 56, in __await__
rosys_1       |     signal = send(message)
rosys_1       |              ^^^^^^^^^^^^^
rosys_1       |   File "/app/field_friend/automations/navigation/navigation.py", line 52, in start
rosys_1       |     await self._drive(self.DEFAULT_DRIVE_DISTANCE)
rosys_1       |   File "/app/field_friend/automations/navigation/straight_line_navigation.py", line 45, in _drive
rosys_1       |     await self._drive_to_yaw(distance, start_position.direction(local_target))
rosys_1       |   File "/app/field_friend/automations/navigation/navigation.py", line 92, in _drive_to_yaw
rosys_1       |     raise TimeoutError('Driving Timeout')
rosys_1       | TimeoutError: Driving Timeout

The text was updated successfully, but these errors were encountered:

rodja · 2024-07-19T14:25:07Z

At what distances does the error occure? Only small ones (< 1-2 cm)? Because that is the accuracy of our RTK...

LukasBaecker · 2024-07-19T14:42:41Z

At what distances does the error occure? Only small ones (< 1-2 cm)? Because that is the accuracy of our RTK...

It occurred immediately after starting the automation, when the roboter tried to drive the first time, then the automation stopped.

LukasBaecker · 2024-07-19T14:47:21Z

We tried to change the deadline from additional 2 to 5 (line 84 in navigation.py)

deadline = rosys.time() + 5

This seemed to work, but we then set the value back to 2 and the robot again seemed to drive as it should. The error still occured but I logged the error instead of raising it to keep the automation running. So, no big insights as it seems.

pascalzauberzeug · 2024-07-19T14:52:10Z

@rodja I saved some logs for this and the distances are indeed in the millimeter range.

rosys_1       | 2024-07-19 15:34:57.254 [ERROR] field_friend/automations/navigation/navigation.py:93: Driving Timeout at startpoint: Point(110.250, 88.245) with yaw: 6.283185307179586 and target point: Point(110.256, 88.259)
rosys_1       | 2024-07-19 15:34:59.263 [ERROR] field_friend/automations/navigation/navigation.py:93: Driving Timeout at startpoint: Point(110.256, 88.259) with yaw: 6.283185307179586 and target point: Point(110.260, 88.275)
rosys_1       | 2024-07-19 15:35:01.274 [ERROR] field_friend/automations/navigation/navigation.py:93: Driving Timeout at startpoint: Point(110.260, 88.275) with yaw: 6.283185307179586 and target point: Point(110.263, 88.291)
rosys_1       | 2024-07-19 15:35:03.278 [ERROR] field_friend/automations/navigation/navigation.py:93: Driving Timeout at startpoint: Point(110.263, 88.291) with yaw: 6.283185307179586 and target point: Point(110.264, 88.306)

for example Point(110.250, 88.245) to Point(110.256, 88.259)

rodja · 2024-07-21T07:20:19Z

I hope that #130 will fix this issue. It only performs GNSS updates between when standing still. That means that we drive 100 % by odometry data.

LukasBaecker · 2024-07-23T13:48:42Z

We figured out that the Driving Timeout occurs when the odometry heading is above 180 deg or under -180 deg.

pascalzauberzeug added the bug Something isn't working label Jul 19, 2024

pascalzauberzeug added this to the 0.2.0 milestone Jul 19, 2024

pascalzauberzeug assigned pascalzauberzeug and LukasBaecker and unassigned pascalzauberzeug Jul 19, 2024

LukasBaecker linked a pull request Jul 19, 2024 that will close this issue

Driving timeout #128

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rodja linked a pull request Jul 21, 2024 that will close this issue

Produce more accurate odometer fixes by averaging multiple GNSS poses while standing #130

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Driving Timeout #126

Driving Timeout #126

pascalzauberzeug commented Jul 19, 2024

rodja commented Jul 19, 2024

LukasBaecker commented Jul 19, 2024

LukasBaecker commented Jul 19, 2024

pascalzauberzeug commented Jul 19, 2024

rodja commented Jul 21, 2024

LukasBaecker commented Jul 23, 2024

Driving Timeout #126

Driving Timeout #126

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pascalzauberzeug commented Jul 19, 2024

rodja commented Jul 19, 2024

LukasBaecker commented Jul 19, 2024

LukasBaecker commented Jul 19, 2024

pascalzauberzeug commented Jul 19, 2024

rodja commented Jul 21, 2024

LukasBaecker commented Jul 23, 2024