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When I use gpd to grab the first item, an error will be reported.
robot@WP:~$ roslaunch robot_sim gpd_run.launch type:=2 topic:=/cloud_sample ... logging to /home/robot/.ros/log/4f386c5a-0183-11ef-b6c9-3171f884d3a1/roslaunch-WP-19219.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://WP:43347/ SUMMARY ======== PARAMETERS * /detect_grasps/cloud_topic: /cloud_sample * /detect_grasps/cloud_type: 2 * /detect_grasps/config_file: /home/robot/packa... * /detect_grasps/rviz_topic: plot_grasps * /detect_grasps/samples_topic: * /rosdistro: noetic * /rosversion: 1.16.0 NODES / detect_grasps (gpd_ros/detect_grasps) ROS_MASTER_URI=http://localhost:11311 process[detect_grasps-1]: started with pid [19234] Init .... ============ HAND GEOMETRY ====================== finger_width: 0.01 hand_outer_diameter: 0.12 hand_depth: 0.06 hand_height: 0.02 init_bite: 0.01 ================================================= ============ PLOTTING ======================== plot_normals: true plot_samples false plot_candidates: true plot_filtered_candidates: false plot_valid_grasps: false plot_clustered_grasps: false plot_selected_grasps: true ============================================== ============ CLOUD PREPROCESSING ============= voxelize: true voxel_size: 0.003 remove_outliers: false workspace: -1.00 1.00 -1.00 1.00 -1.00 1.00 sample_above_plane: false normals_radius: 0.030 refine_normals_k: 0 ============================================== ============ CANDIDATE GENERATION ============ num_samples: 30 num_threads: 4 nn_radius: 0.01 hand axes: 2 num_orientations: 8 num_finger_placements: 10 deepen_hand: true friction_coeff: 20.00 min_viable: 6 ============================================== ============ GRASP IMAGE GEOMETRY =============== volume width: 0.1 volume depth: 0.06 volume height: 0.02 image_size: 60 image_num_channels: 15 ================================================= NET SETUP runtime: 0.0651241 ============ CLASSIFIER ====================== model_file: weights_file: /home/robot/package/gpd/models/lenet/15channels/params/ batch_size: 1 ============================================== ============ CANDIDATE FILTERING ============= candidate_workspace: -1.00 1.00 -1.00 1.00 -1.00 1.00 min_aperture: 0.0000 max_aperture: 0.0850 ============================================== ============ CLUSTERING ====================== min_inliers: 0 ============================================== Created GPD .... [ INFO] [1713884915.293421216]: Waiting for point cloud to arrive ... view_points: 0 0 0 [ INFO] [1713884942.474148372, 263.709000000]: Received cloud with 921600 points, and 31933 samples Processing cloud with 921600 points. 31933 samples left after workspace filtering Voxelized cloud: 190220 Calculating surface normals ... num_threads: 4 runtime(computeNormals): 4.5696 camera: 0, #indices: 190220, #normals: 190220 Calculated 190220 surface normals in 4.5734s (mode: OpenMP). Reversing direction of normals that do not point to at least one camera ... reversed 0 normals runtime (reverse normals): 0.00195851 Using 30 out of 31933 available samples. Subsampled 30 samples at random uniformly. Plotting normals for different camera sources Estimating local reference frames ... Estimated 30 frames in 0.0003s. Finding hand poses ... Found 30 hand sets in 0.12s ====> HAND SEARCH TIME: 0.145323 Generated 30 hand sets. nouveau: kernel rejected pushbuf: Device or resource busy nouveau: ch11: krec 0 pushes 1 bufs 10 relocs 0 nouveau: ch11: buf 00000000 00000003 00000004 00000004 00000000 nouveau: ch11: buf 00000001 0000000b 00000004 00000000 00000004 nouveau: ch11: buf 00000002 00000013 00000002 00000000 00000002 nouveau: ch11: buf 00000003 00000014 00000002 00000000 00000002 nouveau: ch11: buf 00000004 00000008 00000002 00000002 00000000 nouveau: ch11: buf 00000005 0000000a 00000002 00000002 00000000 nouveau: ch11: buf 00000006 00000006 00000004 00000000 00000004 nouveau: ch11: buf 00000007 00000010 00000002 00000002 00000000 nouveau: ch11: buf 00000008 00000007 00000002 00000002 00000000 nouveau: ch11: buf 00000009 0000001c 00000002 00000002 00000000 nouveau: ch11: psh 00000000 0000048920 00000489ac nouveau: 0x200406c0 nouveau: 0x00000000 nouveau: 0x00019610 nouveau: 0x00000003 nouveau: 0x00005002 nouveau: 0x200205f2 nouveau: 0x00000000 nouveau: 0x0001bd00 nouveau: 0x2002008e nouveau: 0x00000000 nouveau: 0x0001bd8f nouveau: 0x200105f6 nouveau: 0x00000002 nouveau: 0x20030700 nouveau: 0x00001014 nouveau: 0x00000000 nouveau: 0x00562600 nouveau: 0x20020180 nouveau: 0x00000000 nouveau: 0x005627df nouveau: 0x80040586 nouveau: 0x200205f7 nouveau: 0x00000000 nouveau: 0x00000024 nouveau: 0x80000585 nouveau: 0x200406c0 nouveau: 0x00000000 nouveau: 0x00019600 nouveau: 0x00000003 nouveau: 0x00005002 nouveau: 0x200406c0 nouveau: 0x00000000 nouveau: 0x00014000 nouveau: 0x000002f6 nouveau: 0x1000f010 Filtering grasps outside of workspace ... Number of grasp candidates within workspace and gripper width: 124 neighborhoods search time: 0.0170 Created 124 images in 0.6513s Selecting the 5 highest scoring grasps ... grasp #0, score: 1348.7671 grasp #1, score: 1345.2932 grasp #2, score: 1127.4420 grasp #3, score: 1123.4860 grasp #4, score: 995.2620 ======== Selected grasps ======== Grasp 0: 1348.77 Grasp 1: 1345.29 Grasp 2: 1127.44 Grasp 3: 1123.49 Grasp 4: 995.262 Selected the 5 best grasps. ======== RUNTIMES ======== 1. Candidate generation: 0.1456s 2. Descriptor extraction: 0.6516s 3. Classification: 0.3787s ========== TOTAL: 14.5211s [ INFO] [1713884998.036766907, 318.692000000]: Published 5 highest-scoring grasps. [ INFO] [1713884998.036844013, 318.692000000]: Waiting for point cloud to arrive ... double free or corruption (out) [detect_grasps-1] process has died [pid 19234, exit code -6, cmd /home/robot/catkin_ws/devel/lib/gpd_ros/detect_grasps __name:=detect_grasps __log:=/home/robot/.ros/log/4f386c5a-0183-11ef-b6c9-3171f884d3a1/detect_grasps-1.log]. log file: /home/robot/.ros/log/4f386c5a-0183-11ef-b6c9-3171f884d3a1/detect_grasps-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done
Sometimes an error is reported when starting the gpd algorithm
robot@WP:~$ roslaunch robot_sim gpd_run.launch type:=2 topic:=/cloud_sample ... logging to /home/robot/.ros/log/4bb36a0c-0184-11ef-b6c9-3171f884d3a1/roslaunch-WP-20926.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://WP:38337/ SUMMARY ======== PARAMETERS * /detect_grasps/cloud_topic: /cloud_sample * /detect_grasps/cloud_type: 2 * /detect_grasps/config_file: /home/robot/packa... * /detect_grasps/rviz_topic: plot_grasps * /detect_grasps/samples_topic: * /rosdistro: noetic * /rosversion: 1.16.0 NODES / detect_grasps (gpd_ros/detect_grasps) ROS_MASTER_URI=http://localhost:11311 process[detect_grasps-1]: started with pid [20941] Init .... ============ HAND GEOMETRY ====================== finger_width: 0.01 hand_outer_diameter: 0.12 hand_depth: 0.06 hand_height: 0.02 init_bite: 0.01 ================================================= ============ PLOTTING ======================== plot_normals: true plot_samples false plot_candidates: true plot_filtered_candidates: false plot_valid_grasps: false plot_clustered_grasps: false plot_selected_grasps: true ============================================== ============ CLOUD PREPROCESSING ============= voxelize: true voxel_size: 0.003 remove_outliers: false workspace: -1.00 1.00 -1.00 1.00 -1.00 1.00 sample_above_plane: false normals_radius: 0.030 refine_normals_k: 0 ============================================== ============ CANDIDATE GENERATION ============ num_samples: 30 num_threads: 4 nn_radius: 0.01 hand axes: 2 num_orientations: 8 num_finger_placements: 10 deepen_hand: true friction_coeff: 20.00 min_viable: 6 ============================================== ============ GRASP IMAGE GEOMETRY =============== volume width: 0.1 volume depth: 0.06 volume height: 0.02 image_size: 60 image_num_channels: 15 ================================================= NET SETUP runtime: 0.0796375 ============ CLASSIFIER ====================== model_file: weights_file: /home/robot/package/gpd/models/lenet/15channels/params/ batch_size: 1 ============================================== ============ CANDIDATE FILTERING ============= candidate_workspace: -1.00 1.00 -1.00 1.00 -1.00 1.00 min_aperture: 0.0000 max_aperture: 0.0850 ============================================== ============ CLUSTERING ====================== min_inliers: 0 ============================================== Created GPD .... [ INFO] [1713885332.349522727]: Waiting for point cloud to arrive ... view_points: 0 0 0 [detect_grasps-1] process has died [pid 20941, exit code -11, cmd /home/robot/catkin_ws/devel/lib/gpd_ros/detect_grasps __name:=detect_grasps __log:=/home/robot/.ros/log/4bb36a0c-0184-11ef-b6c9-3171f884d3a1/detect_grasps-1.log]. log file: /home/robot/.ros/log/4bb36a0c-0184-11ef-b6c9-3171f884d3a1/detect_grasps-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done
Can you help me analyze what the problem is?
The text was updated successfully, but these errors were encountered:
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When I use gpd to grab the first item, an error will be reported.
Sometimes an error is reported when starting the gpd algorithm
Can you help me analyze what the problem is?
The text was updated successfully, but these errors were encountered: