course := deep learning using domain randomization
lesson 2 : = step by step simple guide
after running roslaunch my_dcnn_training_pkg start_fetch_randomenv.launch,
dnn_venv) user:~/catkin_ws$ roslaunch my_dcnn_training_pkg start_fetch_randomenv.launch… logging to /home/user/.ros/log/4225ff86-eb53-11ef-8a2c-0242c0a8f007/roslaunch-2_xterm-27416.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://2_xterm:46731/
SUMMARY
PARAMETERS
- /rosdistro: kinetic
- /rosversion: 1.12.14
NODES
/
fetch_randomenv_node (my_dcnn_training_pkg/fetch_randomenv.py)
rviz (rviz/rviz)
ROS_MASTER_URI=http://2_simulation:11311
process[fetch_randomenv_node-1]: started with pid [27425]
process[rviz-2]: started with pid [27426]
[ INFO] [1739606072.811670164]: rviz version 1.12.17
[ INFO] [1739606072.811721669]: compiled against Qt version 5.5.1
[ INFO] [1739606072.811738484]: compiled against OGRE version 1.9.0 (Ghadamon)
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.
[ INFO] [1739606073.452985224, 10011.860000000]: Stereo is NOT SUPPORTED
[ INFO] [1739606073.453094030, 10011.860000000]: OpenGl version: 3 (GLSL 1.3).
[WARN] [1739606075.428535, 10012.960000]: [‘/home/user/catkin_ws/src/my_dcnn_training_pkg/src/fetch_randomenv.py’, ‘FetchMoveTCP-v0’, ‘model-unit1_y_10_mod
el-96-1.0-30-5-TIME-1739599648.2126505-0.31703579.h5’, ‘True’, ‘10’, ‘5.0’, ‘96’, ‘1.0’, ‘2’, ‘True’, ‘__name:=fetch_randomenv_node’, ‘__log:=/home/user/.ros/log/4225ff86-eb53-11ef-8a2c-0242c0a8f007/fetch_randomenv_node-1.log’]
[WARN] [1739606075.428956, 10012.961000]: environment_name:FetchMoveTCP-v0
[WARN] [1739606075.429188, 10012.961000]: weight_file_name:model-unit1_y_10_model-96-1.0-30-5-TIME-1739599648.2126505-0.31703579.h5
[WARN] [1739606075.429397, 10012.961000]: grasp_activated:True
[WARN] [1739606075.429851, 10012.962000]: number_of_tests:10
[WARN] [1739606075.430059, 10012.962000]: camera_period:5.0
[WARN] [1739606075.430259, 10012.962000]: image_size:96
[WARN] [1739606075.430460, 10012.962000]: ALPHA:1.0
[WARN] [1739606075.430680, 10012.962000]: number_of_elements_to_be_output:2
[WARN] [1739606075.446095, 10012.973000]: Waiting for service /fetch_move_service
Going to Sage Grasp Init Pose…
[WARN] [1739606075.453510, 10012.979000]: START Move Joints
[WARN] [1739606075.963250, 10013.270000]: END Move Joints, result=success: True
[INFO] [1739606075.963877, 10013.271000]: Start RGB Camera Init process…
[INFO] [1739606075.964315, 10013.271000]: Start camera suscriber…
[INFO] [1739606076.036988, 10013.298000]: RGB Camera Init process…Ready
[INFO] [1739606076.037914, 10013.299000]: Retrieveing Model indexes
[INFO] [1739606076.096706, 10013.320000]: Final robots_index_dict = {‘demo_table1’: 1, ‘demo_spam1’: 3}
2025-02-15 07:54:36.216012: I tensorflow/core/platform/cpu_feature_guard.cc:142] Your CPU supports instructions that this TensorFlow binary was not compiled to use: AVX2 FMA
2025-02-15 07:54:36.230745: I tensorflow/core/platform/profile_utils/cpu_utils.cc:94] CPU Frequency: 2899995000 Hz
2025-02-15 07:54:36.254619: I tensorflow/compiler/xla/service/service.cc:168] XLA service 0x535b950 executing computations on platform Host. Devices:
2025-02-15 07:54:36.254673: I tensorflow/compiler/xla/service/service.cc:175] StreamExecutor device (0): ,
2025-02-15 07:54:36.356715: W tensorflow/compiler/jit/mark_for_compilation_pass.cc:1412] (One-time warning): Not using XLA: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.
[WARN] [1739606093.013252, 10019.993000]: CREATED MODEL 2D XY Output
/home/user/catkin_ws/src/my_dcnn_training_pkg/bk/model-unit1_y_10_model-96-1.0-30-5-TIME-1739599648.2126505-0.31703579.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
X Error: BadAccess (attempt to access private resource denied) 10
Extension: 130 (MIT-SHM)
Minor opcode: 1 (X_ShmAttach)
Resource id: 0x14a
X Error: BadShmSeg (invalid shared segment parameter) 128
Extension: 130 (MIT-SHM)
Minor opcode: 5 (X_ShmCreatePixmap)
Resource id: 0x200000a
X Error: BadDrawable (invalid Pixmap or Window parameter) 9
Major opcode: 62 (X_CopyArea)
Resource id: 0x200000b
X Error: BadAccess (attempt to access private resource denied) 10
Extension: 130 (MIT-SHM)
Minor opcode: 1 (X_ShmAttach)
Resource id: 0x2000003
X Error: BadShmSeg (invalid shared segment parameter) 128
Extension: 130 (MIT-SHM)
Minor opcode: 5 (X_ShmCreatePixmap)
Resource id: 0x200000c
X Error: BadPixmap (invalid Pixmap parameter) 4
Major opcode: 54 (X_FreePixmap)
Resource id: 0x200000b
X Error: BadShmSeg (invalid shared segment parameter) 128
Extension: 130 (MIT-SHM)
Minor opcode: 2 (X_ShmDetach)
Resource id: 0x200000a
X Error: BadDrawable (invalid Pixmap or Window parameter) 9
Major opcode: 62 (X_CopyArea)
Resource id: 0x200000d
X Error: BadDrawable (invalid Pixmap or Window parameter) 9
Major opcode: 62 (X_CopyArea)
Resource id: 0x200000d
Class Prediction=>[-1.9974582 -1.8857846]
Class Prediction Corrected=>[-1.9974582, -1.8857846, 0.642]
Class Reality SIMULATION=>[0.3499999940844671, 0.40458977546088937, 0.6397487758003331]
Class RealityTabel SIMULATION=>[0.3, 0.3, 0.3]
Going to Sage Grasp Init Pose…
[WARN] [1739606103.496284, 10024.616000]: START Move Joints
terminate called after throwing an instance of ‘std::runtime_error’
what(): Time is out of dual 32-bit range
[rviz-2] process has died [pid 27426, exit code -6, cmd /opt/ros/kinetic/lib/rviz/rviz -d /home/user/catkin_ws/src/my_dcnn_training_pkg/rviz/model_evaluation.rviz __name:=rviz __log:=/home/user/.ros/log/4225ff86-eb53-11ef-8a2c-0242c0a8f007/rviz-2.log].
log file: /home/user/.ros/log/4225ff86-eb53-11ef-8a2c-0242c0a8f007/rviz-2*.log
[WARN] [1739606104.064036, 10024.901000]: END Move Joints, result=success: True
[WARN] [1739606104.064748, 10024.902000]: START Move Torso
[WARN] [1739606113.311733, 10029.914000]: START Move ENd Effector
[WARN] [1739606123.455198, 10035.084000]: END Move End Effector, result=success: False
[WARN] [1739606123.456233, 10035.084000]: START Move Gripper
[WARN] [1739606127.405944, 10037.109000]: START Move Gripper
[WARN] [1739606128.344533, 10037.626000]: START Move Gripper
[WARN] [1739606132.913720, 10040.134000]: START Move ENd Effector
[WARN] [1739606143.166963, 10044.877000]: END Move End Effector, result=success: False
[WARN] [1739606143.167338, 10044.877000]: START Move Gripper
[WARN] [1739606144.019643, 10045.376000]: START Move ENd Effector
[WARN] [1739606154.207347, 10050.721000]: END Move End Effector, result=success: False
model_to_track_reality=>[0.3499999940844671, 0.40458977546088937, 0.6397487758003331]
tcp_xyz=>[-1.9974582, -1.8857846, 0.942]
[WARN] [1739606154.208186, 10050.721000]: delta==0.3022512241996669 <= 0.2
[WARN] [1739606157.943937, 10052.723000]: START Move Gripper
Going to Sage Grasp Init Pose…
[WARN] [1739606162.541396, 10055.218000]: START Move Joints
[WARN] [1739606163.054450, 10055.526000]: END Move Joints, result=success: True
Number of Image=>1
Waiting for Reset Env to settle=>
Waiting for Reset Env to settle…DONE
X Error: BadDrawable (invalid Pixmap or Window parameter) 9
Major opcode: 62 (X_CopyArea)
Resource id: 0x200000d
Class Prediction=>[2.024369 0.7275649]
Class Prediction Corrected=>[2.024369, 0.7275649, 0.642]
Class Reality SIMULATION=>[0.3499999940804539, 0.21214118639895396, 0.6397487758003331]
Class RealityTabel SIMULATION=>[0.3, 0.3, 0.3]
Going to Sage Grasp Init Pose…
[WARN] [1739606168.407996, 10058.604000]: START Move Joints
[WARN] [1739606168.478796, 10058.645000]: END Move Joints, result=success: True
[WARN] [1739606168.479320, 10058.645000]: START Move Torso
there is no motion of the fetch arm and there is no image of imagepredict in rviz . any reason why??
