Using Glocal exploration with Gazebo

[laurenbramblett]

Hello,

I was wondering if there was a relatively quick setup to using gazebo? So far I have changed the necessary topics in run_glocal.launch and commented out the portions dealing with the unreal simulator but I get the following message:

I0318 08:49:20.264333 536768 glocal_system.cpp:62] 
================================= GlocalSystem =================================
verbosity:                    4
replan_position_threshold:    0.3
replan_yaw_threshold:         5
replan_timeout_constant:      2
replan_timeout_velocity:      1
collision_check_period_s:     0.1
max_planner_update_frequency: 100
================================================================================
I0318 08:49:20.289682 536768 voxgraph_map.cpp:45] 
================================= VoxgraphMap ==================================
verbosity:                    4
clearing_radius:              1.1
traversability_radius:        1.5
nh_private_namespace:         /glocal/glocal_system/mapping
================================================================================
I0318 08:49:20.383530 536768 rh_rrt_star.cpp:77] 
================================== RHRRTStar ===================================
verbosity:                    4
sampling_range:               7
min_path_length:              1
min_sampling_distance:        1
max_path_length:              3
path_cropping_length:         0.3
traversability_radius:        1.1
max_number_of_neighbors:      30
maximum_rewiring_iterations:  100
terminaton_min_tree_size:     0
termination_max_gain:         300
reconsideration_time:         2
DEBUG_number_of_iterations:   -1
lidar_config:
   vertical_fov:              45
   horizontal_fov:            360
   vertical_resolution:       1000
   horizontal_resolution:     10000
   ray_length:                10
   ray_step:                  0.4
   num_yaw_samples:           4
   downsampling_factor:       3
   T_baselink_sensor:         t: [0, 0, 0] RPY°: [-0, 15, 0]
================================================================================
I0318 08:49:20.405524 536768 skeleton_planner.cpp:69] 
=============================== SkeletonPlanner ================================
verbosity:                    4
use_centroid_clustering:      True
centroid_clustering_radius:   1
use_path_verification:        True
path_verification_min_distance: 1
goal_search_steps:            5
goal_search_step_size:        1
nh_private_namespace:         /glocal/glocal_system/global_planner/skeleton
safety_distance:              0.3
submap_frontier_config:
   verbosity:                 4
   min_frontier_size:         100
   submaps_are_frozen:        True
   min_num_visible_frontier_points: 1
max_closest_frontier_search_time_sec: 25
max_replan_attempts_to_chosen_frontier: 3
sensor_vertical_fov_rad:      0.5
backtracking_distance_m:      5
================================================================================
I0318 08:49:20.418329 536768 glocal_system.cpp:113] Glocal Exploration Planner set up successfully.
I0318 08:49:20.505358 536812 glocal_system.cpp:317] Collision checking is not running at its requested frequency. The requested period is 0.1s, but the time since last call is 2903.32s.
[ WARN] [1710766160.506703739, 2903.316000000]: Received submap with empty trajectory. Skipping submap.
[ WARN] [1710766160.507443532, 2903.316000000]: Received submap with empty trajectory. Skipping submap.
[INFO] [1710766160.507651, 2903.316000]: [ExperimentManager]: Waiting for unreal MAV simulation to setup...
[INFO] [1710766160.508437, 2903.316000]: [ExperimentManager]: Waiting for unreal MAV simulation to setup... done.
[INFO] [1710766160.509306, 2903.320000]: [ExperimentManager]: Waiting for planner to be ready...
[INFO] [1710766160.511295, 2903.320000]: [ExperimentManager]: Waiting for planner to be ready... done.
I0318 08:49:20.513167 536817 glocal_system.cpp:303] Started Glocal Exploration Planner.
[INFO] [1710766160.513363, 2903.324000]: 
****************************************
* Successfully started the experiment! *
****************************************
I0318 08:49:20.517295 536768 rh_rrt_star.cpp:178] Reset the RH-RRT* planner.
I0318 08:49:20.517640 536768 rh_rrt_star.cpp:110] Termination criterion is met, trying to overcome it for 2s before moving to global planning.
[ERROR] [1710766162.333168650, 2905.140000000]: Input pointcloud queue getting too long! Dropping some pointclouds. Either unable to look up transform timestamps or the processing is taking too long.
I0318 08:49:22.519114 536768 skeleton_planner.cpp:156] No submaps finished yet for global planning, switching back local.
I0318 08:49:22.519407 536768 rh_rrt_star.cpp:178] Reset the RH-RRT* planner.
I0318 08:49:22.519500 536768 rh_rrt_star.cpp:110] Termination criterion is met, trying to overcome it for 2s before moving to global planning.
I0318 08:49:24.520594 536768 skeleton_planner.cpp:156] No submaps finished yet for global planning, switching back local.
I0318 08:49:24.520705 536768 rh_rrt_star.cpp:178] Reset the RH-RRT* planner.
I0318 08:49:24.520771 536768 rh_rrt_star.cpp:110] Termination criterion is met, trying to overcome it for 2s before moving to global planning.
[ WARN] [1710766166.509611962, 2909.316000000]: Received submap with empty trajectory. Skipping submap.
I0318 08:49:26.521926 536768 skeleton_planner.cpp:156] No submaps finished yet for global planning, switching back local.
I0318 08:49:26.522058 536768 rh_rrt_star.cpp:178] Reset the RH-RRT* planner.
I0318 08:49:26.522131 536768 rh_rrt_star.cpp:110] Termination criterion is met, trying to overcome it for 2s before moving to global planning.
I0318 08:49:28.523315 536768 skeleton_planner.cpp:156] No submaps finished yet for global planning, switching back local.
I0318 08:49:28.523478 536768 rh_rrt_star.cpp:178] Reset the RH-RRT* planner.
I0318 08:49:28.523577 536768 rh_rrt_star.cpp:110] Termination criterion is met, trying to overcome it for 2s before moving to global planning.
I0318 08:49:30.524760 536768 skeleton_planner.cpp:156] No submaps finished yet for global planning, switching back local.
I0318 08:49:30.524871 536768 rh_rrt_star.cpp:178] Reset the RH-RRT* planner.
I0318 08:49:30.524945 536768 rh_rrt_star.cpp:110] Termination criterion is met, trying to overcome it for 2s before moving to global planning.
[ WARN] [1710766172.513177643, 2915.316000000]: Received submap with empty trajectory. Skipping submap.

It seems that the voxgraph is not running without the unreal simulator or it is not publishing. Is there an additional service call that is needed?

Thank you!