Modified run file to launch local server as well now. Slight logging …

…changes in global planner. RViz config changed to have an ortho overhead camera.

cart_planning/scripts/global_planner.py

@@ -455,26 +455,24 @@ def vel_callback(self, msg):
         Args:
             msg (Float32 message): Contains current cart speed
         """
-        # Current speed of the cart
+        # Current speed of the cart (meters/second)
         cur_speed = msg.data
 
         # Are we at a new node 
         can_update = self.prev_cart_node is not self.current_cart_node
 
         # Calculate distance remaining if the cart is navigating
-        if self.navigating and can_update and cur_speed > 0.1:
+        if self.navigating and can_update and cur_speed > 1.0:
             self.prev_cart_node = self.current_cart_node
             # Update the remaining distance on the trip
             self.total_distance = nx.dijkstra_path_length(self.global_graph, self.current_cart_node, self.destination_node)
 
             # Remaining time in seconds
             remaining_time = self.total_distance/cur_speed
 
-            rospy.loginfo("Remaining Time to Destination (Seconds): " + str(remaining_time))
-            rospy.loginfo("Remaining distance to destination(meters): " + str(self.total_distance))
             # The time we should get there
             arrive_time = time.time() + remaining_time
-            rospy.loginfo("Estimated time of arrival: " + str(time.ctime(arrive_time)) + "\n")
+            rospy.loginfo("Travel ETA: " + str(time.ctime(arrive_time)) + "\n")
 
     def output_path_gps(self, path):
         """ Function for converting the list of points along a path to latitude and longitude
@@ -500,14 +498,7 @@ def output_path_gps(self, path):
             final_pose.longitude = lon
 
             gps_path.gpspoints.append(final_pose)
-        '''
-        # Debug to file
-        out_file = open("/home/browermb/gps_out.txt", "w")
-        for point in gps_path.gpspoints:
-            out_file.write(str(point.latitude) + "," + str(point.longitude))
-            out_file.write("\n")
-        out_file.close()
-        '''
+
         # Publish here
         self.gps_path_pub.publish(gps_path)
 

cart_simulator/testing_description/rviz/autoware_integration.rviz

@@ -41,8 +41,6 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /TF1/Frames1
-        - /Obstacle Marker1
-        - /Marker1
       Splitter Ratio: 0.5
     Tree Height: 504
 Toolbars:
@@ -85,8 +83,8 @@ Visualization Manager:
     - Alpha: 0.0500000007
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
+        Max Value: 33.7778625
+        Min Value: -3.27933836
         Value: true
       Axis: Z
       Channel Name: intensity
@@ -97,7 +95,7 @@ Visualization Manager:
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 4096
+      Max Intensity: 232
       Min Color: 0; 0; 0
       Min Intensity: 0
       Name: Points Map
@@ -131,10 +129,10 @@ Visualization Manager:
       Unreliable: false
       Value: false
       Visibility:
-        "": true
         Grid: true
         LaserScan: true
         Look Ahead Point: true
+        Marker: true
         Obstacle Marker: true
         Points Map: true
         Points Raw: true
@@ -199,7 +197,6 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
-          Value: true
         front_left_caster:
           Alpha: 1
           Show Axes: false
@@ -386,26 +383,21 @@ Visualization Manager:
   Value: true
   Views:
     Current:
-      Class: rviz/Orbit
-      Distance: 71.2472916
+      Angle: 0
+      Class: rviz/TopDownOrtho
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.0599999987
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
-      Focal Point:
-        X: -0.328191996
-        Y: -0.312988251
-        Z: -1.22253728
-      Focal Shape Fixed Size: false
-      Focal Shape Size: 0.0500000007
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.00999999978
-      Pitch: 1.54979634
+      Scale: 7.50715828
       Target Frame: map
-      Value: Orbit (rviz)
-      Yaw: 0.355403513
+      Value: TopDownOrtho (rviz)
+      X: 15.720089
+      Y: 6.38741922
     Saved: ~
 Window Geometry:
   Camera:

npm-debug.log

@@ -0,0 +1,20 @@
+0 info it worked if it ends with ok
+1 verbose cli [ '/usr/bin/nodejs', '/usr/bin/npm', 'start' ]
+2 info using [email protected]
+3 info using [email protected]
+4 verbose stack Error: ENOENT: no such file or directory, open '/home/browermb/catkin_ws/src/ai-navigation/package.json'
+4 verbose stack     at Error (native)
+5 verbose cwd /home/browermb/catkin_ws/src/ai-navigation
+6 error Linux 4.15.0-29-generic
+7 error argv "/usr/bin/nodejs" "/usr/bin/npm" "start"
+8 error node v4.2.6
+9 error npm  v3.5.2
+10 error path /home/browermb/catkin_ws/src/ai-navigation/package.json
+11 error code ENOENT
+12 error errno -2
+13 error syscall open
+14 error enoent ENOENT: no such file or directory, open '/home/browermb/catkin_ws/src/ai-navigation/package.json'
+15 error enoent ENOENT: no such file or directory, open '/home/browermb/catkin_ws/src/ai-navigation/package.json'
+15 error enoent This is most likely not a problem with npm itself
+15 error enoent and is related to npm not being able to find a file.
+16 verbose exit [ -2, true ]

run.sh

@@ -1,6 +1,11 @@
 #!/bin/bash
 echo "Configuring Velodyne..."
 ./velodyne_setup.sh
-echo "Launching Navigation Code"
-roslaunch cart_control navigation.launch
+wait
+sleep 2
+echo "Starting local server..."
+gnome-terminal --tab -e 'sh -c "cd ~; cd Desktop/jackart-local-server; npm start; exec bash"'
+echo "Launching Navigation Code..."
+sleep 2
+gnome-terminal --tab -e 'sh -c "roslaunch cart_control navigation.launch; exec bash"'