Submission 17924

Submission

17924

Competing

yes

Challenge

aido-LF-real-validation

User

Shengjie Hu 🇨🇭

Date submitted

2021-11-16 18:07:05+00:00

Last status update

2021-12-04 20:48:32+00:00

Complete

not complete

Details

Ready to do eval2.

Sisters

Result

Jobs

eval0: 118829 eval0-videos: 118837 eval0-visualize: 118835 eval1: 119344 eval1-videos: 119476 eval1-visualize: 119477

eval2

User label

Nov16DTBaselineMirror1

Admin priority

Blessing

n/a

User priority

119477

Click the images to see detailed statistics about the episode.

sync

visualization

119476

robot

watchtower

118837

robot

watchtower

118835

Click the images to see detailed statistics about the episode.

sync

visualization

Evaluation jobs for this submission

Show only up-to-date jobs

Job ID

step

status

up to date

date started

date completed

duration

message

119477

eval1-visualize

success

yes

2021-12-04 09:14:38+00:00

2021-12-04 09:16:34+00:00

0:01:56

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

driven_lanedir_consec	6.235987819405343
survival_time	59.00002408027649
deviation-center-line	3.237908352582922
in-drivable-lane	3.100050687789917

other stats

deviation-heading	8.810601457240377
distance-from-start	2.405160025710326
driven_any	8.328128134369386
driven_lanedir	7.897730986855324
visualized-eval1-passed	1

No reset possible

119476

eval1-videos

success

yes

2021-12-04 09:04:05+00:00

2021-12-04 09:14:18+00:00

0:10:13

all ok, 8 bags proce [...]

all ok, 8 bags processed

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

119344

eval1

success

yes

2021-12-03 18:36:28+00:00

2021-12-03 18:42:22+00:00

0:05:54

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

118837

eval0-videos

success

yes

2021-11-30 13:21:25+00:00

2021-11-30 13:22:33+00:00

0:01:08

all ok, 8 bags proce [...]

all ok, 8 bags processed

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

118835

eval0-visualize

success

yes

2021-11-30 13:20:42+00:00

2021-11-30 13:21:58+00:00

0:01:16

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

driven_lanedir_consec	0.7313564950709016
survival_time	8.100036859512329
deviation-center-line	0.4901377310463193
in-drivable-lane	2.0999667644500732

other stats

deviation-heading	1.3982675976800292
distance-from-start	0.9378550843844732
driven_any	0.959581818568096
driven_lanedir	0.7313564950709016
visualized-eval0-passed	1

No reset possible

118834

eval0-videos

success

yes

2021-11-30 13:17:56+00:00

2021-11-30 13:20:44+00:00

0:02:48

all ok, 8 bags proce [...]

all ok, 8 bags processed

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

118831

eval0-visualize

success

yes

2021-11-30 13:17:54+00:00

2021-11-30 13:20:05+00:00

0:02:11

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

118829

eval0

success

yes

2021-11-30 12:48:46+00:00

2021-11-30 12:51:21+00:00

0:02:35

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

118828

eval0

aborted

yes

2021-11-30 12:45:38+00:00

2021-11-30 12:48:22+00:00

0:02:44

Job shutdown [...]

Job shutdown

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

118821

eval0

aborted

yes

2021-11-30 12:21:02+00:00

2021-11-30 12:24:17+00:00

0:03:15

==> Entrypoint Netwo [...]

==> Entrypoint
Network configured successfully.
INFO: ROBOT_TYPE is externally set to 'duckiebot'.
Forcing ROS_MASTER_URI=http://localhost:11311
<== Entrypoint
+ dt-exec-BG roscore
+ cmd=roscore
+ eval 'stdbuf -o L roscore 1>&2 &'
++ stdbuf -o L roscore
+ dt-exec-BG roslaunch --wait car_interface all.launch veh:=autobot31
+ cmd='roslaunch --wait car_interface all.launch veh:=autobot31'
+ eval 'stdbuf -o L roslaunch --wait car_interface all.launch veh:=autobot31 1>&2 &'
++ stdbuf -o L roslaunch --wait car_interface all.launch veh:=autobot31
+ dt-exec-BG roslaunch --wait duckietown_demos lane_following.launch
+ cmd='roslaunch --wait duckietown_demos lane_following.launch'
+ eval 'stdbuf -o L roslaunch --wait duckietown_demos lane_following.launch 1>&2 &'
+ sleep 5
++ stdbuf -o L roslaunch --wait duckietown_demos lane_following.launch
roscore/master is not yet running, will wait for it to start
master has started, initiating launch
... logging to /tmp/log/028fd17a-51d8-11ec-9b66-0242ac110002/roslaunch-39294b1e6388-129.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.
]2;/code/catkin_ws/src/dt-core/packages/duckietown_demos/launch/lane_following.launch
started roslaunch server http://172.17.0.2:42991/

SUMMARY
========

PARAMETERS
 * /autobot31/anti_instagram_node/color_balance_scale: 0.8
 * /autobot31/anti_instagram_node/interval: 5
 * /autobot31/anti_instagram_node/output_scale: 0.2
 * /autobot31/fsm_node/events/joystick_override_off/msg_type: BoolStamped
 * /autobot31/fsm_node/events/joystick_override_off/topic: joy_mapper_node/j...
 * /autobot31/fsm_node/events/joystick_override_off/trigger: False
 * /autobot31/fsm_node/events/joystick_override_on/msg_type: BoolStamped
 * /autobot31/fsm_node/events/joystick_override_on/topic: joy_mapper_node/j...
 * /autobot31/fsm_node/events/joystick_override_on/trigger: True
 * /autobot31/fsm_node/events/obstacle_cleared/msg_type: BoolStamped
 * /autobot31/fsm_node/events/obstacle_cleared/topic: road_anomaly_watc...
 * /autobot31/fsm_node/events/obstacle_cleared/trigger: False
 * /autobot31/fsm_node/events/obstacle_exists/msg_type: BoolStamped
 * /autobot31/fsm_node/events/obstacle_exists/topic: road_anomaly_watc...
 * /autobot31/fsm_node/events/obstacle_exists/trigger: True
 * /autobot31/fsm_node/global_transitions/joystick_override_off: LANE_FOLLOWING
 * /autobot31/fsm_node/global_transitions/joystick_override_on: NORMAL_JOYSTICK_C...
 * /autobot31/fsm_node/initial_state: NORMAL_JOYSTICK_C...
 * /autobot31/fsm_node/nodes/anti_instagram: anti_instagram_no...
 * /autobot31/fsm_node/nodes/decoder_node: decoder_node/switch
 * /autobot31/fsm_node/nodes/framerate_high: camera_node/frame...
 * /autobot31/fsm_node/nodes/lane_controller_node: lane_controller_n...
 * /autobot31/fsm_node/nodes/lane_filter_node: lane_filter_node/...
 * /autobot31/fsm_node/nodes/line_detector_node: line_detector_nod...
 * /autobot31/fsm_node/nodes/static_object_detector_node: static_object_det...
 * /autobot31/fsm_node/nodes/vehicle_avoidance_control_node: vehicle_avoidance...
 * /autobot31/fsm_node/nodes/vehicle_detection_node: vehicle_detection...
 * /autobot31/fsm_node/nodes/vehicle_filter_node: vehicle_filter_no...
 * /autobot31/fsm_node/states/LANE_FOLLOWING/active_nodes: ['anti_instagram'...
 * /autobot31/fsm_node/states/LANE_FOLLOWING/current_status: in_progress
 * /autobot31/fsm_node/states/LANE_FOLLOWING/lights: ['lane_following']
 * /autobot31/fsm_node/states/LANE_FOLLOWING/transitions/obstacle_exists: OBSTACLE_STOP
 * /autobot31/fsm_node/states/NORMAL_JOYSTICK_CONTROL/active_nodes: ['lane_filter_nod...
 * /autobot31/fsm_node/states/NORMAL_JOYSTICK_CONTROL/current_status: implemented
 * /autobot31/fsm_node/states/NORMAL_JOYSTICK_CONTROL/lights: ['joystick']
 * /autobot31/fsm_node/states/OBSTACLE_STOP/active_nodes: ['anti_instagram'...
 * /autobot31/fsm_node/states/OBSTACLE_STOP/current_status: in_progress
 * /autobot31/fsm_node/states/OBSTACLE_STOP/lights: ['lane_following']
 * /autobot31/fsm_node/states/OBSTACLE_STOP/transitions/obstacle_cleared: LANE_FOLLOWING
 * /autobot31/ground_projection_node/board_h: 5
 * /autobot31/ground_projection_node/board_w: 7
 * /autobot31/ground_projection_node/square_size: 0.031
 * /autobot31/ground_projection_node/x_offset: 0.191
 * /autobot31/ground_projection_node/y_offset: 0.093
 * /autobot31/lane_controller_node/d_offset: 0.0
 * /autobot31/lane_controller_node/d_resolution: 0.011
 * /autobot31/lane_controller_node/d_thres: 0.2615
 * /autobot31/lane_controller_node/integral_bounds/d/bot: -0.3
 * /autobot31/lane_controller_node/integral_bounds/d/top: 0.3
 * /autobot31/lane_controller_node/integral_bounds/phi/bot: -1.2
 * /autobot31/lane_controller_node/integral_bounds/phi/top: 1.2
 * /autobot31/lane_controller_node/k_Id: -0.3
 * /autobot31/lane_controller_node/k_Iphi: 0.0
 * /autobot31/lane_controller_node/k_d: -6.0
 * /autobot31/lane_controller_node/k_theta: -5
 * /autobot31/lane_controller_node/omega_ff: 0
 * /autobot31/lane_controller_node/phi_resolution: 0.051
 * /autobot31/lane_controller_node/stop_line_slowdown/end: 0.15
 * /autobot31/lane_controller_node/stop_line_slowdown/start: 0.6
 * /autobot31/lane_controller_node/theta_thres: 0.523
 * /autobot31/lane_controller_node/v_bar: 0.19
 * /autobot31/lane_controller_node/verbose: 0
 * /autobot31/lane_filter_node/debug: False
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/cov_v: 0.5
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/d_max: 0.3
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/d_min: -0.15
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/delta_d: 0.02
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/delta_phi: 0.1
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/lanewidth: 0.23
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/linewidth_white: 0.05
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/linewidth_yellow: 0.025
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/mean_d_0: 0
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/mean_phi_0: 0
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/min_max: 0.1
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/phi_max: 1.5
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/phi_min: -1.5
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/range_est: 0.33
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/range_max: 0.6
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/range_min: 0.2
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/sigma_d_0: 0.1
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/sigma_d_mask: 1.0
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/sigma_phi_0: 0.1
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/sigma_phi_mask: 2.0
 * /autobot31/lane_filter_node/use_propagation: True
 * /autobot31/line_detector_node/colors/RED/high_1: [15, 255, 255]
 * /autobot31/line_detector_node/colors/RED/high_2: [180, 255, 255]
 * /autobot31/line_detector_node/colors/RED/low_1: [0, 140, 100]
 * /autobot31/line_detector_node/colors/RED/low_2: [165, 140, 100]
 * /autobot31/line_detector_node/colors/WHITE/high: [180, 100, 255]
 * /autobot31/line_detector_node/colors/WHITE/low: [0, 0, 150]
 * /autobot31/line_detector_node/colors/YELLOW/high: [45, 255, 255]
 * /autobot31/line_detector_node/colors/YELLOW/low: [25, 140, 100]
 * /autobot31/line_detector_node/img_size: [120, 160]
 * /autobot31/line_detector_node/line_detector_parameters/canny_aperture_size: 3
 * /autobot31/line_detector_node/line_detector_parameters/canny_thresholds: [80, 200]
 * /autobot31/line_detector_node/line_detector_parameters/dilation_kernel_size: 3
 * /autobot31/line_detector_node/line_detector_parameters/hough_max_line_gap: 1
 * /autobot31/line_detector_node/line_detector_parameters/hough_min_line_length: 3
 * /autobot31/line_detector_node/line_detector_parameters/hough_threshold: 2
 * /autobot31/line_detector_node/top_cutoff: 40
 * /autobot31/line_segment_visualizer_node/veh_name: autobot31
 * /rosdistro: noetic
 * /rosversion: 1.15.13

NODES
  /
    autobot31_to_map (tf/static_transform_publisher)
  /autobot31/
    anti_instagram_node (anti_instagram/anti_instagram_node.py)
    fsm_node (fsm/fsm_node.py)
    ground_projection_node (ground_projection/ground_projection_node.py)
    lane_controller_node (lane_control/lane_controller_node.py)
    lane_filter_node (lane_filter/lane_filter_node.py)
    lane_pose_visualizer_node (visualization_tools/lane_pose_visualizer_node.py)
    line_detector_node (line_detector/line_detector_node.py)
    line_segment_visualizer_node (visualization_tools/line_segment_visualizer_node.py)

ROS_MASTER_URI=http://localhost:11311
INFO: cannot create a symlink to latest log directory: [Errno 17] File exists: '/tmp/log/028fd17a-51d8-11ec-9b66-0242ac110002' -> '/tmp/log/latest'
INFO: cannot create a symlink to latest log directory: [Errno 2] No such file or directory: '/tmp/log/latest'
DEBUG:commons:version: 6.2.4 *
DEBUG:commons:version: 6.2.4 *
DEBUG:typing:version: 6.2.3
DEBUG:commons:version: 6.2.4 *
DEBUG:geometry:PyGeometry-z6 version 2.1.4 path /usr/local/lib/python3.8/dist-packages
DEBUG:typing:version: 6.2.3
DEBUG:typing:version: 6.2.3
DEBUG:geometry:PyGeometry-z6 version 2.1.4 path /usr/local/lib/python3.8/dist-packages
DEBUG:geometry:PyGeometry-z6 version 2.1.4 path /usr/local/lib/python3.8/dist-packages
INFO:conf_tools:conf_tools 6.0.2
INFO:conf_tools:conf_tools 6.0.2
INFO:conf_tools:conf_tools 6.0.2
+ dt-exec-BG roslaunch --wait duckietown_demos set_state.launch veh:=autobot31 state:=LANE_FOLLOWING
+ cmd='roslaunch --wait duckietown_demos set_state.launch veh:=autobot31 state:=LANE_FOLLOWING'
+ eval 'stdbuf -o L roslaunch --wait duckietown_demos set_state.launch veh:=autobot31 state:=LANE_FOLLOWING 1>&2 &'
++ stdbuf -o L roslaunch --wait duckietown_demos set_state.launch veh:=autobot31 state:=LANE_FOLLOWING
+ rostopic list
/autobot31/anti_instagram_node/switch
/autobot31/anti_instagram_node/thresholds
/autobot31/auto_calibration_calculation_node/car_cmd
/autobot31/auto_calibration_node/car_cmd
/autobot31/camera_node/camera_info
/autobot31/camera_node/framerate_high_switch
/autobot31/camera_node/image/compressed
/autobot31/car_cmd_switch_node/cmd
/autobot31/coordinator_node/car_cmd
/autobot31/decoder_node/switch
/autobot31/diagnostics/code/profiling
/autobot31/diagnostics/ros/links
/autobot31/diagnostics/ros/node
/autobot31/diagnostics/ros/parameters
/autobot31/diagnostics/ros/topics
/autobot31/duckiebot_il_lane_following/car_cmd
/autobot31/fsm_node/mode
/autobot31/ground_projection_node/debug/ground_projection_image/compressed
/autobot31/ground_projection_node/lineseglist_out
/autobot31/joy
/autobot31/joy_mapper_node/car_cmd
/autobot31/joy_mapper_node/joystick_override
/autobot31/kinematics_node/velocity
/autobot31/lane_controller_node/car_cmd
/autobot31/lane_controller_node/intersection_navigation_pose
/autobot31/lane_controller_node/switch
/autobot31/lane_filter_node/belief_img
/autobot31/lane_filter_node/change_params
/autobot31/lane_filter_node/lane_pose
/autobot31/lane_filter_node/seglist_filtered
/autobot31/lane_filter_node/switch
/autobot31/lane_pose_visualizer_node/lane_pose_markers
/autobot31/lane_recovery_node/car_cmd
/autobot31/lane_supervisor_node/car_cmd
/autobot31/line_detector_node/debug/edges/compressed
/autobot31/line_detector_node/debug/maps/compressed
/autobot31/line_detector_node/debug/ranges_HS
/autobot31/line_detector_node/debug/ranges_HV
/autobot31/line_detector_node/debug/ranges_SV
/autobot31/line_detector_node/debug/segments/compressed
/autobot31/line_detector_node/segment_list
/autobot31/line_detector_node/switch
/autobot31/line_segment_visualizer_node/filtered_segment_list_markers
/autobot31/line_segment_visualizer_node/segment_list_markers
/autobot31/road_anomaly_watcher/obstacle_distance
/autobot31/road_anomaly_watcher/obstacle_exists
/autobot31/simple_stop_controller_node/car_cmd
/autobot31/static_object_detector_node/switch
/autobot31/stop_line_filter_node/stop_line_reading
/autobot31/vehicle_avoidance_control_node/switch
/autobot31/vehicle_detection_node/switch
/autobot31/vehicle_filter_node/switch
/autobot31/velocity_to_pose_node/pose
/autobot31/wheels_driver_node/emergency_stop
/autobot31/wheels_driver_node/wheels_cmd
/rosout
/rosout_agg
/tf
+ dt-exec-FG roslaunch --wait agent agent_node.launch
+ cmd='roslaunch --wait agent agent_node.launch'
+ eval 'stdbuf -o L roslaunch --wait agent agent_node.launch 1>&2 '
++ stdbuf -o L roslaunch --wait agent agent_node.launch
DEBUG:commons:version: 6.2.4 *
DEBUG:typing:version: 6.2.3
DEBUG:aido_schemas:aido-protocols version 6.0.59 path /usr/local/lib/python3.8/dist-packages
DEBUG:nodes:version 6.2.13 path /usr/local/lib/python3.8/dist-packages pyparsing 2.4.6
DEBUG:ipce:version 6.1.2 path /usr/local/lib/python3.8/dist-packages
DEBUG:nodes_wrapper:checking implementation
DEBUG:nodes_wrapper:checking implementation OK
DEBUG:nodes_wrapper.ROSTemplateAgent:run_loop
  fin: /fifos/ego0-in
 fout: fifo:/fifos/ego0-out
DEBUG:nodes_wrapper:Fifo /fifos/ego0-out created. I will block until a reader appears.
DEBUG:nodes_wrapper:Fifo reader appeared for /fifos/ego0-out.
DEBUG:nodes_wrapper.ROSTemplateAgent:Starting reading
 fi_desc: /fifos/ego0-in
 fo_desc: fifo:/fifos/ego0-out
INFO:nodes_wrapper.ROSTemplateAgent.data:39294b1e6388:ROSTemplateAgent: init()

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

118819

eval0

aborted

yes

2021-11-30 12:12:47+00:00

2021-11-30 12:14:21+00:00

0:01:34

==> Entrypoint Netwo [...]

==> Entrypoint
Network configured successfully.
INFO: ROBOT_TYPE is externally set to 'duckiebot'.
Forcing ROS_MASTER_URI=http://localhost:11311
<== Entrypoint
+ dt-exec-BG roscore
+ cmd=roscore
+ eval 'stdbuf -o L roscore 1>&2 &'
++ stdbuf -o L roscore
+ dt-exec-BG roslaunch --wait car_interface all.launch veh:=autobot31
+ cmd='roslaunch --wait car_interface all.launch veh:=autobot31'
+ eval 'stdbuf -o L roslaunch --wait car_interface all.launch veh:=autobot31 1>&2 &'
++ stdbuf -o L roslaunch --wait car_interface all.launch veh:=autobot31
+ dt-exec-BG roslaunch --wait duckietown_demos lane_following.launch
+ cmd='roslaunch --wait duckietown_demos lane_following.launch'
+ eval 'stdbuf -o L roslaunch --wait duckietown_demos lane_following.launch 1>&2 &'
+ sleep 5
++ stdbuf -o L roslaunch --wait duckietown_demos lane_following.launch
roscore/master is not yet running, will wait for it to start
master has started, initiating launch
... logging to /tmp/log/d8161018-51d6-11ec-bd44-0242ac110002/roslaunch-6a1074194b1d-129.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.
]2;/code/catkin_ws/src/dt-core/packages/duckietown_demos/launch/lane_following.launch
started roslaunch server http://172.17.0.2:40345/

SUMMARY
========

PARAMETERS
 * /autobot31/anti_instagram_node/color_balance_scale: 0.8
 * /autobot31/anti_instagram_node/interval: 5
 * /autobot31/anti_instagram_node/output_scale: 0.2
 * /autobot31/fsm_node/events/joystick_override_off/msg_type: BoolStamped
 * /autobot31/fsm_node/events/joystick_override_off/topic: joy_mapper_node/j...
 * /autobot31/fsm_node/events/joystick_override_off/trigger: False
 * /autobot31/fsm_node/events/joystick_override_on/msg_type: BoolStamped
 * /autobot31/fsm_node/events/joystick_override_on/topic: joy_mapper_node/j...
 * /autobot31/fsm_node/events/joystick_override_on/trigger: True
 * /autobot31/fsm_node/events/obstacle_cleared/msg_type: BoolStamped
 * /autobot31/fsm_node/events/obstacle_cleared/topic: road_anomaly_watc...
 * /autobot31/fsm_node/events/obstacle_cleared/trigger: False
 * /autobot31/fsm_node/events/obstacle_exists/msg_type: BoolStamped
 * /autobot31/fsm_node/events/obstacle_exists/topic: road_anomaly_watc...
 * /autobot31/fsm_node/events/obstacle_exists/trigger: True
 * /autobot31/fsm_node/global_transitions/joystick_override_off: LANE_FOLLOWING
 * /autobot31/fsm_node/global_transitions/joystick_override_on: NORMAL_JOYSTICK_C...
 * /autobot31/fsm_node/initial_state: NORMAL_JOYSTICK_C...
 * /autobot31/fsm_node/nodes/anti_instagram: anti_instagram_no...
 * /autobot31/fsm_node/nodes/decoder_node: decoder_node/switch
 * /autobot31/fsm_node/nodes/framerate_high: camera_node/frame...
 * /autobot31/fsm_node/nodes/lane_controller_node: lane_controller_n...
 * /autobot31/fsm_node/nodes/lane_filter_node: lane_filter_node/...
 * /autobot31/fsm_node/nodes/line_detector_node: line_detector_nod...
 * /autobot31/fsm_node/nodes/static_object_detector_node: static_object_det...
 * /autobot31/fsm_node/nodes/vehicle_avoidance_control_node: vehicle_avoidance...
 * /autobot31/fsm_node/nodes/vehicle_detection_node: vehicle_detection...
 * /autobot31/fsm_node/nodes/vehicle_filter_node: vehicle_filter_no...
 * /autobot31/fsm_node/states/LANE_FOLLOWING/active_nodes: ['anti_instagram'...
 * /autobot31/fsm_node/states/LANE_FOLLOWING/current_status: in_progress
 * /autobot31/fsm_node/states/LANE_FOLLOWING/lights: ['lane_following']
 * /autobot31/fsm_node/states/LANE_FOLLOWING/transitions/obstacle_exists: OBSTACLE_STOP
 * /autobot31/fsm_node/states/NORMAL_JOYSTICK_CONTROL/active_nodes: ['lane_filter_nod...
 * /autobot31/fsm_node/states/NORMAL_JOYSTICK_CONTROL/current_status: implemented
 * /autobot31/fsm_node/states/NORMAL_JOYSTICK_CONTROL/lights: ['joystick']
 * /autobot31/fsm_node/states/OBSTACLE_STOP/active_nodes: ['anti_instagram'...
 * /autobot31/fsm_node/states/OBSTACLE_STOP/current_status: in_progress
 * /autobot31/fsm_node/states/OBSTACLE_STOP/lights: ['lane_following']
 * /autobot31/fsm_node/states/OBSTACLE_STOP/transitions/obstacle_cleared: LANE_FOLLOWING
 * /autobot31/ground_projection_node/board_h: 5
 * /autobot31/ground_projection_node/board_w: 7
 * /autobot31/ground_projection_node/square_size: 0.031
 * /autobot31/ground_projection_node/x_offset: 0.191
 * /autobot31/ground_projection_node/y_offset: 0.093
 * /autobot31/lane_controller_node/d_offset: 0.0
 * /autobot31/lane_controller_node/d_resolution: 0.011
 * /autobot31/lane_controller_node/d_thres: 0.2615
 * /autobot31/lane_controller_node/integral_bounds/d/bot: -0.3
 * /autobot31/lane_controller_node/integral_bounds/d/top: 0.3
 * /autobot31/lane_controller_node/integral_bounds/phi/bot: -1.2
 * /autobot31/lane_controller_node/integral_bounds/phi/top: 1.2
 * /autobot31/lane_controller_node/k_Id: -0.3
 * /autobot31/lane_controller_node/k_Iphi: 0.0
 * /autobot31/lane_controller_node/k_d: -6.0
 * /autobot31/lane_controller_node/k_theta: -5
 * /autobot31/lane_controller_node/omega_ff: 0
 * /autobot31/lane_controller_node/phi_resolution: 0.051
 * /autobot31/lane_controller_node/stop_line_slowdown/end: 0.15
 * /autobot31/lane_controller_node/stop_line_slowdown/start: 0.6
 * /autobot31/lane_controller_node/theta_thres: 0.523
 * /autobot31/lane_controller_node/v_bar: 0.19
 * /autobot31/lane_controller_node/verbose: 0
 * /autobot31/lane_filter_node/debug: False
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/cov_v: 0.5
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/d_max: 0.3
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/d_min: -0.15
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/delta_d: 0.02
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/delta_phi: 0.1
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/lanewidth: 0.23
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/linewidth_white: 0.05
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/linewidth_yellow: 0.025
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/mean_d_0: 0
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/mean_phi_0: 0
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/min_max: 0.1
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/phi_max: 1.5
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/phi_min: -1.5
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/range_est: 0.33
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/range_max: 0.6
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/range_min: 0.2
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/sigma_d_0: 0.1
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/sigma_d_mask: 1.0
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/sigma_phi_0: 0.1
 * /autobot31/lane_filter_node/lane_filter_histogram_configuration/sigma_phi_mask: 2.0
 * /autobot31/lane_filter_node/use_propagation: True
 * /autobot31/line_detector_node/colors/RED/high_1: [15, 255, 255]
 * /autobot31/line_detector_node/colors/RED/high_2: [180, 255, 255]
 * /autobot31/line_detector_node/colors/RED/low_1: [0, 140, 100]
 * /autobot31/line_detector_node/colors/RED/low_2: [165, 140, 100]
 * /autobot31/line_detector_node/colors/WHITE/high: [180, 100, 255]
 * /autobot31/line_detector_node/colors/WHITE/low: [0, 0, 150]
 * /autobot31/line_detector_node/colors/YELLOW/high: [45, 255, 255]
 * /autobot31/line_detector_node/colors/YELLOW/low: [25, 140, 100]
 * /autobot31/line_detector_node/img_size: [120, 160]
 * /autobot31/line_detector_node/line_detector_parameters/canny_aperture_size: 3
 * /autobot31/line_detector_node/line_detector_parameters/canny_thresholds: [80, 200]
 * /autobot31/line_detector_node/line_detector_parameters/dilation_kernel_size: 3
 * /autobot31/line_detector_node/line_detector_parameters/hough_max_line_gap: 1
 * /autobot31/line_detector_node/line_detector_parameters/hough_min_line_length: 3
 * /autobot31/line_detector_node/line_detector_parameters/hough_threshold: 2
 * /autobot31/line_detector_node/top_cutoff: 40
 * /autobot31/line_segment_visualizer_node/veh_name: autobot31
 * /rosdistro: noetic
 * /rosversion: 1.15.13

NODES
  /
    autobot31_to_map (tf/static_transform_publisher)
  /autobot31/
    anti_instagram_node (anti_instagram/anti_instagram_node.py)
    fsm_node (fsm/fsm_node.py)
    ground_projection_node (ground_projection/ground_projection_node.py)
    lane_controller_node (lane_control/lane_controller_node.py)
    lane_filter_node (lane_filter/lane_filter_node.py)
    lane_pose_visualizer_node (visualization_tools/lane_pose_visualizer_node.py)
    line_detector_node (line_detector/line_detector_node.py)
    line_segment_visualizer_node (visualization_tools/line_segment_visualizer_node.py)

ROS_MASTER_URI=http://localhost:11311
DEBUG:commons:version: 6.2.4 *
DEBUG:typing:version: 6.2.3
DEBUG:commons:version: 6.2.4 *
DEBUG:commons:version: 6.2.4 *
DEBUG:geometry:PyGeometry-z6 version 2.1.4 path /usr/local/lib/python3.8/dist-packages
DEBUG:typing:version: 6.2.3
DEBUG:typing:version: 6.2.3
DEBUG:geometry:PyGeometry-z6 version 2.1.4 path /usr/local/lib/python3.8/dist-packages
DEBUG:geometry:PyGeometry-z6 version 2.1.4 path /usr/local/lib/python3.8/dist-packages
INFO:conf_tools:conf_tools 6.0.2
INFO:conf_tools:conf_tools 6.0.2
INFO:conf_tools:conf_tools 6.0.2
+ dt-exec-BG roslaunch --wait duckietown_demos set_state.launch veh:=autobot31 state:=LANE_FOLLOWING
+ cmd='roslaunch --wait duckietown_demos set_state.launch veh:=autobot31 state:=LANE_FOLLOWING'
+ eval 'stdbuf -o L roslaunch --wait duckietown_demos set_state.launch veh:=autobot31 state:=LANE_FOLLOWING 1>&2 &'
++ stdbuf -o L roslaunch --wait duckietown_demos set_state.launch veh:=autobot31 state:=LANE_FOLLOWING
+ rostopic list
/autobot31/anti_instagram_node/switch
/autobot31/anti_instagram_node/thresholds
/autobot31/auto_calibration_calculation_node/car_cmd
/autobot31/auto_calibration_node/car_cmd
/autobot31/camera_node/camera_info
/autobot31/camera_node/framerate_high_switch
/autobot31/camera_node/image/compressed
/autobot31/car_cmd_switch_node/cmd
/autobot31/coordinator_node/car_cmd
/autobot31/decoder_node/switch
/autobot31/diagnostics/code/profiling
/autobot31/diagnostics/ros/links
/autobot31/diagnostics/ros/node
/autobot31/diagnostics/ros/parameters
/autobot31/diagnostics/ros/topics
/autobot31/duckiebot_il_lane_following/car_cmd
/autobot31/fsm_node/mode
/autobot31/ground_projection_node/debug/ground_projection_image/compressed
/autobot31/ground_projection_node/lineseglist_out
/autobot31/joy
/autobot31/joy_mapper_node/car_cmd
/autobot31/joy_mapper_node/joystick_override
/autobot31/kinematics_node/velocity
/autobot31/lane_controller_node/car_cmd
/autobot31/lane_controller_node/intersection_navigation_pose
/autobot31/lane_controller_node/switch
/autobot31/lane_filter_node/belief_img
/autobot31/lane_filter_node/change_params
/autobot31/lane_filter_node/lane_pose
/autobot31/lane_filter_node/seglist_filtered
/autobot31/lane_filter_node/switch
/autobot31/lane_pose_visualizer_node/lane_pose_markers
/autobot31/lane_recovery_node/car_cmd
/autobot31/lane_supervisor_node/car_cmd
/autobot31/line_detector_node/debug/edges/compressed
/autobot31/line_detector_node/debug/maps/compressed
/autobot31/line_detector_node/debug/ranges_HS
/autobot31/line_detector_node/debug/ranges_HV
/autobot31/line_detector_node/debug/ranges_SV
/autobot31/line_detector_node/debug/segments/compressed
/autobot31/line_detector_node/segment_list
/autobot31/line_detector_node/switch
/autobot31/line_segment_visualizer_node/filtered_segment_list_markers
/autobot31/line_segment_visualizer_node/segment_list_markers
/autobot31/road_anomaly_watcher/obstacle_distance
/autobot31/road_anomaly_watcher/obstacle_exists
/autobot31/simple_stop_controller_node/car_cmd
/autobot31/static_object_detector_node/switch
/autobot31/stop_line_filter_node/stop_line_reading
/autobot31/vehicle_avoidance_control_node/switch
/autobot31/vehicle_detection_node/switch
/autobot31/vehicle_filter_node/switch
/autobot31/velocity_to_pose_node/pose
/autobot31/wheels_driver_node/emergency_stop
/autobot31/wheels_driver_node/wheels_cmd
/rosout
/rosout_agg
/tf
+ dt-exec-FG roslaunch --wait agent agent_node.launch
+ cmd='roslaunch --wait agent agent_node.launch'
+ eval 'stdbuf -o L roslaunch --wait agent agent_node.launch 1>&2 '
++ stdbuf -o L roslaunch --wait agent agent_node.launch
DEBUG:commons:version: 6.2.4 *
DEBUG:typing:version: 6.2.3
DEBUG:aido_schemas:aido-protocols version 6.0.59 path /usr/local/lib/python3.8/dist-packages
DEBUG:nodes:version 6.2.13 path /usr/local/lib/python3.8/dist-packages pyparsing 2.4.6
DEBUG:ipce:version 6.1.2 path /usr/local/lib/python3.8/dist-packages
DEBUG:nodes_wrapper:checking implementation
DEBUG:nodes_wrapper:checking implementation OK
DEBUG:nodes_wrapper.ROSTemplateAgent:run_loop
  fin: /fifos/ego0-in
 fout: fifo:/fifos/ego0-out
DEBUG:nodes_wrapper:Fifo /fifos/ego0-out created. I will block until a reader appears.
DEBUG:nodes_wrapper:Fifo reader appeared for /fifos/ego0-out.
DEBUG:nodes_wrapper.ROSTemplateAgent:Starting reading
 fi_desc: /fifos/ego0-in
 fo_desc: fifo:/fifos/ego0-out
INFO:nodes_wrapper.ROSTemplateAgent.data:6a1074194b1d:ROSTemplateAgent: init()

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118818

eval0

aborted

yes

2021-11-30 12:11:01+00:00

2021-11-30 12:11:55+00:00

0:00:54

Job shutdown [...]

Job shutdown

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118037

eval0

aborted

yes

2021-11-23 13:45:17+00:00

2021-11-23 13:53:45+00:00

0:08:28

Job shutdown [...]

Job shutdown

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