EuRoC Forum

[lsusperregi]

Dear all,
In order to sequencially execute all the Tasks, according to Technical Annex page 44, we have to Start, SaveLog and Stop the simulator services for each Task . But in Task 2 we have 3 runs of different scenes, how we have to proceed? The procedure could be SaveLog for each run or only one at the end of the 3 runs?

On the other hand, in order to have the arm tf we are using robot_state_publisher node. It Works properly when we start the execution of Task 1, but when we start the execution of Task 2 we are having problems and the arm tf tree is not properly created. We suppose it could be related with the Start and Stop of the simulator.

Can you give us an answer?

Many thanks!

[fschmidt]

The procedure could be SaveLog for each run or only one at the end of the 3 runs?

please call SaveLog after each single run.
start task 1, solve, call SaveLog
start task 2/1, solve, call SaveLog
start task 2/2, solve, call SaveLog
start task 2/3, solve, call SaveLog
start task 3, solve, call SaveLog
start task 4/1, solve, call SaveLog
start task 4/2, solve, call SaveLog
start task 4/3, solve, call SaveLog
start task 5, solve, call SaveLog
start task 6, solve, call SaveLog

On the other hand, in order to have the arm tf we are using robot_state_publisher node. It Works properly when we start the execution of Task 1, but when we start the execution of Task 2 we are having problems and the arm tf tree is not properly created. We suppose it could be related with the Start and Stop of the simulator.

maybe this forum thread is related and helps: http://euroc.iphpbb3.com/forum/20112706nx57588/challenge-2-f4/problems-with-tf-due-to-time-jumps-t20.html
i suppose you will have to restart all your ros nodes before stating another task?

[lsusperregi]

The 10min deadline for Task 2 is for each run or includes the 3 runs?

Thank you

[fschmidt]

each run has it's own 10 minute deadline.