EuRoC Forum

[Peter Lehner]

This topic states the latest version of the simulator software supplied for EuRoC Challenge 2 Stage 1. Please subscribe to this topic in order to be notified of updates.

Current Versions:
The current versions of the software are:

• Simulator: euroc-c2s1-simulator_1.0.27_i386.deb
• Scenes: euroc-c2s1-scenes_1.0.26_i386.deb (only final scenes as used in the evaluation)
• Interface: euroc-c2s1-interface_1.0.18_i386.deb
• Virtual Machines: euroc_c2s1_20141105140755.ova (up to version 1.0.26 but without euroc-c2s1-scenes_1.0.26_i386.deb)

Download:
You can download the latest versions at:
url: http://projects.laas.fr/euroc/euroc_qualif_c2/
user: euroc_qualif_c2
password: YOUR_PASSWORD (has been delivered to you in the start e-mail 'EUROC - Challenge 2 - Stage 1: Download instructions for the simulation package')

Updating:
In order to update the software of a native installation you can run the following commands for each provided package:

Code: Select all

cd ~
wget --user=euroc_qualif_c2 --password=YOUR_PASSWORD http://projects.laas.fr/euroc/euroc_qualif_c2/native/euroc-c2s1-simulator_VERSION_i386.deb
sudo dpkg -i euroc-c2s1-simulator_VERSION_i386.deb


This will download the new version of the package to your home directory and replace the old version of the package with the new version.

In order to update your virtual machines you can either download the latest virtual machine export file and move your code into the new simclient virtual machine or you can update the debian packages in your existing virtual machines. You have access to superuser rights as the simguest user with the password 'simguest'. In the simserv virtual machine install the latest euroc-c2s1-simulator_VERSION_i386.deb and euroc-c2s1-scenes_VERSION_i386.deb packages with the commands above. In the simclient virtual machine install the latest euroc-c2s1-interface_VERSION_i386.deb with the commands above.

Version History:

• 1.0.27: simulator: fixed a possible rare race condition when closing the logfile
• 1.0.26: simulator: fixed log printf-format for stop conditions, gzserver should now write core dumps to /tmp, reset gripper hack state after detach
• 1.0.25: scenes: added missing surface contact combinations for new cylinder friction
• 1.0.24: simulator: tweak gripper hack,
• 1.0.23: simulator: generate and collect more debug info, fixed surface material of gripper base
• 1.0.20: scenes: greatly increased rolling friction of cylinders
• 1.0.19: simulator: publish remaining time for this task in /remaining_time
• 1.0.18: interface: added persistent=True flag for set_servo_target ServiceProxy in euroc_c2_system.py demo class
• 1.0.17: fixed race condition between sensor update and physics loop which can cause a deadlock
• 1.0.16: upload_core script only asks for user pw when actually generating core dumps
• 1.0.15: task_selector checks for eval scenes
• 1.0.14: fixed color of part6 in task5_v2 (p2.yml) to be 0xffff00
• 1.0.13: fixed 1.0.12
• 1.0.12: added v3 tasks as copy of v2 but with rt factor of 0.2
• 1.0.11: modifed task6_v{1,2} not to have camera noise and changed task6_v2 drop pose of 8th cube to not fall off the belt, fixed task2_v2_{2,3} task names
• 1.0.10:
  fixed memory access error within the simulator in case of too many contacts (see http://euroc.iphpbb3.com/forum/20112706nx57588/challenge-2-f4/task-5-simulator-freezes-when-trying-to-grab-an-object-t70.html),
  fixed 2nd set of scenes files:
  - task4 rolling cylinder start-state (see http://euroc.iphpbb3.com/forum/20112706nx57588/challenge-2-f4/cylinders-falling-from-table-in-task4_v2_x-t68.html)
  - 180[deg] camera pose error (see http://euroc.iphpbb3.com/forum/20112706nx57588/challenge-2-f4/huge-camera-pose-error-in-new-tasks-t67.html)
• 1.0.9: 2nd set of scene files, fixed start_euroc_task_selector -c handling
• 1.0.8: start_euroc_task_selector has new option -c, reworked gzserver startup via task_selector, fixed possible race condition with SetSensorUpdateDivisor at startup, collect task_selector output in ~/euroc_c2s1_logs/task_selector.log, added test_* and upload_core scripts below /bin
• 1.0.7: Fixed bug in documentation of StopCondition message (technical annex rev4)
• 1.0.6: Fixed joint error checking floating-point comparision in servo mode for task 2-5
• 1.0.5: Fixed servo mode in tasks 2-5
• 1.0.4: Fixed illegal memory access in search_ik_solution service.
• 1.0.3: Fixed scene RGB camera transformation.
• 1.0.2: Fixed the depth camera publishing. Minor corrections in the technical annex.
• 1.0.1: Initial Release

[fschmidt]

we released a new euroc-c2s1-scenes_1.0.3_i386.deb package. this fixes the T_SRGB transformation in task 1 and task 6.

please download this file and install it within your simserv VM or your native setup:

Code: Select all

wget --user=euroc_qualif_c2 --password=YOUR_PASSWORD http://projects.laas.fr/euroc/euroc_qualif_c2/native/euroc-c2s1-scenes_1.0.3_i386.deb
sudo dpkg -i euroc-c2s1-scenes_1.0.3_i386.deb


[fschmidt]

we released a new euroc-c2s1-simulator_1.0.4_i386.deb package. this fixes an illegal memory access within the search_ik_solution ros service handler.

please download this file and install it within your simserv VM or your native setup:

Code: Select all

wget --user=euroc_qualif_c2 --password=YOUR_PASSWORD http://projects.laas.fr/euroc/euroc_qualif_c2/native/euroc-c2s1-simulator_1.0.4_i386.deb
sudo dpkg -i euroc-c2s1-simulator_1.0.4_i386.deb


[fschmidt]

there is a new euroc-c2s1-simulator_1.0.5_i386.deb package which fixes the servo mode in task 2 to 5.

please download this file and install it within your simserv VM or your native setup:

Code: Select all

wget --user=euroc_qualif_c2 --password=YOUR_PASSWORD http://projects.laas.fr/euroc/euroc_qualif_c2/native/euroc-c2s1-simulator_1.0.5_i386.deb
sudo dpkg -i euroc-c2s1-simulator_1.0.5_i386.deb


[Peter Lehner]

There is a new euroc-c2s1-simulator_1.0.6_i386.deb package which fixes the joint error checking floating-point comparision in servo mode for task 2-5

please download this file and install it within your simserv VM or your native setup:

Code: Select all

wget --user=euroc_qualif_c2 --password=YOUR_PASSWORD http://projects.laas.fr/euroc/euroc_qualif_c2/native/euroc-c2s1-simulator_1.0.6_i386.deb
sudo dpkg -i euroc-c2s1-simulator_1.0.6_i386.deb


[fschmidt]

there is a new (optional) euroc-c2s1-interface_1.0.7_i386.deb package which only fixes a documentation bug for the StopCondition message. the correct documentation for the StopCondition/condition_operator field is:

# The condition operator, either:
# - ">" which means value is bigger than threshold
# - "<" which means value is smaller than threshold
# - "|>" which means absolute value is bigger than threshold
# - "|<" which means absolute value is smaller than threshold
string condition_operator

you can install this new interface within your simclientVM or your native setup like this:

Code: Select all

wget --user=euroc_qualif_c2 --password=YOUR_PASSWORD http://projects.laas.fr/euroc/euroc_qualif_c2/native/euroc-c2s1-interface_1.0.7_i386.deb
sudo dpkg -i euroc-c2s1-interface_1.0.7_i386.deb


there is also a new euroc-c2s1-simulator_1.0.8_i386.deb package which fixes a possible race condition at simulator startup and also provides more useful debug output and error messages in case of unexpected errors of the gzserver. with this version you can also test your simclient-VM against a natively running task_selector/simulator - more about this will follow in a separate forum-post ). you can install this new simulator within your simservVM or your native setup like this:

Code: Select all

wget --user=euroc_qualif_c2 --password=YOUR_PASSWORD http://projects.laas.fr/euroc/euroc_qualif_c2/native/euroc-c2s1-simulator_1.0.8_i386.deb
sudo dpkg -i euroc-c2s1-simulator_1.0.8_i386.deb


[fschmidt]

we released a 2nd set of scene files. (euroc-c2s1-scenes_1.0.9_i386.deb)
please download & install this package on your simulator machine (either native or within the simservVM) with this command:

Code: Select all

wget --user=euroc_qualif_c2 --password=YOUR_PASSWORD http://projects.laas.fr/euroc/euroc_qualif_c2/native/euroc-c2s1-scenes_1.0.9_i386.deb
sudo dpkg -i euroc-c2s1-scenes_1.0.9_i386.deb


this 2nd set of scenes demonstrate the to be expected variety in the final evaluation. please test your solutions against it!

we also released a new simulator package (euroc-c2s1-simulator_1.0.9_i386.deb) that only fixes the "start_euroc_task_selector -c" behaviour when you want to test your simclientVM against a natively running simulator. (the -c option causes the script to change the simclientVM network config to be able to reach the native task_selector...)

[fschmidt]

there is a new euroc-c2s1-simulator_1.0.10_i386.deb which fixes a memory access error when having a lot of contacts like in task 5.

we also changed the 2nd set of example scenes euroc-c2s1-scenes_1.0.10_i386.deb: by mistake we had an error of 180[deg] in the rgb-camera-pose and the cylinders in task 4 immediately began to roll of the table which is considered to be too hard to achieve.

please download & install these packages within the simservVM or your native setup. (or download the new simservVM euroc_c2s1_20141014100739.ova).

[fschmidt]

there is a new euroc-c2s1-scenes_1.0.11_i386.deb package:
[*] modifed task6_v{1,2} not to have camera noise (compare http://euroc.iphpbb3.com/forum/20112706nx57588/challenge-2-f4/uncertainties-task6-t74.html)
[*] fixed task2_v2_{2,3} task names
[*] changed task6_v2 drop pose of 8th cube (compare http://euroc.iphpbb3.com/forum/20112706nx57588/challenge-2-f4/simulation-problems-with-flying-objects-and-task-6-t78.html)

please download and install this package in your simservVM or on your native host.

[fschmidt]

there is a new euroc-c2s1-scenes_1.0.12_i386.deb package:

• added v3 tasks as copy of v2 but with rt factor of 0.2 (compare http://euroc.iphpbb3.com/forum/viewtopic.php?nxu=20112706nx57588&f=4&p=283#p283)

please download and install this package in your simservVM or on your native host.