Rospy.ServiceException error using a DNN on the NRP


#1

Hello,

on the NRP, I’m trying to use a model for saliency computation, that consists of a deep neural network on Theano. Following the guys that did the model, I copied some folder in GazeboRosPackages (“embodied_attention”), then ran catkin_make inside GazeboRosPackages. When running the experiment that uses this model, I get an error when I try to start the simulation. Here is the log:

Error Type:
rospy.ServiceException

Error Code:
-1

Message:
Error starting the simulation. (host: localhost)

Data:
service [/ros_cle_simulation/create_new_simulation] responded with an error: error processing request: embodied_attention
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/alban/Documents/NRP/GazeboRosPackages/src
ROS path [2]=/opt/ros/kinetic/share

Stack Trace:
Error
at new ClbError (http://localhost:9000/bower_components/angular-hbp-collaboratory/angular-hbp-collaboratory.js:2697:17)
at Object.error (http://localhost:9000/bower_components/angular-hbp-collaboratory/angular-hbp-collaboratory.js:2738:14)
at controller (http://localhost:9000/bower_components/angular-hbp-collaboratory/angular-hbp-collaboratory.js:4434:29)
at Object.invoke (http://localhost:9000/bower_components/angular/angular.js:4570:17)
at extend.instance (http://localhost:9000/bower_components/angular/angular.js:9445:34)
at resolveSuccess (http://localhost:9000/bower_components/angular-bootstrap/ui-bootstrap-tpls.js:4154:34)
at processQueue (http://localhost:9000/bower_components/angular/angular.js:15122:28)
at http://localhost:9000/bower_components/angular/angular.js:15138:27
at Scope.$eval (http://localhost:9000/bower_components/angular/angular.js:16384:28)
at Scope.$digest (http://localhost:9000/bower_components/angular/angular.js:16200:31)

I don’t really understand the error … :frowning: could someone help me?
Note: to use embodied_attention outside NRP, you have to run “roslaunch saliency kinect.launch”. But when I tried it, it did not work. So then I installed “ros-kinetic-launchtool” with apt-get because I did not have it. But even now if I try the same command, I obtain the following error:

[kinect.launch] is neither a launch file in package [saliency] nor is [saliency] a launch file name
The traceback for the exception was written to the log file

(I’m not sure where this log file is, and also: it still does the same error as above on the NRP.)

Thanks if you can give my some help!!
Alban


#2

Hi Alban

it seems that the simulation couldn’t start.

  1. You’re not suppose to call roslaunch saliency kinect.launch yourself : the launchfile is referenced in the .exc file of the CDP4 experiment
  2. you can indeed try roslaunch embodied_attention nrp.launch without the NRP to see if that works correctly (sorry we renamed the package - I will update the README).

Jacques


#3

Thank you for the help ! the problem with the .launch file was solved and now I’m still trying to run the saliency model on the NRP, but meeting a new error when starting the simulation.

Actually, I can run the same saliency model using my webcam as an input instead of the NRP camera image, and everything works perfectly. However on the NRP version, after solving many other issues, I’m finally stuck with this bug (here is the nrp-backend log): > https://justpaste.it/1e1ao

Could someone help me to understand these errors? I can’t figure out what’s in these more than “the simulation could not initialise”. So it’s hard for me to find out what to do. I really tried to make sure that the platform virtual environment is using the same versions of libraries that are used by the original version of the saliency model (the one with the webcam).

Thank you very much in advance for any help!

Cheers,
Alban