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[schornakj]

Some overlap with yak_ros issue #34.

[ghost]

I am running Cuda Version 11.2 and getting the following error:

❯ roslaunch yak_ros demo.launch
... logging to /home/bieri/.ros/log/01537e1e-803d-11eb-9b28-253748b1a415/roslaunch-pop-os-22965.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.

started roslaunch server http://pop-os:41311/

SUMMARY
========

PARAMETERS
 * /image_sim_node/base_frame: world
 * /image_sim_node/framerate: 30
 * /image_sim_node/mesh: /home/bieri/hotsp...
 * /image_sim_node/orbit_speed: 1.0
 * /rosdistro: noetic
 * /rosversion: 1.15.9
 * /tsdf_node/camera_matrix: [550.0, 0.0, 320....
 * /tsdf_node/cols: 640
 * /tsdf_node/generate_mesh: /home/bieri/hotsp...
 * /tsdf_node/rows: 480
 * /tsdf_node/tsdf_frame: tsdf_origin
 * /tsdf_node/volume_resolution: 0.001
 * /tsdf_node/volume_x: 640
 * /tsdf_node/volume_y: 640
 * /tsdf_node/volume_z: 192

NODES
  /
    image_sim_node (yak_ros/yak_ros_image_simulator)
    link1_broadcaster (tf/static_transform_publisher)
    tsdf_node (yak_ros/yak_ros_node)

auto-starting new master
process[master]: started with pid [22973]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 01537e1e-803d-11eb-9b28-253748b1a415
process[rosout-1]: started with pid [22984]
started core service [/rosout]
process[image_sim_node-2]: started with pid [22991]
process[tsdf_node-3]: started with pid [22992]
process[link1_broadcaster-4]: started with pid [22993]
[ WARN] [1615228507.899083114]: TF lookupTransform error: "tsdf_origin" passed to lookupTransform argument target_frame does not exist. 
[ WARN] [1615228507.989822506]: TF lookupTransform error: Lookup would require extrapolation at time 1615228507.897901535, but only time 1615228508.062432289 is in the buffe, when looking up transform from frame [camera] to frame [tsdf_origin]
[ WARN] [1615228507.994927660]: TF lookupTransform error: Lookup would require extrapolation at time 1615228507.897901535, but only time 1615228508.062432289 is in the buffe, when looking up transform from frame [camera] to frame [tsdf_origin]
[ WARN] [1615228507.999664694]: TF lookupTransform error: Lookup would require extrapolation at time 1615228507.897901535, but only time 1615228508.062432289 is in the buffe, when looking up transform from frame [camera] to frame [tsdf_origin]
[ WARN] [1615228508.029567857]: TF lookupTransform error: Lookup would require extrapolation at time 1615228507.897901535, but only time 1615228508.062432289 is in the buffe, when looking up transform from frame [camera] to frame [tsdf_origin]
[ WARN] [1615228508.066454829]: TF lookupTransform error: Lookup would require extrapolation 0.164530877s into the past.  Requested time 1615228507.897901535 but the earliest data is at time 1615228508.062432289, when looking up transform from frame [camera] to frame [tsdf_origin]
[ WARN] [1615228508.095933957]: TF lookupTransform error: Lookup would require extrapolation 0.073389621s into the past.  Requested time 1615228507.989042759 but the earliest data is at time 1615228508.062432289, when looking up transform from frame [camera] to frame [tsdf_origin]
[ WARN] [1615228508.135007097]: TF lookupTransform error: Lookup would require extrapolation 0.068141069s into the past.  Requested time 1615228507.994291306 but the earliest data is at time 1615228508.062432289, when looking up transform from frame [camera] to frame [tsdf_origin]
[ WARN] [1615228508.168339231]: TF lookupTransform error: Lookup would require extrapolation 0.063424633s into the past.  Requested time 1615228507.999007702 but the earliest data is at time 1615228508.062432289, when looking up transform from frame [camera] to frame [tsdf_origin]
[ WARN] [1615228508.195901645]: TF lookupTransform error: Lookup would require extrapolation 0.033558038s into the past.  Requested time 1615228508.028874397 but the earliest data is at time 1615228508.062432289, when looking up transform from frame [camera] to frame [tsdf_origin]
[ERROR] [1615228508.238984197]: Failed to fuse image.

The bunny seems to be alright though:

[schornakj]

The error [ERROR] [1615228508.238984197]: Failed to fuse image can be thrown during a specific attempt to fuse an image, and it sometimes occurs if the Yak node tries to fuse images before the environment is fully initialized. Not necessarily a fatal error (though a good task for the future would be eliminating these kinds of "acceptable" error logs, since they add a lot of noise when debugging).

Since Yak builds and runs successfully with CUDA 11.2 and Ubuntu 20.04, I think the main TODO is just to add those versions to the CI workflow.