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Bob Davis

@rwdavis513

OpenAgInitiative/openag_brain#273

Bob Davis

@rwdavis513

@rbaynes For the openag_python deprecation, what's the upgrade path? Do we just need to run ./install_dev after pulling the new code or something else?

Rob Baynes

@rbaynes

Hi @rwdavis513 good point, let me write a quick upgrade script.

Rob Baynes

@rbaynes

@rwdavis513 @Spaghet script to upgrade a developer setup on a bot to the head of the develop branch: https://github.com/OpenAgInitiative/openag_brain/blob/develop/scripts/deprecate_openag_python_and_upgrade_dev_install

Bob Davis

@rwdavis513

@rbaynes It looks like the new openag_lib library needs to be installed. What's the easiest way to do so? Do we need to run the overall install script or catkin_make again?

pi@pfc0034:~/catkin_ws/src/openag_brain/scripts $ rosrun openag_brain main personal_food_computer_v2.launch
Traceback (most recent call last):
  File "/home/pi/catkin_ws/src/openag_brain/scripts/main", line 8, in <module>
    from openag_lib.config import config
ImportError: No module named openag_lib.config

Rikuo Hasegawa

@sp4ghet

I ran catkin_make

and it worked

(the tests ran and openag_brain main started without errors)

Rob Baynes

@rbaynes

@rwdavis513 catkin_make please

Bob Davis

@rwdavis513

It looks like the usb_cam package won't install. Have you guys into this before:

-- Found PythonLibs: /usr/lib/arm-linux-gnueabihf/libpython2.7.so (found version "2.7.9")
-- +++ processing catkin package: 'usb_cam'
-- ==> add_subdirectory(usb_cam)
-- Configuring incomplete, errors occurred!
See also "/home/pi/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/pi/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

Rikuo Hasegawa

@sp4ghet

no clue

@rbaynes I found that the EC sensor is the cause of the problems since:

it works when EC is off
it fails when only EC sensor is on

Investigating further to see whether it's the hardware broken or the firmware broken

This might be that Wire library thing Jake was talking about...

Rob Baynes

@rbaynes

@Spaghet thanks. I’m setting up a local VM so I can play with arduino too

Bob Davis

@rwdavis513

@Spaghet were you able to create any tests to verify each sensor/actuator was working correctly?

Rikuo Hasegawa

@sp4ghet

It's on my list to write a recipe that tries all the actuators

Bob Davis

@rwdavis513

@Spaghet What's the process to upgrade to the new serial protocol? I pulled down the latest changes in develop and flashed the arduino (running scripts/firmware successfully), but am getting this error:

s. [std_msgs/Bool]{'message_definition': 'float64 data', 'callerid': '/environments/environment_1/topic_filter_1', 'tcp_nodelay': '0', 'md5sum': 'fdb28210bfa9d7c91146260178d9a584', 'topic': '/environments/environment_1/water_level_high/raw', 'type': 'std_msgs/Float64'}
[WARN] [WallTime: 1497566188.836684] Could not process inbound connection: topic types do not match: [std_msgs/Float64] vs. [std_msgs/Bool]{'message_definition': 'float64 data', 'callerid': '/environments/environment_1/topic_filter_1', 'tcp_nodelay': '0', 'md5sum': 'fdb28210bfa9d7c91146260178d9a584', 'topic': '/environments/environment_1/water_level_low/raw', 'type': 'std_msgs/Float64'}
[WARN] [WallTime: 1497566189.133551] Could not process inbound connection: topic types do not match: [std_msgs/Bool] vs. [std_msgs/Float64]{'message_definition': 'bool data', 'callerid': '/environments/environment_1/arduino_handler', 'tcp_nodelay': '0', 'md5sum': '8b94c1b53db61fb6aed406028ad6332a', 'topic': '/environments/environment_1/water_level_high/commanded', 'type': 'std_msgs/Bool'}

Also, I'm seeing this error from usb cam:

swscaler @ 0x1093e40] No accelerated colorspace conversion found from yuv422p to rgb24.
[mjpeg @ 0x108e1c0] ignoring invalid SAR: 0/0
[swscaler @ 0x1093e40] No accelerated colorspace conversion found from yuv422p to rgb24.
[mjpeg @ 0x108e1c0] ignoring invalid SAR: 0/0
[swscaler @ 0x1093e40] No accelerated colorspace conversion found from yuv422p to rgb24.
[mjpeg @ 0x108e1c0] ignoring invalid SAR: 0/0
[swscaler @ 0x1093e40] No accelerated col

Any thoughts?

Rob Baynes

@rbaynes

@rwdavis513 I’m fixing that warning about bool/float

Rikuo Hasegawa

@sp4ghet

The colorspace stuff is from image_saver

Rikuo Hasegawa

@sp4ghet

It works but I guess it doesn't convert using hardware acceleration or something

Rob Baynes

@rbaynes

yay, my clean install on demo-bot shows that I forgot to install a module. +1 for testing from a clean raspbian.

Bob Davis

@rwdavis513

FYI: https://wiki.openag.media.mit.edu/contributors/bob.davis/pfc_docker_troubleshooting

Bob Davis

@rwdavis513

@rbaynes have you built a new docker image for the latest release yet? If not, perhaps we could do so after the PR from Develop to Master

Rob Baynes

@rbaynes

no docker builds yet, i’m still verifying everything on develop works.

Bob Davis

@rwdavis513

@Spaghet I'm getting this warning when I run the new version. Any ideas? [WallTime: 1498064475.956594] Short read, received part of a message:

Rikuo Hasegawa

@sp4ghet

Do you get that consistently or at the beginning of a openag_brain boot

If it's consistently, Rob is working on it

if it's just at the beginning, that's normal and expected behaviour

Bob Davis

@rwdavis513

It's consistently...

Why is it normal to have it in the beginning? can it be fixed?

Rob Baynes

@rbaynes

the brain / serial communication will still work. we have a demo-bot running here since last Friday with that same issue. it prints consistently. It’s a sync issue in the serial protocol. I’m working on it.

Rikuo Hasegawa

@sp4ghet

Since Serial doesn't do any handshaking you might start listening to a message in the middle of it sending one, which means it will be a short read

and then starting on the second message it will be completely normal

but if it's constantly writing that warning, it's something that Rob is working on

Rob Baynes

@rbaynes

that is indeed what happens. but then some other stuff happens that is recoverable and constantly happens. rob is on it.

Bob Davis

@rwdavis513

@rbaynes @Spaghet Thank you!

@Spaghet Were you able to add checksum message verification and retries to the library? Is the checksum failing the reason for this warning message?

Rikuo Hasegawa

@sp4ghet

No checksums but it does retry

Bob Davis

@rwdavis513

ok. Once Rob fixes this first issue we'll want to add that

Bob Davis

@rwdavis513

@Spaghet Does the new protocol confirm the message was received as well?

Bob Davis

@rwdavis513

Here are some good thoughts on how to rst the Arduino code: https://stackoverflow.com/questions/780819/how-can-i-unit-test-arduino-code

https://github.com/mmurdoch/arduinounit/

Rob Baynes

@rbaynes

thanks @rwdavis513

Bob Davis

@rwdavis513

Here's another great option to assist with debugging Arduino code. it's the visual studio plugin: https://marketplace.visualstudio.com/items?itemName=vsciot-vscode.vscode-arduino

Bob Davis

@rwdavis513

Here's a good reference to help understand how the ros file system works and locate where files are installed:
http://wiki.ros.org/ROS/Tutorials/NavigatingTheFilesystem

Rikuo Hasegawa

@sp4ghet

Might as well do the whole tutorial while you're at it lol
http://wiki.ros.org/ROS/Tutorials

I wonder if there's docs on the inside of a package with its special directory exceptions like node/ and src/ and scripts/ and launch/

im sure gordon wrote something

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