Automatic Control

[xms3787976857]

Hi! thank you very much for your help.
When using the automatic control—specifically the Straight line method mentioned in your "running_example.md"—I noticed that the vehicle doesn't seem to move. Could this be because I'm using the cloud version? Or is there another issue?

[haoyuma2002814]

Hi,

This should not be a problem with the cloud version.

From your attached image, I can see there is a console error in the bottom saying an array can not be copied from host to GPU, can you double check if you face errors when you run this example?

Also, I see the "run" button doesn't become a "stop", indicating you haven't clicked it.

Moreover, when you switch the control, please make sure to reload this scene, there should be printout in console that reminds users to do so when user switches the control mode.

Let me know if you are still facing this issue.

Thank you

[xms3787976857]

Thank you for your reply. Regarding your first question, I just tried again and this time there were no errors below. For the second question, I clicked Run this time as well, but it still seems unresponsive.

[xms3787976857]

This is the console output. Then I disabled saving sonar images and depth images in the code. Now the UI shows no errors, but it still doesn't work. What's even stranger is that I can still control the ROV's movement in this automatic mode.

[xms3787976857]

If I want to autonomously add a speed or a waypoint to this ROV, can I use the action graph? Or could you tell me where your autonomous control code is written? I'd like to study it.

[xms3787976857]

I noticed the UI interface shows the speed, but the ROV isn't moving. Sorry to bother you.

[haoyuma2002814]

Hi,

No problem, i am happy to answer your questions.

I recommend you taking look at code in this file.

In the same folder, there is a file named ui_builder.py and scenario.py, these are two most important files that related to this example:

ui_builder.py essentailly sets up the scene, eg: load the environment, attach the sensor, UI management.
scenario.py is about how the the simulation is updated given you previous setup, so all controller is used in this file.

You can find this issue where we talked about how our controller is implemented.

Please let me know if you still have more questions. Or any specific features you'd like to achieve so I can give you more information.

Thank you

[xms3787976857]

Thank you so much.
I was hoping to directly adjust the speed and force values in the UI while operating in autonomous control mode. However, after running the program, I noticed that the speed and force values rapidly reset to zero, causing the ROV to only move a short distance. I didn't encounter this issue when previously setting the speed using joints. Perhaps I'm not fully familiar with Xform. Is this behavior normal? Why is this happening?

[xms3787976857]

Yes,

I've realized that waypoint control is essentially a direct change in position.

So if I want to create a waypoint file myself, how should I proceed? The Synthetic Data Recorder in the UI seems to only record sensor pose data.

If I want to directly record the robot's pose data, how should I do that?

[haoyuma2002814]

I was hoping to directly adjust the speed and force values in the UI while operating in autonomous control mode.

I don't quite understand what is the autonomous control mode. But if you want to move your robot in a designated speed or being applied with a certain force, rigidbodyAPI is the place to handle that.

I noticed that the speed and force values rapidly reset to zero

I think the reason for this is you have to call set_velocity() or set_applied_force() inside the simulation loop, which means in scenario.py

If you call this in setup, this function is only called once per loading the stage.

Thank you.