HL controller does not run during unit test.

[srivatsankp]

Hi,

I have been trying to integrate the HOUND platform and am currently stuck in the installation process. I am able to run the unit tests but the MPPI controller does not run during the test. I do not see the elevation map in RViz as well. I do not have the components integrated with the Orin NX while running these tests. I have attached the latest ros log.
latest.zip

Please let me know if I have made any integration errors.
Edit: Currently running this on an Orin NX 8GB.

[sidtalia]

Hi,

Thanks for trying this out!
I think the system needs a 16 GB Orin NX; you may be running into RAM limits.
Although one could bypass this issue with lots of swap space, it may be a lot slower.

Do you have a system with more RAM?

I may not be able to do this today, but I can potentially run a check on my side with a fresh install to see if there is a bug due to which it doesn't run even on the Orin NX 16 GB.

Thanks,
Regards,
Sidharth Talia.

[srivatsankp]

Unfortunately, I do not have access to a 16 GB system at the moment (Awaiting delivery).

Adding additional detail on gridmap failure:

Other observed mapping error:

Additionally, No file was present in the drive folder content/levels but integration instructions were provided. Is this intended?

Thank you for your time.

Regards,
Srivatsank P

[sidtalia]

Hi,

Its a bit difficult to say why the inpainting fails without me testing on my end.
The Error about elevation_mapping/clear_map implies that the elevation mapping stack isn't up and running yet.
I'd ignore the mavros/set_stream_rate as that only works in

Let me get back to you after I test this on my end. It could just be a compute power issue, so it may be worth waiting for the 16 GB variant.

There is a variant of the mapping stack that doesn't use the learning-based approach and doesn't throw such errors, but it is currently a WIP (private). It effectively just uses opencv for inpainting.

Thanks,
Regards,
Sidharth Talia

[sidtalia]

As for the no files being present in the content/levels folder but instructions being provided -- the readme needs to be updated.

The folder is empty on purpose; it is for custom levels that we may create in the future. It won't affect functionality, though the documentation may be a bit misleading, I'll get that fixed.

Thanks for pointing this out!
Regards,
Sidharth Talia.

[sidtalia]

Hi,

I tested the HITL with a newly flashed jetson Orin NX 16GB. I can confirm that the unit test should work.

Possible reasons why it does not work for you:

1. The stack uses up ~13.1 GB of RAM to run, which is likely greater than the RAM + Swap combined on the 8 GB version
2. The Map folder link was outdated in BeamNGRL, but has now been updated. If you cloned the BeamNGRL repo after September 12th 2024, you may have to download the new map folder.

Thanks,
Regards,
Sidharth Talia.