《Learning High Speed Flight in the Wild》生成专家轨迹部分--数据记录

原创
已于 2022-01-20 15:08:10 修改 · 785 阅读
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CC 4.0 BY-SA版权
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#机器学习 #深度学习 #人工智能
于 2022-01-13 16:01:17 首次发布
该文记录了使用simulation.launch进行无人机模拟训练的过程，详细展示了从启动到完成的各个阶段信息，包括状态切换、轨迹计算、点云生成及规划等关键步骤。
暂时主要是记录下数据。simulation.launch运行中数据如下（第1次训练数据)：
[ INFO] [1642060400.137616415, 3.221000000]: Unity is ready!
[ INFO] [1642060408.461146842, 6.959000000]: Received off command, stopping maneuver execution!
[ INFO] [1642060408.461173510, 6.959000000]: Switching to kOff
[ INFO] [1642060410.311853503, 7.884000000]: Received off command, stopping maneuver execution!
[ INFO] [1642060410.311899099, 7.884000000]: Switching to kOff
[ INFO] [1642060411.313253211, 7.994000000]: [/hummingbird/autopilot] START command received
[ INFO] [1642060411.313272237, 7.994000000]: [/hummingbird/rpg_rotors_interface] Interface armed
[ INFO] [1642060411.313346993, 7.994000000]: [/hummingbird/autopilot] Absolute state estimate available, taking off based on it
[ INFO] [1642060411.313391267, 7.994000000]: [/hummingbird/autopilot] Switched to START state
[ INFO] [1642060415.381725088, 9.995000000]: Solving MPC with hover as initial guess.
[ INFO] [1642060423.167644850, 13.885000000]: [/hummingbird/autopilot] Switched to BREAKING state
[ INFO] [1642060423.327718420, 13.965000000]: [/hummingbird/autopilot] Switched to HOVER state
[ INFO] [1642060436.336003882, 20.464000000]: Initiated Logging, computing reference trajectory and generating point cloud!
[ INFO] [1642060436.336070427, 20.464000000]: Starting maneuver computation
Initiated acrobatic sequence
Creating directories in [/home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data]
[ INFO] [1642060438.384379494, 21.488000000]: Find elevation
[ INFO] [1642060438.384423606, 21.488000000]: Place trees
[ INFO] [1642060440.385410823, 22.488000000]: Spawning [2147] trees, poisson mode is [2209].
[ INFO] [1642060440.385460142, 22.488000000]: Incrementing seed to 69.
[ INFO] [1642060441.566560142, 23.078000000]: Start creating pointcloud
[ INFO] [1642060441.566614911, 23.078000000]: Scale pointcloud: [60.00, 20.00, 10.00]
[ INFO] [1642060441.566638023, 23.078000000]: Origin pointcloud: [0.00, 20.00, 1.89]
[ INFO] [1642060458.567934753, 31.573000000]: Pointcloud saved
Opened new odometry file: /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data/rollout_22-01-13_15-53-56/odometry.csv
Saving trajectory to CSV. 
Trajectory filename: /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data/rollout_22-01-13_15-53-56/reference_trajectory.csv
Saved trajectory to file.
[ INFO] [1642060458.571441742, 31.575000000]: Not yet switching state machine, waiting for global reference to arrive...
[ INFO] [1642060458.571473658, 31.575000000]: Maneuver computation successful!
[ INFO] [1642060458.571493574, 31.575000000]: Maneuver computation took 11.1110 seconds.
Performing planning for directory /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data
[ INFO] [1642060462.572713701, 33.575000000]: Added Folder: /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data/rollout_22-01-13_15-53-56
Loading reference trajectory from /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data/rollout_22-01-13_15-53-56/reference_trajectory.csv
Now Reading: /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data/rollout_22-01-13_15-53-56/pointcloud-unity.ply
	parsing 4.12656mb in 0.0166449 seconds [247.918 MBps]
Completed pointcloud parsing!
[ INFO] [1642060462.602983965, 33.590000000]: Loaded pointcloud contains 343870 points.
[ INFO] [1642060462.607247352, 33.592000000]: Pointcloud2 contains 343870 points.
[ INFO] [1642060462.607269003, 33.592000000]: Pointcloud contains 343870 points.
[ INFO] [1642060462.607280195, 33.592000000]: Takes 0.017000 sec to set up map!
[ INFO] [1642060462.607285803, 33.592000000]: Initiating planner...
[EllipsoidPlanner] PLANNER VERBOSE ON
[ INFO] [1642060462.607290811, 33.592000000]: robot_radius: 0.30
Origin:      -25       15 -3.11187
Dimension: 50 10 10
setMap
env_cloud
setObstacles
obs.size() : 343870 
Done setObstacles
setBoundingBox
Done setBoundingBox
Done env_cloud
Done setMap
[ INFO] [1642060462.662947371, 33.620000000]: epsilon: 2.00
[PlannerBase] set epsilon: 2.000000
[PlannerBase] set v_max: 7.000000
[PlannerBase] set a_max: 10.000000
[PlannerBase] set dt: 0.200000
[PlannerBase] set w: 10000.000000
[PlannerBase] set max num: 500000
[PlannerBase] set tol_pos: 7.000000
[PlannerBase] set tol_vel: 100.000000
[PlannerBase] set tol_acc: 100.000000
[ INFO] [1642060462.662988367, 33.620000000]: Setting start and goal...
[ INFO] [1642060462.663003676, 33.620000000]: Reading prior trajectory...
[ INFO] [1642060462.663018758, 33.620000000]: Initiate planning...
Start:
pos:     -20      20 1.88813
vel:    0.2 -1e-08 -4e-08
acc: 0 0 0
use jrk!
Goal:
pos:      20      20 1.88813
vel: 10  0  0
acc: 0 0 0
use jrk!

++++++++++++++++++++ env_base ++++++++++++++++++
+                  w: 10000.00               +
+               wyaw: 1.00               +
+                 dt: 0.20               +
+              t_max: inf               +
+              v_max: 7.00               +
+              a_max: 10.00               +
+              j_max: -1.00               +
+            yaw_max: -1.00               +
+              U num: 25                +
+            tol_pos: 7.00               +
+            tol_vel: 100.00               +
+            tol_acc: 100.00               +
+            tol_yaw: -1.00               +
+heur_ignore_dynamics: 1                 +
++++++++++++++++++++ env_base ++++++++++++++++++

Start from new node!
goalNode fval: 80985.714286, g: 62700.000000!
Expand [124] nodes!
Reached Goal !!!!!!

t: 6 pos:    13.6   22.12 1.88813 vel:    6.2    5.4 -4e-08
g: 62700.000000, rhs: inf, h: 9142.857143
t: 5.8 pos:   12.36   20.92 1.88813 vel:    6.2    6.6 -4e-08
g: 60700.000000, rhs: inf, h: 10914.285714
t: 5.6 pos:   11.12   19.56 1.88813 vel:    6.2    6.6 -4e-08
g: 57980.000000, rhs: inf, h: 12685.714286
t: 5.4 pos:    9.88   18.36 1.88813 vel:    6.2    5.4 -4e-08
g: 55980.000000, rhs: inf, h: 14457.142857
t: 5.2 pos:    8.64    17.4 1.88813 vel:    6.2    4.2 -4e-08
g: 53980.000000, rhs: inf, h: 16228.571429
t: 5 pos:     7.4   16.68 1.88813 vel:    6.2      3 -4e-08
g: 51980.000000, rhs: inf, h: 18000.000000
t: 4.8 pos:    6.16    16.2 1.88813 vel:    6.2    1.8 -4e-08
g: 49980.000000, rhs: inf, h: 19771.428571
t: 4.6 pos:    4.92   15.96 1.88813 vel:    6.2    0.6 -4e-08
g: 47980.000000, rhs: inf, h: 21542.857143
t: 4.4 pos:    3.68   15.96 1.88813 vel:    6.2   -0.6 -4e-08
g: 45980.000000, rhs: inf, h: 23314.285714
t: 4.2 pos:    2.44    16.2 1.88813 vel:    6.2   -1.8 -4e-08
g: 43980.000000, rhs: inf, h: 25085.714286
t: 4 pos:     1.2   16.68 1.88813 vel:    6.2     -3 -4e-08
g: 41980.000000, rhs: inf, h: 26857.142857
t: 3.8 pos:   -0.04    17.4 1.88813 vel:    6.2   -4.2 -4e-08
g: 39980.000000, rhs: inf, h: 28628.571429
t: 3.6 pos:   -1.28   18.36 1.88813 vel:    6.2   -5.4 -4e-08
g: 37980.000000, rhs: inf, h: 30400.000000
t: 3.4 pos:   -2.52   19.56 1.88813 vel:    6.2   -6.6 -4e-08
g: 35980.000000, rhs: inf, h: 32171.428571
t: 3.2 pos:   -3.76   20.92 1.88813 vel:    6.2   -6.6 -4e-08
g: 33260.000000, rhs: inf, h: 33942.857143
t: 3 pos:      -5   22.12 1.88813 vel:    6.2   -5.4 -4e-08
g: 31260.000000, rhs: inf, h: 35714.285714
t: 2.8 pos:   -6.24   23.08 1.88813 vel:    6.2   -4.2 -4e-08
g: 29260.000000, rhs: inf, h: 37485.714286
t: 2.6 pos:   -7.48    23.8 1.88813 vel:    6.2     -3 -4e-08
g: 27260.000000, rhs: inf, h: 39257.142857
t: 2.4 pos:   -8.72   24.28 1.88813 vel:    6.2   -1.8 -4e-08
g: 25260.000000, rhs: inf, h: 41028.571429
t: 2.2 pos:   -9.96   24.56 1.88813 vel:    6.2   -1.2 -4e-08
g: 23080.000000, rhs: inf, h: 42800.000000
t: 2 pos:   -11.2   24.76 1.88813 vel:    6.2   -0.6 -4e-08
g: 20900.000000, rhs: inf, h: 44571.428571
t: 1.8 pos:  -12.44   24.76 1.88813 vel:    6.2    0.6 -4e-08
g: 18900.000000, rhs: inf, h: 46342.857143
t: 1.6 pos:  -13.68   24.52 1.88813 vel:    6.2    1.8 -4e-08
g: 16900.000000, rhs: inf, h: 48114.285714
t: 1.4 pos:  -14.92   24.04 1.88813 vel:    6.2      3 -4e-08
g: 14900.000000, rhs: inf, h: 49885.714286
t: 1.2 pos:  -16.16   23.32 1.88813 vel:    6.2    4.2 -4e-08
g: 12900.000000, rhs: inf, h: 51657.142857
t: 1 pos:  -17.36    22.4 1.88813 vel:    5.6    4.8 -4e-08
g: 10540.000000, rhs: inf, h: 53371.428571
t: 0.8 pos:  -18.36   21.48 1.88813 vel:    4.4    4.2 -4e-08
g: 8360.000000, rhs: inf, h: 54800.000000
t: 0.6 pos:  -19.12   20.76 1.88813 vel:    3.2      3 -4e-08
g: 6360.000000, rhs: inf, h: 55885.714286
t: 0.4 pos:  -19.64   20.28 1.88813 vel:      2    1.8 -4e-08
g: 4360.000000, rhs: inf, h: 56628.571429
t: 0.2 pos:  -19.92   20.04 1.88813 vel:    0.8    0.6 -4e-08
g: 2360.000000, rhs: inf, h: 57028.571429
t: 0 pos:     -20      20 1.88813
g: 0.000000, rhs: inf, h: 57142.857143
[ INFO] [1642060462.666013868, 33.621000000]: Succeed! Takes 0.001000 sec for planning, expand [124] nodes
Saving trajectory to CSV. 
Trajectory filename: /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data/rollout_22-01-13_15-53-56/ellipsoid_trajectory.csv
Saved trajectory to file.
================== Traj -- total J(VEL): 292.128000, J(ACC): 216.000000, J(JRK): 0.000000, total time: 6.000000
max roll: 31.450823 at [0.204000]
max pitch: 31.450823 at [0.912000]
[ INFO] [1642060462.667852031, 33.622000000]: Global Planner completed! Loading adapted reference trajectory now!
Loading reference trajectory from /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data/rollout_22-01-13_15-53-56/ellipsoid_trajectory.csv
Smoothing trajectory of length [302]
Smoothed trajectory has [27775] points.
resampled_trajectory has [634] points.
Saving trajectory to CSV. 
Trajectory filename: /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data/rollout_22-01-13_15-53-56/ellipsoid_trajectory.csv
Saved trajectory to file.
t: 0.00 | Position: -20.00, 20.00, 1.89 | Velocity: 0.00, 0.00, 0.00
t: 0.01 | Position: -20.00, 20.00, 1.89 | Velocity: 0.05, 0.00, 0.00
t: 0.02 | Position: -20.00, 20.00, 1.89 | Velocity: 0.10, 0.00, 0.00
t: 0.03 | Position: -20.00, 20.00, 1.89 | Velocity: 0.15, 0.01, 0.00
t: 0.04 | Position: -19.99, 20.00, 1.89 | Velocity: 0.20, 0.01, 0.00
t: 0.05 | Position: -19.99, 20.00, 1.89 | Velocity: 0.25, 0.04, 0.00
t: 0.06 | Position: -19.99, 20.00, 1.89 | Velocity: 0.30, 0.05, 0.00
t: 0.07 | Position: -19.98, 20.00, 1.89 | Velocity: 0.34, 0.09, 0.00
t: 0.08 | Position: -19.98, 20.00, 1.89 | Velocity: 0.37, 0.14, 0.00
t: 0.09 | Position: -19.98, 20.00, 1.89 | Velocity: 0.41, 0.19, 0.00
t: 0.10 | Position: -19.97, 20.01, 1.89 | Velocity: 0.45, 0.21, 0.00
t: 0.11 | Position: -19.97, 20.01, 1.89 | Velocity: 0.48, 0.27, -0.00
t: 0.12 | Position: -19.96, 20.01, 1.89 | Velocity: 0.52, 0.29, -0.00
t: 0.13 | Position: -19.95, 20.02, 1.89 | Velocity: 0.55, 0.35, 0.00
t: 0.14 | Position: -19.95, 20.02, 1.89 | Velocity: 0.58, 0.39, 0.00
t: 0.15 | Position: -19.94, 20.03, 1.89 | Velocity: 0.62, 0.42, 0.00
t: 0.16 | Position: -19.93, 20.03, 1.89 | Velocity: 0.65, 0.47, 0.00
t: 0.17 | Position: -19.93, 20.04, 1.89 | Velocity: 0.69, 0.50, 0.00
t: 0.18 | Position: -19.92, 20.04, 1.89 | Velocity: 0.71, 0.55, 0.00
t: 0.19 | Position: -19.91, 20.05, 1.89 | Velocity: 0.75, 0.58, 0.00
t: 0.20 | Position: -19.90, 20.05, 1.89 | Velocity: 0.78, 0.62, 0.00
t: 0.21 | Position: -19.89, 20.06, 1.89 | Velocity: 0.82, 0.65, 0.00
t: 0.22 | Position: -19.89, 20.07, 1.89 | Velocity: 0.86, 0.68, 0.00
t: 0.23 | Position: -19.88, 20.08, 1.89 | Velocity: 0.89, 0.73, 0.00
t: 0.24 | Position: -19.87, 20.08, 1.89 | Velocity: 0.93, 0.76, 0.00
t: 0.25 | Position: -19.86, 20.09, 1.89 | Velocity: 0.96, 0.80, 0.00
t: 0.26 | Position: -19.85, 20.10, 1.89 | Velocity: 1.00, 0.83, 0.00
t: 0.27 | Position: -19.83, 20.11, 1.89 | Velocity: 1.03, 0.87, 0.00
t: 0.28 | Position: -19.82, 20.12, 1.89 | Velocity: 1.07, 0.91, 0.00
t: 0.29 | Position: -19.81, 20.13, 1.89 | Velocity: 1.10, 0.94, 0.00
t: 0.30 | Position: -19.80, 20.14, 1.89 | Velocity: 1.14, 0.98, 0.00
t: 0.31 | Position: -19.79, 20.15, 1.89 | Velocity: 1.17, 1.01, 0.00
t: 0.32 | Position: -19.78, 20.16, 1.89 | Velocity: 1.21, 1.05, 0.00
t: 0.33 | Position: -19.76, 20.17, 1.89 | Velocity: 1.24, 1.09, 0.00
t: 0.34 | Position: -19.75, 20.18, 1.89 | Velocity: 1.28, 1.12, 0.00
t: 0.35 | Position: -19.74, 20.19, 1.89 | Velocity: 1.31, 1.16, 0.00
t: 0.36 | Position: -19.72, 20.21, 1.89 | Velocity: 1.35, 1.19, 0.00
t: 0.37 | Position: -19.71, 20.22, 1.89 | Velocity: 1.38, 1.23, -0.00
t: 0.38 | Position: -19.69, 20.23, 1.89 | Velocity: 1.42, 1.26, -0.00
t: 0.39 | Position: -19.68, 20.25, 1.89 | Velocity: 1.45, 1.30, 0.00
t: 0.40 | Position: -19.66, 20.26, 1.89 | Velocity: 1.49, 1.34, 0.00
t: 0.41 | Position: -19.65, 20.27, 1.89 | Velocity: 1.53, 1.37, 0.00
t: 0.42 | Position: -19.63, 20.29, 1.89 | Velocity: 1.56, 1.41, 0.00
t: 0.43 | Position: -19.62, 20.30, 1.89 | Velocity: 1.60, 1.44, 0.00
t: 0.44 | Position: -19.60, 20.32, 1.89 | Velocity: 1.63, 1.48, 0.00
t: 0.45 | Position: -19.58, 20.33, 1.89 | Velocity: 1.67, 1.51, 0.00
t: 0.46 | Position: -19.56, 20.35, 1.89 | Velocity: 1.70, 1.55, 0.00
t: 0.47 | Position: -19.55, 20.37, 1.89 | Velocity: 1.74, 1.58, 0.00
t: 0.48 | Position: -19.53, 20.38, 1.89 | Velocity: 1.77, 1.62, 0.00
t: 0.49 | Position: -19.51, 20.40, 1.89 | Velocity: 1.81, 1.66, 0.00
t: 0.50 | Position: -19.49, 20.42, 1.89 | Velocity: 1.84, 1.69, 0.00
t: 0.51 | Position: -19.47, 20.43, 1.89 | Velocity: 1.88, 1.72, 0.00
t: 0.52 | Position: -19.45, 20.45, 1.89 | Velocity: 1.91, 1.76, 0.00
t: 0.53 | Position: -19.43, 20.47, 1.89 | Velocity: 1.95, 1.80, 0.00
t: 0.54 | Position: -19.41, 20.49, 1.89 | Velocity: 1.98, 1.83, 0.00
t: 0.55 | Position: -19.39, 20.51, 1.89 | Velocity: 2.02, 1.87, 0.00
t: 0.56 | Position: -19.37, 20.53, 1.89 | Velocity: 2.06, 1.90, 0.00
t: 0.57 | Position: -19.35, 20.55, 1.89 | Velocity: 2.09, 1.94, 0.00
t: 0.58 | Position: -19.33, 20.57, 1.89 | Velocity: 2.13, 1.97, 0.00
t: 0.59 | Position: -19.31, 20.59, 1.89 | Velocity: 2.16, 2.01, 0.00
t: 0.60 | Position: -19.28, 20.61, 1.89 | Velocity: 2.20, 2.04, 0.00
t: 0.61 | Position: -19.26, 20.63, 1.89 | Velocity: 2.23, 2.08, 0.00
t: 0.62 | Position: -19.24, 20.65, 1.89 | Velocity: 2.27, 2.12, 0.00
t: 0.63 | Position: -19.21, 20.67, 1.89 | Velocity: 2.30, 2.15, 0.00
t: 0.64 | Position: -19.19, 20.69, 1.89 | Velocity: 2.34, 2.18, 0.00
t: 0.65 | Position: -19.17, 20.72, 1.89 | Velocity: 2.37, 2.22, 0.00
t: 0.66 | Position: -19.14, 20.74, 1.89 | Velocity: 2.41, 2.26, 0.00
t: 0.67 | Position: -19.12, 20.76, 1.89 | Velocity: 2.44, 2.29, 0.00
t: 0.68 | Position: -19.09, 20.79, 1.89 | Velocity: 2.48, 2.33, 0.00
t: 0.69 | Position: -19.07, 20.81, 1.89 | Velocity: 2.52, 2.36, 0.00
t: 0.70 | Position: -19.04, 20.83, 1.89 | Velocity: 2.55, 2.40, -0.00
t: 0.71 | Position: -19.01, 20.86, 1.89 | Velocity: 2.59, 2.43, -0.00
t: 0.72 | Position: -18.99, 20.88, 1.89 | Velocity: 2.62, 2.47, 0.00
t: 0.73 | Position: -18.96, 20.91, 1.89 | Velocity: 2.66, 2.50, 0.00
t: 0.74 | Position: -18.93, 20.94, 1.89 | Velocity: 2.69, 2.54, 0.00
t: 0.75 | Position: -18.91, 20.96, 1.89 | Velocity: 2.73, 2.57, 0.00
t: 0.76 | Position: -18.88, 20.99, 1.89 | Velocity: 2.76, 2.61, 0.00
t: 0.77 | Position: -18.85, 21.02, 1.89 | Velocity: 2.80, 2.65, 0.00
t: 0.78 | Position: -18.82, 21.04, 1.89 | Velocity: 2.83, 2.68, 0.00
t: 0.79 | Position: -18.79, 21.07, 1.89 | Velocity: 2.87, 2.72, 0.00
t: 0.80 | Position: -18.76, 21.10, 1.89 | Velocity: 2.90, 2.75, 0.00
t: 0.81 | Position: -18.73, 21.13, 1.89 | Velocity: 2.94, 2.79, 0.00
t: 0.82 | Position: -18.70, 21.16, 1.89 | Velocity: 2.97, 2.82, 0.00
t: 0.83 | Position: -18.67, 21.18, 1.89 | Velocity: 3.01, 2.86, 0.00
t: 0.84 | Position: -18.64, 21.21, 1.89 | Velocity: 3.05, 2.89, 0.00
t: 0.85 | Position: -18.61, 21.24, 1.89 | Velocity: 3.08, 2.93, 0.00
t: 0.86 | Position: -18.58, 21.27, 1.89 | Velocity: 3.12, 2.96, 0.00
t: 0.87 | Position: -18.54, 21.30, 1.89 | Velocity: 3.15, 3.00, 0.00
t: 0.88 | Position: -18.51, 21.33, 1.89 | Velocity: 3.19, 3.03, 0.00
t: 0.89 | Position: -18.48, 21.37, 1.89 | Velocity: 3.22, 3.07, 0.00
t: 0.90 | Position: -18.45, 21.40, 1.89 | Velocity: 3.26, 3.11, 0.00
t: 0.91 | Position: -18.41, 21.43, 1.89 | Velocity: 3.29, 3.14, 0.00
t: 0.92 | Position: -18.38, 21.46, 1.89 | Velocity: 3.33, 3.17, 0.00
t: 0.93 | Position: -18.34, 21.49, 1.89 | Velocity: 3.36, 3.21, 0.00
t: 0.94 | Position: -18.31, 21.53, 1.89 | Velocity: 3.40, 3.25, 0.00
t: 0.95 | Position: -18.27, 21.56, 1.89 | Velocity: 3.44, 3.28, 0.00
t: 0.96 | Position: -18.24, 21.60, 1.89 | Velocity: 3.47, 3.31, 0.00
t: 0.97 | Position: -18.20, 21.63, 1.89 | Velocity: 3.51, 3.35, 0.00
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《Learning High Speed Flight in the Wild》生成专家轨迹部分--数据记录

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