Issues on Step 2: Start the Evaluation Container

[J_Zhang]

Hello, I’m following the ‘Getting Started‘ instructions. I’ve set up Docker, Distrobox, Pixi, Nvidia Container Toolkit; and Workspace. Right now I’m stuck at Step 2: Start the Evaluation Container.

Everything looks good; but the last step: /entrypoint.sh ground_truth:=false start_aic_engine:=true

Looks good so far: I see Gazebo and RVix open with robot showing; in the terminal showing ‘AIC engine initialized successfully!’

And it continue ‘Starting AIC Engine Run Total Trials: 3‘ and ‘Starting trial _1‘

log: ‘No node with name ‘aic_model‘ found. Retrying… ‘ appear with some warning and other INFO.

and other a lot of INFO

with SEVERE WARNING!!! and fatal IO error,

and Aborted with EEOR; and Participand model is not ready for trial_1

with some warnings and then Trial_1 failed or was not completed. Score: 0. Then trial_2

Then: No node with name ‘aic_model’ found. Retrying… with

✗ Participant model is not ready for trial ‘trial_2’

And Trial ‘trial_2’ failed or was not completed. Score: 0.000000. Continuing to next trial…

Trial_3 with Error

Finally Trial ‘trial_3’ failed or was not completed. Score: 0. and Show Complete Scoring Results

End with INFO and won’t exit logging.

I was supposed to continue with Step 3: Run an Example Policy. when exiting the log. But it won’t.

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Can anyone feedback any clue please?

I’m on WSL2 and couldn’t active Nvidia GPU acceleration. As I know to use Nvidia GPU under WSL is different, as requires NVIDIA CUDA Toolkit inside Ubuntu instead of driver (for Windows). [xtra info]

Can anyone help please? Or this is related to WSL vs linux OS?

[No_Quarter_Robotics]

Hello, are you starting the policy in another terminal? Soon as Rviz starts, start the policy in another terminal.. This is the way I do it.

[J_Zhang]

Thx! @No_Quarter_Robotics

This is the solution. One following Question: Do we have to enter the same ‘aic_eval‘ container to run the example policy in Step 3?

[No_Quarter_Robotics]

yes, this is my setup.

#1
sudo mount --make-rshared /
distrobox enter -r aic_eval

cd ~/ws_aic
/entrypoint.sh ground_truth:=true start_aic_engine:=true

#2

distrobox enter -r aic_eval
cd ~/ws_aic/src/aic
source /opt/ros/kilted/setup.bash
PYTHONPATH=$PWD pixi run ros2 run aic_model aic_model --ros-args -p use_sim_time:=true -p policy:=nqr_policies.InsertCable04

[Andrew_Garrett]

@J_Zhang you don’t need to enter the container to run the policy. After running pixi install in the root of the AIC repo, you can run the last command @No_Quarter_Robotics shared on the host (i.e. not in the distrobox container).

I recommend using a shell script that spawns a tmux session with at least two tabs, where one tab enters the distrobox and starts the sim, while the other tab(s) starts your policy and any other ros nodes you’d like to run.