RSDK-1718 - Add GetInternalState to SLAM RDK #1776

ghost · 2023-01-18T04:49:07Z

This PR ands the GetInternalState functionality to the SLAM service in RDK. Similarly to the Position and GetMap, this function acts as a middleman, forwarding requests from RDK to the SLAM algorithm client and returning the response.

Currently GetInternalState returns a byte slice and an error.

Unit testing has been added as part of this PR for the client and server. Integration testing for cartographer has also been incorporated into this PR as it needed to be tested. Future integration testing will be necessary for orbslamv3.

JIRA Ticket: RSDK-1718
Associated JIRA Ticket: RSDK-1056

Associated PRs: PR #137 [carto] Implement GetInternalState

Note: Testing will not pass until the associated PR is merged.

services/slam/builtin/builtin.go

nicksanford · 2023-01-20T22:09:16Z

This PR ands the GetInternalState functionality to the SLAM service in RDK. Similarly to the Position and GetMap, this function acts as a middleman, forwarding requests from RDK to the SLAM algorithm client and returning the response.

Currently GetInternalState returns a byte slice and an error. Additionally, until a more significant use case for it has been implements it will save the map to a file located in the map folder in the directory specified by the slam config.

Unit testing has been added as part of this PR. Integration testing will be coming in a future PR once the SLAM GetInternalState is implemented in cartogrpaher and/or orbslamv3.

JIRA Ticket: RSDK-1718

Associated PRs

PR #137 [carto] Implement GetInternalState

I don't understand why we would want this GRPC endpoint to have the side effect of saving the internal state to a file. Will that responsibility still live in RDK after slam modularization?

services/slam/builtin/builtin.go

services/slam/slam.go

testutils/inject/slam_service.go

nicksanford · 2023-01-20T21:58:55Z

services/slam/builtin/cartographer_int_test.go

 	t.Helper()

-	position, err := svc.Position(context.Background(), "test", map[string]interface{}{})


why is this changing?

Initially it was set up to test the various endpoints in one fucntion, however these endpoints and their outputs do not relate to eachother. With the addition of get internal state and the fact that it may not be called every run. I choose to make these checks independent so any combination could be called.

I also choose to increase the robustness of testing by doing an inBetween check for the Position instead of just logging he output.

Happy to discuss either of these points as they are improvements rather than requirements for this PR.

Did you run the test several times to determine reasonable values for the position and orientation tolerance?

Also, should we make this change to the orbslam integration tests as well? Or expect to do that when we add GetInternalState to orbslam integration tests?

Re @tessavitabile 's first point: when I ran tests on my mac, they consistently fail due to an actual value being out of range:

go test -run TestCartographerIntegration2D -v ... logger.go:130: 2023-01-25T13:42:57.684-0500 ERROR process.slam_cartographer_carto_grpc_server pexec/managed_process.go:214 output {"name": "StdErr", "data": "I20230125 13:42:57.684520 377790 callbacks.cc:125] 8 1.154142e-01 2.07e-07 8.74e-03 1.08e-04 2.90e-01 7.00e+03 1 1.09e-04 1.23e-03"} logger.go:130: 2023-01-25T13:42:57.684-0500 ERROR process.slam_cartographer_carto_grpc_server pexec/managed_process.go:214 output {"name": "StdErr", "data": "I20230125 13:42:57.684589 377790 trust_region_minimizer.cc:743] Terminating: Function tolerance reached. |cost_change|/cost: 9.051883e-07 <= 1.000000e-06"} logger.go:130: 2023-01-25T13:42:57.684-0500 ERROR process.slam_cartographer_carto_grpc_server pexec/managed_process.go:214 output {"name": "StdErr", "data": "I20230125 13:42:57.684779 377790 slam_service.cc:721] Passed sensor data to SLAM /var/folders/y0/ff4chsnj1z19b6ps4wslbhyh0000gn/T/668702867/data/cartographer_int_lidar_data_2023-01-25T18:42:57.2978Z.pcd"} logger.go:130: 2023-01-25T13:42:57.684-0500 ERROR process.slam_cartographer_carto_grpc_server pexec/managed_process.go:214 output {"name": "StdErr", "data": "I20230125 13:42:57.684928 377790 slam_service.cc:575] No new files found"} cartographer_int_test.go:130: Expected '0.009272603568955304' to be between '0' and '0.008' (but it wasn't)! --- FAIL: TestCartographerIntegration2D (4.73s) FAIL exit status 1 FAIL go.viam.com/rdk/services/slam/builtin 6.416s

We think this may be an issue where hardware is processing and save the artifact images a different speeds, leading to different timestamps and altering the calculation. I'll be investigating ways to mitigate that but we can't standardize the filename timestamps because that would defeat the purpose of the end to end test. At the very least we'll make sure tolerance values are sufficient (I've run it on my laptop's docker 20+ times with no failures)

Thanks, I would like to make sure this is stable, both locally and in CI, before merging this change.

This still fails on my mac:
go test -run TestCartographerIntegration2D -v

logger.go:130: 2023-01-30T12:17:29.681-0500 ERROR process.slam_cartographer_carto_grpc_server pexec/managed_process.go:218 output {"name": "StdErr", "data": "I20230130 12:17:29.681169 3117346 slam_service.cc:616] Passed sensor data to SLAM /var/folders/y0/ff4chsnj1z19b6ps4wslbhyh0000gn/T/2425438821/data/cartographer_int_lidar_data_2023-01-30T17:17:29.4168Z.pcd"} logger.go:130: 2023-01-30T12:17:29.681-0500 ERROR process.slam_cartographer_carto_grpc_server pexec/managed_process.go:218 output {"name": "StdErr", "data": "I20230130 12:17:29.681468 3117346 slam_service.cc:470] No new files found"} cartographer_int_test.go:130: Expected '0.009183805047824956' to be between '0' and '0.008' (but it wasn't)! --- FAIL: TestCartographerIntegration2D (7.20s) FAIL exit status 1 FAIL go.viam.com/rdk/services/slam/builtin 8.997s

nicksanford · 2023-01-20T21:59:44Z

services/slam/builtin/cartographer_int_test.go

 	actualMIME, _, pointcloud, err := svc.GetMap(context.Background(), "test", "pointcloud/pcd", nil, false, map[string]interface{}{})
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, actualMIME, test.ShouldResemble, "pointcloud/pcd")
 	test.That(t, pointcloud.Size(), test.ShouldBeGreaterThanOrEqualTo, 100)
 }

+// Checks the cartographer position.
+func testCartographerPosition(t *testing.T, svc slam.Service) {


Why is this changing?

See comment above

services/slam/server_test.go

services/slam/client_test.go

nicksanford · 2023-01-20T22:10:27Z

services/slam/builtin/cartographer_int_test.go

@@ -5,15 +5,18 @@ import (
 	"io/ioutil"
 	"os"
 	"os/exec"
+	"path/filepath"


Why are we changing integration tests if the PR description says that integration tests will come later? #1776 (comment)

Talked offline but testing was needed to validate and it wasn't much work (replicating work done during the GetInternalState for carto) so I chose to include it here

ghost · 2023-01-24T22:35:41Z

services/slam/client_test.go

@@ -162,6 +175,21 @@ func TestClientWorkingService(t *testing.T) {
 		test.That(t, err, test.ShouldBeNil)
 		test.That(t, p.Parent(), test.ShouldEqual, pSucc.Parent())
 		test.That(t, extraOptions, test.ShouldResemble, extra)
+
+		// test get map


added missing test for GetMap

JohnN193

LGTM

ghost · 2023-01-26T18:58:28Z

services/slam/builtin/orbslam_int_test.go

+
+	switch {
+	case mode == "mono" && actionMode == "mapping":
+		expectedPos = r3.Vector{X: 0.020, Y: -0.032, Z: -0.053}


Defined expected position and orientation here as opposed to passing them into the function as it centralizes any changes to the expected values to one location.

Let me know if you'd prefer we handle this a different way.

…InternalStateRDK

ghost · 2023-01-26T21:50:04Z

services/slam/builtin/builtin_test.go

@@ -1117,6 +1117,10 @@ func TestGetMapAndPosition(t *testing.T) {
 	test.That(t, pc, test.ShouldBeNil)
 	test.That(t, fmt.Sprint(err), test.ShouldContainSubstring, "error getting SLAM map")

+	internalState, err := svc.GetInternalState(context.Background(), "hi")


Note: most testing of endpoints has to be done in integration tests. This just confirms the failure/error statement

tessavitabile

Just an issue in the test changes

tessavitabile · 2023-01-30T16:37:20Z

services/slam/builtin/cartographer_int_test.go

+
+	actualOri := position.Pose().Orientation().AxisAngles()
+	t.Logf("Position orientation: RX: %v, RY: %v, RZ: %v, Theta: %v", actualOri.RX, actualOri.RY, actualOri.RZ, actualOri.Theta)
+	test.That(t, actualOri.RX, test.ShouldBeBetween, expectedOri.OX-toleranceOri, expectedOri.OX+toleranceOri)


Why are we comparing RX (axis angle) to OX (orientation vector) here?

Good call out, I'll make sure these are of the same type. Will most likely go with Axis angle due to readability and as that was what we were using before.

Sounds good, thanks!

tessavitabile · 2023-01-30T16:39:41Z

services/slam/builtin/orbslam_int_test.go

+
+	actualOri := position.Pose().Orientation().AxisAngles()
+	t.Logf("Position orientation: RX: %v, RY: %v, RZ: %v, Theta: %v", actualOri.RX, actualOri.RY, actualOri.RZ, actualOri.Theta)
+	test.That(t, actualOri.RX, test.ShouldBeBetween, expectedOri.OX-toleranceOri, expectedOri.OX+toleranceOri)


Same here, it seems incorrect that we're comparing axis angle representation to orientation vector representation.

See previous comment

tessavitabile

LGTM mod making sure we're comparing orientations of the same type

nicksanford · 2023-01-30T17:18:10Z

services/slam/builtin/cartographer_int_test.go

 	t.Helper()

-	position, err := svc.Position(context.Background(), "test", map[string]interface{}{})


This still fails on my mac:
go test -run TestCartographerIntegration2D -v

logger.go:130: 2023-01-30T12:17:29.681-0500 ERROR process.slam_cartographer_carto_grpc_server pexec/managed_process.go:218 output {"name": "StdErr", "data": "I20230130 12:17:29.681169 3117346 slam_service.cc:616] Passed sensor data to SLAM /var/folders/y0/ff4chsnj1z19b6ps4wslbhyh0000gn/T/2425438821/data/cartographer_int_lidar_data_2023-01-30T17:17:29.4168Z.pcd"} logger.go:130: 2023-01-30T12:17:29.681-0500 ERROR process.slam_cartographer_carto_grpc_server pexec/managed_process.go:218 output {"name": "StdErr", "data": "I20230130 12:17:29.681468 3117346 slam_service.cc:470] No new files found"} cartographer_int_test.go:130: Expected '0.009183805047824956' to be between '0' and '0.008' (but it wasn't)! --- FAIL: TestCartographerIntegration2D (7.20s) FAIL exit status 1 FAIL go.viam.com/rdk/services/slam/builtin 8.997s

github-actions · 2023-01-30T21:03:28Z

Package	Line Rate	Delta	Health
go.viam.com/rdk/components/arm	56%	0.00%	➖
go.viam.com/rdk/components/arm/universalrobots	41%	0.00%	❌
go.viam.com/rdk/components/arm/xarm	2%	0.00%	❌
go.viam.com/rdk/components/arm/yahboom	7%	0.00%	❌
go.viam.com/rdk/components/audioinput	55%	0.00%	➖
go.viam.com/rdk/components/base	63%	0.00%	➖
go.viam.com/rdk/components/base/agilex	62%	0.00%	➖
go.viam.com/rdk/components/base/boat	41%	0.00%	❌
go.viam.com/rdk/components/base/wheeled	76%	0.00%	✅
go.viam.com/rdk/components/board	66%	0.00%	➖
go.viam.com/rdk/components/board/arduino	10%	0.00%	❌
go.viam.com/rdk/components/board/commonsysfs	48%	0.00%	❌
go.viam.com/rdk/components/board/fake	38%	0.00%	❌
go.viam.com/rdk/components/board/numato	19%	0.00%	❌
go.viam.com/rdk/components/board/pi	50%	0.00%	➖
go.viam.com/rdk/components/camera	65%	0.00%	➖
go.viam.com/rdk/components/camera/align	64%	0.00%	➖
go.viam.com/rdk/components/camera/fake	64%	0.00%	➖
go.viam.com/rdk/components/camera/ffmpeg	77%	0.00%	✅
go.viam.com/rdk/components/camera/transformpipeline	78%	-0.93%	✅
go.viam.com/rdk/components/camera/videosource	46%	+0.77%	❌
go.viam.com/rdk/components/encoder	4%	0.00%	❌
go.viam.com/rdk/components/encoder/fake	76%	0.00%	✅
go.viam.com/rdk/components/gantry	60%	0.00%	➖
go.viam.com/rdk/components/gantry/multiaxis	84%	0.00%	✅
go.viam.com/rdk/components/gantry/oneaxis	86%	0.00%	✅
go.viam.com/rdk/components/generic	83%	0.00%	✅
go.viam.com/rdk/components/gripper	68%	0.00%	➖
go.viam.com/rdk/components/input	87%	0.00%	✅
go.viam.com/rdk/components/input/gpio	84%	0.00%	✅
go.viam.com/rdk/components/motor	77%	0.00%	✅
go.viam.com/rdk/components/motor/dimensionengineering	63%	0.00%	➖
go.viam.com/rdk/components/motor/dmc4000	69%	0.00%	➖
go.viam.com/rdk/components/motor/fake	57%	0.00%	➖
go.viam.com/rdk/components/motor/gpio	64%	+2.16%	➖
go.viam.com/rdk/components/motor/gpiostepper	56%	0.00%	➖
go.viam.com/rdk/components/motor/tmcstepper	62%	0.00%	➖
go.viam.com/rdk/components/movementsensor	75%	0.00%	✅
go.viam.com/rdk/components/movementsensor/cameramono	46%	0.00%	❌
go.viam.com/rdk/components/movementsensor/gpsnmea	36%	0.00%	❌
go.viam.com/rdk/components/movementsensor/gpsrtk	28%	0.00%	❌
go.viam.com/rdk/components/posetracker	86%	0.00%	✅
go.viam.com/rdk/components/sensor	86%	0.00%	✅
go.viam.com/rdk/components/sensor/ultrasonic	26%	0.00%	❌
go.viam.com/rdk/components/servo	68%	0.00%	➖
go.viam.com/rdk/components/servo/gpio	71%	0.00%	✅
go.viam.com/rdk/config	75%	0.00%	✅
go.viam.com/rdk/control	57%	0.00%	➖
go.viam.com/rdk/data	79%	0.00%	✅
go.viam.com/rdk/examples/customresources/demos/complexmodule	0%	0.00%	❌
go.viam.com/rdk/examples/customresources/demos/remoteserver	0%	0.00%	❌
go.viam.com/rdk/grpc	25%	0.00%	❌
go.viam.com/rdk/ml	67%	0.00%	➖
go.viam.com/rdk/ml/inference	70%	0.00%	✅
go.viam.com/rdk/module	64%	0.00%	➖
go.viam.com/rdk/module/modmanager	79%	0.00%	✅
go.viam.com/rdk/motionplan	70%	-0.20%	✅
go.viam.com/rdk/operation	82%	0.00%	✅
go.viam.com/rdk/pointcloud	73%	-0.08%	✅
go.viam.com/rdk/protoutils	59%	0.00%	➖
go.viam.com/rdk/referenceframe	71%	0.00%	✅
go.viam.com/rdk/registry	89%	0.00%	✅
go.viam.com/rdk/resource	84%	0.00%	✅
go.viam.com/rdk/rimage	78%	0.00%	✅
go.viam.com/rdk/rimage/depthadapter	94%	0.00%	✅
go.viam.com/rdk/rimage/transform	75%	0.00%	✅
go.viam.com/rdk/rimage/transform/cmd/extrinsic_calibration	67%	0.00%	➖
go.viam.com/rdk/robot	85%	0.00%	✅
go.viam.com/rdk/robot/client	81%	0.00%	✅
go.viam.com/rdk/robot/framesystem	65%	0.00%	➖
go.viam.com/rdk/robot/impl	80%	0.00%	✅
go.viam.com/rdk/robot/server	55%	0.00%	➖
go.viam.com/rdk/robot/web	61%	0.00%	➖
go.viam.com/rdk/robot/web/stream	87%	0.00%	✅
go.viam.com/rdk/services/armremotecontrol	71%	0.00%	✅
go.viam.com/rdk/services/armremotecontrol/builtin	52%	0.00%	➖
go.viam.com/rdk/services/baseremotecontrol	71%	0.00%	✅
go.viam.com/rdk/services/baseremotecontrol/builtin	79%	0.00%	✅
go.viam.com/rdk/services/datamanager	79%	0.00%	✅
go.viam.com/rdk/services/datamanager/builtin	78%	0.00%	✅
go.viam.com/rdk/services/datamanager/datacapture	70%	0.00%	✅
go.viam.com/rdk/services/datamanager/datasync	0%	0.00%	❌
go.viam.com/rdk/services/motion	63%	0.00%	➖
go.viam.com/rdk/services/motion/builtin	88%	0.00%	✅
go.viam.com/rdk/services/navigation	53%	0.00%	➖
go.viam.com/rdk/services/sensors	77%	0.00%	✅
go.viam.com/rdk/services/sensors/builtin	97%	0.00%	✅
go.viam.com/rdk/services/shell	14%	0.00%	❌
go.viam.com/rdk/services/slam	85%	+0.83%	✅
go.viam.com/rdk/services/slam/builtin	70%	+0.06%	✅
go.viam.com/rdk/services/vision	80%	0.00%	✅
go.viam.com/rdk/services/vision/builtin	74%	0.00%	✅
go.viam.com/rdk/session	97%	0.00%	✅
go.viam.com/rdk/spatialmath	82%	0.00%	✅
go.viam.com/rdk/subtype	92%	0.00%	✅
go.viam.com/rdk/utils	72%	+0.18%	✅
go.viam.com/rdk/vision	26%	0.00%	❌
go.viam.com/rdk/vision/chess	80%	0.00%	✅
go.viam.com/rdk/vision/delaunay	87%	0.00%	✅
go.viam.com/rdk/vision/keypoints	92%	0.00%	✅
go.viam.com/rdk/vision/objectdetection	82%	0.00%	✅
go.viam.com/rdk/vision/odometry	60%	0.00%	➖
go.viam.com/rdk/vision/odometry/cmd	0%	0.00%	❌
go.viam.com/rdk/vision/segmentation	49%	0.00%	❌
go.viam.com/rdk/web/server	25%	0.00%	❌
Summary	65% (21571 / 32948)	+0.04%	➖

add get internal to SLAM RDK

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RSDK-1075 [carto] Add GetInternalState viamrobotics/slam#137

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int tests for GetInternalState

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error log fix

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test fix

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error verbosity

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comment fix

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adding orbslam tests for map and position

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Merge branch 'main' of github.com:viamrobotics/rdk into RSDK-1718_Get…

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…InternalStateRDK

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add failure unit test for GetInternalState

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fix axis angle issue

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tolerance fix and variable rearrangment fix

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RSDK 1845 bazile-clyde/rdk#1

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RSDK-1718 - Add GetInternalState to SLAM RDK (viamrobotics#1776)

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		t.Helper()

		position, err := svc.Position(context.Background(), "test", map[string]interface{}{})

RSDK-1718 - Add GetInternalState to SLAM RDK #1776

RSDK-1718 - Add GetInternalState to SLAM RDK #1776

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ghost commented Jan 18, 2023 • edited by ghost Loading

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github-actions bot commented Jan 30, 2023

ghost commented Jan 18, 2023 •

edited by ghost

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nicksanford commented Jan 20, 2023 •

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