[StopPolygon]: Error while getting polygon parameters: parameter 'StopPolygon.points' has invalid type: Wrong parameter type, parameter {StopPolygon.points} is of type {double_array}, setting it to {string} is not allowed.

[hbseong97]

Hi, thank you for your amazing repo. We are excited to cite your work based on your significant contribution on several maps, several robots, and several navigation methods.

We have come through numerous dependency issues, and we have solved them at this point. We could assume that the dependencies of this repo sadly has not been maintained for a while.

While we run the basic command, ros2 launch arena_bringup arena.launch.py sim:=gazebo, we can validate walking humans, obstacles, and a robot. But most importantly, the robot does not move a single bit.

We are suspecting that this is the cause of the error :

[task_generator_node-6] [collision_monitor-11] [ERROR] [1761298101.188099012] [collision_monitor]: [StopPolygon]: Error while getting polygon parameters: parameter 'StopPolygon.points' has invalid type: Wrong parameter type, parameter {StopPolygon.points} is of type {double_array}, setting it to {string} is not allowed.

It seems to be related to the file /home/maumai/arena4_ws/src/arena/simulation-setup/entities/robots/jackal/model_params.yaml, but we are not sure if the file itself is the problem, or the program is ill-functioning.

We can see that there were a lot of patches in the arena-simulation-setup repo, so we hope that there is a solution to this issue!
voshch/arena-simulation-setup@963ef08

@SugerSenpai @voshch

[voshch]

Hey, I'm glad to see your interest and enthusiasm.

We're currently reproducing this, expect a fix asap. Try updating the simulation-setup repo to the latest master commit, that should get it running.

Best
VS

[voshch]

We've released #218, try that out and give me feedback.

[hbseong97]

Thank you for the quick action! We have validated the robot moving and no error status in Rviz, except the attached jackal model wheel transform issue, that we're not sure if it would have a critical impact.

Now we want to check if

1. we can generate a benchmark like described in RosNav 5.0 paper. we tried tm_modules:=benchmark, but it seems to stop while running at some point.

2. how many maps are available. I cannot see the list of maps available in the docs, and when I run with world:=hospital, it does not work. 3. the whole functionality is available also on isaacsim. If we run the simulation with isaacsim, we could see some errors emerge, and we are not sure if the whole functionality is available.