Open sandeepdutta opened 6 months ago
Also periodically getting the same error when loading a map
[component_container_mt-1] [WARN] [1712759840.096308135] [visual_slam_node]: CallbackLoadMapAndLocalizeAccepted()
[component_container_mt-1] [INFO] [1712759840.096384712] [visual_slam_node]: cuvslam: LoadMapAndLocalize /workspaces/isaac_ros-dev/vslam-maps/office-4-9 [0.000000, 0.000000, 0.000000]
[component_container_mt-1] terminate called after throwing an instance of 'std::runtime_error'
[component_container_mt-1] what(): Taking data from action server but nothing is ready
[ERROR] [component_container_mt-1]: process has died [pid 14815, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args -r __node:=shared_nvblox_container'].
Seems to happen with high system load. I have nav2, nvblox , vslam & controller software running on an ORIN Agx (32GB) and it happens very frequently. Any workaround suggestion will be greatly appreciated. Sandeep
Hello, Im having same issue that it crashes but different error:
between current and previous frame [22.254848] is above threshold [20.000000]
[component_container-1] [WARN] [1715217219.969362526] [visual_slam_node]: CallbackLoadMapAndLocalizeAccepted()
[component_container-1] [INFO] [1715217219.969472736] [visual_slam_node]: cuvslam: LoadMapAndLocalize /workspaces/isaac_ros-dev/maps/lab_map_vslam/data.mbd [0.000000, 0.000000, 0.000000]
[component_container-1] [WARN] [1715217219.975820676] [visual_slam_node]: Localization failed. Status=4
[component_container-1] [WARN] [1715217219.977607977] [visual_slam_node]: CUVSLAM_LocalizeInExistDb Error 4
[component_container-1] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[component_container-1] what(): goal_handle attempted invalid transition from state ABORTED with event ABORT, at /tmp/binarydeb/ros-humble-rcl-action-5.3.6/src/rcl_action/goal_handle.c:95
[ERROR] [component_container-1]: process has died [pid 24714, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container --ros-args -r __node:=visual_slam_launch_container -r __ns:=/'].
Hi @JCastel358 ,
Did you check if the path specified in the "map_url" parameter exists?
Best,
We're taking a look to see if we can reproduce this. We may have to find it via code inspection if it is a subtle race condition. Thanks for reporting this issue!
Hi @hemalshahNV Any updates about this bug? I am currently working on jetson Orin nano with D435i camera and I am having the same issue with LoadMapAndLocalize. the following error is the same as @JCastel358 :
[component_container-1] [INFO] [1726395004.148065254] [visual_slam_node]: cuvslam: LoadMapAndLocalize /home/invdro/maps/data.mbd [0.000000, 0.000000, 0.000000] [component_container-1] [WARN] [1726395004.148366157] [visual_slam_node]: Localization failed. Status=6 [component_container-1] [WARN] [1726395004.148400333] [visual_slam_node]: CUVSLAM_LocalizeInExistDb Error 6 [component_container-1] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [component_container-1] what(): goal_handle attempted invalid transition from state ABORTED with event ABORT, at ./src/rcl_action/goal_handle.c:95 [ERROR] [component_container-1]: process has died [pid 50396, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container --ros-args -r __node:=visual_slam_launch_container -r __ns:=/'].
Hello,
The service call to LoadMapAndLocalize sometimes crashes. Below is the error messages we get , restarting and reissuing the service call will work. Doing a quick google search, it looks like it could be caused by a "race" condition.
Please let me know if we can provide any more information Best Regards Sandeep
[component_container_mt-2] [INFO] [1711573751.678336682] [visual_slam_node]: cuvslam: LoadMapAndLocalize /workspaces/isaac_ros-dev/src/jeeves_navigation/maps/visual_map [0.000000, 0.000000, 0.000000] [component_container_mt-2] terminate called after throwing an instance of 'std::runtime_error' [component_container_mt-2] what(): Taking data from action server but nothing is ready [ERROR] [component_container_mt-2]: process has died [pid 92842, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args -r __node:=vslam_container'].
Command used to load map: ros2 action send_goal /visual_slam/load_map_and_localize isaac_ros_visual_slam_interfaces/action/LoadMapAndLocalize "{map_url: /workspaces/isaac_ros-dev/src/jeeves_navigation/maps/visual_map, localize_near_point: { x: 0, y: 0,z: 0}}"