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ROS-Mobile / ROS-Mobile-Android

Visualization and controlling application for Android
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Gesture operation caused "pointerIndex out of range" #55

Closed joey-wang97 closed 3 years ago

joey-wang97 commented 3 years ago

I used the gesture dector and GridMapView(the bitmap version) which in your project in my source code. When I triggered a gesture operation(often scale), use more than two fingers. It's usually crashed. Here is the code caused carsh.

here is the code with problems:

https://github.com/ROS-Mobile/ROS-Mobile-Android/blob/757c04a7bce269bf399efcf29dc3acec114a0d96/app/src/main/java/com/schneewittchen/rosandroid/ui/general/MatrixGestureDetector.java#L61

The error logs :

at android.view.MotionEvent.nativeGetAxisValue(Native Method)
        at android.view.MotionEvent.getX(MotionEvent.java:2201)
        at **.widget.map.MatrixGestureDetector.onTouchEvent(MatrixGestureDetector.java:57)
        at **.widget.map.MapView.onTouch(MapView.java:282)
        at android.view.View.dispatchTouchEvent(View.java:11793)
        at android.view.ViewGroup.dispatchTransformedTouchEvent(ViewGroup.java:2970)
        at android.view.ViewGroup.dispatchTouchEvent(ViewGroup.java:2657)
        at android.view.ViewGroup.dispatchTransformedTouchEvent(ViewGroup.java:2970)
        at android.view.ViewGroup.dispatchTouchEvent(ViewGroup.java:2657)
        at android.view.ViewGroup.dispatchTransformedTouchEvent(ViewGroup.java:2970)
        at android.view.ViewGroup.dispatchTouchEvent(ViewGroup.java:2657)
        at android.view.ViewGroup.dispatchTransformedTouchEvent(ViewGroup.java:2970)
        at android.view.ViewGroup.dispatchTouchEvent(ViewGroup.java:2657)
        at android.view.ViewGroup.dispatchTransformedTouchEvent(ViewGroup.java:2970)
        at android.view.ViewGroup.dispatchTouchEvent(ViewGroup.java:2657)
        at android.view.ViewGroup.dispatchTransformedTouchEvent(ViewGroup.java:2970)
        at android.view.ViewGroup.dispatchTouchEvent(ViewGroup.java:2657)
        at android.view.ViewGroup.dispatchTransformedTouchEvent(ViewGroup.java:2970)
        at android.view.ViewGroup.dispatchTouchEvent(ViewGroup.java:2657)
        at android.view.ViewGroup.dispatchTransformedTouchEvent(ViewGroup.java:2970)
        at android.view.ViewGroup.dispatchTouchEvent(ViewGroup.java:2657)
        at com.android.internal.policy.DecorView.superDispatchTouchEvent(DecorView.java:451)
        at com.android.internal.policy.PhoneWindow.superDispatchTouchEvent(PhoneWindow.java:1834)
        at android.app.Activity.dispatchTouchEvent(Activity.java:3375)
        at androidx.appcompat.view.WindowCallbackWrapper.dispatchTouchEvent(WindowCallbackWrapper.java:69)
        at com.android.internal.policy.DecorView.dispatchTouchEvent(DecorView.java:413)
        at android.view.View.dispatchPointerEvent(View.java:12038)
        at android.view.ViewRootImpl$ViewPostImeInputStage.processPointerEvent(ViewRootImpl.java:4859)
        at android.view.ViewRootImpl$ViewPostImeInputStage.onProcess(ViewRootImpl.java:4670)
        at android.view.ViewRootImpl$InputStage.deliver(ViewRootImpl.java:4206)
        at android.view.ViewRootImpl$InputStage.onDeliverToNext(ViewRootImpl.java:4259)
        at android.view.ViewRootImpl$InputStage.forward(ViewRootImpl.java:4225)
        at android.view.ViewRootImpl$AsyncInputStage.forward(ViewRootImpl.java:4352)
        at android.view.ViewRootImpl$InputStage.apply(ViewRootImpl.java:4233)
        at android.view.ViewRootImpl$AsyncInputStage.apply(ViewRootImpl.java:4409)
        at android.view.ViewRootImpl$InputStage.deliver(ViewRootImpl.java:4206)
        at android.view.ViewRootImpl$InputStage.onDeliverToNext(ViewRootImpl.java:4259)
        at android.view.ViewRootImpl$InputStage.forward(ViewRootImpl.java:4225)
        at android.view.ViewRootImpl$InputStage.apply(ViewRootImpl.java:4233)
        at android.view.ViewRootImpl$InputStage.deliver(ViewRootImpl.java:4206)
        at android.view.ViewRootImpl.deliverInputEvent(ViewRootImpl.java:6766)
        at android.view.ViewRootImpl.doProcessInputEvents(ViewRootImpl.java:6740)
        at android.view.ViewRootImpl.enqueueInputEvent(ViewRootImpl.java:6701)
        at android.view.ViewRootImpl$WindowInputEventReceiver.onInputEvent(ViewRootImpl.java:6872)
        at android.view.InputEventReceiver.dispatchInputEvent(InputEventReceiver.java:249)
        at android.view.InputEventReceiver.nativeConsumeBatchedInputEvents(Native Method)
        at android.view.InputEventReceiver.consumeBatchedInputEvents(InputEventReceiver.java:212)
        at android.view.ViewRootImpl.doConsumeBatchedInput(ViewRootImpl.java:6840)
        at android.view.ViewRootImpl$ConsumeBatchedInputRunnable.run(ViewRootImpl.java:6895)
        at android.view.Choreographer$CallbackRecord.run(Choreographer.java:1029)
        at android.view.Choreographer.doCallbacks(Choreographer.java:841)

And I found you show the GridMap by using 'opengl' instead of 'bitmap', why? Thanks .

nicostudt commented 3 years ago

Thank you for the feedback! Which App/Code Version is this?

We switched to OpenGL because of the new layer system for the TF View (Viz2D) as its far more easy to work with the camera system of OpenGl together with frame transformations.

joey-wang97 commented 3 years ago

The build.gradle in my project is:

android {
    compileSdkVersion 29
    buildToolsVersion "30.0.2"

    defaultConfig {
        applicationId "joye.wang.rosclientapp"
        minSdkVersion 25
        targetSdkVersion 29
        versionCode 1
        versionName "1.0"

        testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
    }

    compileOptions {
        sourceCompatibility JavaVersion.VERSION_1_8
        targetCompatibility JavaVersion.VERSION_1_8
    }

    buildFeatures {
        dataBinding true
    }
}

The device version is android 8.1.0, This bug often appears in multi finger operation(more than two finger).

Using opengl is a wisdom choice, but I think the communicate method(rpc xml) of ros-android isn't a wisdom choice. I'm using rosbridge(websocket json) instead of xml. And the opengl version of ros-android-app is opengl 1.0.

Do you have any plan of update the ros-package, such as websocket, opengl version and point cloud support?

Thanks for your reply~

nicostudt commented 3 years ago

We might switch to websockets due to my unsuccessful attempts with ROS2 for android implementation. Until now I really have no idea how to build the project including rcljava without errors. It's the first time I've worked with OpenGL, but as I understand it, the minimum version of Android 5 we support should also work with OpenGL ES 3.1. That would definitely be worth a try. We will add PointClouds once we have implemented the 3D transformation view. Currently the focus is on the development of the most common messages for 2D TF view. So lot of work to come ;)

joey-wang97 commented 3 years ago

Sorry, I forget one thing: The bug is appeared when I used the MapView(draw by canvas), not OpenGL MapView.

NRottmann commented 3 years ago

Solved within newer App version.