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RobotWebTools / ros2-web-bridge

Bridging your browser to the ROS 2.0
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Ros2webbridge crashing after a period of time #173

Closed slogan-oxts closed 3 years ago

slogan-oxts commented 3 years ago

OS: Windows 10 Ros: Ros2 Eloquent Node.js: 14.15.4

I've been trying to get this working as part of RosSharp but I am running into an issue where the web bridge is crashing after a period of time:

#
# Fatal error in , line 0
# Check failed: result.second.
#
#
#
#FailureMessage Object: 000000CFCB4FD850
 1: 00007FF7314F058F napi_wrap+109311
 2: 00007FF731424D8F std::basic_ostream<char,std::char_traits<char> >::operator<<+57151
 3: 00007FF73205E412 V8_Fatal+162
 4: 00007FF731B022AD v8::internal::BackingStore::Reallocate+653
 5: 00007FF731D480E9 v8::ArrayBuffer::GetBackingStore+137
 6: 00007FF7314D2469 napi_get_typedarray_info+393
 7: 00007FF9FA289B41
 8: 00007FF9FA28F28D
 9: 00007FF9FA287EC3
10: 00007FF9FA28EAE3
11: 00007FF7314CCD86 node::Stop+35046
12: 00007FF731D0E72F v8::internal::Builtins::builtin_handle+321471
13: 00007FF731D0DCC4 v8::internal::Builtins::builtin_handle+318804
14: 00007FF731D0DFB7 v8::internal::Builtins::builtin_handle+319559
15: 00007FF731D0DE03 v8::internal::Builtins::builtin_handle+319123
16: 00007FF731DE9F9D v8::internal::SetupIsolateDelegate::SetupHeap+464173
17: 00007FF731D828A2 v8::internal::SetupIsolateDelegate::SetupHeap+40498
18: 00007FF731D828A2 v8::internal::SetupIsolateDelegate::SetupHeap+40498
19: 00000267A1710CFC

or sometimes:

#
# Fatal error in , line 0
# Check failed: result.second.
#
#
#
#FailureMessage Object: 000000ADA7CFDE50
 1: 00007FF7314F058F napi_wrap+109311
 2: 00007FF731424D8F std::basic_ostream<char,std::char_traits<char> >::operator<<+57151
 3: 00007FF73205E412 V8_Fatal+162
 4: 00007FF731B022AD v8::internal::BackingStore::Reallocate+653
 5: 00007FF731D480E9 v8::ArrayBuffer::GetBackingStore+137
 6: 00007FF7314D2469 napi_get_typedarray_info+393
 7: 00007FF9FDD89B41
 8: 00007FF9FDD8F28D
 9: 00007FF9FDD87EC3
10: 00007FF9FDD8EAE3
11: 00007FF7314CCD86 node::Stop+35046
12: 00007FF731D0E72F v8::internal::Builtins::builtin_handle+321471
13: 00007FF731D0DCC4 v8::internal::Builtins::builtin_handle+318804
14: 00007FF731D0DFB7 v8::internal::Builtins::builtin_handle+319559
15: 00007FF731D0DE03 v8::internal::Builtins::builtin_handle+319123
16: 00007FF731DE9F9D v8::internal::SetupIsolateDelegate::SetupHeap+464173
17: 00007FF731D828A2 v8::internal::SetupIsolateDelegate::SetupHeap+40498
18: 00007FF731D828A2 v8::internal::SetupIsolateDelegate::SetupHeap+40498
19: 00007FF731D828A2 v8::internal::SetupIsolateDelegate::SetupHeap+40498
20: 00007FF731D828A2 v8::internal::SetupIsolateDelegate::SetupHeap+40498
21: 00007FF731DBB475 v8::internal::SetupIsolateDelegate::SetupHeap+272901
22: 00007FF731E5FEFE v8::internal::SetupIsolateDelegate::SetupHeap+947342
23: 00007FF731D828A2 v8::internal::SetupIsolateDelegate::SetupHeap+40498
24: 00007FF731D828A2 v8::internal::SetupIsolateDelegate::SetupHeap+40498
25: 00007FF731D828A2 v8::internal::SetupIsolateDelegate::SetupHeap+40498
26: 00007FF731D7E661 v8::internal::SetupIsolateDelegate::SetupHeap+23537
27: 00007FF731E68343 v8::internal::SetupIsolateDelegate::SetupHeap+981203
28: 00007FF731D828A2 v8::internal::SetupIsolateDelegate::SetupHeap+40498
29: 00007FF731D828A2 v8::internal::SetupIsolateDelegate::SetupHeap+40498
30: 00007FF731D7E661 v8::internal::SetupIsolateDelegate::SetupHeap+23537
31: 00007FF731E68343 v8::internal::SetupIsolateDelegate::SetupHeap+981203
32: 00007FF731D828A2 v8::internal::SetupIsolateDelegate::SetupHeap+40498
33: 00007FF731D828A2 v8::internal::SetupIsolateDelegate::SetupHeap+40498
34: 00007FF731DFC0BE v8::internal::SetupIsolateDelegate::SetupHeap+538190
35: 00007FF731D828A2 v8::internal::SetupIsolateDelegate::SetupHeap+40498
36: 00007FF731D8055E v8::internal::SetupIsolateDelegate::SetupHeap+31470
37: 00007FF731D8014C v8::internal::SetupIsolateDelegate::SetupHeap+30428
38: 00007FF731C50631 v8::internal::Execution::CallWasm+1649
39: 00007FF731C4FE9F v8::internal::Execution::Call+191
40: 00007FF731D3B7E7 v8::Function::Call+615
41: 00007FF7315145FB node::CallbackScope::~CallbackScope+1659
42: 00007FF731514A61 node::MakeCallback+209
43: 00007FF731514BF8 node::MakeCallback+312
44: 00007FF73151496B node::MakeCallback+139
45: 00007FF9ECA47FDD rclnodejs::ShadowNode::Execute+557 [P:\ros2webbridge\ros2-web-bridge\node_modules\rclnodejs\src\shadow_node.cpp]:L123
46: 00007FF9ECA1D59E rclnodejs::Executor::ExecuteReadyHandles+158 [P:\ros2webbridge\ros2-web-bridge\node_modules\rclnodejs\src\executor.cpp]:L258
47: 00007FF73154484B uv_async_send+331
48: 00007FF731543FDC uv_loop_init+1292
49: 00007FF73154417A uv_run+202
50: 00007FF7314502B5 v8::internal::OrderedHashTable<v8::internal::OrderedHashSet,1>::NumberOfBucketsOffset+9365
51: 00007FF7314C3A17 node::Start+311
52: 00007FF73132686C RC4_options+339820
53: 00007FF7322C604C v8::internal::compiler::RepresentationChanger::Uint32OverflowOperatorFor+153532
54: 00007FFA5C1E7C24 BaseThreadInitThunk+20
55: 00007FFA5CF8D4D1 RtlUserThreadStart+33

I created a simple publisher in python using rclpy which publishes a string "/topic" at 100hz.

I edited the example subscription.html to subscribe to this topic. It connects shows the messages then after a few seconds the server crashes with one of the above errors.

While testing with RosSharp, I tested an older version of Node.js 12.19.0, it seemed to last a lot longer but still eventually crashed (with no error message).

minggangw commented 3 years ago

Node.js: 14.15.4

The crash that happens on nodejs 14.x is a known issue, and it was caused by the dependency of rclnodejs, ref-napi. We haven't fixed it yet.

While testing with RosSharp, I tested an older version of Node.js 12.19.0,

The crash that happens on nodejs 12.19.0 was caused by nodejs, please see here and it's fixed by the higher version of nodejs.

So, the solution is to use the latest Erbium nodejs, v12.20.1

slogan-oxts commented 3 years ago

Hi @minggangw

Thanks for the quick reply. That seems to be working perfectly now. I would suggest this information should be put in the README.md as currently there is no indication of which version of node.js is required:

2.Install Node.js You can install Node.js:

Download from Node.js offical website, and install it. Use the Node Version Manager (nvm) to install it.

minggangw commented 3 years ago

Thanks for your suggestion, we have put the requirement of nodejs into rclnodejs README and will add it for the ros2-web-bridge, thanks!