overlapping trimmer crashed after delete frozen trajectory

[shamengjun]

Hi there, I've tried this DeleteTrajectory service to try to remove a loaded frozen trajectory. It works well and the frozen trajectory is deleted. However, the code crashes after the frozen trajectory is deleted. The error is shown as below:

terminate called after throwing an instance of 'std::out_of_range' what(): map::at

I find it happens in constraint_builder_2d.cc. The line of "(*callback)(result);" I used the latest master for cartographer which has all the updates above. Does anyone have any idea why it happens and how to resolve it? Thanks very much in advance.

Originally posted by @cuicuihaohaoxuexi in https://github.com/cartographer-project/cartographer/issues/1767#issuecomment-806189179

[shamengjun]

When in cartographer localization mode, I load one the pbstream(trejectory 0)as false load_frozen_state(default true), In my case, once when overlapping trimmer detect one trajectory 0 's submap need to be trimmed, after pose graph trim it, then the program crash, error is: terminate called after throwing an instance of 'std::out_of_range' what(): map::at but when load pbstream as true load_frozen_state, and trim newest trajectory's submap that doesn't occur, how can I solve it? Can anybody give me some idea? the ternimal log is here crash_log.txt

[shamengjun]

After my debug, Maybe at this occurs error, but I don't know the reason and know how to fix it! the function call process is: constraint_builder_2d.cc -->RunWhenDoneCallback() ---> (callback)(result) pose_graph_2d.cc --->HandleWorkQueue() --->RunOptimization()--->const auto local_to_oldglobal = ComputeLocalToGlobalTransform(data.global_submap_poses_2d, trajectory_id)--->return transform::Embed3D( global_submap_poses.at(last_optimized_submap_id).global_pose) data_.submap_data.at(last_optimized_submap_id) .submap->local_pose() .inverse();

[GrantZheng86]

I am having the same exception. I did not use delete trajectory and only ran cartographer with the overlapping trimmer.

Cartographer did not give me any errors when running in localization only mode, i.e. the "overlapping_submaps_trimmer" option is disabled in my lua file. Localization worked fine for both the original map (only trajectory 0) and the updated map (two trajectories).

I am now suspecting that the error is caused by the "overlapping_submaps_trimmer_2d.cc" file, but I could not find the calling of map::at() anywhere in this .cc file. And there are two places in the "constraint_builder_2d.cc" where the map::at() is called. My theory so far is that the trimmer has already trimmed the old submaps, but the constraint builder is still looking for the non-esist submaps. I am still working on testing this theory.

[mksetaro]

Hi @GrantZheng86 and @shamengjun ,

I've just opened #1859 regarding the exception you're having, take a look and I hope it can help you.

Cheers, Michelangelo.