world_model_publisherが落ちた

[play_switcher_node-10] [INFO] [1713369445.673384992] [crane_play_switcher]: PlaySwitcher is constructed.
[crane_session_controller_node-1] [INFO] [1713369446.423326584] [session_controller]: 初期イベント「STOP」に対応するセッション「formation」の設定に従ってロボットを割り当てます
[crane_session_controller_node-1] [INFO] [1713369446.423400851] [session_controller]:   選択可能なロボットID : 0 1 2 3 4 5 
[crane_session_controller_node-1] [INFO] [1713369446.423412262] [session_controller]:   セッション「goalie_skill」に以下のロボットを割り当てました : 0 
[crane_session_controller_node-1] [INFO] [1713369446.423434515] [session_controller]:   選択可能なロボットID : 1 2 3 4 5 
[crane_session_controller_node-1] [INFO] [1713369446.423446068] [session_controller]:   セッション「formation」に以下のロボットを割り当てました : 5 4 3 2 1 
[crane_world_model_publisher_node-9] terminate called after throwing an instance of 'std::runtime_error'
[crane_world_model_publisher_node-9]   what():  Cannot find our team name, ibis in referee message. blue team name: Unknown, yellow team name: Unknown
[crane_world_model_publisher_node-9] Stack trace (most recent call last):
[crane_world_model_publisher_node-9] #18   Object "", at 0xffffffffffffffff, in 
[crane_world_model_publisher_node-9] #17   Source "/usr/include/c++/11/bits/shared_ptr_base.h", line 704, in _start [0x5578c2f975f4]
[crane_world_model_publisher_node-9]         702:       ~__shared_count() noexcept
[crane_world_model_publisher_node-9]         703:       {
[crane_world_model_publisher_node-9]       > 704:   if (_M_pi != nullptr)
[crane_world_model_publisher_node-9]         705:     _M_pi->_M_release();
[crane_world_model_publisher_node-9]         706:       }
[crane_world_model_publisher_node-9] #16   Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7f0ce4462e3f]
[crane_world_model_publisher_node-9] #15   Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7f0ce4462d8f]
[crane_world_model_publisher_node-9] #14   Source "/home/hans/workspace/ibis_ws/src/crane/crane_world_model_publisher/src/world_model_publisher_node.cpp", line 15, in main [0x5578c2f9741f]
[crane_world_model_publisher_node-9]          12: {
[crane_world_model_publisher_node-9]          13:   rclcpp::init(argc, argv);
[crane_world_model_publisher_node-9]          14:   auto node = std::make_shared<crane::WorldModelPublisherComponent>(rclcpp::NodeOptions());
[crane_world_model_publisher_node-9]       >  15:   rclcpp::spin(node);
[crane_world_model_publisher_node-9]          16:   rclcpp::shutdown();
[crane_world_model_publisher_node-9]          17:   return 0;
[crane_world_model_publisher_node-9]          18: }
[crane_world_model_publisher_node-9] #13   Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f0ce49b5bbe, in rclcpp::spin(std::shared_ptr<rclcpp::Node>)
[crane_world_model_publisher_node-9] #12   Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f0ce49b5ac4, in rclcpp::spin(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>)
[crane_world_model_publisher_node-9] #11   Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f0ce49b58af, in rclcpp::executors::SingleThreadedExecutor::spin()
[crane_world_model_publisher_node-9] #10   Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f0ce49adfbe, in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&)
[crane_world_model_publisher_node-9] #9    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f0ce49ad7bb, in rclcpp::Executor::execute_subscription(std::shared_ptr<rclcpp::SubscriptionBase>)
[crane_world_model_publisher_node-9] #8  | Source "/opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp", line 343, in dispatch
[crane_world_model_publisher_node-9]     |   341:     }
[crane_world_model_publisher_node-9]     |   342: 
[crane_world_model_publisher_node-9]     | > 343:     any_callback_.dispatch(typed_message, message_info);
[crane_world_model_publisher_node-9]     |   344: 
[crane_world_model_publisher_node-9]     |   345:     if (subscription_topic_statistics_) {
[crane_world_model_publisher_node-9]     | Source "/opt/ros/humble/include/rclcpp/rclcpp/any_subscription_callback.hpp", line 504, in visit<rclcpp::AnySubscriptionCallback<robocup_ssl_msgs::msg::Referee_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<robocup_ssl_msgs::msg::Referee_<std::allocator<void> > >, const rclcpp::MessageInfo&)::<lambda(auto:24&&)>, std::variant<std::function<void(const robocup_ssl_msgs::msg::Referee_<std::allocator<void> >&)>, std::function<void(const robocup_ssl_msgs::msg::Referee_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<robocup_ssl_msgs::msg::Referee_<std::allocator<void> >, std::default_delete<robocup_ssl_msgs::msg::Referee_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<robocup_ssl_msgs::msg::Referee_<std::allocator<void> >, std::default_delete<robocup_ssl_msgs::msg::Referee_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const robocup_ssl_msgs::msg::Referee_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const robocup_ssl_msgs::msg::Referee_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const robocup_ssl_msgs::msg::Referee_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const robocup_ssl_msgs::msg::Referee_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<robocup_ssl_msgs::msg::Referee_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<robocup_ssl_msgs::msg::Referee_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)> >&>
[crane_world_model_publisher_node-9]     |   502:     }
[crane_world_model_publisher_node-9]     |   503:     // Dispatch.
[crane_world_model_publisher_node-9]     | > 504:     std::visit(
[crane_world_model_publisher_node-9]     |   505:       [&message, &message_info, this](auto && callback) {
[crane_world_model_publisher_node-9]     |   506:         using T = std::decay_t<decltype(callback)>;
[crane_world_model_publisher_node-9]     | Source "/usr/include/c++/11/variant", line 1761, in __do_visit<std::__detail::__variant::__deduce_visit_result<void>, rclcpp::AnySubscriptionCallback<robocup_ssl_msgs::msg::Referee_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<robocup_ssl_msgs::msg::Referee_<std::allocator<void> > >, const rclcpp::MessageInfo&)::<lambda(auto:24&&)>, std::variant<std::function<void(const robocup_ssl_msgs::msg::Referee_<std::allocator<void> >&)>, std::function<void(const robocup_ssl_msgs::msg::Referee_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<robocup_ssl_msgs::msg::Referee_<std::allocator<void> >, std::default_delete<robocup_ssl_msgs::msg::Referee_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<robocup_ssl_msgs::msg::Referee_<std::allocator<void> >, std::default_delete<robocup_ssl_msgs::msg::Referee_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const robocup_ssl_msgs::msg::Referee_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const robocup_ssl_msgs::msg::Referee_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const robocup_ssl_msgs::msg::Referee_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const robocup_ssl_msgs::msg::Referee_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<robocup_ssl_msgs::msg::Referee_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<robocup_ssl_msgs::msg::Referee_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)> >&>
[crane_world_model_publisher_node-9]     |  1759:       }
[crane_world_model_publisher_node-9]     |  1760:     else
[crane_world_model_publisher_node-9]     | >1761:       return std::__do_visit<_Tag>(
[crane_world_model_publisher_node-9]     |  1762:         std::forward<_Visitor>(__visitor),
[crane_world_model_publisher_node-9]     |  1763:         static_cast<_Vp>(__variants)...);
[crane_world_model_publisher_node-9]       Source "/usr/include/c++/11/variant", line 1727, in handle_message [0x7f0ce4c7cca9]
[crane_world_model_publisher_node-9]        1724:   _Result_type, _Visitor&&, _Variants&&...>::_S_vtable;
[crane_world_model_publisher_node-9]        1725: 
[crane_world_model_publisher_node-9]        1726:       auto __func_ptr = __vtable._M_access(__variants.index()...);
[crane_world_model_publisher_node-9]       >1727:       return (*__func_ptr)(std::forward<_Visitor>(__visitor),
[crane_world_model_publisher_node-9]        1728:              std::forward<_Variants>(__variants)...);
[crane_world_model_publisher_node-9]        1729:     }
[crane_world_model_publisher_node-9]        1730:   /// @endcond
[crane_world_model_publisher_node-9] #7    Source "/home/hans/workspace/ibis_ws/src/crane/crane_world_model_publisher/src/world_model_publisher.cpp", line 140, in operator() [0x7f0ce4c02765]
[crane_world_model_publisher_node-9]         137:         std::stringstream what;
[crane_world_model_publisher_node-9]         138:         what << "Cannot find our team name, " << team_name << " in referee message. ";
[crane_world_model_publisher_node-9]         139:         what << "blue team name: " << msg.blue.name << ", yellow team name: " << msg.yellow.name;
[crane_world_model_publisher_node-9]       > 140:         throw std::runtime_error(what.str());
[crane_world_model_publisher_node-9]         141:       }
[crane_world_model_publisher_node-9]         142: 
[crane_world_model_publisher_node-9]         143:       if (not msg.designated_position.empty()) {
[crane_world_model_publisher_node-9] #6    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f0ce47304d7, in __cxa_throw
[crane_world_model_publisher_node-9] #5    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f0ce4730276, in std::terminate()
[crane_world_model_publisher_node-9] #4    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f0ce473020b, in 
[crane_world_model_publisher_node-9] #3    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f0ce4724b9d, in 
[crane_world_model_publisher_node-9] #2    Source "./stdlib/abort.c", line 79, in abort [0x7f0ce44617f2]
[crane_world_model_publisher_node-9] #1    Source "../sysdeps/posix/raise.c", line 26, in raise [0x7f0ce447b475]
[crane_world_model_publisher_node-9] #0  | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal
[crane_world_model_publisher_node-9]     | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation
[crane_world_model_publisher_node-9]       Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x7f0ce44cf9fc]
[crane_world_model_publisher_node-9] Aborted (Signal sent by tkill() 595956 1000)
[ERROR] [crane_world_model_publisher_node-9]: process has died [pid 595956, exit code -6, cmd '/home/hans/workspace/ibis_ws/install/crane_world_model_publisher/lib/crane_world_model_publisher/crane_world_model_publisher_node --ros-args --params-file /tmp/launch_params__4am68g_ --params-file /tmp/launch_params_9ueg_hfn'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[sim_sender_node-3] [INFO] [1713369480.464897038] [rclcpp]: signal_handler(signum=2)
[play_switcher_node-10] [INFO] [1713369480.464881814] [rclcpp]: signal_handler(signum=2)
[consai_visualizer_neo-11] [INFO] [1713369480.464881590] [rclcpp]: signal_handler(signum=2)
[vision_tracker_node-8] [INFO] [1713369480.464883609] [rclcpp]: signal_handler(signum=2)
[vision_node-4] [INFO] [1713369480.464893215] [rclcpp]: signal_handler(signum=2)
[crane_local_planner_node-2] [INFO] [1713369480.464898301] [rclcpp]: signal_handler(signum=2)
[grsim_node-6] [INFO] [1713369480.464911664] [rclcpp]: signal_handler(signum=2)
[game_controller_node-5] [INFO] [1713369480.464928150] [rclcpp]: signal_handler(signum=2)
[robot_status_node-7] [INFO] [1713369480.464931996] [rclcpp]: signal_handler(signum=2)
[crane_session_controller_node-1] [INFO] [1713369480.465074053] [rclcpp]: signal_handler(signum=2)
[vision_tracker_node-8] double free or corruption (out)
[ERROR] [vision_tracker_node-8]: process has died [pid 595954, exit code -6, cmd '/home/hans/workspace/ibis_ws/install/consai_vision_tracker/lib/consai_vision_tracker/vision_tracker_node --ros-args'].
ibis-ssl / crane

world_model_publisherが落ちた #266
