Engine crash when trying to run baseline_racer_gtp.py

[surfii3z]

Hello, I try running baseline_racer_gtp.py, following https://github.com/microsoft/AirSim-NeurIPS2019-Drone-Racing#sample-code.

However I got the engine crash with the following log

[2019.11.08-06.18.02:468][ 0]LogUMG: Display: Widget Class BP_SimHUDWidget_C - Loaded Fast Template. [2019.11.08-06.18.02:469][ 0]LogEngine: Onscreen warnings/messages are now DISABLED [2019.11.08-06.18.02:469][ 0]LogUMG: Display: Widget Class OptionsMenu_C - Loaded Fast Template. [2019.11.08-06.18.02:699][ 0]LogModelComponent: Model /Engine/Maps/Entry.Entry:PersistentLevel.ModelComponent_4 has elements that reference missing vertices. MaxVertex=3, NumVertices=0 [2019.11.08-06.18.02:699][ 0]LogModelComponent: Model /Engine/Maps/Entry.Entry:PersistentLevel.ModelComponent_5 has elements that reference missing vertices. MaxVertex=7, NumVertices=0 [2019.11.08-06.18.02:699][ 0]LogModelComponent: Model /Engine/Maps/Entry.Entry:PersistentLevel.ModelComponent_5 has elements that reference missing vertices. MaxVertex=11, NumVertices=0 [2019.11.08-06.18.02:699][ 0]LogModelComponent: Model /Engine/Maps/Entry.Entry:PersistentLevel.ModelComponent_5 has elements that reference missing vertices. MaxVertex=19, NumVertices=0 [2019.11.08-06.18.02:699][ 0]LogModelComponent: Model /Engine/Maps/Entry.Entry:PersistentLevel.ModelComponent_6 has elements that reference missing vertices. MaxVertex=15, NumVertices=0 [2019.11.08-06.18.02:699][ 0]LogModelComponent: Model /Engine/Maps/Entry.Entry:PersistentLevel.ModelComponent_7 has elements that reference missing vertices. MaxVertex=23, NumVertices=0 [2019.11.08-06.18.03:106][ 0]LogPakFile: New pak file ../../../AirSimExe/Content/Paks/Building99.pak added to pak precacher. [2019.11.08-06.18.03:125][ 0]LogPakFile: New pak file ../../../AirSimExe/Content/Paks/ZhangJiaJie.pak added to pak precacher. [2019.11.08-06.18.03:274][ 0]LogMaterial: Can't compile Mat1_master_unique with cooked content, will use default material instead [2019.11.08-06.18.03:274][ 0]LogMaterial: Warning: /Building99/Building_99/BuildingMeshes/Materials/Mat1_master_unique.Mat1_master_unique: Failed to compile Material for platform GLSL_430, Default Material will be used in game. [2019.11.08-06.18.03:786][ 0]LogUMG: Display: Widget Class BP_LevelLoadButton_C - Loaded Fast Template. [2019.11.08-06.18.04:305][ 0]LogUMG: Display: Widget Class WeatherBoolWidget_C - Loaded Fast Template. [2019.11.08-06.18.04:305][ 0]LogUMG: Display: Widget Class WeatherParamScalarWidget_C - Loaded Fast Template. [2019.11.08-06.18.04:307][ 0]LogSlate: Took 0.001886 seconds to synchronously load lazily loaded font '../../../Engine/Content/Slate/Fonts/Roboto-Regular.ttf' (155K) [2019.11.08-06.18.04:309][ 0]LogUMG: Display: Widget Class WeatherParamWindWidget_C - Loaded Fast Template. [2019.11.08-06.18.04:310][ 0]LogTemp: Warning: WidgetBlueprintGeneratedClass Warning, WeatherAPI [2019.11.08-06.18.04:310][ 0]LogTemp: Warning: WidgetBlueprintGeneratedClass Warning, WeatherAPI [2019.11.08-06.18.04:310][ 0]LogLoad: Took 2.003845 seconds to LoadMap(/Game/MainMenu) [2019.11.08-06.18.04:312][ 0]LogSlate: Took 0.001830 seconds to synchronously load lazily loaded font '../../../Engine/Content/EngineFonts/Faces/RobotoBold.ufont' (160K) [2019.11.08-06.18.04:401][ 0]LogPackageName: SearchForPackageOnDisk took 0.060s, but failed to resolve Qualifier_Tier_1. [2019.11.08-06.18.04:428][ 0]LogStreaming: Display: ULevelStreaming::RequestLevel(/Game/FlyingCPP/Maps/Blocks_LevelInstance_1) is flushing async loading Checking Pak Config[2019.11.08-06.18.04:494][ 0]LogLoad: (Engine Initialization) Total time: 4.09 seconds [2019.11.08-06.18.04:575][ 0]LogRenderer: Reallocating scene render targets to support 1600x900 Format 10 NumSamples 1 (Frame:1). [2019.11.08-06.18.04:579][ 0]LogRHI: Using OpenGL program LRU cache: 0 [2019.11.08-06.18.04:668][ 0]LogInit: Adding external input plugin. [2019.11.08-06.18.04:676][ 0]LogRenderer: Reallocating scene render targets to support 128x128 Format 10 NumSamples 1 (Frame:1). [2019.11.08-06.18.04:676][ 0]LogContentStreaming: Texture pool size now 1000 MB [2019.11.08-06.18.04:773][ 0]LogRenderer: Reallocating scene render targets to support 1600x900 Format 10 NumSamples 1 (Frame:2). [2019.11.08-06.18.04:822][ 0]LogLinux: Setting swap interval to 'Immediate' [2019.11.08-06.18.04:828][ 0]LogSlate: Slate font cache was flushed [2019.11.08-06.18.04:834][ 1]LogSlate: Took 0.002115 seconds to synchronously load lazily loaded font '../../../Engine/Content/EngineFonts/Faces/RobotoBold.ufont' (160K) [2019.11.08-06.18.05:411][ 38]LogTemp: spawning player [2019.11.08-06.18.05:426][ 38]LogLevel: WORLD TRANSLATION BEGIN {0, 0, 0} -> {5690, -100, 202} [2019.11.08-06.18.05:426][ 38]LogLevel: WORLD TRANSLATION END {5690, -100, 202} took 0.1900 ms WARNING: Logging before InitGoogleLogging() is written to STDERR F1108 15:18:11.166389 21817 vertex.cpp:257] Check failed: vertices.size() >= 2 (1 vs. 2) Check failure stack trace: Signal 6 caught. Malloc Size=65538 LargeMemoryPoolOffset=65554 CommonUnixCrashHandler: Signal=6 Malloc Size=65535 LargeMemoryPoolOffset=131119 Malloc Size=107920 LargeMemoryPoolOffset=239056 Failed to find symbol file, expected location: "/home/jy/AirSim_Training/AirSimExe/Binaries/Linux/AirSimExe.sym" Malloc Size=81716 LargeMemoryPoolOffset=320788 Engine crash handling finished; re-raising signal 6 for the default handler. Good bye. Aborted (core dumped)

What is the cause of this?

[madratman]

@ericcristofalo can you look at this? This will happen if moveOnSpline is called with no waypoint in the argument. I am not sure if when you're truncating the waypoints, if there's an assertion being made somewhere.

[madratman]

hmm, so what is happening is that if waypoint argument of moveOnSpline has only one element, and add_position_constraint is set to False, I don't insert the current odometry, thereby leading to this error. When the GTP code is sending only a single waypoint, then add_position_constraint should be set to True

[surfii3z]

@madratman Thank you very much for the information. I thought this was the simulator problem.

[madratman]

https://github.com/microsoft/AirSim-NeurIPS2019-Drone-Racing/pull/124 fixes this