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open-rmf / rmf

Root repository for the RMF software
Apache License 2.0
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[Other issue]: rmf_traffic_schedule crash #422

Closed sabbysim closed 4 months ago

sabbysim commented 5 months ago

Before proceeding, is there an existing issue or discussion for this?

Description

rmf_demo office fail to launch with the following error code:

[rmf_traffic_schedule-1] [FATAL] [1706509151.310826378] [rmf_traffic_schedule_primary]: Failed to correctly load participant registry: yaml-cpp: error at line 9, column 16: bad conversion [rmf_traffic_schedule-1] [rmf_traffic_schedule-1] terminate called after throwing an instance of 'std::exception' [rmf_traffic_schedule-1] what(): std::exception . . [ERROR] [rmf_traffic_schedule-1]: process has died [pid 115816, exit code -6, cmd '/home/krms/kj_ws/install/rmf_traffic_ros2/lib/rmf_traffic_ros2/rmf_traffic_schedule --ros-args -r __node:=rmf_traffic_schedule_primary --params-file /tmp/launch_params_pnrvbg7u'].

I tried both binary and build from source but error persists. I am using Humble-release and the default launch command shown below: ros2 launch rmf_demos_gz_classic office.launch.xml

Tried changing the DDS as recommended by https://github.com/open-rmf/rmf/issues/258#issue-1418137613 but did not resolve the error.

I have the same configurations running on another PC but did not see this error. Have you experienced this intermittent error?

Full log shown below: https://gist.github.com/mxgrey/0e0bb9aa2ff62de02be9e3c6f9aad02f

mxgrey commented 5 months ago

In the future please use gist.github.com to upload large walls of terminal output.

The pertinent log output is this one:

[rmf_traffic_schedule-1] [FATAL] [1706509151.310826378] [rmf_traffic_schedule_primary]: Failed to correctly load participant registry: yaml-cpp: error at line 9, column 16: bad conversion

To help us debug the root cause of the problem, you can run follow these steps:

  1. Begin a new gist by opening gist.github.com
  2. In a terminal, navigate to the directory that you launch RMF from
  3. Run this command: $ cat .rmf_schedule_node.yaml | xclip -sel clip
  4. Ctrl-V into the blank gist that you began in step (1)
  5. Click the arrow on this button to select "Create public gist" gist

Then copy/paste a link to your gist into a comment here.

Once you've done all the above steps, you can run $ rm .rmf_schedule_node.yaml in the same directory that you launch RMF from. After you've done that, the problem should be gone.

sabbysim commented 5 months ago

@mxgrey, I reformatted the PC before I seeing your reply. The problem is gone now. Am I right to say that .rmf_schedule_node.yaml was corrupted? Just FYI, I upgraded to Ubuntu 22.04, installed humble and deleted galactic before the error happened.

mxgrey commented 5 months ago

Right the error had to do with failing to parse that file. If we could've seen its contents then maybe we could identify a cause for how it got into a bad state and implement a fix.