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osrf / subt

This repostory contains software for the virtual track of the DARPA SubT Challenge. Within this repository you will find Gazebo simulation assets, ROS interfaces, support scripts and plugins, and documentation needed to compete in the SubT Virtual Challenge.
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CloudSim stops sending some topics #261

Closed osrf-migration closed 4 years ago

osrf-migration commented 4 years ago

Original report (archived issue) by Martin Dlouhy (Bitbucket: robotikacz).

The CloudSim or the bridge sometimes stop sending some topics. This issue was reported two months ago(?) in context of two running ROS nodes. Do you have some reference counters on bridge to check?

Here is the complete Python3 dump for robot A final run 10:

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0:00:01.874250 (0.0 0.0 0.0) []
Using times [10, 2400]
Artifacts before start: []
0:01:00.113899 (15.2 -3.6 0.0) [('acc', 1031), ('origin', 178), ('pose2d', 1029), ('rot', 1031), ('scan', 206), ('sim_time_sec', 21)]
0:02:00.041882 (37.3 -3.7 0.0) [('acc', 1109), ('pose2d', 1109), ('rot', 1109), ('scan', 222), ('sim_time_sec', 22)]
0:03:00.025751 (59.8 -3.6 0.0) [('acc', 1123), ('pose2d', 1123), ('rot', 1123), ('scan', 224), ('sim_time_sec', 23)]
0:04:00.039811 (74.7 3.7 0.0) [('acc', 1152), ('pose2d', 1153), ('rot', 1152), ('scan', 231), ('sim_time_sec', 23)]
0:05:00.087357 (74.7 27.0 0.0) [('acc', 1165), ('pose2d', 1164), ('rot', 1165), ('scan', 233), ('sim_time_sec', 23)]
0:06:00.032591 (58.9 33.6 0.0) [('acc', 1160), ('pose2d', 1161), ('rot', 1160), ('scan', 232), ('sim_time_sec', 23)]
0:07:00.091972 (37.8 28.3 0.0) [('acc', 1178), ('pose2d', 1177), ('rot', 1178), ('scan', 235), ('sim_time_sec', 24)]
0:08:00.037849 (36.8 9.7 -0.0) [('acc', 1167), ('pose2d', 1168), ('rot', 1167), ('scan', 234), ('sim_time_sec', 23)]
0:09:00.124006 (34.8 26.2 -0.0) [('acc', 1163), ('pose2d', 1162), ('rot', 1163), ('scan', 232), ('sim_time_sec', 24)]
0:10:00.099786 (51.8 36.4 -0.0) [('acc', 1143), ('pose2d', 1143), ('rot', 1143), ('scan', 229), ('sim_time_sec', 22)]
0:11:00.064612 (74.2 36.4 -0.0) [('acc', 1120), ('pose2d', 1120), ('rot', 1120), ('scan', 224), ('sim_time_sec', 23)]
0:12:00.037038 (74.8 58.0 -0.0) [('acc', 1147), ('pose2d', 1147), ('rot', 1147), ('scan', 229), ('sim_time_sec', 23)]
0:13:00.078897 (74.8 81.3 -0.0) [('acc', 1165), ('pose2d', 1165), ('rot', 1165), ('scan', 233), ('sim_time_sec', 23)]
0:14:00.084369 (77.4 67.2 -0.0) [('acc', 1170), ('pose2d', 1170), ('rot', 1170), ('scan', 234), ('sim_time_sec', 23)]
0:15:00.036357 (77.4 43.9 -0.0) [('acc', 1162), ('pose2d', 1163), ('rot', 1162), ('scan', 233), ('sim_time_sec', 24)]
0:16:00.101717 (92.1 36.2 -0.0) [('acc', 1157), ('pose2d', 1157), ('rot', 1157), ('scan', 231), ('sim_time_sec', 23)]
0:17:00.174657 (115.5 36.3 -0.0) [('acc', 1175), ('pose2d', 1174), ('rot', 1175), ('scan', 235), ('sim_time_sec', 23)]
0:18:00.071696 (139.0 36.3 -0.0) [('acc', 1174), ('pose2d', 1173), ('rot', 1174), ('scan', 235), ('sim_time_sec', 24)]
0:19:00.167036 (154.7 47.1 -0.0) [('acc', 1166), ('pose2d', 1167), ('rot', 1166), ('scan', 233), ('sim_time_sec', 23)]
0:20:00.112116 (154.7 70.5 -0.0) [('acc', 1153), ('pose2d', 1171), ('rot', 1153), ('scan', 234), ('sim_time_sec', 24)]
0:21:00.103524 (155.1 92.8 -0.0) [('pose2d', 1164), ('scan', 233), ('sim_time_sec', 23)]
0:22:00.040778 (155.6 115.8 -0.0) [('pose2d', 1152), ('scan', 230), ('sim_time_sec', 23)]
0:23:00.225396 (156.0 139.0 -0.0) [('pose2d', 1159), ('scan', 232), ('sim_time_sec', 23)]
0:24:00.096273 (156.5 162.0 -0.0) [('pose2d', 1151), ('scan', 231), ('sim_time_sec', 23)]
0:25:00.087319 (156.9 185.3 -0.0) [('pose2d', 1165), ('scan', 232), ('sim_time_sec', 23)]
0:26:00.017386 (157.4 208.3 -0.0) [('pose2d', 1147), ('scan', 230), ('sim_time_sec', 23)]
0:27:00.039352 (157.8 231.5 -0.0) [('pose2d', 1163), ('scan', 233), ('sim_time_sec', 24)]
0:28:00.071255 (158.3 255.2 -0.0) [('pose2d', 1185), ('scan', 236), ('sim_time_sec', 23)]
0:29:00.015956 (158.7 278.4 -0.0) [('pose2d', 1157), ('scan', 232), ('sim_time_sec', 23)]
0:30:00.025776 (159.2 301.8 -0.0) [('pose2d', 1173), ('scan', 234), ('sim_time_sec', 24)]
0:31:00.053610 (159.6 324.9 -0.0) [('pose2d', 1152), ('scan', 231), ('sim_time_sec', 23)]
0:32:00.156292 (160.1 347.5 -0.0) [('pose2d', 1130), ('scan', 226), ('sim_time_sec', 22)]
0:33:00.095004 (160.5 369.7 -0.0) [('pose2d', 1110), ('scan', 222), ('sim_time_sec', 23)]
0:34:00.020327 (160.9 391.6 -0.0) [('pose2d', 1096), ('scan', 219), ('sim_time_sec', 22)]
0:35:00.034189 (161.3 413.5 -0.0) [('pose2d', 1097), ('scan', 220), ('sim_time_sec', 22)]
0:36:00.085905 (161.8 435.2 -0.0) [('pose2d', 1085), ('scan', 216), ('sim_time_sec', 21)]
0:37:00.052622 (162.2 457.0 -0.0) [('pose2d', 1090), ('scan', 218), ('sim_time_sec', 22)]
0:38:00.038468 (162.6 478.4 -0.0) [('pose2d', 1070), ('scan', 215), ('sim_time_sec', 21)]
0:39:00.048765 (163.0 499.6 -0.0) [('pose2d', 1061), ('scan', 212), ('sim_time_sec', 22)]
0:40:00.166637 (163.4 520.7 -0.0) [('pose2d', 1055), ('scan', 211), ('sim_time_sec', 21)]
0:41:00.116588 (163.8 541.6 -0.0) [('pose2d', 1043), ('scan', 208), ('sim_time_sec', 21)]
0:42:00.005091 (164.2 562.5 -0.0) [('pose2d', 1047), ('scan', 210), ('sim_time_sec', 21)]
0:43:00.057229 (164.6 582.8 -0.0) [('pose2d', 1013), ('scan', 202), ('sim_time_sec', 20)]
0:44:00.086354 (165.0 603.6 -0.0) [('pose2d', 1040), ('scan', 208), ('sim_time_sec', 21)]
0:45:00.079366 (165.4 624.1 -0.0) [('pose2d', 1023), ('scan', 205), ('sim_time_sec', 20)]
0:46:00.094935 (165.8 645.1 -0.0) [('pose2d', 1053), ('scan', 210), ('sim_time_sec', 21)]
0:47:00.031867 (166.2 666.1 -0.0) [('pose2d', 1049), ('scan', 210), ('sim_time_sec', 21)]
0:48:00.119254 (166.6 687.0 -0.0) [('pose2d', 1046), ('scan', 209), ('sim_time_sec', 21)]
0:49:00.007596 (167.0 707.8 -0.0) [('pose2d', 1037), ('scan', 208), ('sim_time_sec', 21)]
0:50:00.054670 (167.5 728.9 -0.0) [('pose2d', 1058), ('scan', 211), ('sim_time_sec', 21)]
0:51:00.166188 (167.9 749.9 -0.0) [('pose2d', 1047), ('scan', 210), ('sim_time_sec', 21)]
0:52:00.006919 (168.3 770.5 -0.0) [('pose2d', 1030), ('scan', 206), ('sim_time_sec', 20)]
0:53:00.057601 (168.7 791.2 -0.0) [('pose2d', 1038), ('scan', 207), ('sim_time_sec', 21)]
0:54:00.026260 (169.1 811.5 -0.0) [('pose2d', 1049), ('scan', 210), ('sim_time_sec', 21)]
0:55:00.071333 (169.5 832.3 -0.0) [('pose2d', 1040), ('scan', 208), ('sim_time_sec', 21)]
0:56:00.042111 (169.9 853.2 -0.0) [('pose2d', 1046), ('scan', 209), ('sim_time_sec', 21)]
0:57:00.013416 (170.3 874.3 -0.0) [('pose2d', 1054), ('scan', 211), ('sim_time_sec', 21)]
0:58:00.119442 (170.7 895.7 -0.0) [('pose2d', 1070), ('scan', 214), ('sim_time_sec', 21)]
0:59:00.086211 (170.8 900.1 -0.0) [('pose2d', 220), ('scan', 216), ('sim_time_sec', 5)]
1:00:00.056517 (170.8 900.1 -0.0) [('scan', 214)]
1:01:00.139475 (170.8 900.1 -0.0) [('scan', 214)]
1:02:00.042254 (170.8 900.1 -0.0) [('scan', 213)]
1:03:00.064216 (170.8 900.1 -0.0) [('scan', 218)]
1:04:00.009180 (170.8 900.1 -0.0) [('scan', 219)]
1:05:00.098884 (170.8 900.1 -0.0) [('scan', 220)]
1:06:00.197615 (170.8 900.1 -0.0) [('scan', 225)]
1:07:00.028404 (170.8 900.1 -0.0) [('scan', 222)]
1:08:00.147307 (170.8 900.1 -0.0) [('scan', 220)]
1:09:00.194171 (170.8 900.1 -0.0) [('scan', 220)]
1:10:00.149403 (170.8 900.1 -0.0) [('scan', 219)]
1:11:00.247164 (170.8 900.1 -0.0) [('scan', 224)]
1:12:00.074530 (170.8 900.1 -0.0) [('scan', 224)]
1:13:00.038614 (170.8 900.1 -0.0) [('scan', 227)]
1:14:00.014625 (170.8 900.1 -0.0) [('scan', 223)]
1:15:00.061669 (170.8 900.1 -0.0) [('scan', 222)]
1:16:00.107241 (170.8 900.1 -0.0) [('scan', 219)]
1:17:00.246864 (170.8 900.1 -0.0) [('scan', 217)]
1:18:00.093432 (170.8 900.1 -0.0) [('scan', 217)]
1:19:00.180346 (170.8 900.1 -0.0) [('scan', 214)]
1:20:00.196161 (170.8 900.1 -0.0) [('scan', 215)]
1:21:00.276935 (170.8 900.1 -0.0) [('scan', 214)]
1:22:00.145624 (170.8 900.1 -0.0) [('scan', 213)]
1:23:00.139866 (170.8 900.1 -0.0) [('scan', 216)]
1:24:00.086690 (170.8 900.1 -0.0) [('scan', 215)]
1:25:00.112151 (170.8 900.1 -0.0) [('scan', 216)]
1:26:00.242472 (170.8 900.1 -0.0) [('scan', 217)]
1:27:00.093402 (170.8 900.1 -0.0) [('scan', 216)]
1:28:00.044074 (170.8 900.1 -0.0) [('scan', 215)]
1:29:00.065824 (170.8 900.1 -0.0) [('scan', 218)]
1:30:00.198382 (170.8 900.1 -0.0) [('scan', 218)]
1:31:00.064302 (170.8 900.1 -0.0) [('scan', 215)]
1:32:00.156794 (170.8 900.1 -0.0) [('scan', 213)]
1:33:00.116688 (170.8 900.1 -0.0) [('scan', 218)]
1:34:00.245220 (170.8 900.1 -0.0) [('scan', 216)]
1:35:00.120979 (170.8 900.1 -0.0) [('scan', 216)]
1:36:00.112766 (170.8 900.1 -0.0) [('scan', 216)]
1:37:00.024872 (170.8 900.1 -0.0) [('scan', 214)]
1:38:00.079595 (170.8 900.1 -0.0) [('scan', 215)]
1:39:00.269596 (170.8 900.1 -0.0) [('scan', 216)]
1:40:00.148613 (170.8 900.1 -0.0) [('scan', 211)]
1:41:00.064843 (170.8 900.1 -0.0) [('scan', 210)]
1:42:00.268545 (170.8 900.1 -0.0) [('scan', 216)]
1:43:00.125946 (170.8 900.1 -0.0) [('scan', 215)]
1:44:00.016775 (170.8 900.1 -0.0) [('scan', 208)]
1:45:00.108588 (170.8 900.1 -0.0) [('scan', 213)]
1:46:00.123156 (170.8 900.1 -0.0) [('scan', 213)]
1:47:00.198297 (170.8 900.1 -0.0) [('scan', 206)]
1:48:00.057000 (170.8 900.1 -0.0) [('scan', 207)]
1:49:00.021796 (170.8 900.1 -0.0) [('scan', 211)]
1:50:00.067160 (170.8 900.1 -0.0) [('scan', 212)]
1:51:00.106854 (170.8 900.1 -0.0) [('scan', 208)]
1:52:00.312889 (170.8 900.1 -0.0) [('scan', 205)]
1:53:00.120459 (170.8 900.1 -0.0) [('scan', 208)]
1:54:00.220170 (170.8 900.1 -0.0) [('scan', 207)]
1:55:00.211964 (170.8 900.1 -0.0) [('scan', 212)]
1:56:00.013743 (170.8 900.1 -0.0) [('scan', 206)]
1:57:00.140487 (170.8 900.1 -0.0) [('scan', 197)]
1:58:00.078270 (170.8 900.1 -0.0) [('scan', 203)]
1:59:00.022021 (170.8 900.1 -0.0) [('scan', 209)]
2:00:00.118374 (170.8 900.1 -0.0) [('scan', 212)]
2:01:00.015736 (170.8 900.1 -0.0) [('scan', 212)]
2:02:00.103999 (170.8 900.1 -0.0) [('scan', 210)]
2:03:00.195317 (170.8 900.1 -0.0) [('scan', 214)]
2:04:00.069948 (170.8 900.1 -0.0) [('scan', 212)]
2:05:00.144081 (170.8 900.1 -0.0) [('scan', 213)]
2:06:00.255350 (170.8 900.1 -0.0) [('scan', 210)]
2:07:00.038883 (170.8 900.1 -0.0) [('scan', 211)]
2:08:00.244349 (170.8 900.1 -0.0) [('scan', 208)]
2:09:00.220553 (170.8 900.1 -0.0) [('scan', 208)]
2:10:00.012854 (170.8 900.1 -0.0) [('scan', 210)]
2:11:00.182522 (170.8 900.1 -0.0) [('scan', 205)]
2:12:00.317423 (170.8 900.1 -0.0) [('scan', 211)]
2:13:00.329937 (170.8 900.1 -0.0) [('scan', 204)]
2:14:00.237473 (170.8 900.1 -0.0) [('scan', 211)]
2:15:00.102629 (170.8 900.1 -0.0) [('scan', 208)]
2:16:00.311819 (170.8 900.1 -0.0) [('scan', 202)]
2:17:00.064137 (170.8 900.1 -0.0) [('scan', 210)]
2:18:00.297227 (170.8 900.1 -0.0) [('scan', 211)]
2:19:00.011858 (170.8 900.1 -0.0) [('scan', 205)]
2:20:00.041207 (170.8 900.1 -0.0) [('scan', 208)]
2:21:00.306937 (170.8 900.1 -0.0) [('scan', 209)]
2:22:00.014030 (170.8 900.1 -0.0) [('scan', 207)]
2:23:00.057761 (170.8 900.1 -0.0) [('scan', 211)]
2:24:00.078889 (170.8 900.1 -0.0) [('scan', 211)]
2:25:00.271348 (170.8 900.1 -0.0) [('scan', 210)]
2:26:00.023680 (170.8 900.1 -0.0) [('scan', 207)]
2:27:00.206565 (170.8 900.1 -0.0) [('scan', 209)]
2:28:00.196093 (170.8 900.1 -0.0) [('scan', 214)]
2:29:00.190260 (170.8 900.1 -0.0) [('scan', 212)]
2:30:00.132740 (170.8 900.1 -0.0) [('scan', 213)]
2:31:00.065569 (170.8 900.1 -0.0) [('scan', 214)]
2:32:00.212321 (170.8 900.1 -0.0) [('scan', 213)]
2:33:00.196690 (170.8 900.1 -0.0) [('scan', 215)]
2:34:00.186527 (170.8 900.1 -0.0) [('scan', 215)]
2:35:00.349303 (170.8 900.1 -0.0) [('scan', 215)]
2:36:00.063184 (170.8 900.1 -0.0) [('scan', 210)]
2:37:00.077993 (170.8 900.1 -0.0) [('scan', 210)]
2:38:00.253989 (170.8 900.1 -0.0) [('scan', 213)]
2:39:00.205328 (170.8 900.1 -0.0) [('scan', 206)]
2:40:00.139102 (170.8 900.1 -0.0) [('scan', 204)]
2:41:00.172922 (170.8 900.1 -0.0) [('scan', 209)]
2:42:00.261287 (170.8 900.1 -0.0) [('scan', 210)]
2:43:00.193495 (170.8 900.1 -0.0) [('scan', 212)]
2:44:00.104197 (170.8 900.1 -0.0) [('scan', 209)]
2:45:00.166760 (170.8 900.1 -0.0) [('scan', 213)]
2:46:00.088262 (170.8 900.1 -0.0) [('scan', 208)]
2:47:00.194601 (170.8 900.1 -0.0) [('scan', 209)]
2:48:00.158934 (170.8 900.1 -0.0) [('scan', 211)]
2:49:00.034882 (170.8 900.1 -0.0) [('scan', 208)]
2:50:00.161464 (170.8 900.1 -0.0) [('scan', 202)]
2:51:00.113854 (170.8 900.1 -0.0) [('scan', 211)]
2:52:00.143288 (170.8 900.1 -0.0) [('scan', 211)]
2:53:00.111603 (170.8 900.1 -0.0) [('scan', 201)]
2:54:00.109043 (170.8 900.1 -0.0) [('scan', 208)]

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