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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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Exception in ignition gazebo std::out_of_range in Gamelogic node #991

Open PeterQFR opened 2 years ago

PeterQFR commented 2 years ago

I am trialing a local model with rgbd sensors in the urban circuits: simple_urban_01 simple_urban_02 urban_circuit_02

I get an exception and core dump when crossing the the first turn down the tunnel from the team base room soon after scoring has started. I did not get this with X3_SENSOR_CONFIG_1 configuration. I am running with the localModel argument set to true.

Dbg] [EntityComponentManager.cc:1091] Updated state thread iterators: 8 threads processing around 66 components each.
[Msg] Scoring has Started
terminate called after throwing an instance of 'std::out_of_range'
  what():  map::at
Stack trace (most recent call last) in thread 226:
#15   Object "", at 0xffffffffffffffff, in 
#14   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f54d6da271e, in clone
#13   Object "/lib/x86_64-linux-gnu/libpthread.so.0", at 0x7f54d6a696da, in start_thread
#12   Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f54d3a6e6de, in std::error_code::default_error_condition() const
#11   Object "/usr/lib/x86_64-linux-gnu/libignition-gazebo4.so.4", at 0x7f54d268b209, in GetRecordPluginElem(sdf::v10::Root&)
#10   Object "/usr/lib/x86_64-linux-gnu/libignition-gazebo4.so.4", at 0x7f54d2695dea, in ignition::gazebo::v4::SimulationRunner::Run(unsigned long)
#9    Object "/usr/lib/x86_64-linux-gnu/libignition-gazebo4.so.4", at 0x7f54d26956e6, in ignition::gazebo::v4::SimulationRunner::Step(ignition::gazebo::v4::UpdateInfo const&)
#8    Object "/usr/lib/x86_64-linux-gnu/libignition-gazebo4.so.4", at 0x7f54d268fc51, in ignition::gazebo::v4::SimulationRunner::UpdateSystems()
#7    Object "/home/developer/subt_ws/install/lib/libGameLogicPlugin.so", at 0x7f54a101d583, in subt::GameLogicPlugin::PreUpdate(ignition::gazebo::v4::UpdateInfo const&, ignition::gazebo::v4::EntityComponentManager&)
#6    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f54d3a3f836, in 
#5    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f54d3a43d53, in __cxa_throw
#4    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f54d3a43b20, in std::terminate()
#3    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f54d3a43ae5, in std::rethrow_exception(std::__exception_ptr::exception_ptr)
#2    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f54d3a3d956, in 
#1    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f54d6cc1920, in abort
#0    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f54d6cbffb7, in gsignal
Aborted (Signal sent by tkill() 52 1000)
./run_sim.bash: line 6:    52 Aborted                 (core dumped) ign launch -v 4 $@

The SDF for the model includes additional rgbd sensors beneath the existing eg add:

  <sensor name="camera_port" type="rgbd_camera">
                <pose>0 0.1 0 0 0 1.570796</pose>
                <always_on>1</always_on>
                <update_rate>20</update_rate>
                <camera name="camera_port">
                    <horizontal_fov>1.0472</horizontal_fov>
                    <lens>
                        <intrinsics>
                            <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
                            <fx>554.3</fx>
                            <fy>554.3</fy>
                            <!-- cx = ( width + 1 ) / 2 -->
                            <cx>320.5</cx>
                            <!-- cy = ( height + 1 ) / 2 -->
                            <cy>240.5</cy>
                            <s>0</s>
                        </intrinsics>
                    </lens>
                    <distortion>
                        <k1>0.0</k1>
                        <k2>0.0</k2>
                        <k3>0.0</k3>
                        <p1>0.0</p1>
                        <p2>0.0</p2>
                        <center>0.5 0.5</center>
                    </distortion>
                    <image>
                        <width>640</width>
                        <height>480</height>
                        <format>R8G8B8</format>
                    </image>
                    <clip>
                        <near>0.01</near>
                        <far>300</far>
                    </clip>
                    <depth_camera>
                      <clip>
                        <near>0.1</near>
                        <far>10</far>
                      </clip>
                    </depth_camera>
                    <noise>
                        <type>gaussian</type>
                        <mean>0</mean>
                        <stddev>0.007</stddev>
                    </noise>
                </camera>
            </sensor>
            <sensor name="camera_starboard" type="rgbd_camera">
                <pose>0 -0.1 0 0 0 -1.570796</pose>
                <always_on>1</always_on>
                <update_rate>20</update_rate>
                <camera name="camera_starboard">
                    <horizontal_fov>1.0472</horizontal_fov>
                    <lens>
                        <intrinsics>
                            <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
                            <fx>554.3</fx>
                            <fy>554.3</fy>
                            <!-- cx = ( width + 1 ) / 2 -->
                            <cx>320.5</cx>
                            <!-- cy = ( height + 1 ) / 2 -->
                            <cy>240.5</cy>
                            <s>0</s>
                        </intrinsics>
                    </lens>
                    <distortion>
                        <k1>0.0</k1>
                        <k2>0.0</k2>
                        <k3>0.0</k3>
                        <p1>0.0</p1>
                        <p2>0.0</p2>
                        <center>0.5 0.5</center>
                    </distortion>
                    <image>
                        <width>640</width>
                        <height>480</height>
                        <format>R8G8B8</format>
                    </image>
                    <clip>
                        <near>0.01</near>
                        <far>300</far>
                    </clip>
                    <depth_camera>
                      <clip>
                        <near>0.1</near>
                        <far>10</far>
                      </clip>
                    </depth_camera>
                    <noise>
                        <type>gaussian</type>
                        <mean>0</mean>
                        <stddev>0.007</stddev>
                    </noise>
                </camera>
            </sensor>
            <sensor name="camera_down" type="rgbd_camera">
                <pose>0 0 -0.05 0 1.570796 0</pose>
                <always_on>1</always_on>
                <update_rate>20</update_rate>
                <camera name="camera_down">
                    <horizontal_fov>1.0472</horizontal_fov>
                    <lens>
                        <intrinsics>
                            <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
                            <fx>554.3</fx>
                            <fy>554.3</fy>
                            <!-- cx = ( width + 1 ) / 2 -->
                            <cx>320.5</cx>
                            <!-- cy = ( height + 1 ) / 2 -->
                            <cy>240.5</cy>
                            <s>0</s>
                        </intrinsics>
                    </lens>
                    <distortion>
                        <k1>0.0</k1>
                        <k2>0.0</k2>
                        <k3>0.0</k3>
                        <p1>0.0</p1>
                        <p2>0.0</p2>
                        <center>0.5 0.5</center>
                    </distortion>
                    <image>
                        <width>640</width>
                        <height>480</height>
                        <format>R8G8B8</format>
                    </image>
                    <clip>
                        <near>0.01</near>
                        <far>300</far>
                    </clip>
                    <depth_camera>
                      <clip>
                        <near>0.1</near>
                        <far>10</far>
                      </clip>
                    </depth_camera>
                    <noise>
                        <type>gaussian</type>
                        <mean>0</mean>
                        <stddev>0.007</stddev>
                    </noise>
                </camera>
            </sensor>
PeterQFR commented 2 years ago

Commenting out the GameLogicPlugin in the competition.ign, stops the issue from happening. so the bug is in GameLogic for this configuration of robot. Not sure if that is correlation or causation. As for me, I'm right for now.

nkoenig commented 2 years ago

A couple patches to the GameLogic plugin have been added. Can you try again?