Open cdussieux opened 1 year ago
Observed this issue 3 times on 2 robots, full physical reboot always solved it so far Maybe buffer is not clean on device side on boot ? Sometimes ?
log is in reverse order
unch]: Default logging verbosity is set to INFO unch]: All log files can be found below /home/reachy/.ros/log/2023-04-11-13-59-53-788448-reachy-2023-0005-1931 os2_control_node-1]: process has died [pid 1925, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args > rol_node-1] Aborted (Signal sent by tkill() 1925 1000) rol_node-1] Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x7faabc496a7c] rol_node-1] | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation rol_node-1] #0 | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal rol_node-1] #1 Source "../sysdeps/posix/raise.c", line 26, in raise [0x7faabc442475] rol_node-1] #2 Source "./stdlib/abort.c", line 79, in abort [0x7faabc4287f2] rol_node-1] #3 Source "library/std/src/sys/unix/mod.rs", line 350, in abort_internal [0x7faab6392a16] rol_node-1] #4 Source "library/std/src/panicking.rs", line 742, in rust_panic [0x7faab6387951] rol_node-1] #5 Source "library/std/src/panicking.rs", line 710, in rust_panic_with_hook [0x7faab6387746] rol_node-1] #6 Source "library/std/src/panicking.rs", line 579, in {closure#0} [0x7faab6387488] rol_node-1] #7 Source "library/std/src/sys_common/backtrace.rs", line 137, in __rust_end_short_backtrace<std::panicking::begin_panic_> rol_node-1] #8 Source "library/std/src/panicking.rs", line 575, in begin_panic_handler [0x7faab6387191] rol_node-1] #9 Source "library/core/src/panicking.rs", line 64, in panic_fmt [0x7faab61fd5b2] rol_node-1] #10 Source "library/core/src/result.rs", line 1790, in unwrap_failed [0x7faab61fda62] rol_node-1] #11 Source "/rustc/9eb3afe9ebe9c7d2b84b71002d44f4a0edac95e0/library/core/src/result.rs", line 1112, in unwrap<core::time::> rol_node-1] 145: } rol_node-1] 144: } rol_node-1] 143: None => false, rol_node-1] > 142: Some(expiry) => t.elapsed().unwrap() > expiry, rol_node-1] 141: match expiry_duration { rol_node-1] 140: fn has_expired(expiry_duration: Option<Duration>, t: &SystemTime) -> bool { rol_node-1] #12 Source "/home/reachy/.cargo/registry/src/github.com-1ecc6299db9ec823/cache_cache-0.1.0/src/lib.rs", line 142, in has_e> rol_node-1] 166: }, rol_node-1] 165: false => Some(v), rol_node-1] 164: true => None, rol_node-1] > 163: Some((v, t)) => match Self::has_expired(self.expiry_duration, t) { rol_node-1] 162: match self.hash_map.get(k) { rol_node-1] 161: { rol_node-1] 160: Q: Hash + Eq, rol_node-1] #13 Source "/home/reachy/.cargo/registry/src/github.com-1ecc6299db9ec823/cache_cache-0.1.0/src/lib.rs", line 163, in get<u> rol_node-1] 105: k: key, rol_node-1] 104: None => Entry::Vacant(VacantEntry { rol_node-1] 103: Some(&v) => Entry::Occupied(OccupiedEntry { k: key, v }), rol_node-1] > 102: match self.get(&key) { rol_node-1] 101: pub fn entry(&mut self, key: K) -> Entry<'_, K, V> { rol_node-1] 100: /// assert_eq!(motors_temperature.get(&11), Some(&42.0)); rol_node-1] 99: /// let temp = motors_temperature.entry(11).or_insert_with(get_motor_temperature); rol_node-1] #14 Source "/home/reachy/.cargo/registry/src/github.com-1ecc6299db9ec823/cache_cache-0.1.0/src/lib.rs", line 102, in entry> rol_node-1] #15 Source "src/lib.rs", line 376, in read_force_sensor [0x7faab62543f5] rol_node-1] #16 Source "src/lib.rs", line 324, in arm_hwi_read_force_sensor [0x7faab6219b0b] rol_node-1] #17 Object "/home/reachy/reachy_ws/build/arm_system_hwi/libarm_system_hwi.so", at 0x7faab6203e25, in arm_system_hwi::ArmSy> rol_node-1] #18 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7faabc7e77c4, in hardware_interface::System::read(rclcpp::> rol_node-1] #19 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7faabc7c0401, in hardware_interface::ResourceManager::read> rol_node-1] #20 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x565027464810, in rol_node-1] #21 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7faabc8dc2b2, in rol_node-1] #22 Source "./nptl/pthread_create.c", line 442, in start_thread [0x7faabc494b42] rol_node-1] #23 Source "../sysdeps/unix/sysv/linux/x86_64/clone3.S", line 81, in __clone3 [0x7faabc5269ff] rol_node-1] #24 Object "", at 0xffffffffffffffff, in rol_node-1] Stack trace (most recent call last) in thread 1959: rol_node-1] fatal runtime error: failed to initiate panic, error 5 rol_node-1] note: run with `RUST_BACKTRACE=1` environment variable to display a backtrace rol_node-1] thread '<unnamed>' panicked at 'called `Result::unwrap()` on an `Err` value: SystemTimeError(384.821411ms)', /home/reachy/.c> te_publisher-2] [WARN] [1681213958.100396476] [robot_state_publisher]: Moved backwards in time, re-publishing joint transforms! cus-6] [INFO] [1681213958.143409368] [camera_focus]: Autofocus node for left_eye ready!
Observed this issue 3 times on 2 robots, full physical reboot always solved it so far Maybe buffer is not clean on device side on boot ? Sometimes ?
log is in reverse order