search

ros-controls / ros_controllers

Generic robotic controllers to accompany ros_control
http://wiki.ros.org/ros_control
BSD 3-Clause "New" or "Revised" License
560 stars 526 forks source link

Fix one joint trajectory controller case of std::runtime_error Duration is out of dual 32-bit range #577

Closed lucasw closed 2 years ago

lucasw commented 2 years ago

I was able to pin down the exception to a ros::Duration with an uninitialized double- possibly random bits will sometimes produce a usable value, but on my system the exception was very frequent.

Probably this has been lurking here since time_from_start was introduced 7fac696617a05eca4fa9a7fec401c17202664788

There are some issues and answers posts with the same exception that probably are a similar cause (in one there's an uninitialized Rate object which it sounded like the user corrected in their own code, but really Rate should always initialize to 0), but predate this particular one.

ShotaAk commented 2 years ago

I am looking forward to seeing this change merged. Are there no reviewers?

rickstaa commented 2 years ago

I am also experiencing this problem on my Ubuntu 20.04 installation running a 5.13.0-35-generic kernel. The problem does not happen every time but comes on a random basis. I installed the Debian package's joint-trajectory controller (version 0.19.0-1focal.20220221.105035 amd64).