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tuw-robotics / tuw_multi_robot

BSD 3-Clause "New" or "Revised" License
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Default demo breaks in graph_generator node #34

Closed sgermanserrano closed 2 years ago

sgermanserrano commented 2 years ago

Launching the default demo via

roslaunch tuw_multi_robot_demo demo.launch

or

roslaunch tuw_multi_robot_demo demo.launch room:=cave cfg:=robot_2

throws the following error

terminate called after throwing an instance of 'boost::archive::archive_exception'
  what():  input stream error-Resource temporarily unavailable
[graph_generator-4] process has died [pid 179999, exit code -6, cmd /home/servando/unipart/tuw_ups/install/tuw_voronoi_graph/lib/tuw_voronoi_graph/tuw_voronoi_graph_node __name:=graph_generator __log:=/home/servando/.ros/log/68558376-e318-11eb-8dbb-83f761b2ecc2/graph_generator-4.log].
log file: /home/servando/.ros/log/68558376-e318-11eb-8dbb-83f761b2ecc2/graph_generator-4*.log

I'm testing in Ubuntu 20.04 and ROS Noetic

sgermanserrano commented 2 years ago

35 fixes this problem also

kintzhao commented 1 year ago

Has the same error on latest master

roslaunch tuw_multi_robot_demo demo.launch room:=cave cfg:=robot_2 ... logging to /home/robot/.ros/log/8bba7af8-15a0-11ee-b67c-91536b8574cd/roslaunch-robot-281072.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://robot:41473/

SUMMARY

PARAMETERS

NODES / graph_generator (tuw_voronoi_graph/tuw_voronoi_graph_node) map_server (map_server/map_server) multi_robot_router (tuw_multi_robot_router/tuw_multi_robot_router_node) rviz (rviz/rviz) stageros (stage_ros/stageros) /robot_0/ link1_broadcaster (tf2_ros/static_transform_publisher) local_behavior (tuw_multi_robot_local_behavior_controller/tuw_local_behavior_controller_node) self_localization (nodelet/nodelet) trajectory_controller (tuw_multi_robot_ctrl/tuw_velocity_controller) /robot_1/ link1_broadcaster (tf2_ros/static_transform_publisher) local_behavior (tuw_multi_robot_local_behavior_controller/tuw_local_behavior_controller_node) self_localization (nodelet/nodelet) trajectory_controller (tuw_multi_robot_ctrl/tuw_velocity_controller) /robot_2/ link1_broadcaster (tf2_ros/static_transform_publisher) local_behavior (tuw_multi_robot_local_behavior_controller/tuw_local_behavior_controller_node) self_localization (nodelet/nodelet) trajectory_controller (tuw_multi_robot_ctrl/tuw_velocity_controller)

auto-starting new master process[master]: started with pid [281099] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 8bba7af8-15a0-11ee-b67c-91536b8574cd process[rosout-1]: started with pid [281128] started core service [/rosout] process[map_server-2]: started with pid [281135] process[stageros-3]: started with pid [281136] process[graph_generator-4]: started with pid [281137] process[robot_2/link1_broadcaster-5]: started with pid [281138] process[robot_2/trajectory_controller-6]: started with pid [281139] process[robot_2/local_behavior-7]: started with pid [281140] process[robot_2/self_localization-8]: started with pid [281156] process[robot_1/link1_broadcaster-9]: started with pid [281163] process[robot_1/trajectory_controller-10]: started with pid [281164] process[robot_1/local_behavior-11]: started with pid [281171] process[robot_1/self_localization-12]: started with pid [281178] process[robot_0/link1_broadcaster-13]: started with pid [281184] process[robot_0/trajectory_controller-14]: started with pid [281186] process[robot_0/local_behavior-15]: started with pid [281192] process[robot_0/self_localization-16]: started with pid [281219] process[multi_robot_router-17]: started with pid [281228] process[rviz-18]: started with pid [281233] [Loading /home/robot/my_pj/tuw-robotics_ws/src/tuw_multi_robot/tuw_multi_robot_demo/cfg/maps/cave/stage.world][ INFO] [1687948978.329542129]: Multi Robot Mode [Image "map.pgm"[ INFO] [1687948978.356163396]: Initialization done! [ INFO] [1687948978.359638625]: robot name = robot_2 [ INFO] [1687948978.360416175]: robot name = robot_1 [ INFO] [1687948978.365904716]: robot name = robot_0 ] [ INFO] [1687948978.460890874]: rviz version 1.14.20 [ INFO] [1687948978.460917990]: compiled against Qt version 5.12.8 [ INFO] [1687948978.460986955]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1687948978.467284447]: Forcing OpenGl version 0. warn: worldfile /home/robot/my_pj/tuw-robotics_ws/src/tuw_multi_robot/tuw_multi_robot_demo/cfg/maps/cave/stage.world:19 : property [laser_return] is defined but not used (/tmp/binarydeb/ros-noetic-stage-4.3.0/libstage/worldfile.cc WarnUnused) [ INFO] [1687948978.491662832]: Subscribed to Stage position model "robot_0" [ INFO] [1687948978.492264563]: subscribed to Stage ranger "robot_0.ranger:0" [ INFO] [1687948978.492271758]: Robot robot_0 provided 1 rangers and 0 cameras [ INFO] [1687948978.494649731]: Subscribed to Stage position model "robot_1" [ INFO] [1687948978.494660113]: subscribed to Stage ranger "robot_1.ranger:0" [ INFO] [1687948978.494663587]: Robot robot_1 provided 1 rangers and 0 cameras [ INFO] [1687948978.496092771]: Subscribed to Stage position model "robot_2" [ INFO] [1687948978.496101841]: subscribed to Stage ranger "robot_2.ranger:0" [ INFO] [1687948978.496106237]: Robot robot_2 provided 1 rangers and 0 cameras [ INFO] [1687948978.996325598]: Stereo is NOT SUPPORTED [ INFO] [1687948978.996367890]: OpenGL device: NVIDIA GeForce RTX 3060 Laptop GPU/PCIe/SSE2 [ INFO] [1687948978.996385909]: OpenGl version: 4.6 (GLSL 4.6). [ INFO] [1687948979.321677700]: map -8.000000 -8.000000 0.032000 [ INFO] [1687948979.328942052]: /multi_robot_router: New Map 500 500 7145731090466067206 [ INFO] [1687948979.467253836]: Creating 1 swatches terminate called after throwing an instance of 'boost::archive::archive_exception' what(): input stream error-Resource temporarily unavailable [graph_generator-4] process has died [pid 281137, exit code -6, cmd /home/robot/my_pj/tuw-robotics_ws/devel/lib/tuw_voronoi_graph/tuw_voronoi_graph_node __name:=graph_generator __log:=/home/robot/.ros/log/8bba7af8-15a0-11ee-b67c-91536b8574cd/graph_generator-4.log]. log file: /home/robot/.ros/log/8bba7af8-15a0-11ee-b67c-91536b8574cd/graph_generator-4*.log

tuw_multi_robot$ git log
commit 6863bf4f04c02e99f4bbe74fec48612f85125918 (HEAD -> master, origin/master, origin/HEAD) Author: Markus Bader markus.bader@tuwien.ac.at Date: Fri Mar 4 10:56:43 2022 +0100

Update README.md

commit 0754f57cffb656671d6018a0810dca86b8fab041 Merge: f0faa36 98e2275 Author: Markus Bader markus.bader@tuwien.ac.at Date: Tue Jul 20 08:30:55 2021 +0200

Merge pull request #32 from LdwgWffnschmdt/master

Enable building in isolation with --install flag
EstherWI commented 10 months ago

@kintzhao Hello, I had the same problem when the node tries to load a pre save graph. It looks like an issue in reading the graph data with Boost C++ library. I did'nt find a better way to solve this, but what I am doing is forcing the node to always create a new graph, I removed the part that loads a pre saved graph. I think this may help you.