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uos / sick_tim

A ROS driver for the SICK TiM series of laser scanners.
http://wiki.ros.org/sick_tim
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terminate called after throwing an instance of 'std::runtime_error' #78

Closed shanpenghui closed 5 years ago

shanpenghui commented 5 years ago

After I run 

sudo apt upgrade

On my computer which is Ubuntu18.04 ,ROS kinetic,i can not launch the sick_tim.

roslaunch sick_tim demo.launch

The error tips:

Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.1.102:33235/

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /sick_tim571_2050101/frame_id: laser_frame
 * /sick_tim571_2050101/hostname: 192.168.1.112
 * /sick_tim571_2050101/intensity: False
 * /sick_tim571_2050101/max_ang: 1.47
 * /sick_tim571_2050101/min_ang: -1.47
 * /sick_tim571_2050101/port: 2112
 * /sick_tim571_2050101/range_max: 10.0
 * /sick_tim571_2050101/timelimit: 5

NODES
  /
    base_link_to_laser5 (tf/static_transform_publisher)
    sick_tim571_2050101 (sick_tim/sick_tim551_2050001)

ROS_MASTER_URI=http://localhost:11311

process[sick_tim571_2050101-1]: started with pid [24076]
process[base_link_to_laser5-2]: started with pid [24089]
terminate called after throwing an instance of 'std::runtime_error'
  what():  Time is out of dual 32-bit range
[sick_tim571_2050101-1] process has died [pid 24076, exit code -6, cmd /sick_ws/devel/lib/sick_tim/sick_tim551_2050001 scan:=sick_scan __name:=sick_tim571_2050101 __log:=/home//.ros/log/b0b341c6-93c9-11e9-ab34-a43bfa91b9d7/sick_tim571_2050101-1.log].
log file: /.ros/log/b0b341c6-93c9-11e9-ab34-a43bfa91b9d7/sick_tim571_2050101-1*.log
^C[base_link_to_laser5-2] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

All of the demo.launch file is:

<?xml version="1.0"?>
<launch>
  <param name="robot_description" command="$(find xacro)/xacro.py '$(find sick_tim)/urdf/example.urdf.xacro'" />
<!--
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
-->
  <node name="sick_tim571_2050101" pkg="sick_tim" type="sick_tim551_2050001" respawn="false" output="screen">
      <param name="min_ang" type="double" value="-1.47" />
      <param name="max_ang" type="double" value="1.47" />
      <param name="intensity" type="bool" value="False" />
      <param name="frame_id" type="str" value="laser_frame" />
    <!-- default values: -->
    <!--
      <param name="min_ang" type="double" value="-2.35619449019" />
      <param name="max_ang" type="double" value="2.35619449019" />
      <param name="intensity" type="bool" value="True" />
      <param name="skip" type="int" value="0" />
      <param name="frame_id" type="str" value="laser" />
      <param name="time_offset" type="double" value="-0.001" />
      <param name="publish_datagram" type="bool" value="False" />
      <param name="subscribe_datagram" type="bool" value="false" />
      <param name="device_number" type="int" value="0" />
      <param name="range_min" type="double" value="0.05" />
    -->
    <param name="range_max" type="double" value="10.0" />

    <!-- Older versions of the scanner firmware report an incorrect time_increment.
         If you get a warning about time_increment, uncomment this. -->
    <!-- <param name="time_increment" type="double" value="0.000061722" /> -->

    <!-- Uncomment this to enable TCP instead of USB connection; 'hostname' is the host name or IP address of the laser scanner
    In cases where a race condition exists and the computer boots up before the TIM is ready, increase 'timelimit.'
         <param name="hostname" type="string" value="192.168.0.1" />
         <param name="port" type="string" value="2112" /> 
         <param name="timelimit" type="int" value="5" />
    -->
   <param name="hostname" type="string" value="192.168.1.112" />
         <param name="port" type="string" value="2112" />
         <param name="timelimit" type="int" value="5" />
  <remap from="scan" to="sick_scan"/>
  </node>
  <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser5"
   args="0.40 0.0 0.4 -3.2 -3.1415926  0.0 /base_footprint /laser_frame 40" />
</launch>

I consider if anywhere divide zero but don't know where. Anyone can help?

mintar commented 5 years ago

It's not a divide by zero problem; the runtime error happens when a ros::Time is assigned a negative value, such as in header.stamp.fromSec(-1.0). This used to happen when the ROS parameter use_sim_time was set to false, which I fixed in e9c7873c. That commit was pushed out during the latest release, so it could somehow be causing your bug.

However, I've tried to reproduce it and couldn't. It works on Kinetic and Melodic, both when built from source and with the latest binary release (0.0.16). So I'm a bit lost what happens here.

All that I can say is that it works on my machine!

Sorry about that. :)

mintar commented 5 years ago

Oh, and one small remark (not related to your bug): If you're using a SICK TiM571 scanner, you should set range_max to 25.0.

DSaikrishnareddy commented 4 years ago

After I run

sudo apt upgrade

On my computer which is Ubuntu18.04 ,ROS kinetic,i can not launch the sick_tim.

roslaunch sick_tim demo.launch

The error tips:

Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.1.102:33235/

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /sick_tim571_2050101/frame_id: laser_frame
 * /sick_tim571_2050101/hostname: 192.168.1.112
 * /sick_tim571_2050101/intensity: False
 * /sick_tim571_2050101/max_ang: 1.47
 * /sick_tim571_2050101/min_ang: -1.47
 * /sick_tim571_2050101/port: 2112
 * /sick_tim571_2050101/range_max: 10.0
 * /sick_tim571_2050101/timelimit: 5

NODES
  /
    base_link_to_laser5 (tf/static_transform_publisher)
    sick_tim571_2050101 (sick_tim/sick_tim551_2050001)

ROS_MASTER_URI=http://localhost:11311

process[sick_tim571_2050101-1]: started with pid [24076]
process[base_link_to_laser5-2]: started with pid [24089]
terminate called after throwing an instance of 'std::runtime_error'
  what():  Time is out of dual 32-bit range
[sick_tim571_2050101-1] process has died [pid 24076, exit code -6, cmd /sick_ws/devel/lib/sick_tim/sick_tim551_2050001 scan:=sick_scan __name:=sick_tim571_2050101 __log:=/home//.ros/log/b0b341c6-93c9-11e9-ab34-a43bfa91b9d7/sick_tim571_2050101-1.log].
log file: /.ros/log/b0b341c6-93c9-11e9-ab34-a43bfa91b9d7/sick_tim571_2050101-1*.log
^C[base_link_to_laser5-2] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

All of the demo.launch file is:

<?xml version="1.0"?>
<launch>
  <param name="robot_description" command="$(find xacro)/xacro.py '$(find sick_tim)/urdf/example.urdf.xacro'" />
<!--
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
-->
  <node name="sick_tim571_2050101" pkg="sick_tim" type="sick_tim551_2050001" respawn="false" output="screen">
      <param name="min_ang" type="double" value="-1.47" />
      <param name="max_ang" type="double" value="1.47" />
      <param name="intensity" type="bool" value="False" />
      <param name="frame_id" type="str" value="laser_frame" />
    <!-- default values: -->
    <!--
      <param name="min_ang" type="double" value="-2.35619449019" />
      <param name="max_ang" type="double" value="2.35619449019" />
      <param name="intensity" type="bool" value="True" />
      <param name="skip" type="int" value="0" />
      <param name="frame_id" type="str" value="laser" />
      <param name="time_offset" type="double" value="-0.001" />
      <param name="publish_datagram" type="bool" value="False" />
      <param name="subscribe_datagram" type="bool" value="false" />
      <param name="device_number" type="int" value="0" />
      <param name="range_min" type="double" value="0.05" />
    -->
    <param name="range_max" type="double" value="10.0" />

    <!-- Older versions of the scanner firmware report an incorrect time_increment.
         If you get a warning about time_increment, uncomment this. -->
    <!-- <param name="time_increment" type="double" value="0.000061722" /> -->

    <!-- Uncomment this to enable TCP instead of USB connection; 'hostname' is the host name or IP address of the laser scanner
    In cases where a race condition exists and the computer boots up before the TIM is ready, increase 'timelimit.'
         <param name="hostname" type="string" value="192.168.0.1" />
         <param name="port" type="string" value="2112" /> 
         <param name="timelimit" type="int" value="5" />
    -->
   <param name="hostname" type="string" value="192.168.1.112" />
         <param name="port" type="string" value="2112" />
         <param name="timelimit" type="int" value="5" />
  <remap from="scan" to="sick_scan"/>
  </node>
  <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser5"
   args="0.40 0.0 0.4 -3.2 -3.1415926  0.0 /base_footprint /laser_frame 40" />
</launch>

I consider if anywhere divide zero but don't know where. Anyone can help?

I too got the same error but with different launch file.

DSaikrishnareddy commented 4 years ago

On my computer which is Ubuntu18.04 ,ROS melodic,i can not launch the tiago_opencv_tutorial. roslaunch tiago_opencv_tutorial keypoint_tutorial.launch The error tips: `... logging to /home/dell/.ros/log/d0d33860-d0bf-11ea-a40c-54353005d2aa/roslaunch-skdr-4324.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://skdr:45901/

SUMMARY

PARAMETERS

NODES / gui (tiago_opencv_tutorial/gui_find_keypoints.py) vision_code (tiago_opencv_tutorial/find_keypoints)

ROS_MASTER_URI=http://localhost:11311

process[gui-1]: started with pid [4364] process[vision_code-2]: started with pid [4365] terminate called after throwing an instance of 'std::runtime_error' what(): Unsupported type of detector SURF [vision_code-2] process has died [pid 4365, exit code -6, cmd /home/dell/tiago_dual_public_ws/devel/lib/tiago_opencv_tutorial/find_keypoints __name:=vision_code __log:=/home/dell/.ros/log/d0d33860-d0bf-11ea-a40c-54353005d2aa/vision_code-2.log]. log file: /home/dell/.ros/log/d0d33860-d0bf-11ea-a40c-54353005d2aa/vision_code-2*.log ^C[gui-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done All of the keypoint_tutorial.launch file is: <?xml version="1.0" encoding="UTF-8"?>

` Can anyone please help me in this.
DSaikrishnareddy commented 4 years ago

All of the keypoint_tutorial.launch file is: ?xml version="1.0" encoding="UTF-8"?>

Can anyone please help me in this.

mintar commented 4 years ago

@DSaikrishnareddy : This is the completely wrong repo for your question.