[ros-users] Bug in base_assembler.h?

Andrew Harris andrew.unit at gmail.com
Sun Jun 6 18:33:59 UTC 2010 

Hi Tim,

  I just installed "latest" ROS on an Ubuntu 9.10 machine yesterday
and I am getting the same error about a bad_alloc when using rosbag
play.  It seems that I start the bag playing fine, but as soon as I
try to connect a subscriber to the topic that is in the bag, rosbag
crashes with the bad_alloc.  Admittedly, the bags are from ROS 0.11.0.

-andrew

On Thu, Jun 3, 2010 at 9:40 PM, Tim Field <tfield at willowgarage.com> wrote:
> Hi Jordi,
>
> This appears to be a bug in ROS 1.1.7 with playing back Boxturtle bag files
> on 32-bit machines.
>
> ROS 1.1.8 is due to be released this week.  If you do update your ROS
> installation, please let me know if that fixes your error.
>
> Thanks,
> Tim
>
> On Mon, May 31, 2010 at 12:29 AM, Jordi Pages <jordi.pages at pal-robotics.com>
> wrote:
>>
>> Hi Vijay,
>>
>> I'm using Ubuntu 10.04 LTS and ROS v1.1.7 too. The launch file that I use
>> is as follows:
>>
>> <launch>
>>   <node type="laser_scan_assembler" pkg="laser_assembler"
>> name="my_assembler">
>>     <remap from="scan" to="tilt_scan"/>
>>     <param name="max_scans" type="int" value="400" />
>>     <param name="fixed_frame" type="string" value="base_link" />
>>   </node>
>>   <node type="periodic_snapshotter" pkg="laser_assembler"
>> name="my_periodicSnapshotter"></node>
>> </launch>
>>
>> On Fri, May 28, 2010 at 9:17 PM, Vijay Pradeep <vpradeep at willowgarage.com>
>> wrote:
>>>
>>> Hi Jordi,
>>>
>>> I just grabbed laser.bag
>>> (http://vault.willowgarage.com/wgdata1/vol1/wiki_docs/laser_pipeline/laser.bag)
>>> and played it back with the assembler running, and it seems to be working
>>> fine for me.
>>>
>>> The fact that rosbag is crashing makes it sound like its not a problem
>>> with the laser assembler.  I'm currently running ROS v1.1.7.  What version
>>> of ROS are you running?  Also, what OS are you running?
>>>
>>> You can find your ROS version by doing "roscd; cat CMakeLists.txt".
>>>
>>> Vijay
>>>
>>> On Fri, May 28, 2010 at 3:38 AM, Jordi Pages
>>> <jordi.pages at pal-robotics.com> wrote:
>>>>
>>>> In fact the old laser.bag file works fine after doing
>>>>
>>>> rosbag reindex laser.bag
>>>>
>>>> and running rosbag play according to your correction:
>>>>
>>>> rosbag play --clock laser.bag
>>>>
>>>>
>>>> On Fri, May 28, 2010 at 12:27 PM, Jordi Pages
>>>> <jordi.pages at pal-robotics.com> wrote:
>>>>>
>>>>> Hi Vijay, thanks for you help.
>>>>>
>>>>> I have tested the new bag file that you have uploaded and I obtain the
>>>>> following crash:
>>>>>
>>>>> rosbag play --clock laser.bag
>>>>> [ INFO] [1275042388.534141367]: Opening laser.bag
>>>>>
>>>>> Waiting 0.2 seconds after advertising topics... done.
>>>>>
>>>>> Hit space to toggle paused, or 's' to step.
>>>>> terminate called after throwing an instance of
>>>>> 'std::bad_alloc'41.431989
>>>>>   what():  std::bad_alloc
>>>>> Aborted
>>>>>
>>>>> it happens as soon as I launch the launch file:
>>>>>
>>>>> <launch>
>>>>>   <node type="laser_scan_assembler" pkg="laser_assembler"
>>>>> name="my_assembler">
>>>>>     <remap from="scan" to="tilt_scan"/>
>>>>>
>>>>>
>>>>>
>>>>>
>>>>>
>>>>>
>>>>>
>>>>>
>>>>>     <param name="max_scans" type="int" value="400" />
>>>>>     <param name="fixed_frame" type="string" value="base_link" />
>>>>>   </node>
>>>>> </launch>
>>>>>
>>>>>
>>>>> On Fri, May 28, 2010 at 1:29 AM, Vijay Pradeep
>>>>> <vpradeep at willowgarage.com> wrote:
>>>>>>
>>>>>> Hi Jordi,
>>>>>>
>>>>>> The lines of code in question seem fine as is.  This loop is simply
>>>>>> stepping along the time history of scans until it finds a scan that occurs
>>>>>> after the request begin time.  The next while loop in the function then
>>>>>> continues stepping along, until it steps past the end of the request.
>>>>>>
>>>>>> The tutorial was in fact broken.  I've uploaded a new laser.bag file,
>>>>>> and updated the launch file snippets.
>>>>>>
>>>>>> Thank for reporting your troubles with this tutorial.  If you are
>>>>>> still running into problems, please let me know.
>>>>>>
>>>>>> Vijay
>>>>>>
>>>>>> On Thu, May 27, 2010 at 9:22 AM, Jordi Pages
>>>>>> <jordi.pages at pal-robotics.com> wrote:
>>>>>>>
>>>>>>> Hi all,
>>>>>>>
>>>>>>>    I am trying to follow the tutorial
>>>>>>> laser_assembler/tutorials/HowToAssembleLaserScans and I can't achieve
>>>>>>> assembling several laser scans in a unique cloud of points. I am using
>>>>>>> rosplay to publish pre-recorded data from the bag file laser.bag that can be
>>>>>>> downloaded from ros webpage. I have been adding trace messages in
>>>>>>> base_assembler.h and I have the sensation that in the following portion of
>>>>>>> code in assembleScans callback function
>>>>>>>
>>>>>>>   while ( i < scan_hist_.size() && scan_hist_[i].header.stamp <
>>>>>>> req.begin )
>>>>>>>   {
>>>>>>>     i++ ;
>>>>>>>   }
>>>>>>>
>>>>>>> the right part of the while condition should be instead
>>>>>>>
>>>>>>> scan_hist_[i].header.stamp >= req.begin
>>>>>>>
>>>>>>> otherwise I get that no points are assembled because both start_index
>>>>>>> and past_end_index have the same value and none of the laser scans are
>>>>>>> selected.
>>>>>>>
>>>>>>> Can anybody check that it is actually a bug? Am I not executing
>>>>>>> correctly the laser pipeline?
>>>>>>>
>>>>>>> Thanks in adavance
>>>>>>> --
>>>>>>> Jordi Pages, PhD
>>>>>>> Researcher
>>>>>>> Pal Robotics S.L.
>>>>>>>
>>>>>>> Tel: +34.93.414.53.47
>>>>>>> Fax: +34.93.209.11.09
>>>>>>> C/ Pujades 77-79 4º 4ª 08005 Barcelona, Spain.
>>>>>>> http://www.pal-robotics.com/
>>>>>>>
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>>>>>>> ------------------------------------------------------------------------------
>>>>>>>
>>>>>>>
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>>>>>>
>>>>>
>>>>>
>>>>>
>>>>> --
>>>>> Jordi Pages, PhD
>>>>> Researcher
>>>>> Pal Robotics S.L.
>>>>>
>>>>> Tel: +34.93.414.53.47
>>>>> Fax: +34.93.209.11.09
>>>>> C/ Pujades 77-79 4º 4ª 08005 Barcelona, Spain.
>>>>> http://www.pal-robotics.com/
>>>>>
>>>>> AVISO DE CONFIDENCIALIDAD: Este mensaje y sus documentos adjuntos,
>>>>> pueden contener información privilegiada y/o confidencial que está dirigida
>>>>> exclusivamente a su destinatario.
>>>>> Si usted recibe este mensaje y no es el destinatario indicado, o el
>>>>> empleado encargado de su entrega a dicha persona, por favor, notifíquelo
>>>>> inmediatamente y remita el mensaje original a la dirección
>>>>> de correo electrónico indicada. Cualquier copia, uso o distribución no
>>>>> autorizados de esta comunicación queda estrictamente prohibida.
>>>>>
>>>>> CONFIDENTIALITY NOTICE: This e-mail and the accompanying document(s)
>>>>> may contain confidential information which is privileged and intended only
>>>>> for the individual or entity to whom they are addressed.  If you are not the
>>>>> intended recipient, you are hereby notified that any disclosure, copying,
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>>>>> strictly prohibited.  If you have received this e-mail in error, please
>>>>> immediately notify the sender at the above e-mail address.
>>>>>
>>>>
>>>>
>>>>
>>>> --
>>>> Jordi Pages, PhD
>>>> Researcher
>>>> Pal Robotics S.L.
>>>>
>>>> Tel: +34.93.414.53.47
>>>> Fax: +34.93.209.11.09
>>>> C/ Pujades 77-79 4º 4ª 08005 Barcelona, Spain.
>>>> http://www.pal-robotics.com/
>>>>
>>>> AVISO DE CONFIDENCIALIDAD: Este mensaje y sus documentos adjuntos,
>>>> pueden contener información privilegiada y/o confidencial que está dirigida
>>>> exclusivamente a su destinatario.
>>>> Si usted recibe este mensaje y no es el destinatario indicado, o el
>>>> empleado encargado de su entrega a dicha persona, por favor, notifíquelo
>>>> inmediatamente y remita el mensaje original a la dirección
>>>> de correo electrónico indicada. Cualquier copia, uso o distribución no
>>>> autorizados de esta comunicación queda estrictamente prohibida.
>>>>
>>>> CONFIDENTIALITY NOTICE: This e-mail and the accompanying document(s) may
>>>> contain confidential information which is privileged and intended only for
>>>> the individual or entity to whom they are addressed.  If you are not the
>>>> intended recipient, you are hereby notified that any disclosure, copying,
>>>> distribution or use of this e-mail and/or accompanying document(s) is
>>>> strictly prohibited.  If you have received this e-mail in error, please
>>>> immediately notify the sender at the above e-mail address.
>>>>
>>>
>>
>>
>>
>> --
>> Jordi Pages, PhD
>> Researcher
>> Pal Robotics S.L.
>>
>> Tel: +34.93.414.53.47
>> Fax: +34.93.209.11.09
>> C/ Pujades 77-79 4º 4ª 08005 Barcelona, Spain.
>> http://www.pal-robotics.com/
>>
>> AVISO DE CONFIDENCIALIDAD: Este mensaje y sus documentos adjuntos, pueden
>> contener información privilegiada y/o confidencial que está dirigida
>> exclusivamente a su destinatario.
>> Si usted recibe este mensaje y no es el destinatario indicado, o el
>> empleado encargado de su entrega a dicha persona, por favor, notifíquelo
>> inmediatamente y remita el mensaje original a la dirección
>> de correo electrónico indicada. Cualquier copia, uso o distribución no
>> autorizados de esta comunicación queda estrictamente prohibida.
>>
>> CONFIDENTIALITY NOTICE: This e-mail and the accompanying document(s) may
>> contain confidential information which is privileged and intended only for
>> the individual or entity to whom they are addressed.  If you are not the
>> intended recipient, you are hereby notified that any disclosure, copying,
>> distribution or use of this e-mail and/or accompanying document(s) is
>> strictly prohibited.  If you have received this e-mail in error, please
>> immediately notify the sender at the above e-mail address.
>>
>>
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