[ros-users] Bug in base_assembler.h?

Sun Jun 6 20:33:12 UTC 2010

Hi Andrew,

Bags from ROS 0.11 are the same format as Boxturtle bags (
http://www.ros.org/wiki/Bags/Format).  You observing the same bug as Jordi
is expected.

The "latest" ROS release (http://www.ros.org/wiki/ROS/Releases) is currently
ROS 1.1.7.  We will announce on this mailing list whenever a new version is
released.  If you update to ROS 1.1.8 when it is released, then your problem
should be fixed.

An interim fix is to upgrade your bag to the new bag format.  One way to do
that is by running:

rosbag reindex mybag.bag

Tim

On Sun, Jun 6, 2010 at 11:33 AM, Andrew Harris <andrew.unit at gmail.com>wrote:

> 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,
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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,
> >>>> 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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> >>
> >
> >
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