last_dispatched_time <= next_data->GetTime()

[francis james]

Hi,

I've been running Cartogrpaher to map data from a bag which is about 50 minutes long. It works fine until around the 30 minute mark though, when I get this error message:

[FATAL] [1507223671.436118945, 1973.952602303]: F1005 13:14:31.000000 14212 ordered_multi_queue.cc:112] Check failed: last_dispatched_time_ <= next_data->GetTime() (621355987737883506 vs. 621355987737746267) Non-sorted data added to queue: '(0, scan)'

I don't think it's an issue with the bag. Gmapping had no trouble with it. Any ideas on what might be going wrong?

[Akshay Roy]

This is a known to happen. Look here:
https://groups.google.com/forum/m/#!topic/google-cartographer/V55Ss5UNzog

I am sorry I didn't point you to the right direction earlier.

[Holger Rapp]

On Thu, Oct 5, 2017 at 7:31 PM, francis james <francis...@gmail.com> wrote:

Hi,

I've been running Cartogrpaher to map data from a bag which is about 50 minutes long. It works fine until around the 30 minute mark though, when I get this error message:

[FATAL] [1507223671.436118945, 1973.952602303]: F1005 13:14:31.000000 14212 ordered_multi_queue.cc:112] Check failed: last_dispatched_time_ <= next_data->GetTime() (621355987737883506 vs. 621355987737746267) Non-sorted data added to queue: '(0, scan)'

​Your sensor delivered data out of order.​

​​

I don't think it's an issue with the bag. Gmapping had no trouble with it. Any ideas on what might be going wrong?

​It is an issue in your bag - your data in the bag is not time ordered. Gmapping accepts this, but will do funny things since time jumps backwards.​

​​

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