Error at launch - Check failed : data.time

[houssam...@hotmail.com]

Hello everyone,

I am having a problem launching cartographer for my robot, based on the demos in cartographer_turtlebot.

After launching the cartographer node, i get the following error

[FATAL] [1514848135.880050169, 91.535000000]: F0102 00:08:55.000000  
6028 map_by_time.h:43] Check failed: data.time >
std::prev(trajectory.end())->first (621355968915040000 vs.
621355968915040000)

I get the same error with either a rosbag created from a gazebo simulation, or a data from that same running simulation.

I get a first visual but it stops updating from the beginning.



Here is the complete log from the terminal. Thanks in advance for your help.

houssam@houssam-Lenovo-ideapad-FLEX-4-1580:~/catkin_workspace/src/ros_client$ roslaunch ros_client uai-carto.launch
... logging to /home/houssam/.ros/log/48ca2b9a-ef44-11e7-806d-fc4596864517/roslaunch-houssam-Lenovo-ideapad-FLEX-4-1580-6009.log
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://houssam-Lenovo-ideapad-FLEX-4-1580:45197/

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.7
 * /use_sim_time: True

NODES
  /
    cartographer_node (cartographer_ros/cartographer_node)
    cartographer_occupancy_grid_node (cartographer_ros/cartographer_occupancy_grid_node)
    rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[cartographer_node-1]: started with pid [6028]
process[cartographer_occupancy_grid_node-2]: started with pid [6029]
process[rviz-3]: started with pid [6043]
[ INFO] [1514848134.425094574]: I0102 00:08:54.000000  6028 configuration_file_resolver.cc:41] Found '/home/houssam/catkin_workspace/src/ros_client/launch/uai-carto-global-cfg.lua' for 'uai-carto-global-cfg.lua'.
[ INFO] [1514848134.425436112]: I0102 00:08:54.000000  6028 configuration_file_resolver.cc:41] Found '/home/houssam/catkin_workspace/devel/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[ INFO] [1514848134.425481031]: I0102 00:08:54.000000  6028 configuration_file_resolver.cc:41] Found '/home/houssam/catkin_workspace/devel/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[ INFO] [1514848134.425550718]: I0102 00:08:54.000000  6028 configuration_file_resolver.cc:41] Found '/home/houssam/catkin_workspace/devel/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[ INFO] [1514848134.425589369]: I0102 00:08:54.000000  6028 configuration_file_resolver.cc:41] Found '/home/houssam/catkin_workspace/devel/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[ INFO] [1514848134.426081025]: I0102 00:08:54.000000  6028 configuration_file_resolver.cc:41] Found '/home/houssam/catkin_workspace/devel/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[ INFO] [1514848134.426124683]: I0102 00:08:54.000000  6028 configuration_file_resolver.cc:41] Found '/home/houssam/catkin_workspace/devel/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[ INFO] [1514848134.426189670]: I0102 00:08:54.000000  6028 configuration_file_resolver.cc:41] Found '/home/houssam/catkin_workspace/devel/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[ INFO] [1514848134.426227803]: I0102 00:08:54.000000  6028 configuration_file_resolver.cc:41] Found '/home/houssam/catkin_workspace/devel/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[ INFO] [1514848134.426359187]: I0102 00:08:54.000000  6028 configuration_file_resolver.cc:41] Found '/home/houssam/catkin_workspace/devel/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[ INFO] [1514848134.426411042]: I0102 00:08:54.000000  6028 configuration_file_resolver.cc:41] Found '/home/houssam/catkin_workspace/devel/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[ INFO] [1514848134.451480210]: I0102 00:08:54.000000  6028 submaps.cc:190] Added submap 1
[ INFO] [1514848134.451604502]: I0102 00:08:54.000000  6028 map_builder_bridge.cc:86] Added trajectory with ID '0'.
[ INFO] [1514848134.676107652, 90.613000000]: I0102 00:08:54.000000  6028 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '621355968906020000'.
[ INFO] [1514848134.676178121, 90.613000000]: I0102 00:08:54.000000  6028 local_trajectory_builder.cc:242] Extrapolator not yet initialized.
[ WARN] [1514848134.681598293, 90.613000000]: W0102 00:08:54.000000  6028 pose_extrapolator.cc:168] Queue too short for velocity estimation. Queue duration: 0 ms
F0102 00:08:55.879467  6028 map_by_time.h:43] Check failed: data.time > std::prev(trajectory.end())->first (621355968915040000 vs. 621355968915040000)
[FATAL] [1514848135.880050169, 91.535000000]: F0102 00:08:55.000000  6028 map_by_time.h:43] Check failed: data.time > std::prev(trajectory.end())->first (621355968915040000 vs. 621355968915040000)
*** Check failure stack trace: ***
    @     0x7ff0ca8e15cd  google::LogMessage::Fail()
    @     0x7ff0ca8e3433  google::LogMessage::SendToLog()
    @     0x7ff0ca8e115b  google::LogMessage::Flush()
    @     0x7ff0ca8e3e1e  google::LogMessageFatal::~LogMessageFatal()
    @           0x680006  cartographer::mapping_2d::pose_graph::OptimizationProblem::AddOdometryData()
    @           0x6216a2  cartographer::mapping_2d::PoseGraph::AddOdometryData()
    @           0x5d452c  cartographer::mapping::GlobalTrajectoryBuilder<>::AddSensorData()
    @           0x5d6edd  cartographer::sensor::Dispatchable<>::AddToTrajectoryBuilder()
    @           0x5d57ea  cartographer::mapping::CollatedTrajectoryBuilder::HandleCollatedSensorData()
    @           0x5d621e  _ZNSt17_Function_handlerIFvRKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10unique_ptrIN12cartographer6sensor4DataESt14default_deleteISB_EEEZNS9_7mapping25CollatedTrajectoryBuilderC4EPNSA_8CollatorEiRKSt13unordered_setIS5_St4hashIS5_ESt8equal_toIS5_ESaIS5_EES8_INSG_26TrajectoryBuilderInterfaceESC_IST_EEEUlS7_SE_E_E9_M_invokeERKSt9_Any_dataS7_OSE_
    @           0x6570ca  _ZNSt17_Function_handlerIFvSt10unique_ptrIN12cartographer6sensor4DataESt14default_deleteIS3_EEEZNS2_8Collator13AddTrajectoryEiRKSt13unordered_setINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4hashISF_ESt8equal_toISF_ESaISF_EERKSt8functionIFvRKSF_S6_EEEUlS6_E_E9_M_invokeERKSt9_Any_dataOS6_
    @           0x64f154  cartographer::sensor::OrderedMultiQueue::Dispatch()
    @           0x650084  cartographer::sensor::OrderedMultiQueue::Add()
    @           0x6573cf  cartographer::sensor::Collator::AddSensorData()
    @           0x5d4992  cartographer::mapping::CollatedTrajectoryBuilder::AddSensorData()
    @           0x5d71ae  cartographer::mapping::CollatedTrajectoryBuilder::AddSensorData()
    @           0x5a134d  cartographer_ros::SensorBridge::HandleRangefinder()
    @           0x5a1c15  cartographer_ros::SensorBridge::HandleLaserScan()
    @           0x5a1e17  cartographer_ros::SensorBridge::HandleLaserScanMessage()
    @           0x57b4b9  cartographer_ros::Node::HandleLaserScanMessage()
    @           0x58a8fe  boost::detail::function::void_function_obj_invoker1<>::invoke()
    @           0x595789  ros::SubscriptionCallbackHelperT<>::call()
    @     0x7ff0c85545dd  ros::SubscriptionQueue::call()
    @     0x7ff0c84fecf0  ros::CallbackQueue::callOneCB()
    @     0x7ff0c85000f3  ros::CallbackQueue::callAvailable()
    @     0x7ff0c85586a1  ros::SingleThreadedSpinner::spin()
    @     0x7ff0c853d73b  ros::spin()
    @           0x5752b0  cartographer_ros::(anonymous namespace)::Run()
    @           0x572864  main
    @     0x7ff0c6f56830  __libc_start_main
    @           0x574e69  _start
    @              (nil)  (unknown)
[cartographer_node-1] process has died [pid 6028, exit code -6, cmd /home/houssam/catkin_workspace/devel/lib/cartographer_ros/cartographer_node -configuration_directory /home/houssam/catkin_workspace/src/ros_client/launch -configuration_basename uai-carto-global-cfg.lua scan:=/nav_module/scan __name:=cartographer_node __log:=/home/houssam/.ros/log/48ca2b9a-ef44-11e7-806d-fc4596864517/cartographer_node-1.log].
log file: /home/houssam/.ros/log/48ca2b9a-ef44-11e7-806d-fc4596864517/cartographer_node-1*.log
^C[rviz-3] killing on exit
[cartographer_occupancy_grid_node-2] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

[Csaba Csathó]

Hi,

I had been experiencing the same problem, but finally I managed to overcome the issue today:

try tweaking the odometry_sampling_ratio, imu_sampling_ratio, and rangefinder_sampling_ratio parameters in your .lua configuration file.

By default all three were set to 1.0, I'd lower the odom and the imu settings to e.g. 0.5.

I hope this helps.

Greetings,

Csaba

[Eric Hahn]

Could you explain why lowering these ratio's solves the problem?

Could you also explain what these ratios are for?

[houssam...@hotmail.com]

Hey,

Yes it comes from a bad handling of multiple inputs (scan with odometry for example). When i set "use_odometry = false" in the configuration file, i do not get the error.
But cartographer has very poor performance !

I'll try to tweak the parameters as you suggested and will let you know.
Thanks for your answer.

Cheers
Houssam

[houssam...@hotmail.com]

I have confirmed that ! you were right Csaba, I set the odometry_sampling_ratio at 0.1 instead of 1 and it worked very well. 0.1 was approximately the frequency of my odometry topic.
Thank you very much !

[Damon Kohler]

Please keep in mind that this list will become announce only by EOW. I suggest opening an issue on GitHub to track this conversation.

PSA: the sampling ratio settings are _not_ frequency. Setting it to 0.1 will drop all but 10% of the data on that topic.

It looks like your issue is that sensor data is arriving with identical time stamps, perhaps due to some triggering. That doesn't appear to be handled well in map_by_time.h.

+Christoph Schütte, WDYT?

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