Crash loading bag with 2 topics of nav_msgs/Odometry

[v-lopez]

• Version used 1.0.7
• Attached two bags with the same topics, one is a few seconds long the other is longer.

The short one (named Error_opening.bag) crashes after selecting both topics inside the rosbag with the error:

terminate called after throwing an instance of 'std::runtime_error'
what(): can't deserialize this stuff: Header

The same happened when I tried the ROS Topic Streamer on those two topics at the same time.

The other bag is fine.

bags.zip

[facontidavide]

Thanks for reporting, I will take a look ASAP

[facontidavide]

There is something very weird related to the message with prefix /ihmc

Apparently the definition is incomplete. It looks like the message was created by hand and not from
nav_msgs/Odometry.h

The other message instead is just fine.

Which process is publishing the the valkyrie/output/robot_pose?
This message can NOT be opened by Plotuggler.

[facontidavide]

To be more specific. This is the truncated definition of the ihmc message

# This represents an estimate of a position and velocity in free space.  
# The pose in this message should be specified in the coordinate frame given by header.frame_id.
# The twist in this message should be specified in the coordinate frame given by the child_frame_id
Header header
string child_frame_id
geometry_msgs/PoseWithCovariance pose
geometry_msgs/TwistWithCovariance twist 

Whilst this it the correct one from /floating_base_pose

# This represents an estimate of a position and velocity in free space.  
# The pose in this message should be specified in the coordinate frame given by header.frame_id.
# The twist in this message should be specified in the coordinate frame given by the child_frame_id
Header header
string child_frame_id
geometry_msgs/PoseWithCovariance pose
geometry_msgs/TwistWithCovariance twist
================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data 
# in a particular coordinate frame.
# 
# sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

================================================================================
MSG: geometry_msgs/PoseWithCovariance
# This represents a pose in free space with uncertainty.

Pose pose

# Row-major representation of the 6x6 covariance matrix
# The orientation parameters use a fixed-axis representation.
# In order, the parameters are:
# (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
float64[36] covariance

================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of postion and orientation. 
Point position
Quaternion orientation

================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z

================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w

================================================================================
MSG: geometry_msgs/TwistWithCovariance
# This expresses velocity in free space with uncertainty.

Twist twist

# Row-major representation of the 6x6 covariance matrix
# The orientation parameters use a fixed-axis representation.
# In order, the parameters are:
# (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
float64[36] covariance

================================================================================
MSG: geometry_msgs/Twist
# This expresses velocity in free space broken into its linear and angular parts.
Vector3  linear
Vector3  angular

================================================================================
MSG: geometry_msgs/Vector3
# This represents a vector in free space. 
# It is only meant to represent a direction. Therefore, it does not
# make sense to apply a translation to it (e.g., when applying a 
# generic rigid transformation to a Vector3, tf2 will only apply the
# rotation). If you want your data to be translatable too, use the
# geometry_msgs/Point message instead.

float64 x
float64 y
float64 z

[v-lopez]

It is published by the IHMC Valkyrie Controller we are using in the Space Robotics Challenge.

Installation instructions are here: https://bitbucket.org/osrf/srcsim/wiki/system_setup

[facontidavide]

As I said, the message seems to be corrupted and there is nothing I can do about it (a part from hard coding a solution for you).

I have tried to use rqt_plot and it is not able to extract the fields either.

[facontidavide]

My suggestion is to ask the people a IHMC if they know why that message definition was truncated.
They are doing something "wrong" in my humble opinion.

[v-lopez]

Yeah, certainly looks like that. Thanks for the help!

[facontidavide]

For the records.

There is a solution to solve this problem. I just tested it and it works;

You can hard code the message definition inside the plugin doing this:

#include <nav_msgs/Odometry.h>

DataLoadROS::DataLoadROS()
{
    _extensions.push_back( "bag");

    RosIntrospectionFactory::get().registerMessage(
                ros::message_traits::DataType<nav_msgs::Odometry>::value(),
                ros::message_traits::MD5Sum<nav_msgs::Odometry>::value(),
                ros::message_traits::DataType<nav_msgs::Odometry>::value(),
                ros::message_traits::Definition<nav_msgs::Odometry>::value() );
}

[v-lopez]

Awesome, next time you come by PAL I'll invite you to a beer!