runtime_error during trajectory (joint_trajectory_controller)

asked 2021-08-25 11:35:32 -0500

sre gravatar image

ROS Noetic with Gazebo-11.

I use rospy to control a robot (UR). The error occurs sporadically, with no discernible pattern:

terminate called after throwing an instance of 'std::runtime_error'
what(): Duration is out of dual 32-bit range

And the backtrace:

0 __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50

1 0x00007ffff716e859 in __GI_abort () at abort.c:79

2 0x00007ffff73f6911 in () at /lib/x86_64-linux-gnu/libstdc++.so.6

3 0x00007ffff740238c in () at /lib/x86_64-linux-gnu/libstdc++.so.6

4 0x00007ffff74023f7 in () at /lib/x86_64-linux-gnu/libstdc++.so.6

5 0x00007ffff74026a9 in () at /lib/x86_64-linux-gnu/libstdc++.so.6

6 0x00007fffde1f051f in ros::DurationBase<ros::duration>::fromSec(double) () at /opt/ros/noetic/lib/librostime.so

7 0x00007fff2437427d in joint_trajectory_controller::JointTrajectoryController<trajectory_interface::quinticsplinesegment<double>, hardware_interface::EffortJointInterface>::publishState(ros::Time const&) () at /opt/ros/noetic/lib//libjoint_trajectory_controller.so

8 0x00007fff2439b974 in joint_trajectory_controller::JointTrajectoryController<trajectory_interface::quinticsplinesegment<double>, hardware_interface::EffortJointInterface>::update(ros::Time const&, ros::Duration const&) () at /opt/ros/noetic/lib//libjoint_trajectory_controller.so

9 0x00007fff44336d86 in controller_manager::ControllerManager::update(ros::Time const&, ros::Duration const&, bool) () at /opt/ros/noetic/lib/libcontroller_manager.so

10 0x00007fff443acd98 in gazebo_ros_control::GazeboRosControlPlugin::Update() () at /opt/ros/noetic/share/gazebo_plugins/../../lib/libgazebo_ros_control.so

11 0x00007ffff6bbc4c4 in gazebo::physics::World::Update() () at /lib/x86_64-linux-gnu/libgazebo_physics.so.11

12 0x00007ffff6bcbc9c in gazebo::physics::World::Step() () at /lib/x86_64-linux-gnu/libgazebo_physics.so.11

13 0x00007ffff6bcedb5 in gazebo::physics::World::RunLoop() () at /lib/x86_64-linux-gnu/libgazebo_physics.so.11

14 0x00007ffff742ede4 in () at /lib/x86_64-linux-gnu/libstdc++.so.6

15 0x00007ffff6d3c609 in start_thread (arg=<optimized out="">) at pthread_create.c:477

16 0x00007ffff726b293 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95

Even if the trajectory is always the same, it happend sometimes after one trajectory, sometimes not even after thousands. Any idea?

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