ordered_multi_queue.cc:45] Check failed: entry.second.finished

[JakeInit]

When running cartographer, I can map and localize without any issues in my 2d environment. The issue happens when trying to delete my pointer to MapBuilderInterface.

std::unique_ptrcartographer::mapping::MapBuilderInterface map_builder_; map_builder_ = std::make_uniquemapping::MapBuilder(map_builder_options_); // options being my configurations from the lua

And for the trajectory builder cartographer::mapping::TrajectoryBuilderInterface *trajectory_builder; trajectory_id = map_builder_->AddTrajectoryBuilder( {kRangeSensorId, kIMUSensorId, kOdomSensorId}, trajectory_builder_options_, GetLocalSlamResultCallback());

trajectory_builder = map_builder_->GetTrajectoryBuilder(trajectory_id);

Everything during running is fine as stated above. Later when deconstructing my cartographerInterface class, I do the following:

// Finish trajectory
for (const auto &entry : map_builder_->pose_graph()->GetTrajectoryStates()) {
  if (entry.second == mapping::PoseGraph::TrajectoryState::ACTIVE) {
    auto trajectory_id = entry.first;
    map_builder_->FinishTrajectory(trajectory_id);
    while (!map_builder_->pose_graph()->IsTrajectoryFinished(trajectory_id)) {  // wait for each trajectory to finish
      std::this_thread::sleep_for(std::chrono::milliseconds(10));
    }
  }
}

// Run final optimizations
map_builder_->pose_graph()->RunFinalOptimization();
std::this_thread::sleep_for(std::chrono::milliseconds(150));

if(trajectory_builder != nullptr) {
  trajectory_builder = nullptr;
}

if(map_builder_ != nullptr) {
  map_builder_.reset();  // this is where the issue occurrs
}

As soon as I try to reset map_builder_, I get the following log error and then crash of the application WARNING: Logging before InitGoogleLogging() is written to STDERR F0518 10:16:17.584446 15512 ordered_multi_queue.cc:45] Check failed: entry.second.finished *** Check failure stack trace: *** Aborted

This is called in the trajectory collator. I would have assumed since I called finish trajectory, that all trajecories (should only be 1) are labeled as finished. This seems to consistently happen if I stop sending sensor data to cartographer for a period of time and then start sending data again before trying to close my application.

Is there a way to handle this through the MapBuilderInterface and catch it to avoid crashing the application? Or am I missing a step when shutting down cartographer?

[JakeInit]

This seems to occur when trying to map an area, but sensor measurements are not pushed to Cartographer. Is there any way to prevent the crash in this scenario?

[b-lala]

I have the same problem, did you solve it？

[VegetarianLion258]

maybe caused by building a new trajectory but the former trajectory not be destructed. only one trajectory is allowed.