"Encountered a point with a larger stamp than the last point in the cloud"

[Oburshan]

Hey, i am getting this fatal error when launching the pure localization mode live, with VLP-16. Its happen sometimes and shutting down the node.

[FATAL] [1604575697.682604927]: F1105 13:28:17.000000 10916 msg_conversion.cc:273] Check failed: point.time <= 0.f (1.27498e-06 vs. 0) Encountered a point with a larger stamp than the last point in the cloud.

Thanks!

[Nova555]

Have you solved the problem?why?

[Oburshan]

I filtered the frames that contained this problem and it is working great. I don’t understand why the original code kills the node on this scenario when they could just throw this specific pointcloud frame sample.

[Nova555]

Redownload and catkin_make

[Oburshan]

Thank's but I've already fixed it, I think there is a deeper problem that whenever one sensor sample does not meet a particular requirement it kills the node instead of throwing away this specific sample. I will try to fix it in the original code and pull request it.

[Nova555]

Hi，this problem reappeared. Can you share your code to fix this problem?

[hengjiUSTC]

We'v met same problem, is there any option that we can use to let cartographer ignore the topic instead of throw crashing?

[nonlinear1]

Me, too. I also get this fatal error! Could some know how to solve it for now?

[nonlinear1]

@Oburshan Do you have any way to solve this problem?

[Nova555]

Modify " {Eigen::Vector3f{point.x, point.y, point.z}, point.time}); " to " {Eigen::Vector3f{point.x, point.y, point.z}, 0.f}); " with msg_conversion.cc

[patcmorneau]

I filtered the frames that contained this problem and it is working great. I don’t understand why the original code kills the node on this scenario when they could just throw this specific pointcloud frame sample.

how did you filtered the problematic message ?

[nonlinear1]

@patcmorneau the method which is given by Nova555 👍 Modify " {Eigen::Vector3f{point.x, point.y, point.z}, point.time}); " to " {Eigen::Vector3f{point.x, point.y, point.z}, 0.f}); " with msg_conversion.cc is work for me.

[nonlinear1]

Although cartograher is very good at code style and software architecture. for this timestamp processing, it is bad

[patcmorneau]

removed all topics but imu and lidar from my bag and the error is gone now ... will see if i can generate a map now