Trajectory Visualizer throws an exception after engaging

[saina-ramyar]

Types of Issue

• [x] Anomaly report (something appears to not work correctly)
• [ ] Enhancement request (describe the enhancement being requested)
• [ ] Other (please ensure the description clarifies why the issue doesn’t fall into either of the above categories)

Descriptive summary

When the vehicle is engaged, after moving for about 2 meters, CARMA fails with an uncaught exception from the Trajectory Visualizer node as follows: Uncaught Exception from node: trajectory_visualizer_node exception: cannot store a negative time point in rclcpp::Time while in ACTIVE state.

Carma version where this issue was discovered

develop

Expected behavior

Trajectory visualizer does not throw an exception

Actual behavior

When the vehicle is engaged, after moving for about 2 meters, CARMA fails with an uncaught exception from the Trajectory Visualizer node

Steps to reproduce the actual behavior

1. carma start all
2. localize
3. select a route
4. engage

Related work