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ROSTCPConnector ArgumentOutOfRangeException in PickAndPlaceDemo

See original GitHub issue

Hi,

When running either DemoScene or a completed part3 of the Pick-And-Place tutorials, occasionally the ROSTCPConnector throws an ArgumentOutOfRangeException upon receiving the trajectory (service response) from ROS.

It usually works fine, but after playing DemoScene many times, it happens about every 20th or 30th execution or so.

Anyone else experiencing the same problem?
Is there something we can do to prevent it or is it an issue with the actual ROSTCPConnector implementation?
Is there a way to detect that the problem has occurred (from e.g. TrajectoryPlanner or another MonoBehaviour)?

Exception:

ArgumentOutOfRangeException: Index and count must refer to a location within the buffer.
Parameter name: bytes
System.Text.UTF8Encoding.GetString (System.Byte[] bytes, System.Int32 index, System.Int32 count) (at <695d1cc93cca45069c528c15c9fdd749>:0)
Unity.Robotics.ROSTCPConnector.MessageGeneration.MessageDeserializer.Read (System.String& value) (at Library/PackageCache/com.unity.robotics.ros-tcp-connector@7f055108f4/Runtime/MessageGeneration/MessageDeserializer.cs:138)
Unity.Robotics.ROSTCPConnector.MessageGeneration.MessageDeserializer.Read (System.String[]& values, System.Int32 length) (at Library/PackageCache/com.unity.robotics.ros-tcp-connector@7f055108f4/Runtime/MessageGeneration/MessageDeserializer.cs:169)
RosMessageTypes.Trajectory.JointTrajectoryMsg..ctor (Unity.Robotics.ROSTCPConnector.MessageGeneration.MessageDeserializer deserializer) (at Library/PackageCache/com.unity.robotics.ros-tcp-connector@7f055108f4/Runtime/Messages/Trajectory/msg/JointTrajectoryMsg.cs:45)
RosMessageTypes.Trajectory.JointTrajectoryMsg.Deserialize (Unity.Robotics.ROSTCPConnector.MessageGeneration.MessageDeserializer deserializer) (at Library/PackageCache/com.unity.robotics.ros-tcp-connector@7f055108f4/Runtime/Messages/Trajectory/msg/JointTrajectoryMsg.cs:40)
RosMessageTypes.Moveit.RobotTrajectoryMsg..ctor (Unity.Robotics.ROSTCPConnector.MessageGeneration.MessageDeserializer deserializer) (at <b682a19673f04b5ebaddbcd775aa531b>:0)
RosMessageTypes.Moveit.RobotTrajectoryMsg.Deserialize (Unity.Robotics.ROSTCPConnector.MessageGeneration.MessageDeserializer deserializer) (at <b682a19673f04b5ebaddbcd775aa531b>:0)
Unity.Robotics.ROSTCPConnector.MessageGeneration.MessageDeserializer.Read[T] (T[]& values, System.Func`2[T,TResult] loader, System.Int32 length) (at Library/PackageCache/com.unity.robotics.ros-tcp-connector@7f055108f4/Runtime/MessageGeneration/MessageDeserializer.cs:160)
RosMessageTypes.NiryoMoveit.MoverServiceResponse..ctor (Unity.Robotics.ROSTCPConnector.MessageGeneration.MessageDeserializer deserializer) (at <b682a19673f04b5ebaddbcd775aa531b>:0)
RosMessageTypes.NiryoMoveit.MoverServiceResponse.Deserialize (Unity.Robotics.ROSTCPConnector.MessageGeneration.MessageDeserializer deserializer) (at <b682a19673f04b5ebaddbcd775aa531b>:0)
Unity.Robotics.ROSTCPConnector.MessageGeneration.MessageDeserializer.DeserializeMessage[T] (System.Byte[] data) (at Library/PackageCache/com.unity.robotics.ros-tcp-connector@7f055108f4/Runtime/MessageGeneration/MessageDeserializer.cs:25)
Unity.Robotics.ROSTCPConnector.ROSConnection+<SendServiceMessage>d__83`1[RESPONSE].MoveNext () (at Library/PackageCache/com.unity.robotics.ros-tcp-connector@7f055108f4/Runtime/TcpConnector/ROSConnection.cs:314)
--- End of stack trace from previous location where exception was thrown ---
System.Runtime.ExceptionServices.ExceptionDispatchInfo.Throw () (at <695d1cc93cca45069c528c15c9fdd749>:0)
System.Runtime.CompilerServices.TaskAwaiter.ThrowForNonSuccess (System.Threading.Tasks.Task task) (at <695d1cc93cca45069c528c15c9fdd749>:0)
System.Runtime.CompilerServices.TaskAwaiter.HandleNonSuccessAndDebuggerNotification (System.Threading.Tasks.Task task) (at <695d1cc93cca45069c528c15c9fdd749>:0)
System.Runtime.CompilerServices.TaskAwaiter.ValidateEnd (System.Threading.Tasks.Task task) (at <695d1cc93cca45069c528c15c9fdd749>:0)
System.Runtime.CompilerServices.TaskAwaiter`1[TResult].GetResult () (at <695d1cc93cca45069c528c15c9fdd749>:0)
Unity.Robotics.ROSTCPConnector.ROSConnection+<SendServiceMessage>d__82`1[RESPONSE].MoveNext () (at Library/PackageCache/com.unity.robotics.ros-tcp-connector@7f055108f4/Runtime/TcpConnector/ROSConnection.cs:283)
--- End of stack trace from previous location where exception was thrown ---
System.Runtime.ExceptionServices.ExceptionDispatchInfo.Throw () (at <695d1cc93cca45069c528c15c9fdd749>:0)
System.Runtime.CompilerServices.AsyncMethodBuilderCore+<>c.<ThrowAsync>b__6_0 (System.Object state) (at <695d1cc93cca45069c528c15c9fdd749>:0)
UnityEngine.UnitySynchronizationContext+WorkRequest.Invoke () (at <127e81e1cb3441cc97d26b1910daae77>:0)
UnityEngine.UnitySynchronizationContext:ExecuteTasks()

Environment:

Unity Version: 2020.3.11f1
ROS machine OS + version: Ubuntu 18.04, Melodic, run in Docker
UnityRoboticsHub / ROSTCPConnector version: v0.6.0

Issue Analytics

State:
Created 2 years ago
Comments:14 (7 by maintainers)

Top GitHub Comments

1reaction

hyounesycommented, Dec 18, 2021

Hi @PetterVMC. Thank you for reaching out. We have created an internal ticket (AIRO-1647) to investigate the issue. We will come back to you soon.

0reactions

cambelcommented, Jun 9, 2023

Nevermind.

The problem was the MoveIt msgs. The RobotTrajectory.msg on Noetic must be different from the version on Melodic.

I updated the whole ROS/src/moveit_msgs with the same version as in my Noetic environment and rebuild them on Unity.

Now it works fine.

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