Im fairly new to ROS but I've never seen anything like that happen before. I'm using Raspberry Pi and ROS kinetic. After starting rosserial with:
roslaunch rosserial_server serial.launch port:=/dev/ttyACM0
and checking rostopic list this is what I get (well some of it, rest isn't important):
/batteryState /battery_state /cmd_vel /diagnostics /diagnostics_agg
/left_error /left_tick_interval /magDataArray
/motor_node/parameter_descriptions /motor_node/parameter_updates
/motor_power_active /motor_state /odom
/odometry /right_current
After checking that I in fact have /odometry topic I run my simulation in Matlab that subscribes to odometry it runs for a few seconds and odometry stops sending messages, after I echo /odometry nothing happens an then after checking rostopic list again there is no odometry topic!
This is the list after:
/battery_state /cmd_vel /diagnostics /diagnostics_agg /left_error
/left_tick_interval /motor_node/parameter_descriptions
/motor_node/parameter_updates /motor_power_active /motor_state /odom
/right_current /right_error
And after checking rostopic info on odometry it says "ERROR: Unknown topic /odometry"
How can a topic disappear like that in a matter of seconds, and what could possibly be causing this?
Related
I have the problems with both SAVIHost v1.43 and VSTHost v1.57 for the case of Dexed 0.9.6. As I am a hobbist only, related to both MIDI and IT, I wish to ask some help to overcome these problems detailed below.
My problem with SAVIHost V1.43:
I copied savihost.exe (extracted from savihost3x64.zip) copied into directory "C:\Program Files\Common Files\VST3" (i.e. into the installation directory of Dexed.vst3) then renamed it to Dexed.exe, and launched this Dexed.exe.
I set "loopMIDI Port 1" (created prior by "loopMIDI v1.0.16 (27)") as "Input Port 1" via "Devices|MIDI..." and "1764 samples (25 b/s)" via "Devices|Wave...". (The sample rate was 44100 Hz, and both ports were "MME: Microsoft Sound Mapper).
Then I played some sounds by use of the virtual keyboard, and changed Dexed's programs (instruments) randomly - and Dexed seemed to work well, it played the different sounds with the actually selected instruments. Then I sent some MIDI Messages by Cakewalk by Bandlab to "loopMIDI 1"; Dexed produced the appropriate sounds, according to MIDI Note On/Off messages received - except that all the MIDI Program Change messages (C0 xx) were ignored.
Finally, when I clicked onto icon of Dexed.exe (i.e. renamed savihost.exe) in the Windows 10 Taskbar on the screen: the main window of Dexed.exe was minimized,
but when I clicked onto its icon again, although its main window is restored but crashed immediately. A dialog titled as "Dexed" appered,
containing an error message:
Unhandled exception 0xC0000005 at 00000014005BEBA
reading from FFFFFFFFFFFFFFFF
(followed by a list of the recent content of registers).
Furthermore, I noticed that resizing of window of Dexed.exe (moving its bottom edge upward) also causes a crash, but only after when Dexed.exe received some MIDI messages through "loopMIDI Port 1".
(i.e. playing on virtual keyboard, followed by similar resizing did not cause crashes - at least, I have not realized that.)
The situation was ditto for the case of SAVIHost V1.44 beta.
Problem with VSTHost V1.56 x64:
In the second case, I started VTSHost.exe, then loaded Dexed.vst3 via File|New Plugin... . Dexed.vst3 also seemed to work well at the beginning, i.e. while I played on the virtual keyboard bar, and changed the programs (instruments) and modified some parameters by the knobs on the screen. But when VSTHost received the first MIDI messages through the "loopMIDI Port 1", Dexed does not played any notes anymore. Instead, some extra message lines appeared in the dialog "Info" below the line "Chained as Insert before 1: Engine Output":
...
Processing is turned off (errors in PlugIn?)
ProcessReplacing
Exception 0xC0000005 at 000000014007ABF6 reading from 0000000000000000
...
Stack Trace:
...
Unfortunately, the situation was the same in case of VSTHost V1.57 beta x64.
Comments:
Dexed.vst3 worked without problems in case of other VST host apps (e.g. CakeWalk by BandLab and Cantabile 4 Lite), i.e. also the MIDI Program Change messages were executed properly.
(CakeWalk by Bandlab used Dexed.vst3 directly, Cantabile 4 Light received MIDI messages from CakeWalk by BandLab through "loopMIDI Port 1".)
similarly, the original standalone Dexed application also processed the MIDI Program Change messages through "loopMIDI Port 1" correctly.
version number of Dexed.vst3 reported as 1.0.0 by VSTHost (although is is originated from unzipping of "dexed-0.9.6-win.zip").
my PC has the followings:
-- OS: MS Windows 10, 22H2, build: 19045.2311 (x64)
-- CPU: Intel(R) Core(TM) i5-4460 CPU # 3.20GHz
-- RAM: 8 GB
-- motherboard: Gigabyte Technology Co., Ltd. B85M-D2V
-- sound: Realtek, High Definition Audio (on-board)
Finally, I wish to mention that I have tried other VSTs than Dexed's one with both SAVIHost and VSTHost: "sforzando.vst3" and "Roland Sound Canvas VA.dll".
There were no problem at all - no interception of any MIDI Message, no crash, etc -, they had been worked without any problem for hours. So I am not really sure, what and where are the root of the problems above: maybe in SAVIHost or VSTHost - or maybe in Dexed.
I wish ask some help, how I shall continue to determine, which component - ie. savihost/svthost or Dexed - is failed and resulted the problem?
Thank you very much for you kind efforts in advance!
I am writing an external bootloader for the STM32F730Z8 - (why? I need one windows code that can run the bootloader for the STM32, or use the STM32 to reprog a connected ATF1508 for my client). I've done this before, using info in AN3155 and AN2606. On lesser CPUs, this has had no difficulty (i.e. STM32L4P5). In this case, I try the same:
1-cycle \RESET & BOOT0 to boot to supervisor mode
2-autobaud successfully
3-send 0x00 to get the list of commands, successfully
4-send 01 to get the version and protection, successfully (vers 49, rp and nt both 0)
5-send 02 to get chip id (0x0452), successfully
6-send 0x73 to write-unprotect flash, successfully (i.e. receive back two ACK)
7-send 0x44 to begin an extended erase (intending only to erase sector 0).
This is where it fails. I get neither ACK nor NACK - it just times out. I don't even get to the second half of the extended-erase command where I send it the sector info. (On the STM32L4P5 it succeeds here easily and goes on to finish erasing, then to write code successfully.)
I've tried very long waits & repeat loops to wait for the ACK (many minutes). From past experience this should be fast, it is only the second stage where I tell it how much flash to erase that takes any significant time.
I've inspected the protection option areas of memory, at 0x1FFF0010, 0018, and they are unprotected, as per factory defaults.
I'm communicating over an FT231XS-R, using the D2XX driver calls. I can mess with the baud rates and such, but that only prevents it from autobauding...and we're doing that fine (9600/8/1/E). I've played with the D2XX SetTimeouts - if set too hasty that only screws up earlier commands. I'm wired to a 20 MHz crystal, and the application runs at 200 MHz, but my understanding is that the bootloader just runs at the internal RC clock rate.
I'm certainly missing something stupid, but I didn't see it in the documentation. Help?
Jeff Casey / Rockfield Research Inc. / Las Vegas, NV
Fixed, disregard.
The fineprint of AN3155 clued me in. On the description of the Write Unprotect command, it says that a system reset will be performed after completion. How did I miss this on the STM32L4P5? I just didn't read it. But why did it work then? In the really fine print next page, in a footnote to the flowchart, it says that they were just foolin'....system reset is only called for some (..list omitted..) and for other STM32 products no system reset is called for.
My earlier success had the following sequence:
reboot-supervisor
autobaud
get
gvrp
gid
wpun
xerase
wpun
write
verify
reboot-user
obviously that doesn't work for the F730. what works is:
reboot-super
autobaud
get
gvrp
gid
wpun
reboot-super
autobaud
get gvrp
gid
xerase
reboot-super
autobaud
get
gvrp
gid
write
verify
reboot-user
(obviously I can skip a few of the repeated steps, like get-id, but basically it needed a reboot and re-autobaud.)
note that i had to reboot-super a 3rd time...this was because the write attempt timed out after the xerase unless i went through the whole sequence again. funny, though, the spec doesn't say anything about resetting after an erase. i cross posted this question on the STM32 community site, and I'll do the same with this answer and ping them on this.
Thanks for reading, cheers. Jeff
I am seeing intermittent dropped records(only for error messages though not for success ones). We have a test case that intermittenly fails/passes because of a lost record. We are using "org.apache.beam.sdk.testing.TestPipeline.java" in the test case. This is the relevant setup code where I have tracked the dropped record too ....
PCollectionTuple processed = records
.apply("Process RosterRecord", ParDo.of(new ProcessRosterRecordFn(factory))
.withOutputTags(TupleTags.OUTPUT_INTEGER, TupleTagList.of(TupleTags.FAILURE))
);
errors = errors.and(processed.get(TupleTags.FAILURE));
PCollection<OrderlyBeamDto<Integer>> validCounts = processed.get(TupleTags.OUTPUT_INTEGER);
PCollection<OrderlyBeamDto<Integer>> errorCounts = errors
.apply("Flatten Roster File Error Count", Flatten.pCollections())
.apply("Publish Errors", ParDo.of(new ErrorPublisherFn(factory)));
The relevant code in ProcessRosterRecordFn.java is this
if(dto.hasValidationErrors()) {
RosterIngestError error = new RosterIngestError(record.getRowNumber(), record.toTitleValue());
error.getValidationErrors().addAll(dto.getValidationErrors());
error.getOldValidationErrors().addAll(dto.getOldValidationErrors());
log.info("Tagging record row number="+record.getRowNumber());
c.output(TupleTags.FAILURE, new OrderlyBeamDto<>(error));
return;
}
I see this log for the lost record of Tagging record row for 2 rows that fail. After that however, inside the first line of ErrorPublisherFn.java, we log immediately after receiving each message. We only receive 1 of the 2 rows SOMETIMES. When we receive both, the test passes. The test is very flaky in this regard.
Apache Beam is really annoying in it's naming of threads(they are all the same name), so I added a logback thread hashcode to get more insight and I don't see any and the ErrorPublisherFn could publish #4 on any thread anyways.
Ok, so now the big question: How to insert more things to figure out why this is being dropped INTERMITTENTLY?
Do I have to debug apache beam itself? Can I insert other functions or make changes to figure out why this error is 'sometimes' lost on some test runs and not others?
EDIT: Thankfully, this set of tests are not testing errors upstream and this line "errors = errors.and(processed.get(TupleTags.FAILURE));" can be removed which forces me to remove ".apply("Flatten Roster File Error Count", Flatten.pCollections())" and in removing those 2 lines, the issue goes away for 10 test runs in a row(ie. can't completely say it is gone with this flaky stuff going on). Are we doing something wrong in the join and flattening? I checked the Error structure and rowNumber is a part of equals and hashCode so there should be no duplicates and I am not sure why it would be intermittently failure if there are duplicate objects either.
What more can be done to debug here and figure out why this join is not working in the TestPipeline?
How to get insight into the flatten and join so I can debug why we are losing an event and why it is only 'sometimes' we lose the event?
Is this a windowing issue? even though our job started with a file to read in and we want to process that file. We wanted a constant dataflow stream available as google kept running into limits but perhaps this was the wrong decision?
I am running a ros publisher/subscriber node, which receives a single image from a /image_pub topic , do some processing and publish the results on /results topic. The image_pub topic is publishing at 20Hz but my publisher/subscriber node runs at 12 hz(i found it using rostopic hz /results). Is there any way to improve the speed or tell my program to run at 20Hz. At start it was running at 20Hz. Then i turned off my Linux for lunch, came back and restarted my program. Now its running at 12 hz. I have restarted it again and again but still runs at 12 hz. Any solution..?
If your image processing takes longer than 1/20 second than there is no way you can achieve the 20Hz. If that is not the case then the following main loop will do the job
ros::Rate publish_rate(20);
while(ros::ok())
{
// do some processing
publisher.publish(image);
publish_rate.sleep();
}
The ros::Rate will make sure to sleep for the right amount of time to achieve the 20Hz.
Also make sure to compile in Release mode (catkin_make -DCMAKE_BUILD_TYPE=Release) as this will speed up you code by a good margin.
I have a few questions regarding quartz.net.
What is it that keeps track of if there has been a missfire situation i Quartz.net?
What happens in the following scenarios:
If a job is run but cannot finnish due to some bug, does that count as a missfire or not?
What happens if i republish the solution, is the tracking reset?
Is there a way to receive information on what the scheduler has done and not been able to do?
I have the following code in my Run method:
IJobDetail dailyUserMailJob = new JobDetailImpl("DailyUserMailJob", null, typeof(Jobs.TestJob));
ITrigger trigger = TriggerBuilder.Create()
.WithIdentity("trigger1", "group1")
.WithCronSchedule("0 0 4 1 * ?", x => x.WithMisfireHandlingInstructionFireAndProceed())
.Build();
this.Scheduler.ScheduleJob(dailyUserMailJob, trigger);
this.Scheduler.Start();
The job is supposed to run the first every month on 4 am.
When testing I have set the system clock so that the jobb is missed for one month. According to the documentation when using WithMisfireHandlingInstructionFireAndProceed the job should be run the first thing that happens, but it dosent. Is there something wrong with the code or could it be some other reason the job is not run when using WithMisfireHandlingInstructionFireAndProceed() ?
If a job is missed, there is logic to bring it back. However, there is a "window" on how far back to go.
<add key="quartz.jobStore.misfireThreshold" value="60000"/>
You can increase this value.
If you have an ADOStore, misfires are persisted. Thus "if the power goes out", when restarting...you can recover from misfires.
If you have a RamStore...if "the power goes out", everything was in memory to begin with..so you won't get mis-fire handling, because everything was "in memory" and the memory is lost.
..
If you use Sql Server (AdoStore) and put a Profiler/Trace on it, you'll see the engine "poll" for misfires.......with a "go back this far in time" based on the misfireThreshold.
See this link:
http://nurkiewicz.blogspot.com/2012/04/quartz-scheduler-misfire-instructions.html
for more detailed info. Which has a "withMisfireHandlingInstructionFireAndProceed" note.