*** Aborted at 1632322639 (unix time) try "date -d @1632322639" if you are using GNU date ***

[roalchaq]

Hi there,

I've been using ASA ROS successfully under different setups, very useful tool 👍 However, recently I started receiving the same (not very informative) error over and over again:

*** Aborted at 1632322639 (unix time) try "date -d @1632322639" if you are using GNU date ***
PC: @     0x7fda47cc6be8 Microsoft::Azure::SpatialAnchors::CloudSpatialAnchor::LocalAnchor()
*** SIGSEGV (@0x10) received by PID 21909 (TID 0x7fd9ee7ec700) from PID 16; stack trace: ***
    @     0x7fda47f04980 (unknown)
    @     0x7fda47cc6be8 Microsoft::Azure::SpatialAnchors::CloudSpatialAnchor::LocalAnchor()
    @     0x7fda47c9496f _ZZN7asa_ros28AzureSpatialAnchorsInterface24queryAnchorsWithCallbackERKSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS7_EERKSt8functionIFvRKS7_RKN5Eigen9TransformIdLi3ELi2ELi0EEEEEENKUlPvRKSt10shared_ptrIN9Microsoft5Azure14SpatialAnchors22AnchorLocatedEventArgsEEE_clESO_SW_.isra.1146
    @     0x7fda47cccdb1 _ZZN9Microsoft5Azure14SpatialAnchors25CloudSpatialAnchorSession13AnchorLocatedERKSt8functionIFvPvRKSt10shared_ptrINS1_22AnchorLocatedEventArgsEEEEENUlxP29ssc_anchor_located_event_argsE_4_FUNExSF_
    @     0x7fda433ae337 CallbackAnchorObserver::OnNext()
    @     0x7fda4339fd60 SpatialServices::Client::LocationOperation::OnNotification()
    @     0x7fda433ca921 SpatialServices::Internal::StoreAndWatcherTrackedState::EvaluateDesiredSpatialAnchorStateForNotifications()
    @     0x7fda433cb853 SpatialServices::Internal::StoreAndWatcherTrackedState::SetWillNeverBeFoundStateForDesiredSpatialAnchor()
    @     0x7fda433d01ff SpatialServices::Internal::StoreAndWatcherTrackedState::ProcessPoseQueryStreamingPropertiesEvent()
    @     0x7fda433d4247 SpatialServices::Internal::StoreAndWatcherTrackedState::ProcessPoseQueryStreamingEvents()
    @     0x7fda433de034 SpatialServices::Internal::StoreAndWatcherTrackedState::ProcessPoseQueryStreamingEventsUntilCompletion()
    @     0x7fda433e33c1 _ZNK4pplx7details14_PPLTaskHandleIN15SpatialServices36SpatialAnchorStoreDiscoverResultInfoENS_4taskIhE23_ContinuationTaskHandleIvS3_ZNS2_8Internal27StoreAndWatcherTrackedState46ProcessPoseQueryStreamingEventsUntilCompletionESt10shared_ptrINS8_27DiscoverAsyncOperationStateEENS2_32SpatialAnchorStoreDiscoverResultEEUlNS4_IvEEE_St17integral_constantIbLb1EENS0_22_TypeSelectorAsyncTaskEEENS0_27_ContinuationTaskHandleBaseEE6invokeEv
    @     0x7fda4327d34f pplx::details::_TaskProcHandle::_RunChoreBridge()
    @     0x7fda4349f9c2 boost::asio::detail::completion_handler<>::do_complete()
    @     0x7fda434a4cb8 boost::asio::detail::scheduler::run()
    @     0x7fda434a1d02 _ZN5boost4asio6detail12posix_thread4funcIZN12_GLOBAL__N_115threadpool_impl10add_threadEvEUlvE_E3runEv
    @     0x7fda434a285f boost_asio_detail_posix_thread_function
    @     0x7fda47ef96db start_thread
    @     0x7fda46e1171f clone

I've tried in different computers already (including fresh installations), all using ROS Melodic @ Ubuntu 18.04.

If I just launch the asa_ros_node I don't get any errors. This happens just after my robot starts publishing under the image topic and camera_info topic.

Any ideas? Thank you in advance!

[roalchaq]

Some more details that will hopefully help diagnose the problem:

• Tested in yet another computer with ROS Noetic and Ubuntu 20.04.
• Made a test without adding the anchor id in the launch file and everything starts just fine. However, when I call the ROS service "/asa_ros/find_anchor" I get the same error as before.

[roalchaq]

So, the issue was not asa_ros. I "fixed" the problem by creating a new resource in Azure and changing the credentials in the ROS side. It would be interesting to know why this happened though. Closing the issue now.

[chriswsuarez]

Hi, any chance you can clarify what the fix was for this? I'm running a setup where I can detect anchors for some period of time and then seemingly at random this issue with occur and asa_ros will crash. I'm doing a unique setup where I detect anchors continuously while the robot is running including resetting sessions and detecting the same anchors again.

[roalchaq]

Hi @chriswsuarez . Sure!. I just created a new anchor(s) and updated the anchor_id field in the launch file. This also happens at random in my case. For some reason, these ids are deleted from time to time from your account.

[chriswsuarez]

Ah gotcha. Thanks!