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fix(map_loader): add log output #7203

Merged
merged 2 commits into from
Jun 6, 2024
Merged

fix(map_loader): add log output #7203

merged 2 commits into from
Jun 6, 2024

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a-maumau
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@a-maumau a-maumau commented May 31, 2024 •
edited
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Description

Add log output to launch file in map/map_loader.
It is set to "both", which outputs to both the terminal and the log file.

Tests performed

I checked that both the terminal and the log file will receive the log output.

The log file when the running process get killed (launched individually):

...
1717147605.4659960 [lanelet2_map_visualization-3] [INFO] [1717147605.465805143] [rclcpp]: signal_handler(signum=15)
1717147605.4661055 [lanelet2_map_visualization-3] *** Aborted at 1717147605 (unix time) try "date -d @1717147605" if you are using GNU date ***
1717147605.4665687 [lanelet2_map_visualization-3] PC: @                0x0 (unknown)
1717147605.4667759 [lanelet2_map_visualization-3] *** SIGTERM (@0x3e8000e1b20) received by PID 3223579 (TID 0x7ff9e32ca680) from PID 924448; stack trace: ***
1717147605.4672272 [lanelet2_map_visualization-3]     @     0x7ff9e3b664d6 google::(anonymous namespace)::FailureSignalHandler()
1717147605.4676359 [lanelet2_map_visualization-3]     @     0x7ff9e3a19ded rclcpp::SignalHandler::signal_handler()
1717147605.4678733 [lanelet2_map_visualization-3]     @     0x7ff9e3042520 (unknown)
1717147605.4680552 [lanelet2_map_visualization-3]     @     0x7ff9e3091117 (unknown)
1717147605.4682143 [lanelet2_map_visualization-3]     @     0x7ff9e3093a41 pthread_cond_wait
1717147605.4683957 [lanelet2_map_visualization-3]     @     0x7ff9e2f84a8d ddsrt_cond_wait
1717147605.4685516 [lanelet2_map_visualization-3]     @     0x7ff9e2f84b55 ddsrt_cond_waituntil
1717147605.4687283 [lanelet2_map_visualization-3]     @     0x7ff9e2f6b45d (unknown)
1717147605.4689677 [lanelet2_map_visualization-3]     @     0x7ff9e327374f rmw_wait
1717147605.4692674 [lanelet2_map_visualization-3]     @     0x7ff9e37a7848 rcl_wait
1717147605.4696777 [lanelet2_map_visualization-3]     @     0x7ff9e39611b6 rclcpp::Executor::wait_for_work()
1717147605.4700472 [lanelet2_map_visualization-3]     @     0x7ff9e39616d3 rclcpp::Executor::get_next_executable()
1717147605.4704914 [lanelet2_map_visualization-3]     @     0x7ff9e3965c81 rclcpp::executors::SingleThreadedExecutor::spin()
1717147605.4705842 [lanelet2_map_visualization-3]     @     0x5630db0d9486 main
1717147605.4707685 [lanelet2_map_visualization-3]     @     0x7ff9e3029d90 (unknown)
1717147605.4710116 [lanelet2_map_visualization-3]     @     0x7ff9e3029e40 __libc_start_main
1717147605.4711015 [lanelet2_map_visualization-3]     @     0x5630db0d9e35 _start
1717147605.4722123 [ERROR] [lanelet2_map_visualization-3]: process has died ...
(other omitted)

Within container (throwing std::runtime_error):
(this will not get logged in log file because map_container is logging with screen)

[component_container_mt-28] terminate called after throwing an instance of 'std::runtime_error'
[component_container_mt-28]   what():  THROWING RUNTIME ERROR
[component_container_mt-28] *** Aborted at 1717388510 (unix time) try "date -d @1717388510" if you are using GNU date ***
[component_container_mt-28] PC: @                0x0 (unknown)
[component_container_mt-28] *** SIGABRT (@0x3e80032d72f) received by PID 3331887 (TID 0x7f2c2a7fc640) from PID 3331887; stack trace: ***
[aggregator_node-23] [WARN] [1717388510.938254681] [Aggregator]: No timestamp set for diagnostic message. Message names: external_cmd_converter: remote_control_topic_status
[component_container-33] [INFO] [1717388510.940525959] [sensing.lidar.right.pointcloud_preprocessor.pointcloud_container]: Load Library: /home/masakibaba/autoware/install/pointcloud_preprocessor/lib/libpointcloud_preprocessor_filter.so
[component_container_mt-28]     @     0x7f2c550b14d6 google::(anonymous namespace)::FailureSignalHandler()
[component_container_mt-28]     @     0x7f2c54442520 (unknown)
[component_container_mt-28]     @     0x7f2c544969fc pthread_kill
[component_container_mt-28]     @     0x7f2c54442476 raise
[component_container_mt-28]     @     0x7f2c544287f3 abort
[component_container_mt-28]     @     0x7f2c548a2b9e (unknown)
[component_container_mt-28]     @     0x7f2c548ae20c (unknown)
[component_container_mt-28]     @     0x7f2c548ae277 std::terminate()
[component_container_mt-28]     @     0x7f2c548ae4d8 __cxa_throw
[component_container_mt-28]     @     0x7f2c0c476c94 _ZN21Lanelet2MapLoaderNode18create_map_bin_msgESt10shared_ptrIN7lanelet10LaneletMapEERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKN6rclcpp4TimeE.cold
[component_container_mt-28]     @     0x7f2c0c481959 Lanelet2MapLoaderNode::on_map_projector_info()
[component_container_mt-28]     @     0x7f2c0c4821d3 _ZNSt17_Function_handlerIFvSt10shared_ptrIKN14tier4_map_msgs3msg17MapProjectorInfo_ISaIvEEEEEZN21Lanelet2MapLoaderNodeC4ERKN6rclcpp11NodeOptionsEEUlS7_E_E9_M_invokeERKSt9_Any_dataOS7_
[component_container_mt-28]     @     0x7f2c0c492587 _ZNSt8__detail9__variant17__gen_vtable_implINS0_12_Multi_arrayIPFNS0_21__deduce_visit_resultIvEEOZN6rclcpp23AnySubscriptionCallbackIN14tier4_map_msgs3msg17MapProjectorInfo_ISaIvEEESA_E8dispatchESt10shared_ptrISB_ERKNS5_11MessageInfoEEUlOT_E_RSt7variantIJSt8functionIFvRKSB_EESN_IFvSP_SH_EESN_IFvRKNS5_17SerializedMessageEEESN_IFvSW_SH_EESN_IFvSt10unique_ptrISB_St14default_deleteISB_EEEESN_IFvS14_SH_EESN_IFvS11_ISU_S12_ISU_EEEESN_IFvS1A_SH_EESN_IFvSD_ISO_EEESN_IFvS1F_SH_EESN_IFvSD_ISV_EEESN_IFvS1K_SH_EESN_IFvRKS1F_EESN_IFvS1Q_SH_EESN_IFvRKS1K_EESN_IFvS1W_SH_EESN_IFvSE_EESN_IFvSE_SH_EESN_IFvSD_ISU_EEESN_IFvS25_SH_EEEEEJEEESt16integer_sequenceImJLm8EEEE14__visit_invokeESL_S2B_
[component_container_mt-28]     @     0x7f2c0c4a4e45 rclcpp::Subscription<>::handle_message()
[component_container_mt-28]     @     0x7f2c54d5dba0 rclcpp::Executor::execute_subscription()
[component_container_mt-28]     @     0x7f2c54d5f10e rclcpp::Executor::execute_any_executable()
[component_container_mt-28]     @     0x7f2c54d65432 rclcpp::executors::MultiThreadedExecutor::run()
[component_container_mt-28]     @     0x7f2c548dc253 (unknown)
[component_container_mt-28]     @     0x7f2c54494ac3 (unknown)
[component_container_mt-28]     @     0x7f2c54526850 (unknown)

Effects on system behavior

Not applicable.

Interface changes

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@a-maumau
add log output
8b4e63a 
Signed-off-by: a-maumau <[email protected]>
@github-actions github-actions bot added the component:map Map creation, storage, and loading. (auto-assigned) label May 31, 2024
@KYabuuchi KYabuuchi added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jun 3, 2024
KYabuuchi
KYabuuchi approved these changes Jun 3, 2024
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Thank you for your PR.
I have confirmed that it works correctly with following command:

ros2 launch map_loader lanelet2_map_loader.launch.xml lanelet2_map_path:=...
ros2 launch map_loader pointcloud_map_loader.launch.xml pointcloud_map_path:=...

@a-maumau
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a-maumau commented Jun 3, 2024 •
edited
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I update the PR comment and add a composable node case.
I terminated the node with throwing the runtime error by the code.

It seems it will not output log in log file because map_container's output is set to "screen":

autoware.universe/launch/tier4_map_launch/launch/map.launch.xml

Line 25 in 228be2f

<node_container pkg="rclcpp_components" exec="$(var container_type)" name="map_container" namespace="" output="screen">

@SakodaShintaro SakodaShintaro enabled auto-merge (squash) June 6, 2024 00:39
@a-maumau a-maumau mentioned this pull request Jun 6, 2024
Merged
4 tasks
@SakodaShintaro SakodaShintaro merged commit 42a6340 into autowarefoundation:main Jun 6, 2024
24 of 25 checks passed
kminoda pushed a commit to kminoda/autoware.universe that referenced this pull request Jun 6, 2024
@a-maumau @SakodaShintaro @kminoda
fix(map_loader): add log output (autowarefoundation#7203)
36933c2 
add log output

Signed-off-by: a-maumau <[email protected]>
Co-authored-by: SakodaShintaro <[email protected]>
a-maumau added a commit to a-maumau/autoware.universe that referenced this pull request Jun 7, 2024
@a-maumau @SakodaShintaro
fix(map_loader): add log output (autowarefoundation#7203)
d6995aa 
add log output

Signed-off-by: a-maumau <[email protected]>
Co-authored-by: SakodaShintaro <[email protected]>
KhalilSelyan pushed a commit that referenced this pull request Jul 22, 2024
@a-maumau @SakodaShintaro @KhalilSelyan
fix(map_loader): add log output (#7203)
b05797b 
add log output

Signed-off-by: a-maumau <[email protected]>
Co-authored-by: SakodaShintaro <[email protected]>
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@SakodaShintaro SakodaShintaro SakodaShintaro approved these changes

@KYabuuchi KYabuuchi KYabuuchi approved these changes

@anhnv3991 anhnv3991 Awaiting requested review from anhnv3991

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@a-maumau @KYabuuchi @SakodaShintaro