Crash during annotation

[OrangeJuice3211]

[rviz-2] process has died [pid 1048166, exit code -6, cmd /opt/ros/noetic/lib/rviz/rviz -d /home/dell/PytorchWorkspace/annotate_ws/src/annotate/launch/demo.rviz __name:=rviz __log:=/home/dell/.ros/log/71712548-97d2-11ee-971c-9b50c91f07af/rviz-2.log].
log file: /home/dell/.ros/log/71712548-97d2-11ee-971c-9b50c91f07af/rviz-2*.log

[Earthwings]

Can you provide more details? E.g. more log output, what have you been doing before the crash occurred, does it happen every time or just once?

[OrangeJuice3211]

Thank you for your reply. It always happens when I create a new annotate box and try to change its shape, but everything works fine when I just change the position of the annotate box.
OS：Ubuntu 20.04
ROS：Noetic

[OrangeJuice3211]

[rosmaster.threadpool][ERROR] 2023-12-11 11:11:25,648: Traceback (most recent call last):
File "/opt/ros/noetic/lib/python3/dist-packages/rosmaster/threadpool.py", line 218, in run
result = cmd(*args)
File "/opt/ros/noetic/lib/python3/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task
ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
File "/usr/lib/python3.8/xmlrpc/client.py", line 1109, in call
return self.__send(self.__name, args)
File "/usr/lib/python3.8/xmlrpc/client.py", line 1450, in __request
response = self.__transport.request(
File "/usr/lib/python3.8/xmlrpc/client.py", line 1153, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python3.8/xmlrpc/client.py", line 1169, in single_request
return self.parse_response(resp)
File "/usr/lib/python3.8/xmlrpc/client.py", line 1341, in parse_response
return u.close()
File "/usr/lib/python3.8/xmlrpc/client.py", line 655, in close
raise Fault(**self._stack[0])
xmlrpc.client.Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[OrangeJuice3211]

To investigate whether it is an issue related to the operating system version, I installed Ubuntu 18.04 and ROS Melodic in VMware Workstations. However, the initial crash and error problems persist, and there is an additional error message: "terminate called after throwing an instance of 'std::runtime_error' what(): Duration is out of dual 32-bit range." It usually occurs when switching to TopDownOrthodox(rviz), moving the annotation box, and then switching back to ThirdPersonFollower(rviz) and clicking on the annotation box. Thank you for your time！

[Earthwings]

Great, this helps a lot. This error usually occurs when creating ros::Time instances with invalid values. I have fixed similar errors before - seems I didn't catch all yet.

[OrangeJuice3211]

line 752 in src/annotation_marker.cpp：
time_offsets += point_time - context.time;
As an attempt, I changed it to the following code:

time_offsets += (point_time >= context.time) ? (point_time - context.time) : (context.time - point_time);

but the error still persisted。So, I tried to change the code as follows:

if (point_time >= context.time)
  time_offsets += point_time - context.time;
else
  return context;

the error disappeared, but it looks very strange when i adjusting the shape of 3D box.
It would be greatly appreciated if you could provide some suggestions on how to identify the areas that need modification and fix this error.

[Earthwings]

Thanks for tracking it down. I wonder if context.time or point_time is_zero() is true here. This would cause the error and would require a special case also (probably do not update time_offsets if one is zero).

[OrangeJuice3211]

Thank you very much, I think I have fixed the error.

[OrangeJuice3211]

Thanks for tracking it down. I wonder if context.time or point_time is_zero() is true here. This would cause the error and would require a special case also (probably do not update time_offsets if one is zero).

You are right，the following code fixed this:

if (point_time >= context.time)
  time_offsets += point_time - context.time;