Assert in pull request #310 kills drcsim after 15 seconds

[osrf-migration]

Original report (archived issue) by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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Gazebo pull request #310 introduces some GZ_ASSERT's into the sensor manager. I approved it, but I should have tested it with drcsim, because gazebo is exiting after about 15 seconds of sim time when running roslaunch atlas_utils atlas_drc_vehicle_firehose.launch. We should probably change that to a gzerr or gzwarn for the time being.

***** Internal Program Error - assertion (eventTime >= common::Time::Zero) failed in void 
gazebo::sensors::SensorManager::SensorContainer::RunLoop():
/home/scpeters/osrf/gazebo2/gazebo/sensors/SensorManager.cc(467): 
Time to next sensor update is negative.

[osrf-migration]

Original comment by Jose Luis Rivero (Bitbucket: Jose Luis Rivero, GitHub: j-rivero).

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Question is: is this really an error catch by assertion? or the assertion should not be in this place at all? Are we proposing a workaround by relaxing the assertion?

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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It seems risky to make it an assertion to me, since it's related to timing of multiple threads. I think it should just be a warning message.

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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I've done some debugging with printf, and the sensor container that triggers the assert is the one containing the imu_sensor. I've printed out startTime, diffTime, sleepTime, and eventTime:

Time to next sensor update is negative.
imu_sensor
startTime 12 618000000
diffTime 0 3000000
sleepTime 0 1000000
eventTime 0 -2000000
Time to next sensor update is negative.
imu_sensor
startTime 12 819000000
diffTime 0 2000000
sleepTime 0 1000000
eventTime 0 -1000000
Time to next sensor update is negative.
imu_sensor
startTime 13 668000000
diffTime 0 2000000
sleepTime 0 1000000
eventTime 0 -1000000

@nkoenig Does this seem like an atlas/drcsim problem or a gazebo problem?

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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Issue #535 was marked as a duplicate of this issue.

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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Accidentally pushed a fix into default. Take a look at it here:

https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/commits/0ddd1f60a8cd5411ba328f5c6265f4a2f9a3f98e (1f06de6)

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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Looks good.

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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• changed state from "new" to "resolved"

fixed in 1f06de6

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• set version to "all"

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• changed state from "resolved" to "closed"