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启动map_server后一直阻塞

 1 year ago
source link: https://charon-cheung.github.io/2023/08/15/%E9%82%A3%E4%BA%9B%E5%8D%A1%E6%88%91%E5%BE%88%E4%B9%85%E7%9A%84bug/%E5%90%AF%E5%8A%A8map_server%E5%90%8E%E4%B8%80%E7%9B%B4%E9%98%BB%E5%A1%9E/
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启动map_server后一直阻塞 | 沉默杀手

启动map_server后一直阻塞
2023-08-15|那些卡我很久的bug|
Word count: 122|Reading time: 1 min

有几次，map_server打开pgm时一直阻塞，只能重启ROS。 

map_server::loadMapFromFile(&map_resp_,mapfname.c_str(),res,negate,occ_th,free_th, origin, mode);
ROS_INFO("map_server after loadMapFromFile");

// To make sure get a consistent time in simulation
ros::Time::waitForValid();

经过加日志，发现是 ros::Time::waitForValid();没有执行完，问题出在这里。

bool Time::waitForValid(const ros::WallDuration& timeout)
{
	ros::WallTime start = ros::WallTime::now();
	while (!isValid() && !g_stopped)
	{
		ros::WallDuration(0.01).sleep();

if (timeout > ros::WallDuration(0, 0) && (ros::WallTime::now() - start > timeout))
		{
		 return false;
		}
	}
	if (g_stopped)
	{
		return false;
	}
	return true;
}

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