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Trajectory visualization crashes #366

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wohe opened this issue Jun 8, 2017 · 2 comments
Closed

Trajectory visualization crashes #366

wohe opened this issue Jun 8, 2017 · 2 comments

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@wohe
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wohe commented Jun 8, 2017

RViz crashes after a while when trajectory visualization is enabled.

Reading through the RViz code it seems the line strip marker does not support lines with more than 16384 points. See
https://github.com/ros-visualization/rviz/blob/kinetic-devel/src/rviz/ogre_helpers/billboard_line.cpp. Maybe this is the issue?

Possible solution: Split longer trajectories into multiple line strip markers and see whether this fixes the crashes.

@ojura Do you want to try a fix? Feel free to unassign if you would prefer me to look into it.
@wohe
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wohe commented Jun 8, 2017

@ojura Seems I cannot assign you myself. Please let me know what you think.

@ojura
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ojura commented Jun 8, 2017

I cannot assign myself either :-) I have reproduced it. I agree, it should be enough to just limit each visualization_msgs::Marker to 16384 (16383?) points, and to push as many additional markers as needed into the marker array.

@ojura ojura mentioned this issue Jun 8, 2017
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@wohe wohe closed this as completed in #367 Jun 9, 2017
wohe pushed a commit that referenced this issue Jun 9, 2017
@ojura @wohe
Fix rviz trajectory rendering crash (#367)
6658cff 
Rviz has a limit of 16384 points per marker. To get around this, each
trajectory is split into multiple markers, each up to 16384 points.
Fixes #366.
doronhi pushed a commit to doronhi/cartographer_ros that referenced this issue Nov 27, 2018
@SirVer @wohe
Delete SubmapData from trimmed submaps in the OptimizationProblem. (c…
471bcb6 
…artographer-project#366)

Related to cartographer-project#283.
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@ojura @wohe