Comments (27)
MatthijsBurgh
commented on July 23, 2024
This error message is coming from tue_config. I don't know why you get it. Because I don't get it. Not when passing as argument to ed directly and not when using the configure node.
So it might be an issue with whitespace, So please make sure you are using all spaces and run a yaml linter.
As a final test run rosrun tue_config test_yaml_and_show <absolute_path_to_config>
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zerolatnc
commented on July 23, 2024
I used the yamllint package to check the config file and it threw some errors about indentation and also that there were too many spaces inside the braces. After correcting these, I have the following config file:
world:
- id: block1
pose: {x: 2, y: 0, z: 0.5}
shape:
box:
size: {x: 0.5, y: 0.5, z: 1}
- id: block2
pose: {x: 3, y: 2, z: 0.75}
shape:
box:
size: {x: 0.5, y: 0.5, z: 1.5}
plugins:
- name: gui_server
lib: libed_gui_server_plugin.so
Running the linter now gives me only one warning: warning: missing document start "---" (document-start)
But running rosrun tue_config test_yaml_and_show <absolute_path_to_config> still gives me the same error.
I have an old docker image of ros:melodic-robot from about 8 months ago, and when I use that image, this error interestingly doesn't show up.
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MatthijsBurgh
commented on July 23, 2024
Could you check your yaml-cpp version on your system and in the docker?
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zerolatnc
commented on July 23, 2024
It is libyaml-cpp0.5v5 in the docker container. On my host pc, I don't have yaml-cpp.
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MatthijsBurgh
commented on July 23, 2024
Could please install libyaml-cpp-dev? I have 0.5.2-4ubuntu1
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zerolatnc
commented on July 23, 2024
I had it installed earlier. I had both libyaml-cpp-dev and libyaml-cpp0.5v5.
Now, I removed both of them and tried to install libyaml-cpp-dev again. Installing libyaml-cpp-dev also installs libyaml-cpp0.5v5.
root@aa72d705efa4:/usr/share/doc# apt install libyaml-cpp-dev
Reading package lists... Done
Building dependency tree
Reading state information... Done
The following packages were automatically installed and are no longer required:
curl libegl1-mesa libfreeimage3 libjxr0 libogre-1.9-dev libogre-1.9.0v5 libraw16 libzzip-0-13
pyqt5-dev python-pyqt5 python-pyqt5.qtsvg ros-melodic-image-transport ros-melodic-interactive-markers
ros-melodic-laser-geometry ros-melodic-map-msgs ros-melodic-media-export
ros-melodic-python-qt-binding ros-melodic-resource-retriever
Use 'apt autoremove' to remove them.
The following additional packages will be installed:
libyaml-cpp0.5v5
The following NEW packages will be installed:
libyaml-cpp-dev libyaml-cpp0.5v5
0 upgraded, 2 newly installed, 0 to remove and 19 not upgraded.
Need to get 342 kB of archives.
After this operation, 1829 kB of additional disk space will be used.
Do you want to continue? [Y/n]
The version of libyaml-cpp-dev is the same as yours:
root@aa72d705efa4:/# apt list libyaml-cpp-dev
Listing... Done
libyaml-cpp-dev/bionic,now 0.5.2-4ubuntu1 amd64 [installed]
But the error persists.
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MatthijsBurgh
commented on July 23, 2024
Please try to start ed without a config. And call the configure service with the absolute path of your config file.
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zerolatnc
commented on July 23, 2024
Here is the output:
root@aa72d705efa4:~/catkin_ws# rosservice call /ed/configure "request: '/root/catkin_ws/src/test.yaml'"
error_msg: "In 'world': \n\n Sequences must only contains maps\n\n\n\nIn root of configuration:\n\
\n Root of the config file must be a map.\n\n"
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MatthijsBurgh
commented on July 23, 2024
I really have no idea. I suggest you clean the build and build again.
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zerolatnc
commented on July 23, 2024
So you are not getting this error when you use the ros:melodic-robot docker image?
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MatthijsBurgh
commented on July 23, 2024
I have limited diskspace, I am not able to test with Docker on this machine.
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zerolatnc
commented on July 23, 2024
Okay. Anyway, thanks for your help!
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Maik13579
commented on July 23, 2024
Hey, is there a solution for this issue by now?
I have the same problem with ros noetic.
Here is my dockerfile
ARG ROS_WS=/root/catkin_ws
FROM ros:noetic as base
ARG ROS_WS
ENV ROS_WS $ROS_WS
ENV DEBIAN_FRONTEND noninteractive
SHELL ["/bin/bash", "-c"]
COPY docker/ros_entrypoint.sh /ros_entrypoint.sh
ENTRYPOINT ["/ros_entrypoint.sh"]
WORKDIR $ROS_WS
RUN source /opt/ros/$ROS_DISTRO/setup.bash && mkdir src && catkin_make
RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /root/.bashrc
RUN echo "source $ROS_WS/devel/setup.bash" >> /root/.bashrc
FROM base as ed
ARG ROS_WS
ENV ED_PLUGIN_PATH $ROS_WS/devel/lib
ENV ED_MODEL_PATH $ROS_WS/src/iki_object_models/models
WORKDIR $ROS_WS/src/tue-robotics
RUN apt update \
&& apt upgrade -y \
&& apt install --no-install-recommends -y \
git \
&& git clone --branch 2022-before-rwc https://github.com/tue-robotics/ed.git \
&& git clone --branch 2022-before-rwc https://github.com/tue-robotics/ed_object_models.git \
&& git clone --branch 2022-before-rwc https://github.com/tue-robotics/ed_msgs.git \
&& git clone --branch 2022-before-rwc https://github.com/tue-robotics/code_profiler.git \
&& git clone --branch 2022-before-rwc https://github.com/tue-robotics/geolib2.git \
&& git clone --branch 2022-before-rwc https://github.com/tue-robotics/rgbd.git \
&& git clone --branch 2022-before-rwc https://github.com/tue-robotics/tue_config.git \
&& git clone --branch 2022-before-rwc https://github.com/tue-robotics/tue_filesystem.git \
&& git clone --branch 2022-before-rwc https://github.com/tue-robotics/tue_serialization.git \
&& git clone --branch 2022-before-rwc https://github.com/tue-robotics/ed_gui_server.git \
&& git clone --branch 2022-before-rwc https://github.com/tue-robotics/ed_rviz_plugins.git \
&& apt purge -y \
git \
&& rm -rf /var/lib/apt/lists/*
WORKDIR $ROS_WS
RUN apt update \
&& apt install -y \
libsdformat6-dev \
&& rosdep update \
&& rosdep install --from-paths src --ignore-src -r -y \
&& rm -rf /var/lib/apt/lists/*
WORKDIR $ROS_WS/src/
COPY iki_object_models iki_object_models
WORKDIR $ROS_WS
RUN source /opt/ros/$ROS_DISTRO/setup.bash && catkin_make
libyaml-cpp versions are:
libyaml-cpp-dev/now 0.6.2-4ubuntu1 amd64 [installed,local]
libyaml-cpp0.6/now 0.6.2-4ubuntu1 amd64 [installed,local]
My current approach
When running ed with a config file:
rosrun ed ed <path/to/my-ed-config.yaml>
It raises this error:
[ERROR] [1666879062.282182368]:
Error during configuration:
In 'world':
Sequences must only contains maps
Error comes from this function in tue_config/src/loaders/yaml.cpp:
bool loadFromYAMLNode(const YAML::Node& node, ReaderWriter& config)
{
bool success = true;
#ifdef YAML_VERSION_0_3
for(YAML::Iterator it = node.begin(); it != node.end(); ++it)
{
std::string key;
it.first() >> key;
const YAML::Node& n = it.second();
#else
for(YAML::const_iterator it = node.begin(); it != node.end(); ++it)
{
std::string key = it->first.as<std::string>();
const YAML::Node& n = it->second;
#endif
switch (n.Type())
{
case YAML::NodeType::Scalar:
{
if (!yamlScalarToVariant(key, n, config))
success = false;
break;
}
case YAML::NodeType::Sequence:
{
config.writeArray(key);
#ifdef YAML_VERSION_0_3
for(YAML::Iterator it2 = n.begin(); it2 != n.end(); ++it2)
#else
for(YAML::const_iterator it2 = n.begin(); it2 != n.end(); ++it2)
#endif
{
const YAML::Node& n2 = *it2;
if (n2.Type() != YAML::NodeType::Map)
{
config.addError("Sequences must only contains maps");
return false;
}
else
{
config.addArrayItem();
loadFromYAMLNode(n2, config);
config.endArrayItem();
}
}
config.endArray();
break;
}
case YAML::NodeType::Map:
config.writeGroup(key);
loadFromYAMLNode(n, config);
config.endGroup();
break;
case YAML::NodeType::Null:
break;
}
}
return success;
}By changing the error output to:
config.addError(std::to_string(n2.Type()) + " != " + std::to_string(YAML::NodeType::Map));we get this error:
1 != 4
From the Headerfile we get the values:
enum value { Undefined, Null, Scalar, Sequence, Map };So instead of a yaml node of type "Map" there is type "Null"
I'm not really good at C++ so I'm asking for help here.
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MatthijsBurgh
commented on July 23, 2024
Indeed the config file is parsed in tue_config. The easiest way to test is: rosrun tue_config test_yaml_and_show <your_config>.yaml.
Could provide a config file that generates this error? Please attach the file instead of pasting it. As using a combination of spaces/tabs can also cause issues.
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Maik13579
commented on July 23, 2024
I am using this config.
rosrun tue_config test_yaml_and_show /config/my-ed-config.yaml
1
1
1
Error: While parsing '/config/my-ed-config.yaml':
In 'world':
Sequences must only contains maps
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MatthijsBurgh
commented on July 23, 2024
I am also running yaml-cpp at 0.6.2. The config does not provide me with any errors.
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Maik13579
commented on July 23, 2024
I started printing out different values to see if there was anything weird:
if (n2.Type() != YAML::NodeType::Map)
{
config.addError(node.Tag()+std::to_string(node.Type()));
config.addError(it->first.as<std::string>());
config.addError(it2->first.as<std::string>());
config.addError(n.Tag()+std::to_string(n.Type()));
config.addError(n2.Tag()+std::to_string(n2.Type()));
config.addError(std::to_string(n2.Type()) + " != " + std::to_string(YAML::NodeType::Map));
config.addError("Sequences must only contains maps");
return false;
And now its working.... extremely weird ^^
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Maik13579
commented on July 23, 2024
Got it down to this line:
config.addError(it2->first.as<std::string>());
config.addError("Sequences must only contains maps");
return false;
Just by adding config.addError(it2->first.as<std::string>()); (above line 172) it starts working.
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MatthijsBurgh
commented on July 23, 2024
I assume you added it before the if condition.
But I have no clue what the real cause and/or solution is.
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Maik13579
commented on July 23, 2024
No that is the weird part, I added it inside the if block. The code is never executed, because if it were executed, the error would occur.
#ifdef YAML_VERSION_0_3
for(YAML::Iterator it2 = n.begin(); it2 != n.end(); ++it2)
#else
for(YAML::const_iterator it2 = n.begin(); it2 != n.end(); ++it2)
#endif
{
const YAML::Node& n2 = *it2;
if (n2.Type() != YAML::NodeType::Map)
{
config.addError(it2->first.as<std::string>());
config.addError("Sequences must only contains maps");
return false;
}
else
{
config.addArrayItem();
loadFromYAMLNode(n2, config, resolve_config);
config.endArrayItem();
}
}
I dont know about the building process of c++, but somehow this line makes a different.
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MatthijsBurgh
commented on July 23, 2024
This sounds very odd. Could you maybe provide some info about your system and compiler. Maybe we can find a difference.
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Maik13579
commented on July 23, 2024
lsb_release -a
No LSB modules are available.
Distributor ID: Ubuntu
Description: Ubuntu 20.04.2 LTS
Release: 20.04
Codename: focal
uname -r
5.4.0-131-generic
docker --version
Docker version 20.10.6, build 370c289
I used the ros:noetic image.
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MatthijsBurgh
commented on July 23, 2024
This roughly matches my system. Though I am running the master branch, not the 2022-before-rwc tag. But also the tag works on my machine. Could you create a simple Dockerfile for consistent testing.
The most important info is missing, what compiler do you use?
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Maik13579
commented on July 23, 2024
Yes especially when it comes to docker I always use the "newest" tag, because you never know what is still happening on the master branch.
Unfortunately I don't know anything about the compiler. I use the ros:noetic image and build the packages with catkin_make. But with the Dockerfile below you can check it yourself.
Here is the dockerfile that generates the error for me.
FROM ros:noetic
ENV DEBIAN_FRONTEND noninteractive
SHELL ["/bin/bash", "-c"]
ENV ED_PLUGIN_PATH /root/catkin_ws/devel/lib
WORKDIR /root/catkin_ws/src/tue-robotics
RUN apt update \
&& apt upgrade -y \
&& apt install --no-install-recommends -y \
git \
&& git clone --branch 2022-before-rwc https://github.com/tue-robotics/ed.git \
&& git clone --branch 2022-before-rwc https://github.com/tue-robotics/ed_object_models.git \
&& git clone --branch 2022-before-rwc https://github.com/tue-robotics/ed_msgs.git \
&& git clone --branch 2022-before-rwc https://github.com/tue-robotics/code_profiler.git \
&& git clone --branch 2022-before-rwc https://github.com/tue-robotics/geolib2.git \
&& git clone --branch 2022-before-rwc https://github.com/tue-robotics/rgbd.git \
&& git clone --branch 2022-before-rwc https://github.com/tue-robotics/tue_config.git \
&& git clone --branch 2022-before-rwc https://github.com/tue-robotics/tue_filesystem.git \
&& git clone --branch 2022-before-rwc https://github.com/tue-robotics/tue_serialization.git \
&& git clone --branch 2022-before-rwc https://github.com/tue-robotics/ed_gui_server.git \
&& git clone --branch 2022-before-rwc https://github.com/tue-robotics/ed_rviz_plugins.git \
&& rm -rf /var/lib/apt/lists/*
WORKDIR /root/catkin_ws
RUN apt update \
&& apt install -y \
libsdformat6-dev \
&& rosdep update \
&& rosdep install --from-paths src --ignore-src -r -y \
&& rm -rf /var/lib/apt/lists/*
RUN source /opt/ros/$ROS_DISTRO/setup.bash && catkin_make
RUN echo "source /root/catkin_ws/devel/setup.bash" >> /root/.bashrc
WORKDIR /tutorial
RUN git clone https://github.com/tue-robotics/ed_tutorials.git
Put the code above in a file called Dockerfile and build the image with:
docker build -t ed:test .
This will take a while so just let it run in the background. Start the container with:
docker run --rm -it --name ed_test ed:test bash
For testing you need a roscore inside the container so start one.
roscore
Open a new terminal and type:
docker exec -it ed_test bash
Now you can test the config with:
rosrun tue_config test_yaml_and_show ed_tutorials/tutorial01/my-ed-config.yaml
In my case the output look like this:
rosrun tue_config test_yaml_and_show ed_tutorials/tutorial01/my-ed-config.yaml
1
1
1
Error: While parsing 'ed_tutorials/tutorial01/my-ed-config.yaml':
In 'world':
Sequences must only contains maps
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Maik13579
commented on July 23, 2024
And after changing the file /root/catkin_ws/src/tue-robotics/tue_config/src/loaders/yaml.cpp like described above, the output is:
rosrun tue_config test_yaml_and_show ed_tutorials/tutorial01/my-ed-config.yaml
1
1
1
plugins:
- name: gui_server
type: ed_gui_server/gui_server
world:
- id: block1
pose:
x: 2
y: 0
z: 0.5
shape:
box:
size:
x: 0.5
y: 0.5
z: 1
- id: block2
pose:
x: 3
y: 2
z: 0.75
shape:
box:
size:
x: 0.5
y: 0.5
z: 1.5
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PetervDooren
commented on July 23, 2024
Tested on a PC where we found this problem on two workspaces. One working and one not. This eliminates system package as the cause of this problem.
The problem lies in the build options for tue_config. Plain catkin build compiles a non working version. Building with catkin build -DCMAKE_BUILD_TYPE=RelWithDebInfo produces a working version, this results in CXX_FLAGS = -O2 -g -DNDEBUG. Building with catkin build -DCMAKE_BUILD_TYPE=Release, which results in CXX_FLAGS = -O3 -DNDEBUG
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MatthijsBurgh
commented on July 23, 2024
This looks similar to jbeder/yaml-cpp#833
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Related Issues (20)
- compiler warning HOT 1
- ED crashes when old instance of robot-console is used HOT 2
- ED cpu usage HOT 1
- ED out of bound errors
- Cannot clear entities without volumes HOT 3
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- Store/publish objects in frame of supporting object HOT 6
- ED::ImageMask const_iterator
- Readme does not contain requirements for ed_msgs
- Thread "ed_main" received signal SIGSEGV, Segmentation fault. HOT 1
- Furniture convex hull rotation is not in entity frame (but in map frame)
- Update Documentation with SDF information
- Ignore Z in get_entity queries
- Introduce concave hulls HOT 2
- Reconsider the usage of data for people properties and the ability to update the data
- Error during catkin_make 'getModelFilePath’ is not a member of ‘sdf' HOT 11
- Shape loader overwrites shape type
- remove dependency on tue-filesystem HOT 3
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