Unstable rotor control

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Original report (archived issue) by Carlos Thomson (Bitbucket: Carlos Thomson).

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Using the new velocity control interface for the rotors, they become unstable if there is disk usage in the computer (for example recording a ROS bag). This is easily reproducible, you just need to make the rotor hover and then run the command.

' stress -hdd 20'

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[osrf-migration]

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

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• set assignee_account_id to "557058:90bc87b0-2886-4377-a17c-3a6629a697ff"
• set assignee to "azeey (Bitbucket: azeey, GitHub: azeey)"

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Original comment by Addisu Z. Taddese (Bitbucket: azeey, GitHub: azeey).

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I'm able to reproduce this issue and I am investigating why it's happening.

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Original comment by Carlos Thomson (Bitbucket: Carlos Thomson).

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Any progress on this issue? When accessing the different levels in the map, it seems that there is also disk access and it makes the robot crash.

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Original comment by Alfredo Bencomo (Bitbucket: bencomo).

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Carlos,

Can you attach or post here the content of your /proc/cpuinfo file and also the output from the command below?

nvidia-smi

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Original comment by Alfredo Bencomo (Bitbucket: bencomo).

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Let me know also if you are using a local catkin workspace for your testing.

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Original comment by Carlos Thomson (Bitbucket: Carlos Thomson).

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+-----------------------------------------------------------------------------+
| NVIDIA-SMI 430.26 Driver Version: 430.26 CUDA Version: 10.2 |
|-------------------------------+----------------------+----------------------+
| GPU Name Persistence-M| Bus-Id Disp.A | Volatile Uncorr. ECC |
| Fan Temp Perf Pwr:Usage/Cap| Memory-Usage | GPU-Util Compute M. |
|===============================+======================+======================|
| 0 GeForce RTX 2060 Off | a527ae8:01:00.0 On | N/A |
| 0% 43C P8 9W / 170W | 585MiB / 5931MiB | 1% Default |
+-------------------------------+----------------------+----------------------+

+-----------------------------------------------------------------------------+
| Processes: GPU Memory |
| GPU PID Type Process name Usage |
|=============================================================================|
| 0 1652 G /usr/lib/xorg/Xorg 24MiB |
| 0 1716 G /usr/bin/gnome-shell 51MiB |
| 0 2708 G /usr/lib/xorg/Xorg 266MiB |
| 0 2840 G /usr/bin/gnome-shell 171MiB |
| 0 25407 G ...uest-channel-token=10129901168743816945 68MiB |
+-----------------------------------------------------------------------------+

Alfredo Bencomo (bencomo) and yes, we are using a catkin workspace.

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Original comment by Alfredo Bencomo (Bitbucket: bencomo).

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Did you also attach the /proc/cpuinfo file?

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Original comment by Carlos Thomson (Bitbucket: Carlos Thomson).

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processor : 0
vendor_id : GenuineIntel
cpu family : 6
model : 158
model name : Intel(R) Core(TM) i7-9850H CPU @ 2.60GHz
stepping : 13
microcode : 0xca
cpu MHz : 800.081
cache size : 12288 KB
physical id : 0
siblings : 12
core id : 0
cpu cores : 6
apicid : 0
initial apicid : 0
fpu : yes
fpu_exception : yes
cpuid level : 22
wp : yes
flags : fpu vme de pse tsc msr pae mce cx8 apic sep mtrr pge mca cmov pat pse36 clflush dts acpi mmx fxsr sse sse2 ss ht tm pbe syscall nx pdpe1gb rdtscp lm constant_tsc art arch_perfmon pebs bts rep_good nopl xtopology nonstop_tsc cpuid aperfmperf pni pclmulqdq dtes64 monitor ds_cpl vmx smx est tm2 ssse3 sdbg fma cx16 xtpr pdcm pcid sse4_1 sse4_2 x2apic movbe popcnt tsc_deadline_timer aes xsave avx f16c rdrand lahf_lm abm 3dnowprefetch cpuid_fault epb invpcid_single ssbd ibrs ibpb stibp ibrs_enhanced tpr_shadow vnmi flexpriority ept vpid ept_ad fsgsbase tsc_adjust bmi1 hle avx2 smep bmi2 erms invpcid rtm mpx rdseed adx smap clflushopt intel_pt xsaveopt xsavec xgetbv1 xsaves dtherm ida arat pln pts hwp hwp_notify hwp_act_window hwp_epp md_clear flush_l1d arch_capabilities
bugs : spectre_v1 spectre_v2 spec_store_bypass swapgs
bogomips : 5199.98
clflush size : 64
cache_alignment : 64
address sizes : 39 bits physical, 48 bits virtual
power management:

[osrf-migration]

Original comment by Addisu Z. Taddese (Bitbucket: azeey, GitHub: azeey).

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https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/498 should address the problem. Can you give it a try?

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Original comment by Alfredo Bencomo (Bitbucket: bencomo).

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Carlos Thomson (Carlos Thomson) with regard, When accessing the different levels in the map, it seems that there is also disk access and it makes the robot crash. We are not able to reproduce it, but if you can, then would you mind recording a screencast showing the moment and section of the world when it occurs? Thanks!

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Original comment by Alfredo Bencomo (Bitbucket: bencomo).

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Carlos Thomson (Carlos Thomson) in the event that you can reproduce it with your Docker solution, then you can also just upload it into Cloudsim and run it there. We will then review it locally.

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Original comment by Arthur Schang (Bitbucket: Arthur Schang).

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Carlos Thomson (Carlos Thomson) the fix is available for catkin workspace configurations.

sudo apt update && sudo apt upgrade -y then run your experiment again. If you're still encountering issues, update your subt workspace, clean, and rebuild then try again. This fix worked for me.

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Original comment by Angela Maio (Bitbucket: Angela Maio).

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Carlos Thomson (Carlos Thomson) are you still having this issue?

If anyone else sees this issue when running with either catkin or docker, please Vote for this issue in the status block

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Original comment by Carlos Thomson (Bitbucket: Carlos Thomson).

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Sorry for the late response, we have been very busy these last two weeks, tomorrow we will do a complete test of the fix and report the results back.

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Original comment by Alfredo Bencomo (Bitbucket: bencomo).

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This should now work as expected. Update your system or pull the latest Docker image(s). Reopen if you still encounter problems.

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Original comment by Carlos Thomson (Bitbucket: Carlos Thomson).

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Alfredo Bencomo (bencomo) Arthur Schang (Arthur Schang) We have tested the fix and indeed it works as expected now, thank you for the fix.

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Original comment by Alfredo Bencomo (Bitbucket: bencomo).

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• changed state from "resolved" to "closed"