[Bug]: rmf_site_map_server panicks on run

[akash-roboticist]

Before proceeding, is there an existing issue or discussion for this?

• I have done a search for similar issues and discussions.

OS and version

Ubuntu 26.04

Open-RMF installation type

Others

Other Open-RMF installation methods

Installed via source build, steps in Dockerfile - https://github.com/Nexsoss/Open-RMF/blob/lyrical/docker/Dockerfile.rmf

Open-RMF version or commit hash

Mostly are pinned to the latest commit on main; hashes in the repos files - https://github.com/Nexsoss/Open-RMF/tree/lyrical/repos

ROS distribution

Rolling

ROS installation type

Docker

Other ROS installation methods

ros:lyrical-ros-base

Package or library, if applicable

rmf_site_map_server

Description of the bug

rmf_site_map_server panics when trying to run with ros2 lyrical and source built Open-RMF.

Steps to reproduce the bug

1. Install Open-RMF and rmf_site_map_server via source build with ros2 lyrical; OR run in container - docker run -it ghcr.io/nexsoss/open-rmf:nightly_lyrical bash
2. Source source /opt/ros/lyrical/setup.bash && source /home/ws_rmf/install/setup.bash
3. RUST_BACKTRACE=full ros2 run rmf_site_map_server site_map_server

Expected behavior

rmf_site_map_server does not panic when using with lyrical

Actual behavior

root@76d5a3bc65bc:/# RUST_BACKTRACE=full ros2 run rmf_site_map_server site_map_server 

thread 'main' (65) panicked at src/main.rs:290:9:
Map path must be provided as a command line argument
stack backtrace:
   0:     0x6330802186f8 - std[1e3c4ec04c5261a9]::backtrace_rs::backtrace::libunwind::trace
                               at /rustc/8bab26f4f68e0e26f0bb7960be334d5b520ea452/library/std/src/../../backtrace/src/backtrace/libunwind.rs:117:9
   1:     0x6330802186f8 - std[1e3c4ec04c5261a9]::backtrace_rs::backtrace::trace_unsynchronized::<std[1e3c4ec04c5261a9]::sys::backtrace::_print_fmt::{closure#1}>
                               at /rustc/8bab26f4f68e0e26f0bb7960be334d5b520ea452/library/std/src/../../backtrace/src/backtrace/mod.rs:66:14
   2:     0x6330802186f8 - std[1e3c4ec04c5261a9]::sys::backtrace::_print_fmt
                               at /rustc/8bab26f4f68e0e26f0bb7960be334d5b520ea452/library/std/src/sys/backtrace.rs:74:9
   3:     0x6330802186f8 - <<std[1e3c4ec04c5261a9]::sys::backtrace::BacktraceLock>::print::DisplayBacktrace as core[37f591cfbe66b0b1]::fmt::Display>::fmt
                               at /rustc/8bab26f4f68e0e26f0bb7960be334d5b520ea452/library/std/src/sys/backtrace.rs:44:26
   4:     0x63308022e2aa - <core[37f591cfbe66b0b1]::fmt::rt::Argument>::fmt
                               at /rustc/8bab26f4f68e0e26f0bb7960be334d5b520ea452/library/core/src/fmt/rt.rs:152:76
   5:     0x63308022e2aa - core[37f591cfbe66b0b1]::fmt::write
   6:     0x63308021d182 - std[1e3c4ec04c5261a9]::io::default_write_fmt::<std[1e3c4ec04c5261a9]::sys::stdio::unix::Stderr>
                               at /rustc/8bab26f4f68e0e26f0bb7960be334d5b520ea452/library/std/src/io/mod.rs:622:11
   7:     0x63308021d182 - <std[1e3c4ec04c5261a9]::sys::stdio::unix::Stderr as std[1e3c4ec04c5261a9]::io::Write>::write_fmt
                               at /rustc/8bab26f4f68e0e26f0bb7960be334d5b520ea452/library/std/src/io/mod.rs:1977:13
   8:     0x6330802013b6 - <std[1e3c4ec04c5261a9]::sys::backtrace::BacktraceLock>::print
                               at /rustc/8bab26f4f68e0e26f0bb7960be334d5b520ea452/library/std/src/sys/backtrace.rs:47:9
   9:     0x6330802013b6 - std[1e3c4ec04c5261a9]::panicking::default_hook::{closure#0}
                               at /rustc/8bab26f4f68e0e26f0bb7960be334d5b520ea452/library/std/src/panicking.rs:292:27
  10:     0x6330802135e1 - std[1e3c4ec04c5261a9]::panicking::default_hook
                               at /rustc/8bab26f4f68e0e26f0bb7960be334d5b520ea452/library/std/src/panicking.rs:319:9
  11:     0x63308021385b - std[1e3c4ec04c5261a9]::panicking::panic_with_hook
                               at /rustc/8bab26f4f68e0e26f0bb7960be334d5b520ea452/library/std/src/panicking.rs:825:13
  12:     0x6330802014a4 - std[1e3c4ec04c5261a9]::panicking::panic_handler::{closure#0}
                               at /rustc/8bab26f4f68e0e26f0bb7960be334d5b520ea452/library/std/src/panicking.rs:691:13
  13:     0x6330801f60d9 - std[1e3c4ec04c5261a9]::sys::backtrace::__rust_end_short_backtrace::<std[1e3c4ec04c5261a9]::panicking::panic_handler::{closure#0}, !>
                               at /rustc/8bab26f4f68e0e26f0bb7960be334d5b520ea452/library/std/src/sys/backtrace.rs:182:18
  14:     0x633080201ecd - __rustc[6ef78fba13ac776c]::rust_begin_unwind
                               at /rustc/8bab26f4f68e0e26f0bb7960be334d5b520ea452/library/std/src/panicking.rs:689:5
  15:     0x63308022ea6c - core[37f591cfbe66b0b1]::panicking::panic_fmt
                               at /rustc/8bab26f4f68e0e26f0bb7960be334d5b520ea452/library/core/src/panicking.rs:80:14
  16:     0x63307fc88d7f - site_map_server[de3302d8ef264d7]::main
                               at /home/ws_rmf/src/rmf/rmf_site_map_server/src/main.rs:290:9
  17:     0x63307fc8a96b - <fn() -> core[37f591cfbe66b0b1]::result::Result<(), anyhow[4d51f79918a7c047]::Error> as core[37f591cfbe66b0b1]::ops::function::FnOnce<()>>::call_once
                               at /rustc/8bab26f4f68e0e26f0bb7960be334d5b520ea452/library/core/src/ops/function.rs:250:5
  18:     0x63307fc81c0d - std[1e3c4ec04c5261a9]::sys::backtrace::__rust_begin_short_backtrace::<fn() -> core[37f591cfbe66b0b1]::result::Result<(), anyhow[4d51f79918a7c047]::Error>, core[37f591cfbe66b0b1]::result::Result<(), anyhow[4d51f79918a7c047]::Error>>
                               at /rustc/8bab26f4f68e0e26f0bb7960be334d5b520ea452/library/std/src/sys/backtrace.rs:166:18
  19:     0x63307fc848a1 - std[1e3c4ec04c5261a9]::rt::lang_start::<core[37f591cfbe66b0b1]::result::Result<(), anyhow[4d51f79918a7c047]::Error>>::{closure#0}
                               at /rustc/8bab26f4f68e0e26f0bb7960be334d5b520ea452/library/std/src/rt.rs:206:18
  20:     0x633080212947 - <&dyn core[37f591cfbe66b0b1]::ops::function::Fn<(), Output = i32> + core[37f591cfbe66b0b1]::panic::unwind_safe::RefUnwindSafe + core[37f591cfbe66b0b1]::marker::Sync as core[37f591cfbe66b0b1]::ops::function::FnOnce<()>>::call_once
                               at /rustc/8bab26f4f68e0e26f0bb7960be334d5b520ea452/library/core/src/ops/function.rs:287:21
  21:     0x633080212947 - std[1e3c4ec04c5261a9]::panicking::catch_unwind::do_call::<&dyn core[37f591cfbe66b0b1]::ops::function::Fn<(), Output = i32> + core[37f591cfbe66b0b1]::panic::unwind_safe::RefUnwindSafe + core[37f591cfbe66b0b1]::marker::Sync, i32>
                               at /rustc/8bab26f4f68e0e26f0bb7960be334d5b520ea452/library/std/src/panicking.rs:581:40
  22:     0x633080212947 - std[1e3c4ec04c5261a9]::panicking::catch_unwind::<i32, &dyn core[37f591cfbe66b0b1]::ops::function::Fn<(), Output = i32> + core[37f591cfbe66b0b1]::panic::unwind_safe::RefUnwindSafe + core[37f591cfbe66b0b1]::marker::Sync>
                               at /rustc/8bab26f4f68e0e26f0bb7960be334d5b520ea452/library/std/src/panicking.rs:544:19
  23:     0x633080212947 - std[1e3c4ec04c5261a9]::panic::catch_unwind::<&dyn core[37f591cfbe66b0b1]::ops::function::Fn<(), Output = i32> + core[37f591cfbe66b0b1]::panic::unwind_safe::RefUnwindSafe + core[37f591cfbe66b0b1]::marker::Sync, i32>
                               at /rustc/8bab26f4f68e0e26f0bb7960be334d5b520ea452/library/std/src/panic.rs:359:14
  24:     0x633080212947 - std[1e3c4ec04c5261a9]::rt::lang_start_internal::{closure#0}
                               at /rustc/8bab26f4f68e0e26f0bb7960be334d5b520ea452/library/std/src/rt.rs:175:24
  25:     0x633080212947 - std[1e3c4ec04c5261a9]::panicking::catch_unwind::do_call::<std[1e3c4ec04c5261a9]::rt::lang_start_internal::{closure#0}, isize>
                               at /rustc/8bab26f4f68e0e26f0bb7960be334d5b520ea452/library/std/src/panicking.rs:581:40
  26:     0x633080212947 - std[1e3c4ec04c5261a9]::panicking::catch_unwind::<isize, std[1e3c4ec04c5261a9]::rt::lang_start_internal::{closure#0}>
                               at /rustc/8bab26f4f68e0e26f0bb7960be334d5b520ea452/library/std/src/panicking.rs:544:19
  27:     0x633080212947 - std[1e3c4ec04c5261a9]::panic::catch_unwind::<std[1e3c4ec04c5261a9]::rt::lang_start_internal::{closure#0}, isize>
                               at /rustc/8bab26f4f68e0e26f0bb7960be334d5b520ea452/library/std/src/panic.rs:359:14
  28:     0x633080212947 - std[1e3c4ec04c5261a9]::rt::lang_start_internal
                               at /rustc/8bab26f4f68e0e26f0bb7960be334d5b520ea452/library/std/src/rt.rs:171:5
  29:     0x63307fc84887 - std[1e3c4ec04c5261a9]::rt::lang_start::<core[37f591cfbe66b0b1]::result::Result<(), anyhow[4d51f79918a7c047]::Error>>
                               at /rustc/8bab26f4f68e0e26f0bb7960be334d5b520ea452/library/std/src/rt.rs:205:5
  30:     0x63307fc88dbe - main
  31:     0x75a3312cd601 - <unknown>
  32:     0x75a3312cd718 - __libc_start_main
  33:     0x63307fc7dcf5 - _start
  34:                0x0 - <unknown>
[ros2run]: Process exited with failure 101

Additional information or screenshots

No response

[arjo129]

@arjo129 To look into this.

[arjo129]

You are not passing a map path, hence its panicking. The expected usage is: ros2 run rmf_site_map_server site_map_server path_to.building.yaml

rmf_site_map_server/src/main.rs

Line 289 in 75d3745

let Some(map_path) = args.get(1) else {

[akash-roboticist]

Thanks for checking, but the panick is happening regardless of passing a map (fails in a similar panic in both cases). Let me add an example map for ease of testing.

[arjo129]

So, after investigation rclrs 0.7.0 does not support lyrical yet. There is a PR open for it up stream: ros2-rust/ros2_rust#658

When I patch the Cargo.toml to use this PR things work as expected.