ARMAR-DE: `std::bad_variant_access` on exception with TorsoJoint
[7223][10:53:30.423][ArmarDEUnit][ethercat::common::elmo::gold::convertToState(...)]: default state very bad!!! StateValue: 3e8
[7223][10:53:30.424][ArmarDEUnit][ethercat::common::elmo::gold::convertToState(...)]: default state very bad!!! StateValue: 103
[7233][10:53:30.424][ArmarDEUnit][ethercat::ErrorReporting]: [SlaveError] DMS ADC 1 CRC 1 failed. Expected: 00, but got: 0XA6
Name: FTSensorBoardArmarde (FT L)
SlaveIndex: 0x17 (23)
[7233][10:53:30.424][ArmarDEUnit][ethercat::ErrorReporting]: [SlaveError] DMS ADC 1 CRC 2 failed. Expected: 00, but got: 0XFC
Name: FTSensorBoardArmarde (FT L)
SlaveIndex: 0x17 (23)
[7233][10:53:30.424][ArmarDEUnit][ethercat::ErrorReporting]: [SlaveError] DMS ADC 1 CRC 3 failed. Expected: 00, but got: 0XF0
Name: FTSensorBoardArmarde (FT L)
SlaveIndex: 0x17 (23)
[7233][10:53:30.424][ArmarDEUnit][ethercat::ErrorReporting]: [SlaveError] DMS ADC 2 CRC 4 failed. Expected: 00, but got: 0XBD
Name: FTSensorBoardArmarde (FT L)
SlaveIndex: 0x17 (23)
[7233][10:53:30.424][ArmarDEUnit][ethercat::ErrorReporting]: [SlaveError] DMS ADC 2 CRC 5 failed. Expected: 0XEF, but got: 00
Name: FTSensorBoardArmarde (FT L)
SlaveIndex: 0x17 (23)
[7233][10:53:30.424][ArmarDEUnit][ethercat::ErrorReporting]: [SlaveError] DMS ADC 2 CRC 6 failed. Expected: 0XFF, but got: 0XD9
Name: FTSensorBoardArmarde (FT L)
SlaveIndex: 0x17 (23)
[7233][10:53:30.424][ArmarDEUnit][ethercat::ErrorReporting]: [SlaveError] Temperature ADC 1 CRC failed. Expected: 0XFF, but got: 0XCE
Name: FTSensorBoardArmarde (FT L)
SlaveIndex: 0x17 (23)
[7233][10:53:30.424][ArmarDEUnit][ethercat::ErrorReporting]: [SlaveError] Temperature ADC 2 CRC failed. Expected: 0XFA, but got: 0XBD
Name: FTSensorBoardArmarde (FT L)
SlaveIndex: 0x17 (23)
[7233][10:53:30.424][ArmarDEUnit][ethercat::ErrorReporting]: [SlaveError] Supply-Voltage Shunt CRC failed. Expected: 0XFF, but got: 0X67
Name: FTSensorBoardArmarde (FT L)
SlaveIndex: 0x17 (23)
[7233][10:53:30.424][ArmarDEUnit][ethercat::ErrorReporting]: [SlaveError] Supply-Current Shunt CRC failed. Expected: 0X94, but got: 0X22
Name: FTSensorBoardArmarde (FT L)
SlaveIndex: 0x17 (23)
[7233][10:53:30.424][ArmarDEUnit][ethercat::ErrorReporting]: [SlaveError] Unhandled error in slave
Name: FTSensorBoardArmarde (FT L)
SlaveIndex: 0x17 (23)
[7233][10:53:30.424][ArmarDEUnit][ethercat::ErrorReporting]: [SlaveError] Battery - fail status 1: Over current (discharge) detection (65A) (recoverable).
Name: PowerBoard (PowerBoard)
SlaveIndex: 0x2e (46)
[7223][10:53:30.424][ArmarDEUnit][ethercat::common::elmo::gold::convertToState(...)]: default state very bad!!! StateValue: 3e8
[7223][10:53:30.425][ArmarDEUnit][ethercat::common::elmo::gold::convertToState(...)]: default state very bad!!! StateValue: 103
[7233][10:53:30.425][ArmarDEUnit][ethercat::ErrorReporting]: [DeviceError] !!!ATTENTION!!! The torso joint position sensor has an unusual value: -1137486521 - probably something is wrong with the sensor!
Name: TorsoJoint
[7223][10:53:30.425][ArmarDEUnit][ArmarDEUnit]: exception in control thread!
what:
[DeviceError] !!!ATTENTION!!! The torso joint position sensor has an unusual value: -1137486521 - probably something is wrong with the sensor!
Name: TorsoJoint
[7223][10:53:30.426][ArmarDEUnit][ArmarDEUnit]: Leaving rtRun scope
terminate called after throwing an instance of 'std::bad_variant_access'
what(): Unexpected index
[7223][10:53:30.427][ArmarDEUnit][Application::HandlerFault(int)]: Error: Abort
Backtrace:
Backtrace:
1 0x7fc7be5f0a39 armarx::Application::HandlerFault(int) + 969
2 0x7fc7bc206f10 /lib/x86_64-linux-gnu/libc.so.6(+0x3ef10) [0x7fc7bc206f10]
3 0x7fc7bc206e87 gsignal + 199
4 0x7fc7bc2087f1 abort + 321
5 0x7fc7bc85d957 /usr/lib/x86_64-linux-gnu/libstdc++.so.6(+0x8c957) [0x7fc7bc85d957]
6 0x7fc7bc863ae6 /usr/lib/x86_64-linux-gnu/libstdc++.so.6(+0x92ae6) [0x7fc7bc863ae6]
7 0x7fc7bc862b49 /usr/lib/x86_64-linux-gnu/libstdc++.so.6(+0x91b49) [0x7fc7bc862b49]
8 0x7fc7bc8634b8 __gxx_personality_v0 + 680
9 0x7fc7bc5c9573 /lib/x86_64-linux-gnu/libgcc_s.so.1(+0x10573) [0x7fc7bc5c9573]
10 0x7fc7bc5c9df5 _Unwind_Resume + 293
11 0x7fc7c078e86e /home/armar-user/code/armarx/skills/control/build/lib/libarmarx_control_ethercat.so.0(+0x5f86e) [0x7fc7c078e86e]
12 0x7fc7c07f204e armarx::control::ethercat::Bus::shutdown() + 62
13 0x7fc7c081329f /home/armar-user/code/armarx/skills/control/build/lib/libarmarx_control_ethercat.so.0(+0xe429f) [0x7fc7c081329f]
14 0x7fc7c079536f /home/armar-user/code/armarx/skills/control/build/lib/libarmarx_control_ethercat.so.0(+0x6636f) [0x7fc7c079536f]
15 0x559bb665c175 /armarde_unit_run(+0x5c175) [0x559bb665c175]
16 0x7fc7c08133e5 /home/armar-user/code/armarx/skills/control/build/lib/libarmarx_control_ethercat.so.0(+0xe43e5) [0x7fc7c08133e5]
17 0x7fc7bc88e6df /usr/lib/x86_64-linux-gnu/libstdc++.so.6(+0xbd6df) [0x7fc7bc88e6df]
18 0x7fc7bcb616db /lib/x86_64-linux-gnu/libpthread.so.0(+0x76db) [0x7fc7bcb616db]
19 0x7fc7bc2e961f clone + 63
[7257][10:53:30.431][ArmarDEUnit][void armarx::handleExceptions()]: Caught std::exception:
std::bad_alloc
Trace created by calling ARMARX_TRACE:
>>> * -4: /home/armar-user/code/armarx/RobotAPI/source/RobotAPI/components/units/RobotUnit/util/introspection/ClassMemberInfo.h:183 : static std::map<std::__cxx11::basic_string<char>, IceInternal::Handle<armarx::VariantBase> > armarx::introspection::ClassMemberInfo<CommonBaseT, ClassT>::ToVariants(const IceUtil::Time&, const CommonBaseT*) [with CommonBaseT = armarx::SensorValueBase; ClassT = devices::ethercat::sensor_actor_unit::armar7de::SensorValueArmar7deActuator]
>>> * -3: /home/armar-user/code/armarx/RobotAPI/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp:336 : armarx::TimedVariantPtr armarx::RobotUnitModule::Publisher::publishSensorUpdates(bool, const SensorAndControl&)
>>> * -2: /home/armar-user/code/armarx/RobotAPI/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp:325 : armarx::TimedVariantPtr armarx::RobotUnitModule::Publisher::publishSensorUpdates(bool, const SensorAndControl&)
>>> * -1: /home/armar-user/code/armarx/RobotAPI/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp:584 : virtual void armarx::RobotUnitModule::Publisher::publish(armarx::StringVariantBaseMap, armarx::StringVariantBaseMap)