# mpa_to_ros crashes When echoing HIRES

Source: https://forum.modalai.com/topic/3642/mpa_to_ros-crashes-when-echoing-hires
Category: VOXL SDK and Software (https://forum.modalai.com/category/47/voxl-sdk-and-software)
Tags: voxl-sdk
Posted: 2024-07-14 08:00:28 UTC by jacob yaacubov
Replies: 1 · Views: 518

## jacob yaacubov · 2024-07-14 08:00:28 UTC

Hi, Hope its the correct thread for this question.

I use ROS on my drones system and have launched mpa_to_ros.

my drone has two HIRES cameras (imx 412) apart for tracking 
when trying to rosbag record both of them or even echo to both topics the voxl-map-to-ros crashes 
i tried to echo different hires topics and even dropped the quality to 1024x768, even 800x600

this doesn't happen with one topic but but only both doesn't matter if its small color or large raw format i am trying to echo 
i will appreciate any help on the matter 

Thanks

here is the crash output:
```
MPA to ROS app is now running

 

Found new interface: hires2_color

Found new interface: hires2_grey

Found new interface: hires2_small_color

Found new interface: hires2_small_encoded

Found new interface: hires2_small_grey

Found new interface: hires_color

Found new interface: hires_grey

Found new interface: hires_small_color

Found new interface: hires_small_encoded

Found new interface: hires_small_grey

Found new interface: qvio_overlay

Found new interface: tracking[voxl_mpa_to_ros_node-1] process has died [pid 12947, exit code -11, cmd /opt/ros/melodic/lib/voxl_mpa_to_ros/voxl_mpa_to_ros_node __name:=voxl_mpa_to_ros_node __log:=/opt/ros/foxy/log/d48631fa-3f7f-11ef-9105-97639b9c163b/voxl_mpa_to_ros_node-1.log].

log file: /opt/ros/foxy/log/d48631fa-3f7f-11ef-9105-97639b9c163b/voxl_mpa_to_ros_node-1*.log

all processes on machine have died, roslaunch will exit

/usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 38: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 32: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe

shutting down processing monitor...

... shutting down processing monitor complete

done

/usr/bin/voxl-list-pipes: line 38: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 32: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 38: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 32: echo: write error: Broken pipe

GONI:/data/wds/bags$ /usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 38: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 32: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 38: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 32: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 38: echo: write error: Broken pipe
```

Also sometimes it expects on size of data lets say 1444000 bytes but gets  12000000000

## Reply by Alex Kushleyev (ModalAI staff) · 2024-07-14 20:08:20 UTC

@jacob-yaacubov ,

I am not sure why this is happening. However, you maybe able to debug this yourself using gdb and starting the ros node manually:

```
gdb /opt/ros/melodic/lib/voxl_mpa_to_ros/voxl_mpa_to_ros_node
r __name:=voxl_mpa_to_ros_node __log:=/opt/ros/foxy/log/my_new_ros_log/voxl_mpa_to_ros_node-1.log

(wait for crash)
bt
(this will print stack backtrace, at least will tell you in which function the crash occurred)
```

Please try..