[Bug]: rmf_site crashing on model spawn

[tomkimsour]

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 22.04

Open-RMF installation type

Source build

Other Open-RMF installation methods

No response

Open-RMF version or commit hash

humble

ROS distribution

Humble

ROS installation type

Binaries

Other ROS installation methods

No response

Package or library, if applicable

No response

Description of the bug

I was spawning many OpenRobotics/OfficeChairGrey and after some time the program crashed with the following.

thread 'main' panicked at /home/thomasung/.cargo/registry/src/index.crates.io-6f17d22bba15001f/bevy_ecs-0.12.1/src/system/commands/mod.rs:1022:13:
error[B0003]: Could not insert a bundle (of type `bevy_mod_raycast::deferred::RaycastMesh<librmf_site_editor::interaction::SiteRaycastSet>`) for entity 2459v3 because it doesn't exist in this World.
note: run with `RUST_BACKTRACE=1` environment variable to display a backtrace
Encountered a panic when applying buffers for system `librmf_site_editor::interaction::gizmo::make_gizmos_pickable`!
Encountered a panic in system `bevy_app::main_schedule::Main::run_main`!

Steps to reproduce the bug

• cargo run --features bevy/dynamic_linking --release <some_file_path>
• start spawning OpenRobotics/OfficeChairGrey using the editor
• it would crash at some point ?

Expected behavior

No response

Actual behavior

No response

Additional information or screenshots

No response

[luca-della-vedova]

Hi!

Can you try #238 and see if that works for you? Model spawning was a fairly complex beast and we recently refactored it to avoid precisely these kind of issues