Duration is out of dual 32-bit range

[UltronAI]

Hi! I recently ran your scripts, like test_trajectories.py and the training scripts, and I noticed that I keep getting an error of std::runtime_error every now and then. It's causing the ROS nodes to interrupt and it's a bit frustrating. According to the ROS output logs, it looks like the error is happening when the simulation is resetting and transitioning in the state machine. The thing is, I can't reproduce it consistently, which makes it tough to debug. Have you come across this annoying bug as well? I would really appreciate any suggestions you might have on how to fix it. Thanks a lot!

The followings are two relevant error logs：

[ INFO] [1675747341.193224920, 324.026000000]: Switching to kComputeLabels
[ WARN] [1675747341.391858841, 324.125000000]: [/hummingbird/autopilot] Did not receive control command inputs anymore but last thrust command was high, will switch to hover
[ INFO] [1675747341.391878118, 324.125000000]: [/hummingbird/autopilot] Switched to BREAKING state
[ INFO] [1675747342.397249225, 324.628000000]: [/hummingbird/autopilot] Switched to HOVER state
terminate called after throwing an instance of 'std::runtime_error'
  what():  Duration is out of dual 32-bit range
[hummingbird/autopilot-5] process has died [pid 171658, exit code -6, cmd /home/gaofeng/workspace/agile_autonomy_ws/catkin_aa/devel/lib/rpg_mpc/autopilot_mpc_instance autopilot/state_estimate:=ground_truth/odometry __name:=autopilot __log:=/home/gaofeng/.ros/log/d303ae76-a6a5-11ed-9423-97efea6ebede/hummingbird-autopilot-5.log].
log file: /home/gaofeng/.ros/log/d303ae76-a6a5-11ed-9423-97efea6ebede/hummingbird-autopilot-5*.log
terminate called after throwing an instance of 'std::runtime_error'
  what():  Duration is out of dual 32-bit range
[hummingbird/agile_autonomy-9] process has died [pid 171681, exit code -6, cmd /home/gaofeng/workspace/agile_autonomy_ws/catkin_aa/devel/lib/agile_autonomy/agile_autonomy completed_global_plan:=/test_primitive/completed_planning __name:=agile_autonomy __log:=/home/gaofeng/.ros/log/d303ae76-a6a5-11ed-9423-97efea6ebede/hummingbird-agile_autonomy-9.log].
log file: /home/gaofeng/.ros/log/d303ae76-a6a5-11ed-9423-97efea6ebede/hummingbird-agile_autonomy-9*.log
[ INFO] [1675747347.355226338, 326.299000000]: [/hummingbird/rpg_rotors_interface] Interface armed

[ INFO] [1675763654.588037457, 1155.182000000]: Switching to kComputeLabels
[ WARN] [1675763654.764321519, 1155.270000000]: [/hummingbird/autopilot] Did not receive control command inputs anymore but last thrust command was high, will switch to hover
[ INFO] [1675763654.764340936, 1155.270000000]: [/hummingbird/autopilot] Switched to BREAKING state
[ INFO] [1675763655.778013156, 1155.777000000]: [/hummingbird/autopilot] Switched to HOVER state
[ INFO] [1675763657.642664249, 1156.284000000]: [/hummingbird/autopilot] OFF command received
[ INFO] [1675763657.642685964, 1156.284000000]: [/hummingbird/autopilot] Switched to OFF state
[ INFO] [1675763657.642694423, 1156.284000000]: Received off command, stopping maneuver execution!
[ INFO] [1675763657.642719152, 1156.284000000]: Switching to kOff
[ INFO] [1675763659.533640361, 1157.229000000]: Received off command, stopping maneuver execution!
[ INFO] [1675763659.533672373, 1157.229000000]: Switching to kOff
terminate called after throwing an instance of 'std::runtime_error'
  what():  Duration is out of dual 32-bit range
terminate called after throwing an instance of 'std::runtime_error'
  what():  Duration is out of dual 32-bit range
[hummingbird/autopilot-5] process has died [pid 276756, exit code -6, cmd /home/gaofeng/workspace/agile_autonomy_ws/catkin_aa/devel/lib/rpg_mpc/autopilot_mpc_instance autopilot/state_estimate:=ground_truth/odometry __name:=autopilot __log:=/home/gaofeng/.ros/log/d20628a6-a6c7-11ed-9423-97efea6ebede/hummingbird-autopilot-5.log].
log file: /home/gaofeng/.ros/log/d20628a6-a6c7-11ed-9423-97efea6ebede/hummingbird-autopilot-5*.log
[hummingbird/agile_autonomy-9] process has died [pid 276779, exit code -6, cmd /home/gaofeng/workspace/agile_autonomy_ws/catkin_aa/devel/lib/agile_autonomy/agile_autonomy completed_global_plan:=/test_primitive/completed_planning __name:=agile_autonomy __log:=/home/gaofeng/.ros/log/d20628a6-a6c7-11ed-9423-97efea6ebede/hummingbird-agile_autonomy-9.log].
log file: /home/gaofeng/.ros/log/d20628a6-a6c7-11ed-9423-97efea6ebede/hummingbird-agile_autonomy-9*.log
[ INFO] [1675763660.534313044, 1157.514000000]: [/hummingbird/rpg_rotors_interface] Interface armed