issues of analyzing rosbag by using ros_hadoop

[rwathena]

snipcode:
def main(args: Array[String]): Unit = {
println(getSdf().format(System.currentTimeMillis()))
val sparkConf = new SparkConf().setAppName("RealTimeReciveTable")
sparkConf.setMaster("local[*]")

val sc= SparkSession
  .builder()
  .config(sparkConf)
  .appName("Spark SQL basic example")
  .getOrCreate()

val path = "hdfs://localhost:9000/input/word2.txt"
val path2 = "hdfs://localhost:9000/user/princezheng/svw1.bag"
val conf = new Configuration();

// conf.set("textinputformat.record.delimiter", ",")

conf.set("RosbagInputFormat.chunkIdx",
  "C:\\Users\\princezheng\\Desktop\\nq\\rosbag\\svw1.bag.idx.bin")
import org.apache.hadoop.mapreduce.lib.input.TextInputFormat
import org.apache.hadoop.io.LongWritable
import org.apache.hadoop.io.Text
import io.autovia.foss.RosbagMapInputFormat

val yelpReview = sc.sparkContext.newAPIHadoopFile(path2, classOf[RosbagMapInputFormat], classOf[LongWritable], classOf[MapWritable], conf)

error msg:
21/10/12 15:43:23 INFO BlockManagerMaster: Registered BlockManager BlockManagerId(driver, windows10.microdone.cn, 64861, None)
21/10/12 15:43:23 INFO BlockManager: Initialized BlockManager: BlockManagerId(driver, windows10.microdone.cn, 64861, None)
Exception in thread "main" java.lang.ArrayIndexOutOfBoundsException: 10582
at com.thoughtworks.paranamer.BytecodeReadingParanamer$ClassReader.accept(BytecodeReadingParanamer.java:563)
at com.thoughtworks.paranamer.BytecodeReadingParanamer$ClassReader.access$200(BytecodeReadingParanamer.java:338)
at com.thoughtworks.paranamer.BytecodeReadingParanamer.lookupParameterNames(BytecodeReadingParanamer.java:103)
at com.thoughtworks.paranamer.CachingParanamer.lookupParameterNames(CachingParanamer.java:90)
at com.fasterxml.jackson.module.scala.introspect.BeanIntrospector$.getCtorParams(BeanIntrospector.scala:44)
at com.fasterxml.jackson.module.scala.introspect.BeanIntrospector$.$anonfun$apply$1(BeanIntrospector.scala:58)
at com.fasterxml.jackson.module.scala.introspect.BeanIntrospector$.$anonfun$apply$1$adapted(BeanIntrospector.scala:58)
at scala.collection.TraversableLike.$anonfun$flatMap$1(TraversableLike.scala:245)
at scala.collection.Iterator.foreach(Iterator.scala:941)
at scala.collection.Iterator.foreach$(Iterator.scala:941)
at scala.collection.AbstractIterator.foreach(Iterator.scala:1429)
at scala.collection.IterableLike.foreach(IterableLike.scala:74)
at scala.collection.IterableLike.foreach$(IterableLike.scala:73)
at scala.collection.AbstractIterable.foreach(Iterable.scala:56)
at scala.collection.TraversableLike.flatMap(TraversableLike.scala:245)
at scala.collection.TraversableLike.flatMap$(TraversableLike.scala:242)
at scala.collection.AbstractTraversable.flatMap(Traversable.scala:108)
at com.fasterxml.jackson.module.scala.introspect.BeanIntrospector$.findConstructorParam$1(BeanIntrospector.scala:58)
at com.fasterxml.jackson.module.scala.introspect.BeanIntrospector$.$anonfun$apply$19(BeanIntrospector.scala:176)
at scala.collection.TraversableLike.$anonfun$map$1(TraversableLike.scala:238)
at scala.collection.IndexedSeqOptimized.foreach(IndexedSeqOptimized.scala:36)
at scala.collection.IndexedSeqOptimized.foreach$(IndexedSeqOptimized.scala:33)
at scala.collection.mutable.ArrayOps$ofRef.foreach(ArrayOps.scala:198)
at scala.collection.TraversableLike.map(TraversableLike.scala:238)
at scala.collection.TraversableLike.map$(TraversableLike.scala:231)
at scala.collection.mutable.ArrayOps$ofRef.map(ArrayOps.scala:198)
at com.fasterxml.jackson.module.scala.introspect.BeanIntrospector$.$anonfun$apply$14(BeanIntrospector.scala:170)
at com.fasterxml.jackson.module.scala.introspect.BeanIntrospector$.$anonfun$apply$14$adapted(BeanIntrospector.scala:169)
at scala.collection.TraversableLike.$anonfun$flatMap$1(TraversableLike.scala:245)
at scala.collection.immutable.List.foreach(List.scala:392)
at scala.collection.TraversableLike.flatMap(TraversableLike.scala:245)
at scala.collection.TraversableLike.flatMap$(TraversableLike.scala:242)
at scala.collection.immutable.List.flatMap(List.scala:355)
at com.fasterxml.jackson.module.scala.introspect.BeanIntrospector$.apply(BeanIntrospector.scala:169)
at com.fasterxml.jackson.module.scala.introspect.ScalaAnnotationIntrospector$._descriptorFor(ScalaAnnotationIntrospectorModule.scala:22)
at com.fasterxml.jackson.module.scala.introspect.ScalaAnnotationIntrospector$.fieldName(ScalaAnnotationIntrospectorModule.scala:30)
at com.fasterxml.jackson.module.scala.introspect.ScalaAnnotationIntrospector$.findImplicitPropertyName(ScalaAnnotationIntrospectorModule.scala:78)
at com.fasterxml.jackson.databind.introspect.AnnotationIntrospectorPair.findImplicitPropertyName(AnnotationIntrospectorPair.java:467)
at com.fasterxml.jackson.databind.introspect.POJOPropertiesCollector._addFields(POJOPropertiesCollector.java:351)
at com.fasterxml.jackson.databind.introspect.POJOPropertiesCollector.collectAll(POJOPropertiesCollector.java:283)
at com.fasterxml.jackson.databind.introspect.POJOPropertiesCollector.getJsonValueMethod(POJOPropertiesCollector.java:169)
at com.fasterxml.jackson.databind.introspect.BasicBeanDescription.findJsonValueMethod(BasicBeanDescription.java:222)
at com.fasterxml.jackson.databind.ser.BasicSerializerFactory.findSerializerByAnnotations(BasicSerializerFactory.java:348)
at com.fasterxml.jackson.databind.ser.BeanSerializerFactory._createSerializer2(BeanSerializerFactory.java:210)
at com.fasterxml.jackson.databind.ser.BeanSerializerFactory.createSerializer(BeanSerializerFactory.java:153)
at com.fasterxml.jackson.databind.SerializerProvider._createUntypedSerializer(SerializerProvider.java:1203)
at com.fasterxml.jackson.databind.SerializerProvider._createAndCacheUntypedSerializer(SerializerProvider.java:1157)
at com.fasterxml.jackson.databind.SerializerProvider.findValueSerializer(SerializerProvider.java:481)
at com.fasterxml.jackson.databind.SerializerProvider.findTypedValueSerializer(SerializerProvider.java:679)
at com.fasterxml.jackson.databind.ser.DefaultSerializerProvider.serializeValue(DefaultSerializerProvider.java:107)
at com.fasterxml.jackson.databind.ObjectMapper._configAndWriteValue(ObjectMapper.java:3559)
at com.fasterxml.jackson.databind.ObjectMapper.writeValueAsString(ObjectMapper.java:2927)
at org.apache.spark.rdd.RDDOperationScope.toJson(RDDOperationScope.scala:52)
at org.apache.spark.rdd.RDDOperationScope$.withScope(RDDOperationScope.scala:145)
at org.apache.spark.rdd.RDDOperationScope$.withScope(RDDOperationScope.scala:112)
at org.apache.spark.SparkContext.withScope(SparkContext.scala:699)
at org.apache.spark.SparkContext.newAPIHadoopFile(SparkContext.scala:1146)
at RosBagTest$.main(RosBagTest.scala:35)
at RosBagTest.main(RosBagTest.scala)
21/10/12 15:43:24 INFO SparkContext: Invoking stop() from shutdown hook
21/10/12 15:43:24 INFO SparkUI: Stopped Spark web UI at http://windows10.microdone.cn:4042

The error related with this line: val yelpReview = sc.sparkContext.newAPIHadoopFile(path2, classOf[RosbagMapInputFormat], classOf[LongWritable], classOf[MapWritable], conf)

and I create bin file with this jar file:

[rwathena]

and I create bin file with this jar file:
ros_hadoop-master\lib\rosbaginputformat_2.12-0.9.8.jar