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HKUST-Aerial-Robotics / Fast-Planner

A Robust and Efficient Trajectory Planner for Quadrotors
GNU General Public License v3.0
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When using topo_replan.launch to perform mapping only using odometry and depth image bag data. #123

Open seunghwan6960 opened 3 years ago

seunghwan6960 commented 3 years ago

When using topo_replan.launch to perform mapping only using odometry and depth image bag data. The following error occurs when I use fast planner to perform mapping only.

state: WAIT_TARGET state: WAIT_TARGET state: WAIT_TARGET state: WAIT_TARGET malloc(): smallbin double linked list corrupted

Thread 1 "fast_planner_no" received signal SIGABRT, Aborted. __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:51 51 ../sysdeps/unix/sysv/linux/raise.c: No such file or directory. (gdb) bt

0 __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:51

1 0x00007ffff52de921 in __GI_abort () at abort.c:79

2 0x00007ffff5327967 in __libc_message (action=action@entry=do_abort,

fmt=fmt@entry=0x7ffff5454b0d "%s\n") at ../sysdeps/posix/libc_fatal.c:181

3 0x00007ffff532e9da in malloc_printerr (

str=str@entry=0x7ffff5456b90 "malloc(): smallbin double linked list corrupted") at malloc.c:5342

4 0x00007ffff5332e74 in _int_malloc (av=av@entry=0x7ffff5689c40 ,

bytes=bytes@entry=512) at malloc.c:3658

5 0x00007ffff53353cd in __GI___libc_malloc (bytes=512) at malloc.c:3075

6 0x00007ffff5cd8298 in operator new(unsigned long) ()

from /usr/lib/x86_64-linux-gnu/libstdc++.so.6

7 0x00007ffff6e35737 in void std::deque<int, std::allocator >::_M_push_back_aux<int const&>(int const&) () from /home/seunghwan/asl_ws/devel/lib/libplan_env.so

8 0x00007ffff6e30514 in fast_planner::SDFMap::setCacheOccupancy(int const&, int const&) ()

from /home/seunghwan/asl_ws/devel/lib/libplan_env.so

9 0x00007ffff6e32976 in fast_planner::SDFMap::inputPointCloud(pcl::PointCloud const&, int const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) ()

from /home/seunghwan/asl_ws/devel/lib/libplan_env.so

10 0x00007ffff6e49a92 in fast_planner::MapROS::depthPoseCallback(boost::shared_ptr<sensormsgs::Image<std::allocator > const> const&, boost::shared_ptr<geometrymsgs::PoseStamped<std::allocator > const> const&) () from /home/seunghwan/asl_ws/devel/lib/libplan_env.so

11 0x00007ffff6e4f93f in boost::detail::function::void_function_obj_invoker9<boost::_bi::bind_t<boost::_bi::unspecified, boost::_bi::bind_t<void, boost::_mfi::mf2<void, fast_planner::MapROS, boost::shared_ptr<sensormsgs::Image<std::allocator > const> const&, boost::shared_ptr<geometrymsgs::PoseStamped<std::allocator > const> const&>, boost::_bi::list3<boost::_bi::value<fast_planner::MapROS*>, boost::arg<1>, boost::arg<2> > >, boost::_bi::list9<boost::arg<1>, boost::arg<2>, boost::arg<3>, ---Type to continue, or q to quit---

boost::arg<4>, boost::arg<5>, boost::arg<6>, boost::arg<7>, boost::arg<8>, boost::arg<9> > >, void, boost::shared_ptr<sensormsgs::Image<std::allocator > const> const&, boost::shared_ptr<geometrymsgs::PoseStamped<std::allocator > const> const&, boost::shared_ptr const&, boost::shared_ptr const&, boost::shared_ptr const&, boost::shared_ptr const&, boost::shared_ptr const&, boost::shared_ptr const&, boost::shared_ptr const&>::invoke(boost::detail::function::function_buffer&, boost::shared_ptr<sensormsgs::Image<std::allocator > const> const&, boost::shared_ptr<geometrymsgs::PoseStamped<std::allocator > const> const&, boost::shared_ptr const&, boost::shared_ptr const&, boost::shared_ptr const&, boost::shared_ptr const&, boost::shared_ptr const&, boost::shared_ptr const&, boost::shared_ptr const&) () from /home/seunghwan/asl_ws/devel/lib/libplan_env.so

12 0x00007ffff6e585ea in boost::detail::function::void_function_obj_invoker9<boost::function<void (boost::shared_ptr<sensormsgs::Image<std::allocator > const> const&, boost::shared_ptr<geometrymsgs::PoseStamped<std::allocator > const> const&, boost::shared_ptr const&, boost::shared_ptr const&, boost::shared_ptr const&, boost::shared_ptr const&, boost::shared_ptr const&, boost::shared_ptr const&, boost::shared_ptr const&)>, void, boost::shared_ptr<sensormsgs::Image<std::allocator > const>, boost::shared_ptr<geometrymsgs::PoseStamped<std::allocator > const>, boost::shared_ptr, boost::shared_ptr, boost::shared_ptr, boost::shared_ptr, boost::shared_ptr, boost::shared_ptr, boost::shared_ptr >::invoke(boost::detail::function:---Type to continue, or q to quit---

:function_buffer&, boost::shared_ptr<sensormsgs::Image<std::allocator > const>, boost::shared_ptr<geometrymsgs::PoseStamped<std::allocator > const>, boost::shared_ptr, boost::shared_ptr, boost::shared_ptr, boost::shared_ptr, boost::shared_ptr, boost::shared_ptr, boost::shared_ptr) () from /home/seunghwan/asl_ws/devel/lib/libplan_env.so

13 0x00007ffff6e8b7cb in message_filters::CallbackHelper9T<boost::shared_ptr<sensormsgs::Image<std::allocator > const> const&, boost::shared_ptr<geometrymsgs::PoseStamped<std::allocator > const> const&, boost::shared_ptr const&, boost::shared_ptr const&, boost::shared_ptr const&, boost::shared_ptr const&, boost::shared_ptr const&, boost::shared_ptr const&, boost::shared_ptr const&>::call(bool, ros::MessageEvent<sensormsgs::Image<std::allocator > const> const&, ros::MessageEvent<geometrymsgs::PoseStamped<std::allocator > const> const&, ros::MessageEvent const&, ros::MessageEvent const&, ros::MessageEvent const&, ros::MessageEvent const&, ros::MessageEvent const&, ros::MessageEvent const&, ros::MessageEvent const&) ()

from /home/seunghwan/asl_ws/devel/lib/libplan_env.so

14 0x00007ffff6e800fa in message_filters::sync_policies::ApproximateTime<sensormsgs::Image<std::allocator >, geometrymsgs::PoseStamped<std::allocator >, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType>::publishCandidate() ()

from /home/seunghwan/asl_ws/devel/lib/libplan_env.so

15 0x00007ffff6e84211 in message_filters::sync_policies::ApproximateTime<sensormsgs::Image<std::allocator >, geometrymsgs::PoseStamped<std::allocator >, message_filters::NullType, message---Type to continue, or q to quit---

_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType>::process() () from /home/seunghwan/asl_ws/devel/lib/libplan_env.so

16 0x00007ffff6e86428 in void message_filters::sync_policies::ApproximateTime<sensormsgs::Image<std::allocator >, geometrymsgs::PoseStamped<std::allocator >, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType>::add<1>(boost::mpl::at_c<boost::mpl::vector<ros::MessageEvent<sensormsgs::Image<std::allocator > const>, ros::MessageEvent<geometrymsgs::PoseStamped<std::allocator > const>, ros::MessageEvent, ros::MessageEvent, ros::MessageEvent, ros::MessageEvent, ros::MessageEvent, ros::MessageEvent, ros::MessageEvent, mpl::na, mpl::na, mpl::na, mpl::na, mpl::na, mpl::na, mpl::na, mpl::na, mpl::na, mpl::na, mpl_::na>, 1>::type const&) () from /home/seunghwan/asl_ws/devel/lib/libplan_env.so

17 0x00007ffff6e866b7 in void message_filters::Synchronizer<message_filters::sync_policies::ApproximateTime<sensormsgs::Image<std::allocator >, geometrymsgs::PoseStamped<std::allocator >, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType> >::cb<1>(boost::mpl::at_c<boost::mpl::vector<ros::MessageEvent<sensormsgs::Image<std::allocator > const>, ros::MessageEvent<geometrymsgs::PoseStamped<std::allocator > const>, ros::MessageEvent, ros::MessageEvent, ros::MessageEvent, ros::MessageEvent, ros::MessageEvent, ros::MessageEvent, ros::MessageEvent, mpl::na, mpl::na, mpl::na, mpl::na, mpl::na, mpl::na, mpl::na, mpl::na, mpl::na, mpl::na, mpl_::na>, 1>::type const&) ()

from /home/seunghwan/asl_ws/devel/lib/libplan_env.so ---Type to continue, or q to quit---

18 0x00007ffff6e4fbab in boost::detail::function::void_function_obj_invoker1<boost::_bi::bind_t<void, boost::_mfi::mf1<void, message_filters::Synchronizer<message_filters::sync_policies::ApproximateTime<sensormsgs::Image<std::allocator >, geometrymsgs::PoseStamped<std::allocator >, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType> >, ros::MessageEvent<geometrymsgs::PoseStamped<std::allocator > const> const&>, boost::_bi::list2<boost::_bi::value<message_filters::Synchronizer<message_filters::sync_policies::ApproximateTime<sensormsgs::Image<std::allocator >, geometrymsgs::PoseStamped<std::allocator >, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType> >*>, boost::arg<1> > >, void, ros::MessageEvent<geometrymsgs::PoseStamped<std::allocator > const> const&>::invoke(boost::detail::function::function_buffer&, ros::MessageEvent<geometrymsgs::PoseStamped<std::allocator > const> const&) () from /home/seunghwan/asl_ws/devel/lib/libplan_env.so

19 0x00007ffff6e75509 in message_filters::CallbackHelper1T<ros::MessageEvent<geometrymsgs::PoseStamped<std::allocator > const> const&, geometrymsgs::PoseStamped<std::allocator > >::call(ros::MessageEvent<geometrymsgs::PoseStamped<std::allocator > const> const&, bool) ()

from /home/seunghwan/asl_ws/devel/lib/libplan_env.so

20 0x00007ffff6e5cd81 in message_filters::Subscriber<geometrymsgs::PoseStamped<std::allocator > >::cb(ros::MessageEvent<geometrymsgs::PoseStamped<std::allocator > const> const&) ()

from /home/seunghwan/asl_ws/devel/lib/libplan_env.so

21 0x00007ffff6e4f91a in boost::detail::function::void_function_obj_invoker1<boost::_bi::bind_t<void, boost::_mfi::mf1<void, message_filters::Subscriber<geometrymsgs::PoseStamped<std::allocator > >, ros::MessageEvent<geometrymsgs::PoseStamped<std::allocator > const> const&>, boost::_bi::list2<boost::_bi::value<message_filters::Subscriber<geometrymsgs::PoseStamped<std::allocator > >*>, boost::arg<1> > >, void, ros::MessageEvent<geometrymsgs::PoseStamped<std::allocator > const> const&>::invoke(boost::detail::function::function_buffer&, ros::MessageEvent<geometry_msgs::PoseSt---Type to continue, or q to quit---

amped_<std::allocator > const> const&) () from /home/seunghwan/asl_ws/devel/lib/libplan_env.so

22 0x00007ffff6e8ca98 in ros::SubscriptionCallbackHelperT<ros::MessageEvent<geometrymsgs::PoseStamped<std::allocator > const> const&, void>::call(ros::SubscriptionCallbackHelperCallParams&) ()

from /home/seunghwan/asl_ws/devel/lib/libplan_env.so

23 0x00007ffff6b8a422 in ros::SubscriptionQueue::call() () from /opt/ros/melodic/lib/libroscpp.so

24 0x00007ffff6b34d99 in ros::CallbackQueue::callOneCB(ros::CallbackQueue::TLS*) ()

from /opt/ros/melodic/lib/libroscpp.so

25 0x00007ffff6b36b0b in ros::CallbackQueue::callAvailable(ros::WallDuration) ()

from /opt/ros/melodic/lib/libroscpp.so

26 0x00007ffff6b8dfc9 in ros::SingleThreadedSpinner::spin(ros::CallbackQueue*) ()

from /opt/ros/melodic/lib/libroscpp.so

27 0x00007ffff6b7692b in ros::spin() () from /opt/ros/melodic/lib/libroscpp.so

28 0x00005555555725fa in main ()

Screenshot from 2021-08-30 14-05

seunghwan6960 commented 3 years ago

and it is parameter i used

seunghwan6960 commented 3 years ago

Can you help me by any chance?

seunghwan6960 commented 3 years ago

In addition, this error did not occur in the Gazebo simulation environment.