open set empty, no path!

[HuaYuXiao]

Triggered!
[TRIG]: from WAIT_TARGET to GEN_NEW_TRAJ
[kino replan]: -----------------------
start: -19   0   0, 0 0 0, 0 0 0
goal: 1.27655 -4.54724        1, 0 0 0
open set empty, no path!
use node num: 1
iter num: 1
[kino replan]: kinodynamic search fail!
reach horizon
[kino replan]: retry search success.
[ INFO] [1713456023.010156388]: cost func: smooth | dist  | feasi | endpt |
[fast_planner_node-1] process has died [pid 16241, exit code -11, cmd /home/hyx020222/planner_ws/devel/lib/plan_manage/fast_planner_node /odom_world:=/state_ukf/odom /sdf_map/odom:=/state_ukf/odom /sdf_map/cloud:=/pcl_render_node/cloud /sdf_map/pose:=/pcl_render_node/camera_pose /sdf_map/depth:=/pcl_render_node/depth __name:=fast_planner_node __log:=/home/hyx020222/.ros/log/84f83ca2-fd9c-11ee-a27c-abb1b70d7733/fast_planner_node-1.log].
log file: /home/hyx020222/.ros/log/84f83ca2-fd9c-11ee-a27c-abb1b70d7733/fast_planner_node-1*.log

[HuaYuXiao]

Unexpected crash

If the planner dies after triggering a 2D Nav Goal, it is possibly caused by the ros-nlopt library. In this case, we recommend to uninstall it and install nlopt following the official document. Then in the CMakeLists.txt of bspline_opt package, change the associated lines to link the nlopt library:

find_package(NLopt REQUIRED)
set(NLopt_INCLUDE_DIRS ${NLOPT_INCLUDE_DIR})

...

include_directories( 
    SYSTEM 
    include 
    ${catkin_INCLUDE_DIRS}
    ${Eigen3_INCLUDE_DIRS} 
    ${PCL_INCLUDE_DIRS}
    ${NLOPT_INCLUDE_DIR}
)

...

add_library( bspline_opt 
    src/bspline_optimizer.cpp 
    )
target_link_libraries( bspline_opt
    ${catkin_LIBRARIES} 
    ${NLOPT_LIBRARIES}
    # /usr/local/lib/libnlopt.so
    )