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ctu-mrs / mrs_octomap_mapping_planning

Metapackage containing MRS Octomap-based 3D mapper and planner.
GNU General Public License v2.0
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tmux simulation example fails when calling the pathfinder services #9

Closed davidchangoluisa closed 1 year ago

davidchangoluisa commented 1 year ago

The simulation starts properly but the planner crashes when calling the services /uav/pathfinder/goto, I also tried the /uav/pathfinder/reference but the error is the same. Below is the output I got in the "mapplan" tab from the tmux session

I'm testing everything in the MRS Singularity. Thanks in advance for your attention.

[ INFO] [1680254147.478597347, 252.728000000]: [/uav1/uav1_mapping_nodelet_manager]: Node 4: [-0.20, 1.40, 1.80] [ INFO] [1680254147.478622432, 252.728000000]: [/uav1/uav1_mapping_nodelet_manager]: Node 5: [-0.20, 1.80, 1.80] [ INFO] [1680254147.478646370, 252.728000000]: [/uav1/uav1_mapping_nodelet_manager]: Node 6: [0.20, 2.20, 2.20] [ INFO] [1680254147.478672623, 252.728000000]: [/uav1/uav1_mapping_nodelet_manager]: ----------------- Final path ------------------- [ INFO] [1680254147.478699692, 252.728000000]: [/uav1/uav1_mapping_nodelet_manager]: Node 0: [-0.20, -0.20, 1.40] [ INFO] [1680254147.478723995, 252.728000000]: [/uav1/uav1_mapping_nodelet_manager]: Node 1: [0.60, 0.60, 1.40] [ INFO] [1680254147.478747859, 252.728000000]: [/uav1/uav1_mapping_nodelet_manager]: Node 2: [1.00, 1.40, 1.40] [ INFO] [1680254147.478772982, 252.728000000]: [/uav1/uav1_mapping_nodelet_manager]: Node 3: [0.60, 2.20, 1.40] [ INFO] [1680254147.478797080, 252.728000000]: [/uav1/uav1_mapping_nodelet_manager]: Node 4: [1.00, 3.00, 1.80] [ INFO] [1680254147.478820475, 252.728000000]: [/uav1/uav1_mapping_nodelet_manager]: Node 5: [0.60, 2.60, 2.20] [ INFO] [1680254147.479184439, 252.728000000]: [Pathfinder]: path length: 6
[ INFO] [1680254147.479230129, 252.728000000]: [Pathfinder]: Calling path service with timestamp = 0.000 at time 252.728. nodelet: /usr/include/eigen3/Eigen/src/Core/DenseCoeffsBase.h:408: Eigen::DenseCoeffsBase<Derived, 1>::Scalar& Eigen::DenseCoeffsBase<Derived, 1>::operator [with Derived = Eigen::Matrix<double, 4 , 1>; Eigen::DenseCoeffsBase<Derived, 1>::Scalar = double; Eigen::Index = long int]: Assertion `index >= 0 && index < size()' failed. [uav1/uav1_mapping_nodelet_manager-1] process has died [pid 209141, exit code -6, cmd /opt/ros/noetic/lib/nodelet/nodelet manager __name:=uav1_mapping_nodelet_manager __log:=/home/ivan/.ros/log/045ecaec-cfa4-11e d-bd8e-58961d4e39be/uav1-uav1_mapping_nodelet_manager-1.log].
log file: /home/ivan/.ros/log/045ecaec-cfa4-11ed-bd8e-58961d4e39be/uav1-uav1_mapping_nodelet_manager-1.log [ INFO] [1680254150.544445153, 255.792000000]: Bond broken, exiting
[uav1/depth_to_pc_realsense_front-3] process has finished cleanly
log file: /home/ivan/.ros/log/045ecaec-cfa4-11ed-bd8e-58961d4e39be/uav1-depth_to_pc_realsense_front-3.log [uav1/pathfinder-10] process has finished cleanly
log file: /home/ivan/.ros/log/045ecaec-cfa4-11ed-bd8e-58961d4e39be/uav1-pathfinder-10.log [ INFO] [1680254151.207783057, 256.456000000]: Bond broken, exiting [uav1/depth_to_pc_realsense_down-4] process has finished cleanly
log file: /home/ivan/.ros/log/045ecaec-cfa4-11ed-bd8e-58961d4e39be/uav1-depth_to_pc_realsense_down-4.log [uav1/octomap_server-7] process has finished cleanly
log file: /home/ivan/.ros/log/045ecaec-cfa4-11ed-bd8e-58961d4e39be/uav1-octomap_server-7.log
[ INFO] [1680254151.336239299, 256.584000000]: Bond broken, exiting
[ INFO] [1680254151.336264357, 256.584000000]: Bond broken, exiting
[ INFO] [1680254151.336483451, 256.584000000]: Bond broken, exiting
[ INFO] [1680254151.336789738, 256.588000000]: Bond broken, exiting
[uav1/pcl_filter_rs_down-6] process has finished cleanly
log file: /home/ivan/.ros/log/045ecaec-cfa4-11ed-bd8e-58961d4e39be/uav1-pcl_filter_rs_down-6.log
[uav1/octomap_global_vis-8] process has finished cleanly
log file: /home/ivan/.ros/log/045ecaec-cfa4-11ed-bd8e-58961d4e39be/uav1-octomap_global_vis-8.log
[ INFO] [1680254151.384664228, 256.632000000]: Bond broken, exiting
[uav1/pcl_filter_ouster-2] process has finished cleanly
log file: /home/ivan/.ros/log/045ecaec-cfa4-11ed-bd8e-58961d4e39be/uav1-pcl_filter_ouster-2.log
[uav1/pcl_filter_rs_front-5] process has finished cleanly
log file: /home/ivan/.ros/log/045ecaec-cfa4-11ed-bd8e-58961d4e39be/uav1-pcl_filter_rs_front-5.log
[uav1/octomap_local_vis-9] process has finished cleanly
log file: /home/ivan/.ros/log/045ecaec-cfa4-11ed-bd8e-58961d4e39be/uav1-octomap_local_vis-9.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...

davidchangoluisa commented 1 year ago

My mistake, I didn't realize my singularity image was not up to date. I solved this issue by creating a fresh singularity image.