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jchengai / gpir

[ICRA'22] Real-Time Trajectory Planning for Autonomous Driving with Gaussian Process and Incremental Refinement
https://arxiv.org/pdf/2205.11853.pdf
MIT License
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Process died after roslaunch #4

Closed feiyuxiaoThu closed 2 years ago

feiyuxiaoThu commented 2 years ago

Hi, when i run _roslaunch planningcore planning.launch , the process just died.

log:

SUMMARY

PARAMETERS

  • /carla_controller/kd: 0.4
  • /carla_controller/ki: 0.15
  • /carla_controller/kp: 3.5
  • /planning/mappath: /home/xfy/catkin...
  • /planning/random_drive_mode: True
  • /planning/simulator: Carla
  • /planning/town: Town05
  • /robot_description: <?xml version="1....
  • /rosdistro: noetic
  • /rosversion: 1.15.14

NODES / carla_controller (planning_core/carla_controller) planning (planning_core/planning) planning_rviz (rviz/rviz) vehicle (robot_state_publisher/robot_state_publisher)

ROS_MASTER_URI=http://localhost:11311

process[planning-1]: started with pid [26740] process[carla_controller-2]: started with pid [26741] process[planning_rviz-3]: started with pid [26749] process[vehicle-4]: started with pid [26750] [2022-07-24 15:12:30.995] [info] ensureValid(::ad::physics::Distance)>> 1.4224e+10 value out of range terminate called after throwing an instance of 'std::out_of_range' what(): Distance value out of range Aborted at 1658646750 (unix time) try "date -d @1658646750" if you are using GNU date PC: @ 0x7f375ad3d00b gsignal SIGABRT (@0x3e800006874) received by PID 26740 (TID 0x7f375546c980) from PID 26740; stack trace: @ 0x7f375ad3d090 (unknown) @ 0x7f375ad3d00b gsignal @ 0x7f375ad1c859 abort @ 0x7f375afa5911 (unknown) @ 0x7f375afb138c (unknown) @ 0x7f375afb13f7 std::terminate() @ 0x7f375afb16a9 __cxa_throw @ 0x7f375a1691fe ad::physics::Distance::ensureValid() @ 0x7f375a1a6f6a ad::map::point::findNearestPointOnEdge<>() @ 0x7f375a1a7c3a ad::map::point::findNearestPointOnSegment<>() @ 0x7f375a1a8340 ad::map::point::findNearestPointOnEdge<>() @ 0x7f375a1a8b4f ad::map::point::calculateWidthRange<>() @ 0x7f375a1a4878 ad::map::lane::updateLaneLengths() @ 0x7f375a13a3c8 ad::map::access::Factory::set() @ 0x7f375a1be8d0 ad::map::opendrive::AdMapFactory::addLane() @ 0x7f375a1c00dc ad::map::opendrive::AdMapFactory::convertToAdMap() @ 0x7f375a1c0877 ad::map::opendrive::AdMapFactory::createAdMap() @ 0x7f375a1c0de0 ad::map::opendrive::AdMapFactory::createAdMap() @ 0x7f375a1284b3 ad::map::access::AdMapAccess::readOpenDriveMap() @ 0x7f375a129875 ad::map::access::AdMapAccess::initialize() @ 0x7f375b3ece0c hdmap::HdMapImpl::LoadMap() @ 0x563a8e5be595 planning::PlanningCore::Init() @ 0x563a8e5bd4e8 main @ 0x7f375ad1e083 __libc_start_main @ 0x563a8e5bd63e _start [planning-1] process has died

jchengai commented 2 years ago

It looks like an internal problem of the ad_map library, and I can't reproduce this problem in my machine.

FYI, my environment:

feiyuxiaoThu commented 2 years ago

I found the main error was caused by the incompatible versions between conda and ubuntu self-installed python, and now I have reproduced the results following the instructions. A nice work and the intuition for using GP and inference for motion planning is splendid!