DLu
commented
6 years ago Any chance you could rerun it with a debugger?
Closed kajep09 closed 6 years ago
DLu
commented
6 years ago Any chance you could rerun it with a debugger?
kajep09
commented
6 years ago I am not super well versed in that regard, but running it in gdb gives the following output when I publish a goal and it crashes. I couldn't get any core dumps or log files worth anything.
Starting program: /home/xx/RCW_workspaces/safecop_ws/devel/lib/move_base/move_base scan:=safecop1_scan_filtered cmd_vel:=cmd_vel_move_base __name:=move_base __log:=/home/xx/.ros/log/6ae33d72-7593-11e8-a979-54ee75873823/move_base-2.log
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7fffee3ec700 (LWP 31783)]
[New Thread 0x7fffedbeb700 (LWP 31784)]
[New Thread 0x7fffed3ea700 (LWP 31785)]
[New Thread 0x7fffecbe9700 (LWP 31797)]
[New Thread 0x7fffe7fff700 (LWP 31810)]
[New Thread 0x7fffe73d9700 (LWP 31811)]
[New Thread 0x7fffe6bd8700 (LWP 31834)]
[ INFO] [1529614910.913941157, 1529335506.483416962] [ros.costmap_2d]: Using plugin "static_layer"
[ INFO] [1529614910.948186375, 1529335506.513608138] [ros.costmap_2d]: Requesting the map...
[ INFO] [1529614911.152338806, 1529335506.724997905] [ros.costmap_2d]: Resizing costmap to 871 X 783 at 0.050000 m/pix
[ INFO] [1529614911.154864156, 1529335506.724997905] [ros.costmap_2d]: Shutting down the map subscriber. first_map_only flag is on
[ INFO] [1529614911.253312261, 1529335506.825640537] [ros.costmap_2d]: Received a 871 X 783 map at 0.050000 m/pix
[ INFO] [1529614911.257314247, 1529335506.825640537] [ros.costmap_2d]: Using plugin "nonpersisting_laser_layer"
[ INFO] [1529614911.289467287, 1529335506.855835374] [ros.costmap_2d]: Subscribed to Topics: laser
[New Thread 0x7fffe57b3700 (LWP 31930)]
[ INFO] [1529614911.319284034, 1529335506.886024417] [ros.costmap_2d]: Using plugin "rgbd_obstacle_layer"
[ INFO] [1529614912.216089032, 1529335507.782481411] [ros.spatio_temporal_voxel_layer]: global_costmap/rgbd_obstacle_layer being initialized as SpatioTemporalVoxelLayer!
[ INFO] [1529614912.254223826, 1529335507.822806689] [ros.spatio_temporal_voxel_layer]: global_costmap/rgbd_obstacle_layer initialization complete!
[ INFO] [1529614912.254272380, 1529335507.822806689] [ros.costmap_2d]: Using plugin "inflation_layer"
[New Thread 0x7fffc62ec700 (LWP 32120)]
[ INFO] [1529614912.329128702, 1529335507.893254240] [ros.costmap_2d]: Using plugin "nonpersisting_laser_layer"
[ INFO] [1529614912.331114986, 1529335507.903312274] [ros.costmap_2d]: Subscribed to Topics: laser
[ INFO] [1529614912.352511795, 1529335507.923425719] [ros.costmap_2d]: Using plugin "nonpersisting_rgbd_layer"
[ INFO] [1529614912.354309100, 1529335507.923425719] [ros.costmap_2d]: Subscribed to Topics: picoflexx
[ INFO] [1529614912.391062504, 1529335507.963657505] [ros.costmap_2d]: Using plugin "inflation_layer"
[New Thread 0x7fffc5894700 (LWP 32363)]
[ INFO] [1529614912.477514124, 1529335508.044090289] [ros.move_base]: Created local_planner nav_core_adapter::LocalPlannerAdapter
[ INFO] [1529614912.478872519, 1529335508.044090289] [ros.nav_core_adapter.LocalPlannerAdapter]: Loading plugin dwb_local_planner::DWBLocalPlanner
[ INFO] [1529614912.546223985, 1529335508.117275511] [ros.dwb_local_planner.DWBLocalPlanner]: Using Trajectory Generator "dwb_plugins::LimitedAccelGenerator"
[ INFO] [1529614912.608099574, 1529335508.177655015] [ros.dwb_local_planner.DWBLocalPlanner]: Using Goal Checker "dwb_plugins::SimpleGoalChecker"
[ INFO] [1529614912.641738506, 1529335508.207857653] [ros.dwb_local_planner.DWBLocalPlanner]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
[ INFO] [1529614912.643777821, 1529335508.207857653] [ros.dwb_local_planner.DWBLocalPlanner]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
[ INFO] [1529614912.648104638, 1529335508.217917962] [ros.dwb_local_planner.DWBLocalPlanner]: Using critic "ObstacleFootprint" (dwb_critics::ObstacleFootprintCritic)
[ INFO] [1529614912.649961628, 1529335508.217917962] [ros.dwb_local_planner.DWBLocalPlanner]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
[ INFO] [1529614912.652807427, 1529335508.217917962] [ros.dwb_local_planner.DWBLocalPlanner]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
[ INFO] [1529614912.655724268, 1529335508.227989341] [ros.dwb_local_planner.DWBLocalPlanner]: Using critic "PathDist" (dwb_critics::PathDistCritic)
[ INFO] [1529614912.657720551, 1529335508.227989341] [ros.dwb_local_planner.DWBLocalPlanner]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
[ INFO] [1529614912.848878763, 1529335508.421969793] [ros.clear_costmap_recovery]: Recovery behavior will clear layer obstacles
[ INFO] [1529614912.861523496, 1529335508.432030767] [ros.clear_costmap_recovery]: Recovery behavior will clear layer obstacles
Thread 7 "move_base" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7fffe73d9700 (LWP 31811)]
0x00007fffbfdef846 in costmap_queue::CostmapQueue::distanceLookup(unsigned int, unsigned int, unsigned int, unsigned int) ()
from /home/xx/RCW_workspaces/safecop_ws/devel/.private/costmap_queue/lib/libcostmap_queue.so
(gdb) Afterwards I decided to pull the newest version from git and do a clean build of my whole workspace. In case it has any interest you can see which version I can from below: I can see that you have just done some commits that are related to the costmap_queue so I guess they have fixed the issue I experienced because now move_base keeps running after I publish a goal :)
Unpacking objects: 100% (52/52), done.
remote: Total 52 (delta 36), reused 52 (delta 36), pack-reused 0
From https://github.com/locusrobotics/robot_navigation
ae4a7e1..b42ec7f master -> origin/master
* [new tag] 0.1.0 -> 0.1.0
Updating ae4a7e1..b42ec7f
Fast-forward
costmap_queue/CMakeLists.txt | 19 +++-
.../include/costmap_queue/costmap_queue.h | 2 +-
.../include/costmap_queue/map_based_queue.h | 91 +++++++++++-----
costmap_queue/package.xml | 3 +-
costmap_queue/test/mbq_test.cpp | 118 +++++++++++++++++++++
costmap_queue/test/utest.cpp | 29 +++++
dwb_critics/CMakeLists.txt | 16 +--
dwb_critics/package.xml | 2 +-
dwb_local_planner/CMakeLists.txt | 24 ++++-
dwb_local_planner/package.xml | 2 +-
dwb_msgs/CMakeLists.txt | 4 +-
dwb_msgs/package.xml | 2 +-
dwb_plugins/CMakeLists.txt | 23 ++--
dwb_plugins/package.xml | 2 +-
nav_2d_msgs/package.xml | 2 +-
nav_2d_utils/CMakeLists.txt | 11 ++
nav_2d_utils/package.xml | 2 +-
nav_core2/CMakeLists.txt | 4 +
nav_core2/package.xml | 2 +-
nav_core_adapter/CMakeLists.txt | 15 ++-
nav_core_adapter/package.xml | 2 +-
robot_navigation/package.xml | 2 +-
22 files changed, 313 insertions(+), 64 deletions(-)
create mode 100644 costmap_queue/test/mbq_test.cppOk, please let me know if you experience the problem again with the updated code.
Hello
I have configured move_base to use dwb_local_planner as the local planner as specified in the readme for the nav_core_adapter. I can launch my move_base launch file fine (see output below), but as soon as I publish a goal to /move_base_simple/goal (either via command line interface or rviz) move_base crashes without too much information. If I look at rviz at the same time I can see that the global_planner creates a plan to the requested goal and just afterwards move_base crashes:
[move_base-1] process has died [pid 16925, exit code -11, cmd /home/kasper/RCW_workspaces/safecop_ws/devel/lib/move_base/move_base scan:=safecop1_scan_filtered cmd_vel:=cmd_vel_move_base __name:=move_base __log:=/home/kasper/.ros/log/3e7d3c4c-725a-11e8-8097-4ceb42be16a3/move_base-1.log]. log file: /home/kasper/.ros/log/3e7d3c4c-725a-11e8-8097-4ceb42be16a3/move_base-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete doneI can use other local planners fine while keeping the rest of the move_base config the same, so I am pretty sure the problem is with dwb or how I have configured/used it. Anyone got an idea of what I am doing wrong?
I am loading this yaml.file with the following params when I launch move_base: