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mgonzs13 / ros2_rover

A version of Sawppy the Rover for ROS 2
MIT License
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rover_motor_controller controller_node crashing with coredump #7

Closed ROSRider closed 2 years ago

ROSRider commented 2 years ago

Hello,

The supplied custom controller with package is crashing with core dump.

Here is an excerpt:

[controller_node-4] terminate called after throwing an instance of 'boost::wrapexcept' [controller_node-4] what(): write_some: Bad file descriptor [ERROR] [controller_node-4]: process has died [pid 113153, exit code -6, cmd '/home/can/ros2_foxy/install/rover_motor_controller_cpp/lib/rover_motor_controller_cpp/controller_node --ros-args -r __node:=controller_node --params-file /tmp/launch_params_hf8tz4lm'].

Here is another:

can@hurricane:~/ros2_foxy/src/ros2_rover/rover_bringup/launch$ /home/can/ros2_foxy/install/rover_motor_controller_cpp/lib/rover_motor_controller_cpp/controller_node terminate called after throwing an instance of 'boost::wrapexcept' what(): write_some: Bad file descriptor Aborted (core dumped)

I am running on ubuntu20.04 - ros foxy.

Any ideas or help debugging this problem greatly appreciated.

Best Regards, C.A.

mgonzs13 commented 2 years ago

Are you running it in raspberry with the same hardware components (motors)?

ROSRider commented 2 years ago

@mgonzs13 no. i am trying to run your software on a x64 ubuntu 20.04 regular computer. how can i fire the gazebo part, and experiment with it in simulation?

mgonzs13 commented 2 years ago

If you want to run the simulator, you have to use the launch files from rover_gazebo. For instance, to launch the Moon world, you have to use the command ros2 launch rover_gazebo moon.launch.py. This will launch the Moon world, the rover simulator and RTAB. To move the rover use ros2 run rover_teleop teleop_keyboard_node in a new shell.