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noeperez / indires_navigation

ROS packages for ground robot navigation and exploration
BSD 3-Clause "New" or "Revised" License
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move_base_node crash #7

Open dringakn opened 4 years ago

dringakn commented 4 years ago

Hi,

Thanks for sharing the package. I have been trying to setup the package on ROS Kinetic as per instructions on the wiki page. However, the move_base_node is crashing after loading the global planner library. it seems that the pcl sac library is creating a segmentation fault. Here is the gdb backtrace of the the move_base_node.

[DEBUG] [1595942942.997169725]: Starting planner thread... [DEBUG] [1595942942.997403963]: Planner thread is suspending [DEBUG] [1595942943.015798687]: Attempting to create managed instance for class global_rrt_planner/GlobalRRTPlanner. [DEBUG] [1595942943.015922063]: Class global_rrt_planner/GlobalRRTPlanner maps to library lib/libglobal_rrt_planner in classesavailable. [DEBUG] [1595942943.016178423]: Iterating through all possible paths where lib/libglobal_rrt_planner could be located... [DEBUG] [1595942943.016210554]: Checking path /home/ahmad/catkin_ws/devel/lib/lib/libglobal_rrt_planner.so [DEBUG] [1595942943.016249238]: Checking path /home/ahmad/catkin_ws/devel/lib//libglobal_rrt_planner.so [DEBUG] [1595942943.016279166]: Library lib/libglobal_rrt_planner found at explicit path /home/ahmad/catkin_ws/devel/lib//libglobal_rrt_planner.so.

Thread 1 "adapted_move_ba" received signal SIGSEGV, Segmentation fault. 0x00007fffcb4cd7df in _GLOBAL__sub_I_sac.cpp () from /usr/local/lib/libpcl_sample_consensus.so.1.9 (gdb) bt

0 0x00007fffcb4cd7df in _GLOBAL__sub_I_sac.cpp () from /usr/local/lib/libpcl_sample_consensus.so.1.9

1 0x00007ffff7de76fa in call_init (l=, argc=argc@entry=3, argv=argv@entry=0x7fffffffda38, env=env@entry=0x7fffffffda58) at dl-init.c:72

2 0x00007ffff7de780b in call_init (env=0x7fffffffda58, argv=0x7fffffffda38, argc=3, l=) at dl-init.c:30

3 _dl_init (main_map=main_map@entry=0x962c30, argc=3, argv=0x7fffffffda38, env=0x7fffffffda58) at dl-init.c:120

4 0x00007ffff7dec922 in dl_open_worker (a=a@entry=0x7fffffffb0a0) at dl-open.c:575

5 0x00007ffff7de75a4 in _dl_catch_error (objname=objname@entry=0x7fffffffb090, errstring=errstring@entry=0x7fffffffb098, mallocedp=mallocedp@entry=0x7fffffffb08f, operate=operate@entry=0x7ffff7dec510 , args=args@entry=0x7fffffffb0a0) at dl-error.c:187

6 0x00007ffff7debde9 in _dl_open (file=0x961e90 "/home/ahmad/catkin_ws/devel/lib//libglobal_rrt_planner.so", mode=-2147483391, caller_dlopen=0x7ffff2aa4862 <Poco::SharedLibraryImpl::loadImpl(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)+82>, nsid=-2, argc=,

argv=<optimized out>, env=0x7fffffffda58) at dl-open.c:660

7 0x00007ffff0dabf09 in dlopen_doit (a=a@entry=0x7fffffffb2d0) at dlopen.c:66

8 0x00007ffff7de75a4 in _dl_catch_error (objname=0x926040, errstring=0x926048, mallocedp=0x926038, operate=0x7ffff0dabeb0 , args=0x7fffffffb2d0) at dl-error.c:187

9 0x00007ffff0dac571 in _dlerror_run (operate=operate@entry=0x7ffff0dabeb0 , args=args@entry=0x7fffffffb2d0) at dlerror.c:163

10 0x00007ffff0dabfa1 in __dlopen (file=, mode=) at dlopen.c:87

11 0x00007ffff2aa4862 in Poco::SharedLibraryImpl::loadImpl(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&) () from /usr/lib/libPocoFoundation.so.9

12 0x00007ffff2aa4d80 in Poco::SharedLibrary::SharedLibrary(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&) () from /usr/lib/libPocoFoundation.so.9

13 0x00007ffff5b965db in class_loader::class_loader_private::loadLibrary(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, class_loader::ClassLoader*) () from /opt/ros/kinetic/lib/libclass_loader.so

14 0x00007ffff5b90aaa in class_loader::ClassLoader::loadLibrary() () from /opt/ros/kinetic/lib/libclass_loader.so

15 0x00007ffff5b90cb8 in class_loader::ClassLoader::ClassLoader(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, bool) () from /opt/ros/kinetic/lib/libclass_loader.so

16 0x00007ffff5b9a3b2 in class_loader::MultiLibraryClassLoader::loadLibrary(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&) () from /opt/ros/kinetic/lib/libclass_loader.so

17 0x00007ffff7b062a2 in pluginlib::ClassLoader::loadLibraryForClass (this=0x7fffffffd228, lookup_name="global_rrt_planner/GlobalRRTPlanner") at /opt/ros/kinetic/include/pluginlib/././class_loader_imp.hpp:630

18 0x00007ffff7af4578 in pluginlib::ClassLoader::createInstance (this=0x7fffffffd228, lookup_name="global_rrt_planner/GlobalRRTPlanner") at /opt/ros/kinetic/include/pluginlib/././class_loader_imp.hpp:165

19 0x00007ffff7acf8bb in move_base::MoveBase::MoveBase (this=0x7fffffffcfd0, tf=0x7fffffffcaf0) at /home/ahmad/catkin_ws/src/indires_navigation/adapted_move_base/src/move_base.cpp:134

20 0x000000000041a648 in main (argc=1, argv=0x7fffffffda38) at /home/ahmad/catkin_ws/src/indires_navigation/adapted_move_base/src/move_base_node.cpp:45

(gdb) frame 17

17 0x00007ffff7b062a2 in pluginlib::ClassLoader::loadLibraryForClass (this=0x7fffffffd228, lookup_name="global_rrt_planner/GlobalRRTPlanner") at /opt/ros/kinetic/include/pluginlib/././class_loader_imp.hpp:630

630 lowlevel_classloader.loadLibrary(library_path);

Could you suggest what is the issue of the crash?

Regards, Ahmad

noeperez commented 4 years ago

Hello Ahmad,

Thank you very much for your interest. I'm so sorry but it is the first time that I see that error. I have no idea what the problem could be. You are using pcl 1.9.1, right? I'm on holiday till september so I am afraid that I cannot go deeper right now. Sorry.

Best regards, Noé

El mar., 28 jul. 2020 a las 15:37, Ahmad Kamal Nasir (< notifications@github.com>) escribió:

Hi,

Thanks for sharing the package. I have been trying to setup the package on ROS Kinetic as per instructions on the wiki page. However, the move_base_node is crashing after loading the global planner library. it seems that the pcl sac library is creating a segmentation fault. Here is the gdb backtrace of the the move_base_node.

[DEBUG] [1595942942.997169725]: Starting planner thread... [DEBUG] [1595942942.997403963]: Planner thread is suspending [DEBUG] [1595942943.015798687]: Attempting to create managed instance for class global_rrt_planner/GlobalRRTPlanner. [DEBUG] [1595942943.015922063]: Class global_rrt_planner/GlobalRRTPlanner maps to library lib/libglobal_rrt_planner in classesavailable. [DEBUG] [1595942943.016178423]: Iterating through all possible paths where lib/libglobal_rrt_planner could be located... [DEBUG] [1595942943.016210554]: Checking path /home/ahmad/catkin_ws/devel/lib/lib/libglobal_rrt_planner.so [DEBUG] [1595942943.016249238]: Checking path /home/ahmad/catkin_ws/devel/lib//libglobal_rrt_planner.so [DEBUG] [1595942943.016279166]: Library lib/libglobal_rrt_planner found at explicit path /home/ahmad/catkin_ws/devel/lib//libglobal_rrt_planner.so.

Thread 1 "adapted_move_ba" received signal SIGSEGV, Segmentation fault. 0x00007fffcb4cd7df in _GLOBAL__sub_I_sac.cpp () from /usr/local/lib/libpcl_sample_consensus.so.1.9 (gdb) bt

0 0x00007fffcb4cd7df in _GLOBAL__sub_I_sac.cpp () from

/usr/local/lib/libpcl_sample_consensus.so.1.9

1 https://github.com/noeperez/indires_navigation/issues/1

0x00007ffff7de76fa in call_init (l=, argc=argc@entry=3, argv=argv@entry=0x7fffffffda38, env=env@entry=0x7fffffffda58) at dl-init.c:72

2 https://github.com/noeperez/indires_navigation/issues/2

0x00007ffff7de780b in call_init (env=0x7fffffffda58, argv=0x7fffffffda38, argc=3, l=) at dl-init.c:30

3 https://github.com/noeperez/indires_navigation/issues/3 _dl_init

(main_map=main_map@entry=0x962c30, argc=3, argv=0x7fffffffda38, env=0x7fffffffda58) at dl-init.c:120

4 https://github.com/noeperez/indires_navigation/issues/4

0x00007ffff7dec922 in dl_open_worker (a=a@entry=0x7fffffffb0a0) at dl-open.c:575

5 https://github.com/noeperez/indires_navigation/issues/5

0x00007ffff7de75a4 in _dl_catch_error (objname=objname@entry=0x7fffffffb090, errstring=errstring@entry=0x7fffffffb098, mallocedp=mallocedp@entry=0x7fffffffb08f, operate=operate@entry=0x7ffff7dec510 , args=args@entry=0x7fffffffb0a0) at dl-error.c:187

6 https://github.com/noeperez/indires_navigation/issues/6

0x00007ffff7debde9 in _dl_open (file=0x961e90 "/home/ahmad/catkin_ws/devel/lib//libglobal_rrt_planner.so", mode=-2147483391, caller_dlopen=0x7ffff2aa4862 <Poco::SharedLibraryImpl::loadImpl(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)+82>, nsid=-2, argc=, argv=, env=0x7fffffffda58) at dl-open.c:660

7 https://github.com/noeperez/indires_navigation/issues/7

0x00007ffff0dabf09 in dlopen_doit (a=a@entry=0x7fffffffb2d0) at dlopen.c:66

8 0x00007ffff7de75a4 in _dl_catch_error (objname=0x926040,

errstring=0x926048, mallocedp=0x926038, operate=0x7ffff0dabeb0

, args=0x7fffffffb2d0) at dl-error.c:187 #9 0x00007ffff0dac571 in _dlerror_run (operate=operate@entry=0x7ffff0dabeb0 , args=args@entry=0x7fffffffb2d0) at dlerror.c:163 #10 0x00007ffff0dabfa1 in __dlopen (file=, mode=) at dlopen.c:87 #11 0x00007ffff2aa4862 in Poco::SharedLibraryImpl::loadImpl(std::__cxx11::basic_string const&) () from /usr/lib/libPocoFoundation.so.9 #12 0x00007ffff2aa4d80 in Poco::SharedLibrary::SharedLibrary(std::__cxx11::basic_string const&) () from /usr/lib/libPocoFoundation.so.9 #13 0x00007ffff5b965db in class_loader::class_loader_private::loadLibrary(std::__cxx11::basic_string const&, class_loader::ClassLoader*) () from /opt/ros/kinetic/lib/libclass_loader.so #14 0x00007ffff5b90aaa in class_loader::ClassLoader::loadLibrary() () from /opt/ros/kinetic/lib/libclass_loader.so #15 0x00007ffff5b90cb8 in class_loader::ClassLoader::ClassLoader(std::__cxx11::basic_string const&, bool) () from /opt/ros/kinetic/lib/libclass_loader.so #16 0x00007ffff5b9a3b2 in class_loader::MultiLibraryClassLoader::loadLibrary(std::_ *cxx11::basic_string const&) () from /opt/ros/kinetic/lib/libclass_loader.so #17 0x00007ffff7b062a2 in pluginlib::ClassLoader::loadLibraryForClass (this=0x7fffffffd228, lookup_name="global_rrt_planner/GlobalRRTPlanner") at /opt/ros/kinetic/include/pluginlib/././class_loader_imp.hpp:630 #18 0x00007ffff7af4578 in pluginlib::ClassLoader::createInstance (this=0x7fffffffd228, lookup_name="global_rrt_planner/GlobalRRTPlanner") at /opt/ros/kinetic/include/pluginlib/././class_loader_imp.hpp:165 #19 0x00007ffff7acf8bb in move_base::MoveBase::MoveBase (this=0x7fffffffcfd0, tf=0x7fffffffcaf0) at /home/ahmad/catkin_ws/src/indires_navigation/adapted_move_base/src/move_base.cpp:134 #20 0x000000000041a648 in main (argc=1, argv=0x7fffffffda38) at /home/ahmad/catkin_ws/src/indires_navigation/adapted_move_base/src/move_base_node.cpp:45 (gdb) frame 17 #17 0x00007ffff7b062a2 in pluginlib::ClassLoader::loadLibraryForClass (this=0x7fffffffd228, lookup_name="global_rrt_planner/GlobalRRTPlanner") at /opt/ros/kinetic/include/pluginlib/././class_loader_imp.hpp:630 630 lowlevel_class_loader*.loadLibrary(library_path); *Could you suggest what is the issue of the crash?* Regards, Ahmad — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub , or unsubscribe .

-- NOE PEREZ HIGUERAS Postdoctoral Researcher - RoboticsLab Dept. Ingenieria de Sist. y Automatica Universidad Carlos III de Madrid c/ Butarque, 15 28911 Leganes, Madrid España - SPAIN

dringakn commented 4 years ago

Hello Ahmad, Thank you very much for your interest. I'm so sorry but it is the first time that I see that error. I have no idea what the problem could be. You are using pcl 1.9.1, right? I'm on holiday till september so I am afraid that I cannot go deeper right now. Sorry. Best regards, Noé El mar., 28 jul. 2020 a las 15:37, Ahmad Kamal Nasir (< notifications@github.com>) escribió: … Hi, Thanks for sharing the package. I have been trying to setup the package on ROS Kinetic as per instructions on the wiki page. However, the move_base_node is crashing after loading the global planner library. it seems that the pcl sac library is creating a segmentation fault. Here is the gdb backtrace of the the move_base_node. [DEBUG] [1595942942.997169725]: Starting planner thread... [DEBUG] [1595942942.997403963]: Planner thread is suspending [DEBUG] [1595942943.015798687]: Attempting to create managed instance for class global_rrt_planner/GlobalRRTPlanner. [DEBUG] [1595942943.015922063]: Class global_rrt_planner/GlobalRRTPlanner maps to library lib/libglobal_rrt_planner in classesavailable. [DEBUG] [1595942943.016178423]: Iterating through all possible paths where lib/libglobal_rrt_planner could be located... [DEBUG] [1595942943.016210554]: Checking path /home/ahmad/catkin_ws/devel/lib/lib/libglobal_rrt_planner.so [DEBUG] [1595942943.016249238]: Checking path /home/ahmad/catkin_ws/devel/lib//libglobal_rrt_planner.so [DEBUG] [1595942943.016279166]: Library lib/libglobal_rrt_planner found at explicit path /home/ahmad/catkin_ws/devel/lib//libglobal_rrt_planner.so. Thread 1 "adapted_move_ba" received signal SIGSEGV, Segmentation fault. 0x00007fffcb4cd7df in _GLOBALsub_I_sac.cpp () from /usr/local/lib/libpcl_sample_consensus.so.1.9 (gdb) bt #0 0x00007fffcb4cd7df in _GLOBAL__sub_I_sac.cpp () from /usr/local/lib/libpcl_sample_consensus.so.1.9 #1 <#1> 0x00007ffff7de76fa in call_init (l=, @.=3, @.=0x7fffffffda38, @.=0x7fffffffda58) at dl-init.c:72 #2 <#2> 0x00007ffff7de780b in call_init (env=0x7fffffffda58, argv=0x7fffffffda38, argc=3, l=) at dl-init.c:30 #3 <#3> _dl_init @.=0x962c30, argc=3, argv=0x7fffffffda38, env=0x7fffffffda58) at dl-init.c:120 #4 <#4> 0x00007ffff7dec922 in dl_open_worker @.=0x7fffffffb0a0) at dl-open.c:575 #5 <#5> 0x00007ffff7de75a4 in _dl_catch_error @.=0x7fffffffb090, @.=0x7fffffffb098, @.=0x7fffffffb08f, @.=0x7ffff7dec510 , @.=0x7fffffffb0a0) at dl-error.c:187 #6 <#6> 0x00007ffff7debde9 in _dl_open (file=0x961e90 "/home/ahmad/catkin_ws/devel/lib//libglobal_rrt_planner.so", mode=-2147483391, caller_dlopen=0x7ffff2aa4862 <Poco::SharedLibraryImpl::loadImpl(std::cxx11::basic_string<char, std::char_traits, std::allocator > const&)+82>, nsid=-2, argc=, argv=, env=0x7fffffffda58) at dl-open.c:660 #7 <#7> 0x00007ffff0dabf09 in dlopen_doit @.=0x7fffffffb2d0) at dlopen.c:66 #8 0x00007ffff7de75a4 in _dl_catch_error (objname=0x926040, errstring=0x926048, mallocedp=0x926038, operate=0x7ffff0dabeb0 , args=0x7fffffffb2d0) at dl-error.c:187 #9 0x00007ffff0dac571 in _dlerror_run @.=0x7ffff0dabeb0 , @.**=0x7fffffffb2d0) at dlerror.c:163 #10 0x00007ffff0dabfa1 in dlopen (file=, mode=) at dlopen.c:87 #11 0x00007ffff2aa4862 in Poco::SharedLibraryImpl::loadImpl(std::cxx11::basic_string<char, std::char_traits, std::allocator > const&) () from /usr/lib/libPocoFoundation.so.9 #12 0x00007ffff2aa4d80 in Poco::SharedLibrary::SharedLibrary(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&) () from /usr/lib/libPocoFoundation.so.9 #13 0x00007ffff5b965db in class_loader::class_loader_private::loadLibrary(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, class_loader::ClassLoader) () from /opt/ros/kinetic/lib/libclass_loader.so #14 0x00007ffff5b90aaa in class_loader::ClassLoader::loadLibrary() () from /opt/ros/kinetic/lib/libclass_loader.so #15 0x00007ffff5b90cb8 in class_loader::ClassLoader::ClassLoader(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, bool) () from /opt/ros/kinetic/lib/libclass_loader.so #16 0x00007ffff5b9a3b2 in classloader::MultiLibraryClassLoader::loadLibrary(std:: cxx11::basic_string<char, std::char_traits, std::allocator > const&) () from /opt/ros/kinetic/lib/libclass_loader.so #17 0x00007ffff7b062a2 in pluginlib::ClassLoader::loadLibraryForClass (this=0x7fffffffd228, lookup_name="global_rrt_planner/GlobalRRTPlanner") at /opt/ros/kinetic/include/pluginlib/././class_loader_imp.hpp:630 #18 0x00007ffff7af4578 in pluginlib::ClassLoader::createInstance (this=0x7fffffffd228, lookup_name="global_rrt_planner/GlobalRRTPlanner") at /opt/ros/kinetic/include/pluginlib/././class_loader_imp.hpp:165 #19 0x00007ffff7acf8bb in move_base::MoveBase::MoveBase (this=0x7fffffffcfd0, tf=0x7fffffffcaf0) at /home/ahmad/catkin_ws/src/indires_navigation/adapted_move_base/src/move_base.cpp:134 #20 0x000000000041a648 in main (argc=1, argv=0x7fffffffda38) at /home/ahmad/catkin_ws/src/indires_navigation/adapted_move_base/src/move_base_node.cpp:45 (gdb) frame 17 #17 0x00007ffff7b062a2 in pluginlib::ClassLoader::loadLibraryForClass (this=0x7fffffffd228, lookup_name="global_rrt_planner/GlobalRRTPlanner") at /opt/ros/kinetic/include/pluginlib/././class_loader_imp.hpp:630 630 lowlevel_class_loader.loadLibrary(library_path); Could you suggest what is the issue of the crash? Regards, Ahmad — Youare receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#7>, or unsubscribe https://github.com/notifications/unsubscribe-auth/ADUK36DXJY5LZ3G7WGU7BUTR53IBNANCNFSM4PKQ6FDA . -- NOE PEREZ HIGUERAS Postdoctoral Researcher - RoboticsLab Dept. Ingenieria de Sist. y Automatica Universidad Carlos III de Madrid c/ Butarque, 15 28911 Leganes, Madrid España - SPAIN

Hi Noe,

Yes, I compiled and installed the pcl-1.9.1. Do you think the issue could be due to some incorrect parameters within the navigation_params.yaml file? Is there any per-configured launch file with parameters available for the gazebo simulation, as discussed in the related paper?

Regards, Ahmad

noeperez commented 4 years ago

Hi Ahmad,

I answer interleaved,

Do you think the issue could be due to some incorrect parameters within the navigation_params.yaml file? If the parameters are correct, no problem should arise. PCL is used to filter the input pointcloud. Is that pointcloud ok? Which mapping system are you using to generate the online map in the form of point cloud?

Is there any per-configured launch file with parameters available for the gazebo simulation, as discussed in the related paper? I cannot share my Gazebo simulation files since I was using the model of a robot that is not freely available. And I did not prepare the simulation files with another robot.

Best regards, Noé

El mar., 28 jul. 2020 a las 17:55, Ahmad Kamal Nasir (< notifications@github.com>) escribió:

Hello Ahmad, Thank you very much for your interest. I'm so sorry but it is the first time that I see that error. I have no idea what the problem could be. You are using pcl 1.9.1, right? I'm on holiday till september so I am afraid that I cannot go deeper right now. Sorry. Best regards, Noé El mar., 28 jul. 2020 a las 15:37, Ahmad Kamal Nasir (< notifications@github.com>) escribió: … <#m-3826123266341410392> Hi, Thanks for sharing the package. I have been trying to setup the package on ROS Kinetic as per instructions on the wiki page. However, the move_base_node is crashing after loading the global planner library. it seems that the pcl sac library is creating a segmentation fault. Here is the gdb backtrace of the the move_base_node. [DEBUG] [1595942942.997169725]: Starting planner thread... [DEBUG] [1595942942.997403963]: Planner thread is suspending [DEBUG] [1595942943.015798687]: Attempting to create managed instance for class global_rrt_planner/GlobalRRTPlanner. [DEBUG] [1595942943.015922063]: Class global_rrt_planner/GlobalRRTPlanner maps to library lib/libglobal_rrt_planner in classesavailable. [DEBUG] [1595942943.016178423]: Iterating through all possible paths where lib/libglobal_rrt_planner could be located... [DEBUG] [1595942943.016210554]: Checking path /home/ahmad/catkin_ws/devel/lib/lib/libglobal_rrt_planner.so [DEBUG] [1595942943.016249238]: Checking path /home/ahmad/catkin_ws/devel/lib//libglobal_rrt_planner.so [DEBUG] [1595942943.016279166]: Library lib/libglobal_rrt_planner found at explicit path /home/ahmad/catkin_ws/devel/lib//libglobal_rrt_planner.so. Thread 1 "adapted_move_ba" received signal SIGSEGV, Segmentation fault. 0x00007fffcb4cd7df in _GLOBALsub_I_sac.cpp () from /usr/local/lib/libpcl_sample_consensus.so.1.9 (gdb) bt #0 0x00007fffcb4cd7df in _GLOBAL__sub_I_sac.cpp () from /usr/local/lib/libpcl_sample_consensus.so.1.9 #1 https://github.com/noeperez/indires_navigation/issues/1 <#1 https://github.com/noeperez/indires_navigation/issues/1> 0x00007ffff7de76fa in call_init (l=, @.=3, @.=0x7fffffffda38, @.=0x7fffffffda58) at dl-init.c:72 #2 https://github.com/noeperez/indires_navigation/issues/2 <#2 https://github.com/noeperez/indires_navigation/issues/2> 0x00007ffff7de780b in call_init (env=0x7fffffffda58, argv=0x7fffffffda38, argc=3, l=) at dl-init.c:30 #3 https://github.com/noeperez/indires_navigation/issues/3 <#3 https://github.com/noeperez/indires_navigation/issues/3> _dl_init @.=0x962c30, argc=3, argv=0x7fffffffda38, env=0x7fffffffda58) at dl-init.c:120 #4 https://github.com/noeperez/indires_navigation/issues/4 <#4 https://github.com/noeperez/indires_navigation/issues/4> 0x00007ffff7dec922 in dl_open_worker @.=0x7fffffffb0a0) at dl-open.c:575 #5 https://github.com/noeperez/indires_navigation/issues/5 <#5 https://github.com/noeperez/indires_navigation/issues/5> 0x00007ffff7de75a4 in _dl_catch_error @.=0x7fffffffb090, @.=0x7fffffffb098, @.=0x7fffffffb08f, @.=0x7ffff7dec510 , @.=0x7fffffffb0a0) at dl-error.c:187 #6 https://github.com/noeperez/indires_navigation/issues/6 <#6 https://github.com/noeperez/indires_navigation/issues/6> 0x00007ffff7debde9 in _dl_open (file=0x961e90 "/home/ahmad/catkin_ws/devel/lib//libglobal_rrt_planner.so", mode=-2147483391, caller_dlopen=0x7ffff2aa4862 <Poco::SharedLibraryImpl::loadImpl(std::cxx11::basic_string<char, std::char_traits, std::allocator > const&)+82>, nsid=-2, argc=, argv=, env=0x7fffffffda58) at dl-open.c:660 #7 https://github.com/noeperez/indires_navigation/issues/7 <#7 https://github.com/noeperez/indires_navigation/issues/7> 0x00007ffff0dabf09 in dlopen_doit @.*=0x7fffffffb2d0) at dlopen.c:66 #8 0x00007ffff7de75a4 in _dl_catch_error (objname=0x926040, errstring=0x926048, mallocedp=0x926038, operate=0x7ffff0dabeb0

, args=0x7fffffffb2d0) at dl-error.c:187 #9 0x00007ffff0dac571 in _dlerror_run @.*=0x7ffff0dabeb0 , *@*.***=0x7fffffffb2d0) at dlerror.c:163 #10 0x00007ffff0dabfa1 in __dlopen (file=, mode=) at dlopen.c:87 #11 0x00007ffff2aa4862 in Poco::SharedLibraryImpl::loadImpl(std::__cxx11::basic_string const&) () from /usr/lib/libPocoFoundation.so.9 #12 0x00007ffff2aa4d80 in Poco::SharedLibrary::SharedLibrary(std::__cxx11::basic_string const&) () from /usr/lib/libPocoFoundation.so.9 #13 0x00007ffff5b965db in class_loader::class_loader_private::loadLibrary(std::__cxx11::basic_string const&, class_loader::ClassLoader*) () from /opt/ros/kinetic/lib/libclass_loader.so #14 0x00007ffff5b90aaa in class_loader::ClassLoader::loadLibrary() () from /opt/ros/kinetic/lib/libclass_loader.so #15 0x00007ffff5b90cb8 in class_loader::ClassLoader::ClassLoader(std::_*cxx11::basic_string const&, bool) () from /opt/ros/kinetic/lib/libclass_loader.so #16 0x00007ffff5b9a3b2 in class_loader::MultiLibraryClassLoader::loadLibrary(std::* *cxx11::basic_string const&) () from /opt/ros/kinetic/lib/libclass_loader.so #17 0x00007ffff7b062a2 in pluginlib::ClassLoader::loadLibraryForClass (this=0x7fffffffd228, lookup_name="global_rrt_planner/GlobalRRTPlanner") at /opt/ros/kinetic/include/pluginlib/././class_loader_imp.hpp:630 #18 0x00007ffff7af4578 in pluginlib::ClassLoader::createInstance (this=0x7fffffffd228, lookup_name="global_rrt_planner/GlobalRRTPlanner") at /opt/ros/kinetic/include/pluginlib/././class_loader_imp.hpp:165 #19 0x00007ffff7acf8bb in move_base::MoveBase::MoveBase (this=0x7fffffffcfd0, tf=0x7fffffffcaf0) at /home/ahmad/catkin_ws/src/indires_navigation/adapted_move_base/src/move_base.cpp:134 #20 0x000000000041a648 in main (argc=1, argv=0x7fffffffda38) at /home/ahmad/catkin_ws/src/indires_navigation/adapted_move_base/src/move_base_node.cpp:45 (gdb) frame 17 #17 0x00007ffff7b062a2 in pluginlib::ClassLoader::loadLibraryForClass (this=0x7fffffffd228, lookup_name="global_rrt_planner/GlobalRRTPlanner") at /opt/ros/kinetic/include/pluginlib/././class_loader_imp.hpp:630 630 lowlevel_class_loader*.loadLibrary(library_path); *Could you suggest what is the issue of the crash?* Regards, Ahmad — Youare receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#7 >, or unsubscribe https://github.com/notifications/unsubscribe-auth/ADUK36DXJY5LZ3G7WGU7BUTR53IBNANCNFSM4PKQ6FDA . -- NOE PEREZ HIGUERAS Postdoctoral Researcher - RoboticsLab Dept. Ingenieria de Sist. y Automatica Universidad Carlos III de Madrid c/ Butarque, 15 28911 Leganes, Madrid España - SPAIN Hi Noe, Yes, I compiled and installed the pcl-1.9.1. Do you think the issue could be due to some incorrect parameters within the navigation_params.yaml file? Is there any per-configured launch file with parameters available for the gazebo simulation, as discussed in the related paper? Regards, Ahmad — You are receiving this because you commented. Reply to this email directly, view it on GitHub , or unsubscribe .

-- NOE PEREZ HIGUERAS Postdoctoral Researcher - RoboticsLab Dept. Ingenieria de Sist. y Automatica Universidad Carlos III de Madrid c/ Butarque, 15 28911 Leganes, Madrid España - SPAIN

dringakn commented 4 years ago

answer interleaved

All the PCL filtering nodes are seems to be generating outputs from the input Point Clouds (PC).

I am using the PC generated by the octomap package. Which mapping package are you using?

I am using the default parameters values except the frame/topic names. Here is my configuration file. navigation_params.txt