MihirDharmadhikari
commented
1 year ago Hi @antoan-flox ,
Did you experience this issue persistently or was this happening only occasionally?
Best, Mihir
Open antoan-flox opened 1 year ago
MihirDharmadhikari
commented
1 year ago Hi @antoan-flox ,
Did you experience this issue persistently or was this happening only occasionally?
Best, Mihir
whuer-mspace
commented
1 year ago Hi @antoan-flox ,
Did you experience this issue persistently or was this happening only occasionally?
Best, Mihir
Hi, @MihirDharmadhikari , I also meet same problem,it occor persistently, How to fix the issue?
gbplanner_node: /usr/include/eigen3/Eigen/src/Core/DenseCoeffsBase.h:364: Eigen::DenseCoeffsBase<Derived, 1>::Scalar& Eigen::DenseCoeffsBase<Derived, 1>::operator()(Eigen::Index, Eigen::Index) [with Derived = Eigen::Matrix<double, -1, -1>; Eigen::DenseCoeffsBase<Derived, 1>::Scalar = double; Eigen::Index = long int]: Assertion `row >= 0 && row < rows() && col >= 0 && col < cols()' failed. Aborted at 1685008536 (unix time) try "date -d @1685008536" if you are using GNU date PC: @ 0x7feb729fd00b gsignal SIGABRT (@0x3e800024c6e) received by PID 150638 (TID 0x7feb62696640) from PID 150638; stack trace: @ 0x7feb7477c631 (unknown) @ 0x7feb729fd090 (unknown) @ 0x7feb729fd00b gsignal @ 0x7feb729dc859 abort @ 0x7feb729dc729 (unknown) @ 0x7feb729edfd6 __assert_fail @ 0x7feb73bdcc11 Eigen::DenseCoeffsBase<>::operator()() @ 0x7feb73bdb234 MapManagerVoxblox<>::getScanStatus() @ 0x7feb74324017 explorer::Rrg::computeVolumetricGainRayModel() @ 0x7feb74322794 explorer::Rrg::computeExplorationGain() @ 0x7feb743158a1 explorer::Rrg::evaluateGraph() @ 0x7feb742b5ff9 explorer::Gbplanner::plannerServiceCallback() @ 0x7feb742e5b28 boost::_mfi::mf2<>::operator()() @ 0x7feb742ddf56 boost::_bi::list3<>::operator()<>() @ 0x7feb742d7c91 boost::_bi::bind_t<>::operator()<>() @ 0x7feb742d1d9b boost::detail::function::function_obj_invoker2<>::invoke() @ 0x7feb74300c65 boost::function2<>::operator()() [ INFO] [1685008536.184363612]: Temp compute time = 0.276780, average compute time = 0.277671 @ 0x7feb742fdbb5 ros::ServiceSpec<>::call() @ 0x7feb742f67fd ros::ServiceCallbackHelperT<>::call() @ 0x7feb7463a439 ros::ServiceCallback::call() @ 0x7feb7468b172 ros::CallbackQueue::callOneCB() [ WARN] [1685008536.187387095]: Collision check time: 0.000001 @ 0x7feb7468c883 ros::CallbackQueue::callAvailable() @ 0x7feb746dffcf ros::SingleThreadedSpinner::spin() @ 0x7feb746c821f ros::spin() @ 0x558edae53a3a main @ 0x7feb729de083 __libc_start_main @ 0x558edae5371e _start [ERROR] [1685008536.331578224]: Planner service failed [gbplanner_node-7] process has died [pid 150638, exit code -6
MihirDharmadhikari
commented
1 year ago Hi @yhy130531,
Thanks for letting us know. I am investigating this issue and will get back to you on this.
whuer-mspace
commented
1 year ago Thank you very much @MihirDharmadhikari. One thing that needs to be explained is that our emulator does not use Gazebo, but only uses Rviz display. The drone control, odometer, and point cloud generation are all ours. I only tested the exploration algorithm. When I start the algorithm , the above error occurred.
Hi @yhy130531,
Thanks for letting us know. I am investigating this issue and will get back to you on this.
MihirDharmadhikari
commented
1 year ago The planner can work with a custom setup as long as the appropriate topics for the point cloud and odometry are set and a position controller for tracking the output path is available. So I think your setup should be fine. Just out of curiosity, did you encounter the same error with our simulation setup as well? This might help narrow down the issue.
whuer-mspace
commented
1 year ago The planner can work with a custom setup as long as the appropriate topics for the point cloud and odometry are set and a position controller for tracking the output path is available. So I think your setup should be fine. Just out of curiosity, did you encounter the same error with our simulation setup as well? This might help narrow down the issue.
The error only occur our simulation，the planner can be work well in your simulation.
MihirDharmadhikari
commented
1 year ago The LiDAR need not have 64 beams. The planner can take any point cloud as input as long as it is in the sensor frame so any other LiDAR simulator should be fine.
SFakoorian0111
commented
12 months ago @MihirDharmadhikari I see the same issue when I run your sim example roslaunch gbplanner smb_sim.launch
I attached a screenshot but this issue happens when I click on "Start Planner". When I click the "Initialization" the robot moves for a couple of steps and then it stops.
Here is another screenshot when I clicked the "Start Planner" at 1701214505.143857999 and it looks the node crashed afterward.
MihirDharmadhikari
commented
12 months ago Hello,
This might be related to issue #20. We are investigating the root cause of it. Meanwhile, you can set this parameter in the 'planner_common' package to 0, clean the package, and rebuild. However, note that this will use a more conservative volumetric gain computation.
Best, Mihir
Hello,
I built the package on ROS Noetic and experienced a crash, here is the output: