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paulbovbel / frontier_exploration

ROS Node and Costmap 2D plugin layer for frontier exploration
http://wiki.ros.org/frontier_exploration
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frontier_exploration demo loads but vehicle does not explore/move #44

Open erinline opened 5 years ago

erinline commented 5 years ago

I have tried running the ExamplePlugin demo with both turtlebot3 and husky, and I also ran their (modified to match the new organization scheme) frontier_exploration demos, and I get the same outcome every time: Everything goes as expected (loads with no major warnings, change marker topic, select the polygon points) until I select the initial point for exploration. Then I get both a class_loader warning and an illegal bounds change warning at this point:

[ WARN] [1551792888.556225222, 1398.450000000]: Please select an initial point for exploration inside the polygon Registering Scans:Done [ INFO] [1551792892.976814161, 1401.040000000]: Sending goal [ INFO] [1551792893.053697226, 1401.080000000]: Updating polygon [ INFO] [1551792893.054820548, 1401.080000000]: Requesting a goal Warning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. at line 122 in /tmp/binarydeb/ros-melodic-class-loader-0.4.1/src/class_loader.cpp Laser Pose= 0.337864 -1.00836e-05 -2.98469e-05 [ WARN] [1551792903.341009126, 1406.930000000]: Illegal bounds change, was [tl: (-99.975000, -99.975000), br: (100.025003, 100.025003)], but is now [tl: (-7.580047, -1.736327), br: (-1.910897, 1.987719)]. The offending layer is explore_costmap/polygon_layer

And nothing happens, the vehicle just sits there. I can still teleoperate the vehicle, but no autonomous exploration. The warning about the class unloading is not informative, as it doesn't say what class or library is being deleted or unloaded.

I am running frontier_exploration melodic branch on ROS melodic on ubuntu 18.04. If you have the turtlebot3 package (to build I downloaded 3 turtlebot3 packages from their respective github master branches, here, here and here) you should be able to reproduce this error by running, in 3 terminals: $ export TURTLEBOT3_MODEL=waffle_pi $ roslaunch turtlebot3_gazebo turtlebot3_world.launch

$ export TURTLEBOT3_MODEL=waffle_pi $ roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping

$ roslaunch exploration_server exploration.launch plugin:=exploration_server::ExamplePlugin

doublestrong commented 5 years ago

I encountered the same SEVERE WARNING message with Husky and the robot just sits there as well. I have no idea for solving it. Hopefully someone more experienced could look into it!