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robopeak / rplidar_ros

BSD 2-Clause "Simplified" License
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Crash on Raspberry Pi #67

Closed Piroro-hs closed 5 years ago

Piroro-hs commented 6 years ago

Hello.

I cloned this repo, and catkin_maked on both my PC and Raspberry Pi 3. The rplidarNode is running well on my PC (Ubuntu 16.04 x64, ROS Kinetic), but always crash on Raspberry Pi 3(Ubuntu MATE 16.04, ROS Kinetic). Below is a error message.

process[rplidarNode-1]: started with pid [1566]
[ INFO] [1534499013.847457964]: RPLIDAR running on ROS package rplidar_ros. SDK Version:1.7.0
RPLIDAR S/N: 97DD9AF2C1EA9FC0A2EB92F1040E3C02
[ INFO] [1534499014.366249529]: Firmware Ver: 1.24
[ INFO] [1534499014.366457706]: Hardware Rev: 6
[ INFO] [1534499014.368799211]: RPLidar health status : 0
[ INFO] [1534499015.067182568]: current scan mode: Sensitivity, max_distance: 25.0 m, Point number: 15.9K , angle_compensate: 4
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
[rplidarNode-1] process has died [pid 1566, exit code -6, cmd /home/pi/catkin_ws/devel/lib/rplidar_ros/rplidarNode __name:=rplidarNode __log:=/home/pi/.ros/log/6f73eaa0-a1c9-11e8-8585-7085c2230810/rplidarNode-1.log].
log file: /home/pi/.ros/log/6f73eaa0-a1c9-11e8-8585-7085c2230810/rplidarNode-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Also it sometimes throws std::length_error, instead of std::bad_alloc.

Thank you.

Piroro-hs commented 6 years ago

Related? https://github.com/Slamtec/rplidar_ros/issues/1

kintzhao commented 6 years ago

https://github.com/robopeak/rplidar_ros/blob/master/src/node.cpp#L270 you can try to change the code by an const angle_compensate_multiple ; //angle_compensate_multiple = (int)(1000*1000/current_scan_mode.us_per_sample/10.0/360.0); angle_compensate_multiple = 1;