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ros-planning / navigation_experimental

Experimental navigation techniques for ROS robots.
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assisted_teleop crashes/freezes terminal with WARN msgs from planner node #52

Open Combinacijus opened 3 years ago

Combinacijus commented 3 years ago

When invalid trajectory is detected these messages freeze terminal and if it launched from main launch file it might freeze whole robot to the point that even ctrl+c is not responding

[ WARN] [1618738216.228767500, 13.091000000]: Invalid Trajectory 0.100000, 0.000000, 0.210000, cost: -1.000000
[ WARN] [1618738216.228784700, 13.091000000]: Invalid Trajectory 0.100000, 0.000000, 0.245000, cost: -1.000000
[ WARN] [1618738216.228802000, 13.091000000]: Invalid Trajectory 0.100000, 0.000000, 0.280000, cost: -1.000000
[ WARN] [1618738216.228829400, 13.091000000]: Invalid Trajectory 0.100000, 0.000000, 0.315000, cost: -1.000000

More info:

Ubuntu 20.04 Noetic I'm using teleop_twist_keyboard which /cmd_vel topic is mapped to assisted_teleop node. When robot is next to wall single short key press produces ~200-300 WARN messages.

Workaround

Set higher logger level for planner in the same launch file where we launch assited_teleop it solves freezing issue and reduces cpu usage by quite a lot when invalid trajectory is detected <node pkg="rosservice" type="rosservice" name="supress_warn" args="call --wait /assisted_teleop/set_logger_level &quot;{logger: 'ros.base_local_planner', level: 'error'}&quot;" />