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ros-swg / turtlebot3_demo

Repository to build and test Turtlebot3 packages
Apache License 2.0
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navigation2 mapserver segfault/interrupted #17

Closed emersonknapp closed 4 years ago

emersonknapp commented 4 years ago

Issue

when running the nav2 mapserver, it either prints a message "interrupted" or segfaults

Setup

docker build . -t rosswg/turtlebot3_demo
rocker --x11 rosswg/turtlebot3_demo "byobu -f configs/unsecure.conf attach"

Move to "mapping" window

root@3dddc873fd3d:/opt# ros2 run nav2_map_server map_saver -f maps/map
[INFO] [map_saver]: Waiting for the map
Magick: abort due to signal 11 (SIGSEGV) "Segmentation Fault"...
root@3dddc873fd3d:/opt# ros2 run nav2_map_server map_saver -f maps/map
[INFO] [map_saver]: Waiting for the map
Map saver failed: interrupted

Expected result

Map is served so that I can send goal poase via RViz

Actual result

"Map saver failed: interrupted" or "Segmentation Fault...", not strictly alternating, seems random which one

System Information

5:43:17 ➜  ~ rocker --version                                                                                                                                                         0s 
Plugins found: ['dev_helpers', 'env', 'git', 'home', 'nvidia', 'pulse', 'ssh', 'user', 'x11']
rocker 0.1.8
5:43:19 ➜  ~ docker --version                                                                                                                                                         0s 
Docker version 18.09.5, build e8ff056
ruffsl commented 4 years ago

Are you attempting to run the map server to save the map when the navigation launch file is running? I think the navigation launch file is already running a map server to publish the static map copied into the docker image; perhaps the duplicate nodes are colliding over namespaces. If you halt the navigation launch file, then start cartographer and move around, then you can use the map server save command to save the map you just explored.

I would be kind of cool to have navigation and cartographer running simultaneously, e.g. clicking on an unexplored occupancy, and having the navigation stack steadily plan towards the frontier. But that might be a little out of scope for the demo's purpose, and adding cartographer to the startup might add to the overhead.

emersonknapp commented 4 years ago

I think maybe the setup is just unclear. It seems like we've set up a nice sandbox to play in, but more directed "navigation2 demo", "cartographer demo" byobu setups might relieve some of the issue here

i think in my case i'm not able to see the map in rviz because of an rviz bug, and because of that thought i needed to start a map server, saw a command queued up called mapserver, and tried to run it

emersonknapp commented 4 years ago

i dind't read map_saver - i read it as map_server haha