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tu-darmstadt-ros-pkg / hector_navigation

hector_navigation provides packages related to navigation of unmanned vehicles in USAR environments.
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Exploration Node Process fails at start #4

Closed Scottapotamas closed 5 years ago

Scottapotamas commented 9 years ago

Trying to get started with exploration. Running hector_slam with a SICK 310 lidar. ODroid XU3 with Lubuntu 14.04. Indigo. Mapping works perfectly well, so its time to navigate...

Pulled the catkin branch and built seemingly successfully. Costmap runs standalone perfectly fine, but I've not been able to get much further than that.

The error as follows:

started roslaunch server http://10.128.0.11:50133/

SUMMARY
========

PARAMETERS
 * /hector_exploration_node/global_costmap/circumscribed_radius: 0.32
 * /hector_exploration_node/global_costmap/cost_scaling_factor: 10.0
 * /hector_exploration_node/global_costmap/footprint: [[0.25, 0.21], [-...
 * /hector_exploration_node/global_costmap/global_frame: /map
 * /hector_exploration_node/global_costmap/inflation_radius: 0.32
 * /hector_exploration_node/global_costmap/inscribed_radius: 0.3
 * /hector_exploration_node/global_costmap/map_type: costmap
 * /hector_exploration_node/global_costmap/obstacle_range: 2.5
 * /hector_exploration_node/global_costmap/publish_frequency: 0.1
 * /hector_exploration_node/global_costmap/raytrace_range: 3.0
 * /hector_exploration_node/global_costmap/robot_base_frame: /base_link
 * /hector_exploration_node/global_costmap/rolling_window: False
 * /hector_exploration_node/global_costmap/static_map: True
 * /hector_exploration_node/global_costmap/track_unknown_space: True
 * /hector_exploration_node/global_costmap/unknown_cost_value: 255
 * /hector_exploration_node/global_costmap/update_frequency: 0.5
 * /rosdistro: indigo
 * /rosversion: 1.11.9

NODES
  /
    hector_exploration_node (hector_exploration_node/exploration_planner_node)

ROS_MASTER_URI=http://10.128.0.11:11311

core service [/rosout] found
process[hector_exploration_node-1]: started with pid [16984]
[ INFO] [1432908727.473198099]: Using plugin "static_layer"
[ INFO] [1432908727.678839869]: Requesting the map...
[ INFO] [1432908727.915951324]: Resizing costmap to 2048 X 2048 at 0.050000 m/pix
[ INFO] [1432908727.991227292]: Received a 2048 X 2048 map at 0.050000 m/pix
[ INFO] [1432908728.006394778]: Using plugin "obstacle_layer"
[ INFO] [1432908728.026014200]:     Subscribed to Topics:
[ INFO] [1432908728.070892905]: Using plugin "inflation_layer"
[ INFO] [1432908728.212180173]: [hector_exploration_planner] Initializing HectorExplorationPlanner
[hector_exploration_node-1] process has died [pid 16984, exit code -11, cmd /home/odroid/catkin_ws/devel/lib/hector_exploration_node/exploration_planner_node __name:=hector_exploration_node __log:=/home/odroid/.ros/log/0cd6f052-05f7-11e5-b62f-001e06617a39/hector_exploration_node-1.log].
log file: /home/odroid/.ros/log/0cd6f052-05f7-11e5-b62f-001e06617a39/hector_exploration_node-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done
skohlbr commented 9 years ago

That's a very generic crash and it is very hard to debug without a backtrace. If you could run things in gdb (ideally after compiling a Debug version), that would be helpful.

Scottapotamas commented 9 years ago

As requested:

[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
25  events.c: No such file or directory.

GNU gdb (Ubuntu 7.7.1-0ubuntu5~14.04.2) 7.7.1
Copyright (C) 2014 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law.  Type "show copying"
and "show warranty" for details.
This GDB was configured as "arm-linux-gnueabihf".
Type "show configuration" for configuration details.
For bug reporting instructions, please see:
<http://www.gnu.org/software/gdb/bugs/>.
Find the GDB manual and other documentation resources online at:
<http://www.gnu.org/software/gdb/documentation/>.
For help, type "help".
Type "apropos word" to search for commands related to "word"...
Reading symbols from /home/odroid/catkin_ws/devel/lib/hector_exploration_node/exploration_planner_node...done.
Starting program: /home/odroid/catkin_ws/devel/lib/hector_exploration_node/exploration_planner_node __name:=hector_exploration_node __log:=/home/odroid/.ros/log/c12b27a0-08fc-11e5-8fc7-7cdd9079f35a/hector_exploration_node-1.log
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/arm-linux-gnueabihf/libthread_db.so.1".
[New Thread 0xb48713e0 (LWP 5875)]
[New Thread 0xb3eff3e0 (LWP 5876)]
[New Thread 0xb36ff3e0 (LWP 5877)]

Program received signal SIGILL, Illegal instruction.
__GI___nptl_create_event () at events.c:25
(gdb) quit
A debugging session is active.

    Inferior 1 [process 5871] will be killed.

Quit anyway? (y or n) ... logging to /home/odroid/.ros/log/c12b27a0-08fc-11e5-8fc7-7cdd9079f35a/roslaunch-alfred-5845.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;/home/odroid/catkin_ws/src/hector_navigation/hector_exploration_node/launch/exploration_planner.launch
started roslaunch server http://10.128.0.11:59248/

SUMMARY
========

PARAMETERS
 * /hector_exploration_node/global_costmap/circumscribed_radius: 0.32
 * /hector_exploration_node/global_costmap/cost_scaling_factor: 10.0
 * /hector_exploration_node/global_costmap/footprint: [[0.25, 0.21], [-...
 * /hector_exploration_node/global_costmap/global_frame: /map
 * /hector_exploration_node/global_costmap/inflation_radius: 0.32
 * /hector_exploration_node/global_costmap/inscribed_radius: 0.3
 * /hector_exploration_node/global_costmap/map_type: costmap
 * /hector_exploration_node/global_costmap/obstacle_range: 2.5
 * /hector_exploration_node/global_costmap/publish_frequency: 0.1
 * /hector_exploration_node/global_costmap/raytrace_range: 3.0
 * /hector_exploration_node/global_costmap/robot_base_frame: /base_link
 * /hector_exploration_node/global_costmap/rolling_window: False
 * /hector_exploration_node/global_costmap/static_map: True
 * /hector_exploration_node/global_costmap/track_unknown_space: True
 * /hector_exploration_node/global_costmap/unknown_cost_value: 255
 * /hector_exploration_node/global_costmap/update_frequency: 0.5
 * /rosdistro: indigo
 * /rosversion: 1.11.9

NODES
  /
    hector_exploration_node (hector_exploration_node/exploration_planner_node)

ROS_MASTER_URI=http://10.128.0.11:11311
]2;/home/odroid/catkin_ws/src/hector_navigation/hector_exploration_node/launch/exploration_planner.launch http://10.128.0.11:11311
core service [/rosout] found
process[hector_exploration_node-1]: started with pid [5868]
[hector_exploration_node-1] process has finished cleanly
log file: /home/odroid/.ros/log/c12b27a0-08fc-11e5-8fc7-7cdd9079f35a/hector_exploration_node-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done
Scottapotamas commented 9 years ago

So it appears that Costmap2D is the cause?


started roslaunch server http://10.128.0.11:60783/

SUMMARY
========

PARAMETERS
 * /hector_exploration_node/global_costmap/circumscribed_radius: 0.32
 * /hector_exploration_node/global_costmap/cost_scaling_factor: 10.0
 * /hector_exploration_node/global_costmap/footprint: [[0.25, 0.21], [-...
 * /hector_exploration_node/global_costmap/global_frame: /map
 * /hector_exploration_node/global_costmap/inflation_radius: 0.32
 * /hector_exploration_node/global_costmap/inscribed_radius: 0.3
 * /hector_exploration_node/global_costmap/map_type: costmap
 * /hector_exploration_node/global_costmap/obstacle_range: 2.5
 * /hector_exploration_node/global_costmap/publish_frequency: 0.1
 * /hector_exploration_node/global_costmap/raytrace_range: 3.0
 * /hector_exploration_node/global_costmap/robot_base_frame: /base_link
 * /hector_exploration_node/global_costmap/rolling_window: False
 * /hector_exploration_node/global_costmap/static_map: True
 * /hector_exploration_node/global_costmap/track_unknown_space: True
 * /hector_exploration_node/global_costmap/unknown_cost_value: 255
 * /hector_exploration_node/global_costmap/update_frequency: 0.5
 * /rosdistro: indigo
 * /rosversion: 1.11.9

NODES
  /
    hector_exploration_node (hector_exploration_node/exploration_planner_node)

ROS_MASTER_URI=http://10.128.0.11:11311

core service [/rosout] found
process[hector_exploration_node-1]: started with pid [12010]
GNU gdb (Ubuntu 7.7.1-0ubuntu5~14.04.2) 7.7.1
Copyright (C) 2014 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law.  Type "show copying"
and "show warranty" for details.
This GDB was configured as "arm-linux-gnueabihf".
Type "show configuration" for configuration details.
For bug reporting instructions, please see:
<http://www.gnu.org/software/gdb/bugs/>.
Find the GDB manual and other documentation resources online at:
<http://www.gnu.org/software/gdb/documentation/>.
For help, type "help".
Type "apropos word" to search for commands related to "word"...
Reading symbols from /home/odroid/catkin_ws/devel/lib/hector_exploration_node/exploration_planner_node...done.
Starting program: /home/odroid/catkin_ws/devel/lib/hector_exploration_node/exploration_planner_node __name:=hector_exploration_node __log:=/home/odroid/.ros/log/6ce9149c-09ae-11e5-8124-7cdd9079f35a/hector_exploration_node-1.log
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/arm-linux-gnueabihf/libthread_db.so.1".
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0xb48713e0 (LWP 12016)]
[New Thread 0xb3eff3e0 (LWP 12017)]
[New Thread 0xb36ff3e0 (LWP 12018)]
[New Thread 0xb2eff3e0 (LWP 12023)]
[New Thread 0xb24ff3e0 (LWP 12037)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[ INFO] [1433319234.467262128]: Using plugin "static_layer"
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[ INFO] [1433319234.824302337]: Requesting the map...
[ INFO] [1433319235.076330943]: Resizing costmap to 2048 X 2048 at 0.050000 m/pix
[ INFO] [1433319235.145196965]: Received a 2048 X 2048 map at 0.050000 m/pix
[ INFO] [1433319235.163749049]: Using plugin "obstacle_layer"
[ INFO] [1433319235.180912128]:     Subscribed to Topics:
[ INFO] [1433319235.230608187]: Using plugin "inflation_layer"
[New Thread 0xb06163e0 (LWP 12124)]
[New Thread 0xafe163e0 (LWP 12150)]
[ WARN] [1433319235.391514712]: Costmap2DROS transform timeout. Current time: 1433319235.3913, global_pose stamp: 1433319234.8952, tolerance: 0.3000
[ INFO] [1433319235.429995429]: [hector_exploration_planner] Initializing HectorExplorationPlanner

Program received signal SIGSEGV, Segmentation fault.
0xb6eb9014 in costmap_2d::Costmap2D::getSizeInCellsX() const ()
   from /opt/ros/indigo/lib/libcostmap_2d.so
(gdb) [hector_exploration_node-1] killing on exit
Quit
robbiedood commented 4 years ago

Hi @Scottapotamas , we were wondering if you found the solution. We got the same issue with you, Costmap can run standalone well, but we have no idea how to move further.

Scottapotamas commented 4 years ago

I honestly can't remember, that project finished 5 years ago...

Might be worth making a new issue instead.