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turtlebot / turtlebot_simulator

Launchers for Gazebo simulation of the TurtleBot
http://www.ros.org/wiki/turtlebot_simulator
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Problems starting amcl_demo #33

Closed schultza closed 9 years ago

schultza commented 9 years ago

Hey,

since some time I am not able to let the amcl demo run. I am just starting the program with following command: roslaunch turtlebot_gazebo amcl_demo.launch map_file:=/home/schultza/my_map.yaml

my_map was created some time before.

Here is the output:

... logging to /home/schultza/.ros/log/c1a96b00-4495-11e4-b4f1-485ab604aada/roslaunch-Andreas-1030.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.

started roslaunch server http://Andreas:40742/

SUMMARY

PARAMETERS

NODES / amcl (amcl/amcl) kobuki_safety_controller (nodelet/nodelet) map_server (map_server/map_server) move_base (move_base/move_base) navigation_velocity_smoother (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[map_server-1]: started with pid [1051] process[amcl-2]: started with pid [1052] process[navigation_velocity_smoother-3]: started with pid [1053] process[kobuki_safety_controller-4]: started with pid [1054] ERROR: cannot launch node of type [move_base/move_base]: can't locate node [move_base] in package [move_base] amcl: malloc.c:2372: sysmalloc: Assertion `(oldtop == (((mbinptr) (((char ) &((av)->bins[((1) - 1) * 2])) - builtin_offsetof (struct malloc_chunk, fd)))) && old_size == 0) || ((unsigned long) (old_size) >= (unsigned long)((((builtin_offsetof (struct malloc_chunk, fd_nextsize))+((2 (sizeof(size_t))) - 1)) & ~((2 (sizeof(size_t))) - 1))) && ((old_top)->size & 0x1) && ((unsigned long) old_end & pagemask) == 0)' failed. [amcl-2] process has died [pid 1052, exit code -6, cmd /home/schultza/catkinws/devel/lib/amcl/amcl scan:=scan name:=amcl log:=/home/schultza/.ros/log/c1a96b00-4495-11e4-b4f1-485ab604aada/amcl-2.log]. log file: /home/schultza/.ros/log/c1a96b00-4495-11e4-b4f1-485ab604aada/amcl-2.log ^C[kobuki_safety_controller-4] killing on exit [navigation_velocity_smoother-3] killing on exit [map_server-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

See that move_base and amcl are creating problems.

jihoonl commented 9 years ago

I have tested amcl_demo in indigo, and worked fine without any error. Also hydro release has not been touched for a while.

Can you post more information like how you installed and how you started? a log with --screen flag would be helpful too.

Also It seems like the system cannot find move_base. Did you install move_base package?

schultza commented 9 years ago

First thanks for your answer:

Here is the output with --screen flag:

schultza@Andreas:~$ roslaunch turtlebot_gazebo amcl_demo.launch map_file:=/home/schultza/my_map.yaml --screen ... logging to /home/schultza/.ros/log/5181c7de-454c-11e4-9ad3-485ab604aada/roslaunch-Andreas-3724.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.

started roslaunch server http://Andreas:48655/

SUMMARY

PARAMETERS

NODES / amcl (amcl/amcl) kobuki_safety_controller (nodelet/nodelet) map_server (map_server/map_server) move_base (move_base/move_base) navigation_velocity_smoother (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[map_server-1]: started with pid [3742] [ INFO] [1411715691.739144172]: Loading map from image "/home/schultza/my_map.pgm" [ INFO] [1411715691.746268572]: Read a 512 X 512 map @ 0.050 m/cell process[amcl-2]: started with pid [3763] * Error in `/home/schultza/catkin_ws/devel/lib/amcl/amcl': corrupted double-linked list: 0x09290950 * process[navigation_velocity_smoother-3]: started with pid [3860] [ INFO] [1411715691.977665338]: Loading nodelet /navigation_velocity_smoother of type yocs_velocity_smoother/VelocitySmootherNodelet to manager /mobile_base_nodelet_manager with the following remappings: [ INFO] [1411715691.977775063]: /navigation_velocity_smoother/odometry -> /odom [ INFO] [1411715691.977909361]: /navigation_velocity_smoother/robot_cmd_vel -> /mobile_base/commands/velocity [ INFO] [1411715691.977978660]: /navigation_velocity_smoother/smooth_cmd_vel -> /cmd_vel_mux/input/navi process[kobuki_safety_controller-4]: started with pid [3942] [amcl-2] process has died [pid 3763, exit code -6, cmd /home/schultza/catkin_ws/devel/lib/amcl/amcl scan:=scan name:=amcl log:=/home/schultza/.ros/log/5181c7de-454c-11e4-9ad3-485ab604aada/amcl-2.log]. log file: /home/schultza/.ros/log/5181c7de-454c-11e4-9ad3-485ab604aada/amcl-2*.log [ INFO] [1411715692.139738430]: Loading nodelet /kobuki_safety_controller of type kobuki_safety_controller/SafetyControllerNodelet to manager /mobile_base_nodelet_manager with the following remappings: [ INFO] [1411715692.140121959]: /kobuki_safety_controller/cmd_vel -> /cmd_vel_mux/input/safety_controller [ INFO] [1411715692.140221783]: /kobuki_safety_controller/events/bumper -> /mobile_base/events/bumper [ INFO] [1411715692.140296581]: /kobuki_safety_controller/events/cliff -> /mobile_base/events/cliff [ INFO] [1411715692.140433731]: /kobuki_safety_controller/events/wheel_drop -> /mobile_base/events/wheel_drop ERROR: cannot launch node of type [move_base/move_base]: can't locate node [move_base] in package [move_base] ^C[kobuki_safety_controller-4] killing on exit [map_server-1] killing on exit [navigation_velocity_smoother-3] killing on exit [ INFO] [1411715706.572873131, 206.050000000]: Unloading nodelet /kobuki_safety_controller from manager /mobile_base_nodelet_manager [ INFO] [1411715706.573311371, 206.050000000]: Unloading nodelet /navigation_velocity_smoother from manager /mobile_base_nodelet_manager shutting down processing monitor... ... shutting down processing monitor complete done schultza@Andreas:~$ sudo apt-get install ros-indigo-move-base [sudo] password for schultza: Reading package lists... Done Building dependency tree
Reading state information... Done ros-indigo-move-base is already the newest version. 0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.

You can also see that it says that i already got the newest version of move_base.

To the installation:

  1. ROS Installation with sudo apt-get install ros-indigo-desktop-full
  2. Gazebo Installation with sudo apt-get install ros-indigo-gazebo-ros-pkgs-current
  3. Gazebo_ros Installtion with sudo apt-get install ros-indigo-gazebo-ros-pkgs ros-indigo-gazebo-ros-control
  4. Download turtlebot_simulator from github with git clone https://github.com/turtlebot/turtlebot_simulator.git
  5. Install Dependencies with rosdep install --from-paths src -y -i
  6. Install turtlebot_apps with git clone https://github.com/turtlebot/turtlebot_apps.git
  7. catkin_make

Then see above commands, I stareted befor playground launch

thanks

jihoonl commented 9 years ago

Hm..this is weird. It seems like configuration issue rather than turtlebot_simulator code problem. Could you ask on ROS Answers? I think you can get better answer there.

schultza commented 9 years ago

Hm, i got the problem. I accidently installed the hydro branch of turtlebot stuff. So my bad. I am sorry and thanks for your time. You can close or better delete :)