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yzhangec / Exploration-with-Global-Consistency

[ICRA 2022] Exploration with Global Consistency Using Real-Time Re-integration and Active Loop Closure
GNU General Public License v3.0
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double free or corruption (out) after launch exploration node #4

Open massolala opened 4 months ago

massolala commented 4 months ago

Thanks for your nice work，when launch exploration node , a double free or corruption (out) error is reported and the exploration node dies.

massolala commented 4 months ago

[ WARN] [1715396677.503713122]: Cost mat: 0.000660, TSP: 0.001521 Local tour graph: 5, 1, 3, 4, 1, 3, 1, Node: 19, edge: 35 [ WARN] [1715396677.504144151]: create: 0.000015, search: 0.000158, parse: 0.000079 [ WARN] [1715396677.504174173]: Local refine time: 0.000426 Next view: 3.58988 -2.31456 0.637013, 2.31498 [Kino replan]: start: 2.18332 -1.5325 0.663231, 0 0 0, 0 0 0, goal: 3.58988 -2.31456 0.637013, 0 0 0 open set empty, no path! use node num: 1 iter num: 1 [ERROR] [1715396677.504357284]: search 1 fail open set empty, no path! use node num: 1 iter num: 1 [Kino replan]: Can't find path. [ WARN] [1715396677.504403846]: plan fail start pos: 2.18787 -1.53644 0.664363, vel: 0 0 0, acc: 0 0 0 0, 1, 2, 3, 4, 5, 6, [ INFO] [1715396677.517849584]: getActiveLoopClosureViewpoints [ WARN] [1715396677.517911201]: Get active_loop_closureclusters with size: 0 [ WARN] [1715396677.517974457]: Frontier: 7, t: 0.002452, viewpoint: 7, t: 0.000768

[ WARN] [1715396677.520914371]: Cost mat: 0.000625, TSP: 0.002276 Local tour graph: 1, 4, 5, 1, 2, 3, 1, Node: 18, edge: 41 [ WARN] [1715396677.521947707]: create: 0.000025, search: 0.000760, parse: 0.000043 [ WARN] [1715396677.522009962]: Local refine time: 0.001048 Next view: 1.41179 -0.670422 0.51496, -0.241911

massolala commented 4 months ago

double free or corruption (out) Stack trace (most recent call last) in thread 3718694:

19 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in

18 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f850d111352, in clone

17 Object "/lib/x86_64-linux-gnu/libpthread.so.0", at 0x7f850dd9f608, in

16 Object "/lib/x86_64-linux-gnu/libboost_thread.so.1.71.0", at 0x7f850a2d243a, in

15 Object "/opt/ros/noetic/lib/libroscpp.so", at 0x7f850df5e2f4, in ros::AsyncSpinnerImpl::threadFunc()

14 Object "/opt/ros/noetic/lib/libroscpp.so", at 0x7f850df0af14, in ros::CallbackQueue::callOne(ros::WallDuration)

13 Object "/opt/ros/noetic/lib/libroscpp.so", at 0x7f850df0a171, in ros::CallbackQueue::callOneCB(ros::CallbackQueue::TLS*)

12 Object "/opt/ros/noetic/lib/libroscpp.so", at 0x7f850dee8607, in ros::TimerManager<ros::Time, ros::Duration, ros::TimerEvent>::TimerQueueCallback::call()

11 Object "/data2/exploration/Exploration_with_Global_Consistency/devel/lib/exploration_manager/exploration_node", at 0x5569e4a643f1, in fast_planner::FastExplorationFSM::FSMCallback(ros::TimerEvent const&)

10 Object "/data2/exploration/Exploration_with_Global_Consistency/devel/lib/exploration_manager/exploration_node", at 0x5569e4a63a57, in fast_planner::FastExplorationFSM::callExplorationPlanner()

9 Object "/data2/exploration/Exploration_with_Global_Consistency/devel/lib/exploration_manager/exploration_node", at 0x5569e4a7bbbf, in fast_planner::FastExplorationManager::planExploreMotion(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)

8 Object "/data2/exploration/Exploration_with_Global_Consistency/devel/lib/libplan_manage.so", at 0x7f850e21bbe6, in fast_planner::FastPlannerManager::planExploreTraj(std::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > > const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double const&)

7 Object "/data2/exploration/Exploration_with_Global_Consistency/devel/lib/libpoly_traj.so", at 0x7f850cfb2d15, in fast_planner::PolynomialTraj::waypointsTraj(Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, fast_planner::PolynomialTraj&)

6 Object "/data2/exploration/Exploration_with_Global_Consistency/devel/lib/libpoly_traj.so", at 0x7f850cfb1567, in

5 Object "/data2/exploration/Exploration_with_Global_Consistency/devel/lib/libpoly_traj.so", at 0x7f850cfb0b06, in

4 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f850d088f9f, in

3 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f850d0872fb, in

2 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f850d07f26d, in

1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f850d014858, in abort

0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f850d03500b, in gsignal

Aborted (Signal sent by tkill() 3718499 1010) [ WARN] [1715396677.708350767]: flight time: 4.142802, path length: 5.030654, mean vel: 1.214312, energy is: 1850.367037 [exploration_node-1] process has died [pid 3718499, exit code -6, cmd /data2/exploration/Exploration_with_Global_Consistency/devel/lib/exploration_manager/exploration_node /odom_world:=/mock_loop/odometry /map_ros/pose:=/mock_loop/camera_pose /map_ros/pose_sim_no_loop:=/state_ukf/odom /map_ros/pose_correct:=/odom_visualization/robot /map_ros/loop_result:=/loop_fusion/path_optimization_trigger /map_ros/depth:=/pcl_render_node/depth /map_ros/cloud:=/sdf_map/depth_cloud __name:=exploration_node __log:=/home/songxx/.ros/log/73f3b156-0de7-11ef-94cd-f73e83f3f72a/exploration_node-1.log].