move_base_node crash #7
Comments
|
Hello Ahmad,
Thank you very much for your interest.
I'm so sorry but it is the first time that I see that error. I have no idea
what the problem could be. You are using pcl 1.9.1, right?
I'm on holiday till september so I am afraid that I cannot go deeper right
now. Sorry.
Best regards,
Noé
El mar., 28 jul. 2020 a las 15:37, Ahmad Kamal Nasir (<
[email protected]>) escribió:
… Hi,
Thanks for sharing the package. I have been trying to setup the package on
ROS Kinetic as per instructions on the wiki page. However, the
move_base_node is crashing after loading the global planner library. it
seems that the pcl sac library is creating a segmentation fault. Here is
the gdb backtrace of the the move_base_node.
[DEBUG] [1595942942.997169725]: Starting planner thread...
[DEBUG] [1595942942.997403963]: Planner thread is suspending
[DEBUG] [1595942943.015798687]: Attempting to create managed instance for
class global_rrt_planner/GlobalRRTPlanner.
[DEBUG] [1595942943.015922063]: Class global_rrt_planner/GlobalRRTPlanner
maps to library lib/libglobal_rrt_planner in classes_available_.
[DEBUG] [1595942943.016178423]: Iterating through all possible paths where
lib/libglobal_rrt_planner could be located...
[DEBUG] [1595942943.016210554]: Checking path
/home/ahmad/catkin_ws/devel/lib/lib/libglobal_rrt_planner.so
[DEBUG] [1595942943.016249238]: Checking path
/home/ahmad/catkin_ws/devel/lib//libglobal_rrt_planner.so
[DEBUG] [1595942943.016279166]: Library lib/libglobal_rrt_planner found at
explicit path /home/ahmad/catkin_ws/devel/lib//libglobal_rrt_planner.so.
Thread 1 "adapted_move_ba" received signal SIGSEGV, Segmentation fault.
0x00007fffcb4cd7df in _GLOBAL__sub_I_sac.cpp () from
/usr/local/lib/libpcl_sample_consensus.so.1.9
(gdb) bt
#0 0x00007fffcb4cd7df in _GLOBAL__sub_I_sac.cpp () from
/usr/local/lib/libpcl_sample_consensus.so.1.9
#1 <#1>
0x00007ffff7de76fa in call_init (l=, ***@***.***=3, ***@***.***=0x7fffffffda38,
***@***.***=0x7fffffffda58) at dl-init.c:72
#2 <#2>
0x00007ffff7de780b in call_init (env=0x7fffffffda58, argv=0x7fffffffda38,
argc=3, l=) at dl-init.c:30
#3 <#3> _dl_init
***@***.***=0x962c30, argc=3, argv=0x7fffffffda38,
env=0x7fffffffda58) at dl-init.c:120
#4 <#4>
0x00007ffff7dec922 in dl_open_worker ***@***.***=0x7fffffffb0a0) at
dl-open.c:575
#5 <#5>
0x00007ffff7de75a4 in _dl_catch_error ***@***.***=0x7fffffffb090,
***@***.***=0x7fffffffb098, ***@***.***=0x7fffffffb08f,
***@***.***=0x7ffff7dec510 <dl_open_worker>, ***@***.***=0x7fffffffb0a0)
at dl-error.c:187
#6 <#6>
0x00007ffff7debde9 in _dl_open (file=0x961e90
"/home/ahmad/catkin_ws/devel/lib//libglobal_rrt_planner.so",
mode=-2147483391, caller_dlopen=0x7ffff2aa4862
<Poco::SharedLibraryImpl::loadImpl(std::__cxx11::basic_string<char,
std::char_traits, std::allocator > const&)+82>, nsid=-2, argc=,
argv=, env=0x7fffffffda58) at dl-open.c:660
#7 <#7>
0x00007ffff0dabf09 in dlopen_doit ***@***.***=0x7fffffffb2d0) at
dlopen.c:66
#8 0x00007ffff7de75a4 in _dl_catch_error (objname=0x926040,
errstring=0x926048, mallocedp=0x926038, operate=0x7ffff0dabeb0
<dlopen_doit>, args=0x7fffffffb2d0) at dl-error.c:187
#9 0x00007ffff0dac571 in _dlerror_run ***@***.***=0x7ffff0dabeb0
<dlopen_doit>, ***@***.***=0x7fffffffb2d0) at dlerror.c:163
#10 0x00007ffff0dabfa1 in __dlopen (file=, mode=) at dlopen.c:87
#11 0x00007ffff2aa4862 in
Poco::SharedLibraryImpl::loadImpl(std::__cxx11::basic_string<char,
std::char_traits, std::allocator > const&) () from
/usr/lib/libPocoFoundation.so.9
#12 0x00007ffff2aa4d80 in
Poco::SharedLibrary::SharedLibrary(std::__cxx11::basic_string<char,
std::char_traits, std::allocator > const&) () from
/usr/lib/libPocoFoundation.so.9
#13 0x00007ffff5b965db in
class_loader::class_loader_private::loadLibrary(std::__cxx11::basic_string<char,
std::char_traits, std::allocator > const&, class_loader::ClassLoader*) ()
from /opt/ros/kinetic/lib/libclass_loader.so
#14 0x00007ffff5b90aaa in class_loader::ClassLoader::loadLibrary() () from
/opt/ros/kinetic/lib/libclass_loader.so
#15 0x00007ffff5b90cb8 in
class_loader::ClassLoader::ClassLoader(std::__cxx11::basic_string<char,
std::char_traits, std::allocator > const&, bool) () from
/opt/ros/kinetic/lib/libclass_loader.so
#16 0x00007ffff5b9a3b2 in
class_loader::MultiLibraryClassLoader::loadLibrary(std::_
*cxx11::basic_string<char, std::char_traits, std::allocator > const&) ()
from /opt/ros/kinetic/lib/libclass_loader.so #17 0x00007ffff7b062a2 in
pluginlib::ClassLoader<nav_core::BaseGlobalPlanner>::loadLibraryForClass
(this=0x7fffffffd228, lookup_name="global_rrt_planner/GlobalRRTPlanner") at
/opt/ros/kinetic/include/pluginlib/././class_loader_imp.hpp:630 #18
0x00007ffff7af4578 in
pluginlib::ClassLoader<nav_core::BaseGlobalPlanner>::createInstance
(this=0x7fffffffd228, lookup_name="global_rrt_planner/GlobalRRTPlanner") at
/opt/ros/kinetic/include/pluginlib/././class_loader_imp.hpp:165 #19
0x00007ffff7acf8bb in move_base::MoveBase::MoveBase (this=0x7fffffffcfd0,
tf=0x7fffffffcaf0) at
/home/ahmad/catkin_ws/src/indires_navigation/adapted_move_base/src/move_base.cpp:134
#20 0x000000000041a648 in main (argc=1, argv=0x7fffffffda38) at
/home/ahmad/catkin_ws/src/indires_navigation/adapted_move_base/src/move_base_node.cpp:45
(gdb) frame 17 #17 0x00007ffff7b062a2 in
pluginlib::ClassLoader<nav_core::BaseGlobalPlanner>::loadLibraryForClass
(this=0x7fffffffd228, lookup_name="global_rrt_planner/GlobalRRTPlanner") at
/opt/ros/kinetic/include/pluginlib/././class_loader_imp.hpp:630 630
lowlevel_class_loader*.loadLibrary(library_path);
*Could you suggest what is the issue of the crash?*
Regards,
Ahmad
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--
NOE PEREZ HIGUERAS
Postdoctoral Researcher - RoboticsLab
Dept. Ingenieria de Sist. y Automatica
Universidad Carlos III de Madrid
c/ Butarque, 15 28911 Leganes, Madrid
España - SPAIN
|
Hi Noe, Yes, I compiled and installed the pcl-1.9.1. Regards, |
|
Hi Ahmad,
I answer interleaved,
Do you think the issue could be due to some incorrect parameters within
the navigation_params.yaml file?
If the parameters are correct, no problem should arise. PCL is used to
filter the input pointcloud. Is that pointcloud ok? Which mapping system
are you using to generate the online map in the form of point cloud?
Is there any per-configured launch file with parameters available for
the gazebo simulation, as discussed in the related paper?
I cannot share my Gazebo simulation files since I was using the model of a
robot that is not freely available. And I did not prepare the simulation
files with another robot.
Best regards,
Noé
El mar., 28 jul. 2020 a las 17:55, Ahmad Kamal Nasir (<
[email protected]>) escribió:
… Hello Ahmad, Thank you very much for your interest. I'm so sorry but it is
the first time that I see that error. I have no idea what the problem could
be. You are using pcl 1.9.1, right? I'm on holiday till september so I am
afraid that I cannot go deeper right now. Sorry. Best regards, Noé El mar.,
28 jul. 2020 a las 15:37, Ahmad Kamal Nasir (< ***@***.***>)
escribió:
… <#m_-3826123266341410392_>
Hi, Thanks for sharing the package. I have been trying to setup the
package on ROS Kinetic as per instructions on the wiki page. However, the
move_base_node is crashing after loading the global planner library. it
seems that the pcl sac library is creating a segmentation fault. Here is
the gdb backtrace of the the move_base_node. [DEBUG]
[1595942942.997169725]: Starting planner thread... [DEBUG]
[1595942942.997403963]: Planner thread is suspending [DEBUG]
[1595942943.015798687]: Attempting to create managed instance for class
global_rrt_planner/GlobalRRTPlanner. [DEBUG] [1595942943.015922063]: Class
global_rrt_planner/GlobalRRTPlanner maps to library
lib/libglobal_rrt_planner in classes_available_. [DEBUG]
[1595942943.016178423]: Iterating through all possible paths where
lib/libglobal_rrt_planner could be located... [DEBUG]
[1595942943.016210554]: Checking path
/home/ahmad/catkin_ws/devel/lib/lib/libglobal_rrt_planner.so [DEBUG]
[1595942943.016249238]: Checking path
/home/ahmad/catkin_ws/devel/lib//libglobal_rrt_planner.so [DEBUG]
[1595942943.016279166]: Library lib/libglobal_rrt_planner found at explicit
path /home/ahmad/catkin_ws/devel/lib//libglobal_rrt_planner.so. Thread 1
"adapted_move_ba" received signal SIGSEGV, Segmentation fault.
0x00007fffcb4cd7df in _GLOBAL__sub_I_sac.cpp () from
/usr/local/lib/libpcl_sample_consensus.so.1.9 (gdb) bt #0
0x00007fffcb4cd7df in _GLOBAL__sub_I_sac.cpp () from
/usr/local/lib/libpcl_sample_consensus.so.1.9 #1
<#1> <#1
<#1>>
0x00007ffff7de76fa in call_init (l=, *@*.*=3, @.*=0x7fffffffda38, *@*.*=0x7fffffffda58)
at dl-init.c:72 #2
<#2> <#2
<#2>>
0x00007ffff7de780b in call_init (env=0x7fffffffda58, argv=0x7fffffffda38,
argc=3, l=) at dl-init.c:30 #3
<#3> <#3
<#3>> _dl_init @.*=0x962c30,
argc=3, argv=0x7fffffffda38, env=0x7fffffffda58) at dl-init.c:120 #4
<#4> <#4
<#4>>
0x00007ffff7dec922 in dl_open_worker *@*.*=0x7fffffffb0a0) at
dl-open.c:575 #5 <#5>
<#5 <#5>>
0x00007ffff7de75a4 in _dl_catch_error @.*=0x7fffffffb090, *@*.*=0x7fffffffb098,
@.*=0x7fffffffb08f, *@*.*=0x7ffff7dec510 <dl_open_worker>, @.*=0x7fffffffb0a0)
at dl-error.c:187 #6
<#6> <#6
<#6>>
0x00007ffff7debde9 in _dl_open (file=0x961e90
"/home/ahmad/catkin_ws/devel/lib//libglobal_rrt_planner.so",
mode=-2147483391, caller_dlopen=0x7ffff2aa4862
<Poco::SharedLibraryImpl::loadImpl(std::__cxx11::basic_string<char,
std::char_traits, std::allocator > const&)+82>, nsid=-2, argc=, argv=,
env=0x7fffffffda58) at dl-open.c:660 #7
<#7> <#7
<#7>>
0x00007ffff0dabf09 in dlopen_doit *@*.*=0x7fffffffb2d0) at dlopen.c:66 #8
0x00007ffff7de75a4 in _dl_catch_error (objname=0x926040,
errstring=0x926048, mallocedp=0x926038, operate=0x7ffff0dabeb0
<dlopen_doit>, args=0x7fffffffb2d0) at dl-error.c:187 #9 0x00007ffff0dac571
in _dlerror_run @.*=0x7ffff0dabeb0 <dlopen_doit>, *@*.***=0x7fffffffb2d0)
at dlerror.c:163 #10 0x00007ffff0dabfa1 in __dlopen (file=, mode=) at
dlopen.c:87 #11 0x00007ffff2aa4862 in
Poco::SharedLibraryImpl::loadImpl(std::__cxx11::basic_string<char,
std::char_traits, std::allocator > const&) () from
/usr/lib/libPocoFoundation.so.9 #12 0x00007ffff2aa4d80 in
Poco::SharedLibrary::SharedLibrary(std::__cxx11::basic_string<char,
std::char_traits, std::allocator > const&) () from
/usr/lib/libPocoFoundation.so.9 #13 0x00007ffff5b965db in
class_loader::class_loader_private::loadLibrary(std::__cxx11::basic_string<char,
std::char_traits, std::allocator > const&, class_loader::ClassLoader*) ()
from /opt/ros/kinetic/lib/libclass_loader.so #14 0x00007ffff5b90aaa in
class_loader::ClassLoader::loadLibrary() () from
/opt/ros/kinetic/lib/libclass_loader.so #15 0x00007ffff5b90cb8 in
class_loader::ClassLoader::ClassLoader(std::_*cxx11::basic_string<char,
std::char_traits, std::allocator > const&, bool) () from
/opt/ros/kinetic/lib/libclass_loader.so #16 0x00007ffff5b9a3b2 in
class_loader::MultiLibraryClassLoader::loadLibrary(std::* *cxx11::basic_string<char,
std::char_traits, std::allocator > const&) () from
/opt/ros/kinetic/lib/libclass_loader.so #17 0x00007ffff7b062a2 in
pluginlib::ClassLoader<nav_core::BaseGlobalPlanner>::loadLibraryForClass
(this=0x7fffffffd228, lookup_name="global_rrt_planner/GlobalRRTPlanner") at
/opt/ros/kinetic/include/pluginlib/././class_loader_imp.hpp:630 #18
0x00007ffff7af4578 in
pluginlib::ClassLoader<nav_core::BaseGlobalPlanner>::createInstance
(this=0x7fffffffd228, lookup_name="global_rrt_planner/GlobalRRTPlanner") at
/opt/ros/kinetic/include/pluginlib/././class_loader_imp.hpp:165 #19
0x00007ffff7acf8bb in move_base::MoveBase::MoveBase (this=0x7fffffffcfd0,
tf=0x7fffffffcaf0) at
/home/ahmad/catkin_ws/src/indires_navigation/adapted_move_base/src/move_base.cpp:134
#20 0x000000000041a648 in main (argc=1, argv=0x7fffffffda38) at
/home/ahmad/catkin_ws/src/indires_navigation/adapted_move_base/src/move_base_node.cpp:45
(gdb) frame 17 #17 0x00007ffff7b062a2 in
pluginlib::ClassLoader<nav_core::BaseGlobalPlanner>::loadLibraryForClass
(this=0x7fffffffd228, lookup_name="global_rrt_planner/GlobalRRTPlanner") at
/opt/ros/kinetic/include/pluginlib/././class_loader_imp.hpp:630 630
lowlevel_class_loader*.loadLibrary(library_path); *Could you suggest what
is the issue of the crash?* Regards, Ahmad — Youare receiving this
because you are subscribed to this thread. Reply to this email directly,
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-- NOE PEREZ HIGUERAS Postdoctoral Researcher - RoboticsLab Dept.
Ingenieria de Sist. y Automatica Universidad Carlos III de Madrid c/
Butarque, 15 28911 Leganes, Madrid España - SPAIN
Hi Noe,
Yes, I compiled and installed the pcl-1.9.1.
Do you think the issue could be due to some incorrect parameters within
the navigation_params.yaml file?
Is there any per-configured launch file with parameters available for the
gazebo simulation, as discussed in the related paper?
Regards,
Ahmad
—
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<#7 (comment)>,
or unsubscribe
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.
--
NOE PEREZ HIGUERAS
Postdoctoral Researcher - RoboticsLab
Dept. Ingenieria de Sist. y Automatica
Universidad Carlos III de Madrid
c/ Butarque, 15 28911 Leganes, Madrid
España - SPAIN
|
All the PCL filtering nodes are seems to be generating outputs from the input Point Clouds (PC). I am using the PC generated by the octomap package. Which mapping package are you using? I am using the default parameters values except the frame/topic names. Here is my configuration file. |
Hi,
Thanks for sharing the package. I have been trying to setup the package on ROS Kinetic as per instructions on the wiki page. However, the move_base_node is crashing after loading the global planner library. it seems that the pcl sac library is creating a segmentation fault. Here is the gdb backtrace of the the move_base_node.
[DEBUG] [1595942942.997169725]: Starting planner thread...
[DEBUG] [1595942942.997403963]: Planner thread is suspending
[DEBUG] [1595942943.015798687]: Attempting to create managed instance for class global_rrt_planner/GlobalRRTPlanner.
[DEBUG] [1595942943.015922063]: Class global_rrt_planner/GlobalRRTPlanner maps to library lib/libglobal_rrt_planner in classes_available_.
[DEBUG] [1595942943.016178423]: Iterating through all possible paths where lib/libglobal_rrt_planner could be located...
[DEBUG] [1595942943.016210554]: Checking path /home/ahmad/catkin_ws/devel/lib/lib/libglobal_rrt_planner.so
[DEBUG] [1595942943.016249238]: Checking path /home/ahmad/catkin_ws/devel/lib//libglobal_rrt_planner.so
[DEBUG] [1595942943.016279166]: Library lib/libglobal_rrt_planner found at explicit path /home/ahmad/catkin_ws/devel/lib//libglobal_rrt_planner.so.
Thread 1 "adapted_move_ba" received signal SIGSEGV, Segmentation fault.
0x00007fffcb4cd7df in _GLOBAL__sub_I_sac.cpp () from /usr/local/lib/libpcl_sample_consensus.so.1.9
(gdb) bt
#0 0x00007fffcb4cd7df in _GLOBAL__sub_I_sac.cpp () from /usr/local/lib/libpcl_sample_consensus.so.1.9
#1 0x00007ffff7de76fa in call_init (l=, argc=argc@entry=3, argv=argv@entry=0x7fffffffda38, env=env@entry=0x7fffffffda58) at dl-init.c:72
#2 0x00007ffff7de780b in call_init (env=0x7fffffffda58, argv=0x7fffffffda38, argc=3, l=) at dl-init.c:30
#3 _dl_init (main_map=main_map@entry=0x962c30, argc=3, argv=0x7fffffffda38, env=0x7fffffffda58) at dl-init.c:120
#4 0x00007ffff7dec922 in dl_open_worker (a=a@entry=0x7fffffffb0a0) at dl-open.c:575
#5 0x00007ffff7de75a4 in _dl_catch_error (objname=objname@entry=0x7fffffffb090, errstring=errstring@entry=0x7fffffffb098, mallocedp=mallocedp@entry=0x7fffffffb08f, operate=operate@entry=0x7ffff7dec510 <dl_open_worker>, args=args@entry=0x7fffffffb0a0) at dl-error.c:187
#6 0x00007ffff7debde9 in _dl_open (file=0x961e90 "/home/ahmad/catkin_ws/devel/lib//libglobal_rrt_planner.so", mode=-2147483391, caller_dlopen=0x7ffff2aa4862 <Poco::SharedLibraryImpl::loadImpl(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)+82>, nsid=-2, argc=,
argv=, env=0x7fffffffda58) at dl-open.c:660
#7 0x00007ffff0dabf09 in dlopen_doit (a=a@entry=0x7fffffffb2d0) at dlopen.c:66
#8 0x00007ffff7de75a4 in _dl_catch_error (objname=0x926040, errstring=0x926048, mallocedp=0x926038, operate=0x7ffff0dabeb0 <dlopen_doit>, args=0x7fffffffb2d0) at dl-error.c:187
#9 0x00007ffff0dac571 in _dlerror_run (operate=operate@entry=0x7ffff0dabeb0 <dlopen_doit>, args=args@entry=0x7fffffffb2d0) at dlerror.c:163
#10 0x00007ffff0dabfa1 in __dlopen (file=, mode=) at dlopen.c:87
#11 0x00007ffff2aa4862 in Poco::SharedLibraryImpl::loadImpl(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&) () from /usr/lib/libPocoFoundation.so.9
#12 0x00007ffff2aa4d80 in Poco::SharedLibrary::SharedLibrary(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&) () from /usr/lib/libPocoFoundation.so.9
#13 0x00007ffff5b965db in class_loader::class_loader_private::loadLibrary(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, class_loader::ClassLoader*) () from /opt/ros/kinetic/lib/libclass_loader.so
#14 0x00007ffff5b90aaa in class_loader::ClassLoader::loadLibrary() () from /opt/ros/kinetic/lib/libclass_loader.so
#15 0x00007ffff5b90cb8 in class_loader::ClassLoader::ClassLoader(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, bool) () from /opt/ros/kinetic/lib/libclass_loader.so
#16 0x00007ffff5b9a3b2 in class_loader::MultiLibraryClassLoader::loadLibrary(std::_cxx11::basic_string<char, std::char_traits, std::allocator > const&) () from /opt/ros/kinetic/lib/libclass_loader.so
#17 0x00007ffff7b062a2 in pluginlib::ClassLoader<nav_core::BaseGlobalPlanner>::loadLibraryForClass (this=0x7fffffffd228, lookup_name="global_rrt_planner/GlobalRRTPlanner") at /opt/ros/kinetic/include/pluginlib/././class_loader_imp.hpp:630
#18 0x00007ffff7af4578 in pluginlib::ClassLoader<nav_core::BaseGlobalPlanner>::createInstance (this=0x7fffffffd228, lookup_name="global_rrt_planner/GlobalRRTPlanner") at /opt/ros/kinetic/include/pluginlib/././class_loader_imp.hpp:165
#19 0x00007ffff7acf8bb in move_base::MoveBase::MoveBase (this=0x7fffffffcfd0, tf=0x7fffffffcaf0) at /home/ahmad/catkin_ws/src/indires_navigation/adapted_move_base/src/move_base.cpp:134
#20 0x000000000041a648 in main (argc=1, argv=0x7fffffffda38) at /home/ahmad/catkin_ws/src/indires_navigation/adapted_move_base/src/move_base_node.cpp:45
(gdb) frame 17
#17 0x00007ffff7b062a2 in pluginlib::ClassLoader<nav_core::BaseGlobalPlanner>::loadLibraryForClass (this=0x7fffffffd228, lookup_name="global_rrt_planner/GlobalRRTPlanner") at /opt/ros/kinetic/include/pluginlib/././class_loader_imp.hpp:630
630 lowlevel_class_loader.loadLibrary(library_path);
Could you suggest what is the issue of the crash?
Regards,
Ahmad
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