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gbplanner_node crash, planner service failed. #31

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antoan-flox opened this issue Dec 2, 2022 · 11 comments
Open

gbplanner_node crash, planner service failed. #31

antoan-flox opened this issue Dec 2, 2022 · 11 comments

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@antoan-flox
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antoan-flox commented Dec 2, 2022 •
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Hello,

I built the package on ROS Noetic and experienced a crash, here is the output:

`roslaunch gbplanner smb_sim.launch
... logging to /home/antoan/.ros/log/c189b720-726c-11ed-9f3d-035f770cbc42/roslaunch-Ronin-736510.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://Ronin:38123/

SUMMARY
========

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /gbplanner_node/AdaptiveObbParams/bounding_box_size_max: 35
 * /gbplanner_node/AdaptiveObbParams/local_pointcloud_range: 50.0
 * /gbplanner_node/AdaptiveObbParams/type: kPca
 * /gbplanner_node/BoundedSpaceParams/Global/max_val: [1000.0, 1000.0, ...
 * /gbplanner_node/BoundedSpaceParams/Global/min_val: [-1000.0, -1000.0...
 * /gbplanner_node/BoundedSpaceParams/Global/type: kCuboid
 * /gbplanner_node/BoundedSpaceParams/Local/max_extension: [20.0, 20.0, 20.0]
 * /gbplanner_node/BoundedSpaceParams/Local/max_val: [15.0, 15.0, 3.0]
 * /gbplanner_node/BoundedSpaceParams/Local/min_extension: [-20.0, -20.0, -2...
 * /gbplanner_node/BoundedSpaceParams/Local/min_val: [-15.0, -15.0, -3.0]
 * /gbplanner_node/BoundedSpaceParams/Local/type: kCuboid
 * /gbplanner_node/BoundedSpaceParams/LocalAdaptiveExp/max_val: [10.0, 10.0, 0.75]
 * /gbplanner_node/BoundedSpaceParams/LocalAdaptiveExp/min_val: [-10.0, -10.0, -0...
 * /gbplanner_node/BoundedSpaceParams/LocalAdaptiveExp/type: kCuboid
 * /gbplanner_node/BoundedSpaceParams/LocalSearch/max_val: [50.0, 50.0, 10.0]
 * /gbplanner_node/BoundedSpaceParams/LocalSearch/min_val: [-50.0, -50.0, -1...
 * /gbplanner_node/BoundedSpaceParams/LocalSearch/type: kCuboid
 * /gbplanner_node/GeofenceParams/AreaList: ['GLeft', 'GBack'...
 * /gbplanner_node/GeofenceParams/GBack/center: [-3.0, 0.0, 0.0]
 * /gbplanner_node/GeofenceParams/GBack/size: [2.0, 6.0, 0.0]
 * /gbplanner_node/GeofenceParams/GLeft/center: [0.0, 4.0, 0.0]
 * /gbplanner_node/GeofenceParams/GLeft/size: [6.0, 2.0, 0.0]
 * /gbplanner_node/GeofenceParams/GRight/center: [0.0, -4.0, 0.0]
 * /gbplanner_node/GeofenceParams/GRight/size: [6.0, 2.0, 0.0]
 * /gbplanner_node/NoGainZones/g1/max_val: [2.0, 50.0, 20.0]
 * /gbplanner_node/NoGainZones/g1/min_val: [-50.0, -50.0, -2...
 * /gbplanner_node/NoGainZones/g1/type: kCuboid
 * /gbplanner_node/PlanningParams/augment_free_voxels_time: 1
 * /gbplanner_node/PlanningParams/auto_global_planner_enable: True
 * /gbplanner_node/PlanningParams/auto_homing_enable: True
 * /gbplanner_node/PlanningParams/bound_mode: kExtremeBound
 * /gbplanner_node/PlanningParams/cluster_vertices_for_gain: True
 * /gbplanner_node/PlanningParams/clustering_radius: 0.5
 * /gbplanner_node/PlanningParams/edge_length_max: 3.0
 * /gbplanner_node/PlanningParams/edge_length_min: 0.1
 * /gbplanner_node/PlanningParams/edge_overshoot: 0.0
 * /gbplanner_node/PlanningParams/exp_gain_voxel_size: 0.8
 * /gbplanner_node/PlanningParams/exp_sensor_list: ['VLP16']
 * /gbplanner_node/PlanningParams/free_frustum_before_planning: False
 * /gbplanner_node/PlanningParams/free_voxel_gain: 0.0
 * /gbplanner_node/PlanningParams/freespace_cloud_enable: False
 * /gbplanner_node/PlanningParams/geofence_checking_enable: True
 * /gbplanner_node/PlanningParams/global_frame_id: world
 * /gbplanner_node/PlanningParams/global_path_inclination_check: True
 * /gbplanner_node/PlanningParams/go_home_if_fully_explored: True
 * /gbplanner_node/PlanningParams/hanging_vertex_penalty: 5.0
 * /gbplanner_node/PlanningParams/homing_backward: False
 * /gbplanner_node/PlanningParams/interpolate_projection_distance: False
 * /gbplanner_node/PlanningParams/leafs_only_for_volumetric_gain: False
 * /gbplanner_node/PlanningParams/max_ground_height: 0.7
 * /gbplanner_node/PlanningParams/max_inclination: 0.4363323129985824
 * /gbplanner_node/PlanningParams/nearest_range: 2.5
 * /gbplanner_node/PlanningParams/nearest_range_max: 3.0
 * /gbplanner_node/PlanningParams/nearest_range_min: 0.1
 * /gbplanner_node/PlanningParams/no_gain_zones_list: ['g1']
 * /gbplanner_node/PlanningParams/nonuniform_ray_cast: True
 * /gbplanner_node/PlanningParams/num_edges_max: 5000
 * /gbplanner_node/PlanningParams/num_loops_cutoff: 2000
 * /gbplanner_node/PlanningParams/num_loops_max: 20000
 * /gbplanner_node/PlanningParams/num_vertices_max: 500
 * /gbplanner_node/PlanningParams/occupied_voxel_gain: 0.0
 * /gbplanner_node/PlanningParams/path_direction_penalty: 0.3
 * /gbplanner_node/PlanningParams/path_interpolation_distance: 0.5
 * /gbplanner_node/PlanningParams/path_length_penalty: 0.07
 * /gbplanner_node/PlanningParams/path_safety_enhance_enable: True
 * /gbplanner_node/PlanningParams/ray_cast_step_size_multiplier: 1.0
 * /gbplanner_node/PlanningParams/relaxed_corridor_multiplier: 1.5
 * /gbplanner_node/PlanningParams/robot_height: 0.6
 * /gbplanner_node/PlanningParams/rr_mode: kGraph
 * /gbplanner_node/PlanningParams/time_budget_limit: 3600
 * /gbplanner_node/PlanningParams/traverse_length_max: 6.0
 * /gbplanner_node/PlanningParams/traverse_time_max: 40.0
 * /gbplanner_node/PlanningParams/type: kAdaptiveExploration
 * /gbplanner_node/PlanningParams/unknown_voxel_gain: 60.0
 * /gbplanner_node/PlanningParams/use_current_state: True
 * /gbplanner_node/PlanningParams/use_ray_model_for_volumetric_gain: True
 * /gbplanner_node/PlanningParams/yaw_tangent_correction: True
 * /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Heading/max_val: 3.141592653589793
 * /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Heading/min_val: -3.141592653589793
 * /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Heading/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Heading/sample_mode: kManual
 * /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/X/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/X/sample_mode: kLocal
 * /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Y/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Y/sample_mode: kLocal
 * /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Z/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Z/sample_mode: kLocal
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Heading/max_val: 3.141592653589793
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Heading/min_val: -3.141592653589793
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Heading/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Heading/sample_mode: kManual
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/X/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/X/sample_mode: kLocal
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Y/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Y/sample_mode: kLocal
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Z/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Z/sample_mode: kLocal
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Heading/max_val: 3.141592653589793
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Heading/min_val: -3.141592653589793
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Heading/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Heading/sample_mode: kManual
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/X/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/X/sample_mode: kLocal
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Y/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Y/sample_mode: kLocal
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Z/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Z/sample_mode: kLocal
 * /gbplanner_node/RobotParams/bound_mode: kExtendedBound
 * /gbplanner_node/RobotParams/center_offset: [0.0, 0.0, 0.0]
 * /gbplanner_node/RobotParams/relax_ratio: 0.5
 * /gbplanner_node/RobotParams/safety_extension: [2.0, 3.0, 0.2]
 * /gbplanner_node/RobotParams/size: [0.8, 0.8, 0.2]
 * /gbplanner_node/RobotParams/size_extension: [0.2, 0.2, 0.2]
 * /gbplanner_node/RobotParams/size_extension_min: [0.0, 0.0, 0.0]
 * /gbplanner_node/RobotParams/type: kGroundRobot
 * /gbplanner_node/SensorParams/VLP16/center_offset: [0.0, 0.0, 0.0]
 * /gbplanner_node/SensorParams/VLP16/fov: [6.28318530717958...
 * /gbplanner_node/SensorParams/VLP16/frontier_percentage_threshold: 0.05
 * /gbplanner_node/SensorParams/VLP16/max_range: 20.0
 * /gbplanner_node/SensorParams/VLP16/resolution: [0.08726646259971...
 * /gbplanner_node/SensorParams/VLP16/rotations: [0.0, 0.0, 0.0]
 * /gbplanner_node/SensorParams/VLP16/type: kLidar
 * /gbplanner_node/SensorParams/sensor_list: ['VLP16']
 * /gbplanner_node/accumulate_icp_corrections: True
 * /gbplanner_node/allow_clear: True
 * /gbplanner_node/clear_sphere_for_planning: False
 * /gbplanner_node/clear_sphere_radius: 0.8
 * /gbplanner_node/clearing_ray_weight_factor: 0.01
 * /gbplanner_node/color_mode: colors
 * /gbplanner_node/enable_icp: False
 * /gbplanner_node/esdf_max_distance_m: 2.0
 * /gbplanner_node/icp_refine_roll_pitch: False
 * /gbplanner_node/integration_order_mode: sorted
 * /gbplanner_node/max_consecutive_ray_collisions: 0
 * /gbplanner_node/max_ray_length_m: 50.0
 * /gbplanner_node/max_weight: 200
 * /gbplanner_node/mesh_min_weight: 1e-4
 * /gbplanner_node/method: fast
 * /gbplanner_node/min_ray_length_m: 0.5
 * /gbplanner_node/min_time_between_msgs_sec: 0.0
 * /gbplanner_node/occupancy_min_distance_voxel_size_factor: 1.0
 * /gbplanner_node/pointcloud_queue_size: 1000
 * /gbplanner_node/publish_esdf_map: True
 * /gbplanner_node/publish_pointclouds: True
 * /gbplanner_node/publish_slices: False
 * /gbplanner_node/publish_traversable: True
 * /gbplanner_node/publish_tsdf_info: False
 * /gbplanner_node/publish_tsdf_map: True
 * /gbplanner_node/slice_level: 1.0
 * /gbplanner_node/sparsity_compensation_factor: 100.0
 * /gbplanner_node/timestamp_tolerance_sec: 0.001
 * /gbplanner_node/traversability_radius: 0.4
 * /gbplanner_node/truncation_distance: 0.6
 * /gbplanner_node/tsdf_voxel_size: 0.2
 * /gbplanner_node/tsdf_voxels_per_side: 16
 * /gbplanner_node/update_mesh_every_n_sec: 0.5
 * /gbplanner_node/use_const_weight: False
 * /gbplanner_node/use_freespace_pointcloud: True
 * /gbplanner_node/use_sparsity_compensation_factor: True
 * /gbplanner_node/use_symmetric_weight_drop_off: False
 * /gbplanner_node/use_tf_transforms: True
 * /gbplanner_node/use_weight_dropoff: True
 * /gbplanner_node/verbose: False
 * /gbplanner_node/voxel_carving_enabled: True
 * /gbplanner_node/weight_ray_by_range: False
 * /gbplanner_node/world_frame: world
 * /message_to_tf/frame_id: world
 * /message_to_tf/odometry_topic: ground_truth/state
 * /pci_general_ros_node/RobotDynamics/dt: 0.05
 * /pci_general_ros_node/RobotDynamics/v_homing_max: 0.3
 * /pci_general_ros_node/RobotDynamics/v_init_max: 0.3
 * /pci_general_ros_node/RobotDynamics/v_max: 0.3
 * /pci_general_ros_node/RobotDynamics/yaw_rate_max: 0.5
 * /pci_general_ros_node/init_motion/x_forward: 3.0
 * /pci_general_ros_node/init_motion/z_drop: 1.7
 * /pci_general_ros_node/init_motion/z_takeoff: 2.5
 * /pci_general_ros_node/init_motion_enable: False
 * /pci_general_ros_node/output_type: kAction
 * /pci_general_ros_node/planner_trigger_lead_time: 0.0
 * /pci_general_ros_node/robot_type: kGround
 * /pci_general_ros_node/run_mode: kSim
 * /pci_general_ros_node/smooth_heading_enable: True
 * /pci_general_ros_node/trigger_mode: kManual
 * /robot_description: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.15.14
 * /smb_front_left_wheel_velocity_controller/base_frame_id: base_link
 * /smb_front_left_wheel_velocity_controller/cmd_vel_timeout: 0.25
 * /smb_front_left_wheel_velocity_controller/has_acceleration_limits: True
 * /smb_front_left_wheel_velocity_controller/has_velocity_limits: True
 * /smb_front_left_wheel_velocity_controller/joint: LF_WHEEL
 * /smb_front_left_wheel_velocity_controller/max_acceleration: 3.0
 * /smb_front_left_wheel_velocity_controller/max_velocity: 3.0
 * /smb_front_left_wheel_velocity_controller/pid/d: 10.0
 * /smb_front_left_wheel_velocity_controller/pid/i: 0.01
 * /smb_front_left_wheel_velocity_controller/pid/p: 100.0
 * /smb_front_left_wheel_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
 * /smb_front_left_wheel_velocity_controller/publish_rate: 50
 * /smb_front_left_wheel_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
 * /smb_front_left_wheel_velocity_controller/type: velocity_controll...
 * /smb_front_left_wheel_velocity_controller/velocity_rolling_window_size: 2
 * /smb_front_right_wheel_velocity_controller/base_frame_id: base_link
 * /smb_front_right_wheel_velocity_controller/cmd_vel_timeout: 0.25
 * /smb_front_right_wheel_velocity_controller/has_acceleration_limits: True
 * /smb_front_right_wheel_velocity_controller/has_velocity_limits: True
 * /smb_front_right_wheel_velocity_controller/joint: RF_WHEEL
 * /smb_front_right_wheel_velocity_controller/max_acceleration: 3.0
 * /smb_front_right_wheel_velocity_controller/max_velocity: 3.0
 * /smb_front_right_wheel_velocity_controller/pid/d: 10.0
 * /smb_front_right_wheel_velocity_controller/pid/i: 0.01
 * /smb_front_right_wheel_velocity_controller/pid/p: 100.0
 * /smb_front_right_wheel_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
 * /smb_front_right_wheel_velocity_controller/publish_rate: 50
 * /smb_front_right_wheel_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
 * /smb_front_right_wheel_velocity_controller/type: velocity_controll...
 * /smb_front_right_wheel_velocity_controller/velocity_rolling_window_size: 2
 * /smb_joint_publisher/publish_rate: 50
 * /smb_joint_publisher/type: joint_state_contr...
 * /smb_path_tracker_node/critical_angle: 0.52
 * /smb_path_tracker_node/desired_vel: 0.5
 * /smb_path_tracker_node/look_ahead_distance: 0.5
 * /smb_path_tracker_node/look_ahead_error_margin: 0.2
 * /smb_path_tracker_node/max_ang_vel: 0.5
 * /smb_rear_left_wheel_velocity_controller/base_frame_id: base_link
 * /smb_rear_left_wheel_velocity_controller/cmd_vel_timeout: 0.25
 * /smb_rear_left_wheel_velocity_controller/has_acceleration_limits: True
 * /smb_rear_left_wheel_velocity_controller/has_velocity_limits: True
 * /smb_rear_left_wheel_velocity_controller/joint: LH_WHEEL
 * /smb_rear_left_wheel_velocity_controller/max_acceleration: 3.0
 * /smb_rear_left_wheel_velocity_controller/max_velocity: 3.0
 * /smb_rear_left_wheel_velocity_controller/pid/d: 10.0
 * /smb_rear_left_wheel_velocity_controller/pid/i: 0.01
 * /smb_rear_left_wheel_velocity_controller/pid/p: 100.0
 * /smb_rear_left_wheel_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
 * /smb_rear_left_wheel_velocity_controller/publish_rate: 50
 * /smb_rear_left_wheel_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
 * /smb_rear_left_wheel_velocity_controller/type: velocity_controll...
 * /smb_rear_left_wheel_velocity_controller/velocity_rolling_window_size: 2
 * /smb_rear_right_wheel_velocity_controller/base_frame_id: base_link
 * /smb_rear_right_wheel_velocity_controller/cmd_vel_timeout: 0.25
 * /smb_rear_right_wheel_velocity_controller/has_acceleration_limits: True
 * /smb_rear_right_wheel_velocity_controller/has_velocity_limits: True
 * /smb_rear_right_wheel_velocity_controller/joint: RH_WHEEL
 * /smb_rear_right_wheel_velocity_controller/max_acceleration: 3.0
 * /smb_rear_right_wheel_velocity_controller/max_velocity: 3.0
 * /smb_rear_right_wheel_velocity_controller/pid/d: 10.0
 * /smb_rear_right_wheel_velocity_controller/pid/i: 0.01
 * /smb_rear_right_wheel_velocity_controller/pid/p: 100.0
 * /smb_rear_right_wheel_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
 * /smb_rear_right_wheel_velocity_controller/publish_rate: 50
 * /smb_rear_right_wheel_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
 * /smb_rear_right_wheel_velocity_controller/type: velocity_controll...
 * /smb_rear_right_wheel_velocity_controller/velocity_rolling_window_size: 2
 * /smb_teleop_twist_joy_node/max_velocity_angular: 1.5
 * /smb_teleop_twist_joy_node/max_velocity_linear: 1
 * /smb_velocity_controller/angular/z/has_acceleration_limits: True
 * /smb_velocity_controller/angular/z/has_velocity_limits: True
 * /smb_velocity_controller/angular/z/max_acceleration: 2
 * /smb_velocity_controller/angular/z/max_velocity: 1
 * /smb_velocity_controller/base_frame_id: base_link
 * /smb_velocity_controller/cmd_vel_timeout: 0.25
 * /smb_velocity_controller/enable_odom_tf: False
 * /smb_velocity_controller/estimate_velocity_from_position: False
 * /smb_velocity_controller/left_wheel: ['LF_WHEEL', 'LH_...
 * /smb_velocity_controller/linear/x/has_acceleration_limits: True
 * /smb_velocity_controller/linear/x/has_velocity_limits: True
 * /smb_velocity_controller/linear/x/max_acceleration: 3
 * /smb_velocity_controller/linear/x/max_velocity: 1.5
 * /smb_velocity_controller/pid/d: 10.0
 * /smb_velocity_controller/pid/i: 0.01
 * /smb_velocity_controller/pid/p: 100.0
 * /smb_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
 * /smb_velocity_controller/publish_rate: 50
 * /smb_velocity_controller/right_wheel: ['RF_WHEEL', 'RH_...
 * /smb_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
 * /smb_velocity_controller/type: diff_drive_contro...
 * /smb_velocity_controller/velocity_rolling_window_size: 2
 * /smb_velocity_controller/wheel_radius_multiplier: 1.0
 * /smb_velocity_controller/wheel_separation: 0.6604
 * /smb_velocity_controller/wheel_separation_multiplier: 1.0
 * /twist_mux/locks: [{'name': 'e_stop...
 * /twist_mux/topics: [{'name': 'joy', ...
 * /use_sim_time: True

NODES
  /
    controller_spawner (controller_manager/spawner)
    front_lidar_relay (topic_tools/relay)
    gazebo (gazebo_ros/gzserver)
    gbplanner_node (gbplanner/gbplanner_node)
    gbplanner_ui (rviz/rviz)
    joy_node (joy/joy_node)
    message_to_tf (smb_gazebo/message_to_tf)
    odom_to_world_tf (tf/static_transform_publisher)
    pci_general_ros_node (pci_general/pci_general_ros_node)
    pose_throttler (topic_tools/throttle)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    smb_path_tracker_node (smb_path_tracker/smb_path_tracker_ros_node)
    smb_teleop_twist_joy_node (smb_teleop_twist_joy/smb_teleop_twist_joy_node)
    spawn_smb_model (gazebo_ros/spawn_model)
    tf_53 (tf/static_transform_publisher)
    twist_marker_server (interactive_marker_twist_server/marker_server)
    twist_mux (twist_mux/twist_mux)
    vlp_relay (topic_tools/relay)

auto-starting new master
process[master]: started with pid [736558]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to c189b720-726c-11ed-9f3d-035f770cbc42
process[rosout-1]: started with pid [736587]
started core service [/rosout]
process[tf_53-2]: started with pid [736594]
process[gazebo-3]: started with pid [736595]
process[spawn_smb_model-4]: started with pid [736598]
process[robot_state_publisher-5]: started with pid [736601]
process[message_to_tf-6]: started with pid [736607]
process[odom_to_world_tf-7]: started with pid [736608]
process[controller_spawner-8]: started with pid [736609]
process[twist_mux-9]: started with pid [736618]
process[twist_marker_server-10]: started with pid [736624]
process[joy_node-11]: started with pid [736626]
process[smb_teleop_twist_joy_node-12]: started with pid [736632]
process[smb_path_tracker_node-13]: started with pid [736639]
process[vlp_relay-14]: started with pid [736664]
process[front_lidar_relay-15]: started with pid [736667]
process[pose_throttler-16]: started with pid [736673]
process[gbplanner_node-17]: started with pid [736674]
process[pci_general_ros_node-18]: started with pid [736682]
[ INFO] [1670004695.483485043]: [twist_marker_server] Initialized.
process[gbplanner_ui-19]: started with pid [736684]
[ERROR] [1670004695.492176116]: Couldn't open joystick /dev/input/js0. Will retry every second.
[ INFO] [1670004695.643547166]: rviz version 1.14.19
[ INFO] [1670004695.643586960]: compiled against Qt version 5.12.8
[ INFO] [1670004695.643597614]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1670004695.651919564]: Forcing OpenGl version 0.
/gbplanner_node/SensorParams/VLP16 0, 0, 0
[ INFO] [1670004695.857957564]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1670004695.858948939]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1670004695.984320833]: Stereo is NOT SUPPORTED
[ INFO] [1670004695.984363630]: OpenGL device: NVIDIA GeForce RTX 3060 Laptop GPU/PCIe/SSE2
[ INFO] [1670004695.984373301]: OpenGl version: 4.6 (GLSL 4.6).
[ INFO] [1670004696.247503641]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1670004696.254953679]: Physics dynamic reconfigure ready.
Service [///shininess] is not valid.
Topic [default///base_link/camera1/image] is not valid.
[ INFO] [1670004698.391252063, 251.830000000]: Lidar laser plugin ready, 32 lasers
Topic [default///base_link/camera1/image] is not valid.
[ INFO] [1670004698.493617727, 251.830000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
Topic [default///base_link/camera1/image] is not valid.
[ INFO] [1670004698.495975652, 251.830000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1670004698.496052921, 251.830000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1670004698.496730382, 251.830000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1670004698.498986617, 251.830000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1670004698.499652560, 251.830000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
Topic [///joint_cmd] is not valid.
Service [///joint_cmd_req] is not valid.
[ INFO] [1670004698.524273546, 251.830000000]: Lidar GPU laser plugin ready, 16 lasers
[ INFO] [1670004698.609773848, 251.830000000]: Loading gazebo_ros_control plugin
[ INFO] [1670004698.609839667, 251.830000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1670004698.610737562, 251.830000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ERROR] [1670004698.721298764, 251.830000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/LF_WHEEL
[ERROR] [1670004698.721904971, 251.830000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/RF_WHEEL
[ERROR] [1670004698.722408338, 251.830000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/LH_WHEEL
[ERROR] [1670004698.722860239, 251.830000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/RH_WHEEL
[ INFO] [1670004698.727314585, 251.830000000]: Loaded gazebo_ros_control.
[ INFO] [1670004698.767677752, 251.850000000]: Controller state will be published at 50Hz.
[ INFO] [1670004698.768504302, 251.850000000]: Wheel separation will be multiplied by 1.
[ INFO] [1670004698.769068173, 251.860000000]: Left wheel radius will be multiplied by 1.
[ INFO] [1670004698.769096530, 251.860000000]: Right wheel radius will be multiplied by 1.
[ INFO] [1670004698.769386021, 251.860000000]: Velocity rolling window size of 2.
[ INFO] [1670004698.769896670, 251.860000000]: Velocity commands will be considered old if they are older than 0.25s.
[ INFO] [1670004698.770574253, 251.860000000]: Allow mutiple cmd_vel publishers is enabled
[ INFO] [1670004698.771141669, 251.860000000]: Base frame_id set to base_link
[ INFO] [1670004698.771462786, 251.860000000]: Odometry frame_id set to odom
[ INFO] [1670004698.772069996, 251.860000000]: Publishing to tf is disabled
[ INFO] [1670004698.779347315, 251.870000000]: Odometry params : wheel separation 0.6604, left wheel radius 0.19, right wheel radius 0.19
[ INFO] [1670004698.780605674, 251.870000000]: Adding left wheel with joint name: LF_WHEEL and right wheel with joint name: RF_WHEEL
[ INFO] [1670004698.780643537, 251.870000000]: Adding left wheel with joint name: LH_WHEEL and right wheel with joint name: RH_WHEEL
[ INFO] [1670004698.789939136, 251.880000000]: Dynamic Reconfigure:
DynamicParams:
	Odometry parameters:
		left wheel radius multiplier: 1
		right wheel radius multiplier: 1
		wheel separation multiplier: 1
	Publication parameters:
		Publish executed velocity command: disabled
		Publication rate: 50
		Publish frame odom on tf: disabled
[spawn_smb_model-4] process has finished cleanly
log file: /home/antoan/.ros/log/c189b720-726c-11ed-9f3d-035f770cbc42/spawn_smb_model-4*.log
[ INFO] [1670004752.476194525, 300.780000000]: Setting goal: Frame:world, Position(6.063, 0.310, 0.000), Orientation(0.000, 0.000, 0.346, 0.938) = Angle: 0.707

[ INFO] [1670004766.275938144, 313.280000000]: Setting goal: Frame:world, Position(6.227, 0.409, 0.000), Orientation(0.000, 0.000, -0.085, 0.996) = Angle: -0.171

[ INFO] [1670004784.759061604, 329.990000000]: Planning iteration 0
[ INFO] [1670004796.096076254, 340.400000000]: Planning iteration 1
[ERROR] [1670004801.100860797, 344.950000000]: Input pointcloud queue getting too long! Dropping some pointclouds. Either unable to look up transform timestamps or the processing is taking too long.
[ INFO] [1670004808.750320954, 352.000000000]: Planning iteration 2
[ INFO] [1670004830.968320079, 372.220000000]: Planning iteration 3
[ INFO] [1670004843.933968872, 384.090000000]: Planning iteration 4
[ INFO] [1670004856.066563520, 395.140000000]: Setting goal: Frame:world, Position(2.224, -0.193, 0.000), Orientation(0.000, 0.000, 0.002, 1.000) = Angle: 0.004

[ INFO] [1670004857.855551417, 396.800000000]: Planning iteration 5
[ERROR] [1670004869.408217314, 407.320000000]: Input pointcloud queue getting too long! Dropping some pointclouds. Either unable to look up transform timestamps or the processing is taking too long.
[ INFO] [1670004879.497433612, 416.470000000]: Planning iteration 6
[ INFO] [1670004892.457615414, 428.370000000]: Planning iteration 7
[ INFO] [1670004904.951218133, 439.840000000]: Planning iteration 8
[ INFO] [1670004920.757421893, 454.260000000]: Setting goal: Frame:world, Position(-4.752, -1.237, 0.000), Orientation(0.000, 0.000, -1.000, 0.009) = Angle: -3.123

[ INFO] [1670004932.165040894, 464.560000000]: SMB Path Tracker: Reached end of path
[ INFO] [1670004940.822883235, 472.400000000]: Planning iteration 9

gbplanner_node: /usr/include/eigen3/Eigen/src/Core/DenseCoeffsBase.h:364: Eigen::DenseCoeffsBase<Derived, 1>::Scalar& Eigen::DenseCoeffsBase<Derived, 1>::operator()(Eigen::Index, Eigen::Index) [with Derived = Eigen::Matrix<double, -1, -1>; Eigen::DenseCoeffsBase<Derived, 1>::Scalar = double; Eigen::Index = long int]: Assertion `row >= 0 && row < rows() && col >= 0 && col < cols()' failed.
*** Aborted at 1670004946 (unix time) try "date -d @1670004946" if you are using GNU date ***
PC: @     0x7f0eae24e00b gsignal
*** SIGABRT (@0x3e8000b3da2) received by PID 736674 (TID 0x7f0ea2980840) from PID 736674; stack trace: ***
    @     0x7f0eb001b781 google::(anonymous namespace)::FailureSignalHandler()
    @     0x7f0eae24e090 (unknown)
    @     0x7f0eae24e00b gsignal
    @     0x7f0eae22d859 abort
    @     0x7f0eae22d729 (unknown)
    @     0x7f0eae23efd6 __assert_fail
    @     0x7f0eaf47bc11 Eigen::DenseCoeffsBase<>::operator()()
    @     0x7f0eaf47a234 _ZN17MapManagerVoxbloxIN7voxblox10TsdfServerENS0_9TsdfVoxelEE13getScanStatusERN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEERSt6vectorIS6_SaIS6_EERSt5tupleIJiiiEERS8_ISt4pairIS6_N10MapManager11VoxelStatusEESaISI_EER16SensorParamsBase
    @     0x7f0eafbc3017 explorer::Rrg::computeVolumetricGainRayModel()
    @     0x7f0eafbba192 explorer::Rrg::expandGlobalGraphTimerCallback()
    @     0x7f0eafc310fb boost::_mfi::mf1<>::operator()()
    @     0x7f0eafc29371 boost::_bi::list2<>::operator()<>()
    @     0x7f0eafc2229d boost::_bi::bind_t<>::operator()<>()
    @     0x7f0eafc1ab2e boost::detail::function::void_function_obj_invoker1<>::invoke()
    @     0x7f0eaff07608 ros::TimerManager<>::TimerQueueCallback::call()
    @     0x7f0eaff29172 ros::CallbackQueue::callOneCB()
    @     0x7f0eaff2a883 ros::CallbackQueue::callAvailable()
    @     0x7f0eaff7dfcf ros::SingleThreadedSpinner::spin()
    @     0x7f0eaff6621f ros::spin()
    @     0x557a276b8a3a main
    @     0x7f0eae22f083 __libc_start_main
    @     0x557a276b871e _start
[ERROR] [1670004946.273309155, 477.380000000]: Planner service failed
[gbplanner_node-17] process has died [pid 736674, exit code -6, cmd /home/antoan/dev/gbplanner2_ws/devel/lib/gbplanner/gbplanner_node odometry:=/ground_truth/state /pointcloud:=/input_pointcloud __name:=gbplanner_node __log:=/home/antoan/.ros/log/c189b720-726c-11ed-9f3d-035f770cbc42/gbplanner_node-17.log].
log file: /home/antoan/.ros/log/c189b720-726c-11ed-9f3d-035f770cbc42/gbplanner_node-17*.log
[ INFO] [1670004946.806100546, 477.890000000]: Planning iteration 9
[ERROR] [1670004946.806156020, 477.890000000]: Planner service failed
`
@MihirDharmadhikari
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Hi @antoan-flox ,

Did you experience this issue persistently or was this happening only occasionally?

Best,
Mihir

@whuer-mspace
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Hi @antoan-flox ,

Did you experience this issue persistently or was this happening only occasionally?

Best, Mihir

Hi, @MihirDharmadhikari , I also meet same problem,it occor persistently, How to fix the issue?

gbplanner_node: /usr/include/eigen3/Eigen/src/Core/DenseCoeffsBase.h:364: Eigen::DenseCoeffsBase<Derived, 1>::Scalar& Eigen::DenseCoeffsBase<Derived, 1>::operator()(Eigen::Index, Eigen::Index) [with Derived = Eigen::Matrix<double, -1, -1>; Eigen::DenseCoeffsBase<Derived, 1>::Scalar = double; Eigen::Index = long int]: Assertion `row >= 0 && row < rows() && col >= 0 && col < cols()' failed.
*** Aborted at 1685008536 (unix time) try "date -d @1685008536" if you are using GNU date ***
PC: @ 0x7feb729fd00b gsignal
*** SIGABRT (@0x3e800024c6e) received by PID 150638 (TID 0x7feb62696640) from PID 150638; stack trace: ***
@ 0x7feb7477c631 (unknown)
@ 0x7feb729fd090 (unknown)
@ 0x7feb729fd00b gsignal
@ 0x7feb729dc859 abort
@ 0x7feb729dc729 (unknown)
@ 0x7feb729edfd6 __assert_fail
@ 0x7feb73bdcc11 Eigen::DenseCoeffsBase<>::operator()()
@ 0x7feb73bdb234 MapManagerVoxblox<>::getScanStatus()
@ 0x7feb74324017 explorer::Rrg::computeVolumetricGainRayModel()
@ 0x7feb74322794 explorer::Rrg::computeExplorationGain()
@ 0x7feb743158a1 explorer::Rrg::evaluateGraph()
@ 0x7feb742b5ff9 explorer::Gbplanner::plannerServiceCallback()
@ 0x7feb742e5b28 boost::_mfi::mf2<>::operator()()
@ 0x7feb742ddf56 boost::_bi::list3<>::operator()<>()
@ 0x7feb742d7c91 boost::_bi::bind_t<>::operator()<>()
@ 0x7feb742d1d9b boost::detail::function::function_obj_invoker2<>::invoke()
@ 0x7feb74300c65 boost::function2<>::operator()()
[ INFO] [1685008536.184363612]: Temp compute time = 0.276780, average compute time = 0.277671
@ 0x7feb742fdbb5 ros::ServiceSpec<>::call()
@ 0x7feb742f67fd ros::ServiceCallbackHelperT<>::call()
@ 0x7feb7463a439 ros::ServiceCallback::call()
@ 0x7feb7468b172 ros::CallbackQueue::callOneCB()
[ WARN] [1685008536.187387095]: Collision check time: 0.000001
@ 0x7feb7468c883 ros::CallbackQueue::callAvailable()
@ 0x7feb746dffcf ros::SingleThreadedSpinner::spin()
@ 0x7feb746c821f ros::spin()
@ 0x558edae53a3a main
@ 0x7feb729de083 __libc_start_main
@ 0x558edae5371e _start
[ERROR] [1685008536.331578224]: Planner service failed
[gbplanner_node-7] process has died [pid 150638, exit code -6

@MihirDharmadhikari
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Hi @yhy130531,

Thanks for letting us know. I am investigating this issue and will get back to you on this.

@whuer-mspace
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Thank you very much @MihirDharmadhikari. One thing that needs to be explained is that our emulator does not use Gazebo, but only uses Rviz display. The drone control, odometer, and point cloud generation are all ours. I only tested the exploration algorithm. When I start the algorithm , the above error occurred.

Hi @yhy130531,

Thanks for letting us know. I am investigating this issue and will get back to you on this.

@MihirDharmadhikari
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The planner can work with a custom setup as long as the appropriate topics for the point cloud and odometry are set and a position controller for tracking the output path is available. So I think your setup should be fine.
Just out of curiosity, did you encounter the same error with our simulation setup as well? This might help narrow down the issue.

@whuer-mspace
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The planner can work with a custom setup as long as the appropriate topics for the point cloud and odometry are set and a position controller for tracking the output path is available. So I think your setup should be fine. Just out of curiosity, did you encounter the same error with our simulation setup as well? This might help narrow down the issue.

The error only occur our simulation，the planner can be work well in your simulation.

@MihirDharmadhikari
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The LiDAR need not have 64 beams. The planner can take any point cloud as input as long as it is in the sensor frame so any other LiDAR simulator should be fine.

@SFakoorian0111
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SFakoorian0111 commented Nov 28, 2023 •
edited
Loading

@MihirDharmadhikari I see the same issue when I run your sim example roslaunch gbplanner smb_sim.launch
I attached a screenshot but this issue happens when I click on "Start Planner". When I click the "Initialization" the robot moves for a couple of steps and then it stops.
Screenshot from 2023-11-28 15-12-05

Here is another screenshot when I clicked the "Start Planner" at 1701214505.143857999 and it looks the node crashed afterward.

Screenshot from 2023-11-28 15-35-54

@MihirDharmadhikari
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Hello,

This might be related to issue #20. We are investigating the root cause of it. Meanwhile, you can set this parameter in the 'planner_common' package to 0, clean the package, and rebuild. However, note that this will use a more conservative volumetric gain computation.

Best,
Mihir

@Ray005
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Ray005 commented Dec 2, 2024

I encountered the same issue during simulation. Ultimately, I found that using catkin build instead of catkin_make to compile the project resolved the problem. Additionally, the code runs faster when compiled with catkin build.

Perhaps others facing this issue can consider checking the building command.

@MihirDharmadhikari
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Hi @Ray005,

We highly recommend using catkin build and not catkin_make for building the project. Additionally, the project should be built in release mode. The exact commands to built the project can be found in the readme of this repository or in the wiki.

Best,
Mihir

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@Ray005 @MihirDharmadhikari @whuer-mspace @SFakoorian0111 @antoan-flox