ARDrone 2D_navigation map_server crash, not sending goals
Hello all,
I am trying to navigate the ARDrone through a 2D map using the navigation stack. However, when I run movebase, the mapserver node crashes. I have no problems running the ardrone driver, tum packages, or rviz. However, it seems the ardrone is not getting goal estimates? I suspect this is from the map_server crashing, but I'm not sure if there is a deeper problem. I do not have much experience implementing the navigation stack.
Let me know if you need more information. Outputs are below.
Thanks
mike@ms-laptop:~/catkin_ws/src/my_robot_name_2dnav$ ls
base_local_planner_params.yaml local_costmap_params.yaml
base_local_planner_params.yaml~ local_costmap_params.yaml~
CATKIN_IGNORE move_base.launch
CMakeLists.txt move_base.launch~
CMakeLists.txt~ my_map_package
costmap_common_params.yaml my_robot_configuration.launch
costmap_common_params.yaml~ my_robot_configuration.launch~
global_costmap_params.yaml package.xml
global_costmap_params.yaml~ package.xml~
mike@ms-laptop:~/catkin_ws/src/my_robot_name_2dnav$ roslaunch move_base.launch
... logging to /home/mike/.ros/log/3709af50-dadd-11e7-bae8-f82819569869/roslaunch-ms-laptop-3490.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.
WARNING: ignoring defunct <master /> tag
started roslaunch server http://ms-laptop:34511/
SUMMARY
move_base.launch
========
PARAMETERS
* /amcl/gui_publish_rate: 10.0
* /amcl/kld_err: 0.05
* /amcl/kld_z: 0.99
* /amcl/laser_lambda_short: 0.1
* /amcl/laser_likelihood_max_dist: 2.0
* /amcl/laser_max_beams: 30
* /amcl/laser_model_type: likelihood_field
* /amcl/laser_sigma_hit: 0.2
* /amcl/laser_z_hit: 0.5
* /amcl/laser_z_max: 0.05
* /amcl/laser_z_rand: 0.5
* /amcl/laser_z_short: 0.05
* /amcl/max_particles: 5000
* /amcl/min_particles: 500
* /amcl/odom_alpha1: 0.2
* /amcl/odom_alpha2: 0.2
* /amcl/odom_alpha3: 0.8
* /amcl/odom_alpha4: 0.2
* /amcl/odom_alpha5: 0.1
* /amcl/odom_frame_id: odom
* /amcl/odom_model_type: omni
* /amcl/recovery_alpha_fast: 0.0
* /amcl/recovery_alpha_slow: 0.0
* /amcl/resample_interval: 1
* /amcl/transform_tolerance: 0.1
* /amcl/update_min_a: 0.5
* /amcl/update_min_d: 0.2
* /move_base/TrajectoryPlannerROS/acc_lim_theta: 3.2
* /move_base/TrajectoryPlannerROS/acc_lim_x: 2.5
* /move_base/TrajectoryPlannerROS/acc_lim_y: 2.5
* /move_base/TrajectoryPlannerROS/holonomic_robot: True
* /move_base/TrajectoryPlannerROS/max_vel_theta: 1.0
* /move_base/TrajectoryPlannerROS/max_vel_x: 0.45
* /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.4
* /move_base/TrajectoryPlannerROS/min_vel_x: 0.1
* /move_base/global_costmap/<rosparam>obstacle_range: 10 </rosparam>
* /move_base/global_costmap/footprint: ['x0', 'y0']
* /move_base/global_costmap/global_frame: /map
* /move_base/global_costmap/inflation_radius: 0.55
* /move_base/global_costmap/map/clearing: True
* /move_base/global_costmap/map/data_type: map
* /move_base/global_costmap/map/marking: True
* /move_base/global_costmap/map/sensor_frame: map
* /move_base/global_costmap/map/topic: map
* /move_base/global_costmap/observation_sources: map
* /move_base/global_costmap/raytrace_range: 3.0
* /move_base/global_costmap/robot_base_frame: ardrone_base_link
* /move_base/global_costmap/static_map: True
* /move_base/global_costmap/update_frequency: 5.0
* /move_base/local_costmap/global_frame: odom
* /move_base/local_costmap/height: 6.0
* /move_base/local_costmap/publish_frequency: 2.0
* /move_base/local_costmap/resolution: 0.05
* /move_base/local_costmap/robot_base_frame: ardrone_base_link
* /move_base/local_costmap/rolling_window: True
* /move_base/local_costmap/static_map: True
* /move_base/local_costmap/update_frequency: 5.0
* /move_base/local_costmap/width: 6.0
* /rosdistro: indigo
* /rosversion: 1.11.21
NODES
/
amcl (amcl/amcl)
map_server (map_server/map_server)
move_base (move_base/move_base)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[map_server-1]: started with pid [3524]
process[amcl-2]: started with pid [3527]
process[move_base-3]: started with pid [3528]
terminate called after throwing an instance of 'std::ios_base::failure'
what(): basic_filebuf::underflow error reading the file
[ INFO] [1512603014.971216618]: Loading from pre-hydro parameter style
[ INFO] [1512603015.009510844]: Using plugin "static_layer"
[ INFO] [1512603015.140078754]: Requesting the map...
[map_server-1] process has died [pid 3524, exit code -6, cmd /opt/ros/indigo/lib/map_server/map_server /home/mike/catkin_ws/src/ardrone_tutorials my_map1.yaml __name:=map_server __log:=/home/mike/.ros/log/3709af50-dadd-11e7-bae8-f82819569869/map_server-1.log].
log file: /home/mike/.ros/log/3709af50-dadd-11e7-bae8-f82819569869/map_server-1*.log
-----------------------------------------------------------------------
ardrone_autonomy driver
[ WARN] [1512602960.820353324]: Camera calibration file /home/mike/.ros/camera_info/ardrone_bottom.yaml not found.
[ WARN] [1512602965.839065634]: There is something wrong with the magnetometer readings (Magnitude is extremely small).
move_base after running map_server node
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[map_server-1]: started with pid [5810]
process[amcl-2]: started with pid [5811]
process[move_base-3]: started with pid [5812]
terminate called after throwing an instance of 'std::ios_base::failure'
what(): basic_filebuf::underflow error reading the file
[map_server-1] process has died [pid 5810, exit code -6, cmd /opt/ros/indigo/lib/map_server/map_server /home/mike/catkin_ws/src/ardrone_tutorials my_map1.yaml __name:=map_server __log:=/home/mike/.ros/log/3709af50-dadd-11e7-bae8-f82819569869/map_server-1.log].
log file: /home/mike/.ros/log/3709af50-dadd-11e7-bae8-f82819569869/map_server-1*.log
[ INFO] [1512603225.904353758]: Using plugin "static_layer"
[ INFO] [1512603225.946758414]: Requesting the map...
Running RViz
mike@ms-laptop:~$ rosrun rviz rviz
[ INFO] [1512603905.164103626]: rviz version 1.11.18
[ INFO] [1512603905.164166258]: compiled against Qt version 4.8.6
[ INFO] [1512603905.164181896]: compiled against OGRE version 1.8.1 (Byatis)
[ INFO] [1512603905.561120585]: Stereo is NOT SUPPORTED
[ INFO] [1512603905.561191782]: OpenGl version: 3 (GLSL 1.3).
[ INFO] [1512603997.969643310]: Setting pose: 0.057 -0.067 3.026 [frame=map]
[ INFO] [1512604007.902401011]: Setting goal: Frame:map, Position(-6.735, 3.496, 0.000), Orientation(0.000, 0.000, 0.787, 0.617) = Angle: 1.811
---
transforms:
-
header:
seq: 0
stamp:
secs: 1512604046
nsecs: 30517337
frame_id: odom
child_frame_id: ardrone_base_link
transform:
translation:
x: 0.0
y: 0.0
z: 0.0
rotation:
x: -0.00826840307009
y: 0.00190585025213
z: -0.0267115706617
w: 0.999607169461
---
transforms:
-
header:
seq: 0
stamp:
secs: 1512604046
nsecs: 39253138
frame_id: ardrone_base_link
child_frame_id: ardrone_base_frontcam
transform:
translation:
x: 0.21
y: 0.0
z: 0.0
rotation:
x: -0.499999999999
y: 0.500000836553
z: -0.499999999999
w: 0.499999163447
---
transforms:
-
header:
seq: 0
stamp:
secs: 1512604046
nsecs: 39253222
frame_id: ardrone_base_link
child_frame_id: ardrone_base_bottomcam
transform:
translation:
x: 0.0
y: -0.02
z: 0.0
rotation:
x: 0.707106189653
y: 0.707107372717
z: -1.18306495402e-06
w: -1.18306297463e-06
---
transforms:
-
header:
seq: 0
stamp:
secs: 1512604046
nsecs: 53169275
frame_id: odom
child_frame_id: ardrone_base_link
transform:
translation:
x: 0.0
y: 0.0
z: 0.0
rotation:
x: -0.00824223341276
y: 0.00190515094419
z: -0.0267116205476
w: 0.999607385585
---
transforms:
-
header:
seq: 0
stamp:
secs: 1512604046
nsecs: 6089580
frame_id: map
child_frame_id: odom
transform:
translation:
x: -0.0
y: -0.0
z: -0.0
rotation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
---
transforms:
-
header:
seq: 0
stamp:
secs: 1512604046
nsecs: 28519664
frame_id: map
child_frame_id: odom
transform:
translation:
x: -0.0
y: -0.0
z: -0.0
rotation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
---
transforms:
-
header:
seq: 0
stamp:
secs: 1512604046
nsecs: 75019799
frame_id: odom
child_frame_id: ardrone_base_link
transform:
translation:
x: 0.0
y: 0.0
z: 0.0
rotation:
x: -0.0082599297512
y: 0.00189682185587
z: -0.0267029369364
w: 0.99960748736
---
Asked by mikestoj on 2017-12-07 12:39:26 UTC
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