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slam_gmapping Laser is mounted upwards

Hello friends,

I am trying to run 

rosrun gmapping slam_gmapping

and I am facing with this result .

[ INFO] [1546503887.324696498]: Laser is mounted upwards.
Error in `/home/nvidia/catkin-ws/devel/lib/gmapping/slam_gmapping': malloc(): smallbin double linked list corrupted: 0x0000000000588bc0
Aborted (core dumped)

I have odom -> baselink and baselink -> base_laser tf 

transforms: 
  - 
    header: 
      seq: 0
      stamp: 
        secs: 1546503885
        nsecs:   8856919
      frame_id: "base_link"
    child_frame_id: "base_laser"
    transform: 
      translation: 
        x: 0.0
        y: 10.0
        z: 10.0
      rotation: 
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
transforms: 
  - 
    header: 
      seq: 0
      stamp: 
        secs: 1546503884
        nsecs: 900882660
      frame_id: "odom"
    child_frame_id: "base_link"
    transform: 
      translation: 
        x: 0.225268739852
        y: 0.0
        z: 0.0
      rotation: 
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0

I am publishing laser scans to /scan topic.

And this is my ros graph

image description

What do you think I can do? Does the problem is about compiling gmapping because of the core dumped or about tf because of the info laser mounted upwards.

Thank you.

Asked by jamess on 2019-01-03 03:33:55 UTC

Comments

The error is related to a memory allocation error. In your shoes, I would start with rebooting the computer. I know I sound like microsoft tech support, but a malloc error in something as well tested as gmapping seems odd. If you think laser orientation is related, change the TF to change it as test

Asked by billy on 2019-01-06 16:38:22 UTC

I tried rebooting so many times but it wouldn't help. When i tried to run this tutorial http://www.clearpathrobotics.com/assets/guides/jackal/navigation.html everythings works well including slam_gmapping . I tried to copy the tf tree it wouldn't help either.

Asked by jamess on 2019-01-07 03:42:39 UTC

Update: I have modified point cloud to laser scan node's parameters and the error has gone. But still not working correctly.

Asked by jamess on 2019-01-15 02:07:40 UTC

You can update question or open new one with current issue if you need additional help. I think a parameter that can cause a malloc error is a legitimate bug and should be reported.

Asked by billy on 2019-01-16 13:11:12 UTC

what did you do to solve the problem?

Asked by beginnerrrr on 2021-07-27 01:43:18 UTC

Answers