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 -> base_link and base_link -> 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
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.
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
I tried rebooting so many times but it wouldn't help. When i tried to run this tutorial http://www.clearpathrobotics.com/asse... everythings works well including slam_gmapping . I tried to copy the tf tree it wouldn't help either.
Update: I have modified point cloud to laser scan node's parameters and the error has gone. But still not working correctly.
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.
what did you do to solve the problem?