move_base crashing when trying to publish costmap from static map

Hi there,

I am using the movebase node for navigation of our robot. The global costmap uses a static map as source. However when I want the costmap to be published (setting publishfrequency parameter > 0) the movebase node crashes. This is what is on the console:

terminate called after throwing an instance of 'std::badalloc'
  what():  std::badalloc
[movebase-13] process has died [pid 14954, exit code -6].

Now the question is simple: Is it somehow possible to publish the costmap that is created from a static map? If yes, how could I do it?

(I don't really need the costmap published, but I turned publishing on because I wanted to see it in rviz and it took me quite a time to figure out what is making move_base crash)

Asked by Kai Bublitz on 2012-01-18 00:51:47 UTC

Comments

The map is 4000x4000 at a resolution of 0.05, this is what gmapping does per default. So the map has a length of 200 meters. My computer has 4GB memory, and 32bit Ubuntu.

Asked by Kai Bublitz on 2012-01-19 09:33:55 UTC

How big is the costmap you are trying to create? Size of static map (in meters)? Resolution of the costmap? Memory available on your computer? 32-bit or 64-bit OS?

Asked by Eric Perko on 2012-01-18 08:58:28 UTC

Answers

Try also setting publish_voxel_map to true.

Asked by DimitriProsser on 2012-01-18 01:22:48 UTC

Comments

I already have set this parameter. It doesn't change anything

Asked by Kai Bublitz on 2012-01-19 09:45:09 UTC