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move_base crashing when trying to publish costmap from static map [closed]

asked 2012-01-17 23:51:47 -0600

Kai Bublitz gravatar image

Hi there,

I am using the move_base 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 publish_frequency parameter > 0) the move_base node crashes. This is what is on the console:

terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
[move_base-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)

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2013-09-09 15:09:50


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?
Eric Perko gravatar image Eric Perko  ( 2012-01-18 07:58:28 -0600 )edit
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.
Kai Bublitz gravatar image Kai Bublitz  ( 2012-01-19 08:33:55 -0600 )edit

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answered 2012-01-18 00:22:48 -0600

DimitriProsser gravatar image

Try also setting publish_voxel_map to true.

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I already have set this parameter. It doesn't change anything
Kai Bublitz gravatar image Kai Bublitz  ( 2012-01-19 08:45:09 -0600 )edit

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Asked: 2012-01-17 23:51:47 -0600

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Last updated: Jan 18 '12