move_base crashing when trying to publish costmap from static map [closed]
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)
Closed for the following reason
question is not relevant or outdated by
tfoote
close date 2013-09-09 15:09:50
Comments
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
(
2012-01-18 07:58:28 -0500
)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
(
2012-01-19 08:33:55 -0500
)editadd a comment
