Stageros dies when launching sbpl_lattice_planner

asked 2014-05-02 06:38:57 -0500

Oier gravatar image

I am trying to get sbpl_lattice_planner to work on groovy. I downloaded and compiled it from https://github.com/ros-planning/navig... and I also downloaded and compiled sbpl from https://github.com/sbpl/sbpl . As sbpl is no longer a ros package I created a simple manifest on it so that the launch files from sbpl_lattice_planner can find it with rospack ( http://answers.ros.org/question/15904... ). I also replaced nav_view with rviz in the move_base_sbpl_fake_localization_2.5cm.launch launch file, as nav_view is deprecated. Finally I had to replace the word "laser' for 'range' in the world file, because Groovy has Stage 4, which no longer provides the laser device simulation.

After all this fiddling, when I launch roslaunch sbpl_lattice_planner move_base_sbpl_fake_localization_2.5cm.launch, stage crashes immediately. Besides rviz doesn't receive any tf information. Rviz says "Waiting on transform from /base_link to /map to become available before running costmap, tf error: ", is this because stage isn't running/crashed?

Running stage with gdb shows following error 307 /tmp/buildd/ros-groovy-stage-1.6.7/debian/ros-groovy-stage/opt/ros/groovy/stacks/stage/src/stageros.cpp: No such file or directory Does anybody know how to solve this?

$ roslaunch sbpl_lattice_planner move_base_sbpl_fake_localization_2.5cm.launch 
... logging to /home/meeso/.ros/log/d59f5598-d212-11e3-a07d-5404a6f18a13/roslaunch-speed-16339.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

WARNING: ignoring defunct <master /> tag
started roslaunch server http://speed:60710/

SUMMARY
========

PARAMETERS
 * /move_base_node/SBPLLatticePlanner/allocated_time
 * /move_base_node/SBPLLatticePlanner/environment_type
 * /move_base_node/SBPLLatticePlanner/forward_search
 * /move_base_node/SBPLLatticePlanner/initial_epsilon
 * /move_base_node/SBPLLatticePlanner/planner_type
 * /move_base_node/SBPLLatticePlanner/primitive_filename
 * /move_base_node/TrajectoryPlannerROS/acc_lim_th
 * /move_base_node/TrajectoryPlannerROS/acc_lim_x
 * /move_base_node/TrajectoryPlannerROS/acc_lim_y
 * /move_base_node/TrajectoryPlannerROS/dwa
 * /move_base_node/TrajectoryPlannerROS/goal_distance_bias
 * /move_base_node/TrajectoryPlannerROS/heading_lookahead
 * /move_base_node/TrajectoryPlannerROS/heading_scoring
 * /move_base_node/TrajectoryPlannerROS/heading_scoring_timestep
 * /move_base_node/TrajectoryPlannerROS/holonomic_robot
 * /move_base_node/TrajectoryPlannerROS/max_rotational_vel
 * /move_base_node/TrajectoryPlannerROS/max_vel_x
 * /move_base_node/TrajectoryPlannerROS/min_in_place_rotational_vel
 * /move_base_node/TrajectoryPlannerROS/min_vel_x
 * /move_base_node/TrajectoryPlannerROS/occdist_scale
 * /move_base_node/TrajectoryPlannerROS/oscillation_reset_dist
 * /move_base_node/TrajectoryPlannerROS/path_distance_bias
 * /move_base_node/TrajectoryPlannerROS/sim_granularity
 * /move_base_node/TrajectoryPlannerROS/sim_time
 * /move_base_node/TrajectoryPlannerROS/simple_attractor
 * /move_base_node/TrajectoryPlannerROS/transform_tolerance
 * /move_base_node/TrajectoryPlannerROS/vtheta_samples
 * /move_base_node/TrajectoryPlannerROS/vx_samples
 * /move_base_node/TrajectoryPlannerROS/xy_goal_tolerance
 * /move_base_node/TrajectoryPlannerROS/yaw_goal_tolerance
 * /move_base_node/base_global_planner
 * /move_base_node/controller_frequency
 * /move_base_node/controller_patience
 * /move_base_node/footprint_padding
 * /move_base_node/global_costmap/base_scan/clearing
 * /move_base_node/global_costmap/base_scan/data_type
 * /move_base_node/global_costmap/base_scan/expected_update_rate
 * /move_base_node/global_costmap/base_scan/marking
 * /move_base_node/global_costmap/base_scan/max_obstacle_height
 * /move_base_node/global_costmap/base_scan/min_obstacle_height
 * /move_base_node/global_costmap/base_scan/observation_persistence
 * /move_base_node/global_costmap/cost_scaling_factor
 * /move_base_node/global_costmap/footprint
 * /move_base_node/global_costmap/footprint_padding
 * /move_base_node/global_costmap/global_frame
 * /move_base_node/global_costmap/inflation_radius
 * /move_base_node/global_costmap/lethal_cost_threshold
 * /move_base_node/global_costmap/map_type
 * /move_base_node/global_costmap/mark_threshold
 * /move_base_node/global_costmap/max_obstacle_height
 * /move_base_node/global_costmap/observation_sources
 * /move_base_node/global_costmap/obstacle_range
 * /move_base_node/global_costmap/origin_z
 * /move_base_node/global_costmap/publish_frequency
 * /move_base_node/global_costmap/raytrace_range
 * /move_base_node/global_costmap/robot_base_frame
 * /move_base_node/global_costmap/rolling_window
 * /move_base_node/global_costmap/static_map
 * /move_base_node/global_costmap/transform_tolerance
 * /move_base_node/global_costmap/unknown_threshold
 * /move_base_node/global_costmap/update_frequency
 * /move_base_node/global_costmap/z_resolution
 * /move_base_node/global_costmap/z_voxels
 * /move_base_node/local_costmap/base_scan/clearing
 * /move_base_node/local_costmap/base_scan/data_type
 * /move_base_node/local_costmap/base_scan/expected_update_rate
 * /move_base_node/local_costmap/base_scan/marking
 * /move_base_node/local_costmap/base_scan/max_obstacle_height
 * /move_base_node/local_costmap/base_scan/min_obstacle_height
 * /move_base_node/local_costmap/base_scan/observation_persistence
 * /move_base_node/local_costmap/cost_scaling_factor
 * /move_base_node/local_costmap/footprint
 * /move_base_node/local_costmap/footprint_padding
 * /move_base_node/local_costmap/global_frame
 * /move_base_node/local_costmap/height
 * /move_base_node/local_costmap/inflation_radius
 * /move_base_node/local_costmap/lethal_cost_threshold
 * /move_base_node/local_costmap/map_type
 * /move_base_node/local_costmap/mark_threshold
 * /move_base_node/local_costmap/max_obstacle_height
 * /move_base_node/local_costmap/observation_sources
 * /move_base_node/local_costmap/obstacle_range ...
(more)
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Comments

I'm also running into this issue. Did you ever get it resolved?

mdgrogan gravatar imagemdgrogan ( 2018-03-31 00:04:33 -0500 )edit