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navigation stack get crash [closed]

asked 2014-10-14 08:29:12 -0500

updated 2014-10-29 07:44:40 -0500

Hi, I am working with the navigation stack and when I command a goal (by rviz) which is inside an obstacle I get the following error. This is something I have begun to experience recently (after upgrading some Ros packages).

If you need any configuration file, I can provide them.

[ WARN] [1413287442.128433137, 500.284000000]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 1.0820 seconds
[ WARN] [1413287447.391084978, 502.616000000]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 2.1320 seconds
[ WARN] [1413287450.041637304, 503.840000000]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 1.2240 seconds
[ WARN] [1413287452.804671449, 505.062000000]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 1.0220 seconds
[ WARN] [1413287452.835355243, 505.075000000]: Clearing costmap to unstuck robot.

[move_base-3] process has died [pid 16397, exit code -11, cmd /home/summitxl/ros_catkin_ws/install_isolated/lib/move_base/move_base odom:=odometry/filtered hokuyo_laser_topic:=scan cmd_vel:=/summit_xl_robot_control/command __name:=move_base __log:=/home/summitxl/.ros/log/3bb2ad12-5396-11e4-ac48-9cb70d1c3f04/move_base-3.log].
log file: /home/summitxl/.ros/log/3bb2ad12-5396-11e4-ac48-9cb70d1c3f04/move_base-3*.log

Thank you

My debug output is here: https://gist.github.com/arenillas/240...

EDIT:

Using the parameter default_tolerance (5 meters) the result is:

[ WARN] [1414505173.888202638, 61.526000000]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 0.7650 seconds
[ WARN] [1414505173.930135630, 61.537000000]: Invalid Trajectory 0.000000, 0.000000, -0.400000, cost: -1.000000

And after some time and repetitions of these two warnings:

[ WARN] [1414505212.929234900, 71.937000000]: Clearing costmap to unstuck robot.
[move_base-3] process has died [pid 3922, exit code -11, cmd /home/summitxl/ros_catkin_ws/install_isolated/lib/move_base/move_base odom:=odometry/filtered hokuyo_laser_topic:=scan cmd_vel:=/summit_xl_robot_control/command __name:=move_base __log:=/home/summitxl/.ros/log/24466806-5eab-11e4-bdf7-047d7b44770f/move_base-3.log].
log file: /home/summitxl/.ros/log/24466806-5eab-11e4-bdf7-047d7b44770f/move_base-3*.log

EDIT:

Finally, it was a problem in costmap package. It has been fixed.

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Closed for the following reason the question is answered, right answer was accepted by arenillas
close date 2014-10-29 07:44:57.074978

Comments

Looks like a core dump and shouldn't happen. Do you use any non-standard plugins?

dornhege gravatar imagedornhege ( 2014-10-14 10:44:55 -0500 )edit

I don't think so.

arenillas gravatar imagearenillas ( 2014-10-14 16:41:52 -0500 )edit

1 Answer

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answered 2014-10-14 10:55:22 -0500

paulbovbel gravatar image

updated 2014-10-22 08:35:11 -0500

It looks like you're running a source-built version of navigation, I assume there's a good reason to not use debs?

First step for diagnosing would be to set the log level to debug for move_base and post that output as well.


EDIT: From the log file, you're having an error where the observations (i.e. laserscan ray endpoints or pointcloud) received by the obstacle layer of your map are not within the costmap bounds. This is probably a misconfiguration somewhere, either with your map size (maybe your static map which overrides your map size), or your tf transforms.

Since you're already building navigation from source, I would recommend hooking it up to a debugger, or just adding some additional ROS_DEBUGs in the problem area to try to figure out where the calculations are going wrong.

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Comments

I am using source version because the project has to be developed in Ubuntu 13.10 and ros hydro is not available in it.

Can you explain how to set log lever to debug??

arenillas gravatar imagearenillas ( 2014-10-14 16:43:53 -0500 )edit

Can I send you the file to your email? It is huge and I do not know where to look

arenillas gravatar imagearenillas ( 2014-10-21 08:09:36 -0500 )edit

Now I know the problem is in the global map. Whenever I command a goal that is inside inflation layer of the obstacles, it crashes

arenillas gravatar imagearenillas ( 2014-10-27 06:24:53 -0500 )edit

I imagine that it is possible to set a goal like that. Am I wrong? I suppose that in that case the move_base should warn you with a message like "unreachable goal", but not crashing. Am I right?

arenillas gravatar imagearenillas ( 2014-10-27 06:27:19 -0500 )edit

Try raising the the default tolerance parameter on the global planner.

paulbovbel gravatar imagepaulbovbel ( 2014-10-27 07:09:27 -0500 )edit

Are you sure that I can command a goal like this?

http://postimg.org/image/3t9we94kv/

In that case, what should happen when the robot is not able to get there because it is inside an obstacle?

Thank you

arenillas gravatar imagearenillas ( 2014-10-27 10:48:31 -0500 )edit

Taking a look at the code, the global planner will try to find the closest legal point using the default_tolerance parameter as a limit.

paulbovbel gravatar imagepaulbovbel ( 2014-10-27 11:36:31 -0500 )edit

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Asked: 2014-10-14 08:29:12 -0500

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Last updated: Oct 29 '14