Fail navigation with sbpl: process has died

asked 2015-11-20 07:37:30 -0600

solosito gravatar image

I am simulating my own robot in gazebo and I am using sbpl lattice planner for the navigation. First of all, it takes a lot of time for planning (I've been craddling with the parameters and is the same).

Another problem is that the navigation crashes (process die) and don't know why, it happens when I'm command the second navigation goal after accomplishing the first one. Weirdly it only occurs with far navigation goals (I mean with far not in the same room using willow_closed maps). It is having a really strange behavior and I am a bit lost because I am not a ROS expert.

Here the is the error in the navigation console:

[auroroll_move_base-8] process has died [pid 3909, exit code -11, cmd /home/atroya/auroroll_workspace/devel/lib/auroroll_move_base/auroroll_move_base cmd_vel:=auroroll/cmd_vel odom:=odom scan:=scan_front __name:=auroroll_move_base __log:=/home/atroya/.ros/log/e54a152e-8f89-11e5-b687-782bcb8f2efa/auroroll_move_base-8.log].
log file: /home/atroya/.ros/log/e54a152e-8f89-11e5-b687-782bcb8f2efa/auroroll_move_base-8*.log

When it doesn't crash, it makes the full route (at least I can see it in rviz) but it doesn't start to follow it, just stays there or it goes to a wall and crashes into it.

I think that there should be any kind of error reaching the route or something similar because I observed that it doesn't clean the global plan after arrive the first goal. May be the path follower?

Is there anyway for debugging it and see what is really happening? In the log from the error I can't see anything.

Thank you!

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Comments

1

-11 is a segfault. Unless someone suspects/guesses a known error, it's not clear what goes wrong. You can debug this with any debugger of your choice, e.g. gdb.

dornhege gravatar imagedornhege ( 2015-11-20 07:49:04 -0600 )edit