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rosmaster.threadpool ERROR

asked 2016-06-16 02:41:27 -0500

billy gravatar image

I am attempting to use the navigation stack in Jade on Ubuntu 14.04. While robot is driving towards goal, the cost map and point cloud disappear permanently and navigation stops. I need to close the launch to restart. The error only occurs when the robot is running(it is following path).

I am finding an error in the master log I think is the cause. See below. The error does not seem to correlate to the line immediately above where the errors starts. I mean that the INFO being published when the error occurs is different each time. The other log files have errors relating to the robot no longer being localized.

Can you help me trace the cause of this error? Restarting PC didn't help. Rebuilding entire project didn't help. Running rosclean purge (deleting log files) seemed to help in that in the duration of navigation prior to crash changed from very quick (1 to 3 seconds) after starting towards goal to running OK for many (10 or more) seconds. It will occasionally make it to the goal successfully, just across the room.

[rosmaster.master][INFO] 2016-06-15 23:24:46,304: publisherUpdate[/particlecloud] -> http://linux-Latitude-D630:37147/
[rosmaster.master][INFO] 2016-06-15 23:24:46,309: -PUB [/rosout] /map_server http://linux-Latitude-D630:44019/
[rosmaster.master][INFO] 2016-06-15 23:24:46,311: -PUB [/map_metadata] /map_server http://linux-Latitude-D630:44019/
[rosmaster.master][INFO] 2016-06-15 23:24:46,312: -PUB [/map] /map_server http://linux-Latitude-D630:44019/
[rosmaster.master][INFO] 2016-06-15 23:24:46,314: -SERVICE [/map_server/get_loggers] /map_server rosrpc://linux-Latitude-D630:55425
[rosmaster.master][INFO] 2016-06-15 23:24:46,315: -SERVICE [/map_server/set_logger_level] /map_server rosrpc://linux-Latitude-D630:55425
[rosmaster.threadpool][ERROR] 2016-06-15 23:24:46,319: Traceback (most recent call last):
  File "/opt/ros/jade/lib/python2.7/dist-packages/rosmaster/", line 218, in run
    result = cmd(*args)
  File "/opt/ros/jade/lib/python2.7/dist-packages/rosmaster/", line 208, in publisher_update_task
    xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python2.7/", line 1233, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python2.7/", line 1587, in __request
  File "/usr/lib/python2.7/", line 1273, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python2.7/", line 1306, in single_request
    return self.parse_response(response)
  File "/usr/lib/python2.7/", line 1482, in parse_response
    return u.close()
  File "/usr/lib/python2.7/", line 794, in close
    raise Fault(**self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>

Here are the files I am using to configure.

<node pkg="amcl" type="amcl" name="amcl" output="screen">
  <!-- Publish scans from best pose at a max of 10 Hz -->
  <param name="odom_model_type" value="diff"/>
  <param name="odom_alpha5" value="0.1"/>

  <!-- param name="transform_tolerance" value="0.2" / -->
  <param name="transform_tolerance" value="0.5" />

  <!-- param name="gui_publish_rate" value="10.0"/ -->
  <param name="gui_publish_rate" value="3.0"/>

  <!-- param name="laser_max_beams" value="30"/ -->
  <param name="laser_max_beams" value="60 ...
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answered 2016-06-17 00:51:34 -0500

billy gravatar image

I figured this out. I had cause and effect mixed up. I thought the error was causing localization to fail. In reality, a localization failure was causing the error. Corrupted odom data was causing localization to fail. With odom data corruption fixed, localization is stable and this error hasn't returned.

The bad odom data was shifting the robot all the way off the map. It could be the rosmaster node isn't equipped to deal with that situation.

Closing this question.

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Asked: 2016-06-16 02:41:27 -0500

Seen: 662 times

Last updated: Jun 17 '16