move_base corrupt linked list
I have the navigation stack working, but the move_base node is consistently crashing. The behavior is very consistent; eventually it crashes with the same error every time. The amount of time it takes to crash does vary. I'm going to post this same question on the
Here's the exact error, each time corresponding to the following warning:
[ WARN] [1466704185.100935930]: InflationLayer::updateCosts(): seen_ array size is wrong
and the error:
*** Error in `/opt/ros/indigo/lib/move_base/move_base': corrupted double-linked list: 0x00000000029ad9b0 ***
[move_base-1] process has died [pid 8680, exit code -6, cmd /opt/ros/indigo/lib/move_base/move_base cmd_vel:=/mobility_base/cmd_vel odom:=/odometry/filtered map:=/rtabmap/proj_map __name:=move_base __log:=/home/mb/.ros/log/4d826ab2-396a-11e6-ad82-b8aeed747f2b/move_base-1.log].
log file: /home/mb/.ros/log/4d826ab2-396a-11e6-ad82-b8aeed747f2b/move_base-1*.log
all processes on machine have died, roslaunch will exit
Unfortunately, the log file isn't actually written, so I haven't been able to get any useful information from there. I've done some googling and the only thing I can turn up is line 192 of the source of costmap2d's inflationlayer.cpp (http://docs.ros.org/jade/api/costmap_2d/html/inflation__layer_8cpp_source.html). So it seems deleting the seen_ array of costmap2d's inflation layer is causing a corruption of a linked list somewhere else. What's odd is the warning doesn't always cause the error. I'm thinking it might be cause by how rtabmap is updating projmap, but I'm somewhat shooting in the dark. Any insight would be helpful.
Here's my basic robot setup. A kinectv1 mounted on the robot with rtabmapros for odometry and mapping. The movebase package uses the following:
baselocalplanner_params.yaml
TrajectoryPlannerROS:
acc_lim_x: 1.0
acc_lim_y: 1.0
acc_lim_theta: 2.0
max_vel_x: 0.4
min_vel_x: 0.05
escape_vel: -0.05
max_vel_theta: 0.5
min_vel_theta: -0.5
min_in_place_vel_theta: 0.01
holonomic_robot: true
y_vels: [-0.3, -0.05, 0.05, 0.3]
xy_goal_tolerance: 0.03
yaw_goal_tolerance: 0.05
latch_xy_goal_tolerance: true
# make sure that the minimum velocity multiplied by the sim_period is less than twice the tolerance on a goal. Otherwise, the robot will prefer to rotate in place just outside of range of its target position rather than moving towards the goal.
sim_time: 1.5 # set between 1 and 2. The higher he value, the smoother the path (though more samples would be required).
sim_granularity: 0.025
angular_sim_granularity: 0.025
vx_samples: 12
vtheta_samples: 20
meter_scoring: true
pdist_scale: 0.7 # The higher will follow more the global path.
gdist_scale: 0.8
occdist_scale: 0.03
publish_cost_grid_pc: false
# move_base controller_frequency
controller_frequency: 5.0
# global planner
NavfnROS:
allow_unknown: true
visualize_potential: false
costmapcommonparams.yaml
footprint: [[0.42, -0.43], [0.42, 0.43], [-0.42, 0.43], [-0.42, -0.43]]
footprint_padding: 0.02
inflation_layer:
inflation_radius: 0.02
transform_tolerance: 2
obstacle_layer:
obstacle_range: 3.0
raytrace_range: 3.5
track_unknown_space: false
observation_sources: point_cloud_sensor
point_cloud_sensor: {
sensor_frame: /camera_link,
data_type: PointCloud2,
topic: /rtabmap/cloud_map,
expected_update_rate: 1.0,
max_obstacle_height: 3.0,
min_obstacle_height: 0.1,
marking: true,
clearing: true
}
globalcostmapparams.yaml
global_costmap:
global_frame: /map
robot_base_frame: base_footprint
update_frequency: 0.5
publish_frequency: 0.5
always_send_full_costmap: true
static_map: true
plugins:
- {name: static_layer, type: "rtabmap_ros::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
local_costmap_params.yaml
local_costmap:
global_frame: odom
robot_base_frame: base_footprint
update_frequency: 1
publish_frequency: 1
static_map: false
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.025
#origin_x: -3.0
#origin_y: -3.0
plugins:
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
And here's my rtabmap.launch
<launch>
<!-- specific additional params -->
<arg name="publish_odom_tf" default="true"/>
<arg name="publish_map_tf" default="true"/>
<arg name="proj_min_cluster_size" default="2.0"/>
<!-- Localization-only mode -->
<arg name="localization" default="true"/>
<arg if="$(arg localization)" name="mapping" value="false" />
<arg unless="$(arg localization)" name="mapping" value="true" />
<!-- Convenience launch file to launch odometry, rtabmap and rtabmapviz nodes at once -->
<!-- For rgbd:=true
Your RGB-D sensor should be already started with "depth_registration:=true".
Examples:
$ roslaunch freenect_launch freenect.launch depth_registration:=true
$ roslaunch openni2_launch openni2.launch depth_registration:=true -->
<!-- For stereo:=true
Your camera should be calibrated and publishing rectified left and right
images + corresponding camera_info msgs. You can use stereo_image_proc for image rectification.
Example:
$ roslaunch rtabmap_ros bumblebee.launch -->
<!-- Choose between RGB-D and stereo -->
<arg name="rgbd" default="true"/>
<arg name="stereo" default="false"/>
<!-- Choose visualization -->
<arg name="rtabmapviz" default="false" />
<arg name="rviz" default="false" />
<!-- Corresponding config files -->
<arg name="cfg" default="" /> <!-- To change RTAB-Map's parameters, set the path of config file (*.ini) generated by the standalone app -->
<arg name="gui_cfg" default="~/.ros/rtabmap_gui.ini" />
<arg name="rviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />
<arg name="frame_id" default="base_link"/> <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
<arg name="namespace" default="rtabmap"/>
<arg name="database_path" default="~/.ros/rtabmap.db"/>
<arg name="queue_size" default="10"/>
<arg name="wait_for_transform" default="0.5"/>
<arg if="$(arg localization)" name="rtabmap_args" value="" />
<arg unless="$(arg localization)" name="rtabmap_args" value="--delete_db_on_start" />
<arg name="launch_prefix" default=""/> <!-- for debugging purpose, it fills launch-prefix tag of the nodes -->
<!-- RGB-D related topics -->
<arg name="rgb_topic" default="/camera/rgb/image_rect_color" />
<arg name="depth_topic" default="/camera/depth_registered/image_raw" />
<arg name="camera_info_topic" default="/camera/rgb/camera_info" />
<!-- stereo related topics -->
<arg name="stereo_namespace" default="/stereo_camera"/>
<arg name="left_image_topic" default="$(arg stereo_namespace)/left/image_rect_color" />
<arg name="right_image_topic" default="$(arg stereo_namespace)/right/image_rect" /> <!-- using grayscale image for efficiency -->
<arg name="left_camera_info_topic" default="$(arg stereo_namespace)/left/camera_info" />
<arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" />
<arg name="approx_sync" default="false"/> <!-- if timestamps of the stereo images are not synchronized -->
<arg name="compressed" default="false"/> <!-- If you want to subscribe to compressed image topics -->
<!-- For depth_topic, "compressedDepth" image_transport is used. -->
<!-- For rgb_topic, see "rgb_image_transport" argument. -->
<arg name="rgb_image_transport" default="compressed"/> <!-- Common types: compressed, theora (see "rosrun image_transport list_transports") -->
<arg name="subscribe_scan" default="false"/>
<arg name="scan_topic" default="/scan"/>
<arg name="subscribe_scan_cloud" default="false"/>
<arg name="scan_cloud_topic" default="/scan_cloud"/>
<arg name="visual_odometry" default="true"/> <!-- Launch rtabmap visual odometry node -->
<arg name="odom_topic" default="/odom"/> <!-- Odometry topic used if visual_odometry is false -->
<arg name="odom_args" default="$(arg rtabmap_args)"/>
<!-- These arguments should not be modified directly, see referred topics without "_relay" suffix above -->
<arg if="$(arg compressed)" name="rgb_topic_relay" default="$(arg rgb_topic)_relay"/>
<arg unless="$(arg compressed)" name="rgb_topic_relay" default="$(arg rgb_topic)"/>
<arg if="$(arg compressed)" name="depth_topic_relay" default="$(arg depth_topic)_relay"/>
<arg unless="$(arg compressed)" name="depth_topic_relay" default="$(arg depth_topic)"/>
<arg if="$(arg compressed)" name="left_image_topic_relay" default="$(arg left_image_topic)_relay"/>
<arg unless="$(arg compressed)" name="left_image_topic_relay" default="$(arg left_image_topic)"/>
<arg if="$(arg compressed)" name="right_image_topic_relay" default="$(arg right_image_topic)_relay"/>
<arg unless="$(arg compressed)" name="right_image_topic_relay" default="$(arg right_image_topic)"/>
<!-- algorithm params -->
<arg name="strategy" default="0" />
<arg name="feature" default="6" />
<arg name="nn" default="3" />
<arg name="max_depth" default="5.0" />
<arg name="min_inliers" default="15" />
<arg name="inlier_distance" default="0.02" />
<arg name="local_map" default="2000" />
<arg name="gftt_max_corners" default="1000" />
<arg name="gftt_min_distance" default="7" />
<!-- Nodes -->
<group ns="$(arg namespace)">
<!-- RGB-D Odometry -->
<group if="$(arg rgbd)">
<node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" />
<node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" />
<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen" args="$(arg odom_args)" launch-prefix="$(arg launch_prefix)">
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="config_path" type="string" value="$(arg cfg)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="publish_tf" type="bool" value="$(arg publish_odom_tf)" />
<!-- Force 2D odometry -->
<param name="Reg/Force2D" type="string" value="true"/>
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="Vis/EstimationType" type="string" value="$(arg strategy)"/>
<param name="Vis/CorNNType" type="string" value="$(arg nn)"/>
<param name="Vis/MaxDepth" type="string" value="$(arg max_depth)"/>
<param name="Vis/MinInliers" type="string" value="$(arg min_inliers)"/>
<param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>
<param name="OdomF2M/LocalHistorySize" type="string" value="$(arg local_map)"/>
<param name="Vis/MaxFeatures" type="string" value="$(arg gftt_max_corners)"/>
<param name="GFTT/MinDistance" type="string" value="$(arg gftt_min_distance)"/>
</node>
</group>
<!-- Stereo Odometry -->
<group if="$(arg stereo)">
<node if="$(arg compressed)" name="republish_left" type="republish" pkg="image_transport" args="compressed in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" />
<node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="compressed in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" />
<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
<remap from="left/image_rect" to="$(arg left_image_topic_relay)"/>
<remap from="right/image_rect" to="$(arg right_image_topic_relay)"/>
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
<param name="config_path" type="string" value="$(arg cfg)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
</node>
</group>
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
<param name="subscribe_depth" type="bool" value="$(arg rgbd)"/>
<param name="subscribe_stereo" type="bool" value="$(arg stereo)"/>
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
<param name="subscribe_scan_cloud" type="bool" value="$(arg subscribe_scan_cloud)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="publish_tf" type="bool" value="$(arg publish_map_tf)" />
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="database_path" type="string" value="$(arg database_path)"/>
<param name="stereo_approx_sync" type="bool" value="$(arg approx_sync)"/>
<param name="config_path" type="string" value="$(arg cfg)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="left/image_rect" to="$(arg left_image_topic_relay)"/>
<remap from="right/image_rect" to="$(arg right_image_topic_relay)"/>
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
<remap from="scan" to="$(arg scan_topic)"/>
<remap from="scan_cloud" to="$(arg scan_cloud_topic)"/>
<remap unless="$(arg visual_odometry)" from="odom" to="$(arg odom_topic)"/>
<!-- Force 2D mapping (constrained to x-y plane + yaw) -->
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="Reg/Force2D" type="string" value="true"/>
<param name="Optimizer/Slam2D" type="string" value="true"/>
<param name="Rtabmap/DetectionRate" type="string" value="3.0" />
<param name="DbSqlite3/InMemory" type="string" value="true" />
<param name="Vis/MinInliers" type="string" value="$(arg min_inliers)"/>
<param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>
<param name="proj_min_cluster_size" type="double" value="$(arg proj_min_cluster_size)" />
<!-- localization mode -->
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
<param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
<param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg gui_cfg)" output="screen" launch-prefix="$(arg launch_prefix)">
<param name="subscribe_depth" type="bool" value="$(arg rgbd)"/>
<param name="subscribe_stereo" type="bool" value="$(arg stereo)"/>
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
<param name="subscribe_scan_cloud" type="bool" value="$(arg subscribe_scan_cloud)"/>
<param name="subscribe_odom_info" type="bool" value="$(arg visual_odometry)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="left/image_rect" to="$(arg left_image_topic_relay)"/>
<remap from="right/image_rect" to="$(arg right_image_topic_relay)"/>
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
<remap from="scan" to="$(arg scan_topic)"/>
<remap from="scan_cloud" to="$(arg scan_cloud_topic)"/>
<remap unless="$(arg visual_odometry)" from="odom" to="$(arg odom_topic)"/>
</node>
</group>
<!-- Visualization RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="$(arg rviz_cfg)"/>
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
<remap from="left/image" to="$(arg left_image_topic_relay)"/>
<remap from="right/image" to="$(arg right_image_topic_relay)"/>
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="cloud" to="voxel_cloud" />
<param name="decimation" type="double" value="2"/>
<param name="voxel_size" type="double" value="0.02"/>
<param if="$(arg stereo)" name="approx_sync" type="bool" value="$(arg approx_sync)"/>
</node>
</launch>
Asked by mjedmonds on 2016-06-23 14:01:13 UTC
Answers
What was the root cause to this problem? Ever figure it out?
Asked by GaganBhat on 2022-08-22 20:03:43 UTC
Comments