Move_base bug memory

asked 2017-02-19 01:03:00 -0500

science00000 gravatar image

updated 2017-02-19 03:49:40 -0500

gvdhoorn gravatar image

I faced that bug when run navigation stack:

[WARN] [1487482806.350308596]: Clearing costmap to unstuck robot (3.000000m).
[INFO] [1487482807.285442382]: Resizing costmap to 442 X 361 at 0.050000 m/pix
[WARN] [1487482807.325815870]: InflationLayer::updateCosts(): seen_ array size is wrong
[INFO] [1487482807.351419340]: Got new plan
[WARN] [1487482807.354029995]: Received an empty transformed plan.

Error in `/home/ros_ws/devel/lib/move_base/move_base': double free or corruption (!prev): 0x00379688
ros_ws/devel/lib/move_base/move_base cmd_vel:=navigation_velocity_smoother/raw_cmd_vel odom:=odom scan:=/scan __name:=move_base __log:=/home/ubuntu/.ros/log/29cfc5ec-f657-11e6-8b84-00044b5b032c/move_base-1.log].
log file: /home/ubuntu/.ros/log/29cfc5ec-f657-11e6-8b84-00044b5b032c/move_base-1*.log

Look at the source I think that is inflation_layer.cpp.

After clearning costmap some object still looking at memory ? have any fixed for that bug.

else if (seen_size_ != size_x * size_y) 
  ROS_WARN("InflationLayer::updateCosts(): seen_ array size is wrong"); 
  delete[] seen_;
  seen_size_ = size_x * size_y;
  seen_ = new bool[seen_size_];
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