Ask Your Question
0

[move_group-8] process has died [pid 9976, exit code -11

asked 2017-02-25 10:07:22 -0500

Wen Xin gravatar image

Hi all, Im very new to ROS. Im using the "ROS-Autonomous-Quadcopter-Flight" from trancept. Everything seems to go well until I execute my planned path. I have no idea why the whole thing crashes whenever i execute the path.

SUMMARY
========

PARAMETERS
 * /gazebo/quadrotor_aerodynamics/C_mxy: 0.074156208
 * /gazebo/quadrotor_aerodynamics/C_mz: 0.050643264
 * /gazebo/quadrotor_aerodynamics/C_wxy: 0.12
 * /gazebo/quadrotor_aerodynamics/C_wz: 0.1
 * /gazebo/quadrotor_propulsion/CT0s: 1.53819048398e-05
 * /gazebo/quadrotor_propulsion/CT1s: -0.00025224
 * /gazebo/quadrotor_propulsion/CT2s: -0.013077
 * /gazebo/quadrotor_propulsion/J_M: 2.5730480633e-05
 * /gazebo/quadrotor_propulsion/Psi: 0.00724217982751
 * /gazebo/quadrotor_propulsion/R_A: 0.201084219222
 * /gazebo/quadrotor_propulsion/alpha_m: 0.104863758314
 * /gazebo/quadrotor_propulsion/beta_m: 0.549262344778
 * /gazebo/quadrotor_propulsion/k_m: -7.01163190977e-05
 * /gazebo/quadrotor_propulsion/k_t: 0.0153368647144
 * /gazebo/quadrotor_propulsion/l_m: 0.275
 * /ground_truth_to_tf/frame_id: /odom_combined
 * /ground_truth_to_tf/odometry_topic: ground_truth/state
 * /ground_truth_to_tf/tf_prefix: 
 * /move_group/Quadrotore/kinematics_solver: kdl_kinematics_pl...
 * /move_group/Quadrotore/kinematics_solver_attempts: 3
 * /move_group/Quadrotore/kinematics_solver_search_resolution: 0.005
 * /move_group/Quadrotore/kinematics_solver_timeout: 0.005
 * /move_group/Quadrotore/longest_valid_segment_fraction: 0.05
 * /move_group/Quadrotore/planner_configs: ['SBLkConfigDefau...
 * /move_group/Quadrotore/projection_evaluator: joints(Base)
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/controller_list: [{'default': True...
 * /move_group/execution_duration_monitoring: False
 * /move_group/jiggle_fraction: 0.05
 * /move_group/max_range: 6.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_frame: odom_combined
 * /move_group/octomap_resolution: 0.05
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/sensors: [{'point_subsampl...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/execution_duration_monitoring: False
 * /robot_description: <?xml version="1....
 * /robot_description_planning/joint_limits/Base/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/Base/has_velocity_limits: True
 * /robot_description_planning/joint_limits/Base/max_acceleration: 0.04
 * /robot_description_planning/joint_limits/Base/max_velocity: 0.2
 * /robot_description_semantic: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 50.0
 * /robot_state_publisher/tf_prefix: 
 * /rosdistro: indigo
 * /rosversion: 1.11.20
 * /rviz_wenxin_VirtualBox_9932_811209059817823390/Quadrotore/kinematics_solver: kdl_kinematics_pl...
 * /rviz_wenxin_VirtualBox_9932_811209059817823390/Quadrotore/kinematics_solver_attempts: 3
 * /rviz_wenxin_VirtualBox_9932_811209059817823390/Quadrotore/kinematics_solver_search_resolution: 0.005
 * /rviz_wenxin_VirtualBox_9932_811209059817823390/Quadrotore/kinematics_solver_timeout: 0.005
 * /use_sim_time: True

NODES
  /
    action_controller (action_controller/action_controller)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    ground_truth_to_tf (message_to_tf/message_to_tf)
    move_group (moveit_ros_move_group/move_group)
    robot_state_publisher (robot_state_publisher/state_publisher)
    rviz_wenxin_VirtualBox_9932_811209059817823390 (rviz/rviz)
    spawn_robot (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [9945]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to dca45a84-fb70-11e6-8178-08002777f95c
process[rosout-1]: started with pid [9958]
started core service [/rosout]
process[gazebo-2]: started with pid [9961]
process[gazebo_gui-3]: started with pid [9965]
process[spawn_robot-4]: started with pid [9969]
process[robot_state_publisher-5]: started with pid [9970]
process[ground_truth_to_tf-6]: started with pid [9971]
process[action_controller-7]: started with pid [9975]
process[move_group-8]: started with pid [9976]
process[rviz_wenxin_VirtualBox_9932_811209059817823390-9]: started with pid [9977]
[ WARN] [1488037285.166929782]: The 'state_publisher' executable is deprecated. Please use 'robot_state_publisher' instead
[ WARN] [1488037285.178358498]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF ...
(more)
edit retag flag offensive close merge delete

Comments

could you solve this issue? I have the same here.

orko gravatar imageorko ( 2017-06-01 08:35:19 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted
0

answered 2017-04-18 22:01:15 -0500

pyni_sjtu gravatar image

I have the same problem with you. it seems that Moveit! can not execute the quadcopter directly. Because this is not a joint type robot. One way to slove this problem is that, you should write the action and simple_control_management by yourself. You can refer: https://www.wilselby.com/research/ros...

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

3 followers

Stats

Asked: 2017-02-25 10:07:22 -0500

Seen: 845 times

Last updated: Apr 18 '17