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Restarting a node after segfault / hector slam

asked 2017-07-11 04:11:08 -0500

JadenTravnik gravatar image

I use a hector slam node with my robot and my framework works well. I configured tf properly and can visualize the map in rviz. I also reset the map once every few minutes because of my application and this doesn't seem to have any ill effects.

However, hector slam often segfaults with the message:

[hector_mapping-1] process has died [pid 9493, exit code -11, cmd /opt/ros/kinetic/lib/hector_mapping/hector_mapping __name:=hector_mapping __log:=/home/12345/.ros/log/df3ebdde-660a-11e7-b4fd-3c4a92d5191e/hector_mapping-1.log].
log file: /home/12345/.ros/log/df3ebdde-660a-11e7-b4fd-3c4a92d5191e/hector_mapping-1*.log

When I go to look for the log file, it isn't there and I am sad.

As I have other nodes running which rely on hectorslam, is there a way to restart it once it segfaults or in general restart a node? Has anyone else had this issue with hector slam?

Thanks

  • Ubuntu 16.04
  • ROS Kinetic
  • hector slam parameters

    PARAMETERS

    • /hector_mapping/advertise_map_service: True
    • /hector_mapping/base_frame: base_frame
    • /hector_mapping/laser_z_max_value: 3.0
    • /hector_mapping/laser_z_min_value: -3.0
    • /hector_mapping/map_frame: map
    • /hector_mapping/map_multi_res_levels: 2
    • /hector_mapping/map_resolution: 0.1
    • /hector_mapping/map_size: 512
    • /hector_mapping/map_start_x: 0.5
    • /hector_mapping/map_start_y: 0.5
    • /hector_mapping/map_update_angle_thresh: 0.06
    • /hector_mapping/map_update_distance_thresh: 0.4
    • /hector_mapping/odom_frame: base_frame
    • /hector_mapping/pub_map_odom_transform: True
    • /hector_mapping/scan_subscriber_queue_size: 1
    • /hector_mapping/scan_topic: scan
    • /hector_mapping/tf_map_scanmatch_transform_frame_name: laser
    • /hector_mapping/update_factor_free: 0.4
    • /hector_mapping/update_factor_occupied: 0.9
    • /hector_mapping/use_tf_pose_start_estimate: False
    • /hector_mapping/use_tf_scan_transformation: False
    • /rosdistro: kinetic
    • /rosversion: 1.12.7

    NODES / hector_mapping (hector_mapping/hector_mapping) laser_link_to_base_link (tf/static_transform_publisher)

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answered 2017-07-11 21:43:56 -0500

JadenTravnik gravatar image

Not sure why hector slam is failing but there is a restart attribute in a node. http://wiki.ros.org/roslaunch/XML/node

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Thanks, and yeah, there is a restart property in roslaunch. lol

l_a_den gravatar imagel_a_den ( 2017-07-26 01:31:32 -0500 )edit

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Asked: 2017-07-11 04:11:08 -0500

Seen: 113 times

Last updated: Jul 11 '17