Collvoid Package : ORCA algorithm not working

asked 2017-08-25 16:10:34 -0600

Kaustav Mondal gravatar image

updated 2017-08-25 20:52:19 -0600

jayess gravatar image

Hi ! While using the Collvoid Package, I tried to use the ORCA algorithm by changing the "ORCA" parameter in collvoid_config.yaml to "true". But after running the launch file sim_created.launch in Collvoid_stage, I get the following error

terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'

 what():  boost: mutex lock failed in pthread_mutex_lock: Invalid argument

[robot_0/move_base-5] process has died [pid 5826, exit code -6, cmd /home/kaustav/catkin_ws/devel/lib/move_base/move_base map:=/map __name:=move_base __log:=/home/kaustav/.ros/log/ceada3e0-89d7-11e7-8c2a-2c6e851a08a1/robot_0-move_base-5.log].
log file: /home/kaustav/.ros/log/ceada3e0-89d7-11e7-8c2a-2c6e851a08a1/robot_0-move_base-5*.log

[robot_1/move_base-12] process has died [pid 5888, exit code -6, cmd /home/kaustav/catkin_ws/devel/lib/move_base/move_base map:=/map __name:=move_base __log:=/home/kaustav/.ros/log/ceada3e0-89d7-11e7-8c2a-2c6e851a08a1/robot_1-move_base-12.log].
log file: /home/kaustav/.ros/log/ceada3e0-89d7-11e7-8c2a-2c6e851a08a1/robot_1-move_base-12*.log

Can someone help me out ?

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Comments

Welcome. I edited your question to make it a bit more readable. In the future, please use the Preformat Text (101010) button to make your terminal output/source code more readable.

jayess gravatar image jayess  ( 2017-08-25 20:53:27 -0600 )edit

Are these the collvoid pkgs from wiki/multi_robot_collision_avoidance (now at daenny/collvoid)?

gvdhoorn gravatar image gvdhoorn  ( 2017-08-26 02:45:30 -0600 )edit

Yes, it is ! I have been trying to use ORCA instead of Clearpath algorithm.

Kaustav Mondal gravatar image Kaustav Mondal  ( 2017-08-26 11:25:56 -0600 )edit