slam_gmapping Laser is mounted upwards

asked 2019-01-03 02:33:55 -0600

jamess gravatar image

updated 2019-01-03 03:14:00 -0600

gvdhoorn gravatar image

Hello friends,

I am trying to run

rosrun gmapping slam_gmapping

and I am facing with this result .

[ INFO] [1546503887.324696498]: Laser is mounted upwards.
Error in `/home/nvidia/catkin-ws/devel/lib/gmapping/slam_gmapping': malloc(): smallbin double linked list corrupted: 0x0000000000588bc0
Aborted (core dumped)

I have odom -> base_link and base_link -> base_laser tf

transforms: 
  - 
    header: 
      seq: 0
      stamp: 
        secs: 1546503885
        nsecs:   8856919
      frame_id: "base_link"
    child_frame_id: "base_laser"
    transform: 
      translation: 
        x: 0.0
        y: 10.0
        z: 10.0
      rotation: 
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
transforms: 
  - 
    header: 
      seq: 0
      stamp: 
        secs: 1546503884
        nsecs: 900882660
      frame_id: "odom"
    child_frame_id: "base_link"
    transform: 
      translation: 
        x: 0.225268739852
        y: 0.0
        z: 0.0
      rotation: 
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0

I am publishing laser scans to /scan topic.

And this is my ros graph

image description

What do you think I can do? Does the problem is about compiling gmapping because of the core dumped or about tf because of the info laser mounted upwards.

Thank you.

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Comments

The error is related to a memory allocation error. In your shoes, I would start with rebooting the computer. I know I sound like microsoft tech support, but a malloc error in something as well tested as gmapping seems odd. If you think laser orientation is related, change the TF to change it as test

billy gravatar imagebilly ( 2019-01-06 15:38:22 -0600 )edit

I tried rebooting so many times but it wouldn't help. When i tried to run this tutorial http://www.clearpathrobotics.com/asse... everythings works well including slam_gmapping . I tried to copy the tf tree it wouldn't help either.

jamess gravatar imagejamess ( 2019-01-07 02:42:39 -0600 )edit

Update: I have modified point cloud to laser scan node's parameters and the error has gone. But still not working correctly.

jamess gravatar imagejamess ( 2019-01-15 01:07:40 -0600 )edit

You can update question or open new one with current issue if you need additional help. I think a parameter that can cause a malloc error is a legitimate bug and should be reported.

billy gravatar imagebilly ( 2019-01-16 12:11:12 -0600 )edit