Genetic Algorithm as global planner plugin
I am working on project "path planning for differential drive". Now I try to write genetic algorithm planner plugin based on "iPath" code. My code in this repository : https://github.com/huyrua291996/ga_pl... But it do not work, it can not create the plugin. The results here:
... logging to /home/huy/.ros/log/effd1a2c-4d34-11e9-a995-acd1b8d84627/roslaunch-huy-Inspiron-3543-10660.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://localhost:46375/
SUMMARY
========
PARAMETERS
* /amcl/base_frame_id: base_footprint
* /amcl/gui_publish_rate: 10.0
* /amcl/initial_pose_a: 0.0
* /amcl/initial_pose_x: 0.0
* /amcl/initial_pose_y: 0.0
* /amcl/kld_err: 0.05
* /amcl/kld_z: 0.99
* /amcl/laser_lambda_short: 0.1
* /amcl/laser_likelihood_max_dist: 2.0
* /amcl/laser_max_beams: 60
* /amcl/laser_max_range: 12.0
* /amcl/laser_model_type: likelihood_field
* /amcl/laser_sigma_hit: 0.2
* /amcl/laser_z_hit: 0.5
* /amcl/laser_z_max: 0.05
* /amcl/laser_z_rand: 0.5
* /amcl/laser_z_short: 0.05
* /amcl/max_particles: 2000
* /amcl/min_particles: 500
* /amcl/odom_alpha1: 0.2
* /amcl/odom_alpha2: 0.2
* /amcl/odom_alpha3: 0.2
* /amcl/odom_alpha4: 0.2
* /amcl/odom_alpha5: 0.1
* /amcl/odom_frame_id: odom
* /amcl/odom_model_type: diff
* /amcl/recovery_alpha_fast: 0.0
* /amcl/recovery_alpha_slow: 0.0
* /amcl/resample_interval: 1
* /amcl/transform_tolerance: 1.0
* /amcl/update_min_a: 0.2
* /amcl/update_min_d: 0.25
* /amcl/use_map_topic: False
* /move_base/DWAPlannerROS/acc_lim_theta: 2.0
* /move_base/DWAPlannerROS/acc_lim_x: 1.0
* /move_base/DWAPlannerROS/acc_lim_y: 0.0
* /move_base/DWAPlannerROS/forward_point_distance: 0.325
* /move_base/DWAPlannerROS/global_frame_id: odom
* /move_base/DWAPlannerROS/goal_distance_bias: 24.0
* /move_base/DWAPlannerROS/max_rot_vel: 0.5
* /move_base/DWAPlannerROS/max_scaling_factor: 0.2
* /move_base/DWAPlannerROS/max_trans_vel: 0.5
* /move_base/DWAPlannerROS/max_vel_x: 0.5
* /move_base/DWAPlannerROS/max_vel_y: 0.0
* /move_base/DWAPlannerROS/min_rot_vel: 0.4
* /move_base/DWAPlannerROS/min_trans_vel: 0.1
* /move_base/DWAPlannerROS/min_vel_x: 0.0
* /move_base/DWAPlannerROS/min_vel_y: 0.0
* /move_base/DWAPlannerROS/occdist_scale: 0.5
* /move_base/DWAPlannerROS/oscillation_reset_dist: 0.05
* /move_base/DWAPlannerROS/path_distance_bias: 64.0
* /move_base/DWAPlannerROS/publish_cost_grid_pc: True
* /move_base/DWAPlannerROS/publish_traj_pc: True
* /move_base/DWAPlannerROS/rot_stopped_vel: 0.4
* /move_base/DWAPlannerROS/scaling_speed: 0.25
* /move_base/DWAPlannerROS/sim_time: 1.0
* /move_base/DWAPlannerROS/stop_time_buffer: 0.2
* /move_base/DWAPlannerROS/trans_stopped_vel: 0.1
* /move_base/DWAPlannerROS/vtheta_samples: 20
* /move_base/DWAPlannerROS/vx_samples: 6
* /move_base/DWAPlannerROS/vy_samples: 1
* /move_base/DWAPlannerROS/xy_goal_tolerance: 0.15
* /move_base/DWAPlannerROS/yaw_goal_tolerance: 0.3
* /move_base/TrajectoryPlannerROS/acc_lim_theta: 1.0
* /move_base/TrajectoryPlannerROS/acc_lim_x: 0.5
* /move_base/TrajectoryPlannerROS/acc_lim_y: 0.0
* /move_base/TrajectoryPlannerROS/dwa: True
* /move_base/TrajectoryPlannerROS/gdist_scale: 0.8
* /move_base/TrajectoryPlannerROS/heading_lookahead: 0.325
* /move_base/TrajectoryPlannerROS/holonomic_robot: False
* /move_base/TrajectoryPlannerROS/max_vel_theta: 0.2
* /move_base/TrajectoryPlannerROS/max_vel_x: 0.3
* /move_base/TrajectoryPlannerROS/max_vel_y: 0.0
* /move_base/TrajectoryPlannerROS/meter_scoring: True
* /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.2
* /move_base/TrajectoryPlannerROS/min_vel_theta: -0.2
* /move_base/TrajectoryPlannerROS/min_vel_x: 0.1
* /move_base/TrajectoryPlannerROS/min_vel_y: 0.0
* /move_base/TrajectoryPlannerROS/occdist_scale: 0.01
* /move_base/TrajectoryPlannerROS/oscillation_reset_dist: 0.05
* /move_base/TrajectoryPlannerROS/pdist_scale: 0.6
* /move_base/TrajectoryPlannerROS/sim_time: 3.0
* /move_base/TrajectoryPlannerROS/vtheta_samples: 20
* /move_base/TrajectoryPlannerROS/vx_samples: 6
* /move_base/TrajectoryPlannerROS/vy_samples: 1
* /move_base/TrajectoryPlannerROS/xy_goal_tolerance: 0.15
* /move_base/TrajectoryPlannerROS/yaw_goal_tolerance: 0.3
* /move_base/base_global_planner: GA_planner/GAPlanner
* /move_base/base_local_planner: dwa_local_planner...
* /move_base/controller_frequency: 5.0
* /move_base/controller_patience: 3.0
* /move_base/global_costmap/bump/clearing: False
* /move_base/global_costmap/bump/data_type: PointCloud2
* /move_base/global_costmap/bump/marking: True
* /move_base/global_costmap ...
So that crash doesn't really tell you much, it means that in trying to use your plugin that it crashes. You'll need to produce more printouts to find where in the process it fails or use a debugger
yes, it means that cant go to my plugin. So do I need more printouts in my plugin or something?
Yes, you should or use a debugger.
And can you help me to check my Cmakelists and my GA_ROS.cpp?
Hi @stevemacenski, after I use gdb debugger, I got segmentations error:
I cant understand how it happen. Here is my code: (header file) https://paste.ofcode.org/vRQg5TcFEwSd... (source file) https://paste.ofcode.org/YeHnyA8RvcGc...