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teb_local_planner test_optim_node crashing

asked 2019-07-09 05:40:25 -0600

schizzz8 gravatar image

Hi all,

I was interested in analyzing the behavior of the teb_local_planner for move_base and therefore I started following the tutorials. I'm working with kinetic on 16.04.

To test it, I need to run:

~$ roslaunch teb_local_planner test_optim_node.launch

However when I enable the "optimization of multiple trajectories in distinctive topologies" with

~$ rosparam set /test_optim_node/enable_homotopy_class_planning True

I get strange behaviors.

Basically, after a while that I start moving the interactive markers the node crashes with this error:

[rviz-3] process has died [pid 1882, exit code -11, cmd /opt/ros/kinetic/lib/rviz/rviz -d /opt/ros/kinetic/share/teb_local_planner/cfg/rviz_test_optim.rviz __name:=rviz __log:=/home/federiconardi/.ros/log/121ecffc-a234-11e9-8c71-e0d55e0d1e46/rviz-3.log].
log file: /home/federiconardi/.ros/log/121ecffc-a234-11e9-8c71-e0d55e0d1e46/rviz-3*.log
^C[test_optim_node-2] killing on exit
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
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete

I don't really know what is causing the problem. Any help would be appreciated.


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answered 2019-07-09 06:16:32 -0600

croesmann gravatar image


this issue is not directly related to the teb_local_planner but to rviz in combination with nvidia graphics cards. See here.

However, some potential workarounds exist (see link before), but I have not implemented/tested them yet.

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Asked: 2019-07-09 05:40:25 -0600

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Last updated: Jul 09 '19