[Autoware 1.12.0] astar avoid crashes
Required information:
- Operating system and version: Ubuntu 16.04
- Autoware installation type: From source
- Autoware version or commit hash: tag v.1.12
- ROS distribution and version: Kinetic
- ROS installation type: from binaries
- Package or library, if applicable: N/A
Description of the bug
astar avoid node will crash if new global path is shorter than current global path when vehicle almost reaches goal pose.
The error messages is:
Terminate called after throwing an instance of 'std::bad_alloc'
what(): std::bad_alloc
[astar_avoid-1] process has died [pid 22026, exit code -6, cmd /home/v32/autoware.ai/install/waypoint_planner/lib/waypoint_planner/astar_avoid costmap:=semantics/costmap_generator/occupancy_grid __name:=astar_avoid __log:=/home/v32/.ros/log/5b2c2532-a6b2-11e9-92eb-db0c60650499/astar_avoid-1.log].
log file: /home/v32/.ros/log/5b2c2532-a6b2-11e9-92eb-db0c60650499/astar_avoid-1*.log
Please refer to below video for how to reproduce this issue:
https://drive.google.com/open?id=1eYLwnifqI15VJjGch5GboZqDAx4B2-pa
Any response will be greatly appreciated! Many thanks for your help.
Asked by Horry Chiang on 2019-07-15 03:11:59 UTC
Comments
Thanks! I can't open your video link, please check permission? If this is the actual bug, we need to create an issue for tracking.
Asked by aohsato on 2019-07-16 01:27:43 UTC
Hello!
Thanks for your response. I upload video file to google disk again. Could you try to access below video link again?
https://drive.google.com/open?id=17JrD-SOBzHQF66heg2ferVbrxoGkIfsg
Many thanks.
Asked by Horry Chiang on 2019-07-16 09:08:20 UTC
@horry-chiang It would be very helpful if you could provide a ROS bag of this incident. It's difficult for us to reproduce your environment and the exact circumstances of the crash without one. Also, if there is anything in the log mentioned in the "process has died" message above, the contents of that log might help as well.
Asked by Josh Whitley on 2019-07-16 11:57:52 UTC
Hello, developers,
Thanks for your information. I just record ros bag file & log file. Please get it from:
ROS bag file https://drive.google.com/file/d/1O3-rsTZM_kmO2XKDRHUY7SCp1xTPzy0w/view?usp=sharing
astar avoid crash log https://drive.google.com/file/d/1e92ekTaExni8olgXwIdlxcbt5eI8Vcld/view?usp=sharing
Many thanks for your help.
Asked by Horry Chiang on 2019-07-16 22:41:09 UTC
When I changed the waypoint file, I got the same error. Please fix it. Thank you.
Asked by Yamato Ando on 2019-07-23 23:02:52 UTC