[Autoware 1.12.0] astar avoid crashes

asked 2019-07-15 03:11:59 -0500

Horry Chiang gravatar image

updated 2019-07-15 03:13:09 -0500

gvdhoorn gravatar image

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:


Any response will be greatly appreciated! Many thanks for your help.

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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.

aohsato gravatar image aohsato  ( 2019-07-16 01:27:43 -0500 )edit


Thanks for your response. I upload video file to google disk again. Could you try to access below video link again?


Many thanks.

Horry Chiang gravatar image Horry Chiang  ( 2019-07-16 09:08:20 -0500 )edit

@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.

Josh Whitley gravatar image Josh Whitley  ( 2019-07-16 11:57:52 -0500 )edit

Hello, developers,

Thanks for your information. I just record ros bag file & log file. Please get it from:

  1. ROS bag file https://drive.google.com/file/d/1O3-r...

  2. astar avoid crash log https://drive.google.com/file/d/1e92e...

Many thanks for your help.

Horry Chiang gravatar image Horry Chiang  ( 2019-07-16 22:41:09 -0500 )edit

When I changed the waypoint file, I got the same error. Please fix it. Thank you.

Yamato Ando gravatar image Yamato Ando  ( 2019-07-23 23:02:52 -0500 )edit