Problem with frontier exploration melodic package
Im using frontier exploration for turtlebot3 but while running frontier exploration for simulation i got the following error.
[exploration_server_node-6] process has died [pid 12829, exit code -6, cmd /home/wipro/project_ws/devel/lib/exploration_server/exploration_server_node __name:=exploration_server_node __log:=/home/wipro/.ros/log/852332b6-f173-11e9-bc17-f894c24d3e47/exploration_server_node-6.log].
log file: /home/wipro/.ros/log/852332b6-f173-11e9-bc17-f894c24d3e47/exploration_server_node-6*.log
same error came while using with turtlebot2
I will attach the files i launched for turtlebot3:-
<---turtlebot3_frontier_exploration.launch---->
<launch>
<!-- Arguments -->
<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
<arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/>
<arg name="sensor_range" default="1.0"/>
<arg name="cmd_vel_topic" default="/cmd_vel" />
<arg name="odom_topic" default="odom" />
<!-- TurtleBot3 and Gmapping -->
<include file="$(find turtlebot3_slam)/launch/turtlebot3_gmapping.launch">
<arg name="model" value="$(arg model)" />
</include>
<!-- AMCL -->
<include file="$(find turtlebot3_navigation)/launch/amcl.launch"/>
<!-- move_base -->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
<rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" />
<rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" />
<rosparam file="$(find turtlebot3_navigation)/param/local_costmap_params.yaml" command="load" />
<rosparam file="$(find turtlebot3_navigation)/param/global_costmap_params.yaml" command="load" />
<rosparam file="$(find turtlebot3_navigation)/param/move_base_params.yaml" command="load" />
<rosparam file="$(find turtlebot3_navigation)/param/dwa_local_planner_params_$(arg model).yaml" command="load" />
<remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
</node>
<!-- frontier_exploration -->
<node pkg="exploration_server" type="plugin_client" name="plugin_client" output="screen">
</node>
<node pkg="exploration_server" type="exploration_server_node" name="exploration_server_node" output="screen">
<param name="frequency" type="double" value="1.0"/>
<param name="goal_aliasing" type="double" value="$(arg sensor_range)"/>
<rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="explore_costmap" />
<rosparam file="$(find turtlebot3_slam)/config/frontier_exploration.yaml" command="load" ns="explore_costmap" />
</node>
</launch>
frontier_exploration.yaml:
transform_tolerance: 0.5
update_frequency: 5.0
publish_frequency: 5.0
global_frame: map
robot_base_frame: base_link
resolution: 0.05
rolling_window: false
track_unknown_space: true
plugins:
- {name: static, type: "costmap_2d::StaticLayer"}
- {name: explore_boundary, type: "frontier_exploration::BoundedExploreLayer"}
- {name: sensor, type: "costmap_2d::ObstacleLayer"}
- {name: inflation, type: "costmap_2d::InflationLayer"}
static:
map_topic: /map
subscribe_to_updates: true
explore_boundary:
resize_to_boundary: false
frontier_travel_point: middle
explore_clear_space: false
sensor:
observation_sources: laser
laser: {data_type: LaserScan, clearing: true, marking: true, topic: scan, inf_is_valid: true, raytrace_range: $(arg sensor_range), obstacle_range: $(arg sensor_range)}
inflation:
inflation_radius: 0.15
In general, that crash message tells us nothing, you'd have to be more specific with a traceback for us to have much hope in debugging or helping point you to resources
@harrynick, @gvdhoorn, I met the same case, have you solved this issue?