Problem with frontier exploration melodic package

asked 2019-10-18 02:13:46 -0600

harrynick gravatar image

updated 2019-10-18 04:04:57 -0600

gvdhoorn gravatar image

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
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Comments

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

stevemacenski gravatar imagestevemacenski ( 2019-10-19 00:31:16 -0600 )edit