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amcl buffer overflow detected?

asked 2020-09-14 10:37:03 -0500

JMMK gravatar image

I am trying to implement the adaptive montecarlo localization (amcl) but I am not able to get it working. As soon as the likelihood field model gets initialized, a buffer overflow error occurs; Rviz, amcl and move_base nodes are terrminated. I am using ROS Noetic in Ubuntu Focal 20.04 installed in an iMac 2012.

I tried the same implementation in a older system (ROS kinetic) and it worked well.

I would appreciate if anyone could help me in identifying the problem. Below I am pasting the terminal outputs:

Gazebo and RVIZ launch terminal output:

ubuntu@ubuntu-iMac:~/workspace/wai3/catkin_ws$ roslaunch my_robot world.launch 
... logging to /home/ubuntu/.ros/log/b7a73ba6-f69f-11ea-81f7-b118029c4397/roslaunch-ubuntu-iMac-6279.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://ubuntu-iMac:46369/

SUMMARY
========

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /joint_state_publisher/use_gui: False
 * /robot_description: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.15.8
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz (rviz/rviz)
    urdf_spawner (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [6291]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to b7a73ba6-f69f-11ea-81f7-b118029c4397
process[rosout-1]: started with pid [6301]
started core service [/rosout]
process[joint_state_publisher-2]: started with pid [6308]
process[robot_state_publisher-3]: started with pid [6309]
process[gazebo-4]: started with pid [6310]
process[gazebo_gui-5]: started with pid [6315]
process[urdf_spawner-6]: started with pid [6319]
process[rviz-7]: started with pid [6326]
[INFO] [1600097644.673113, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1600097644.678170, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1600097644.839648558]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1600097644.841364485]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1600097644.930354899]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1600097644.931628524]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1600097648.512085415]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1600097648.572219802]: Physics dynamic reconfigure ready.
[INFO] [1600097648.598909, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1600097648.665843, 8989.936000]: Spawn status: SpawnModel: Entity pushed to spawn queue, but spawn service timed out waiting for entity to appear in simulation under the name my_robot
[ERROR] [1600097648.667345, 8989.936000]: Spawn service failed. Exiting.
[ INFO] [1600097648.994022866, 8989.936000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1600097648.996877680, 8989.936000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1600097649.068309526, 8989.936000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1600097649.068495903, 8989.936000000]: Starting Laser Plugin (ns = /)
[ INFO] [1600097649.073795280, 8989.936000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1600097649.157244046, 8989.936000000]: Starting plugin DiffDrive(ns = //)
[ INFO] [1600097649.157385083, 8989.936000000]: DiffDrive(ns = //): <rosDebugLevel> = na
[ INFO] [1600097649.158468776, 8989.936000000]: DiffDrive(ns = //): <tf_prefix> = 
[ INFO] [1600097649.159253049, 8989.936000000]: DiffDrive(ns = //): Try to subscribe to cmd_vel
[ INFO] [1600097649.161162661, 8989.936000000]: DiffDrive(ns = //): Subscribe to ...
(more)
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i tried compiling it in debug mode, as explained in the link below, but that did not work...

https://github.com/ATLFlight/ros-exam...

JMMK gravatar image JMMK  ( 2020-09-15 13:35:25 -0500 )edit

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answered 2020-09-16 06:15:08 -0500

JMMK gravatar image

The problem was due to an issue with the package geometry2. It seems that version 0.7.3 had a buffer overflow issue affecting Rviz and tf2. Details in the following link: https://github.com/ros/geometry2/issu...

I just cloned the latest version of Ros/geometry2 (0.7.5) and it solved the problem.

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thanks for the help, it worked :)

suresh gravatar image suresh  ( 2020-09-16 07:24:12 -0500 )edit

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Asked: 2020-09-14 10:37:03 -0500

Seen: 344 times

Last updated: Sep 16 '20