Gmapping error - log4cxx: No appender could be found for logger, double free error, clearing TF buffer

asked 2022-02-18 11:58:06 -0500

MikeIrlbeck gravatar image

Hi everyone! This is my first post and I am over 20 hours into this problem to no avail. Any and all feedback and advice will be welcomed whole heartedly.

My goal: to use the Navigation stack with my robot.

My problem: I am unable to create a map with gmapping with my robot nor via the tutorial with a bag file.

My platform: I am primarily developing on The Construct Online ROS Simulator and I am running noetic.

My robot: I am using the plugin and hardware_interface/VelocityJointInterface in my xacro/urdf for wheel transmission. My robot's name is moony and has four wheels.

  • lidar: plugin: || real life: RPLIDAR S1 (github | ros)
  • imu: plugin: || real life: WT901C-TTL IMU Sensor (github | ros)

TF Tree Unfortunately, I do not have enough points to upload a picture, but after launching my robot with its odometry node, my TF tree is like this:

  • odom
    • base_footprint // note: this is like a dummy link
      • base_link
        • wheel_1_link // total of four wheels
        • lidar_link
        • imu_link

rostopics list


Here is my error (edited for brevity):

roslaunch moony_mapping start_mapping.launch... logging to /home/user/.ros/log/783cd000-90d8-11ec-8476-0242ac180007/roslaunch-3_xterm-12586.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.

started roslaunch server http://3_xterm:42837/


 * /rosdistro: noetic
 * /rosversion: 1.15.11
 * /slam_gmapping/base_frame: base_footprint
 * /slam_gmapping/odom_frame: odom

    slam_gmapping (gmapping/slam_gmapping)


process[slam_gmapping-1]: started with pid [12831]
[ INFO] [1645202509.457213179, 93.186000000]: Laser is mounted upside down.
log4cxx: No appender could be found for logger (ros.gmapping).
log4cxx: Please initialize the log4cxx system properly.
double free or corruption (out)
[slam_gmapping-1] process has died [pid 12831, exit code -6, cmd /opt/ros/noetic/lib/gmapping/slam_gmapping scan:=moony/laser/scan __name:=slam_gmapping __log:=/home/user/.ros/log/783cd000-90d8-11ec-8476-0242ac180007/slam_gmapping-1.log].
log file: /home/user/.ros/log/783cd000-90d8-11ec-8476-0242ac180007/slam_gmapping-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete

I tried to follow this tutorial: How to Build a Map Using Logged Data with a bag file that I downloaded from the tutorial. In three terminals, I attempt this tutorial:

rosparam set use_sim_time true
rosrun gmapping slam_gmapping scan:=base_scan
rosbag play --clock basic_localization_stage.bag


[ WARN] [1645205193.775685056, 160.018603142]: Detected jump back in time of 0.00610728s. Clearing TF buffer.

When map is fixed frame in RVIZ, TF says there is no transform ... (more)

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