dwaComputeVelocityCommands vs computeVelocityCommands

asked 2022-05-02 03:03:30 -0500

0novanta gravatar image

I'm trying to use dwa_local_planner standalone, to do so I'm following this answer.

In the answer linked above computeVelocityCommands is used, however, after looking at the documentation of dwa_local_planner, it seems more appropriate to use dwaComputeVelocityCommands.

However, if using dwaComputeVelocityCommands the node crashes abruptly.

How I use dwaComputeVelocityCommands in my node:

if (dp.dwaComputeVelocityCommands(dwa_cmd_vel)) {
       ROS_INFO("DWA compute cmd_vel: SUCCESS");
} else {
       ROS_ERROR("DWA compute cmd_vel: FAILED");

and the error (the indicated log files do not exist):

[demo-4] process has died [pid 5918, exit code -11, cmd /my_path/devel/lib/dwa_demo/demo __name:=demo __log:=/home/user/.ros/log/56f74032-c9eb-11ec-8485-b0c0909328b9/demo-4.log].
log file: /home/user/.ros/log/56f74032-c9eb-11ec-8485-b0c0909328b9/demo-4*.log

On the other hand, if computeVelocityCommands is used (by changing the condition of the if above) the node does not crash and keeps executing and printing

DWA compute cmd_vel: SUCCESS

Now, the weird thing is that inside computeVelocityCommands there is a call to dwaComputeVelocityCommands at line 302 and it seems that the call is actually executed correctly.

However, it may be that dwaComputeVelocityCommands is not called inside computeVelocityCommands and the true value of computeVelocityCommands (that makes the program access the if branch) is returned by line 293.

Do you have any suggestions about why using dwaComputeVelocityCommands makes the node crash while using computeVelocityCommands does not?

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