terminate called after throwing an instance of 'std::bad_alloc' then launching move_base
Hi. Sorry for all mistakes, English is not my native language. I have robot that works fine. Now i need to install it on mew microcomputer but, and almost everythin is working as expected except move_base. For unknown reason I receive
terminate called after throwing an instance of 'std::bad_alloc'
what(): std::bad_alloc
every time I try to run my navigation node. I've tried to build this code on two computers to make sure, that it is not a problem with how I install ROS or Cartographer. And again, this code is sucsesfully launching in my virtual machine.
Here is full log from terminal:
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://ubuntu:36799/
SUMMARY
========
PARAMETERS
* /move_base/GlobalPlanner/allow_unknown: True
* /move_base/GlobalPlanner/default_tolerance: 0.1
* /move_base/TebLocalPlannerROS/acc_lim_theta: 2.2
* /move_base/TebLocalPlannerROS/acc_lim_x: 0.1
* /move_base/TebLocalPlannerROS/allow_init_with_backwards_motion: False
* /move_base/TebLocalPlannerROS/costmap_converter/CostmapToLinesDBSRANSAC/cluster_max_distance: 0.4
* /move_base/TebLocalPlannerROS/costmap_converter/CostmapToLinesDBSRANSAC/cluster_min_pts: 2
* /move_base/TebLocalPlannerROS/costmap_converter/CostmapToLinesDBSRANSAC/convex_hull_min_pt_separation: 0.1
* /move_base/TebLocalPlannerROS/costmap_converter/CostmapToLinesDBSRANSAC/ransac_convert_outlier_pts: True
* /move_base/TebLocalPlannerROS/costmap_converter/CostmapToLinesDBSRANSAC/ransac_filter_remaining_outlier_pts: False
* /move_base/TebLocalPlannerROS/costmap_converter/CostmapToLinesDBSRANSAC/ransac_inlier_distance: 0.15
* /move_base/TebLocalPlannerROS/costmap_converter/CostmapToLinesDBSRANSAC/ransac_min_inliers: 10
* /move_base/TebLocalPlannerROS/costmap_converter/CostmapToLinesDBSRANSAC/ransac_no_iterations: 2000
* /move_base/TebLocalPlannerROS/costmap_converter/CostmapToLinesDBSRANSAC/ransac_remainig_outliers: 3
* /move_base/TebLocalPlannerROS/costmap_converter/CostmapToPolygonsDBSMCCH/cluster_max_distance: 1.0
* /move_base/TebLocalPlannerROS/costmap_converter/CostmapToPolygonsDBSMCCH/cluster_max_pts: 500
* /move_base/TebLocalPlannerROS/costmap_converter/CostmapToPolygonsDBSMCCH/cluster_min_pts: 5
* /move_base/TebLocalPlannerROS/costmap_converter/CostmapToPolygonsDBSMCCH/convex_hull_min_pt_separation: 0.1
* /move_base/TebLocalPlannerROS/costmap_converter_plugin: costmap_converter...
* /move_base/TebLocalPlannerROS/costmap_converter_rate: 5
* /move_base/TebLocalPlannerROS/costmap_converter_spin_thread: True
* /move_base/TebLocalPlannerROS/costmap_obstacles_behind_robot_dist: 1.0
* /move_base/TebLocalPlannerROS/dt_hysteresis: 0.01
* /move_base/TebLocalPlannerROS/dt_ref: 0.1
* /move_base/TebLocalPlannerROS/dynamic_obstacle_inflation_dist: 0.3
* /move_base/TebLocalPlannerROS/enable_homotopy_class_planning: True
* /move_base/TebLocalPlannerROS/enable_multithreading: True
* /move_base/TebLocalPlannerROS/feasibility_check_no_poses: 5
* /move_base/TebLocalPlannerROS/footprint_model/type: polygon
* /move_base/TebLocalPlannerROS/footprint_model/vertices: [[0.2, 0.1], [-0....
* /move_base/TebLocalPlannerROS/force_reinit_new_goal_angular: 1.5
* /move_base/TebLocalPlannerROS/force_reinit_new_goal_dist: 2
* /move_base/TebLocalPlannerROS/free_goal_vel: False
* /move_base/TebLocalPlannerROS/global_plan_overwrite_orientation: True
* /move_base/TebLocalPlannerROS/h_signature_prescaler: 0.5
* /move_base/TebLocalPlannerROS/h_signature_threshold: 0.1
* /move_base/TebLocalPlannerROS/include_costmap_obstacles: True
* /move_base/TebLocalPlannerROS/include_dynamic_obstacles: True
* /move_base/TebLocalPlannerROS/inflation_dist: 0.3
* /move_base/TebLocalPlannerROS/map_frame: /map
* /move_base/TebLocalPlannerROS/max_global_plan_lookahead_dist: 3.0
* /move_base/TebLocalPlannerROS/max_number_classes: 4
* /move_base/TebLocalPlannerROS/max_vel_theta: 0.75
* /move_base/TebLocalPlannerROS/max_vel_x: 0.35
* /move_base/TebLocalPlannerROS/max_vel_x_backwards: 0.35
* /move_base/TebLocalPlannerROS/min_obstacle_dist: 0.22
* /move_base/TebLocalPlannerROS/min_turning_radius: 0.45
* /move_base/TebLocalPlannerROS/no_inner_iterations: 5
* /move_base/TebLocalPlannerROS/no_outer_iterations: 4
* /move_base/TebLocalPlannerROS/obstacle_heading_threshold: 0.45
* /move_base/TebLocalPlannerROS/obstacle_keypoint_offset: 0.1
* /move_base/TebLocalPlannerROS/obstacle_poses_affected: 30
* /move_base/TebLocalPlannerROS/odom_topic: /minicar/controll...
* /move_base/TebLocalPlannerROS/optimization_activate: True
* /move_base/TebLocalPlannerROS/optimization_verbose: False
* /move_base/TebLocalPlannerROS/penalty_epsilon: 0.08
* /move_base/TebLocalPlannerROS/roadmap_graph_area_width: 5
* /move_base/TebLocalPlannerROS/roadmap_graph_no_samples: 10
* /move_base/TebLocalPlannerROS/selection_alternative_time_cost: False
* /move_base/TebLocalPlannerROS/simple_exploration: False
* /move_base/TebLocalPlannerROS/teb_autosize: True
* /move_base/TebLocalPlannerROS/visualize_hc_graph: False
* /move_base/TebLocalPlannerROS/weight_acc_lim_theta: 1
* /move_base/TebLocalPlannerROS/weight_acc_lim_x: 1
* /move_base/TebLocalPlannerROS/weight_acc_lim_y: 0
* /move_base/TebLocalPlannerROS/weight_dynamic_obstacle: 10
* /move_base/TebLocalPlannerROS/weight_kinematics_forward_drive: 5
* /move_base/TebLocalPlannerROS/weight_kinematics_nh: 1000
* /move_base/TebLocalPlannerROS/weight_kinematics_turning_radius: 10
* /move_base/TebLocalPlannerROS/weight_max_vel_theta: 1
* /move_base/TebLocalPlannerROS/weight_max_vel_x: 1
* /move_base/TebLocalPlannerROS/weight_max_vel_y: 0
* /move_base/TebLocalPlannerROS/weight_obstacle: 50
* /move_base/TebLocalPlannerROS/weight_optimaltime: 50
* /move_base/TebLocalPlannerROS/weight_shortest_path: 0
* /move_base/TebLocalPlannerROS/wheelbase: 0.26
* /move_base/TebLocalPlannerROS/xy_goal_tolerance: 0.2
* /move_base/TebLocalPlannerROS/yaw_goal_tolerance: 0.1
* /move_base/aggressive_reset/reset_distance: 0
* /move_base/base_global_planner: global_planner/Gl...
* /move_base/base_local_planner: teb_local_planner...
* /move_base/conservative_reset/reset_distance: 3
* /move_base/controller_frequency: 10.0
* /move_base/global_costmap/footprint: [[0.2, 0.1], [-0....
* /move_base/global_costmap/footprint_padding: 0.01
* /move_base/global_costmap/global_frame: map
* /move_base/global_costmap/height: 80
* /move_base/global_costmap/inflation/cost_scaling_factor: 1
* /move_base/global_costmap/inflation/inflate_unknown: True
* /move_base/global_costmap/inflation/inflation_radius: 0.2
* /move_base/global_costmap/obstacles_laser/laser/clearing: True
* /move_base/global_costmap/obstacles_laser/laser/data_type: LaserScan
* /move_base/global_costmap/obstacles_laser/laser/inf_is_valid: True
* /move_base/global_costmap/obstacles_laser/laser/marking: True
* /move_base/global_costmap/obstacles_laser/laser/topic: /minicar/rplidar/...
* /move_base/global_costmap/obstacles_laser/observation_sources: laser
* /move_base/global_costmap/obstacles_laser/obstacle_range: 7.5
* /move_base/global_costmap/obstacles_laser/raytrace_range: 8
* /move_base/global_costmap/origin_x: -40
* /move_base/global_costmap/origin_y: -40
* /move_base/global_costmap/plugins: [{'name': 'static...
* /move_base/global_costmap/publish_frequency: 5.0
* /move_base/global_costmap/resolution: 0.05
* /move_base/global_costmap/robot_base_frame: base_link
* /move_base/global_costmap/rolling_window: False
* /move_base/global_costmap/static_layer/lethal_cost_threshold: 51
* /move_base/global_costmap/static_layer/map_topic: map
* /move_base/global_costmap/static_layer/subscribe_to_updates: True
* /move_base/global_costmap/static_layer/unknown_cost_value: -1
* /move_base/global_costmap/static_map: True
* /move_base/global_costmap/track_unknown_space: True
* /move_base/global_costmap/transform_tolerance: 0.5
* /move_base/global_costmap/update_frequency: 5.0
* /move_base/global_costmap/voxel_layer/observation_sources: octomap_voxel_grid
* /move_base/global_costmap/voxel_layer/octomap_voxel_grid/clearing: True
* /move_base/global_costmap/voxel_layer/octomap_voxel_grid/data_type: PointCloud2
* /move_base/global_costmap/voxel_layer/octomap_voxel_grid/inf_is_valid: True
* /move_base/global_costmap/voxel_layer/octomap_voxel_grid/marking: True
* /move_base/global_costmap/voxel_layer/octomap_voxel_grid/max_obstacle_height: 0.5
* /move_base/global_costmap/voxel_layer/octomap_voxel_grid/min_obstacle_height: -0.1
* /move_base/global_costmap/voxel_layer/octomap_voxel_grid/topic: /octomap_point_cl...
* /move_base/global_costmap/width: 80
* /move_base/local_costmap/footprint: [[0.2, 0.1], [-0....
* /move_base/local_costmap/footprint_padding: 0.01
* /move_base/local_costmap/global_frame: map
* /move_base/local_costmap/height: 8
* /move_base/local_costmap/inflation/cost_scaling_factor: 0.0
* /move_base/local_costmap/inflation/inflate_unknown: True
* /move_base/local_costmap/inflation/inflation_radius: 0.2
* /move_base/local_costmap/obstacles_laser/laser/clearing: True
* /move_base/local_costmap/obstacles_laser/laser/data_type: LaserScan
* /move_base/local_costmap/obstacles_laser/laser/inf_is_valid: True
* /move_base/local_costmap/obstacles_laser/laser/marking: True
* /move_base/local_costmap/obstacles_laser/laser/topic: /minicar/rplidar/...
* /move_base/local_costmap/obstacles_laser/observation_sources: laser
* /move_base/local_costmap/obstacles_laser/obstacle_range: 4.5
* /move_base/local_costmap/obstacles_laser/raytrace_range: 5.0
* /move_base/local_costmap/origin_x: -4
* /move_base/local_costmap/origin_y: -4
* /move_base/local_costmap/plugins: [{'name': 'obstac...
* /move_base/local_costmap/publish_frequency: 5.0
* /move_base/local_costmap/range_sensor_layer/clear_on_max_reading: True
* /move_base/local_costmap/range_sensor_layer/clear_threshold: 0.46
* /move_base/local_costmap/range_sensor_layer/input_sensor_type: VARIABLE
* /move_base/local_costmap/range_sensor_layer/mark_threshold: 0.5
* /move_base/local_costmap/range_sensor_layer/no_readings_timeout: 2.0
* /move_base/local_costmap/range_sensor_layer/ns: /minicar/sensor
* /move_base/local_costmap/range_sensor_layer/topics: ['back_0', 'back_...
* /move_base/local_costmap/resolution: 0.05
* /move_base/local_costmap/robot_base_frame: base_link
* /move_base/local_costmap/rolling_window: True
* /move_base/local_costmap/static_map: False
* /move_base/local_costmap/transform_tolerance: 0.5
* /move_base/local_costmap/update_frequency: 5.0
* /move_base/local_costmap/voxel_layer/observation_sources: octomap_voxel_grid
* /move_base/local_costmap/voxel_layer/octomap_voxel_grid/clearing: True
* /move_base/local_costmap/voxel_layer/octomap_voxel_grid/data_type: PointCloud2
* /move_base/local_costmap/voxel_layer/octomap_voxel_grid/inf_is_valid: True
* /move_base/local_costmap/voxel_layer/octomap_voxel_grid/marking: True
* /move_base/local_costmap/voxel_layer/octomap_voxel_grid/max_obstacle_height: 0.5
* /move_base/local_costmap/voxel_layer/octomap_voxel_grid/min_obstacle_height: -0.1
* /move_base/local_costmap/voxel_layer/octomap_voxel_grid/topic: /octomap_point_cl...
* /move_base/local_costmap/width: 8
* /move_base/planner_frequency: 0.5
* /move_base/recovery_behaviors: [{'name': 'conser...
* /move_base/recovery_behaviour_enabled: True
* /rosdistro: noetic
* /rosversion: 1.16.0
NODES
/
move_base (move_base/move_base)
ROS_MASTER_URI=http://localhost:11311
process[move_base-1]: started with pid [15026]
[ WARN] [1679402148.533860261, 1137.944000000]: global_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided
[ INFO] [1679402148.539394956, 1137.948000000]: global_costmap: Using plugin "static_layer"
[ INFO] [1679402148.595576634, 1137.971000000]: Requesting the map...
[ INFO] [1679402148.882227925, 1138.074000000]: Resizing costmap to 260 X 191 at 0.050000 m/pix (fixed)
[ INFO] [1679402149.072005263, 1138.173000000]: Received a 260 X 191 map at 0.050000 m/pix
[ INFO] [1679402149.072084146, 1138.173000000]: Subscribing to updates
[ INFO] [1679402149.105134893, 1138.183000000]: global_costmap: Using plugin "obstacles_laser"
[ INFO] [1679402149.153903097, 1138.211000000]: Subscribed to Topics: laser
[ INFO] [1679402149.321393523, 1138.284000000]: global_costmap: Using plugin "voxel_layer"
[ INFO] [1679402149.361687766, 1138.310000000]: Subscribed to Topics: octomap_voxel_grid
[ WARN] [1679402149.429997775, 1138.330000000]: obstacle_layer: inf_is_valid option is not applicable to PointCloud observations.
[ INFO] [1679402149.544912157, 1138.368000000]: global_costmap: Using plugin "inflation"
[ WARN] [1679402149.787119257, 1138.447000000]: local_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided
[ INFO] [1679402149.788609603, 1138.447000000]: local_costmap: Using plugin "obstacles_laser"
[ INFO] [1679402149.793978316, 1138.453000000]: Subscribed to Topics: laser
[ INFO] [1679402149.827177104, 1138.463000000]: local_costmap: Using plugin "voxel_layer"
[ INFO] [1679402149.834139897, 1138.465000000]: Subscribed to Topics: octomap_voxel_grid
[ WARN] [1679402149.870797341, 1138.472000000]: obstacle_layer: inf_is_valid option is not applicable to PointCloud observations.
[ INFO] [1679402149.918519277, 1138.485000000]: local_costmap: Using plugin "inflation"
[ INFO] [1679402150.046396611, 1138.524000000]: Created local_planner teb_local_planner/TebLocalPlannerROS
[ INFO] [1679402150.232613420, 1138.571000000]: Footprint model 'polygon' loaded for trajectory optimization.
[ INFO] [1679402150.232760747, 1138.571000000]: Parallel planning in distinctive topologies enabled.
[ INFO] [1679402150.693995693, 1138.722000000]: Costmap conversion plugin costmap_converter::CostmapToLinesDBSRANSAC loaded.
terminate called after throwing an instance of 'std::bad_alloc'
what(): std::bad_alloc
[move_base-1] process has died [pid 15026, exit code -6, cmd /home/khadas/minicar/catkin_ws/devel/lib/move_base/move_base cmd_vel:=/minicar/navigation/cmd_vel __name:=move_base __log:=/home/khadas/.ros/log/b46f2f16-c7e4-11ed-8789-ff047fbe7980/move_base-1.log].
log file: /home/khadas/.ros/log/b46f2f16-c7e4-11ed-8789-ff047fbe7980/move_base-1*.log
Appreciate any help.
Asked by Edvard on 2023-03-21 07:46:27 UTC
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