move_base node dies - can't tell why
Hello ROS fans,
I am trying to get the navigation stack working with my new iRobot Create under Diamondback on Ubuntu 10.04. I am using the Brown irobot_create_2_1 package to drive the robot. I have successfully configured the navigation stack before for another robot under Cturtle so I thought it would be easy to transfer my parameter and launch files over to the Create. I am running the Master on the robot and RViz on my desktop. I have a Hokuyo laser scanner mounted on the Create. I can successfully view the robot and laser scan in RViz, and if I teleop the robot, I can watch it move in RViz. However when I run the following launch file, the move_base node dies within a few seconds.
<launch>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" outp
ut="screen">
<rosparam file="$(find pi_kinectbot)/params/costmap_common_params.yaml"
command="load" ns="global_costmap" />
<rosparam file="$(find pi_kinectbot)/params/costmap_common_params.yaml"
command="load" ns="local_costmap" />
<rosparam file="$(find pi_kinectbot)/params/local_costmap_params.yaml" c
ommand="load" />
<rosparam file="$(find pi_kinectbot)/params/global_costmap_params.yaml"
command="load" />
<rosparam file="$(find pi_kinectbot)/params/base_local_planner_params.ya
ml" command="load" />
</node>
</launch>
The resulting log file is as follows:
[roscpp_internal] [2011-03-08 19:38:19,272] [thread 0xb681f740]: [DEBUG] UDPROS
server listening on port [50340]
[roscpp_internal] [2011-03-08 19:38:19,312] [thread 0xb681f740]: [DEBUG] Started
node [/move_base], pid [27330], bound on [192.168.1.6], xmlrpc port [55128], tc
pros port [48312], logging to [/home/patrick/.ros/log/37d28f70-49fc-11e0-b176-00
166f70860b/move_base-1.log], using [real] time
[roscpp_internal] [2011-03-08 19:38:19,317] [thread 0xb681f740]: [DEBUG] Publish
er update for [/tf]: http://192.168.1.6:60551/, http://192.168.1.6:35648/, http:
//192.168.1.6:49672/, http://192.168.1.6:41977/, http://192.168.1.6:39540/, alr
eady have these connections:
[roscpp_internal] [2011-03-08 19:38:19,317] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.6:60551]
[roscpp_internal] [2011-03-08 19:38:19,317] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.6:35648]
[roscpp_internal] [2011-03-08 19:38:19,318] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.6:49672]
[roscpp_internal] [2011-03-08 19:38:19,318] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.6:41977]
[roscpp_internal] [2011-03-08 19:38:19,318] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.6:39540]
[roscpp_internal] [2011-03-08 19:38:19,326] [thread 0xb681f740]: [DEBUG] XML-RPC
call [lookupService] returned an error (-1): [no provider]
[roscpp_internal] [2011-03-08 19:38:19,335] [thread 0xb681f740]: [DEBUG] XML-RPC
call [searchParam] returned an error (-1): [Cannot find parameter [tf_prefix] i
n an upwards search]
[roscpp_internal] [2011-03-08 19:38:19,509] [thread 0xb601db70]: [DEBUG] Connect
ing via tcpros to topic [/tf] at host [192.168.1.6:59146]
[roscpp_internal] [2011-03-08 19:38:19,510] [thread 0xb601db70]: [DEBUG] Async c
onnect() in progress to [192.168.1.6:59146] on socket [17]
[roscpp_internal] [2011-03-08 19:38:19,510 ...Comments
Do you get any errors in the window that you launch in that might hint at why it dies? Also, have you tried running move_base in gdb? See http://www.ros.org/wiki/roslaunch/Tutorials/Roslaunch%20Nodes%20in%20Valgrind%20or%20GDB for how to launch a node in gdb from a launch file.
Eric Perko
(
2011-03-08 14:14:58 -0600
)edit
Thanks Eric. I have added the output from gdb to the end of my post above. Looks like it's related to the same issue I am having running openni_node: this is an SSE2 machine and openni_node fails with an Illegal Instruction error as well. Both move_base and openni_node run fine on a another machine that has SSE3 support.
Pi Robot
(
2011-03-09 12:46:40 -0600
)edit
Hmm... Can you try downloading and installing the nav stack and perception_pcl from source? I'm wondering if this is a problem where the debs are built with SSE3 by default (since I think cmake adds it if it is available and those beefy WG build machines prolly have it) but this isn't doc'd anywhere
Eric Perko
(
2011-03-09 12:53:38 -0600
)edit
Thanks Eric--that did it! I also had to rebuild my application package since apparently it somehow "caches" the location of the navigation and pcl packages from the last time it was built. In any event, it all works now on the SSE2 machine.
Pi Robot
(
2011-03-09 15:17:20 -0600
)edit
Just a note -- if you change the structure of your ROS setup or any overlays, you want to run 'rospack profile' to regenerate the package location cache --- this probably could have saved you having to rebuild.
fergs
(
2011-03-12 15:46:15 -0600
)editadd a comment
