Posted by
mjedmonds on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Navigation-Stack-rtabmap-requesting-map-configuration-problem-tp1378p1484.html
Er - I spoke too soon. Everything is working, but the move_base node is consistently crashing. The behavior is very consistent; eventually it crashes with the same error every time. The amount of time it takes to crash does vary. I'm going to post this same question on
http://answers.ros.org/question/237927/move_base-corrupt-linked-list/Here's the exact error, each time corresponding to the following warning:
[ WARN] [1466704185.100935930]: InflationLayer::updateCosts(): seen_ array size is wrong
and the error:
*** Error in `/opt/ros/indigo/lib/move_base/move_base': corrupted double-linked list: 0x00000000029ad9b0 ***
[move_base-1] process has died [pid 8680, exit code -6, cmd /opt/ros/indigo/lib/move_base/move_base cmd_vel:=/mobility_base/cmd_vel odom:=/odometry/filtered map:=/rtabmap/proj_map __name:=move_base __log:=/home/mb/.ros/log/4d826ab2-396a-11e6-ad82-b8aeed747f2b/move_base-1.log].
log file: /home/mb/.ros/log/4d826ab2-396a-11e6-ad82-b8aeed747f2b/move_base-1*.log
all processes on machine have died, roslaunch will exit
Unfortunately, the log file isn't actually written, so I haven't been able to get any useful information from there. I've done some googling and the only thing I can turn up is line 192 of the source of costmap_2d's inflation_layer.cpp (
http://docs.ros.org/jade/api/costmap_2d/html/inflation__layer_8cpp_source.html). So it seems deleting the seen_ array of costmap_2d's inflation layer is causing a corruption of a linked list somewhere else. What's odd is the warning doesn't
always cause the error. I'm thinking it might be cause by how rtabmap is updating proj_map, but I'm somewhat shooting in the dark. Any insight would be helpful.
Here's every related file:
base_local_planner_params.yaml
TrajectoryPlannerROS:
acc_lim_x: 1.0
acc_lim_y: 1.0
acc_lim_theta: 2.0
max_vel_x: 0.4
min_vel_x: 0.05
escape_vel: -0.05
max_vel_theta: 0.5
min_vel_theta: -0.5
min_in_place_vel_theta: 0.01
holonomic_robot: true
y_vels: [-0.3, -0.05, 0.05, 0.3]
xy_goal_tolerance: 0.03
yaw_goal_tolerance: 0.05
latch_xy_goal_tolerance: true
# make sure that the minimum velocity multiplied by the sim_period is less than twice the tolerance on a goal. Otherwise, the robot will prefer to rotate in place just outside of range of its target position rather than moving towards the goal.
sim_time: 1.5 # set between 1 and 2. The higher he value, the smoother the path (though more samples would be required).
sim_granularity: 0.025
angular_sim_granularity: 0.025
vx_samples: 12
vtheta_samples: 20
meter_scoring: true
pdist_scale: 0.7 # The higher will follow more the global path.
gdist_scale: 0.8
occdist_scale: 0.03
publish_cost_grid_pc: false
# move_base controller_frequency
controller_frequency: 5.0
# global planner
NavfnROS:
allow_unknown: true
visualize_potential: false
costmap_common_params.yaml
footprint: [[0.42, -0.43], [0.42, 0.43], [-0.42, 0.43], [-0.42, -0.43]]
footprint_padding: 0.02
inflation_layer:
inflation_radius: 0.02
transform_tolerance: 2
obstacle_layer:
obstacle_range: 3.0
raytrace_range: 3.5
track_unknown_space: false
observation_sources: point_cloud_sensor
point_cloud_sensor: {
sensor_frame: /camera_link,
data_type: PointCloud2,
topic: /rtabmap/cloud_map,
expected_update_rate: 1.0,
max_obstacle_height: 3.0,
min_obstacle_height: 0.1,
marking: true,
clearing: true
}
global_costmap_params.yaml
global_costmap:
global_frame: /map
robot_base_frame: base_footprint
update_frequency: 0.5
publish_frequency: 0.5
always_send_full_costmap: true
static_map: true
plugins:
- {name: static_layer, type: "rtabmap_ros::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
local_costmap_params.yaml
local_costmap:
global_frame: odom
robot_base_frame: base_footprint
update_frequency: 1
publish_frequency: 1
static_map: false
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.025
#origin_x: -3.0
#origin_y: -3.0
plugins:
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
rtabmap.launch
<launch>
<!-- huroco specific additional params -->
<arg name="publish_odom_tf" default="true"/>
<arg name="publish_map_tf" default="true"/>
<arg name="proj_min_cluster_size" default="2.0"/>
<!-- Localization-only mode -->
<arg name="localization" default="true"/>
<arg if="$(arg localization)" name="mapping" value="false" />
<arg unless="$(arg localization)" name="mapping" value="true" />
<!-- Convenience launch file to launch odometry, rtabmap and rtabmapviz nodes at once -->
<!-- For rgbd:=true
Your RGB-D sensor should be already started with "depth_registration:=true".
Examples:
$ roslaunch freenect_launch freenect.launch depth_registration:=true
$ roslaunch openni2_launch openni2.launch depth_registration:=true -->
<!-- For stereo:=true
Your camera should be calibrated and publishing rectified left and right
images + corresponding camera_info msgs. You can use stereo_image_proc for image rectification.
Example:
$ roslaunch rtabmap_ros bumblebee.launch -->
<!-- Choose between RGB-D and stereo -->
<arg name="rgbd" default="true"/>
<arg name="stereo" default="false"/>
<!-- Choose visualization -->
<arg name="rtabmapviz" default="false" />
<arg name="rviz" default="false" />
<!-- Corresponding config files -->
<arg name="cfg" default="" /> <!-- To change RTAB-Map's parameters, set the path of config file (*.ini) generated by the standalone app -->
<arg name="gui_cfg" default="~/.ros/rtabmap_gui.ini" />
<arg name="rviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />
<arg name="frame_id" default="base_link"/> <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
<arg name="namespace" default="rtabmap"/>
<arg name="database_path" default="~/.ros/rtabmap.db"/>
<arg name="queue_size" default="10"/>
<arg name="wait_for_transform" default="0.5"/>
<arg if="$(arg localization)" name="rtabmap_args" value="" />
<arg unless="$(arg localization)" name="rtabmap_args" value="--delete_db_on_start" />
<arg name="launch_prefix" default=""/> <!-- for debugging purpose, it fills launch-prefix tag of the nodes -->
<!-- RGB-D related topics -->
<arg name="rgb_topic" default="/camera/rgb/image_rect_color" />
<arg name="depth_topic" default="/camera/depth_registered/image_raw" />
<arg name="camera_info_topic" default="/camera/rgb/camera_info" />
<!-- stereo related topics -->
<arg name="stereo_namespace" default="/stereo_camera"/>
<arg name="left_image_topic" default="$(arg stereo_namespace)/left/image_rect_color" />
<arg name="right_image_topic" default="$(arg stereo_namespace)/right/image_rect" /> <!-- using grayscale image for efficiency -->
<arg name="left_camera_info_topic" default="$(arg stereo_namespace)/left/camera_info" />
<arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" />
<arg name="approx_sync" default="false"/> <!-- if timestamps of the stereo images are not synchronized -->
<arg name="compressed" default="false"/> <!-- If you want to subscribe to compressed image topics -->
<!-- For depth_topic, "compressedDepth" image_transport is used. -->
<!-- For rgb_topic, see "rgb_image_transport" argument. -->
<arg name="rgb_image_transport" default="compressed"/> <!-- Common types: compressed, theora (see "rosrun image_transport list_transports") -->
<arg name="subscribe_scan" default="false"/>
<arg name="scan_topic" default="/scan"/>
<arg name="subscribe_scan_cloud" default="false"/>
<arg name="scan_cloud_topic" default="/scan_cloud"/>
<arg name="visual_odometry" default="true"/> <!-- Launch rtabmap visual odometry node -->
<arg name="odom_topic" default="/odom"/> <!-- Odometry topic used if visual_odometry is false -->
<arg name="odom_args" default="$(arg rtabmap_args)"/>
<!-- These arguments should not be modified directly, see referred topics without "_relay" suffix above -->
<arg if="$(arg compressed)" name="rgb_topic_relay" default="$(arg rgb_topic)_relay"/>
<arg unless="$(arg compressed)" name="rgb_topic_relay" default="$(arg rgb_topic)"/>
<arg if="$(arg compressed)" name="depth_topic_relay" default="$(arg depth_topic)_relay"/>
<arg unless="$(arg compressed)" name="depth_topic_relay" default="$(arg depth_topic)"/>
<arg if="$(arg compressed)" name="left_image_topic_relay" default="$(arg left_image_topic)_relay"/>
<arg unless="$(arg compressed)" name="left_image_topic_relay" default="$(arg left_image_topic)"/>
<arg if="$(arg compressed)" name="right_image_topic_relay" default="$(arg right_image_topic)_relay"/>
<arg unless="$(arg compressed)" name="right_image_topic_relay" default="$(arg right_image_topic)"/>
<!-- algorithm params -->
<arg name="strategy" default="0" />
<arg name="feature" default="6" />
<arg name="nn" default="3" />
<arg name="max_depth" default="5.0" />
<arg name="min_inliers" default="15" />
<arg name="inlier_distance" default="0.02" />
<arg name="local_map" default="2000" />
<arg name="gftt_max_corners" default="1000" />
<arg name="gftt_min_distance" default="7" />
<!-- Nodes -->
<group ns="$(arg namespace)">
<!-- RGB-D Odometry -->
<group if="$(arg rgbd)">
<node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" />
<node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" />
<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen" args="$(arg odom_args)" launch-prefix="$(arg launch_prefix)">
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="config_path" type="string" value="$(arg cfg)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="publish_tf" type="bool" value="$(arg publish_odom_tf)" />
<!-- Force 2D odometry -->
<param name="Reg/Force2D" type="string" value="true"/>
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="Vis/EstimationType" type="string" value="$(arg strategy)"/>
<param name="Vis/CorNNType" type="string" value="$(arg nn)"/>
<param name="Vis/MaxDepth" type="string" value="$(arg max_depth)"/>
<param name="Vis/MinInliers" type="string" value="$(arg min_inliers)"/>
<param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>
<param name="OdomF2M/LocalHistorySize" type="string" value="$(arg local_map)"/>
<param name="Vis/MaxFeatures" type="string" value="$(arg gftt_max_corners)"/>
<param name="GFTT/MinDistance" type="string" value="$(arg gftt_min_distance)"/>
</node>
</group>
<!-- Stereo Odometry -->
<group if="$(arg stereo)">
<node if="$(arg compressed)" name="republish_left" type="republish" pkg="image_transport" args="compressed in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" />
<node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="compressed in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" />
<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
<remap from="left/image_rect" to="$(arg left_image_topic_relay)"/>
<remap from="right/image_rect" to="$(arg right_image_topic_relay)"/>
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
<param name="config_path" type="string" value="$(arg cfg)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
</node>
</group>
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
<param name="subscribe_depth" type="bool" value="$(arg rgbd)"/>
<param name="subscribe_stereo" type="bool" value="$(arg stereo)"/>
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
<param name="subscribe_scan_cloud" type="bool" value="$(arg subscribe_scan_cloud)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="publish_tf" type="bool" value="$(arg publish_map_tf)" />
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="database_path" type="string" value="$(arg database_path)"/>
<param name="stereo_approx_sync" type="bool" value="$(arg approx_sync)"/>
<param name="config_path" type="string" value="$(arg cfg)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="left/image_rect" to="$(arg left_image_topic_relay)"/>
<remap from="right/image_rect" to="$(arg right_image_topic_relay)"/>
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
<remap from="scan" to="$(arg scan_topic)"/>
<remap from="scan_cloud" to="$(arg scan_cloud_topic)"/>
<remap unless="$(arg visual_odometry)" from="odom" to="$(arg odom_topic)"/>
<!-- Force 2D mapping (constrained to x-y plane + yaw) -->
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="Reg/Force2D" type="string" value="true"/>
<param name="Optimizer/Slam2D" type="string" value="true"/>
<param name="Rtabmap/DetectionRate" type="string" value="3.0" />
<param name="DbSqlite3/InMemory" type="string" value="true" />
<param name="Vis/MinInliers" type="string" value="$(arg min_inliers)"/>
<param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>
<param name="proj_min_cluster_size" type="double" value="$(arg proj_min_cluster_size)" />
<!-- localization mode -->
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
<param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
<param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg gui_cfg)" output="screen" launch-prefix="$(arg launch_prefix)">
<param name="subscribe_depth" type="bool" value="$(arg rgbd)"/>
<param name="subscribe_stereo" type="bool" value="$(arg stereo)"/>
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
<param name="subscribe_scan_cloud" type="bool" value="$(arg subscribe_scan_cloud)"/>
<param name="subscribe_odom_info" type="bool" value="$(arg visual_odometry)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="left/image_rect" to="$(arg left_image_topic_relay)"/>
<remap from="right/image_rect" to="$(arg right_image_topic_relay)"/>
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
<remap from="scan" to="$(arg scan_topic)"/>
<remap from="scan_cloud" to="$(arg scan_cloud_topic)"/>
<remap unless="$(arg visual_odometry)" from="odom" to="$(arg odom_topic)"/>
</node>
</group>
<!-- Visualization RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="$(arg rviz_cfg)"/>
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
<remap from="left/image" to="$(arg left_image_topic_relay)"/>
<remap from="right/image" to="$(arg right_image_topic_relay)"/>
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="cloud" to="voxel_cloud" />
<param name="decimation" type="double" value="2"/>
<param name="voxel_size" type="double" value="0.02"/>
<param if="$(arg stereo)" name="approx_sync" type="bool" value="$(arg approx_sync)"/>
</node>
</launch>