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Mapper error #642

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siddux opened this issue Oct 16, 2023 · 5 comments
Open

Mapper error #642

siddux opened this issue Oct 16, 2023 · 5 comments

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@siddux
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siddux commented Oct 16, 2023

  • Operating System:
    • Ubuntu 22.04
  • Installation type:
    • Binaries
  • ROS Version
    • ROS 2 Foxy
  • Laser unit:
    • Sick

Hi, I'm trying to run slam on my robot (real world, not simulation). It looks like all is running ok but when the robot started to move I get the following error:

[async_slam_toolbox_node-1] terminate called after throwing an instance of 'std::runtime_error'
[async_slam_toolbox_node-1]   what():  Mapper FATAL ERROR - unable to get pointer in probability search!
[ERROR] [async_slam_toolbox_node-1]: process has died [pid 23469, exit code -6, cmd '/opt/ros/foxy/lib/slam_toolbox/async_slam_toolbox_node --ros-args -r __node:=slam_toolbox --params-file /workspaces/kuka_kmr_ws/install/share/kmr_slam_toolbox/config/KMR_mapper_params_online_async.yaml --params-file /tmp/launch_params_nd0sa422'].

Anyone knows where could be the problem? Thanks.

@SteveMacenski
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Whats your hardware platform? Did you try Humble or newer also to see if its causing issues in newer distributions?

I've never run into that before, so that's a total new one for me

@siddux
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siddux commented Oct 16, 2023

I am using kuka kmr. I'm not planning to move to Humble as it has a lot of dependencies on other packages only available on Foxy.

I will be working on it tomorrow so if you have any idea about where can comes of the error it will be helpful.

@SteveMacenski
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What is the computer hardware, I meant.

@siddux
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siddux commented Oct 16, 2023

Just a regular gigabyte aero laptop. I was running the code under docker, maybe could be related?

UPDATE:

I found that the error comes from the karto library. I tried to debug it but found nothing remarkable. I also tried to change some parameters and I got different results. Using default values for the following topics, the robot can be moved with VERY slow velocity and the node doesn't crash:

stack_size_to_use: 40000000
minimum_travel_distance: 0.5
minimum_travel_heading: 0.5
scan_buffer_size: 10

But changing to these ones, the node crashes immediately after sending any movement command:

stack_size_to_use: 100000000
minimum_travel_distance: 0.1
minimum_travel_heading: 0.1
scan_buffer_size: 50

Here is an image of the map when I start the node, just in case it can give more information:

image

@neerja123-gupta
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Hello, I am having similar issues. I am also using KMR and was trying https://github.com/MortenMDahl/kmriiwa_ws_devel to move the KMR rbase robot and and to create a map, which uses slam_toolbox. I ahving the excat same issue my map node crashes after sometime, whenever I move the robot little bit. Were you able to solve the error? Thanks
This is my inital map
Screenshot from 2024-06-21 15-15-18
and it crashes after sometime giving this error
Screenshot from 2024-06-21 15-16-46

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