ROS-Answers/Navigation/GDB-BT

talkingrobots@dfki-delmarre:~/ROS-Packages/systems$ roslaunch tarot_robotcontrol NavStack-revy1-withAMCL.launch
... logging to /home/talkingrobots/.ros/log/ed400698-50d7-11e1-9bf7-002241221015/roslaunch-dfki-delmarre-6438.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://dfki-delmarre:57449/

SUMMARY
========

PARAMETERS
 * /move_base/local_costmap/laser_scan_sensor/sensor_frame
 * /amcl/gui_publish_rate
 * /move_base/local_costmap/footprint
 * /move_base/TrajectoryPlannerROS/transform_tolerance
 * /move_base/footprint_padding
 * /move_base/TrajectoryPlannerROS/vx_samples
 * /move_base/global_costmap/laser_scan_sensor/expected_update_rate
 * /move_base/local_costmap/observation_sources
 * /move_base/global_costmap/laser_scan_sensor/marking
 * /amcl/recovery_alpha_slow
 * /move_base/TrajectoryPlannerROS/acc_lim_x
 * /move_base/local_costmap/cost_scaling_factor
 * /amcl/laser_z_short
 * /move_base/shutdown_costmaps
 * /move_base/TrajectoryPlannerROS/sim_time
 * /move_base/local_costmap/transform_tolerance
 * /move_base/TrajectoryPlannerROS/min_vel_x
 * /move_base/global_costmap/laser_scan_sensor/sensor_frame
 * /move_base/global_costmap/obstacle_range
 * /move_base/local_costmap/inflation_radius
 * /amcl/laser_z_rand
 * /move_base/global_costmap/laser_scan_sensor/max_obstacle_height
 * /move_base/global_costmap/footprint
 * /move_base/local_costmap/laser_scan_sensor/expected_update_rate
 * /move_base/global_costmap/rolling_window
 * /move_base/local_costmap/static_map
 * /move_base/global_costmap/laser_scan_sensor/data_type
 * /move_base/global_costmap/publish_frequency
 * /amcl/laser_lambda_short
 * /move_base/TrajectoryPlannerROS/max_vel_x
 * /move_base/local_costmap/rolling_window
 * /move_base/NavfnROS/allow_unknown
 * /move_base/controller_frequency
 * /amcl/laser_max_beams
 * /move_base/oscillation_timeout
 * /amcl/laser_model_type
 * /amcl/odom_model_type
 * /amcl/laser_sigma_hit
 * /amcl/recovery_alpha_fast
 * /move_base/global_costmap/laser_scan_sensor/min_obstacle_height
 * /move_base/clearing_rotation_allowed
 * /move_base/global_costmap/inflation_radius
 * /move_base/TrajectoryPlannerROS/occdist_scale
 * /move_base/global_costmap/origin_z
 * /move_base/TrajectoryPlannerROS/acc_lim_y
 * /rosdistro
 * /move_base/oscillation_distance
 * /amcl/odom_alpha4
 * /amcl/odom_alpha5
 * /amcl/odom_alpha1
 * /amcl/odom_alpha2
 * /amcl/odom_alpha3
 * /move_base/TrajectoryPlannerROS/max_rotational_vel
 * /move_base/TrajectoryPlannerROS/goal_distance_bias
 * /move_base/local_costmap/unknown_threshold
 * /move_base/global_costmap/static_map
 * /move_base/global_costmap/unknown_threshold
 * /move_base/global_costmap/mark_threshold
 * /move_base/local_costmap/laser_scan_sensor/max_obstacle_height
 * /move_base/TrajectoryPlannerROS/dwa
 * /amcl/max_particles
 * /amcl/laser_z_max
 * /move_base/global_costmap/laser_scan_sensor/observation_persistence
 * /amcl/min_particles
 * /move_base/global_costmap/robot_base_frame
 * /move_base/global_costmap/cost_scaling_factor
 * /move_base/local_costmap/unknown_cost_value
 * /move_base/local_costmap/update_frequency
 * /move_base/global_costmap/z_resolution
 * /move_base/local_costmap/raytrace_range
 * /move_base/local_costmap/mark_threshold
 * /move_base/local_costmap/publish_frequency
 * /move_base/global_costmap/observation_sources
 * /amcl/transform_tolerance
 * /move_base/global_costmap/update_frequency
 * /move_base/TrajectoryPlannerROS/acc_lim_th
 * /amcl/kld_err
 * /move_base/local_costmap/origin_z
 * /amcl/odom_frame_id
 * /move_base/local_costmap/laser_scan_sensor/data_type
 * /move_base/TrajectoryPlannerROS/min_in_place_rotational_vel
 * /move_base/TrajectoryPlannerROS/heading_lookahead
 * /move_base/TrajectoryPlannerROS/holonomic_robot
 * /move_base/local_costmap/map_type
 * /move_base/TrajectoryPlannerROS/yaw_goal_tolerance
 * /move_base/local_costmap/laser_scan_sensor/topic
 * /amcl/laser_likelihood_max_dist
 * /move_base/TrajectoryPlannerROS/path_distance_bias
 * /amcl/laser_z_hit
 * /move_base/local_costmap/robot_base_frame
 * /move_base/local_costmap/z_resolution
 * /move_base/TrajectoryPlannerROS/xy_goal_tolerance
 * /move_base/local_costmap/laser_scan_sensor/min_obstacle_height
 * /move_base/local_costmap/z_voxels
 * /move_base/local_costmap/laser_scan_sensor/observation_persistence
 * /move_base/global_costmap/transform_tolerance
 * /move_base/TrajectoryPlannerROS/sim_granularity
 * /move_base/local_costmap/obstacle_range
 * /move_base/global_costmap/raytrace_range
 * /move_base/TrajectoryPlannerROS/vtheta_samples
 * /move_base/local_costmap/laser_scan_sensor/clearing
 * /move_base/TrajectoryPlannerROS/oscillation_reset_dist
 * /move_base/global_costmap/map_type
 * /move_base/global_costmap/laser_scan_sensor/topic
 * /move_base/controller_patience
 * /rosversion
 * /move_base/local_costmap/global_frame
 * /move_base/global_costmap/global_frame
 * /move_base/global_costmap/unknown_cost_value
 * /move_base/local_costmap/laser_scan_sensor/marking
 * /amcl/kld_z
 * /amcl/resample_interval
 * /amcl/update_min_a
 * /amcl/update_min_d
 * /move_base/recovery_behavior_enabled
 * /move_base/global_costmap/laser_scan_sensor/clearing
 * /move_base/local_costmap/publish_voxel_map
 * /move_base/global_costmap/z_voxels

NODES
  /
    amcl (amcl/amcl)
    move_base (move_base/move_base)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[amcl-1]: started with pid [6456]
process[move_base-2]: started with pid [6457]
GNU gdb (GDB) 7.1-ubuntu
Copyright (C) 2010 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law.  Type "show copying"
and "show warranty" for details.
This GDB was configured as "i486-linux-gnu".
For bug reporting instructions, please see:
<http://www.gnu.org/software/gdb/bugs/>...
Reading symbols from /opt/ros/diamondback/stacks/navigation/move_base/bin/move_base...done.
Starting program: /opt/ros/diamondback/stacks/navigation/move_base/bin/move_base __name:=move_base __log:=/home/talkingrobots/.ros/log/ed400698-50d7-11e1-9bf7-002241221015/move_base-2.log
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[ INFO] [1328542581.074382526]: Requesting the map...
[ INFO] [1328542581.191840612]: Received a 4000 X 4000 map @ 0.050 m/pix

[ INFO] [1328542581.570283455]: Initializing likelihood field model; this can take some time on large maps...
[ INFO] [1328542581.868423238]: Done initializing likelihood field model.
[ WARN] [1328542582.060346652]: Message from [/hokuyo_node] has a non-fully-qualified frame_id [laser]. Resolved locally to [/laser].  This is will likely not work in multi-robot systems.  This message will only print once.
[Thread debugging using libthread_db enabled]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0xb707cb70 (LWP 6566)]
[New Thread 0xb687bb70 (LWP 6567)]
[New Thread 0xb607ab70 (LWP 6568)]
[New Thread 0xb5879b70 (LWP 6573)]
[New Thread 0xb5078b70 (LWP 6575)]
[New Thread 0xb46ffb70 (LWP 6600)]
[ INFO] [1328542585.326047559]: Subscribed to Topics: laser_scan_sensor
[ INFO] [1328542585.341129062]: Requesting the map...

[ INFO] [1328542585.342593156]: Still waiting on map...

[ INFO] [1328542586.473967655]: Still waiting on map...

[ INFO] [1328542587.354482649]: Received a 4000 X 4000 map at 0.050000 m/pix

[New Thread 0xb2fbbb70 (LWP 6689)]
[New Thread 0xaa562b70 (LWP 6721)]
[New Thread 0xa9d61b70 (LWP 6724)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x982b0b70 (LWP 6737)]
[Thread 0x982b0b70 (LWP 6737) exited]
[ INFO] [1328542587.792840200]: MAP SIZE: 4000, 4000
[ INFO] [1328542587.799506182]: Subscribed to Topics: laser_scan_sensor
[ INFO] [1328542587.813366642]: Requesting the map...

[ WARN] [1328542587.813592091]: Message from [/hokuyo_node] has a non-fully-qualified frame_id [laser]. Resolved locally to [/laser].  This is will likely not work in multi-robot systems.  This message will only print once.
[ INFO] [1328542587.938564244]: Still waiting on map...

[ INFO] [1328542588.825298648]: Received a 4000 X 4000 map at 0.050000 m/pix

[New Thread 0x96b6cb70 (LWP 6832)]
[New Thread 0x8f7dab70 (LWP 6835)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[ INFO] [1328542589.183745423]: Sim period is set to 0.10
[ WARN] [1328542592.094723148]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.4314 seconds
[ WARN] [1328542593.512249148]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.8489 seconds
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc

Program received signal SIGABRT, Aborted.
[Switching to Thread 0xaa562b70 (LWP 6721)]
0x0012d422 in __kernel_vsyscall ()
(gdb) bt
#0  0x0012d422 in __kernel_vsyscall ()
#1  0x024b7651 in raise () from /lib/tls/i686/cmov/libc.so.6
#2  0x024baa82 in abort () from /lib/tls/i686/cmov/libc.so.6
#3  0x023f852f in __gnu_cxx::__verbose_terminate_handler() () from /usr/lib/libstdc++.so.6
#4  0x023f6465 in ?? () from /usr/lib/libstdc++.so.6
#5  0x023f64a2 in std::terminate() () from /usr/lib/libstdc++.so.6
#6  0x023f65e1 in __cxa_throw () from /usr/lib/libstdc++.so.6
#7  0x023f6c5f in operator new(unsigned int) () from /usr/lib/libstdc++.so.6
#8  0x0026989a in std::vector<geometry_msgs::Point_<std::allocator<void> >, std::allocator<geometry_msgs::Point_<std::allocator<void> > > >::_M_fill_insert(__gnu_cxx::__normal_iterator<geometry_msgs::Point_<std::allocator<void> >*, std::vector<geometry_msgs::Point_<std::allocator<void> >, std::allocator<geometry_msgs::Point_<std::allocator<void> > > > >, unsigned int, geometry_msgs::Point_<std::allocator<void> > const&) () from /opt/ros/diamondback/stacks/navigation/costmap_2d/lib/libcostmap_2d.so
#9  0x00264de8 in std::vector<geometry_msgs::Point_<std::allocator<void> >, std::allocator<geometry_msgs::Point_<std::allocator<void> > > >::insert (this=0xb4702230)
    at /usr/include/c++/4.4/bits/stl_vector.h:851
#10 std::vector<geometry_msgs::Point_<std::allocator<void> >, std::allocator<geometry_msgs::Point_<std::allocator<void> > > >::resize (this=0xb4702230)
    at /usr/include/c++/4.4/bits/stl_vector.h:557
#11 costmap_2d::Costmap2DPublisher::publishCostmap (this=0xb4702230)
    at /tmp/buildd/ros-diamondback-navigation-1.4.2/debian/ros-diamondback-navigation/opt/ros/diamondback/stacks/navigation/costmap_2d/src/costmap_2d_publisher.cpp:209
#12 0x00265347 in costmap_2d::Costmap2DPublisher::mapPublishLoop (this=0xb4702230, frequency=0.5)
    at /tmp/buildd/ros-diamondback-navigation-1.4.2/debian/ros-diamondback-navigation/opt/ros/diamondback/stacks/navigation/costmap_2d/src/costmap_2d_publisher.cpp:74
#13 0x00267cb1 in boost::_mfi::mf1<void, costmap_2d::Costmap2DPublisher, double>::operator() (this=0xb470da38) at /usr/include/boost/bind/mem_fn_template.hpp:162
#14 operator()<boost::_mfi::mf1<void, costmap_2d::Costmap2DPublisher, double>, boost::_bi::list0> (this=0xb470da38) at /usr/include/boost/bind/bind.hpp:306
#15 boost::_bi::bind_t<void, boost::_mfi::mf1<void, costmap_2d::Costmap2DPublisher, double>, boost::_bi::list2<boost::_bi::value<costmap_2d::Costmap2DPublisher*>, boost::_bi::value<double> > >::operator() (this=0xb470da38) at /usr/include/boost/bind/bind_template.hpp:20
#16 boost::detail::thread_data<boost::_bi::bind_t<void, boost::_mfi::mf1<void, costmap_2d::Costmap2DPublisher, double>, boost::_bi::list2<boost::_bi::value<costmap_2d::Costmap2DPublisher*>, boost::_bi::value<double> > > >::run (this=0xb470da38) at /usr/include/boost/thread/detail/thread.hpp:56
#17 0x0217b7c5 in thread_proxy () from /usr/lib/libboost_thread.so.1.40.0
#18 0x0247996e in start_thread () from /lib/tls/i686/cmov/libpthread.so.0
#19 0x0255aa4e in clone () from /lib/tls/i686/cmov/libc.so.6
(gdb)