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ROS-Answers/Navigation/GDB-BT

Feb 6th, 2012
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  1. talkingrobots@dfki-delmarre:~/ROS-Packages/systems$ roslaunch tarot_robotcontrol NavStack-revy1-withAMCL.launch
  2. ... logging to /home/talkingrobots/.ros/log/ed400698-50d7-11e1-9bf7-002241221015/roslaunch-dfki-delmarre-6438.log
  3. Checking log directory for disk usage. This may take awhile.
  4. Press Ctrl-C to interrupt
  5. Done checking log file disk usage. Usage is <1GB.
  6.  
  7. started roslaunch server http://dfki-delmarre:57449/
  8.  
  9. SUMMARY
  10. ========
  11.  
  12. PARAMETERS
  13. * /move_base/local_costmap/laser_scan_sensor/sensor_frame
  14. * /amcl/gui_publish_rate
  15. * /move_base/local_costmap/footprint
  16. * /move_base/TrajectoryPlannerROS/transform_tolerance
  17. * /move_base/footprint_padding
  18. * /move_base/TrajectoryPlannerROS/vx_samples
  19. * /move_base/global_costmap/laser_scan_sensor/expected_update_rate
  20. * /move_base/local_costmap/observation_sources
  21. * /move_base/global_costmap/laser_scan_sensor/marking
  22. * /amcl/recovery_alpha_slow
  23. * /move_base/TrajectoryPlannerROS/acc_lim_x
  24. * /move_base/local_costmap/cost_scaling_factor
  25. * /amcl/laser_z_short
  26. * /move_base/shutdown_costmaps
  27. * /move_base/TrajectoryPlannerROS/sim_time
  28. * /move_base/local_costmap/transform_tolerance
  29. * /move_base/TrajectoryPlannerROS/min_vel_x
  30. * /move_base/global_costmap/laser_scan_sensor/sensor_frame
  31. * /move_base/global_costmap/obstacle_range
  32. * /move_base/local_costmap/inflation_radius
  33. * /amcl/laser_z_rand
  34. * /move_base/global_costmap/laser_scan_sensor/max_obstacle_height
  35. * /move_base/global_costmap/footprint
  36. * /move_base/local_costmap/laser_scan_sensor/expected_update_rate
  37. * /move_base/global_costmap/rolling_window
  38. * /move_base/local_costmap/static_map
  39. * /move_base/global_costmap/laser_scan_sensor/data_type
  40. * /move_base/global_costmap/publish_frequency
  41. * /amcl/laser_lambda_short
  42. * /move_base/TrajectoryPlannerROS/max_vel_x
  43. * /move_base/local_costmap/rolling_window
  44. * /move_base/NavfnROS/allow_unknown
  45. * /move_base/controller_frequency
  46. * /amcl/laser_max_beams
  47. * /move_base/oscillation_timeout
  48. * /amcl/laser_model_type
  49. * /amcl/odom_model_type
  50. * /amcl/laser_sigma_hit
  51. * /amcl/recovery_alpha_fast
  52. * /move_base/global_costmap/laser_scan_sensor/min_obstacle_height
  53. * /move_base/clearing_rotation_allowed
  54. * /move_base/global_costmap/inflation_radius
  55. * /move_base/TrajectoryPlannerROS/occdist_scale
  56. * /move_base/global_costmap/origin_z
  57. * /move_base/TrajectoryPlannerROS/acc_lim_y
  58. * /rosdistro
  59. * /move_base/oscillation_distance
  60. * /amcl/odom_alpha4
  61. * /amcl/odom_alpha5
  62. * /amcl/odom_alpha1
  63. * /amcl/odom_alpha2
  64. * /amcl/odom_alpha3
  65. * /move_base/TrajectoryPlannerROS/max_rotational_vel
  66. * /move_base/TrajectoryPlannerROS/goal_distance_bias
  67. * /move_base/local_costmap/unknown_threshold
  68. * /move_base/global_costmap/static_map
  69. * /move_base/global_costmap/unknown_threshold
  70. * /move_base/global_costmap/mark_threshold
  71. * /move_base/local_costmap/laser_scan_sensor/max_obstacle_height
  72. * /move_base/TrajectoryPlannerROS/dwa
  73. * /amcl/max_particles
  74. * /amcl/laser_z_max
  75. * /move_base/global_costmap/laser_scan_sensor/observation_persistence
  76. * /amcl/min_particles
  77. * /move_base/global_costmap/robot_base_frame
  78. * /move_base/global_costmap/cost_scaling_factor
  79. * /move_base/local_costmap/unknown_cost_value
  80. * /move_base/local_costmap/update_frequency
  81. * /move_base/global_costmap/z_resolution
  82. * /move_base/local_costmap/raytrace_range
  83. * /move_base/local_costmap/mark_threshold
  84. * /move_base/local_costmap/publish_frequency
  85. * /move_base/global_costmap/observation_sources
  86. * /amcl/transform_tolerance
  87. * /move_base/global_costmap/update_frequency
  88. * /move_base/TrajectoryPlannerROS/acc_lim_th
  89. * /amcl/kld_err
  90. * /move_base/local_costmap/origin_z
  91. * /amcl/odom_frame_id
  92. * /move_base/local_costmap/laser_scan_sensor/data_type
  93. * /move_base/TrajectoryPlannerROS/min_in_place_rotational_vel
  94. * /move_base/TrajectoryPlannerROS/heading_lookahead
  95. * /move_base/TrajectoryPlannerROS/holonomic_robot
  96. * /move_base/local_costmap/map_type
  97. * /move_base/TrajectoryPlannerROS/yaw_goal_tolerance
  98. * /move_base/local_costmap/laser_scan_sensor/topic
  99. * /amcl/laser_likelihood_max_dist
  100. * /move_base/TrajectoryPlannerROS/path_distance_bias
  101. * /amcl/laser_z_hit
  102. * /move_base/local_costmap/robot_base_frame
  103. * /move_base/local_costmap/z_resolution
  104. * /move_base/TrajectoryPlannerROS/xy_goal_tolerance
  105. * /move_base/local_costmap/laser_scan_sensor/min_obstacle_height
  106. * /move_base/local_costmap/z_voxels
  107. * /move_base/local_costmap/laser_scan_sensor/observation_persistence
  108. * /move_base/global_costmap/transform_tolerance
  109. * /move_base/TrajectoryPlannerROS/sim_granularity
  110. * /move_base/local_costmap/obstacle_range
  111. * /move_base/global_costmap/raytrace_range
  112. * /move_base/TrajectoryPlannerROS/vtheta_samples
  113. * /move_base/local_costmap/laser_scan_sensor/clearing
  114. * /move_base/TrajectoryPlannerROS/oscillation_reset_dist
  115. * /move_base/global_costmap/map_type
  116. * /move_base/global_costmap/laser_scan_sensor/topic
  117. * /move_base/controller_patience
  118. * /rosversion
  119. * /move_base/local_costmap/global_frame
  120. * /move_base/global_costmap/global_frame
  121. * /move_base/global_costmap/unknown_cost_value
  122. * /move_base/local_costmap/laser_scan_sensor/marking
  123. * /amcl/kld_z
  124. * /amcl/resample_interval
  125. * /amcl/update_min_a
  126. * /amcl/update_min_d
  127. * /move_base/recovery_behavior_enabled
  128. * /move_base/global_costmap/laser_scan_sensor/clearing
  129. * /move_base/local_costmap/publish_voxel_map
  130. * /move_base/global_costmap/z_voxels
  131.  
  132. NODES
  133. /
  134. amcl (amcl/amcl)
  135. move_base (move_base/move_base)
  136.  
  137. ROS_MASTER_URI=http://localhost:11311
  138.  
  139. core service [/rosout] found
  140. process[amcl-1]: started with pid [6456]
  141. process[move_base-2]: started with pid [6457]
  142. GNU gdb (GDB) 7.1-ubuntu
  143. Copyright (C) 2010 Free Software Foundation, Inc.
  144. License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
  145. This is free software: you are free to change and redistribute it.
  146. There is NO WARRANTY, to the extent permitted by law. Type "show copying"
  147. and "show warranty" for details.
  148. This GDB was configured as "i486-linux-gnu".
  149. For bug reporting instructions, please see:
  150. <http://www.gnu.org/software/gdb/bugs/>...
  151. Reading symbols from /opt/ros/diamondback/stacks/navigation/move_base/bin/move_base...done.
  152. 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
  153. [tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
  154. [tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
  155. [tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
  156. [ INFO] [1328542581.074382526]: Requesting the map...
  157. [ INFO] [1328542581.191840612]: Received a 4000 X 4000 map @ 0.050 m/pix
  158.  
  159. [ INFO] [1328542581.570283455]: Initializing likelihood field model; this can take some time on large maps...
  160. [ INFO] [1328542581.868423238]: Done initializing likelihood field model.
  161. [ 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.
  162. [Thread debugging using libthread_db enabled]
  163. [tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
  164. [tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
  165. [tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
  166. [New Thread 0xb707cb70 (LWP 6566)]
  167. [New Thread 0xb687bb70 (LWP 6567)]
  168. [New Thread 0xb607ab70 (LWP 6568)]
  169. [New Thread 0xb5879b70 (LWP 6573)]
  170. [New Thread 0xb5078b70 (LWP 6575)]
  171. [New Thread 0xb46ffb70 (LWP 6600)]
  172. [ INFO] [1328542585.326047559]: Subscribed to Topics: laser_scan_sensor
  173. [ INFO] [1328542585.341129062]: Requesting the map...
  174.  
  175. [ INFO] [1328542585.342593156]: Still waiting on map...
  176.  
  177. [ INFO] [1328542586.473967655]: Still waiting on map...
  178.  
  179. [ INFO] [1328542587.354482649]: Received a 4000 X 4000 map at 0.050000 m/pix
  180.  
  181. [New Thread 0xb2fbbb70 (LWP 6689)]
  182. [New Thread 0xaa562b70 (LWP 6721)]
  183. [New Thread 0xa9d61b70 (LWP 6724)]
  184. [tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
  185. [New Thread 0x982b0b70 (LWP 6737)]
  186. [Thread 0x982b0b70 (LWP 6737) exited]
  187. [ INFO] [1328542587.792840200]: MAP SIZE: 4000, 4000
  188. [ INFO] [1328542587.799506182]: Subscribed to Topics: laser_scan_sensor
  189. [ INFO] [1328542587.813366642]: Requesting the map...
  190.  
  191. [ 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.
  192. [ INFO] [1328542587.938564244]: Still waiting on map...
  193.  
  194. [ INFO] [1328542588.825298648]: Received a 4000 X 4000 map at 0.050000 m/pix
  195.  
  196. [New Thread 0x96b6cb70 (LWP 6832)]
  197. [New Thread 0x8f7dab70 (LWP 6835)]
  198. [tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
  199. [ INFO] [1328542589.183745423]: Sim period is set to 0.10
  200. [ WARN] [1328542592.094723148]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.4314 seconds
  201. [ WARN] [1328542593.512249148]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.8489 seconds
  202. terminate called after throwing an instance of 'std::bad_alloc'
  203. what(): std::bad_alloc
  204.  
  205. Program received signal SIGABRT, Aborted.
  206. [Switching to Thread 0xaa562b70 (LWP 6721)]
  207. 0x0012d422 in __kernel_vsyscall ()
  208. (gdb) bt
  209. #0 0x0012d422 in __kernel_vsyscall ()
  210. #1 0x024b7651 in raise () from /lib/tls/i686/cmov/libc.so.6
  211. #2 0x024baa82 in abort () from /lib/tls/i686/cmov/libc.so.6
  212. #3 0x023f852f in __gnu_cxx::__verbose_terminate_handler() () from /usr/lib/libstdc++.so.6
  213. #4 0x023f6465 in ?? () from /usr/lib/libstdc++.so.6
  214. #5 0x023f64a2 in std::terminate() () from /usr/lib/libstdc++.so.6
  215. #6 0x023f65e1 in __cxa_throw () from /usr/lib/libstdc++.so.6
  216. #7 0x023f6c5f in operator new(unsigned int) () from /usr/lib/libstdc++.so.6
  217. #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
  218. #9 0x00264de8 in std::vector<geometry_msgs::Point_<std::allocator<void> >, std::allocator<geometry_msgs::Point_<std::allocator<void> > > >::insert (this=0xb4702230)
  219. at /usr/include/c++/4.4/bits/stl_vector.h:851
  220. #10 std::vector<geometry_msgs::Point_<std::allocator<void> >, std::allocator<geometry_msgs::Point_<std::allocator<void> > > >::resize (this=0xb4702230)
  221. at /usr/include/c++/4.4/bits/stl_vector.h:557
  222. #11 costmap_2d::Costmap2DPublisher::publishCostmap (this=0xb4702230)
  223. 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
  224. #12 0x00265347 in costmap_2d::Costmap2DPublisher::mapPublishLoop (this=0xb4702230, frequency=0.5)
  225. 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
  226. #13 0x00267cb1 in boost::_mfi::mf1<void, costmap_2d::Costmap2DPublisher, double>::operator() (this=0xb470da38) at /usr/include/boost/bind/mem_fn_template.hpp:162
  227. #14 operator()<boost::_mfi::mf1<void, costmap_2d::Costmap2DPublisher, double>, boost::_bi::list0> (this=0xb470da38) at /usr/include/boost/bind/bind.hpp:306
  228. #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
  229. #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
  230. #17 0x0217b7c5 in thread_proxy () from /usr/lib/libboost_thread.so.1.40.0
  231. #18 0x0247996e in start_thread () from /lib/tls/i686/cmov/libpthread.so.0
  232. #19 0x0255aa4e in clone () from /lib/tls/i686/cmov/libc.so.6
  233. (gdb)
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