jchengai/gpir

Process died after roslaunch

feiyuxiaoThu opened this issue · 2 comments

feiyuxiaoThu commented

Hi,
when i run roslaunch planning_core planning.launch , the process just died.

log:

SUMMARY

PARAMETERS

  • /carla_controller/kd: 0.4
  • /carla_controller/ki: 0.15
  • /carla_controller/kp: 3.5
  • /planning/map_path: /home/xfy/catkin_...
  • /planning/random_drive_mode: True
  • /planning/simulator: Carla
  • /planning/town: Town05
  • /robot_description: <?xml version="1....
  • /rosdistro: noetic
  • /rosversion: 1.15.14

NODES
/
carla_controller (planning_core/carla_controller)
planning (planning_core/planning)
planning_rviz (rviz/rviz)
vehicle (robot_state_publisher/robot_state_publisher)

ROS_MASTER_URI=http://localhost:11311

process[planning-1]: started with pid [26740]
process[carla_controller-2]: started with pid [26741]
process[planning_rviz-3]: started with pid [26749]
process[vehicle-4]: started with pid [26750]
[2022-07-24 15:12:30.995] [info] ensureValid(::ad::physics::Distance)>> 1.4224e+10 value out of range
terminate called after throwing an instance of 'std::out_of_range'
what(): Distance value out of range
*** Aborted at 1658646750 (unix time) try "date -d @1658646750" if you are using GNU date ***
PC: @ 0x7f375ad3d00b gsignal
*** SIGABRT (@0x3e800006874) received by PID 26740 (TID 0x7f375546c980) from PID 26740; stack trace: ***
@ 0x7f375ad3d090 (unknown)
@ 0x7f375ad3d00b gsignal
@ 0x7f375ad1c859 abort
@ 0x7f375afa5911 (unknown)
@ 0x7f375afb138c (unknown)
@ 0x7f375afb13f7 std::terminate()
@ 0x7f375afb16a9 __cxa_throw
@ 0x7f375a1691fe ad::physics::Distance::ensureValid()
@ 0x7f375a1a6f6a ad::map::point::findNearestPointOnEdge<>()
@ 0x7f375a1a7c3a ad::map::point::findNearestPointOnSegment<>()
@ 0x7f375a1a8340 ad::map::point::findNearestPointOnEdge<>()
@ 0x7f375a1a8b4f ad::map::point::calculateWidthRange<>()
@ 0x7f375a1a4878 ad::map::lane::updateLaneLengths()
@ 0x7f375a13a3c8 ad::map::access::Factory::set()
@ 0x7f375a1be8d0 ad::map::opendrive::AdMapFactory::addLane()
@ 0x7f375a1c00dc ad::map::opendrive::AdMapFactory::convertToAdMap()
@ 0x7f375a1c0877 ad::map::opendrive::AdMapFactory::createAdMap()
@ 0x7f375a1c0de0 ad::map::opendrive::AdMapFactory::createAdMap()
@ 0x7f375a1284b3 ad::map::access::AdMapAccess::readOpenDriveMap()
@ 0x7f375a129875 ad::map::access::AdMapAccess::initialize()
@ 0x7f375b3ece0c hdmap::HdMapImpl::LoadMap()
@ 0x563a8e5be595 planning::PlanningCore::Init()
@ 0x563a8e5bd4e8 main
@ 0x7f375ad1e083 __libc_start_main
@ 0x563a8e5bd63e _start
[planning-1] process has died

jchengai commented

It looks like an internal problem of the ad_map library, and I can't reproduce this problem in my machine.

FYI, my environment:

  • os: ubuntu20.04
  • ros: neotic
  • g++: 9.4.0
feiyuxiaoThu commented

I found the main error was caused by the incompatible versions between conda and ubuntu self-installed python, and now I have reproduced the results following the instructions. A nice work and the intuition for using GP and inference for motion planning is splendid!