mayfieldroboticspublic/navigation

ROS Navigation stack. Code for finding where the robot is and how it can get somewhere else.

navigation's Issues

move_base crash

While the robot was moving, I did a pose estimate far away from where it was originally, and move_base died with the following error:

[ERROR] [1403916376.784857436, 19651.210000000]: None of the 29 first of 29 (29) points of the global plan were in the local costmap and free
[ERROR] [1403916376.784960158, 19651.210000000]: None of the points of the global plan were in the local costmap, global plan points too far from robot
[ WARN] [1403916376.785617350, 19651.210000000]: Scoring heading
move_base: /usr/include/pcl-1.7/pcl/conversions.h:247: void pcl::toPCLPointCloud2(const pcl::PointCloud&, pcl::PCLPointCloud2&) [with PointT = base_local_planner::MapGridCostPoint]: Assertion `cloud.points.size () == cloud.width * cloud.height' failed.
[move_base-5] process has died [pid 23069, exit code -6, cmd /home/hsk1pal/ros_sandbox/robot2020/devel/lib/move_base/move_base cmd_vel:=/navi_cmd_vel __name:=move_base __log:=/home/hsk1pal/.ros/log/d16020ca-fbe3-11e3-a4da-cc52af3e26b6/move_base-5.log].
log file: /home/hsk1pal/.ros/log/d16020ca-fbe3-11e3-a4da-cc52af3e26b6/move_base-5*.log

Missing amcl/HypothesisSet.h in building amcl

When attempting to build a deb of amcl, I get the following:

[ 80%] Building CXX object CMakeFiles/amcl.dir/src/amcl_node.cpp.o
/usr/bin/c++ -DROSCONSOLE_BACKEND_LOG4CXX -DROS_PACKAGE_NAME="amcl" -g -O2 -fstack-protector --param=ssp-buffer-size=4 -Wformat -Werror=format-security -DNDEBUG -D_FORTIFY_SOURCE=2 -I/root/embedded-ansible/navigation/amcl/obj-arm-linux-gnueabihf/devel/include -I/root/embedded-ansible/navigation/amcl/include/amcl -I/root/embedded-ansible/navigation/amcl/include/amcl/map -I/root/embedded-ansible/navigation/amcl/include/amcl/sensors -I/root/embedded-ansible/navigation/amcl/include/amcl/pf -I/opt/ros/indigo/include -I/usr/include/eigen3 -o CMakeFiles/amcl.dir/src/amcl_node.cpp.o -c /root/embedded-ansible/navigation/amcl/src/amcl_node.cpp
/root/embedded-ansible/navigation/amcl/src/amcl_node.cpp:48:32: fatal error: amcl/HypothesisSet.h: No such file or directory
#include "amcl/HypothesisSet.h"
^

Sure enough, the file does not exist. Is this include needed?

move_base build error

Seen during build of deb

ie: bloom-generate rosdebian --os-name ubuntu --os-version trusty --ros-distro indigo; fakeroot debian/rules binary

/root/gizmo/src/navigation/move_base/src/move_base.cpp: In member function 'bool move_base::MoveBase::executeCycle(geometry_msgs::PoseStamped&, std::vector<geometry_msgs::PoseStamped_<std::allocator > >&)':
/root/gizmo/src/navigation/move_base/src/move_base.cpp:960:19: error: 'class nav_core::BaseLocalPlanner' has no member named 'isRotatingToGoal'
if(tc_->isRotatingToGoal()){
^
make[4]: *** [CMakeFiles/move_base.dir/src/move_base.cpp.o] Error 1

Known error?

class nav_core::BaseLocalPlanner' has no member named 'isRotatingToGoal' build error

seems new.

To reproduce:

clone repo

cd to navigation/move_base

pip install bloom
bloom-generate rosdebian --os-name ubuntu --os-version trusty --ros-distro indigo
fakeroot debian/rules binary

/usr/bin/c++ -DROSCONSOLE_BACKEND_LOG4CXX -DROS_PACKAGE_NAME="move_base" -Dmove_base_EXPORTS -g -O2 -fstack-protector --param=ssp-buffer-size=4 -Wformat -Werror=format-security -DNDEBUG -D_FORTIFY_SOURCE=2 -fPIC -I/root/embedded-ansible/navigation/move_base/obj-arm-linux-gnueabihf/devel/include -I/root/embedded-ansible/navigation/move_base/include -I/opt/ros/indigo/include -I/usr/include/eigen3 -I/usr/include/pcl-1.7 -I/usr/include/ni -I/usr/include/vtk-5.8 -o CMakeFiles/move_base.dir/src/move_base.cpp.o -c /root/embedded-ansible/navigation/move_base/src/move_base.cpp
/root/embedded-ansible/navigation/move_base/src/move_base.cpp: In member function 'bool move_base::MoveBase::executeCycle(geometry_msgs::PoseStamped&, std::vector<geometry_msgs::PoseStamped_<std::allocator > >&)':
/root/embedded-ansible/navigation/move_base/src/move_base.cpp:858:15: error: 'move_base_msgs::MoveBaseFeedback' has no member named 'state'
feedback.state = "clearing";
^
/root/embedded-ansible/navigation/move_base/src/move_base.cpp:861:15: error: 'move_base_msgs::MoveBaseFeedback' has no member named 'state'
feedback.state = "planning";
^
/root/embedded-ansible/navigation/move_base/src/move_base.cpp:864:15: error: 'move_base_msgs::MoveBaseFeedback' has no member named 'state'
feedback.state = "controlling";
^
/root/embedded-ansible/navigation/move_base/src/move_base.cpp:974:19: error: 'class nav_core::BaseLocalPlanner' has no member named 'isRotatingToGoal'
if(tc_->isRotatingToGoal()){
^
^[[Cmake[4]: *** [CMakeFiles/move_base.dir/src/move_base.cpp.o] Error 1

Mayfield version of move_base_msgs and indigo_nav_core needs to be installed to build move_base

Running the rosdep install pulls the main upstream versions of move_base_msgs and indigo_nav_core.

Need to come up with some way to make rosdep install pull the mayfield versions.