pci_mav_ros_node-16

[ntnu-arl]

pci_mav_ros_node-16

[yalyounes]

Hi Tung,
I manged to resolve the issue by changing the GCC compiler from version 8 to the default one (version 7).
Thank you so much for your time and suggestions :)

[tungdanganh]

Thanks Younes, are you using the branch melodic: https://github.com/unr-arl/gbplanner_ws/tree/melodic?

[yalyounes]

Yes, I used melodic branch and it built successfully from the first time.

[tungdanganh]

It shows the error with the pci_mav package.
Could you please compile the whole workspace catkin build or the pci package catkin build pci_mav.
Then verify if the pci_mav package is there; for example: rosrun pci_mav pci_mav_ros_node.
It should run the node.

[yalyounes]

Yes, the node is working and I can see its topics. If I run it alone, it shows:

[ WARN] [1597349044.612133603]: PCI: service planner_server is not available: waiting...

[tungdanganh]

OK, sorry for that. I just made a fresh workspace on my PC from that branch, and it works fine on my PC.
Would you please do one more thing: share the whole terminal output after you launch the gbplanner example?

[yalyounes]

My terminal shows:

... logging to /home/yalyounes/.ros/log/cfadb632-ddac-11ea-98c8-0433c2f441b5/roslaunch-yalyounes-2217.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/yalyounes/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.

redefining global property: pi
when processing file: /home/yalyounes/gbplanner_ws/src/sim/rotors_simulator/rotors_description/urdf/component_snippets.xacro
included from: /home/yalyounes/gbplanner_ws/src/sim/rotors_simulator/rotors_description/urdf/m100_base.xacro
included from: /home/yalyounes/gbplanner_ws/src/sim/rotors_simulator/rotors_description/urdf/mav_generic_odometry_sensor.gazebo
included from: /home/yalyounes/gbplanner_ws/src/sim/rotors_simulator/rotors_description/urdf/m100.gazebo
Deprecated: xacro tag 'VLP-16' w/o 'xacro:' xml namespace prefix (will be forbidden in Noetic)
when processing file: /home/yalyounes/gbplanner_ws/src/sim/rotors_simulator/rotors_description/urdf/m100_base.xacro
included from: /home/yalyounes/gbplanner_ws/src/sim/rotors_simulator/rotors_description/urdf/mav_generic_odometry_sensor.gazebo
included from: /home/yalyounes/gbplanner_ws/src/sim/rotors_simulator/rotors_description/urdf/m100.gazebo
Use the following command to fix incorrect tag usage:
find . -iname "*.xacro" | xargs sed -i 's#<\([/]\?\)\(if\|unless\|include\|arg\|property\|macro\|insert_block\)#<\1xacro:\2#g'

started roslaunch server http://yalyounes:36563/

SUMMARY
========

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /gbplanner_node/BoundedSpaceParams/Global/max_val: [500.0, 200.0, 4.0]
 * /gbplanner_node/BoundedSpaceParams/Global/min_val: [-0.0, -200.0, 0.0]
 * /gbplanner_node/BoundedSpaceParams/Global/type: kCuboid
 * /gbplanner_node/BoundedSpaceParams/Local/max_extension: [20.0, 20.0, 3.0]
 * /gbplanner_node/BoundedSpaceParams/Local/max_val: [15.0, 15.0, 1.0]
 * /gbplanner_node/BoundedSpaceParams/Local/min_extension: [-20.0, -20.0, -3.0]
 * /gbplanner_node/BoundedSpaceParams/Local/min_val: [-15.0, -15.0, -1.0]
 * /gbplanner_node/BoundedSpaceParams/Local/type: kCuboid
 * /gbplanner_node/BoundedSpaceParams/LocalSearch/max_val: [50.0, 50.0, 1.0]
 * /gbplanner_node/BoundedSpaceParams/LocalSearch/min_val: [-50.0, -50.0, -1.0]
 * /gbplanner_node/BoundedSpaceParams/LocalSearch/type: kCuboid
 * /gbplanner_node/GeofenceParams/AreaList: ['GBack']
 * /gbplanner_node/GeofenceParams/GBack/center: [-0.75, 0.0, 0.0]
 * /gbplanner_node/GeofenceParams/GBack/size: [1.0, 4.0, 0.0]
 * /gbplanner_node/GeofenceParams/GLeft/center: [1.5, 2.0, 0.0]
 * /gbplanner_node/GeofenceParams/GLeft/size: [2.8, 1.0, 0.0]
 * /gbplanner_node/GeofenceParams/GRight/center: [1.5, -2.0, 0.0]
 * /gbplanner_node/GeofenceParams/GRight/size: [2.8, 1.0, 0.0]
 * /gbplanner_node/PlanningParams/augment_free_voxels_time: 1
 * /gbplanner_node/PlanningParams/auto_homing_enable: False
 * /gbplanner_node/PlanningParams/bound_mode: kExtremeBound
 * /gbplanner_node/PlanningParams/edge_length_max: 5.0
 * /gbplanner_node/PlanningParams/edge_length_min: 0.2
 * /gbplanner_node/PlanningParams/edge_overshoot: 0.0
 * /gbplanner_node/PlanningParams/exp_gain_voxel_size: 0.8
 * /gbplanner_node/PlanningParams/exp_sensor_list: ['VLP16']
 * /gbplanner_node/PlanningParams/free_frustum_before_planning: False
 * /gbplanner_node/PlanningParams/free_voxel_gain: 2.0
 * /gbplanner_node/PlanningParams/geofence_checking_enable: True
 * /gbplanner_node/PlanningParams/homing_backward: True
 * /gbplanner_node/PlanningParams/nearest_range: 3.0
 * /gbplanner_node/PlanningParams/nearest_range_max: 5.0
 * /gbplanner_node/PlanningParams/nearest_range_min: 0.35
 * /gbplanner_node/PlanningParams/num_edges_max: 3000
 * /gbplanner_node/PlanningParams/num_loops_cutoff: 2000
 * /gbplanner_node/PlanningParams/num_loops_max: 20000
 * /gbplanner_node/PlanningParams/num_vertices_max: 500
 * /gbplanner_node/PlanningParams/occupied_voxel_gain: 0.0
 * /gbplanner_node/PlanningParams/path_direction_penalty: 0.01
 * /gbplanner_node/PlanningParams/path_length_penalty: 0.02
 * /gbplanner_node/PlanningParams/path_safety_enhance_enable: True
 * /gbplanner_node/PlanningParams/rr_mode: kGraph
 * /gbplanner_node/PlanningParams/time_budget_limit: 600
 * /gbplanner_node/PlanningParams/traverse_length_max: 7.0
 * /gbplanner_node/PlanningParams/traverse_time_max: 40.0
 * /gbplanner_node/PlanningParams/type: kBasicExploration
 * /gbplanner_node/PlanningParams/unknown_voxel_gain: 50.0
 * /gbplanner_node/PlanningParams/use_current_state: True
 * /gbplanner_node/PlanningParams/use_ray_model_for_volumetric_gain: True
 * /gbplanner_node/PlanningParams/yaw_tangent_correction: True
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Heading/max_val: 3.14159265359
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Heading/min_val: -3.14159265359
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Heading/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Heading/sample_mode: kManual
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/X/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/X/sample_mode: kLocal
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Y/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Y/sample_mode: kLocal
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Z/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Z/sample_mode: kLocal
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Heading/max_val: 3.14159265359
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Heading/min_val: -3.14159265359
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Heading/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Heading/sample_mode: kManual
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/X/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/X/sample_mode: kLocal
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Y/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Y/sample_mode: kLocal
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Z/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Z/sample_mode: kLocal
 * /gbplanner_node/RobotParams/bound_mode: kExtendedBound
 * /gbplanner_node/RobotParams/center_offset: [0.0, 0.0, 0.0]
 * /gbplanner_node/RobotParams/relax_ratio: 0.5
 * /gbplanner_node/RobotParams/safety_extension: [2.0, 2.0, 1.0]
 * /gbplanner_node/RobotParams/size: [1.1, 1.1, 0.4]
 * /gbplanner_node/RobotParams/size_extension: [0.4, 0.4, 0.4]
 * /gbplanner_node/RobotParams/size_extension_min: [0.1, 0.1, 0.2]
 * /gbplanner_node/RobotParams/type: kAerialRobot
 * /gbplanner_node/SensorParams/VLP16/center_offset: [0.0, 0.0, 0.0]
 * /gbplanner_node/SensorParams/VLP16/fov: [6.28318530717958...
 * /gbplanner_node/SensorParams/VLP16/frontier_percentage_threshold: 0.1
 * /gbplanner_node/SensorParams/VLP16/max_range: 20.0
 * /gbplanner_node/SensorParams/VLP16/resolution: [0.08726646259971...
 * /gbplanner_node/SensorParams/VLP16/rotations: [0.0, 0.0, 0.0]
 * /gbplanner_node/SensorParams/VLP16/type: kLidar
 * /gbplanner_node/SensorParams/sensor_list: ['VLP16']
 * /gbplanner_node/accumulate_icp_corrections: True
 * /gbplanner_node/allow_clear: True
 * /gbplanner_node/color_mode: height
 * /gbplanner_node/enable_icp: False
 * /gbplanner_node/icp_refine_roll_pitch: False
 * /gbplanner_node/max_ray_length_m: 50.0
 * /gbplanner_node/mesh_min_weight: 1e-4
 * /gbplanner_node/method: fast
 * /gbplanner_node/min_time_between_msgs_sec: 0.0
 * /gbplanner_node/pointcloud_queue_size: 1000
 * /gbplanner_node/publish_pointclouds: True
 * /gbplanner_node/publish_slices: False
 * /gbplanner_node/publish_traversable: False
 * /gbplanner_node/publish_tsdf_info: False
 * /gbplanner_node/slice_level: 1.0
 * /gbplanner_node/sparsity_compensation_factor: 100.0
 * /gbplanner_node/traversability_radius: 1.5
 * /gbplanner_node/truncation_distance: 0.4
 * /gbplanner_node/tsdf_voxel_size: 0.2
 * /gbplanner_node/tsdf_voxels_per_side: 16
 * /gbplanner_node/update_mesh_every_n_sec: 1.0
 * /gbplanner_node/use_const_weight: True
 * /gbplanner_node/use_freespace_pointcloud: False
 * /gbplanner_node/use_sparsity_compensation_factor: True
 * /gbplanner_node/use_tf_transforms: True
 * /gbplanner_node/use_weight_dropoff: True
 * /gbplanner_node/verbose: False
 * /gbplanner_node/voxel_carving_enabled: True
 * /gbplanner_node/world_frame: world
 * /m100/lee_position_controller_node/angular_rate_gain/x: 0.4
 * /m100/lee_position_controller_node/angular_rate_gain/y: 0.52
 * /m100/lee_position_controller_node/angular_rate_gain/z: 0.18
 * /m100/lee_position_controller_node/attitude_gain/x: 2
 * /m100/lee_position_controller_node/attitude_gain/y: 2.3
 * /m100/lee_position_controller_node/attitude_gain/z: 0.15
 * /m100/lee_position_controller_node/inertia/xx: 0.017
 * /m100/lee_position_controller_node/inertia/xy: 0.0
 * /m100/lee_position_controller_node/inertia/xz: 0.0
 * /m100/lee_position_controller_node/inertia/yy: 0.018
 * /m100/lee_position_controller_node/inertia/yz: 0.0
 * /m100/lee_position_controller_node/inertia/zz: 0.028
 * /m100/lee_position_controller_node/mass: 3.4
 * /m100/lee_position_controller_node/position_gain/x: 20
 * /m100/lee_position_controller_node/position_gain/y: 20
 * /m100/lee_position_controller_node/position_gain/z: 20
 * /m100/lee_position_controller_node/rotor_configuration/0/angle: -0.785398
 * /m100/lee_position_controller_node/rotor_configuration/0/arm_length: 0.32
 * /m100/lee_position_controller_node/rotor_configuration/0/direction: 1.0
 * /m100/lee_position_controller_node/rotor_configuration/0/rotor_force_constant: 0.02246
 * /m100/lee_position_controller_node/rotor_configuration/0/rotor_moment_constant: 0.016
 * /m100/lee_position_controller_node/rotor_configuration/1/angle: 2.35619
 * /m100/lee_position_controller_node/rotor_configuration/1/arm_length: 0.32
 * /m100/lee_position_controller_node/rotor_configuration/1/direction: 1.0
 * /m100/lee_position_controller_node/rotor_configuration/1/rotor_force_constant: 0.02246
 * /m100/lee_position_controller_node/rotor_configuration/1/rotor_moment_constant: 0.016
 * /m100/lee_position_controller_node/rotor_configuration/2/angle: 0.78539
 * /m100/lee_position_controller_node/rotor_configuration/2/arm_length: 0.32
 * /m100/lee_position_controller_node/rotor_configuration/2/direction: -1.0
 * /m100/lee_position_controller_node/rotor_configuration/2/rotor_force_constant: 0.02246
 * /m100/lee_position_controller_node/rotor_configuration/2/rotor_moment_constant: 0.016
 * /m100/lee_position_controller_node/rotor_configuration/3/angle: -2.35619
 * /m100/lee_position_controller_node/rotor_configuration/3/arm_length: 0.32
 * /m100/lee_position_controller_node/rotor_configuration/3/direction: -1.0
 * /m100/lee_position_controller_node/rotor_configuration/3/rotor_force_constant: 0.02246
 * /m100/lee_position_controller_node/rotor_configuration/3/rotor_moment_constant: 0.016
 * /m100/lee_position_controller_node/velocity_gain/x: 10
 * /m100/lee_position_controller_node/velocity_gain/y: 10
 * /m100/lee_position_controller_node/velocity_gain/z: 10
 * /m100/robot_description: <?xml version="1....
 * /m100/tf_prefix: 
 * /pci_mav_ros_node/RobotDynamics/dt: 0.05
 * /pci_mav_ros_node/RobotDynamics/v_homing_max: 1.5
 * /pci_mav_ros_node/RobotDynamics/v_init_max: 0.5
 * /pci_mav_ros_node/RobotDynamics/v_max: 1.0
 * /pci_mav_ros_node/RobotDynamics/yaw_rate_max: 0.1
 * /pci_mav_ros_node/init_motion/x_forward: 3.0
 * /pci_mav_ros_node/init_motion/z_drop: 0.5
 * /pci_mav_ros_node/init_motion/z_takeoff: 2.0
 * /pci_mav_ros_node/init_motion_enable: True
 * /pci_mav_ros_node/planner_trigger_lead_time: 1.5
 * /pci_mav_ros_node/run_mode: kSim
 * /pci_mav_ros_node/smooth_heading_enable: True
 * /pci_mav_ros_node/trigger_mode: kManual
 * /rosdistro: melodic
 * /rosversion: 1.14.6
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gbplanner_node (gbplanner/gbplanner_node)
    gbplanner_ui (rviz/rviz)
    pci_mav_ros_node (pci_mav/pci_mav_ros_node)
    pose_throttler (topic_tools/throttle)
    tf_1 (tf/static_transform_publisher)
    tf_2 (tf/static_transform_publisher)
    tf_3 (tf/static_transform_publisher)
    tf_4 (tf/static_transform_publisher)
    tf_5 (tf/static_transform_publisher)
    tf_51 (tf/static_transform_publisher)
    tf_53 (tf/static_transform_publisher)
  /m100/
    img_throttler (topic_tools/throttle)
    lee_position_controller_node (rotors_control/lee_position_controller_node)
    odo_throttler (topic_tools/throttle)
    spawn_m100 (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [2231]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to cfadb632-ddac-11ea-98c8-0433c2f441b5
process[rosout-1]: started with pid [2242]
started core service [/rosout]
process[tf_53-2]: started with pid [2249]
process[tf_51-3]: started with pid [2250]
process[tf_1-4]: started with pid [2252]
process[tf_2-5]: started with pid [2261]
process[tf_3-6]: started with pid [2268]
process[tf_4-7]: started with pid [2274]
process[tf_5-8]: started with pid [2280]
process[gazebo-9]: started with pid [2286]
process[m100/img_throttler-10]: started with pid [2296]
process[m100/odo_throttler-11]: started with pid [2297]
process[m100/spawn_m100-12]: started with pid [2303]
process[m100/lee_position_controller_node-13]: started with pid [2309]
process[pose_throttler-14]: started with pid [2310]
process[gbplanner_node-15]: started with pid [2316]
process[pci_mav_ros_node-16]: started with pid [2322]
process[gbplanner_ui-17]: started with pid [2327]
[ WARN] [1597354489.210843165]: PCI: service planner_server is not available: waiting...
[ INFO] [1597354489.329364168]: rviz version 1.13.13
[ INFO] [1597354489.329393076]: compiled against Qt version 5.9.5
[ INFO] [1597354489.329399937]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1597354489.336744466]: Forcing OpenGl version 0.
[ INFO] [1597354489.351519431]: MapManagerVoxblox: failed to find parameter for occupancy_distance_voxelsize_factor, using default of: 1
Loading: /gbplanner_node/SensorParams
Loading: /gbplanner_node/SensorParams/VLP16
/gbplanner_node/SensorParams/VLP16 0, 0, 0
[WARN][File: /home/yalyounes/gbplanner_ws/src/exploration/gbplanner_ros/gbplanner/src/params.cpp] [Line: 81]
Param is not set: /gbplanner_node/SensorParams/VLP16/frame_id. Default value is: 

[ INFO] [1597354489.374648696]: Computed multiray_endpoints for volumetric gain [kLidar]: [146] points.
Done.
Done.
Loading: /gbplanner_node/FreeFrustumParams
[ERROR][File: /home/yalyounes/gbplanner_ws/src/exploration/gbplanner_ros/gbplanner/src/params.cpp] [Line: 277]
Param is not set: /gbplanner_node/FreeFrustumParams/sensor_list

[ WARN] [1597354489.374898198]: No setting for FreeFrustumParams.
Loading: /gbplanner_node/RobotParams
Done.
Loading: /gbplanner_node/BoundedSpaceParams/Global
[WARN][File: /home/yalyounes/gbplanner_ws/src/exploration/gbplanner_ros/gbplanner/src/params.cpp] [Line: 475]
Param is not set: /gbplanner_node/BoundedSpaceParams/Global/min_extension. Default value is: {0,0,0}

[WARN][File: /home/yalyounes/gbplanner_ws/src/exploration/gbplanner_ros/gbplanner/src/params.cpp] [Line: 486]
Param is not set: /gbplanner_node/BoundedSpaceParams/Global/max_extension. Default value is: {0,0,0}

[WARN][File: /home/yalyounes/gbplanner_ws/src/exploration/gbplanner_ros/gbplanner/src/params.cpp] [Line: 497]
Param is not set: /gbplanner_node/BoundedSpaceParams/Global/rotations. Default value is: {0,0,0}

Done.
Loading: /gbplanner_node/BoundedSpaceParams/Local
[WARN][File: /home/yalyounes/gbplanner_ws/src/exploration/gbplanner_ros/gbplanner/src/params.cpp] [Line: 497]
Param is not set: /gbplanner_node/BoundedSpaceParams/Local/rotations. Default value is: {0,0,0}

Done.
Loading: /gbplanner_node/BoundedSpaceParams/LocalSearch
[WARN][File: /home/yalyounes/gbplanner_ws/src/exploration/gbplanner_ros/gbplanner/src/params.cpp] [Line: 475]
Param is not set: /gbplanner_node/BoundedSpaceParams/LocalSearch/min_extension. Default value is: {0,0,0}

[WARN][File: /home/yalyounes/gbplanner_ws/src/exploration/gbplanner_ros/gbplanner/src/params.cpp] [Line: 486]
Param is not set: /gbplanner_node/BoundedSpaceParams/LocalSearch/max_extension. Default value is: {0,0,0}

[WARN][File: /home/yalyounes/gbplanner_ws/src/exploration/gbplanner_ros/gbplanner/src/params.cpp] [Line: 497]
Param is not set: /gbplanner_node/BoundedSpaceParams/LocalSearch/rotations. Default value is: {0,0,0}

Done.
Loading: /gbplanner_node/BoundedSpaceParams/LocalVerticalExp
[ERROR][File: /home/yalyounes/gbplanner_ws/src/exploration/gbplanner_ros/gbplanner/src/params.cpp] [Line: 447]
Param is not set: /gbplanner_node/BoundedSpaceParams/LocalVerticalExp/type

[ WARN] [1597354489.380427977]: No setting for vertical exploration mode.
Loading: /gbplanner_node/PlanningParams
Sensors for exploration: VLP16, 
[WARN][File: /home/yalyounes/gbplanner_ws/src/exploration/gbplanner_ros/gbplanner/src/params.cpp] [Line: 603]
Param is not set: /gbplanner_node/PlanningParams/v_max. Default value is: 0.2 m/s

[WARN][File: /home/yalyounes/gbplanner_ws/src/exploration/gbplanner_ros/gbplanner/src/params.cpp] [Line: 609]
Param is not set: /gbplanner_node/PlanningParams/v_homing_max. Default value is: 0.2 m/s

[WARN][File: /home/yalyounes/gbplanner_ws/src/exploration/gbplanner_ros/gbplanner/src/params.cpp] [Line: 615]
Param is not set: /gbplanner_node/PlanningParams/yaw_rate_max. Default value is: 0.4 rad/s

[WARN][File: /home/yalyounes/gbplanner_ws/src/exploration/gbplanner_ros/gbplanner/src/params.cpp] [Line: 753]
Param is not set: /gbplanner_node/PlanningParams/z_sample_from_ground. Default value is: 0

[WARN][File: /home/yalyounes/gbplanner_ws/src/exploration/gbplanner_ros/gbplanner/src/params.cpp] [Line: 759]
Param is not set: /gbplanner_node/PlanningParams/adjust_local_sampling_direction. Default value is: 0

[WARN][File: /home/yalyounes/gbplanner_ws/src/exploration/gbplanner_ros/gbplanner/src/params.cpp] [Line: 795]
Param is not set: /gbplanner_node/PlanningParams/planning_backward. Default value is: False

[WARN][File: /home/yalyounes/gbplanner_ws/src/exploration/gbplanner_ros/gbplanner/src/params.cpp] [Line: 802]
Param is not set: /gbplanner_node/PlanningParams/safety_aware_enable. Default value is: False

[WARN][File: /home/yalyounes/gbplanner_ws/src/exploration/gbplanner_ros/gbplanner/src/params.cpp] [Line: 814]
Param is not set: /gbplanner_node/PlanningParams/global_frame_id. Default value is: world

[WARN][File: /home/yalyounes/gbplanner_ws/src/exploration/gbplanner_ros/gbplanner/src/params.cpp] [Line: 820]
Param is not set: /gbplanner_node/PlanningParams/freespace_cloud_enable. Default value is: 0

Done.
Loading: /gbplanner_node/RandomSamplerParams/SamplerForExploration/X
Done.
Loading: /gbplanner_node/RandomSamplerParams/SamplerForExploration/Y
Done.
Loading: /gbplanner_node/RandomSamplerParams/SamplerForExploration/Z
Done.
Loading: /gbplanner_node/RandomSamplerParams/SamplerForExploration/Heading
Done.
Loading: /gbplanner_node/RandomSamplerParams/SamplerForSearching/X
Done.
Loading: /gbplanner_node/RandomSamplerParams/SamplerForSearching/Y
Done.
Loading: /gbplanner_node/RandomSamplerParams/SamplerForSearching/Z
Done.
Loading: /gbplanner_node/RandomSamplerParams/SamplerForSearching/Heading
Done.
Loading: /gbplanner_node/RandomSamplerParams/SamplerForVerticalExp/X
[ERROR][File: /home/yalyounes/gbplanner_ws/src/exploration/gbplanner_ros/gbplanner/src/random_sampler.cpp] [Line: 29]
Param is not set: /gbplanner_node/RandomSamplerParams/SamplerForVerticalExp/X

[ WARN] [1597354489.392753421]: No setting for vertical exploration mode.
Loading: /gbplanner_node/RobotDynamics
[WARN][File: /home/yalyounes/gbplanner_ws/src/exploration/gbplanner_ros/gbplanner/src/params.cpp] [Line: 849]
Param is not set: /gbplanner_node/RobotDynamics/v_max. Default value is: 0.2

[WARN][File: /home/yalyounes/gbplanner_ws/src/exploration/gbplanner_ros/gbplanner/src/params.cpp] [Line: 855]
Param is not set: /gbplanner_node/RobotDynamics/v_homing_max. Default value is: 0.2

[WARN][File: /home/yalyounes/gbplanner_ws/src/exploration/gbplanner_ros/gbplanner/src/params.cpp] [Line: 861]
Param is not set: /gbplanner_node/RobotDynamics/yaw_rate_max. Default value is: 0.392699

Done.
Loading: /gbplanner_node/GeofenceParams
[ WARN] [1597354489.393729436]: Number of geofence areas: 
Done.
[ INFO] [1597354489.702204659]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1597354489.703231626]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1597354489.777762592]: Stereo is NOT SUPPORTED
[ INFO] [1597354489.777818642]: OpenGl version: 4.6 (GLSL 4.6).
[INFO] [1597354489.842931, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1597354489.850656, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1597354490.211762347]: PCI: connected to service planner_server.
[ INFO] [1597354490.212114712]: PCI: connected to service planner_homing_server.
[ INFO] [1597354490.214509379]: Loading: /pci_mav_ros_node
[ WARN] [1597354490.215056543]: planner_trigger_lead_time_: 1.500000
[ WARN] [1597354490.215212738]: No world_frame_id setting, set it to: world.
[ WARN] [1597354490.216324876]: No v_narrow_env_max setting, set it to 1.000000 (m/s).
[ WARN] [1597354490.216899472]: No world_frame_id setting, set it to: world.
[ INFO] [1597354490.216912908]: Done.
[ WARN] [1597354490.216929522]: Waiting for odometry.
[ INFO] [1597354490.395548088]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1597354490.433174547]: Physics dynamic reconfigure ready.
[INFO] [1597354490.453452, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1597354492.368107979, 0.010000000]: Camera Plugin: Using the 'robotNamespace' param: 'm100'
[ INFO] [1597354492.370391134, 0.010000000]: Camera Plugin (ns = m100)  <tf_prefix_>, set to "m100"
[INFO] [1597354493.429175, 0.010000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1597354493.431087923, 0.010000000]: Lidar laser plugin ready, 16 lasers
[m100/spawn_m100-12] process has finished cleanly
log file: /home/yalyounes/.ros/log/cfadb632-ddac-11ea-98c8-0433c2f441b5/m100-spawn_m100-12*.log
[ INFO] [1597354493.752943948, 0.210000000]: LeePositionController got first odometry message.
[ WARN] [1597354493.792640379, 0.250000000]: Planner is waiting for odometry
[ WARN] [1597354494.043566501, 0.500000000]: Planner is waiting for odometry
[ WARN] [1597354494.077153517, 0.530000000]: Received the first odometry, reset the map
[ WARN] [1597354494.555692219, 1.010000000]: Waiting for odometry.
[ INFO] [1597354495.548962527, 2.000000000]: Unpaused the Gazebo simulation.
[ INFO] [1597354496.549258965, 3.000000000]: Performing initialization motion
[ INFO] [1597354496.549287078, 3.000000000]: Current pose: -0.014977, -0.033650, -0.157654
[ INFO] [1597354496.549491884, 3.000000000]: ... will take 11.221000 (sec) for initialization motion
[ INFO] [1597354507.779763344, 14.230000000]: Finished the initialization.
[ WARN] [1597354510.081577200, 16.530000000]: Switch to auto mode.
[ INFO] [1597354510.181549802, 16.630000000]: PlannerControlInterface: Running Planner (kAuto)
[ INFO] [1597354510.192182220, 16.640000000]: Planning iteration 0
[ INFO] [1597354510.192269407, 16.640000000]: Set bound mode: kExtendedBound
[ INFO] [1597354510.753075278, 17.200000000]: Formed a graph with [151] vertices and [3003] edges with [160] loops
[ INFO] [1597354510.841215934, 17.290000000]: Best path: with gain [743016.925004] and ID [79] 
[ INFO] [1597354510.841250987, 17.290000000]: Global graph: 1 vertices, 0 edges.
[ INFO] [1597354510.841265521, 17.290000000]: Have 0 frontiers from global graph.
[ INFO] [1597354510.841289173, 17.290000000]: Get 105 leaf vertices from newly local graph.
[ INFO] [1597354510.841304130, 17.290000000]: Get 50 frontiers from newly local graph.
[ INFO] [1597354510.842326526, 17.290000000]: Cluster 50 paths into 1 clusters.
[ INFO] [1597354510.843105568, 17.290000000]: Clustering with refinement 50 paths into 1 clusters.
[ INFO] [1597354510.845096955, 17.290000000]: Time statistics:
         Build graph    : 0.560 (s)
         Compute gain   : 0.080 (s)
         Dijkstra       : 0.000 (s)
         Evaluate graph : 0.010 (s)
         Total          : 0.650 (s)
[ INFO] [1597354510.845131789, 17.290000000]: Current exploring direction: -0.000623; New path direction: -0.080289
[ INFO] [1597354510.846003112, 17.290000000]: Best path:  size = 5, length = 7.738724, time = 38.693622
[ WARN] [1597354510.855018060, 17.300000000]: Compute an aternate path in 0.010000(s)
[ INFO] [1597354510.862813434, 17.310000000]: Reconnect done
[ INFO] [1597354517.068634404, 23.510000000]: Waiting done.
[ WARN] [1597354517.068668858, 23.510000000]: PCI: Ready to trigger the planner.
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
[pci_mav_ros_node-16] process has died [pid 2322, exit code -6, cmd /home/yalyounes/gbplanner_ws/devel/lib/pci_mav/pci_mav_ros_node command/trajectory:=m100/command/trajectory planner_server:=gbplanner planner_homing_server:=gbplanner/homing odometry:=m100/ground_truth/odometry_throttled __name:=pci_mav_ros_node __log:=/home/yalyounes/.ros/log/cfadb632-ddac-11ea-98c8-0433c2f441b5/pci_mav_ros_node-16.log].
log file: /home/yalyounes/.ros/log/cfadb632-ddac-11ea-98c8-0433c2f441b5/pci_mav_ros_node-16*.log

I'm going to install a fresh version of Ubuntu and try to run gbplanner again.

Thank you so much for the following up to this issue!