segfault in nlopt_set_precond_max_objective, which is from ros-noetic-nlopt #72
Description
Any idea about this issue?
[ WARN] [1717562766.861040782]: Frontier: 5, t: 0.004500, viewpoint: 5, t: 0.000334
cost mat size before remove:
(5,5), (5,5), (5,5), (5,5), (5,5),
cost mat size remove:
cost mat add:
cost mat size final:
(5,5), (5,5), (5,5), (5,5), (5,5),
[ WARN] [1717562766.865207749]: Cost mat: 0.001224, TSP: 0.002796
Local tour graph: 3, 2, 10, 9, 1,
Node: 26, edge: 128
[ WARN] [1717562766.880729545]: Local refine time: 0.015283
Next view: 1.38898 -0.797455 1.19018, -0.335231
Mid goal
[Kino replan]: start: 0 0 1, 0 0 1.82819e-08, 0 0 0, goal: 1.38898 -0.797455 1.19018, 0 0 0
open set empty, no path!
use node num: 1
iter num: 1
[ERROR] [1717562766.881177170]: search 1 fail
reach end
Stack trace (most recent call last):
#15 Object "/home/daniel/HKUST/FUEL/devel/lib/exploration_manager/exploration_node", at 0xaaaad8e1a64b, in
#14 Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffffb0ffee0f, in __libc_start_main
#13 Object "/home/daniel/HKUST/FUEL/devel/lib/exploration_manager/exploration_node", at 0xaaaad8e1a3b3, in main
#12 Object "/opt/ros/noetic/lib/libroscpp.so", at 0xffffb170ba07, in ros::spin()
#11 Object "/opt/ros/noetic/lib/libroscpp.so", at 0xffffb17236c7, in ros::SingleThreadedSpinner::spin(ros::CallbackQueue*)
#10 Object "/opt/ros/noetic/lib/libroscpp.so", at 0xffffb16cd193, in ros::CallbackQueue::callAvailable(ros::WallDuration)
#9 Object "/opt/ros/noetic/lib/libroscpp.so", at 0xffffb16cba6b, in ros::CallbackQueue::callOneCB(ros::CallbackQueue::TLS*)
#8 Object "/opt/ros/noetic/lib/libroscpp.so", at 0xffffb16a7bbf, in ros::TimerManager<ros::Time, ros::Duration, ros::TimerEvent>::TimerQueueCallback::call()
#7 Object "/home/daniel/HKUST/FUEL/devel/lib/exploration_manager/exploration_node", at 0xaaaad8e20c7b, in fast_planner::FastExplorationFSM::FSMCallback(ros::TimerEvent const&)
#6 Object "/home/daniel/HKUST/FUEL/devel/lib/exploration_manager/exploration_node", at 0xaaaad8e20673, in fast_planner::FastExplorationFSM::callExplorationPlanner()
#5 Object "/home/daniel/HKUST/FUEL/devel/lib/exploration_manager/exploration_node", at 0xaaaad8e32037, in fast_planner::FastExplorationManager::planExploreMotion(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)
#4 Object "/home/daniel/HKUST/FUEL/devel/lib/libplan_manage.so", at 0xffffb198ffe3, in fast_planner::FastPlannerManager::kinodynamicReplan(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double const&)
#3 Object "/home/daniel/HKUST/FUEL/devel/lib/libbspline_opt.so", at 0xffffb0fc7007, in fast_planner::BsplineOptimizer::optimize(Eigen::Matrix<double, -1, -1, 0, -1, -1>&, double&, int const&, int const&, int const&)
#2 Object "/home/daniel/HKUST/FUEL/devel/lib/libbspline_opt.so", at 0xffffb0fc3c07, in fast_planner::BsplineOptimizer::optimize()
#1 Object "/opt/ros/noetic/lib/libnlopt_cxx.so.0", at 0xffffae0cb30b, in nlopt_set_min_objective
#0 Object "/opt/ros/noetic/lib/libnlopt_cxx.so.0", at 0xffffae0cb328, in nlopt_set_precond_max_objective
Segmentation fault (Address not mapped to object [0x59])
[exploration_node-1] process has died [pid 36232, exit code -11, cmd /home/daniel/HKUST/FUEL/devel/lib/exploration_manager/exploration_node /odom_world:=/state_ukf/odom /map_ros/pose:=/pcl_render_node/sensor_pose /map_ros/depth:=/pcl_render_node/depth /map_ros/cloud:=/pcl_render_node/cloud __name:=exploration_node __log:=/home/daniel/.ros/log/4fff7996-22f6-11ef-b10c-200b7460c5b7/exploration_node-1.log].
log file: /home/daniel/.ros/log/4fff7996-22f6-11ef-b10c-200b7460c5b7/exploration_node-1*.log
^C[pcl_render_node-9] killing on exit
[odom_visualization-8] killing on exit
[so3_disturbance_generator-7] killing on exit
[so3_control-6] killing on exit
[quadrotor_simulator_so3-5] killing on exit
[map_pub-4] killing on exit
[traj_server-2] killing on exit
[waypoint_generator-3] killing on exit
terminate called after throwing an instance of 'boost::wrapexcept<boost::lock_error>'
what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument
Stack trace (most recent call last):
#16 Object "/home/daniel/HKUST/FUEL/devel/lib/local_sensing_node/pcl_render_node", at 0xaaaab3c9164f, in
#15 Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffff9c50ee13, in __libc_start_main
#14 Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffff9c52460b, in exit
#13 Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffff9c52447b, in
#12 Object "/opt/ros/noetic/lib/libroscpp.so", at 0xffff9d6a6473, in ros::Timer::~Timer()
#11 Object "/opt/ros/noetic/lib/libroscpp.so", at 0xffff9d6a9f33, in boost::detail::sp_counted_impl_p<ros::Timer::Impl>::dispose()
#10 Object "/opt/ros/noetic/lib/libroscpp.so", at 0xffff9d6a66b7, in ros::Timer::Impl::~Impl()
#9 Object "/opt/ros/noetic/lib/libroscpp.so", at 0xffff9d6a65eb, in ros::Timer::Impl::stop()
#8 Object "/opt/ros/noetic/lib/libroscpp.so", at 0xffff9d6a803f, in ros::TimerManager<ros::Time, ros::Duration, ros::TimerEvent>::remove(int)
#7 Object "/lib/aarch64-linux-gnu/libgcc_s.so.1", at 0xffff9c66eef3, in _Unwind_Resume
#6 Object "/lib/aarch64-linux-gnu/libgcc_s.so.1", at 0xffff9c66e963, in
#5 Object "/lib/aarch64-linux-gnu/libstdc++.so.6", at 0xffff9c7ce8a3, in __gxx_personality_v0
#4 Object "/lib/aarch64-linux-gnu/libstdc++.so.6", at 0xffff9c7ce043, in
#3 Object "/lib/aarch64-linux-gnu/libstdc++.so.6", at 0xffff9c7cf20b, in
#2 Object "/lib/aarch64-linux-gnu/libstdc++.so.6", at 0xffff9c7d18bb, in __gnu_cxx::__verbose_terminate_handler()
#1 Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffff9c50eaab, in abort
#0 Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffff9c521d78, in gsignal
Aborted (Signal sent by tkill() 36256 1000)
finish publish map.
shutting down processing monitor...
... shutting down processing monitor complete
done