When using topo_replan.launch to perform mapping only using odometry and depth image bag data.

[seunghwan6960]

When using topo_replan.launch to perform mapping only using odometry and depth image bag data.
The following error occurs when I use fast planner to perform mapping only.

state: WAIT_TARGET
state: WAIT_TARGET
state: WAIT_TARGET
state: WAIT_TARGET
malloc(): smallbin double linked list corrupted

Thread 1 "fast_planner_no" received signal SIGABRT, Aborted.
GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:51
51 ../sysdeps/unix/sysv/linux/raise.c: No such file or directory.
(gdb) bt
#0 GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:51
#1 0x00007ffff52de921 in GI_abort () at abort.c:79
#2 0x00007ffff5327967 in libc_message (action=action@entry=do_abort,
fmt=fmt@entry=0x7ffff5454b0d "%s\n") at ../sysdeps/posix/libc_fatal.c:181
#3 0x00007ffff532e9da in malloc_printerr (
str=str@entry=0x7ffff5456b90 "malloc(): smallbin double linked list corrupted") at malloc.c:5342
#4 0x00007ffff5332e74 in int_malloc (av=av@entry=0x7ffff5689c40 <main_arena>,
bytes=bytes@entry=512) at malloc.c:3658
#5 0x00007ffff53353cd in GI___libc_malloc (bytes=512) at malloc.c:3075
#6 0x00007ffff5cd8298 in operator new(unsigned long) ()
from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#7 0x00007ffff6e35737 in void std::deque<int, std::allocator >::M_push_back_aux<int const&>(int const&) () from /home/seunghwan/asl_ws/devel/lib/libplan_env.so
#8 0x00007ffff6e30514 in fast_planner::SDFMap::setCacheOccupancy(int const&, int const&) ()
from /home/seunghwan/asl_ws/devel/lib/libplan_env.so
#9 0x00007ffff6e32976 in fast_planner::SDFMap::inputPointCloud(pcl::PointCloudpcl::PointXYZ const&, int const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) ()
from /home/seunghwan/asl_ws/devel/lib/libplan_env.so
#10 0x00007ffff6e49a92 in fast_planner::MapROS::depthPoseCallback(boost::shared_ptr<sensor_msgs::Image<std::allocator > const> const&, boost::shared_ptr<geometry_msgs::PoseStamped<std::allocator > const> const&) () from /home/seunghwan/asl_ws/devel/lib/libplan_env.so
#11 0x00007ffff6e4f93f in boost::detail::function::void_function_obj_invoker9<boost::bi::bind_t<boost::bi::unspecified, boost::bi::bind_t<void, boost::mfi::mf2<void, fast_planner::MapROS, boost::shared_ptr<sensor_msgs::Image<std::allocator > const> const&, boost::shared_ptr<geometry_msgs::PoseStamped<std::allocator > const> const&>, boost::bi::list3<boost::bi::value<fast_planner::MapROS*>, boost::arg<1>, boost::arg<2> > >, boost::bi::list9<boost::arg<1>, boost::arg<2>, boost::arg<3>, ---Type to continue, or q to quit---
boost::arg<4>, boost::arg<5>, boost::arg<6>, boost::arg<7>, boost::arg<8>, boost::arg<9> > >, void, boost::shared_ptr<sensor_msgs::Image<std::allocator > const> const&, boost::shared_ptr<geometry_msgs::PoseStamped<std::allocator > const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&>::invoke(boost::detail::function::function_buffer&, boost::shared_ptr<sensor_msgs::Image<std::allocator > const> const&, boost::shared_ptr<geometry_msgs::PoseStamped<std::allocator > const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&) ()
from /home/seunghwan/asl_ws/devel/lib/libplan_env.so
#12 0x00007ffff6e585ea in boost::detail::function::void_function_obj_invoker9<boost::function<void (boost::shared_ptr<sensor_msgs::Image<std::allocator > const> const&, boost::shared_ptr<geometry_msgs::PoseStamped<std::allocator > const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&)>, void, boost::shared_ptr<sensor_msgs::Image<std::allocator > const>, boost::shared_ptr<geometry_msgs::PoseStamped<std::allocator > const>, boost::shared_ptr<message_filters::NullType const>, boost::shared_ptr<message_filters::NullType const>, boost::shared_ptr<message_filters::NullType const>, boost::shared_ptr<message_filters::NullType const>, boost::shared_ptr<message_filters::NullType const>, boost::shared_ptr<message_filters::NullType const>, boost::shared_ptr<message_filters::NullType const> >::invoke(boost::detail::function:---Type to continue, or q to quit---
:function_buffer&, boost::shared_ptr<sensor_msgs::Image<std::allocator > const>, boost::shared_ptr<geometry_msgs::PoseStamped<std::allocator > const>, boost::shared_ptr<message_filters::NullType const>, boost::shared_ptr<message_filters::NullType const>, boost::shared_ptr<message_filters::NullType const>, boost::shared_ptr<message_filters::NullType const>, boost::shared_ptr<message_filters::NullType const>, boost::shared_ptr<message_filters::NullType const>, boost::shared_ptr<message_filters::NullType const>) () from /home/seunghwan/asl_ws/devel/lib/libplan_env.so
#13 0x00007ffff6e8b7cb in message_filters::CallbackHelper9T<boost::shared_ptr<sensor_msgs::Image<std::allocator > const> const&, boost::shared_ptr<geometry_msgs::PoseStamped<std::allocator > const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&>::call(bool, ros::MessageEvent<sensor_msgs::Image<std::allocator > const> const&, ros::MessageEvent<geometry_msgs::PoseStamped<std::allocator > const> const&, ros::MessageEvent<message_filters::NullType const> const&, ros::MessageEvent<message_filters::NullType const> const&, ros::MessageEvent<message_filters::NullType const> const&, ros::MessageEvent<message_filters::NullType const> const&, ros::MessageEvent<message_filters::NullType const> const&, ros::MessageEvent<message_filters::NullType const> const&, ros::MessageEvent<message_filters::NullType const> const&) ()
from /home/seunghwan/asl_ws/devel/lib/libplan_env.so
#14 0x00007ffff6e800fa in message_filters::sync_policies::ApproximateTime<sensor_msgs::Image<std::allocator >, geometry_msgs::PoseStamped_<std::allocator >, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType>::publishCandidate() ()
from /home/seunghwan/asl_ws/devel/lib/libplan_env.so
#15 0x00007ffff6e84211 in message_filters::sync_policies::ApproximateTime<sensor_msgs::Image_<std::allocator >, geometry_msgs::PoseStamped_<std::allocator >, message_filters::NullType, message---Type to continue, or q to quit---
filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType>::process() ()
from /home/seunghwan/asl_ws/devel/lib/libplan_env.so
#16 0x00007ffff6e86428 in void message_filters::sync_policies::ApproximateTime<sensor_msgs::Image<std::allocator >, geometry_msgs::PoseStamped_<std::allocator >, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType>::add<1>(boost::mpl::at_c<boost::mpl::vector<ros::MessageEvent<sensor_msgs::Image_<std::allocator > const>, ros::MessageEvent<geometry_msgs::PoseStamped_<std::allocator > const>, ros::MessageEvent<message_filters::NullType const>, ros::MessageEvent<message_filters::NullType const>, ros::MessageEvent<message_filters::NullType const>, ros::MessageEvent<message_filters::NullType const>, ros::MessageEvent<message_filters::NullType const>, ros::MessageEvent<message_filters::NullType const>, ros::MessageEvent<message_filters::NullType const>, mpl_::na, mpl_::na, mpl_::na, mpl_::na, mpl_::na, mpl_::na, mpl_::na, mpl_::na, mpl_::na, mpl_::na, mpl_::na>, 1>::type const&) () from /home/seunghwan/asl_ws/devel/lib/libplan_env.so
#17 0x00007ffff6e866b7 in void message_filters::Synchronizer<message_filters::sync_policies::ApproximateTime<sensor_msgs::Image_<std::allocator >, geometry_msgs::PoseStamped_<std::allocator >, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType> >::cb<1>(boost::mpl::at_c<boost::mpl::vector<ros::MessageEvent<sensor_msgs::Image_<std::allocator > const>, ros::MessageEvent<geometry_msgs::PoseStamped_<std::allocator > const>, ros::MessageEvent<message_filters::NullType const>, ros::MessageEvent<message_filters::NullType const>, ros::MessageEvent<message_filters::NullType const>, ros::MessageEvent<message_filters::NullType const>, ros::MessageEvent<message_filters::NullType const>, ros::MessageEvent<message_filters::NullType const>, ros::MessageEvent<message_filters::NullType const>, mpl_::na, mpl_::na, mpl_::na, mpl_::na, mpl_::na, mpl_::na, mpl_::na, mpl_::na, mpl_::na, mpl_::na, mpl_::na>, 1>::type const&) ()
from /home/seunghwan/asl_ws/devel/lib/libplan_env.so
---Type to continue, or q to quit---
#18 0x00007ffff6e4fbab in boost::detail::function::void_function_obj_invoker1<boost::bi::bind_t<void, boost::mfi::mf1<void, message_filters::Synchronizer<message_filters::sync_policies::ApproximateTime<sensor_msgs::Image<std::allocator >, geometry_msgs::PoseStamped<std::allocator >, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType> >, ros::MessageEvent<geometry_msgs::PoseStamped_<std::allocator > const> const&>, boost::bi::list2<boost::bi::value<message_filters::Synchronizer<message_filters::sync_policies::ApproximateTime<sensor_msgs::Image<std::allocator >, geometry_msgs::PoseStamped<std::allocator >, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType> >>, boost::arg<1> > >, void, ros::MessageEvent<geometry_msgs::PoseStamped_<std::allocator > const> const&>::invoke(boost::detail::function::function_buffer&, ros::MessageEvent<geometry_msgs::PoseStamped_<std::allocator > const> const&) () from /home/seunghwan/asl_ws/devel/lib/libplan_env.so
#19 0x00007ffff6e75509 in message_filters::CallbackHelper1T<ros::MessageEvent<geometry_msgs::PoseStamped_<std::allocator > const> const&, geometry_msgs::PoseStamped_<std::allocator > >::call(ros::MessageEvent<geometry_msgs::PoseStamped_<std::allocator > const> const&, bool) ()
from /home/seunghwan/asl_ws/devel/lib/libplan_env.so
#20 0x00007ffff6e5cd81 in message_filters::Subscriber<geometry_msgs::PoseStamped_<std::allocator > >::cb(ros::MessageEvent<geometry_msgs::PoseStamped_<std::allocator > const> const&) ()
from /home/seunghwan/asl_ws/devel/lib/libplan_env.so
#21 0x00007ffff6e4f91a in boost::detail::function::void_function_obj_invoker1<boost::bi::bind_t<void, boost::mfi::mf1<void, message_filters::Subscriber<geometry_msgs::PoseStamped<std::allocator > >, ros::MessageEvent<geometry_msgs::PoseStamped<std::allocator > const> const&>, boost::_bi::list2<boost::bi::value<message_filters::Subscriber<geometry_msgs::PoseStamped<std::allocator > >>, boost::arg<1> > >, void, ros::MessageEvent<geometry_msgs::PoseStamped_<std::allocator > const> const&>::invoke(boost::detail::function::function_buffer&, ros::MessageEvent<geometry_msgs::PoseSt---Type to continue, or q to quit---
amped_<std::allocator > const> const&) () from /home/seunghwan/asl_ws/devel/lib/libplan_env.so
#22 0x00007ffff6e8ca98 in ros::SubscriptionCallbackHelperT<ros::MessageEvent<geometry_msgs::PoseStamped_<std::allocator > const> const&, void>::call(ros::SubscriptionCallbackHelperCallParams&) ()
from /home/seunghwan/asl_ws/devel/lib/libplan_env.so
#23 0x00007ffff6b8a422 in ros::SubscriptionQueue::call() () from /opt/ros/melodic/lib/libroscpp.so
#24 0x00007ffff6b34d99 in ros::CallbackQueue::callOneCB(ros::CallbackQueue::TLS*) ()
from /opt/ros/melodic/lib/libroscpp.so
#25 0x00007ffff6b36b0b in ros::CallbackQueue::callAvailable(ros::WallDuration) ()
from /opt/ros/melodic/lib/libroscpp.so
#26 0x00007ffff6b8dfc9 in ros::SingleThreadedSpinner::spin(ros::CallbackQueue*) ()
from /opt/ros/melodic/lib/libroscpp.so
#27 0x00007ffff6b7692b in ros::spin() () from /opt/ros/melodic/lib/libroscpp.so
#28 0x00005555555725fa in main ()

[seunghwan6960]

and it is parameter i used

<node pkg="tf" type="static_transform_publisher" name="world2map" args="0 0 0 0 0 0 world map 10" />

<!-- sensor pose: transform of camera frame in the world frame -->
<arg name="sensor_pose_topic" value="/fast_planner_camera_pose"/>
<!-- depth topic: depth image, 640x480 by default -->
<!-- cloud topic: point cloud measurement  -->
<!-- subscribe ONLY TO ONE of the two topics -->
<arg name="depth_topic" value="/d435/depth/image_rect_raw"/>
<arg name="cloud_topic" value="/nouse"/>

<!-- intrinsic params of the depth camera -->
<arg name="cx" value="320.847839"/>
<arg name="cy" value="239.371002"/> 
<arg name="fx" value="379.587372"/>
<arg name="fy" value="379.587372"/>

<!-- maximum velocity and acceleration the drone will reach -->
<arg name="max_vel" value="3.0" />
<arg name="max_acc" value="2.5" />

<!-- 1: use 2D Nav Goal to select goal  -->
<!-- 2: use global waypoints below  -->
<!-- 3: use global reference path passing points below  -->
<arg name="flight_type" value="1" />

<!-- global waypoints -->
<arg name="point_num" value="1" />

<arg name="point0_x" value="19.99" />
<!-- <arg name="point0_x" value="2" /> -->
<arg name="point0_y" value="0.0" />
<arg name="point0_z" value="1.0" />

<!-- set more waypoints if you need -->
<arg name="point1_x" value="19.99" />
<arg name="point1_y" value="0.0" />
<arg name="point1_z" value="1.0" />

<arg name="point2_x" value="-19.0" />
<arg name="point2_y" value="0.0" />
<arg name="point2_z" value="1.0" />

<remap from="/odom_world" to="$(arg odom_topic)"/>
<param name="traj_server/time_forward" value="1.5" type="double"/>
<param name="traj_server/pub_traj_id" value="0" type="int"/>

<!-- replanning method -->
<param name="planner_node/planner" value="2" type="int"/>

<!-- planning fsm -->
<param name="fsm/flight_type" value="$(arg flight_type)" type="int"/>
<param name="fsm/thresh_replan" value="0.5" type="double"/>
<param name="fsm/thresh_no_replan" value="2.0" type="double"/>

<param name="fsm/waypoint_num" value="$(arg point_num)" type="int"/>
<param name="fsm/waypoint0_x" value="$(arg point0_x)" type="double"/>
<param name="fsm/waypoint0_y" value="$(arg point0_y)" type="double"/>
<param name="fsm/waypoint0_z" value="$(arg point0_z)" type="double"/>
<param name="fsm/waypoint1_x" value="$(arg point1_x)" type="double"/>
<param name="fsm/waypoint1_y" value="$(arg point1_y)" type="double"/>
<param name="fsm/waypoint1_z" value="$(arg point1_z)" type="double"/>
<param name="fsm/waypoint2_x" value="$(arg point2_x)" type="double"/>
<param name="fsm/waypoint2_y" value="$(arg point2_y)" type="double"/>
<param name="fsm/waypoint2_z" value="$(arg point2_z)" type="double"/>

<param name="sdf_map/resolution"      value="0.2" /> 
<param name="sdf_map/map_size_x"   value="$(arg map_size_x_)" /> 
<param name="sdf_map/map_size_y"   value="$(arg map_size_y_)" /> 
<param name="sdf_map/map_size_z"   value="$(arg map_size_z_)" /> 
<param name="sdf_map/obstacles_inflation"     value="0.099" /> 
<param name="sdf_map/local_bound_inflate"    value="0.5"/>
<param name="sdf_map/local_map_margin" value="500"/>
<param name="sdf_map/ground_height"        value="-1.0"/>
<param name="sdf_map/default_dist"        value="5.0"/>

<param name="sdf_map/p_hit"  value="0.65"/>
<param name="sdf_map/p_miss" value="0.43"/>
<param name="sdf_map/p_min"  value="0.12"/>
<param name="sdf_map/p_max"  value="0.90"/>
<param name="sdf_map/p_occ"  value="0.80"/>
<param name="sdf_map/min_ray_length" value="0.5"/>
<param name="sdf_map/max_ray_length" value="4.5"/>
<param name="sdf_map/virtual_ceil_height"   value="2.0"/>
<param name="sdf_map/optimistic" value="true" type="bool"/>
<param name="sdf_map/signed_dist" value="true" type="bool"/>
<param name="sdf_map/signed_dist" value="false" type="bool"/>
<param name="sdf_map/box_min_x" value="-10" type="double"/>
<param name="sdf_map/box_min_y" value="-10" type="double"/>
<param name="sdf_map/box_min_z" value="-1.0" type="double"/>
<param name="sdf_map/box_max_x" value="18" type="double"/>
<param name="sdf_map/box_max_y" value="28" type="double"/>
<param name="sdf_map/box_max_z" value="2.0" type="double"/>

<param name="map_ros/cx" value="$(arg cx)"/>
<param name="map_ros/cy" value="$(arg cy)"/>
<param name="map_ros/fx" value="$(arg fx)"/>
<param name="map_ros/fy" value="$(arg fy)"/>
<param name="map_ros/depth_filter_maxdist"   value="5.0"/>
<param name="map_ros/depth_filter_mindist"   value="0.2"/>
<param name="map_ros/depth_filter_margin"    value="2"/>
<param name="map_ros/k_depth_scaling_factor" value="1000.0"/>
<param name="map_ros/skip_pixel" value="2"/>
<param name="map_ros/esdf_slice_height" value="0.3"/>
<!-- <param name="map_ros/visualization_truncate_height"   value="3.09"/> -->
<param name="map_ros/visualization_truncate_height"   value="10.09"/>
<param name="map_ros/visualization_truncate_low"   value="-2.0"/>
<param name="map_ros/show_occ_time"  value="false"/>
<param name="map_ros/show_esdf_time" value="false"/>
<param name="map_ros/show_all_map" value="true"/>
<param name="map_ros/frame_id"      value="map"/>

<param name="manager/max_vel" value="$(arg max_vel)" type="double"/>
<param name="manager/max_acc" value="$(arg max_acc)" type="double"/>
<param name="manager/accept_vel" value="$(eval 0.5+arg('max_vel'))" type="double"/>
<param name="manager/accept_acc" value="$(eval 0.5+arg('max_acc'))" type="double"/>
<param name="manager/max_jerk" value="4" type="double"/>
<param name="manager/dynamic_environment" value="0" type="int"/>
<param name="manager/local_segment_length" value="8.0" type="double"/>
<param name="manager/clearance_threshold" value="0.2" type="double"/>
<param name="manager/control_points_distance" value="0.4" type="double"/>
<param name="manager/min_time" value="true" type="bool"/>

<param name="manager/use_geometric_path" value="false" type="bool"/>
<param name="manager/use_kinodynamic_path" value="false" type="bool"/>
<param name="manager/use_topo_path" value="true" type="bool"/>
<param name="manager/use_optimization" value="true" type="bool"/>
<param name="manager/use_active_perception" value="true" type="bool"/>

<param name="topo_prm/sample_inflate_x" value="1.0" type="double"/>
<param name="topo_prm/sample_inflate_y" value="3.5" type="double"/>
<param name="topo_prm/sample_inflate_z" value="1.0" type="double"/>
<param name="topo_prm/clearance" value="0.2" type="double"/>
<param name="topo_prm/max_sample_time" value="0.005" type="double"/>
<param name="topo_prm/max_sample_num" value="2000" type="int"/>
<param name="topo_prm/max_raw_path" value="300" type="int"/>
<param name="topo_prm/max_raw_path2" value="25" type="int"/>
<param name="topo_prm/short_cut_num" value="1" type="int"/>
<param name="topo_prm/reserve_num" value="6" type="int"/>
<param name="topo_prm/ratio_to_short" value="5.5" type="double"/>
<param name="topo_prm/parallel_shortcut" value="true" type="bool"/>

<param name="optimization/ld_smooth" value="20.0" type="double"/>
<param name="optimization/ld_dist" value="10.0" type="double"/>
<param name="optimization/ld_feasi" value="1.0" type="double"/>
<param name="optimization/ld_start" value="10.0" type="double"/>
<param name="optimization/ld_end" value="1.0" type="double"/>
<param name="optimization/ld_guide" value="2" type="double"/>
<param name="optimization/ld_waypt" value="5.0" type="double"/>
<param name="optimization/ld_view" value="0.0" type="double"/>
<param name="optimization/ld_time" value="0.2" type="double"/>

<param name="optimization/dist0" value="0.4" type="double"/>
<param name="optimization/dist1" value="0.0" type="double"/>
<param name="optimization/max_vel" value="$(arg max_vel)" type="double"/>
<param name="optimization/max_acc" value="$(arg max_acc)" type="double"/>

<param name="optimization/algorithm1" value="15" type="int"/>
<param name="optimization/algorithm2" value="11" type="int"/>
<param name="optimization/max_iteration_num1" value="2" type="int"/>
<param name="optimization/max_iteration_num2" value="1000" type="int"/>
<param name="optimization/max_iteration_num3" value="2000" type="int"/>
<param name="optimization/max_iteration_time1" value="0.0001" type="double"/>
<param name="optimization/max_iteration_time2" value="0.005" type="double"/>
<param name="optimization/max_iteration_time3" value="0.010" type="double"/>
<param name="bspline/limit_vel" value="$(arg max_vel)" type="double"/>
<param name="bspline/limit_acc" value="$(arg max_acc)" type="double"/>
<param name="bspline/limit_ratio" value="1.1" type="double"/>

<param name="heading_planner/yaw_diff" value="$(eval 5 * 3.1415926 / 180.0)" type="double"/>
<param name="heading_planner/half_vert_num" value="3" type="int"/>
<param name="heading_planner/lambda1" value="2.0" type="double"/>
<param name="heading_planner/lambda2" value="1.0" type="double"/>
<param name="heading_planner/max_yaw_rate" value="$(eval 60 * 3.1415926 / 180.0)" type="double"/>
<param name="heading_planner/w" value="10.0" type="double"/>
<param name="heading_planner/weight_type" value="0" type="double"/>
<!-- <param name="fsm/act_map" value="false" type="bool"/> -->

<param name="optimization/wnl" value="1.0" type="double"/>
<param name="visibility/visib_min" value="0.25" type="double"/>
<param name="visibility/max_acc" value="$(arg max_acc)" type="double"/>
<param name="visibility/r0" value="0.0" type="double"/>
<param name="visibility/forward" value="0.5" type="double"/>
<param name="visibility/max_safe_dist" value="2.0" type="double"/>
<param name="visibility/safe_margin" value="0.5" type="double"/>

[seunghwan6960]

Can you help me by any chance?

[seunghwan6960]

In addition, this error did not occur in the Gazebo simulation environment.