setting recovery_alpha_fast and recovery_alpha_slow throws segmentation fault #5358
Description
`amcl:
ros__parameters:
use_sim_time: False
alpha1: 0.2
alpha2: 0.5
alpha3: 0.7
alpha4: 0.25
alpha5: 0.2
base_frame_id: "base_footprint"
beam_skip_distance: 0.5 #increase to 5.5 for large env
beam_skip_error_threshold: 0.8
beam_skip_threshold: 0.25
do_beamskip: false
global_frame_id: "map"
lambda_short: 0.1
laser_likelihood_max_dist: 10.0
laser_max_range: 12.0
laser_min_range: 0.05
laser_model_type: "likelihood_field_prob"
max_beams: 60
max_particles: 2000
min_particles: 800
odom_frame_id: "odom"
pf_err: 0.1
pf_z: 0.95
recovery_alpha_fast: 0.01 #making it 0.1 causing seg fault
recovery_alpha_slow: 0.001 #making it 0.001 causing seg fault
resample_interval: 5
robot_model_type: "nav2_amcl::DifferentialMotionModel"
save_pose_rate: 0.5
sigma_hit: 0.2
tf_broadcast: true
transform_tolerance: 5.0
# service_introspection_mode: "disabled"
update_min_a: 0.2
update_min_d: 0.25
z_hit: 0.7
z_max: 0.05
z_rand: 0.3
z_short: 0.05
scan_topic: scan
# publish_visualizations: true
set_initial_pose: true
always_reset_initial_pose: false
first_map_only: false
initial_pose:
x: 0.0
y: 0.0
z: 0.0
yaw: 0.0
amcl_map_client:
ros__parameters:
use_sim_time: False
sigterm_timeout: 10
sigkill_timeout: 20
amcl_rclcpp_node:
ros__parameters:
use_sim_time: False
sigterm_timeout: 10
sigkill_timeout: 20
bt_navigator:
ros__parameters:
use_sim_time: False
global_frame: "map"
robot_base_frame: "base_footprint"
odom_topic: "odom"
bt_loop_duration: 10
default_server_timeout: 200
transform_tolerance: 5.0
enable_groot_monitoring: True
default_nav_through_poses_bt_xml: ""
default_nav_to_pose_bt_xml: ""
plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
- nav2_compute_path_through_poses_action_bt_node
- nav2_follow_path_action_bt_node
- nav2_back_up_action_bt_node
- nav2_spin_action_bt_node
- nav2_wait_action_bt_node
- nav2_clear_costmap_service_bt_node
- nav2_is_stuck_condition_bt_node
- nav2_goal_reached_condition_bt_node
- nav2_goal_updated_condition_bt_node
- nav2_initial_pose_received_condition_bt_node
- nav2_reinitialize_global_localization_service_bt_node
- nav2_rate_controller_bt_node
- nav2_distance_controller_bt_node
- nav2_speed_controller_bt_node
- nav2_truncate_path_action_bt_node
- nav2_goal_updater_node_bt_node
- nav2_recovery_node_bt_node
- nav2_pipeline_sequence_bt_node
- nav2_round_robin_node_bt_node
- nav2_transform_available_condition_bt_node
- nav2_time_expired_condition_bt_node
- nav2_distance_traveled_condition_bt_node
- nav2_single_trigger_bt_node
- nav2_is_battery_low_condition_bt_node
- nav2_navigate_through_poses_action_bt_node
- nav2_navigate_to_pose_action_bt_node
- nav2_remove_passed_goals_action_bt_node
- nav2_planner_selector_bt_node
- nav2_controller_selector_bt_node
- nav2_goal_checker_selector_bt_node
- vgo_navigation_is_bump_hit_condition_bt_node
- vgo_navigation_vgo_cmd_action_bt_node
sigterm_timeout: 10
sigkill_timeout: 20
bt_navigator_rclcpp_node:
ros__parameters:
use_sim_time: False
sigterm_timeout: 10
sigkill_timeout: 20
controller_server:
ros__parameters:
use_sim_time: False
controller_frequency: 10.0
min_x_velocity_threshold: 0.01
min_y_velocity_threshold: 1.e+9
min_theta_velocity_threshold: 0.001
odom_topic: "odom"
cmd_vel_topic: "/cmd_vel"
progress_checker_plugin: "progress_checker"
goal_checker_plugin: ["general_goal_checker"]
controller_plugins: ["FollowPath"]
# Progress checker parameters
progress_checker:
plugin: "nav2_controller::SimpleProgressChecker"
required_movement_radius: 0.5
movement_time_allowance: 15.0
# Goal checker parameters
general_goal_checker:
plugin: "nav2_controller::SimpleGoalChecker"
xy_goal_tolerance: 0.3
yaw_goal_tolerance: 0.25
stateful: True
# DWB parameters
FollowPath:
plugin: "nav2_rotation_shim_controller::RotationShimController"
primary_controller: "dwb_core::DWBLocalPlanner"
# Rotation shim controller parameters
angular_dist_threshold: 0.785
forward_sampling_distance: 0.5
rotate_to_heading_angular_vel: 2.0
max_angular_accel: 2.5
simulate_ahead_time: 1.0
# DWB parameters
debug_trajectory_details: True
min_vel_x: -0.2
min_vel_y: 0.0
max_vel_x: 0.3
max_vel_y: 0.0
max_vel_theta: 2.4
min_speed_xy: 0.0
max_speed_xy: 0.3
min_speed_theta: 0.4
# Add high threshold velocity for turtlebot 3 issue.
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
acc_lim_x: 0.15
acc_lim_y: 0.0
acc_lim_theta: 2.5
decel_lim_x: -0.15
decel_lim_y: 0.0
decel_lim_theta: -2.5
vx_samples: 40
vy_samples: 1
vtheta_samples: 40
sim_time: 1.7
linear_granularity: 0.05
angular_granularity: 0.025
transform_tolerance: 5.0
xy_goal_tolerance: 0.25
trans_stopped_velocity: 0.05
short_circuit_trajectory_evaluation: True
stateful: True
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
BaseObstacle.scale: 0.02
PathAlign.scale: 32.0
PathAlign.forward_point_distance: 0.1
GoalAlign.scale: 24.0
GoalAlign.forward_point_distance: 0.1
PathDist.scale: 32.0
GoalDist.scale: 24.0
RotateToGoal.scale: 32.0
RotateToGoal.slowing_factor: 2.0
RotateToGoal.lookahead_time: -1.0
sigterm_timeout: 10
sigkill_timeout: 20
controller_server_rclcpp_node:
ros__parameters:
use_sim_time: False
sigterm_timeout: 10
sigkill_timeout: 20
planner_server:
ros__parameters:
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_smac_planner/SmacPlanner2D"
tolerance: 0.5
downsample_costmap: true
downsampling_factor: 2
allow_unknown: true
max_iterations: 10000
motion_model_for_search: "MOORE" # or VON_NEUMANN
angle_quantization_bins: 72
analytic_expansion: false
local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 2.0
global_frame: odom
robot_base_frame: base_footprint
rolling_window: true
width: 3
height: 3
resolution: 0.05
robot_radius: 0.22
plugins: ["voxel_layer", "inflation_layer"]
# filters: ["keepout_filter"]
# keepout_filter:
# plugin: "nav2_costmap_2d::KeepoutFilter"
# enabled: True
# filter_info_topic: "keepout_costmap_filter_info"
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.55
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
publish_voxel_map: True
origin_z: 0.0
z_resolution: 0.05
z_voxels: 16
max_obstacle_height: 2.0
mark_threshold: 0
observation_sources: lidar_scan
lidar_scan:
# A relative topic will be appended to the parent of the local_costmap namespace.
# For example:
# * User chosen namespace is tb4.
# * User chosen topic is scan.
# * Topic will be remapped to /tb4/scan without local_costmap.
# * Use global topic /scan if you do not wish the node namespace to apply
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 25.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_min_range: 0.0
# pointcloud:
# topic: /depth_camera/points
# data_type: "PointCloud2"
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
always_send_full_costmap: True
service_introspection_mode: "disabled"
global_costmap:
global_costmap:
ros__parameters:
update_frequency: 1.0
publish_frequency: 1.0
global_frame: map
robot_base_frame: base_footprint
robot_radius: 0.22
resolution: 0.05
track_unknown_space: true
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
# filters: ["keepout_filter", "speed_filter"]
# keepout_filter:
# plugin: "nav2_costmap_2d::KeepoutFilter"
# enabled: True
# filter_info_topic: "keepout_costmap_filter_info"
# speed_filter:
# plugin: "nav2_costmap_2d::SpeedFilter"
# enabled: True
# filter_info_topic: "speed_costmap_filter_info"
# speed_limit_topic: "speed_limit"
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: lidar_scan
lidar_scan:
# A relative topic will be appended to the parent of the global_costmap namespace.
# For example:
# * User chosen namespace is `tb4`.
# * User chosen topic is `scan`.
# * Topic will be remapped to `/tb4/scan` without `global_costmap`.
# * Use global topic `/scan` if you do not wish the node namespace to apply
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 25.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_min_range: 0.0
# pointcloud:
# topic: /depth_camera/points
# data_type: "PointCloud2"
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.7
always_send_full_costmap: True
service_introspection_mode: "disabled"
map_server:
ros__parameters:
use_sim_time: False
yaml_filename: "/home/robot_ws/src/vgo_navigation/maps/suk_home_processed.yaml"
topic_name: "map"
frame_id: "map"
sigterm_timeout: 10
sigkill_timeout: 20
map_saver:
ros__parameters:
use_sim_time: False
save_map_timeout: 5.0
free_thresh_default: 0.25
occupied_thresh_default: 0.65
map_subscribe_transient_local: False
sigterm_timeout: 10
sigkill_timeout: 20
planner_server:
ros__parameters:
expected_planner_frequency: 10.0
use_sim_time: False
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
tolerance: 1.0
use_astar: false
allow_unknown: true
sigterm_timeout: 10
sigkill_timeout: 20
planner_server_rclcpp_node:
ros__parameters:
use_sim_time: False
sigterm_timeout: 10
sigkill_timeout: 20
recoveries_server:
ros__parameters:
costmap_topic: "local_costmap/costmap_raw"
footprint_topic: "local_costmap/published_footprint"
cycle_frequency: 5.0
transform_tolerance: 5.0
recovery_plugins: ["backup", "wait", "spin"]
spin:
plugin: "nav2_recoveries/Spin"
backup:
plugin: "nav2_recoveries/BackUp"
wait:
plugin: "nav2_recoveries/Wait"
global_frame: "odom"
robot_base_frame: "base_footprint"
transform_timeout: 0.2
use_sim_time: False
simulate_ahead_time: 2.0
max_rotational_vel: 1.5
min_rotational_vel: 0.4
rotational_acc_lim: 2.5
sigterm_timeout: 10
sigkill_timeout: 20
robot_state_publisher:
ros__parameters:
use_sim_time: False
sigterm_timeout: 10
sigkill_timeout: 20
waypoint_follower:
ros__parameters:
use_sim_time: False
loop_rate: 20
stop_on_failure: false
waypoint_task_executor_plugin: "wait_at_waypoint"
wait_at_waypoint:
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
enabled: True
waypoint_pause_duration: 200
sigterm_timeout: 10
sigkill_timeout: 20`
Error:
Magick: abort due to signal 11 (SIGSEGV) "Segmentation Fault"...
Jul 11 01:31:34 ev2-3base docker[4742]: [map_controller-11] [ERROR] [component_container_isolated-1]: process has died [pid 5154, exit code -6, cmd '/opt/ros/humble/install/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_omppq52r --params-file /tmp/launch_params_o7_zkwq9 -r /cmd_vel:=/cmd_vel_nav -r /tf:=tf -r /tf_static:=tf_static'].
Attached gdb to the isolated container and found that amcl crashes and map->odom vanishes, AMCL is trying to access memory that doesn't exist.
(gdb) bt
#0 __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50
#1 0x0000ffffa6652aac in __GI_abort () at abort.c:79
#2 0x0000ffffa077546c in ?? () from /lib/libGraphicsMagick-Q16.so.3
#3
#4 0x0000ffff80bee390 in nav2_amcl::AmclNode::uniformPoseGenerator(void*) () from /opt/ros/humble/install/lib/libamcl_core.so
#5 0x0000ffff80ad7e38 in pf_update_resample () from /opt/ros/humble/install/lib/libpf_lib.so