solution vector is empty about cppad

[bradbell]

Do you get the report "Solution found!!! ?

[hichamhendy]

How could I do that?

[hichamhendy]

I can invite you to collaborate on my repo.
Already done.
You would need to publish a goal, so the callback works

[bradbell]

All I need is the clone command and instructions for how to reproduce the error .
I see the repo is private. I accepted the invite.
Please open an issue in
https://github.com/hichamhendy/mav_swarm_commander/issues
for this problem

[hichamhendy]

Done

[hichamhendy]

As you asked yesterday:
I added the following
bool memory_ok = CppAD::thread_alloc::free_all(); std::string group = "swarm/Node"; size_t width = 20; CppAD::test_boolofvoid Run(group, width); bool ok_sum = Run.summary(memory_ok); ROS_INFO_STREAM(kStreamPrefix <<"Summary (mem): "<< ok_sum);

and got that

Begin test group swarm/Node memory_leak Error 1 tests failed. [ INFO] [1678189848.577661006, 17.832000000]: [Swarm Commanding]: Summary (mem): 0 [ INFO] [1678189848.577679643, 17.832000000]: [Swarm Commanding]: Solution found!!! [ INFO] [1678189848.577699892, 17.832000000]: [Swarm Commanding]: Cost: 0 { }

any ideas???
why the leak?!!!

[bradbell]

I recently had a shoulder operation and it is still difficult for me to type. In addition, I am tying to solve a problem for work right now. I hope to be able to spend some time on your problem soon. Sorry for the delay.

[hichamhendy]

No problem. Get well soon. Thank you anyway

[hichamhendy]

After launching that in separate thread and activating the debug flag of CppAD i got this
Stack trace (most recent call last) in thread 24512: #15 Object "", at 0xffffffffffffffff, in #14 Source "../sysdeps/unix/sysv/linux/x86_64/clone.S", line 95, in __clone [0x7fa4a464861e] #13 Source "/build/glibc-CVJwZb/glibc-2.27/nptl/pthread_create.c", line 463, in start_thread [0x7fa4a61cd6da] #12 Object "/usr/lib/x86_64-linux-gnu/libboost_thread.so.1.65.1", at 0x7fa4a303ebcc, in #11 Object "/home/rnd/catkin_ws/devel/.private/mav_swarm_commander/lib/libmav_swarm_commander.so", at 0x7fa4a56e5917, in boost::detail::thread_data<boost::_bi::bind_t<void, boost::_mfi::mf1<Path, SwarmCommander, Path const&>, boost::_bi::list2<boost::_bi::value<SwarmCommander*>, boost::_bi::value<Path> > > >::run() #10 Object "/home/rnd/catkin_ws/devel/.private/mav_swarm_commander/lib/libmav_swarm_commander.so", at 0x7fa4a56ec529, in boost::_bi::bind_t<void, boost::_mfi::mf1<Path, SwarmCommander, Path const&>, boost::_bi::list2<boost::_bi::value<SwarmCommander*>, boost::_bi::value<Path> > >::operator()() #9 Object "/home/rnd/catkin_ws/devel/.private/mav_swarm_commander/lib/libmav_swarm_commander.so", at 0x7fa4a56f259a, in void boost::_bi::list2<boost::_bi::value<SwarmCommander*>, boost::_bi::value<Path> >::operator()<boost::_mfi::mf1<Path, SwarmCommander, Path const&>, boost::_bi::list0>(boost::_bi::type<void>, boost::_mfi::mf1<Path, SwarmCommander, Path const&>&, boost::_bi::list0&, int) #8 Object "/home/rnd/catkin_ws/devel/.private/mav_swarm_commander/lib/libmav_swarm_commander.so", at 0x7fa4a56f8f42, in boost::_mfi::mf1<Path, SwarmCommander, Path const&>::operator()(SwarmCommander*, Path const&) const #7 Object "/home/rnd/catkin_ws/devel/.private/mav_swarm_commander/lib/libmav_swarm_commander.so", at 0x7fa4a563716a, in SwarmCommander::modelPredictivePlanning(Path const&) #6 Object "/home/rnd/catkin_ws/devel/.private/mav_swarm_commander/lib/libmav_swarm_commander.so", at 0x7fa4a5660b45, in CppAD::vector<double>::operator[](unsigned long) #5 Object "/home/rnd/catkin_ws/devel/.private/mav_swarm_commander/lib/libmav_swarm_commander.so", at 0x7fa4a5647658, in CppAD::ErrorHandler::Call(bool, int, char const*, char const*, char const*) #4 Object "/home/rnd/catkin_ws/devel/.private/mav_swarm_commander/lib/libmav_swarm_commander.so", at 0x7fa4a564783e, in CppAD::ErrorHandler::Default(bool, int, char const*, char const*, char const*) #3 Source "/build/glibc-CVJwZb/glibc-2.27/assert/assert.c", line 101, in __assert_fail [0x7fa4a4557471] #2 Source "/build/glibc-CVJwZb/glibc-2.27/assert/assert.c", line 92, in __assert_fail_base [0x7fa4a45573f9] #1 Source "/build/glibc-CVJwZb/glibc-2.27/stdlib/abort.c", line 79, in abort [0x7fa4a45677f0] #0 Source "../sysdeps/unix/sysv/linux/raise.c", line 51, in raise [0x7fa4a4565e87] Aborted (Signal sent by tkill() 24237 1000) Aborted (core dumped)

[hichamhendy]

I found the problem in the lower and upper boundaries of the variables exactly in
for (int i = thrust_command_start; i < n_vars; i++) { vars_lowerbound[i] = sys_constants.min_thrust; vars_upperbound[i] = - sys_constants.max_thrust; }

The solver kinda gave the impression that the formulation is well-defined but after analysis, especially by giving succeed in finding the solution even though the solution vector was empty.