emiliofidalgo / liodom Goto Github PK

/clicked_point
/clock
/initialpose
/liodom/edges
/liodom/odom
/liodom/twist
/liodom_mapper/map
/liodom_mapper/map_local
/move_base_simple/goal
/os1_node/imu_packets
/os1_node/lidar_packets
/os_cloud_node/imu
/os_cloud_node/points
/os_node/imu_packets
/os_node/lidar_packets
/rosout
/rosout_agg
/tf
/tf_static

liodom_node: /usr/include/boost/smart_ptr/shared_ptr.hpp:734: typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = pcl::PointCloud<pcl::PointXYZI>; typename boost::detail::sp_member_access<T>::type = pcl::PointCloud<pcl::PointXYZI>*]: Assertion `px != 0' failed.

ROS_MASTER_URI=http://localhost:11311

process[liodom-1]: started with pid [17353]
process[liodom_mapper-2]: started with pid [17354]
process[map2odom-3]: started with pid [17355]
process[bl2os1-4]: started with pid [17356]
process[rviz-5]: started with pid [17358]
[ INFO] [1645117211.695809967]: Voxel size (XY): 20.00
[ INFO] [1645117211.706355598]: Voxel size (Z): 25.00
[ INFO] [1645117211.709615456]: Minimum range: 3.00
[ INFO] [1645117211.710407232]: Resolution: 0.40
[ INFO] [1645117211.729631540]: Maximum range: 75.00
[ INFO] [1645117211.730184408]: Local Map Cells XY: 2
[ INFO] [1645117211.732065639]: Lidar type: 1
[ INFO] [1645117211.735487180]: Local Map Cells Z: 1
[ INFO] [1645117211.737184495]: Scan lines: 64
[ INFO] [1645117211.743349094]: Scan regions: 8
[ INFO] [1645117211.747942034]: Edges per region: 10
[ INFO] [1645117211.758441678]: Save results: Yes
[ INFO] [1645117211.763643250]: Results directory: /tmp/results/
[ INFO] [1645117211.766496214]: Fixed frame: odom
[ INFO] [1645117211.767992192]: Base frame: base_link
[ INFO] [1645117211.771190083]: Using laser frame from header
[ INFO] [1645117211.773184867]: Sliding window size: 15
[ INFO] [1645117211.774741558]: Use IMU: No
[ INFO] [1645117211.776940215]: Mapping: Yes
[ INFO] [1645117211.778579421]: Publish TF: Yes
GIGIGIGI[DEBUG] [1645117408.258262566]: Connection::drop(2)
[DEBUG] [1645117408.258522504]: Socket 13 closed with (ERR|HUP|NVAL) events 8196: Success
[DEBUG] [1645117408.258741856]: TCP socket [13] closed
[DEBUG] [1645117408.258846202]: Connection::drop(0)
[DEBUG] [1645117408.258959896]: Connection::drop(2)
[DEBUG] [1645117408.259045436]: Connection::drop(2)
[DEBUG] [1645117409.815418315]: Connection::drop(2)
[DEBUG] [1645117409.815573366]: Socket 13 closed with (ERR|HUP|NVAL) events 8196: Success
[DEBUG] [1645117409.815685397]: TCP socket [13] closed
[DEBUG] [1645117409.815716265]: Connection::drop(0)
[DEBUG] [1645117409.815742835]: Connection::drop(2)
[DEBUG] [1645117409.816144809]: Connection::drop(2)
liodom_node: /usr/include/boost/smart_ptr/shared_ptr.hpp:734: typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = pcl::PointCloud<pcl::PointXYZI>; typename boost::detail::sp_member_access<T>::type = pcl::PointCloud<pcl::PointXYZI>*]: Assertion `px != 0' failed.
[DEBUG] [1645117420.153315992]: Socket 21 closed with (ERR|HUP|NVAL) events 8192: Success
[DEBUG] [1645117420.153516188]: TCP socket [21] closed
[DEBUG] [1645117420.153643788]: Connection::drop(0)
[DEBUG] [1645117420.153794040]: Connection to subscriber [callerid=[/liodom] address=[TCPROS connection on port 38341 to [127.0.0.1:47718 on socket 21]]] to topic [/liodom_mapper/map_local] dropped
[DEBUG] [1645117420.153963759]: Connection::drop(2)
[DEBUG] [1645117420.154085307]: Connection::drop(2)
[DEBUG] [1645117420.154186637]: Socket [12] received 0/4 bytes, closing
[DEBUG] [1645117420.154338082]: TCP socket [12] closed
[DEBUG] [1645117420.154398275]: Connection::drop(0)
[DEBUG] [1645117420.154504364]: Connection to publisher [TCPROS connection on port 45790 to [ubuntu:49253 on socket 12]] to topic [/tf] dropped
[DEBUG] [1645117420.154704620]: getsockopt failed on socket [-1]
[DEBUG] [1645117420.154764232]: Socket -1 closed with (ERR|HUP|NVAL) events 8193: Unknown error -1
[DEBUG] [1645117420.154789389]: Socket [11] received 0/4 bytes, closing
[DEBUG] [1645117420.154925816]: TCP socket [11] closed
[DEBUG] [1645117420.155014272]: Connection::drop(0)
[DEBUG] [1645117420.155045150]: Connection to publisher [TCPROS connection on port 45788 to [ubuntu:49253 on socket 11]] to topic [/liodom/edges] dropped
[DEBUG] [1645117420.155114279]: getsockopt failed on socket [-1]
[DEBUG] [1645117420.155192847]: Socket -1 closed with (ERR|HUP|NVAL) events 8193: Unknown error -1
[liodom-1] process has died [pid 17353, exit code -6, cmd /home/ballardini/liodom_ws/devel/lib/liodom/liodom_node ~points:=/os_cloud_node/points ~map:=/liodom_mapper/map_local __name:=liodom __log:=/home/ballardini/.ros/log/dcce0fba-900c-11ec-92f8-2beb8929ca27/liodom-1.log].
log file: /home/ballardini/.ros/log/dcce0fba-900c-11ec-92f8-2beb8929ca27/liodom-1*.log
[DEBUG] [1645117420.254900289]: Retrying connection to [ubuntu:49253] for topic [/tf]
[DEBUG] [1645117420.255925043]: Resolved publisher host [ubuntu] to [127.0.1.1] for socket [11]
[DEBUG] [1645117420.256279188]: Adding tcp socket [11] to pollset
[DEBUG] [1645117420.256491287]: Socket 11 closed with (ERR|HUP|NVAL) events 24: Connection refused
[DEBUG] [1645117420.256587357]: TCP socket [11] closed
[DEBUG] [1645117420.256782444]: PollSet: Tried to add events [8192] to fd [-1] which does not exist in this pollset
[DEBUG] [1645117420.256848658]: Async connect() in progress to [ubuntu:49253] on socket [-1]
[DEBUG] [1645117420.256990144]: Connection::drop(2)
[DEBUG] [1645117420.257078610]: Tried to read on a closed socket [-1]
[DEBUG] [1645117420.257412136]: Retrying connection to [ubuntu:49253] for topic [/liodom/edges]
[DEBUG] [1645117420.258044403]: Resolved publisher host [ubuntu] to [127.0.1.1] for socket [11]
[DEBUG] [1645117420.258272502]: Adding tcp socket [11] to pollset
[DEBUG] [1645117420.258369534]: Socket 11 closed with (ERR|HUP|NVAL) events 24: Connection refused
[DEBUG] [1645117420.258456918]: TCP socket [11] closed
[DEBUG] [1645117420.258587633]: PollSet: Tried to add events [8192] to fd [-1] which does not exist in this pollset
[DEBUG] [1645117420.258650001]: Async connect() in progress to [ubuntu:49253] on socket [-1]
[DEBUG] [1645117420.258762752]: Connection::drop(2)
[DEBUG] [1645117420.258841350]: Tried to read on a closed socket [-1]
^[[A^[[B^[[A^C[rviz-5] killing on exit
[bl2os1-4] killing on exit
[map2odom-3] killing on exit
[liodom_mapper-2] 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
^[[Ashutting down processing monitor...
... shutting down processing monitor complete
done

Thread 6 "liodom_node" received signal SIGABRT, Aborted.
[Switching to Thread 0x7f400ffff700 (LWP 40326)]
__GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50
50	../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:50
#1  0x00007f40242d2859 in __GI_abort () at abort.c:79
#2  0x00007f40242d2729 in __assert_fail_base (fmt=0x7f4024468588 "%s%s%s:%u: %s%sAssertion `%s' failed.\n%n", assertion=0x7f4024d565d5 "px != 0", 
    file=0x7f4024d56288 "/usr/include/boost/smart_ptr/shared_ptr.hpp", line=734, function=<optimized out>) at assert.c:92
#3  0x00007f40242e3f36 in __GI___assert_fail (assertion=0x7f4024d565d5 "px != 0", file=0x7f4024d56288 "/usr/include/boost/smart_ptr/shared_ptr.hpp", line=734, 
    function=0x7f4024d561a8 "typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = pcl::PointCloud<pcl::PointXYZI>; typename boost::detail::sp_member_access<T>::type = pcl::PointClou"...) at assert.c:101
#4  0x00007f4024ad1dce in liodom::FeatureExtractor::splitPointCloud(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> > const&, std::vector<boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> >, std::allocator<boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> > > >&) () from /home/ballardini/liodom_ws/devel/lib/libliodom.so
#5  0x00007f4024ad2ad0 in liodom::FeatureExtractor::operator()(std::atomic<bool>&) () from /home/ballardini/liodom_ws/devel/lib/libliodom.so
#6  0x0000555badca4b85 in std::thread::_State_impl<std::thread::_Invoker<std::tuple<liodom::FeatureExtractor, std::reference_wrapper<std::atomic<bool> > > > >::_M_run() ()
#7  0x00007f40245d2de4 in ?? () from /lib/x86_64-linux-gnu/libstdc++.so.6
#8  0x00007f4024751609 in start_thread (arg=<optimized out>) at pthread_create.c:477
#9  0x00007f40243cf293 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95
(gdb) quit