Mapper error

[siddux]

• Operating System:
  • Ubuntu 22.04
• Installation type:
  • Binaries
• ROS Version
  • ROS 2 Foxy
• Laser unit:
  • Sick

Hi, I'm trying to run slam on my robot (real world, not simulation). It looks like all is running ok but when the robot started to move I get the following error:

[async_slam_toolbox_node-1] terminate called after throwing an instance of 'std::runtime_error'
[async_slam_toolbox_node-1]   what():  Mapper FATAL ERROR - unable to get pointer in probability search!
[ERROR] [async_slam_toolbox_node-1]: process has died [pid 23469, exit code -6, cmd '/opt/ros/foxy/lib/slam_toolbox/async_slam_toolbox_node --ros-args -r __node:=slam_toolbox --params-file /workspaces/kuka_kmr_ws/install/share/kmr_slam_toolbox/config/KMR_mapper_params_online_async.yaml --params-file /tmp/launch_params_nd0sa422'].

Anyone knows where could be the problem? Thanks.

[SteveMacenski]

Whats your hardware platform? Did you try Humble or newer also to see if its causing issues in newer distributions?

I've never run into that before, so that's a total new one for me

[siddux]

I am using kuka kmr. I'm not planning to move to Humble as it has a lot of dependencies on other packages only available on Foxy.

I will be working on it tomorrow so if you have any idea about where can comes of the error it will be helpful.

[SteveMacenski]

What is the computer hardware, I meant.

[siddux]

Just a regular gigabyte aero laptop. I was running the code under docker, maybe could be related?

UPDATE:

I found that the error comes from the karto library. I tried to debug it but found nothing remarkable. I also tried to change some parameters and I got different results. Using default values for the following topics, the robot can be moved with VERY slow velocity and the node doesn't crash:

stack_size_to_use: 40000000
minimum_travel_distance: 0.5
minimum_travel_heading: 0.5
scan_buffer_size: 10

But changing to these ones, the node crashes immediately after sending any movement command:

stack_size_to_use: 100000000
minimum_travel_distance: 0.1
minimum_travel_heading: 0.1
scan_buffer_size: 50

Here is an image of the map when I start the node, just in case it can give more information: