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Costmap footprint parameter isn't parsed correctly #1976

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simutisernestas opened this issue Sep 3, 2020 · 3 comments
Closed

Costmap footprint parameter isn't parsed correctly #1976

simutisernestas opened this issue Sep 3, 2020 · 3 comments

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@simutisernestas
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Bug report

Required Info:

  • Operating System:
    • Distributor ID: Ubuntu
    • Description: Ubuntu 20.04.1 LTS
    • Release: 20.04
    • Codename: focal
  • ROS2 Version:
    • Foxy binaries
  • DDS implementation:
    • Fast-RTPS

Steps to reproduce issue

Set footprint parameter as provided below (example from configuration guide).

global_costmap:
  global_costmap:
    ros__parameters:
      global_frame: map
      robot_base_frame: tank_base_link
      footprint: [ [0.1, 0.1], [0.1, -0.1], [-0.1, -0.1], [-0.1, 0.1] ]
      footprint_padding: 0.03

Expected behavior

Navigation starts properly, exactly like using the robot_radius parameter instead of footprint.

Actual behavior

Navigation crashes after footprint is set.

Additional information

I've tried to get a backtrace according to this: https://navigation.ros.org/tutorials/docs/get_backtrace.html?highlight=trace, but GDB prompt doesn't appear. Below are some logs I've managed to produce.

Launch log:

[INFO] [launch]: All log files can be found below /home/tank8/.ros/log/2020-09-03-11-33-21-308211-tank8-2761
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [controller_server-1]: process started with pid [2763]
[INFO] [planner_server-2]: process started with pid [2765]
[INFO] [recoveries_server-3]: process started with pid [2767]
[INFO] [bt_navigator-4]: process started with pid [2769]
[INFO] [waypoint_follower-5]: process started with pid [2771]
[INFO] [lifecycle_manager-6]: process started with pid [2773]
[lifecycle_manager-6] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages.
[bt_navigator-4] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages.
[bt_navigator-4] [ERROR] [1599122001.609633285] [rcl]: Failed to parse global arguments
[bt_navigator-4]
[bt_navigator-4] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[bt_navigator-4] This error state is being overwritten:
[bt_navigator-4]
[bt_navigator-4] 'Couldn't parse params file: '--params-file /tmp/tmpwf6xkpqw'. Error: Sequences cannot be key at line 142, at /tmp/binarydeb/ros-foxy-rcl-yaml-param-parser-1.1.7/src/parser.c:1615, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/arguments.c:391'
[bt_navigator-4]
[bt_navigator-4] with this new error message:
[bt_navigator-4]
[bt_navigator-4] 'context is zero-initialized, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/context.c:51'
[bt_navigator-4]
[bt_navigator-4] rcutils_reset_error() should be called after error handling to avoid this.
[bt_navigator-4] <<<
[bt_navigator-4] [ERROR] [1599122001.609674659] [rclcpp]: failed to finalize context: context is zero-initialized, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/context.c:51
[waypoint_follower-5] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages.
[waypoint_follower-5] [ERROR] [1599122001.610457408] [rcl]: Failed to parse global arguments
[waypoint_follower-5]
[waypoint_follower-5] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[waypoint_follower-5] This error state is being overwritten:
[waypoint_follower-5]
[waypoint_follower-5] 'Couldn't parse params file: '--params-file /tmp/tmp20ujz50s'. Error: Sequences cannot be key at line 142, at /tmp/binarydeb/ros-foxy-rcl-yaml-param-parser-1.1.7/src/parser.c:1615, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/arguments.c:391'
[waypoint_follower-5]
[waypoint_follower-5] with this new error message:
[waypoint_follower-5]
[waypoint_follower-5] 'context is zero-initialized, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/context.c:51'
[waypoint_follower-5]
[waypoint_follower-5] rcutils_reset_error() should be called after error handling to avoid this.
[waypoint_follower-5] <<<
[waypoint_follower-5] [ERROR] [1599122001.610492345] [rclcpp]: failed to finalize context: context is zero-initialized, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/context.c:51
[controller_server-1] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages.
[controller_server-1] [ERROR] [1599122001.611375517] [rcl]: Failed to parse global arguments
[controller_server-1]
[controller_server-1] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[controller_server-1] This error state is being overwritten:
[controller_server-1]
[controller_server-1] 'Couldn't parse params file: '--params-file /tmp/tmpbm5bqf1x'. Error: Sequences cannot be key at line 142, at /tmp/binarydeb/ros-foxy-rcl-yaml-param-parser-1.1.7/src/parser.c:1615, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/arguments.c:391'
[controller_server-1]
[controller_server-1] with this new error message:
[controller_server-1]
[controller_server-1] 'context is zero-initialized, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/context.c:51'
[controller_server-1]
[controller_server-1] rcutils_reset_error() should be called after error handling to avoid this.
[controller_server-1] <<<
[controller_server-1] [ERROR] [1599122001.611409247] [rclcpp]: failed to finalize context: context is zero-initialized, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/context.c:51
[planner_server-2] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages.
[planner_server-2] [ERROR] [1599122001.612469863] [rcl]: Failed to parse global arguments
[planner_server-2]
[planner_server-2] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[planner_server-2] This error state is being overwritten:
[planner_server-2]
[planner_server-2] 'Couldn't parse params file: '--params-file /tmp/tmpi207u5ti'. Error: Sequences cannot be key at line 142, at /tmp/binarydeb/ros-foxy-rcl-yaml-param-parser-1.1.7/src/parser.c:1615, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/arguments.c:391'
[planner_server-2]
[planner_server-2] with this new error message:
[planner_server-2]
[planner_server-2] 'context is zero-initialized, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/context.c:51'
[planner_server-2]
[planner_server-2] rcutils_reset_error() should be called after error handling to avoid this.
[planner_server-2] <<<
[planner_server-2] [ERROR] [1599122001.612503948] [rclcpp]: failed to finalize context: context is zero-initialized, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/context.c:51
[recoveries_server-3] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages.
[recoveries_server-3] [ERROR] [1599122001.612486161] [rcl]: Failed to parse global arguments
[recoveries_server-3]
[recoveries_server-3] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[recoveries_server-3] This error state is being overwritten:
[recoveries_server-3]
[recoveries_server-3] 'Couldn't parse params file: '--params-file /tmp/tmp23bwvjmn'. Error: Sequences cannot be key at line 142, at /tmp/binarydeb/ros-foxy-rcl-yaml-param-parser-1.1.7/src/parser.c:1615, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/arguments.c:391'
[recoveries_server-3]
[recoveries_server-3] with this new error message:
[recoveries_server-3]
[recoveries_server-3] 'context is zero-initialized, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/context.c:51'
[recoveries_server-3]
[recoveries_server-3] rcutils_reset_error() should be called after error handling to avoid this.
[recoveries_server-3] <<<
[recoveries_server-3] [ERROR] [1599122001.612516402] [rclcpp]: failed to finalize context: context is zero-initialized, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/context.c:51
[planner_server-2] terminate called after throwing an instance of 'rclcpp::exceptions::RCLInvalidROSArgsError'
[planner_server-2] what(): failed to initialize rcl: error not set
[bt_navigator-4] terminate called after throwing an instance of 'rclcpp::exceptions::RCLInvalidROSArgsError'
[bt_navigator-4] what(): failed to initialize rcl: error not set
[waypoint_follower-5] terminate called after throwing an instance of 'rclcpp::exceptions::RCLInvalidROSArgsError'
[waypoint_follower-5] what(): failed to initialize rcl: error not set
[controller_server-1] terminate called after throwing an instance of 'rclcpp::exceptions::RCLInvalidROSArgsError'
[controller_server-1] what(): failed to initialize rcl: error not set
[recoveries_server-3] terminate called after throwing an instance of 'rclcpp::exceptions::RCLInvalidROSArgsError'
[recoveries_server-3] what(): failed to initialize rcl: error not set
[lifecycle_manager-6] [INFO] [1599122001.621852771] [lifecycle_manager_navigation]: Creating
[lifecycle_manager-6] [INFO] [1599122001.641796051] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[lifecycle_manager-6] [INFO] [1599122001.653721735] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[lifecycle_manager-6] [INFO] [1599122001.654326172] [lifecycle_manager_navigation]: Configuring controller_server
[ERROR] [recoveries_server-3]: process has died [pid 2767, exit code -6, cmd '/opt/ros/foxy/lib/nav2_recoveries/recoveries_server --ros-args -r __node:=recoveries_server --params-file /tmp/tmp23bwvjmn -r /tf:=tf -r /tf_static:=tf_static'].
[ERROR] [controller_server-1]: process has died [pid 2763, exit code -6, cmd '/opt/ros/foxy/lib/nav2_controller/controller_server --ros-args --params-file /tmp/tmpbm5bqf1x -r /tf:=tf -r /tf_static:=tf_static'].
[ERROR] [waypoint_follower-5]: process has died [pid 2771, exit code -6, cmd '/opt/ros/foxy/lib/nav2_waypoint_follower/waypoint_follower --ros-args -r __node:=waypoint_follower --params-file /tmp/tmp20ujz50s -r /tf:=tf -r /tf_static:=tf_static'].
[ERROR] [planner_server-2]: process has died [pid 2765, exit code -6, cmd '/opt/ros/foxy/lib/nav2_planner/planner_server --ros-args -r __node:=planner_server --params-file /tmp/tmpi207u5ti -r /tf:=tf -r /tf_static:=tf_static'].
[ERROR] [bt_navigator-4]: process has died [pid 2769, exit code -6, cmd '/opt/ros/foxy/lib/nav2_bt_navigator/bt_navigator --ros-args -r __node:=bt_navigator --params-file /tmp/tmpwf6xkpqw -r /tf:=tf -r /tf_static:=tf_static'].

Launch with gdb:

[INFO] [launch]: All log files can be found below /home/tank8/.ros/log/2020-09-03-12-11-42-343229-tank8-4155
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [controller_server-1]: process started with pid [4157]
[INFO] [planner_server-2]: process started with pid [4159]
[INFO] [recoveries_server-3]: process started with pid [4161]
[INFO] [bt_navigator-4]: process started with pid [4163]
[INFO] [waypoint_follower-5]: process started with pid [4165]
[INFO] [lifecycle_manager-6]: process started with pid [4167]
[planner_server-2] GNU gdb (Ubuntu 9.1-0ubuntu1) 9.1
[planner_server-2] Copyright (C) 2020 Free Software Foundation, Inc.
[planner_server-2] License GPLv3+: GNU GPL version 3 or later http://gnu.org/licenses/gpl.html
[planner_server-2] This is free software: you are free to change and redistribute it.
[planner_server-2] There is NO WARRANTY, to the extent permitted by law.
[planner_server-2] Type "show copying" and "show warranty" for details.
[planner_server-2] This GDB was configured as "x86_64-linux-gnu".
[planner_server-2] Type "show configuration" for configuration details.
[planner_server-2] For bug reporting instructions, please see:
[planner_server-2] http://www.gnu.org/software/gdb/bugs/.
[planner_server-2] Find the GDB manual and other documentation resources online at:
[planner_server-2] http://www.gnu.org/software/gdb/documentation/.
[planner_server-2]
[planner_server-2] For help, type "help".
[planner_server-2] Type "apropos word" to search for commands related to "word"...
[bt_navigator-4] GNU gdb (Ubuntu 9.1-0ubuntu1) 9.1
[bt_navigator-4] Copyright (C) 2020 Free Software Foundation, Inc.
[bt_navigator-4] License GPLv3+: GNU GPL version 3 or later http://gnu.org/licenses/gpl.html
[bt_navigator-4] This is free software: you are free to change and redistribute it.
[bt_navigator-4] There is NO WARRANTY, to the extent permitted by law.
[bt_navigator-4] Type "show copying" and "show warranty" for details.
[bt_navigator-4] This GDB was configured as "x86_64-linux-gnu".
[bt_navigator-4] Type "show configuration" for configuration details.
[bt_navigator-4] For bug reporting instructions, please see:
[bt_navigator-4] http://www.gnu.org/software/gdb/bugs/.
[bt_navigator-4] Find the GDB manual and other documentation resources online at:
[bt_navigator-4] http://www.gnu.org/software/gdb/documentation/.
[bt_navigator-4]
[bt_navigator-4] For help, type "help".
[bt_navigator-4] Type "apropos word" to search for commands related to "word"...
[controller_server-1] GNU gdb (Ubuntu 9.1-0ubuntu1) 9.1
[controller_server-1] Copyright (C) 2020 Free Software Foundation, Inc.
[controller_server-1] License GPLv3+: GNU GPL version 3 or later http://gnu.org/licenses/gpl.html
[controller_server-1] This is free software: you are free to change and redistribute it.
[controller_server-1] There is NO WARRANTY, to the extent permitted by law.
[controller_server-1] Type "show copying" and "show warranty" for details.
[controller_server-1] This GDB was configured as "x86_64-linux-gnu".
[controller_server-1] Type "show configuration" for configuration details.
[controller_server-1] For bug reporting instructions, please see:
[controller_server-1] http://www.gnu.org/software/gdb/bugs/.
[controller_server-1] Find the GDB manual and other documentation resources online at:
[controller_server-1] http://www.gnu.org/software/gdb/documentation/.
[controller_server-1]
[controller_server-1] For help, type "help".
[controller_server-1] Type "apropos word" to search for commands related to "word"...
[recoveries_server-3] GNU gdb (Ubuntu 9.1-0ubuntu1) 9.1
[recoveries_server-3] Copyright (C) 2020 Free Software Foundation, Inc.
[recoveries_server-3] License GPLv3+: GNU GPL version 3 or later http://gnu.org/licenses/gpl.html
[recoveries_server-3] This is free software: you are free to change and redistribute it.
[recoveries_server-3] There is NO WARRANTY, to the extent permitted by law.
[recoveries_server-3] Type "show copying" and "show warranty" for details.
[recoveries_server-3] This GDB was configured as "x86_64-linux-gnu".
[recoveries_server-3] Type "show configuration" for configuration details.
[recoveries_server-3] For bug reporting instructions, please see:
[recoveries_server-3] http://www.gnu.org/software/gdb/bugs/.
[recoveries_server-3] Find the GDB manual and other documentation resources online at:
[recoveries_server-3] http://www.gnu.org/software/gdb/documentation/.
[recoveries_server-3]
[recoveries_server-3] For help, type "help".
[recoveries_server-3] Type "apropos word" to search for commands related to "word"...
[waypoint_follower-5] GNU gdb (Ubuntu 9.1-0ubuntu1) 9.1
[waypoint_follower-5] Copyright (C) 2020 Free Software Foundation, Inc.
[waypoint_follower-5] License GPLv3+: GNU GPL version 3 or later http://gnu.org/licenses/gpl.html
[waypoint_follower-5] This is free software: you are free to change and redistribute it.
[waypoint_follower-5] There is NO WARRANTY, to the extent permitted by law.
[waypoint_follower-5] Type "show copying" and "show warranty" for details.
[waypoint_follower-5] This GDB was configured as "x86_64-linux-gnu".
[waypoint_follower-5] Type "show configuration" for configuration details.
[waypoint_follower-5] For bug reporting instructions, please see:
[waypoint_follower-5] http://www.gnu.org/software/gdb/bugs/.
[waypoint_follower-5] Find the GDB manual and other documentation resources online at:
[waypoint_follower-5] http://www.gnu.org/software/gdb/documentation/.
[waypoint_follower-5]
[waypoint_follower-5] For help, type "help".
[waypoint_follower-5] Type "apropos word" to search for commands related to "word"...
[bt_navigator-4] Reading symbols from /opt/ros/foxy/lib/nav2_bt_navigator/bt_navigator...
[bt_navigator-4] Reading symbols from /usr/lib/debug/.build-id/42/db55b09e10e309a82f51c38f2866d918189200.debug...
[planner_server-2] Reading symbols from /opt/ros/foxy/lib/nav2_planner/planner_server...
[planner_server-2] Reading symbols from /usr/lib/debug/.build-id/9b/3d3edd741ddcf5b5aebf2683462fd0d0216aee.debug...
[lifecycle_manager-6] GNU gdb (Ubuntu 9.1-0ubuntu1) 9.1
[lifecycle_manager-6] Copyright (C) 2020 Free Software Foundation, Inc.
[lifecycle_manager-6] License GPLv3+: GNU GPL version 3 or later http://gnu.org/licenses/gpl.html
[lifecycle_manager-6] This is free software: you are free to change and redistribute it.
[lifecycle_manager-6] There is NO WARRANTY, to the extent permitted by law.
[lifecycle_manager-6] Type "show copying" and "show warranty" for details.
[lifecycle_manager-6] This GDB was configured as "x86_64-linux-gnu".
[lifecycle_manager-6] Type "show configuration" for configuration details.
[lifecycle_manager-6] For bug reporting instructions, please see:
[lifecycle_manager-6] http://www.gnu.org/software/gdb/bugs/.
[lifecycle_manager-6] Find the GDB manual and other documentation resources online at:
[lifecycle_manager-6] http://www.gnu.org/software/gdb/documentation/.
[lifecycle_manager-6]
[lifecycle_manager-6] For help, type "help".
[lifecycle_manager-6] Type "apropos word" to search for commands related to "word"...
[waypoint_follower-5] Reading symbols from /opt/ros/foxy/lib/nav2_waypoint_follower/waypoint_follower...
[waypoint_follower-5] Reading symbols from /usr/lib/debug/.build-id/f1/5595a0712ee90e3ee972a26bf528eee28df668.debug...
[lifecycle_manager-6] Reading symbols from /opt/ros/foxy/lib/nav2_lifecycle_manager/lifecycle_manager...
[lifecycle_manager-6] Reading symbols from /usr/lib/debug/.build-id/b1/5852ac874b029f75a47273c56e65356228c7d4.debug...
[waypoint_follower-5] Starting program: /opt/ros/foxy/lib/nav2_waypoint_follower/waypoint_follower --ros-args -r __node:=waypoint_follower --params-file /tmp/tmp0y6ar85o -r /tf:=tf -r /tf_static:=tf_static
[lifecycle_manager-6] Starting program: /opt/ros/foxy/lib/nav2_lifecycle_manager/lifecycle_manager --ros-args -r __node:=lifecycle_manager_navigation --params-file /tmp/launch_params_14lrpv2g --params-file /tmp/launch_params_5r328_xu --params-file /tmp/launch_params_m4vbtks6
[bt_navigator-4] Starting program: /opt/ros/foxy/lib/nav2_bt_navigator/bt_navigator --ros-args -r __node:=bt_navigator --params-file /tmp/tmp0wckwoi7 -r /tf:=tf -r /tf_static:=tf_static
[recoveries_server-3] Reading symbols from /opt/ros/foxy/lib/nav2_recoveries/recoveries_server...
[recoveries_server-3] Reading symbols from /usr/lib/debug/.build-id/5c/6f08256a2d400092975b831530b78fe999bfd9.debug...
[planner_server-2] Starting program: /opt/ros/foxy/lib/nav2_planner/planner_server --ros-args -r __node:=planner_server --params-file /tmp/tmpii8x73cd -r /tf:=tf -r /tf_static:=tf_static
[recoveries_server-3] Starting program: /opt/ros/foxy/lib/nav2_recoveries/recoveries_server --ros-args -r __node:=recoveries_server --params-file /tmp/tmp2dddzrkl -r /tf:=tf -r /tf_static:=tf_static
[controller_server-1] Reading symbols from /opt/ros/foxy/lib/nav2_controller/controller_server...
[controller_server-1] Reading symbols from /usr/lib/debug/.build-id/44/3e95aa5775fa5baf2d7fef1f38780114fbddb3.debug...
[planner_server-2] [Thread debugging using libthread_db enabled]
[planner_server-2] Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[waypoint_follower-5] [Thread debugging using libthread_db enabled]
[waypoint_follower-5] Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[controller_server-1] Starting program: /opt/ros/foxy/lib/nav2_controller/controller_server --ros-args --params-file /tmp/tmpb87dknly -r /tf:=tf -r /tf_static:=tf_static
[lifecycle_manager-6] [Thread debugging using libthread_db enabled]
[lifecycle_manager-6] Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[bt_navigator-4] [Thread debugging using libthread_db enabled]
[bt_navigator-4] Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[waypoint_follower-5] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages.
[waypoint_follower-5] [ERROR] [1599124303.499389696] [rcl]: Failed to parse global arguments
[waypoint_follower-5]
[waypoint_follower-5] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[waypoint_follower-5] This error state is being overwritten:
[waypoint_follower-5]
[waypoint_follower-5] 'Couldn't parse params file: '--params-file /tmp/tmp0y6ar85o'. Error: Sequences cannot be key at line 142, at /tmp/binarydeb/ros-foxy-rcl-yaml-param-parser-1.1.7/src/parser.c:1615, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/arguments.c:391'
[waypoint_follower-5]
[waypoint_follower-5] with this new error message:
[waypoint_follower-5]
[waypoint_follower-5] 'context is zero-initialized, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/context.c:51'
[waypoint_follower-5]
[waypoint_follower-5] rcutils_reset_error() should be called after error handling to avoid this.
[waypoint_follower-5] <<<
[waypoint_follower-5] [ERROR] [1599124303.499420648] [rclcpp]: failed to finalize context: context is zero-initialized, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/context.c:51
[waypoint_follower-5] terminate called after throwing an instance of 'rclcpp::exceptions::RCLInvalidROSArgsError'
[waypoint_follower-5] what(): failed to initialize rcl: error not set
[waypoint_follower-5]
[waypoint_follower-5] Program received signal SIGABRT, Aborted.
[waypoint_follower-5] __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50
[waypoint_follower-5] 50 ../sysdeps/unix/sysv/linux/raise.c: No such file or directory.
[lifecycle_manager-6] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages.
[lifecycle_manager-6] [New Thread 0x7ffff689c700 (LWP 4199)]
[lifecycle_manager-6] [New Thread 0x7ffff609b700 (LWP 4200)]
[lifecycle_manager-6] [New Thread 0x7ffff589a700 (LWP 4201)]
[lifecycle_manager-6] [New Thread 0x7ffff5099700 (LWP 4202)]
[lifecycle_manager-6] [New Thread 0x7ffff4898700 (LWP 4203)]
[lifecycle_manager-6] [New Thread 0x7ffff3fd7700 (LWP 4204)]
[lifecycle_manager-6] [New Thread 0x7ffff37d6700 (LWP 4205)]
[lifecycle_manager-6] [INFO] [1599124303.544345843] [lifecycle_manager_navigation]: Creating
[lifecycle_manager-6] [INFO] [1599124303.616413591] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[controller_server-1] [Thread debugging using libthread_db enabled]
[controller_server-1] Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[lifecycle_manager-6] [INFO] [1599124303.633163136] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[lifecycle_manager-6] [INFO] [1599124303.633202961] [lifecycle_manager_navigation]: Configuring controller_server
[lifecycle_manager-6] [New Thread 0x7ffff2f3e700 (LWP 4206)]
[recoveries_server-3] [Thread debugging using libthread_db enabled]
[recoveries_server-3] Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[bt_navigator-4] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages.
[bt_navigator-4] [ERROR] [1599124303.714874951] [rcl]: Failed to parse global arguments
[bt_navigator-4]
[bt_navigator-4] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[bt_navigator-4] This error state is being overwritten:
[bt_navigator-4]
[bt_navigator-4] 'Couldn't parse params file: '--params-file /tmp/tmp0wckwoi7'. Error: Sequences cannot be key at line 142, at /tmp/binarydeb/ros-foxy-rcl-yaml-param-parser-1.1.7/src/parser.c:1615, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/arguments.c:391'
[bt_navigator-4]
[bt_navigator-4] with this new error message:
[bt_navigator-4]
[bt_navigator-4] 'context is zero-initialized, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/context.c:51'
[bt_navigator-4]
[bt_navigator-4] rcutils_reset_error() should be called after error handling to avoid this.
[bt_navigator-4] <<<
[bt_navigator-4] [ERROR] [1599124303.714898074] [rclcpp]: failed to finalize context: context is zero-initialized, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/context.c:51
[bt_navigator-4] terminate called after throwing an instance of 'rclcpp::exceptions::RCLInvalidROSArgsError'
[bt_navigator-4] what(): failed to initialize rcl: error not set
[bt_navigator-4]
[bt_navigator-4] Program received signal SIGABRT, Aborted.
[bt_navigator-4] __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50
[bt_navigator-4] 50 ../sysdeps/unix/sysv/linux/raise.c: No such file or directory.
[planner_server-2] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages.
[planner_server-2] [ERROR] [1599124303.802036295] [rcl]: Failed to parse global arguments
[planner_server-2]
[planner_server-2] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[planner_server-2] This error state is being overwritten:
[planner_server-2]
[planner_server-2] 'Couldn't parse params file: '--params-file /tmp/tmpii8x73cd'. Error: Sequences cannot be key at line 142, at /tmp/binarydeb/ros-foxy-rcl-yaml-param-parser-1.1.7/src/parser.c:1615, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/arguments.c:391'
[planner_server-2]
[planner_server-2] with this new error message:
[planner_server-2]
[planner_server-2] 'context is zero-initialized, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/context.c:51'
[planner_server-2]
[planner_server-2] rcutils_reset_error() should be called after error handling to avoid this.
[planner_server-2] <<<
[planner_server-2] [ERROR] [1599124303.802066445] [rclcpp]: failed to finalize context: context is zero-initialized, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/context.c:51
[planner_server-2] terminate called after throwing an instance of 'rclcpp::exceptions::RCLInvalidROSArgsError'
[planner_server-2] what(): failed to initialize rcl: error not set
[planner_server-2]
[planner_server-2] Program received signal SIGABRT, Aborted.
[planner_server-2] __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50
[planner_server-2] 50 ../sysdeps/unix/sysv/linux/raise.c: No such file or directory.
[recoveries_server-3] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages.
[recoveries_server-3] [ERROR] [1599124303.824463430] [rcl]: Failed to parse global arguments
[recoveries_server-3]
[recoveries_server-3] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[recoveries_server-3] This error state is being overwritten:
[recoveries_server-3]
[recoveries_server-3] 'Couldn't parse params file: '--params-file /tmp/tmp2dddzrkl'. Error: Sequences cannot be key at line 142, at /tmp/binarydeb/ros-foxy-rcl-yaml-param-parser-1.1.7/src/parser.c:1615, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/arguments.c:391'
[recoveries_server-3]
[recoveries_server-3] with this new error message:
[recoveries_server-3]
[recoveries_server-3] 'context is zero-initialized, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/context.c:51'
[recoveries_server-3]
[recoveries_server-3] rcutils_reset_error() should be called after error handling to avoid this.
[recoveries_server-3] <<<
[recoveries_server-3] [ERROR] [1599124303.824494897] [rclcpp]: failed to finalize context: context is zero-initialized, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/context.c:51
[recoveries_server-3] terminate called after throwing an instance of 'rclcpp::exceptions::RCLInvalidROSArgsError'
[recoveries_server-3] what(): failed to initialize rcl: error not set
[recoveries_server-3]
[recoveries_server-3] Program received signal SIGABRT, Aborted.
[recoveries_server-3] __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50
[recoveries_server-3] 50 ../sysdeps/unix/sysv/linux/raise.c: No such file or directory.
[controller_server-1] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages.
[controller_server-1] [ERROR] [1599124303.916414939] [rcl]: Failed to parse global arguments
[controller_server-1]
[controller_server-1] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[controller_server-1] This error state is being overwritten:
[controller_server-1]
[controller_server-1] 'Couldn't parse params file: '--params-file /tmp/tmpb87dknly'. Error: Sequences cannot be key at line 142, at /tmp/binarydeb/ros-foxy-rcl-yaml-param-parser-1.1.7/src/parser.c:1615, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/arguments.c:391'
[controller_server-1]
[controller_server-1] with this new error message:
[controller_server-1]
[controller_server-1] 'context is zero-initialized, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/context.c:51'
[controller_server-1]
[controller_server-1] rcutils_reset_error() should be called after error handling to avoid this.
[controller_server-1] <<<
[controller_server-1] [ERROR] [1599124303.916439313] [rclcpp]: failed to finalize context: context is zero-initialized, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/context.c:51
[controller_server-1] terminate called after throwing an instance of 'rclcpp::exceptions::RCLInvalidROSArgsError'
[controller_server-1] what(): failed to initialize rcl: error not set
[controller_server-1]
[controller_server-1] Program received signal SIGABRT, Aborted.
[controller_server-1] __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50
[controller_server-1] 50 ../sysdeps/unix/sysv/linux/raise.c: No such file or directory.

ros2 run single controller_server with gdb:

[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7ffff665c700 (LWP 4004)]
[New Thread 0x7ffff5e5b700 (LWP 4005)]
[New Thread 0x7ffff565a700 (LWP 4006)]
[New Thread 0x7ffff4e59700 (LWP 4007)]
[New Thread 0x7ffff4658700 (LWP 4008)]
[New Thread 0x7ffff3d97700 (LWP 4009)]
[New Thread 0x7ffff3596700 (LWP 4010)]
[New Thread 0x7ffff2d77700 (LWP 4011)]
[INFO] [1599124102.920115042] [controller_server]:
controller_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [1599124102.921641560] [controller_server]: Creating controller server
[New Thread 0x7ffff2576700 (LWP 4012)]
[INFO] [1599124102.940342458] [local_costmap.local_costmap]:
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [1599124102.940815555] [local_costmap.local_costmap]: Creating Costmap
[New Thread 0x7ffff1d75700 (LWP 4013)]

^C--Type for more, q to quit, c to continue without paging--

Thread 1 "controller_serv" received signal SIGINT, Interrupt.
futex_wait_cancelable (private=, expected=0, futex_word=0x555555afc038)
at ../sysdeps/nptl/futex-internal.h:183
183 ../sysdeps/nptl/futex-internal.h: No such file or directory.
(gdb) backtrace
#0 futex_wait_cancelable (private=, expected=0, futex_word=0x555555afc038)
at ../sysdeps/nptl/futex-internal.h:183
#1 __pthread_cond_wait_common (abstime=0x0, clockid=0, mutex=0x555555afc040, cond=0x555555afc010)
at pthread_cond_wait.c:508
#2 __pthread_cond_wait (cond=0x555555afc010, mutex=0x555555afc040) at pthread_cond_wait.c:638
#3 0x00007ffff7961e20 in std::condition_variable::wait(std::unique_lockstd::mutex&) ()
from /lib/x86_64-linux-gnu/libstdc++.so.6
#4 0x00007ffff72289bf in rmw_fastrtps_shared_cpp::__rmw_wait(rmw_subscriptions_t*, rmw_guard_conditions_t*, rmw_services_t*, rmw_clients_t*, rmw_events_t*, rmw_wait_set_t*, rmw_time_t const*) ()
from /opt/ros/foxy/lib/librmw_fastrtps_shared_cpp.so
#5 0x00007ffff7d58517 in rcl_wait () from /opt/ros/foxy/lib/librcl.so
#6 0x00007ffff7ed1c12 in rclcpp::Executor::wait_for_work(std::chrono::duration<long, std::ratio<1l, 1000000000l> >) ()
from /opt/ros/foxy/lib/librclcpp.so
#7 0x00007ffff7ed1f53 in rclcpp::Executor::get_next_executable(rclcpp::AnyExecutable&, std::chrono::duration<long, std::--Type for more, q to quit, c to continue without paging--
ratio<1l, 1000000000l> >) () from /opt/ros/foxy/lib/librclcpp.so
#8 0x00007ffff7ed8afd in rclcpp::executors::SingleThreadedExecutor::spin() () from /opt/ros/foxy/lib/librclcpp.so
#9 0x00007ffff7ed65a8 in rclcpp::spin(std::shared_ptrrclcpp::node_interfaces::NodeBaseInterface) ()
from /opt/ros/foxy/lib/librclcpp.so
#10 0x0000555555592469 in main (argc=, argv=) at ./src/main.cpp:24
@SteveMacenski SteveMacenski changed the title Costmap footprint parameter crashes whole navigation stack Costmap footprint parameter isn't parsed correctly Sep 3, 2020
@SteveMacenski
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SteveMacenski commented Sep 3, 2020 •
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Lets avoid sensational title and describe better what you're actually seeing 😉 . Clearly, its just the yaml parsing that's unhappy.

Did you put quotes around it, like the configuration guide shows? https://navigation.ros.org/configuration/packages/configuring-costmaps.html#costmap2d-ros-parameters

@simutisernestas
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Sorry for such title.

Works just fine with quotes around it. Would contribution to parse it like array of numbers be welcome?

@SteveMacenski
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The ros2 parameters api doesnt support this type, it must be a string.

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