[ros-users] AMCL bug?
Dominik Franěk
dominik.franek at gmail.com
Tue Nov 2 14:23:45 UTC 2010
Hi,
The amcl parameters are below. As in Torsten's case, it's a likelyhood
field version. Beam model doesn't really work with sensor system I
use, so I haven't tryed that one. It fails even when I tried using the
default param values, and it fails with values I believe to have used
before successfully. As I'm now unable to create a stable settings I
can't say which parameters cause the failure.
There are no messages published on the topics after the crash. There
is no output to the console, below is the end of the logfile.
I have never used stage and unfortunatelly can't try it now.
In few days I'm leaving the country for some time, so I will be unable
to answer more questions after that, I'm sorry. So I hope these
details are of some help.
Regards, Dominik
---- Launch file
<param name="odom_model_type" value="diff"/>
<param name="transform_tolerance" value="0.5" />
<param name="gui_publish_rate" value="10.0"/>
<param name="laser_max_beams" value="55"/>
<param name="min_particles" value="200"/> <!-- was 500 -->
<param name="max_particles" value="500"/> <!-- was 5000 -->
<param name="kld_err" value="0.05"/>
<param name="kld_z" value="0.99"/>
<param name="odom_alpha1" value="1.0"/> <!-- 0.2 -->
<param name="odom_alpha2" value="0.5"/> <!-- 0.2 -->
<param name="odom_alpha3" value="1.0"/> <!-- 0.8 -->
<param name="odom_alpha4" value="0.5"/> <!-- 0.2 -->
<param name="laser_z_hit" value="0.6"/> <!-- 0.5 -->
<param name="laser_z_short" value="0.1"/> <!-- 0.05 -->
<param name="laser_z_max" value="0.15"/> <!-- 0.05 -->
<param name="laser_z_rand" value="0.15"/> <!-- 0.5 -->
<param name="laser_sigma_hit" value="0.2"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_model_type" value="likelihood_field"/> <!-- beam -->
<param name="laser_likelihood_max_dist" value="2.0"/>
<param name="update_min_d" value="0.1"/>
<param name="update_min_a" value="0.1"/>
<param name="odom_frame_id" value="/odom"/>
<param name="base_frame_id" value="/base_link"/>
<param name="global_frame_id" value="/map"/>
<param name="resample_interval" value="2"/>
<param name="save_pose_rate" value="-1"/>
----- AMCL log
...
[ros.amcl] [2010-11-02 15:00:31,328] [thread 0x7f216d0e2760]: [INFO]
Setting pose (1288706431.328592): -0.223 -1.437 -0.212
[roscpp_internal] [2010-11-02 15:03:48,715] [thread 0x7f21653f8710]:
[DEBUG] Accepted connection on socket [7], new socket [17]
[roscpp_internal] [2010-11-02 15:03:48,715] [thread 0x7f21653f8710]:
[DEBUG] TCPROS received a connection from [10.42.43.1:50156]
[roscpp_internal] [2010-11-02 15:03:48,715] [thread 0x7f21653f8710]:
[DEBUG] Connection: Creating TransportSubscriberLink for topic
[/amcl_pose] connected to [callerid=[/rostopic_2384_1288706627062]
address=[TCPROS connection to [10.42.43.1:50156 on socket 17]]]
[roscpp_internal] [2010-11-02 15:03:57,120] [thread 0x7f21653f8710]:
[DEBUG] Socket [11] received 0/4 bytes, closing
[roscpp_internal] [2010-11-02 15:03:57,120] [thread 0x7f21653f8710]:
[DEBUG] TCP socket [11] closed
[roscpp_internal] [2010-11-02 15:03:57,120] [thread 0x7f21653f8710]:
[DEBUG] Connection to publisher [TCPROS connection to
[10.42.43.10:48895 on socket 11]] to topic [/tf] dropped
[roscpp_internal] [2010-11-02 15:03:57,186] [thread 0x7f21653f8710]:
[DEBUG] Socket [13] received 0/4 bytes, closing
[roscpp_internal] [2010-11-02 15:03:57,186] [thread 0x7f21653f8710]:
[DEBUG] TCP socket [13] closed
[roscpp_internal] [2010-11-02 15:03:57,186] [thread 0x7f21653f8710]:
[DEBUG] Connection to publisher [TCPROS connection to
[10.42.43.10:56896 on socket 13]] to topic [/scan] dropped
[roscpp_internal] [2010-11-02 15:03:57,217] [thread 0x7f2164bf7710]:
[DEBUG] Publisher update for [/tf]: http://10.42.43.10:34723/,
http://10.42.43.1:45920/, already have these connections:
http://10.42.43.1:45920/, http://10.42.43.10:53054/,
http://10.42.43.10:34723/,
[roscpp_internal] [2010-11-02 15:03:57,217] [thread 0x7f2164bf7710]:
[DEBUG] Disconnecting from publisher [/sensor_link_broadcaster] of
topic [/tf] at [http://10.42.43.10:53054/]
[roscpp_internal] [2010-11-02 15:03:57,287] [thread 0x7f2163bf5710]:
[DEBUG] Retrying connection to [10.42.43.10:56896] for topic [/scan]
[roscpp_internal] [2010-11-02 15:03:57,287] [thread 0x7f2163bf5710]:
[DEBUG] Async connect() in progress to [10.42.43.10:56896] on socket
[13]
[roscpp_internal] [2010-11-02 15:03:57,302] [thread 0x7f2164bf7710]:
[DEBUG] Publisher update for [/tf]: http://10.42.43.1:45920/, already
have these connections: http://10.42.43.1:45920/,
http://10.42.43.10:34723/,
[roscpp_internal] [2010-11-02 15:03:57,302] [thread 0x7f2164bf7710]:
[DEBUG] Disconnecting from publisher [/pepa_robot] of topic [/tf] at
[http://10.42.43.10:34723/]
[roscpp_internal] [2010-11-02 15:03:57,302] [thread 0x7f2164bf7710]:
[DEBUG] TCP socket [15] closed
[roscpp_internal] [2010-11-02 15:03:57,530] [thread 0x7f21653f8710]:
[DEBUG] recv() on socket [13] failed with error [Connection reset by
peer]
[roscpp_internal] [2010-11-02 15:03:57,530] [thread 0x7f21653f8710]:
[DEBUG] TCP socket [13] closed
[roscpp_internal] [2010-11-02 15:03:57,530] [thread 0x7f21653f8710]:
[DEBUG] Connection to publisher [TCPROS connection to
[10.42.43.10:56896 on socket 13]] to topic [/scan] dropped
[roscpp_internal] [2010-11-02 15:03:57,533] [thread 0x7f2164bf7710]:
[DEBUG] Publisher update for [/scan]: already have these connections:
http://10.42.43.10:44973/,
[roscpp_internal] [2010-11-02 15:03:57,533] [thread 0x7f2164bf7710]:
[DEBUG] Disconnecting from publisher [/disp_to_laser_transform] of
topic [/scan] at [http://10.42.43.10:44973/]
[roscpp_internal] [2010-11-02 15:03:57,621] [thread 0x7f21653f8710]:
[DEBUG] Shutting down roscpp
[roscpp_internal] [2010-11-02 15:03:57,644] [thread 0x7f21653f8710]:
[DEBUG] Shutting down topics...
[roscpp_internal] [2010-11-02 15:03:57,644] [thread 0x7f21653f8710]:
[DEBUG] shutting down publishers
[roscpp_internal] [2010-11-02 15:03:57,662] [thread 0x7f21653f8710]:
[DEBUG] Connection to subscriber [callerid=[/rosout] address=[TCPROS
connection to [10.42.43.10:47442 on socket 10]]] to topic [/rosout]
dropped
[roscpp_internal] [2010-11-02 15:03:57,662] [thread 0x7f21653f8710]:
[DEBUG] TCP socket [10] closed
[roscpp_internal] [2010-11-02 15:03:57,725] [thread 0x7f21653f8710]:
[DEBUG] Connection to local publisher on topic [/tf] dropped
[roscpp_internal] [2010-11-02 15:03:57,725] [thread 0x7f21653f8710]:
[DEBUG] Connection to local subscriber on topic [/tf] dropped
[roscpp_internal] [2010-11-02 15:03:57,725] [thread 0x7f21653f8710]:
[DEBUG] Connection to subscriber [callerid=[/move_base]
address=[TCPROS connection to [10.42.43.1:49837 on socket 14]]] to
topic [/tf] dropped
[roscpp_internal] [2010-11-02 15:03:57,725] [thread 0x7f21653f8710]:
[DEBUG] TCP socket [14] closed
[roscpp_internal] [2010-11-02 15:03:57,725] [thread 0x7f21653f8710]:
[DEBUG] Connection to subscriber [callerid=[/rviz_1288706392038486363]
address=[TCPROS connection to [10.42.43.1:49954 on socket 12]]] to
topic [/tf] dropped
[roscpp_internal] [2010-11-02 15:03:57,725] [thread 0x7f21653f8710]:
[DEBUG] TCP socket [12] closed
[roscpp_internal] [2010-11-02 15:03:57,769] [thread 0x7f21653f8710]:
[DEBUG] Connection to subscriber
[callerid=[/rostopic_2384_1288706627062] address=[TCPROS connection to
[10.42.43.1:50156 on socket 17]]] to topic [/amcl_pose] dropped
[roscpp_internal] [2010-11-02 15:03:57,770] [thread 0x7f21653f8710]:
[DEBUG] TCP socket [17] closed
[roscpp_internal] [2010-11-02 15:03:57,848] [thread 0x7f21653f8710]:
[DEBUG] Connection to subscriber [callerid=[/rviz_1288706392038486363]
address=[TCPROS connection to [10.42.43.1:49995 on socket 18]]] to
topic [/particlecloud] dropped
[roscpp_internal] [2010-11-02 15:03:57,848] [thread 0x7f21653f8710]:
[DEBUG] TCP socket [18] closed
[roscpp_internal] [2010-11-02 15:03:57,848] [thread 0x7f21653f8710]:
[DEBUG] shutting down subscribers
[roscpp_internal] [2010-11-02 15:03:57,975] [thread 0x7f21653f8710]:
[DEBUG] TCP socket [16] closed
[roscpp_internal] [2010-11-02 15:03:57,975] [thread 0x7f21653f8710]:
[DEBUG] ServiceManager::shutdown(): unregistering our advertised
services
[roscpp_internal] [2010-11-02 15:03:58,066] [thread 0x7f21653f8710]:
[DEBUG] UDP socket [8] closed
[roscpp_internal] [2010-11-02 15:03:58,066] [thread 0x7f21653f8710]:
[DEBUG] TCP socket [7] closed
[roscpp_internal] [2010-11-02 15:03:58,066] [thread 0x7f21653f8710]:
[DEBUG] Shutdown finished
2010/11/2 Torsten Fiolka <fiolka at cs.uni-bonn.de>:
> Hi all,
>
> same problem here, AMCL locks up very fast in Stage and sometimes on the
> real robot.
>
> My best parameters so far are:
>
> <node pkg="amcl" type="amcl" name="amcl">
> <remap from="scan" to="laserscan"/>
> <param name="min_particles" value="100"/>
> <param name="max_particles" value="500"/>
> <param name="initial_pose_x" value="-4.5"/>
> <param name="initial_pose_y" value="-0.5"/>
> <param name="laser_max_beams" value="30"/>
> <param name="laser_model_type" value="beam"/>
> </node>
>
> With these parameters AMCL runs nearly normal; more than 700 particles
> and the laser model "likelihood field" are causing problems.
>
> AMCL still locks up if you move (or just touch) the robot with the mouse
> in stage; with the parameters above the particlecloud disperses one or
> two times while moving the robot, but then amcl is dead.
> Interestingly, on the robot it is more stable, but still locks up sometimes.
>
> It stops sending anything (transforms, topics) and CPU-load goes up to
> 100%. I have seen no messages from AMCL before locking up.
>
> Tested on: ROS boxturtle/cturtle on Ubuntu 9.10 (2.6.31) and 10.04
> (2.6.32). Robot: iRobot roomba 500 with a Sick 300 laserscanner and a
> notebook on top.
>
> I hope this will help a bit to track down the problem.
>
> Regards,
> Torsten Fiolka
>
> Am 27.10.2010 14:50, schrieb Eric Perko:
>> Dominik,
>>
>> A few questions to help debugging get started:
>>
>> 1. Can you post your AMCL launch file with parameter values that
>> produces the problem?
>> 2. If you have narrowed things down to just one or two parameters,
>> can you post both working and failing versions that differ only in
>> the parameter that leads to a problem?
>> 3. Can you reproduce the crash in Stage or does it only happen with
>> the real robot?
>> 4. You mention AMCL stops showing up in tf_monitor. Does it also stop
>> outputting on it's output topics such as amcl_pose or
>> particlecloud? You can check those with 'rostopic echo <topic>'.
>> 5. Do you get any error output in the console where you started AMCL?
>> Anything in the log file for AMCL?
>>
>> I'm definitely interested to see what parameters you are using - I had
>> some similar sounding problems a few months ago while playing with the
>> resampling parameters but didn't really spend much time looking into it.
>>
>> - Eric
>>
>> On Wed, Oct 27, 2010 at 4:28 AM, Dominik Franěk
>> <dominik.franek at gmail.com <mailto:dominik.franek at gmail.com>> wrote:
>>
>> Hi guys and girls,
>>
>> recently I'm having difficulties running my robot as it stops working
>> after a very short time. I have narrowed the problem to AMCL, which
>> stops working either (probably) at it's first resampling, or some
>> longer time later. I have had all the navigation with amcl and static
>> map on both costmaps running all right for a long time and this error
>> started appearing during some testing of various parameters (no
>> changes in packages) and then stayed untill now, though I have tried
>> reverting or otherwise changing all I could think of. So, now some
>> details.
>>
>> My ROS and all substantial components are the most recent version,
>> including the yesterdays update. Costmaps are both using the same
>> static map with no marking/clearing. TF tree is default
>> (map->odom->base_link->laser_scan) and running on about 13Hz, all fine
>> on view_frames. In rviz everything looks ok. Pose cloud appears after
>> setting initial pose.
>> When I send a goal, robot starts moving towards it, both in the real
>> and rviz. And after traversing around half a meter it freezes in rviz
>> (along with pose cloud and laser measurments), in command starts
>> printing transform timeout with pose timestamp staying on the same
>> value and amcl disappears from tf_monitor. In rxgraph and node info
>> amcl still looks all right though. In the real, robot keeps going
>> until it hits a wall... So the thing is, AMCL stops updating the pose
>> estimate.
>> What works a bit is to give the first goal very close, then the robot
>> gets to it alive, and then usually manages to get to a second goal
>> that can be far away. And then it freezes after reaching the second
>> goal.
>>
>> I have been trying to repair it for a long time and run out of ideas..
>> Would be gratefull for any help.
>>
>> Dominik
>> _______________________________________________
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>>
>>
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