[Rock-dev] [rock] #268: Corridor Servoing runs int assertion very often

rock noreply at opendfki.de
Thu May 16 14:52:14 CEST 2013 

#268: Corridor Servoing runs int assertion very often
------------------------------+-----------------------------------
 Reporter:  raul.dominguez@…  |      Owner:  rock-dev-mailing-list
     Type:  defect            |     Status:  new
 Priority:  major             |  Milestone:
Component:  base              |   Keywords:  corridor_servoing
------------------------------+-----------------------------------
 When running corridor servoing it stops very often after begin or even
 does not start.
 The logged data of the error:


 0.151 [ Warning][TaskContextServer()] CTaskContext
 'seekur_corridor_servoing' already bound to CORBA Naming Service.
 0.151 [ Warning][TaskContextServer()] Trying to rebind... done. New
 CTaskContext bound to Naming Service.
 0.152 [ Warning][TaskContextServer()] CTaskContext
 'seekur_corridor_servoing_Logger' already bound to CORBA Naming Service.
 0.152 [ Warning][TaskContextServer()] Trying to rebind... done. New
 CTaskContext bound to Naming Service.
 WARNING: a buffer size of 0 means a dynamically allocating stream aligner
 buffer
 setting min sampling to 11.537
 WARNING: a buffer size of 0 means a dynamically allocating stream aligner
 buffer
 WARNING: a buffer size of 0 means a dynamically allocating stream aligner
 buffer
 target:
   point: -0.138846 -0.990178 -0.000113432
   normal: -0.14112 -0.989992 -0.000113432
 Error speed is negative -0.0208963
 Error speed is negative -0.0201283
 Error speed is negative -0.0206396
 Error speed is negative -0.02
 Error speed is negative -0.02
 Error speed is negative -0.0137281
 Error speed is negative -0.0140073
 Error speed is negative -0.013379
 Error speed is negative -0.013379
 Error speed is negative -0.0169574
 Error speed is negative -0.0166782
 Error speed is negative -0.0166782
 Error speed is negative -0.0173065
 Error speed is negative -0.0138564
 Error speed is negative -0.013879
 Error speed is negative -0.013379
 Error speed is negative -0.013379
 Error speed is negative -0.0174348
 Error speed is negative -0.0533449
 Error speed is negative -0.0532053
 Error speed is negative -0.0527864
 Error speed is negative -0.0527864
 Error speed is negative -0.017097
 Error speed is negative -0.0166782
 Error speed is negative -0.0166782
 Error speed is negative -0.0173763
 dist to goal 0.00387835
 dist to goal 0.00453122
 dist to goal 0.0061752
 dist to goal 0.0114504
 dist to goal 0.012597
 dist to goal 0.00644429
 dist to goal 0.00463438
 dist to goal 0.00391759
 dist to goal 0.0037071
 dist to goal 0.00387836
 dist to goal 0.00453124
 dist to goal 0.00617526
 dist to goal 0.0114507
 dist to goal 0.0125967
 dist to goal 0.00644422
 dist to goal 0.00463436
 dist to goal 0.00391758
 dist to goal 0.00387835
 dist to goal 0.00371136
 dist to goal 0.00371136
 TreeSearch: found solution at c=9.87725
 found invalid heuristic cost
   node at -0.0914164 -0.79143 -0.000113432 has c=7.98644 h=2.03453
 hc=10.021
   the corresponding leaf at -0.167741 -1.18408 -0.000113432 has cost
 9.87725
 found invalid heuristic cost
   node at -0.0949064 -0.59146 -0.000113432 has c=6 h=4.00929 hc=10.0093
   the corresponding leaf at -0.167741 -1.18408 -0.000113432 has cost
 9.87725
 found invalid heuristic cost
   node at -0.0505967 -0.39643 -0.000113432 has c=4 h=6.0026 hc=10.0026
   the corresponding leaf at -0.167741 -1.18408 -0.000113432 has cost
 9.87725
 found invalid heuristic cost
   node at -0.0172429 -0.199231 -0.000113432 has c=2 h=8.00192 hc=10.0019
   the corresponding leaf at -0.167741 -1.18408 -0.000113432 has cost
 9.87725
 WARN: the chosen heuristic does not seem to be a minorant
 target:
   point: -0.150201 -1.13333 0.000124185
   normal: -0.14112 -0.989992 0.000124185
 Error speed is negative -0.0185856
 Error speed is negative -0.0206582
 Error speed is negative -0.0183362
 Error speed is negative -0.0183362
 Error speed is negative -0.0322309
 Error speed is negative -0.0189645
 Error speed is negative -0.0183362
 Error speed is negative -0.0183362
 Error speed is negative -0.0140946
 Error speed is negative -0.0324803
 Error speed is negative -0.0187151
 Error speed is negative -0.0183362
 Error speed is negative -0.0183362
 Error speed is negative -0.0138452
 Error speed is negative -0.013379
 Error speed is negative -0.013379
 Error speed is negative -0.0134663
 Error speed is negative -0.013379
 Error speed is negative -0.013379
 Error speed is negative -0.0190169
 Error speed is negative -0.0193311
 Error speed is negative -0.0190169
 Error speed is negative -0.0591804
 Error speed is negative -0.0581856
 Error speed is negative -0.0208378
 Error speed is negative -0.0581856
 Error speed is negative -0.0581856
 Error speed is negative -0.0191042
 Error speed is negative -0.0590931
 Error speed is negative -0.0142691
 Error speed is negative -0.0534671
 Error speed is negative -0.0186853
 Error speed is negative -0.0527864
 Error speed is negative -0.0527864
 Error speed is negative -0.0611375
 Error speed is negative -0.0609804
 Error speed is negative -0.0609804
 Error speed is negative -0.088364
 Error speed is negative -0.164182
 Error speed is negative -0.163222
 Error speed is negative -0.163222
 dist to goal 0.0198171
 dist to goal 0.0144163
 dist to goal 0.0122729
 dist to goal 0.0121572
 dist to goal 0.011686
 Error speed is negative -0.0619403
 dist to goal 0.0144575
 dist to goal 0.0199245
 dist to goal 0.0380263
 dist to goal 0.0375686
 dist to goal 0.0198169
 dist to goal 0.0144162
 dist to goal 0.0122729
 dist to goal 0.0116797
 Error speed is negative -0.140785
 dist to goal 0.0122886
 dist to goal 0.0118289
 Error speed is negative -0.14
 dist to goal 0.0118289
 Error speed is negative -0.14
 TreeSearch: found solution at c=10.1435
 target:
   point: -0.248256 -1.79992 7.85437e-05
   normal: -0.14112 -0.989992 7.85437e-05
 Error speed is negative -0.0604894
 Error speed is negative -0.0603484
 Error speed is negative -0.06
 Error speed is negative -0.06
 Error speed is negative -0.0828771
 Error speed is negative -0.0446273
 Error speed is negative -0.0439298
 Error speed is negative -0.0439298
 Error speed is negative -0.0337165
 Error speed is negative -0.0335238
 Error speed is negative -0.0335238
 Error speed is negative -0.0117378
 Error speed is negative -0.0117378
 Error speed is negative -0.0447676
 Error speed is negative -0.0442789
 Error speed is negative -0.0609774
 Error speed is negative -0.0439298
 Error speed is negative -0.0439298
 Error speed is negative -0.0920784
 Error speed is negative -0.0920784
 Error speed is negative -0.0920784
 Error speed is negative -0.0696755
 Error speed is negative -0.0335238
 Error speed is negative -0.0335238
 Error speed is negative -0.0339951
 Error speed is negative -0.0691868
 Error speed is negative -0.0691868
 Error speed is negative -0.0446803
 Error speed is negative -0.0125581
 Error speed is negative -0.0117378
 Error speed is negative -0.0117378
 Error speed is negative -0.0120868
 Error speed is negative -0.0117378
 Error speed is negative -0.0117378
 Error speed is negative -0.0440695
 Error speed is negative -0.0439298
 Error speed is negative -0.0439298
 Error speed is negative -0.0442789
 Error speed is negative -0.0439298
 Error speed is negative -0.0439298
 dist to goal 0.00868462
 dist to goal 0.0101466
 dist to goal 0.0138279
 dist to goal 0.0256405
 dist to goal 0.028208
 dist to goal 0.0144304
 dist to goal 0.0103776
 dist to goal 0.00877249
 dist to goal 0.00830114
 dist to goal 0.00868464
 dist to goal 0.0101466
 dist to goal 0.013828
 dist to goal 0.025641
 dist to goal 0.0282073
 dist to goal 0.0144303
 dist to goal 0.0103775
 dist to goal 0.0101466
 dist to goal 0.00830114
 dist to goal 0.00855008
 dist to goal 0.00855008
 TreeSearch: found solution at c=10.0598
 target:
   point: -0.362518 -2.36681 0.000106537
   normal: -0.14112 -0.989992 0.000106537
 Error speed is negative -0.0673957
 Error speed is negative -0.0673338
 Error speed is negative -0.0673338
 Error speed is negative -0.0188344
 Error speed is negative -0.0183362
 Error speed is negative -0.0183362
 seekur_corridor_servoing:
 /home/seekurjr/software/planning/vfh_star/src/TreeSearch.cpp:753: void
 vfh_star::NNLookup::setNode(vfh_star::TreeNode*): Assertion
 `getIndex(*node, x, y)' failed.

-- 
Ticket URL: <http://rock.opendfki.de/ticket/268>
rock <http://rock.opendfki.de>
rock: the robot construction kit

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