[gmapping-5] process has died

[Kin-Zhang]

Kinetic; and git clone slam_gmapping from Github
I used rslidar-16, so I first used pointcloud_to_laserscan package to get type:Layerscan, and I did use hector_mapping (tutorial.launch) and It was no problem. (so the tf_tree doesn't have any problem and scan topic have their message.) But when I run slam_gmapping_pr2.launch.(I review the odom_frame:odom & base_frame:base_link & scan_topic:scan) Comes error and ROS just dead.

[ INFO] [1568901622.179507147]: Laser is mounted upwards. -maxUrange 20 -maxUrange 25 -sigma 0.05 -kernelSize 1 -lstep 0.05 -lobsGain 3 -astep 0.05 -srr 0.01 -srt 0.02 -str 0.01 -stt 0.02 -linearUpdate 0.5 -angularUpdate 0.436 -resampleThreshold 0.5 -xmin -25 -xmax 25 -ymin -25 -ymax 25 -delta 0.05 -particles 80
It's all good now, but after that, here is the error message:

[gmapping-5] process has died [pid 7754, exit code -11, cmd /home/kin/kintest_ws/devel/lib/gmapping/slam_gmapping scan:=scan __name:=gmapping __log:=/home/kin/.ros/log/3abd2c26-dae0-11e9-ae02-f44d306f9cfc/gmapping-5.log]. log file: /home/kin/.ros/log/3abd2c26-dae0-11e9-ae02-f44d306f9cfc/gmapping-5*.log

[Yeah2333]

Hi guy, we just met the same problem and we were confused about it. And do you fixt it? if so , could you provide some suggestion. thnaks!

[Kin-Zhang]

Hi guy, we just met the same problem and we were confused about it. And do you fixt it? if so , could you provide some suggestion. thnaks!

sorry, I didn't fix it, I just change another mapping algorithm: Karto_mapping

[chaiso-krit]

Hello, I've got this problem also.
After investigating slam_gmapping and openslam_gmapping repository, I found that there is a constant size for laserscan input array at openslam_gmapping/include/gmapping/scanmatcher/scanmatcher.h

If your scan data above 2048 scan, the gmapping node will crash.
To solve this issue, you need to re-compile openslam_gmapping with new constant size, or reduce your laserscan data.

[AmmarAlbakri]

@chaiso-krit
Hello, thanks for your suggestion I did change the laser max beams but can you guide me on how to recompile the package?
I installed the package from ros server like apt install ros-noetic-gmapping so I cant use catkin_make for that.

[Kazusin]

Hello. I am just now in the same situation. So I removed the package that is now installed and cloned a new one.

$ sudo apt-get remove ros-melodic-slam-gmapping
$ cd ~/catkin_ws/
$ git clone [email protected]:ros-perception/slam_gmapping.git

After this, you can edit any folder and change the values.

[krrish-jindal]

2048

did anyone solve gmapping error i had tried to change lidar sample but still facing this issue

[TaiyouKomazawa]

It was found that increasing LASER_MAXBEAMS causes a stack memory overflow.
For example, if LASER_MAXBEAMS=2050, we can see the buffer overrun error code from malloc

malloc(): memory corruption Aborted (core dump)

By allocating an array on the stack memory to store the input of the laser, we can assume that the maximum amount of allocatable memory has been exceeded.
scanmatcher.h#L48

The solution is to put this array in the heap area.

double *m_laserAngles;

And in the ScanMatcher constructor, scanmatcher.cpp#L16

m_laserAngles = new double[LASER_MAXBEAMS];

to accept a larger laser beam input.
Of course, be sure to free memory in the destructor. scanmatcher.cpp#L53

delete[] m_laserAngles;

[EnderDragonEP]

If you're using the pointcloud_to_laserscan package to convert pointclouds from 3D pointclouds to 2D laser scan, try set the angle_increment to a higher value. I was using 0.003 for the pass 2 years but somehow this is the cause now. I change it to 0.005 and everything works again.

[SAJIB3489]

I had the same issue.

The main problem was in the parameter of the lidar sensor plugin. This one is perfect.

 <!-- front lidar -->
  <gazebo reference="front_lidar_1">
    <sensor type="ray" name="front_hokuyo_sensor">
      <pose>0 0 0 0 0 0</pose>
      <visualize>true</visualize>
      <update_rate>40</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>720</samples>
            <resolution>1</resolution>
            <min_angle>-1.570796</min_angle>
            <max_angle>1.570796</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.10</min>
          <max>30.0</max>
          <resolution>0.01</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <!-- Noise parameters based on published spec for Hokuyo laser
               achieving "+-30mm" accuracy at range < 10m.  A mean of 0.0m and
               stddev of 0.01m will put 99.7% of samples within 0.03m of the true
               reading. -->
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
      <plugin name="gazebo_ros_front_hokuyo_controller" filename="libgazebo_ros_laser.so">
        <topicName>/scan</topicName>
        <frameName>front_lidar_1</frameName>
      </plugin>
    </sensor>
  </gazebo>