MPPI - UpBoard navigation error about navigation2 HOT 13 CLOSED

That’s possible. Try removing the avx and other compiler optimization flags from MPPI. It will likely run slower. Also if you can reproduce with source builds, using Nav2’s traceback tutorial on navigation.ros.org would be helpful info to see where its happening

from navigation2.

Any update?

from navigation2.

Closing - 2 weeks and multiple reminders without a response.

from navigation2.

Sorry for delay. As per your request, I did a traceback and got this error from the controller.

Thread 1 "controller_serv" recived signal SIGILL, Illedgak ubstruction. 0x00007f3df0116005 in 
lass_loader::impl::MetaObject<nav2_mppi_controller::MPPIController, nav2_core2::Controller>::create() const () from 
/ros2_ws/install/nav2_mppi_controller/lib/libmppi_controller.so

I'm currently building mppi, with different flags, but the controller doesn't build every time, so I haven't been able to check which compilation flag causes the error.

from navigation2.

Compile from source with debug flags to get useful information, this still doesn't really tell us much: https://navigation.ros.org/tutorials/docs/get_backtrace.html

from navigation2.

Thank you Steve for quick response.

I'm having problems with backtrace.

1. I remove all other add_compile_options and add add_compile_options(-g) .
2. Add prefix=['xterm -e gdb -ex run --args'], to controller_server in naviagation_launch.py.
3. I also add backward_ros to mppi package.
4. Rebuild (colcon build --symlink-install --event-handlers console_direct+ --cmake-args -DBUILD_TESTING=OFF) and run project and i still see the same error in xterm.

If you know why this is happening, I would appreciate your advice. If it helps, this is what my Nav2 Dockerfile looks like.

from navigation2.

You must also compile MPPI with debug flags. You shouldn't need to add backward_ros nor mess with the compilation flags otherwise. Just add that line, don't remove anything else.

from navigation2.

Hello again Steve,
I managed to run backtrace. There is not much more information as I received the following message.

Thread 1 "controller_serv" recived signal SIGILL, Illedgak ubstruction.
class_loader::impl::MetaObject<nav2_mppi_controller::MPPIController, nav2_core2::Controller>::create (this=<optimized out>)
at /opt/ros/humble/include/class_loader/class_loader/meta_object.hpp:218
218 return new C;

Can you help me with this and is there anything I can do to help?

from navigation2.

I'd start taking a look at build flags, particularly around AVX. Go one by one removing them and see if any in particular are the problem. If you cat /proc/cpuinfo you should be able to see supported flags, that might also be something useful to reference.

Perhaps also useful to make a test widget with just xtensor to see if its something to do with more core libraries that we happen to just be using.

from navigation2.

Hello Steve,
Thank you for your suggestions and I received them accordingly.

Backtrace after removing all add_compile_options (without -g) shows:

Thread 1 "controller_serv" recived signal SIGILL, Illedgal instruction.
class_loader::impl::MetaObject<nav2_mppi_controller::MPPIController (this=0x555555c161a0)
at /ros2_ws/src/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:46
46 MPPIController() = default;

CPU flags:

flags: fpu vme de pse tsc msr pae mce cx8 apic sep mtrr pge mca cmov pat pse36 clflush dts acpi mmx fxsr sse sse2 ss ht tm pbe syscall nx rdtscp lm constant_tsc arch_perfmon pebs bts rep_good nopl xtopology tsc_reliable nonstop_tsc cpuid aperfmperf tsc_known_freq pni pclmulqdq dtes64 monitor ds_cpl vmx est tm2 ssse3 cx16 xtpr pdcm sse4_1 sse4_2 movbe popcnt tsc_deadline_timer aes rdrand lahf_lm 3dnowprefetch epb pti ibrs ibpb stibp tpr_shadow vnmi flexpriority ept vpid tsc_adjust smep erms dtherm ida arat md_clear

I'm not sure what exactly you mean about xtensor, but after testing it seems to me that it may be caused by this.

from navigation2.

At this point, you'll need to do some more debugging on your own, I don't have your hardware and these errors don't give me alot to go off of. I'd recommend just moving to more mainstream hardware. You'll likely spend more of your time trying to figure this out than the board is worth if its for a hobbyist project - and ultimately that CPU might be too weak to even effectively run MPPI.

from navigation2.

Thank you for all your replies. In my free time I will try to do something else. I'll let you know if I discover something. I'm closing the issue for now.

from navigation2.

Sorry I couldn't give you the exact blueprint :(

from navigation2.