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[Humble] nav2-mppi-controller 1.1.14-1 on arm64 installed from binaries crashes on launch #4333
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@pepisg do you see this? I believe you're also on Humble ARM if I recall correctly. @jimdinunzio please follow the thread in this topic for some possibly relevant information and context about steps forward here: #3767. We ran into a similar situation where build farm binaries were causing a problem that locally compiled did not due to build flags available on the cloud provider jobs that weren't on the local systems.
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I'm running iron on ARM with nav2 built from source. I don't use the binaries so in my case the controller was not crashing, but I found the behavior to be quite erratic: the generated trajectories did not seem to go in accordance with how the critics should score them (sometimes they wouldn't stick to the path even when only PathFollow was in use), and also the optimal trajectory did not seem to be sampled from the generated trajectories. @jimdinunzio does MPPI work normally for you when building from source from the commit you referenced? |
@pepisg if you did run the binaries real quick just to see, does it crash? |
Hey! Sorry for the delay, will do next week when I can easily access a robot and let you know |
Thanks! Your time is appreciated :-) |
Hey! actually I had time do check it out today. With the params file provided by @jimdinunzio and installing ros-iron-nav2-mppi-controller, the controller did not crash launching nav2_bringup's navigation.launch.py:
The collision monitor didn't activate because there don't seem to be CM params in the params file, but otherwise it looked OK. I'd be harder for me to test on humble though. |
@jimdinunzio can you try iron and let me know if you run into an issue? This is a really good datapoint @pepisg, thanks! |
@jimdinunzio Any update? Is this still a problem? Have you had a chance to test? |
Closing due to lack of response. Happy to open if someone can reproduce. |
Bug report
Required Info:
Operating System:
Ubuntu 22.04 Jammy arm64
ROS2 Version:
Humble, installed from binaries
Version or commit hash:
ros-humble-nav2-mppi-controller/jammy,now 1.1.14-1jammy.20240407.044830 arm64 [installed]
DDS implementation:
default
Steps to reproduce issue
navigation.txt
Expected behavior
nav2-mppi-controller works as expected
Actual behavior
nav2-mppi-controller crashes on launch
nav2-mppi-controller.log
Additional information
When built from source commit 8f097af nav2-mppi-controller does not crash on start up
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