gmapping crashes when using sweep

[sevenbitbyte]

Gmapping does not work out of the box with the sweep. I setup a pipeline of sweep -> pointcloud_to_laserscan -> gmapping. Gmapping crashes as soon as the first scan comes in.

[vitorboschi]

I had this issue and it turned out that pointcloud_to_laserscan was generating a really dense scan by default. Gmapping couldn't get enough memory to process it and crashed. The solution I've found was to set a smaller value for angle_increment in pointcloud_to_laserscan, like 0.0174533 (1 degree).

[sevenbitbyte]

Oh great point, this seems to have been my issue. Clearly not a bug in sweep so closing this issue.

[yubenjamin2]

Hi @sevenbitbyte do you remember what the crash was? Having a similar issue but was wondering if your gmapping crashing is similar to my scenario. (Tried the solution proposed by @vitorboschi but it didn't work.

Basically after it says "Registering first scan" the gmapping process just dies before it can even create the associated log file, which isn't helpful.

Thanks