Problem running SBPL on ARM (Odroid-U3)
Hi all,
I am facing a strange problem. I am using ROS move_base and SBPL for motion-primitive-based path planning. I have generated some motion primitives for SBPL and everything works fine using my laptop (Intel i5, Ubuntu 14.04). The robot plans the path and moves fine along the path.
Now I am using the very same modules (and configs) on my Odroid U3 (ARM quadcore) and it cannot find a solution. Top shows that the core is at 100%. Here is the output from move_base
[ INFO] [1412691428.999248673]: Using plugin "obstacle_layer"
[ INFO] [1412691429.127272381]: Subscribed to Topics:
[ INFO] [1412691429.172789423]: Using plugin "inflation_layer"
[ INFO] [1412691429.443358089]: Name is SBPLLatticePlanner
[ INFO] [1412691430.931921673]: Planning with ARA*
[ INFO] [1412691430.932365757]: [sbpl_lattice_planner] Initialized successfully
[ INFO] [1412691430.989290632]: Using plugin "obstacle_layer"
[ INFO] [1412691431.241103424]: Subscribed to Topics:
[ INFO] [1412691431.286346674]: Using plugin "inflation_layer"
[ INFO] [1412691431.688199674]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1412691431.732307049]: Sim period is set to 0.10
[ INFO] [1412691432.897083008]: odom received!
[ INFO] [1412691492.209781994]: [sbpl_lattice_planner] getting start point (3.48925,-0.84064) goal point (2.00517,-1.3133) [ INFO] [1412691502.490063749]: Solution not found
[ WARN] [1412691502.492333249]: Map update loop missed its desired rate of 2.0000Hz... the loop actually took 10.0025 seconds
[ INFO] [1412691502.492543791]: [sbpl_lattice_planner] getting start point (3.48925,-0.84064) goal point (2.00517,-1.3133)
[ INFO] [1412691512.771037004]: Solution not found
I am using the following repos of the modules:
ROS indigo
sbpl_lattice_planner: https://github.com/meyerj/sbpl_lattic...
sbpl: https://github.com/sbpl/sbpl.git
Any ideas? I actually have no Idea where to start looking.
Cheers,
Markus