Cartographer node crashes while running /start_trajectory service

[naitiknakrani-eic]

Hi,

After starting cartographer node in localization node, I tried executing /finish_trajectory by running

ros2 service call /finish_trajectory cartographer_ros_msgs/srv/FinishTrajectory "{trajectory_id: 0}"

It runs successfully and localization stops.

After that I want to start trajectory again using service call by running,

ros2 service call /start_trajectory cartographer_ros_msgs/srv/StartTrajectory "configuration_directory: "/home/smartrover/fae-kit/ros2_ws/src/smartrover_utils/config" configuration_basename:'2d_localization.lua' use_initial_pose:True initial_pose:position:{x:0.0, y:0.0, z:0.0} orientation:{x:0.0, y:0.0, z:0.0, w:1.0} relative_to_trajectory_id:0"

But unfortunately, node crashes while calling this service, here are the logs. Anyone can help in correcting error ?

[cartographer_node-1] Count: 0
[cartographer_node-1] [WARN] [1725976634.655457815] [cartographer logger]: W0910 13:57:14.000000 86270 preprocessor.cc:62] Specified options.num_threads: 7 exceeds maximum available from the threading model Ceres was compiled with: 6. Bounding to maximum number available.
[cartographer_node-1] [INFO] [1725976635.345666695] [cartographer logger]: I0910 13:57:15.000000 86244 node.cpp:569] Shutdown the subscriber of [scan]
[cartographer_node-1] [INFO] [1725976635.345881838] [cartographer logger]: I0910 13:57:15.000000 86244 map_builder_bridge.cpp:152] Finishing trajectory with ID '0'...
[cartographer_node-1] [INFO] [1725976635.346064308] [cartographer logger]: I0910 13:57:15.000000 86261 pose_graph_2d.cc:538] Remaining work items in queue: 0
[cartographer_node-1] [INFO] [1725976635.346162071] [cartographer logger]: I0910 13:57:15.000000 86261 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
[cartographer_node-1] [INFO] [1725976635.346186360] [cartographer logger]: I0910 13:57:15.000000 86261 constraint_builder_2d.cc:292] Score histogram:
[cartographer_node-1] Count: 0
[cartographer_node-1] [WARN] [1725976635.347631816] [cartographer logger]: W0910 13:57:15.000000 86261 preprocessor.cc:62] Specified options.num_threads: 7 exceeds maximum available from the threading model Ceres was compiled with: 6. Bounding to maximum number available.
[cartographer_node-1] F0910 14:07:55.485502 86244 configuration_file_resolver.cc:50] Check failed: !basename.empty() File basename cannot be empty.
[cartographer_node-1] [FATAL] [1725977275.486378245] [cartographer logger]: F0910 14:07:55.000000 86244 configuration_file_resolver.cc:50] Check failed: !basename.empty() File basename cannot be empty.
[cartographer_node-1] *** Check failure stack trace: ***
[cartographer_node-1] @ 0xffffab41d41c google::LogMessage::Fail()
[cartographer_node-1] @ 0xffffab4246d0 google::LogMessage::SendToLog()
[cartographer_node-1] @ 0xffffab41d0f4 google::LogMessage::Flush()
[cartographer_node-1] @ 0xffffab41eebc google::LogMessageFatal::~LogMessageFatal()
[cartographer_node-1] @ 0xaaaad53fac40 (unknown)
[cartographer_node-1] @ 0xaaaad53e5a28 (unknown)
[cartographer_node-1] @ 0xaaaad535d2b8 (unknown)
[cartographer_node-1] @ 0xaaaad5378810 (unknown)
[cartographer_node-1] @ 0xaaaad53c9718 (unknown)
[cartographer_node-1] @ 0xffffabadb724 (unknown)
[cartographer_node-1] @ 0xffffabad91e0 rclcpp::Executor::execute_service()
[cartographer_node-1] @ 0xffffabad9594 rclcpp::Executor::execute_any_executable()
[cartographer_node-1] @ 0xffffabae159c rclcpp::executors::SingleThreadedExecutor::spin()
[cartographer_node-1] @ 0xffffabae17b4 rclcpp::spin()
[cartographer_node-1] @ 0xffffabae18e8 rclcpp::spin()
[cartographer_node-1] @ 0xaaaad5347698 (unknown)
[cartographer_node-1] @ 0xffffaaa073fc (unknown)
[cartographer_node-1] @ 0xffffaaa074cc __libc_start_main
[cartographer_node-1] @ 0xaaaad534ab70 (unknown)
[ERROR] [cartographer_node-1]: process has died [pid 86244, exit code -6, cmd '/opt/ros/humble/lib/cartographer_ros/cartographer_node -configuration_directory /opt/smartroversdk/ros_pkgs/share/smartrover_utils/config -configuration_basename 2d_localization.lua --ros-args -r __node:=as21_cartographer_node --params-file /tmp/launch_params_nmcy81xt'].