c++: fatal error: Killed signal terminated program cc1plus on Jetson Orin Nano

[lida2003]

What's wrong? BTW it's latest code from git hub.

PS: I have sucessfully build fast-planner, although there is segfault issue.

[ 91%] Building CXX object hierarchical_coverage_planner/CMakeFiles/hcplanner_exec.dir/src/hcplanner.cpp.o
c++: fatal error: Killed signal terminated program cc1plus
compilation terminated.
make[2]: *** [hierarchical_coverage_planner/CMakeFiles/hcplanner_exec.dir/build.make:63: hierarchical_coverage_planner/CMakeFiles/hcplanner_exec.dir/src/hcplanner.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:2916: hierarchical_coverage_planner/CMakeFiles/hcplanner_exec.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 92%] Linking CXX executable /home/daniel/HKUST/FC-Planner/FC-Planner/devel/lib/viewpoint_manager/viewpoint_manager_node
[ 93%] Linking CXX executable /home/daniel/HKUST/FC-Planner/FC-Planner/devel/lib/viewpoint_manager/skeleton_viewpoint_node
/usr/bin/ld: warning: libopencv_features2d.so.4.2, needed by /usr/lib/aarch64-linux-gnu/libopencv_calib3d.so.4.2.0, may conflict with libopencv_features2d.so.409
[ 93%] Built target skeleton_viewpoint_node
[ 93%] Built target viewpoint_manager_node
[ 95%] Building CXX object hierarchical_coverage_planner/CMakeFiles/hcplanner.dir/src/hcopp.cpp.o
[ 95%] Building CXX object hierarchical_coverage_planner/CMakeFiles/hcplanner.dir/src/hcsolver.cpp.o
[ 95%] Building CXX object hierarchical_coverage_planner/CMakeFiles/hcplanner.dir/src/hctraj.cpp.o
[ 96%] Linking CXX shared library /home/daniel/HKUST/FC-Planner/FC-Planner/devel/lib/libhcplanner.so
[ 96%] Built target hcplanner
make: *** [Makefile:141: all] Error 2
Invoking "make -j6 -l6" failed

[Chen-Albert-FENG]

According to your output in terminal "c++: fatal error: Killed signal terminated program cc1plus", I only can provide one possible reason: this error is usually caused by the compiler using more memory than the system has available during the compilation process, causing the system to kill the compilation process. Otherwise, could you provide more details about your machine?

[lida2003]

it's jetson orin nano 8GB RAM.

Does hcplanner.cpp need that kind of much RAM to compile? BTW, what kind of hardware are you using for dev, maybe we can consider buy one if possible. Just keep hardware with minimum difference. But I really hope it can be run on Jestson Orin series boards.

[ 91%] Building CXX object hierarchical_coverage_planner/CMakeFiles/hcplanner_exec.dir/src/hcplanner.cpp.o
c++: fatal error: Killed signal terminated program cc1plus
compilation terminated.
make[2]: *** [hierarchical_coverage_planner/CMakeFiles/hcplanner_exec.dir/build.make:63: hierarchical_coverage_planner/CMakeFiles/hcplanner_exec.dir/src/hcplanner.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:2916: hierarchical_coverage_planner/CMakeFiles/hcplanner_exec.dir/all] Error 2

[Chen-Albert-FENG]

Maybe you can try compile this project using one thread, use this command "catkin_make -j1".

[lida2003]

It works, but I got blank view with below commands:

$ sudo cpufreq-set -g performance
$ source devel/setup.bash && roslaunch hierarchical_coverage_planner rviz.launch
$ source devel/setup.bash && roslaunch hierarchical_coverage_planner mbs.launch

[Chen-Albert-FENG]

You should carefully follow the steps shown in README, where "trigger" is located at the top of your Rviz.

[Chen-Albert-FENG]

Hi! Have you successfully run it? @lida2003

[lida2003]

@Chen-Albert-FENG Thanks for quick response. I recorded a short video, which might give some dynamic process of the operation. It seems exception is occured when triggering [2D Nav Goal].

https://www.bilibili.com/video/BV18D421g7kj/

[Chen-Albert-FENG]

Could you provide more details about the errors, e.g., the terminal output? @lida2003

[Chen-Albert-FENG]

@lida2003 In your video, I cannot see what happened in your terminal. Therefore, I run FC-Planner on my machine and take a screenshot of my terminal as a reference. When you trigger [2D Nav Goal], you will see outputs in the terminal, as shown below:


After that, Rviz will show,

[Chen-Albert-FENG]

@lida2003 May I know some possible solution. You can compile the LKH solver on your machine again by 'cd src/hierarchical_coverage_planner/solution/LKH && make'.

[lida2003]

@Chen-Albert-FENG This is the log from two terminals. And video is just a dynamic process, detailed issue, please check below:

mbs.launch - test.log
rviz.launch - test2.log

[Chen-Albert-FENG]

@lida2003 I have already updated the README. You can try it when you feel free.

[Chen-Albert-FENG]

@lida2003 Is there still some errors?

[lida2003]

OK, I thought I have install LKH-3.0.6, so I don't need to install this.

But it failed compiling LKH in FC-Planner src. Does it has something to do with my LKH-3.0.6?

daniel@nvidia:~/HKUST/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/LKH$ make
make -C SRC all
make[1]: Entering directory '/home/daniel/HKUST/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/LKH/SRC'
make LKH
make[2]: Entering directory '/home/daniel/HKUST/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/LKH/SRC'
cc -c -o OBJ/Activate.o Activate.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/AddCandidate.o AddCandidate.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/AddExtraCandidates.o AddExtraCandidates.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/AddTourCandidates.o AddTourCandidates.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/AdjustCandidateSet.o AdjustCandidateSet.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/AdjustClusters.o AdjustClusters.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/AllocateStructures.o AllocateStructures.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/Ascent.o Ascent.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/Best2OptMove.o Best2OptMove.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/Best3OptMove.o Best3OptMove.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/Best4OptMove.o Best4OptMove.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/Best5OptMove.o Best5OptMove.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/BestKOptMove.o BestKOptMove.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/Between.o Between.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/Between_SL.o Between_SL.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/Between_SSL.o Between_SSL.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/BridgeGain.o BridgeGain.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/BuildKDTree.o BuildKDTree.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/C.o C.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/CandidateReport.o CandidateReport.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/ChooseInitialTour.o ChooseInitialTour.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/Connect.o Connect.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/CreateCandidateSet.o CreateCandidateSet.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
CreateCandidateSet.c: In function ‘CreateCandidateSet’:
CreateCandidateSet.c:23:12: warning: unused variable ‘EntryTime’ [-Wunused-variable]
   23 |     double EntryTime = GetTime();
      |            ^~~~~~~~~
cc -c -o OBJ/CreateDelaunayCandidateSet.o CreateDelaunayCandidateSet.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/CreateNNCandidateSet.o CreateNNCandidateSet.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/Create_POPMUSIC_CandidateSet.o Create_POPMUSIC_CandidateSet.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/CreateQuadrantCandidateSet.o CreateQuadrantCandidateSet.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/Delaunay.o Delaunay.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/Distance.o Distance.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/Distance_SPECIAL.o Distance_SPECIAL.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/eprintf.o eprintf.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/ERXT.o ERXT.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/Excludable.o Excludable.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/Exclude.o Exclude.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/FindTour.o FindTour.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/FixedOrCommonCandidates.o FixedOrCommonCandidates.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/Flip.o Flip.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/Flip_SL.o Flip_SL.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/Flip_SSL.o Flip_SSL.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/Forbidden.o Forbidden.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/FreeStructures.o FreeStructures.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/fscanint.o fscanint.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/Gain23.o Gain23.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/GenerateCandidates.o GenerateCandidates.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/Genetic.o Genetic.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/GeoConversion.o GeoConversion.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/GetTime.o GetTime.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/GreedyTour.o GreedyTour.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/Hashing.o Hashing.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/Heap.o Heap.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/IsBackboneCandidate.o IsBackboneCandidate.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/IsCandidate.o IsCandidate.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/IsCommonEdge.o IsCommonEdge.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/IsPossibleCandidate.o IsPossibleCandidate.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/KSwapKick.o KSwapKick.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/LinKernighan.o LinKernighan.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/LKHmain.o LKHmain.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/Make2OptMove.o Make2OptMove.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/Make3OptMove.o Make3OptMove.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/Make4OptMove.o Make4OptMove.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/Make5OptMove.o Make5OptMove.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/MakeKOptMove.o MakeKOptMove.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/MergeTourWithBestTour.o MergeTourWithBestTour.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/MergeWithTourIPT.o MergeWithTourIPT.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/MergeWithTourGPX2.o MergeWithTourGPX2.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
cc -c -o OBJ/gpx.o gpx.c -O3 -Wall -IINCLUDE -DTWO_LEVEL_TREE -g
make[2]: *** No rule to make target 'OBJ/MergeWithTourCLARIST.o', needed by 'LKH'.  Stop.
make[2]: Leaving directory '/home/daniel/HKUST/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/LKH/SRC'
make[1]: *** [Makefile:59: all] Error 2
make[1]: Leaving directory '/home/daniel/HKUST/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/LKH/SRC'
make: *** [Makefile:2: all] Error 2

[Chen-Albert-FENG]

@lida2003 Actually, I have not encountered this compilation error but you can try deleting the executable file 'LKH' and then compiling it.

[Chen-Albert-FENG]

@lida2003 BTW, I have tested in different machines but there are no LKH compilation and FC-Planner errors... :( Maybe the errors is introduced by gcc version? I use gcc9 and what is yours? gcc10 is not supported.

[lida2003]

Right now, it's 9.4.0

$ gcc --version
gcc (Ubuntu 9.4.0-1ubuntu1~20.04.2) 9.4.0
Copyright (C) 2019 Free Software Foundation, Inc.
This is free software; see the source for copying conditions.  There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

[Chen-Albert-FENG]

@lida2003 Have you tested my suggestion already? What's the results?

[lida2003]

@lida2003 Have you tested my suggestion already? What's the results?

Remove LKH doesn't help. And I noticed that there are obj/exec file( which is x86 format, LKH: ELF 64-bit LSB shared object, x86-64, version 1 (SYSV), dynamically linked, interpreter /lib64/ld-linux-x86-64.so.2, BuildID[sha1]=d8d91de75a1792544e41e95688fa039cc9dd8cab, for GNU/Linux 3.2.0, with debug_info, not stripped
) in github.

Is there any script will invoke binary LKH, using relative path?

[lida2003]

@Chen-Albert-FENG which version of LKH are you using?

make[2]: *** No rule to make target 'OBJ/MergeWithTourCLARIST.o', needed by 'LKH'.  Stop.

[Chen-Albert-FENG]

@lida2003 I think you can directly replace LKH by changing a original one in http://webhotel4.ruc.dk/~keld/research/LKH/

[lida2003]

I copyed LKH 3.0.6 binary from RACER, and subsitute x86 binary. It works!

I think we can remove LKH source code, and modify readme as RACER

BTW, related scripts should be updated.

[Chen-Albert-FENG]

Fine. I will update some details. Thank you for testing our project!

[Chen-Albert-FENG]

I copyed LKH 3.0.6 binary from RACER, and subsitute x86 binary. It works!

I think we can remove LKH source code, and modify readme as RACER

BTW, related scripts should be updated.

I figured out the compilation problem since I lost two .c file and now I have added them.

[lida2003]

I think LKH is an opensouce, it's OK to be maintained by LKH.
If I know the scripts, then I can try to fix it (remove LKH source, add readme as RACER).

[Chen-Albert-FENG]

I think LKH is an opensouce, it's OK to be maintained by LKH. If I know the scripts, then I can try to fix it (remove LKH source, add readme as RACER).

FYI, I changed some source code in LKH, thus I cannot do the same documentation as RACER.

[lida2003]

@Chen-Albert-FENG It's a just suggestion. And I have found those lines about LKH. it's NOT a ROS/apt package anyway. So I think it's OK with me.

./hierarchical_coverage_planner/src/hcsolver.cpp:97:      string command_ = "cd " + GlobalSolver_ + " && ./LKH " + GlobalPar_;
./hierarchical_coverage_planner/src/hcsolver.cpp:987:    local_command_ = "cd " + GlobalSolver_ + " && ./LKH " + LocalParF_;
./hierarchical_coverage_planner/launch/pipe.launch:96:  <param name="hcplanner/global_solver" value="$(find hierarchical_coverage_planner)/solution/LKH" type="string"/>
./hierarchical_coverage_planner/launch/mbs.launch:96:  <param name="hcplanner/global_solver" value="$(find hierarchical_coverage_planner)/solution/LKH" type="string"/>
./hierarchical_coverage_planner/launch/christ.launch:97:  <param name="hcplanner/global_solver" value="$(find hierarchical_coverage_planner)/solution/LKH" type="string"/>