Threading Error

[Vinc098]

Hi, can you please tell me what I'm doing wrong? I use the Mushr.io VM Image (Ubuntu 18.04 and ROS Melodic). I'm getting some Threading Errors when I launch it. Thanks!

Here the Error that happens in the Terminal:

ErrorLog.txt

`robot@goose:~/catkin_ws/maps/KreuzungMap_SIM$ roslaunch mushr_rhc_ros sim.launch
... logging to /home/robot/.ros/log/8a30d6e0-cca5-11ec-8896-000c296be463/roslaunch-goose-6946.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://goose:40561/

SUMMARY

PARAMETERS

• /car/rhcontroller/K: 301
• /car/rhcontroller/T: 21
• /car/rhcontroller/car_name: car
• /car/rhcontroller/cost_fn/bounds_cost: 1000.0
• /car/rhcontroller/cost_fn/cost2go_w: 10.0
• /car/rhcontroller/cost_fn/obs_dist_w: 86.0
• /car/rhcontroller/cost_fn/smoothing_discount_rate: 0.0
• /car/rhcontroller/horizon/distance: 3.5
• /car/rhcontroller/horizon/time: -1.5
• /car/rhcontroller/inferred_pose_t: car_pose
• /car/rhcontroller/profile: False
• /car/rhcontroller/static_map: /c2g/static_map
• /car/rhcontroller/traj_chosen_topic: ~traj_chosen
• /car/rhcontroller/trajgen/desired_speed: 2.5
• /car/rhcontroller/trajgen/dispersion/samples: 9
• /car/rhcontroller/trajgen/max_delta: 0.38
• /car/rhcontroller/trajgen/min_delta: -0.38
• /car/rhcontroller/trajgen_name: dispersion
• /car/rhcontroller/world_rep/epsilon: 0.6
• /map_file: /home/robot/catki...
• /rosdistro: melodic
• /rosversion: 1.14.13

NODES
/
c2g_map (map_server/map_server)
map_server (map_server/map_server)
/car/
rhcontroller (mushr_rhc_ros/rhcnode.py)

ROS_MASTER_URI=http://localhost:11311

process[map_server-1]: started with pid [6961]
process[c2g_map-2]: started with pid [6962]
process[car/rhcontroller-3]: started with pid [6967]
[INFO] [1651780598.721966]: Starting RHController
Exception in thread Thread-7:
Traceback (most recent call last):
File "/usr/lib/python2.7/threading.py", line 801, in __bootstrap_inner
self.run()
File "/usr/lib/python2.7/threading.py", line 754, in run
self.__target(*self.__args, **self.__kwargs)
File "/home/robot/catkin_ws/src/mushr_rhc-master/mushr_rhc_ros/src/rhcnode.py", line 61, in start
self.rhctrl = self.load_controller()
File "/home/robot/catkin_ws/src/mushr_rhc-master/mushr_rhc_ros/src/rhcbase.py", line 43, in load_controller
tg = self.get_trajgen(m)
File "/home/robot/catkin_ws/src/mushr_rhc-master/mushr_rhc_ros/src/rhcbase.py", line 60, in get_trajgen
return trajgens[tgname](self.params, self.logger, self.dtype, model)
File "/home/robot/catkin_ws/src/mushr_rhc-master/mushr_rhc_ros/src/librhc/trajgen/dispersion.py", line 25, in init
self.reset()
File "/home/robot/catkin_ws/src/mushr_rhc-master/mushr_rhc_ros/src/librhc/trajgen/dispersion.py", line 107, in reset
self._prune_mother_set(zero_idx, ms_ctrls, ms_poses)
File "/home/robot/catkin_ws/src/mushr_rhc-master/mushr_rhc_ros/src/librhc/trajgen/dispersion.py", line 138, in _prune_mother_set
d = hausdorff(visited_rollout[:, :2], ms_poses[rollout, :, :2])
File "/home/robot/catkin_ws/src/mushr_rhc-master/mushr_rhc_ros/src/librhc/trajgen/dispersion.py", line 127, in hausdorff
return max(directed_hausdorff(a, b)[0], directed_hausdorff(b, a)[0])
File "/usr/lib/python2.7/dist-packages/scipy/spatial/distance.py", line 332, in directed_hausdorff
u = np.asarray(u, dtype=np.float64, order='c')
File "/usr/lib/python2.7/dist-packages/numpy/core/numeric.py", line 531, in asarray
return array(a, dtype, copy=False, order=order)
TypeError: float() argument must be a string or a number
`