Code running error

[chengm0-0]

Hello, cheers for your excellent work!
I encountered some issues while running the code with Ubuntu 20.04 and ROS neotic.

1. After I finished compiling and running the two launch files, the terminal got stuck in

[INFO] [1733833892.457769135]: [UniformGrid] Uniforma grid level 0 initialization finished
[ INFO] [1733833892.458838606]: [HierarchicalGrid] Hierarchical grid initialization finished
[ INFO] [1733833893.462574069]: [FSM] No odom
double free or corruption (out)
Stack trace (most recent call last):
[INFO] [1733833896.320144717]: [TrajServer] Initialization finished

does not continue to run, and the robot in RVIZ stops moving in a straight line for about 2 seconds at the beginning. I am not sure what is causing this?

2. When I run the code, sometimes errors occur. Have you ever encountered them?

[ INFO] [1733834008.203712053]: [FSM] No odom
free(): invalid pointer
Stack trace (most recent call last):
#17   Object "", at 0xffffffffffffffff, in 
#16   Object "/home/Exploration/FALCON/catkin_ws/devel/lib/exploration_manager/exploration_node", at 0x55bc2962a5fd, in _start
#15   Source "../csu/libc-start.c", line 308, in __libc_start_main [0x7f05c5486082]
#14   Object "/home/Exploration/FALCON/catkin_ws/devel/lib/exploration_manager/exploration_node", at 0x55bc29628b7d, in main
#13   Object "/opt/ros/noetic/lib/libroscpp.so", at 0x7f05c5c8621e, in ros::spin()
#12   Object "/opt/ros/noetic/lib/libroscpp.so", at 0x7f05c5c9dfce, in ros::SingleThreadedSpinner::spin(ros::CallbackQueue*)
#11   Object "/opt/ros/noetic/lib/libroscpp.so", at 0x7f05c5c4a882, in ros::CallbackQueue::callAvailable(ros::WallDuration)
#10   Object "/opt/ros/noetic/lib/libroscpp.so", at 0x7f05c5c49171, in ros::CallbackQueue::callOneCB(ros::CallbackQueue::TLS*)
#9    Object "/opt/ros/noetic/lib/libroscpp.so", at 0x7f05c5c9b138, in ros::SubscriptionQueue::call()
#8    Object "/home/Exploration/FALCON/catkin_ws/devel/lib/libvoxel_mapping.so", at 0x7f05c5def9b7, in ros::SubscriptionCallbackHelperT<boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, void>::call(ros::SubscriptionCallbackHelperCallParams&)
#7    Object "/home/Exploration/FALCON/catkin_ws/devel/lib/libvoxel_mapping.so", at 0x7f05c5de6351, in boost::detail::function::void_function_obj_invoker1<boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)>, void, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> >::invoke(boost::detail::function::function_buffer&, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const>)
#6    Object "/home/Exploration/FALCON/catkin_ws/devel/lib/libvoxel_mapping.so", at 0x7f05c5dd2f8b, in voxel_mapping::MapServer::depthCallback(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)
#5    Object "/home/Exploration/FALCON/catkin_ws/devel/lib/libtrajectory.so", at 0x7f05c5f5df0d, in pcl::PointCloud<pcl::PointXYZ>::~PointCloud()
#4    Source "/build/glibc-LcI20x/glibc-2.31/malloc/malloc.c", line 4173, in _int_free [0x7f05c54f8b2b]
#3    Source "/build/glibc-LcI20x/glibc-2.31/malloc/malloc.c", line 5347, in malloc_printerr [0x7f05c54f72fb]
#2    Source "../sysdeps/posix/libc_fatal.c", line 155, in __stack_chk_fail [0x7f05c54ef26d]
#1    Source "/build/glibc-LcI20x/glibc-2.31/stdlib/abort.c", line 79, in abort [0x7f05c5484858]
#0    Source "../sysdeps/unix/sysv/linux/raise.c", line 51, in raise [0x7f05c54a500b]
Aborted (Signal sent by tkill() 54193 1000)

3. Does the size of the map have to be known a priori? Will the inaccurate size of the map affect the efficiency of exploration?

[yzhangec]

1. More details needed to locate problem. The 1 second straight line moving is an initialization procedure for exploration planner.
2. Possible render error. Please check if the point cloud or mesh render is running correctly. Please set correct CUDA code in point cloud render.
3. It is not required. Map boundaries will be found during exploration process and inaccessible regions will be removed.