启动出错：roslaunch turtlebot_gazebo amcl_demo.launch map_file:=/tmp/my_map.yaml

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启动出错：roslaunch turtlebot_gazebo amcl_demo.launch map_file:=/tmp/my_map.yaml

core service [/rosout] found

process[map_server-1]: started with pid [4654]

process[amcl-2]: started with pid [4675]

*** Error in `/opt/ros/indigo/lib/amcl/amcl': malloc(): smallbin double linked list corrupted: 0x09317188 ***

process[navigation_velocity_smoother-3]: started with pid [4783]

process[kobuki_safety_controller-4]: started with pid [4857]

process[move_base-5]: started with pid [4931]

[ WARN] [1452850112.087962534, 201.010000000]: Detected jump back in time. Clearing TF buffer.

[ WARN] [1452850112.206104792, 201.130000000]: Detected jump back in time. Clearing TF buffer.

[amcl-2] process has died [pid 4675, exit code -6, cmd /opt/ros/indigo/lib/amcl/amcl scan:=scan __name:=amcl __log:=/home/exbot/.ros/log/ce981b1c-bb69-11e5-ade6-4487fc759faa/amcl-2.log].

log file: /home/exbot/.ros/log/ce981b1c-bb69-11e5-ade6-4487fc759faa/amcl-2*.log

[move_base-5] process has died [pid 4931, exit code -11, cmd /opt/ros/indigo/lib/move_base/move_base cmd_vel:=navigation_velocity_smoother/raw_cmd_vel odom:=odom scan:=scan __name:=move_base __log:=/home/exbot/.ros/log/ce981b1c-bb69-11e5-ade6-4487fc759faa/move_base-5.log].

log file: /home/exbot/.ros/log/ce981b1c-bb69-11e5-ade6-4487fc759faa/move_base-5*.log

解决办法：amcl包的版本问题  

重新下载一个amcl包 编译后替换以前的amcl

注意下载时选择相匹配的版本

https://github.com/ros-planning/navigation

放到catkin_ws/src目录下

执行catkin_make

到catkin_ws/devel/lib/amcl/目录下复制编译后的文件到/opt/ros/indigo/lib/amcl目录下替换

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