运行报错，Illegal pathId=-1 #12
Description
运行命令：roslaunch primitive_planner swarm.launch的终端输出
运行命令：roslaunch primitive_planner swarm.launch的终端输出
process[drone_0_bridge_node-1]: started with pid [14440]
process[random_forest-2]: started with pid [14441]
process[rviz-3]: started with pid [14446]
process[drone_0_primitive_planner_node-4]: started with pid [14448]
process[drone_0_traj_server-5]: started with pid [14450]
process[drone_0_poscmd_2_odom-6]: started with pid [14451]
process[drone_0_odom_visualization-7]: started with pid [14461]
process[drone_0_pcl_render_node-8]: started with pid [14467]
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-ljin'
process[drone_1_primitive_planner_node-9]: started with pid [14479]
process[drone_1_traj_server-10]: started with pid [14485]
process[drone_1_poscmd_2_odom-11]: started with pid [14487]
process[drone_1_odom_visualization-12]: started with pid [14494]
process[drone_1_pcl_render_node-13]: started with pid [14498]
process[drone_2_primitive_planner_node-14]: started with pid [14513]
[ERROR] [1760424341.610658438]: Illegal pathID=-1
[rosmsg_tcp_bridge] start running
process[drone_2_traj_server-15]: started with pid [14516]
process[drone_2_poscmd_2_odom-16]: started with pid [14518]
process[drone_2_odom_visualization-17]: started with pid [14521]
process[drone_2_pcl_render_node-18]: started with pid [14530]
process[drone_3_primitive_planner_node-19]: started with pid [14540]
MESA: warning: Driver does not support the 0xa7a8 PCI ID.
libGL error: failed to create dri screen
libGL error: failed to load driver: iris
process[drone_3_traj_server-20]: started with pid [14545]
process[drone_3_poscmd_2_odom-21]: started with pid [14548]
process[drone_3_odom_visualization-22]: started with pid [14551]
process[drone_3_pcl_render_node-23]: started with pid [14556]
MESA: warning: Driver does not support the 0xa7a8 PCI ID.
libGL error: failed to create dri screen
libGL error: failed to load driver: iris
process[drone_4_primitive_planner_node-24]: started with pid [14570]
process[drone_4_traj_server-25]: started with pid [14608]
process[drone_4_poscmd_2_odom-26]: started with pid [14609]
process[drone_4_odom_visualization-27]: started with pid [14618]
process[drone_4_pcl_render_node-28]: started with pid [14624]
process[drone_5_primitive_planner_node-29]: started with pid [14635]
process[drone_5_traj_server-30]: started with pid [14638]
process[drone_5_poscmd_2_odom-31]: started with pid [14640]
[ERROR] [1760424341.835609800]: Illegal pathID=-1
process[drone_5_odom_visualization-32]: started with pid [14641]
process[drone_5_pcl_render_node-33]: started with pid [14647]
process[drone_6_primitive_planner_node-34]: started with pid [14675]
process[drone_6_traj_server-35]: started with pid [14681]
process[drone_6_poscmd_2_odom-36]: started with pid [14684]
process[drone_6_odom_visualization-37]: started with pid [14686]
process[drone_6_pcl_render_node-38]: started with pid [14692]
process[drone_7_primitive_planner_node-39]: started with pid [14709]
process[drone_7_traj_server-40]: started with pid [14711]
process[drone_7_poscmd_2_odom-41]: started with pid [14712]
process[drone_7_odom_visualization-42]: started with pid [14714]
process[drone_7_pcl_render_node-43]: started with pid [14718]
[ERROR] [1760424341.965897595]: Illegal pathID=-1
process[drone_8_primitive_planner_node-44]: started with pid [14737]
process[drone_8_traj_server-45]: started with pid [14741]
process[drone_8_poscmd_2_odom-46]: started with pid [14743]
process[drone_8_odom_visualization-47]: started with pid [14745]
process[drone_8_pcl_render_node-48]: started with pid [14753]
process[drone_9_primitive_planner_node-49]: started with pid [14762]
process[drone_9_traj_server-50]: started with pid [14767]
[WARN] [1760424342.050835816]: Finished generate random map
process[drone_9_poscmd_2_odom-51]: started with pid [14769]
process[drone_9_odom_visualization-52]: started with pid [14773]
process[drone_9_pcl_render_node-53]: started with pid [14777]
process[drone_10_primitive_planner_node-54]: started with pid [14792]
process[drone_10_traj_server-55]: started with pid [14800]
process[drone_10_poscmd_2_odom-56]: started with pid [14801]
process[drone_10_odom_visualization-57]: started with pid [14806]
process[drone_10_pcl_render_node-58]: started with pid [14815]
[WARN] [1760424342.149278262]: Global Pointcloud received..
[WARN] [1760424342.151097380]: Global Pointcloud received..
[WARN] [1760424342.153836157]: Global Pointcloud received..
[WARN] [1760424342.157171587]: Global Pointcloud received..
process[drone_11_primitive_planner_node-59]: started with pid [14825]
process[drone_11_traj_server-60]: started with pid [14827]
process[drone_11_poscmd_2_odom-61]: started with pid [14828]
process[drone_11_odom_visualization-62]: started with pid [14832]
process[drone_11_pcl_render_node-63]: started with pid [14837]
process[drone_12_primitive_planner_node-64]: started with pid [14850]
process[drone_12_traj_server-65]: started with pid [14856]
process[drone_12_poscmd_2_odom-66]: started with pid [14857]
process[drone_12_odom_visualization-67]: started with pid [14858]
process[drone_12_pcl_render_node-68]: started with pid [14863]
[ERROR] [1760424342.299584741]: Illegal pathID=-1
process[drone_13_primitive_planner_node-69]: started with pid [14874]
process[drone_13_traj_server-70]: started with pid [14882]
process[drone_13_poscmd_2_odom-71]: started with pid [14884]
process[drone_13_odom_visualization-72]: started with pid [14891]
process[drone_13_pcl_render_node-73]: started with pid [14893]
process[drone_14_primitive_planner_node-74]: started with pid [14903]
process[drone_14_traj_server-75]: started with pid [14913]
process[drone_14_poscmd_2_odom-76]: started with pid [14914]
process[drone_14_odom_visualization-77]: started with pid [14916]
process[drone_14_pcl_render_node-78]: started with pid [14922]
process[drone_15_primitive_planner_node-79]: started with pid [14935]
process[drone_15_traj_server-80]: started with pid [14942]
process[drone_15_poscmd_2_odom-81]: started with pid [14943]
process[drone_15_odom_visualization-82]: started with pid [14948]
process[drone_15_pcl_render_node-83]: started with pid [14953]
process[drone_16_primitive_planner_node-84]: started with pid [14961]
process[drone_16_traj_server-85]: started with pid [14970]
process[drone_16_poscmd_2_odom-86]: started with pid [14971]
process[drone_16_odom_visualization-87]: started with pid [14975]
process[drone_16_pcl_render_node-88]: started with pid [14980]
process[drone_17_primitive_planner_node-89]: started with pid [14989]
[ERROR] [1760424342.516329133]: Illegal pathID=-1
process[drone_17_traj_server-90]: started with pid [14998]
process[drone_17_poscmd_2_odom-91]: started with pid [14999]
process[drone_17_odom_visualization-92]: started with pid [15002]
process[drone_17_pcl_render_node-93]: started with pid [15010]
process[drone_18_primitive_planner_node-94]: started with pid [15023]
process[drone_18_traj_server-95]: started with pid [15029]
[INFO] [1760424342.566594056]: [Traj server]: ready.
process[drone_18_poscmd_2_odom-96]: started with pid [15030]
process[drone_18_odom_visualization-97]: started with pid [15036]
process[drone_18_pcl_render_node-98]: started with pid [15043]
process[drone_19_primitive_planner_node-99]: started with pid [15050]
process[drone_19_traj_server-100]: started with pid [15059]
process[drone_19_poscmd_2_odom-101]: started with pid [15060]
process[drone_19_odom_visualization-102]: started with pid [15062]
process[drone_19_pcl_render_node-103]: started with pid [15066]
[drone_0_primitive_planner_node-4] process has finished cleanly
log file: /home/ljin/.ros/log/b0caadfc-a8c1-11f0-8724-70089431abf5/drone_0_primitive_planner_node-4*.log
[ERROR] [1760424342.692654478]: Illegal pathID=-1
[ERROR] [1760424342.839182873]: Illegal pathID=-1
[INFO] [1760424342.863456756]: [Traj server]: ready.
[ERROR] [1760424343.017958784]: Illegal pathID=-1
[INFO] [1760424343.058507749]: [Traj server]: ready.
[ERROR] [1760424343.090730395]: Illegal pathID=-1
[ERROR] [1760424343.131054393]: Illegal pathID=-1
[WARN] [1760424343.152082589]: Global Pointcloud received..
[WARN] [1760424343.152290987]: Global Pointcloud received..
[WARN] [1760424343.154828083]: Global Pointcloud received..
[WARN] [1760424343.155166659]: Global Pointcloud received..
[WARN] [1760424343.156270589]: Global Pointcloud received..
[WARN] [1760424343.156720007]: Global Pointcloud received..
[WARN] [1760424343.156906015]: Global Pointcloud received..
[WARN] [1760424343.157273457]: Global Pointcloud received..
[WARN] [1760424343.157675581]: Global Pointcloud received..
[WARN] [1760424343.159274161]: Global Pointcloud received..
[ERROR] [1760424343.160903307]: Illegal pathID=-1
[drone_1_primitive_planner_node-9] process has finished cleanly
log file: /home/ljin/.ros/log/b0caadfc-a8c1-11f0-8724-70089431abf5/drone_1_primitive_planner_node-9*.log
[WARN] [1760424343.182741946]: Global Pointcloud received..
[WARN] [1760424343.199540690]: Global Pointcloud received..
[ERROR] [1760424343.200596658]: Illegal pathID=-1
[ERROR] [1760424343.216241549]: Illegal pathID=-1
[ERROR] [1760424343.248379253]: Illegal pathID=-1
[ERROR] [1760424343.259970627]: Illegal pathID=-1
[ERROR] [1760424343.278222039]: Illegal pathID=-1
[drone_2_primitive_planner_node-14] process has finished cleanly
log file: /home/ljin/.ros/log/b0caadfc-a8c1-11f0-8724-70089431abf5/drone_2_primitive_planner_node-14*.log
[ERROR] [1760424343.293085447]: Illegal pathID=-1
[ERROR] [1760424343.306364004]: Illegal pathID=-1
[ERROR] [1760424343.311319710]: Illegal pathID=-1
[ERROR] [1760424343.327920897]: Illegal pathID=-1
[drone_3_primitive_planner_node-19] process has finished cleanly
log file: /home/ljin/.ros/log/b0caadfc-a8c1-11f0-8724-70089431abf5/drone_3_primitive_planner_node-19*.log
[drone_4_primitive_planner_node-24] process has finished cleanly
log file: /home/ljin/.ros/log/b0caadfc-a8c1-11f0-8724-70089431abf5/drone_4_primitive_planner_node-24*.log
[drone_5_primitive_planner_node-29] process has finished cleanly
log file: /home/ljin/.ros/log/b0caadfc-a8c1-11f0-8724-70089431abf5/drone_5_primitive_planner_node-29*.log
[drone_6_primitive_planner_node-34] process has finished cleanly
log file: /home/ljin/.ros/log/b0caadfc-a8c1-11f0-8724-70089431abf5/drone_6_primitive_planner_node-34*.log
[drone_7_primitive_planner_node-39] process has finished cleanly
log file: /home/ljin/.ros/log/b0caadfc-a8c1-11f0-8724-70089431abf5/drone_7_primitive_planner_node-39*.log
[drone_8_primitive_planner_node-44] process has finished cleanly
log file: /home/ljin/.ros/log/b0caadfc-a8c1-11f0-8724-70089431abf5/drone_8_primitive_planner_node-44*.log
[drone_9_primitive_planner_node-49] process has finished cleanly
log file: /home/ljin/.ros/log/b0caadfc-a8c1-11f0-8724-70089431abf5/drone_9_primitive_planner_node-49*.log
[drone_10_primitive_planner_node-54] process has finished cleanly
log file: /home/ljin/.ros/log/b0caadfc-a8c1-11f0-8724-70089431abf5/drone_10_primitive_planner_node-54*.log
[drone_11_primitive_planner_node-59] process has finished cleanly
log file: /home/ljin/.ros/log/b0caadfc-a8c1-11f0-8724-70089431abf5/drone_11_primitive_planner_node-59*.log
[drone_12_primitive_planner_node-64] process has finished cleanly
log file: /home/ljin/.ros/log/b0caadfc-a8c1-11f0-8724-70089431abf5/drone_12_primitive_planner_node-64*.log
[drone_13_primitive_planner_node-69] process has finished cleanly
log file: /home/ljin/.ros/log/b0caadfc-a8c1-11f0-8724-70089431abf5/drone_13_primitive_planner_node-69*.log
[drone_14_primitive_planner_node-74] process has finished cleanly
log file: /home/ljin/.ros/log/b0caadfc-a8c1-11f0-8724-70089431abf5/drone_14_primitive_planner_node-74*.log
[drone_15_primitive_planner_node-79] process has finished cleanly
log file: /home/ljin/.ros/log/b0caadfc-a8c1-11f0-8724-70089431abf5/drone_15_primitive_planner_node-79*.log
[drone_17_primitive_planner_node-89] process has finished cleanly
log file: /home/ljin/.ros/log/b0caadfc-a8c1-11f0-8724-70089431abf5/drone_17_primitive_planner_node-89*.log
[drone_18_primitive_planner_node-94] process has finished cleanly
log file: /home/ljin/.ros/log/b0caadfc-a8c1-11f0-8724-70089431abf5/drone_18_primitive_planner_node-94*.log
[drone_19_primitive_planner_node-99] process has finished cleanly
log file: /home/ljin/.ros/log/b0caadfc-a8c1-11f0-8724-70089431abf5/drone_19_primitive_planner_node-99*.log
[INFO] [1760424343.527816412]: [Traj server]: ready.
[drone_16_primitive_planner_node-84] process has finished cleanly
log file: /home/ljin/.ros/log/b0caadfc-a8c1-11f0-8724-70089431abf5/drone_16_primitive_planner_node-84*.log
[INFO] [1760424343.829550226]: [Traj server]: ready.
[INFO] [1760424344.033992319]: [Traj server]: ready.
[INFO] [1760424344.109030472]: [Traj server]: ready.
[WARN] [1760424344.149831559]: Global Pointcloud received..
[WARN] [1760424344.155991554]: Global Pointcloud received..
[WARN] [1760424344.156022332]: Global Pointcloud received..
[WARN] [1760424344.156996915]: Global Pointcloud received..
[INFO] [1760424344.167431724]: [Traj server]: ready.
[INFO] [1760424344.215812993]: [Traj server]: ready.
[INFO] [1760424344.243488350]: [Traj server]: ready.
[INFO] [1760424344.266368480]: [Traj server]: ready.
[INFO] [1760424344.281249331]: [Traj server]: ready.
[INFO] [1760424344.301148813]: [Traj server]: ready.
[INFO] [1760424344.314037156]: [Traj server]: ready.
[INFO] [1760424344.326627329]: [Traj server]: ready.
[INFO] [1760424344.334631988]: [Traj server]: ready.
[INFO] [1760424344.336761592]: [Traj server]: ready.
[INFO] [1760424344.342215774]: [Traj server]: ready.
[INFO] [1760424344.345122157]: [Traj server]: ready.
[INFO] [1760424344.352502546]: [Traj server]: ready.
[rospack] Error: failed to parse command-line options: too many positional options have been specified on the command line
[librospack]: error while executing command
[rospack] Error: failed to parse command-line options: too many positional options have been specified on the command line
[librospack]: error while executing command
[rospack] Error: failed to parse command-line options: too many positional options have been specified on the command line
[librospack]: error while executing command