Fixing The Error: DB_RUNRECOVERY: Fatal error, run database recovery

本文提供了解决在使用yum更新rpmdb时遇到的BerkeleyDB库错误的步骤,包括运行特定命令修复问题。

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If you get a message similar to this:

[username@localhost ~]$ sudo yum update
rpmdb: Thread/process 2402/139688794072832 failed: Thread died in Berkeley DB library
error: db4 error(-30974) from dbenv->failchk: DB_RUNRECOVERY: Fatal error, run database recovery
error: cannot open Packages index using db3 - (-30974)
error: cannot open Packages database in /var/lib/rpm
CRITICAL:yum.main:

Error: rpmdb open failed

 

You can fix it by running the following 3 commands:

[username@localhost ~]$ sudo rm -f /var/lib/rpm/__db*
[username@localhost ~]$ sudo db_verify /var/lib/rpm/Packages
[username@localhost ~]$ sudo rpm --rebuilddb

TebLocalPlannerROS: odom_topic: odom # Trajectory teb_autosize: True dt_ref: 0.3 dt_hysteresis: 0.1 max_samples: 800 global_plan_overwrite_orientation: false allow_init_with_backwards_motion: False max_global_plan_lookahead_dist: 2.5 global_plan_viapoint_sep: 0.5 global_plan_prune_distance: 1 exact_arc_length: True feasibility_check_no_poses: 3 publish_feedback: False # Robot max_vel_x: 0.5 max_vel_x_backwards: 0.3 max_vel_y: 0.4 max_vel_theta: 1.0 acc_lim_x: 0.35 acc_lim_y: 0.3 acc_lim_theta: 0.8 min_turning_radius: 0.0 # diff-drive robot (can turn on place!) footprint_model: type: "circular" radius: 0.19 # GoalTolerance xy_goal_tolerance: 0.1 yaw_goal_tolerance: 0.05 free_goal_vel: False complete_global_plan: True # Obstacles min_obstacle_dist: 0.1 # This value must also include our robot radius, since footprint_model is set to "point". inflation_dist: 0.15 include_costmap_obstacles: True costmap_obstacles_behind_robot_dist: 1.5 obstacle_poses_affected: 15 dynamic_obstacle_inflation_dist: 0.2 include_dynamic_obstacles: True costmap_converter_plugin: "" costmap_converter_spin_thread: True costmap_converter_rate: 5 # Optimization no_inner_iterations: 5 no_outer_iterations: 4 optimization_activate: True optimization_verbose: False penalty_epsilon: 0.05 obstacle_cost_exponent: 4 weight_max_vel_x: 2 weight_max_vel_theta: 1 weight_acc_lim_x: 1 weight_acc_lim_theta: 1 weight_kinematics_nh: 200 weight_kinematics_forward_drive: 10000 weight_kinematics_turning_radius: 100 weight_optimaltime: 1 # must be > 0 weight_shortest_path: 0 weight_obstacle: 50 weight_inflation: 0.1 weight_dynamic_obstacle: 10 weight_dynamic_obstacle_inflation: 0.2 weight_viapoint: 1 weight_adapt_factor: 2 # Homotopy Class Planner enable_homotopy_class_planning: True enable_multithreading: True max_number_classes: 4 selection_cost_hysteresis: 1.0 selection_prefer_initial_plan: 0.9 selection_obst_cost_scale: 100.0 selection_alternative_time_cost: False roadmap_graph_no_samples: 15 roadmap_graph_area_width: 5 roadmap_graph_area_length_scale: 1.0 h_signature_prescaler: 0.5 h_signature_threshold: 0.1 obstacle_heading_threshold: 0.45 switching_blocking_period: 0.0 viapoints_all_candidates: True delete_detours_backwards: True max_ratio_detours_duration_best_duration: 3.0 visualize_hc_graph: False visualize_with_time_as_z_axis_scale: False # Recovery shrink_horizon_backup: True shrink_horizon_min_duration: 10 oscillation_recovery: True oscillation_v_eps: 0.1 oscillation_omega_eps: 0.1 oscillation_recovery_min_duration: 10 oscillation_filter_duration: 10 修改
07-02
TebLocalPlannerROS: odom_topic: odom # Trajectory teb_autosize: True dt_ref: 0.3 dt_hysteresis: 0.1 max_samples: 800 global_plan_overwrite_orientation: false allow_init_with_backwards_motion: False max_global_plan_lookahead_dist: 2.5 global_plan_viapoint_sep: 0.5 global_plan_prune_distance: 1 exact_arc_length: True feasibility_check_no_poses: 3 publish_feedback: False # Robot max_vel_x: 0.5 max_vel_x_backwards: 0.3 max_vel_y: 0.4 max_vel_theta: 1.0 acc_lim_x: 0.35 acc_lim_y: 0.3 acc_lim_theta: 0.8 min_turning_radius: 0.0 # diff-drive robot (can turn on place!) footprint_model: type: "circular" radius: 0.19 # GoalTolerance xy_goal_tolerance: 0.1 yaw_goal_tolerance: 0.05 free_goal_vel: False complete_global_plan: True # Obstacles min_obstacle_dist: 0.1 # This value must also include our robot radius, since footprint_model is set to "point". inflation_dist: 0.15 include_costmap_obstacles: True costmap_obstacles_behind_robot_dist: 1.5 obstacle_poses_affected: 15 dynamic_obstacle_inflation_dist: 0.2 include_dynamic_obstacles: True costmap_converter_plugin: "" costmap_converter_spin_thread: True costmap_converter_rate: 5 # Optimization no_inner_iterations: 5 no_outer_iterations: 4 optimization_activate: True optimization_verbose: False penalty_epsilon: 0.05 obstacle_cost_exponent: 4 weight_max_vel_x: 2 weight_max_vel_theta: 1 weight_acc_lim_x: 1 weight_acc_lim_theta: 1 weight_kinematics_nh: 200 weight_kinematics_forward_drive: 10000 weight_kinematics_turning_radius: 100 weight_optimaltime: 1 # must be > 0 weight_shortest_path: 0 weight_obstacle: 50 weight_inflation: 0.1 weight_dynamic_obstacle: 10 weight_dynamic_obstacle_inflation: 0.2 weight_viapoint: 1 weight_adapt_factor: 2 # Homotopy Class Planner enable_homotopy_class_planning: True enable_multithreading: True max_number_classes: 4 selection_cost_hysteresis: 1.0 selection_prefer_initial_plan: 0.9 selection_obst_cost_scale: 100.0 selection_alternative_time_cost: False roadmap_graph_no_samples: 15 roadmap_graph_area_width: 5 roadmap_graph_area_length_scale: 1.0 h_signature_prescaler: 0.5 h_signature_threshold: 0.1 obstacle_heading_threshold: 0.45 switching_blocking_period: 0.0 viapoints_all_candidates: True delete_detours_backwards: True max_ratio_detours_duration_best_duration: 3.0 visualize_hc_graph: False visualize_with_time_as_z_axis_scale: False # Recovery shrink_horizon_backup: True shrink_horizon_min_duration: 10 oscillation_recovery: True oscillation_v_eps: 0.1 oscillation_omega_eps: 0.1 oscillation_recovery_min_duration: 10 oscillation_filter_duration: 10 修改参数
最新发布
07-02
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