Hi Konrad,

Could you please send me a urdf for your manipulator and I will try to
reproduce your problem.

Regards,
Sachin

On Sun, Oct 17, 2010 at 9:23 AM, Konrad Banachowicz <konradb3@gmail.com> wrote:
> Hi all,
> I have problem with running ompl motion planner on our irb-6 manipulator.
> When i send a goal to move arm ompl-planning node ends with segfault.
> This is very strange to me because stomp-motion-planner works for me.
> Here is backtrace :
> GNU gdb (GDB) 7.1-ubuntu
> Copyright (C) 2010 Free Software Foundation, Inc.
> License GPLv3+: GNU GPL version 3 or later
> <http://gnu.org/licenses/gpl.html>
> This is free software: you are free to change and redistribute it.
> There is NO WARRANTY, to the extent permitted by law.  Type "show copying"
> and "show warranty" for details.
> This GDB was configured as "x86_64-linux-gnu".
> For bug reporting instructions, please see:
> <http://www.gnu.org/software/gdb/bugs/>...
> Reading symbols from
> /opt/ros/cturtle/stacks/motion_planners/ompl_planning/motion_planner...done.
> (gdb) r
> Starting program:
> /opt/ros/cturtle/stacks/motion_planners/ompl_planning/motion_planner
> __name:=motion_planner
> __log:=/home/konrad/.ros/log/479ff7be-d9de-11df-87a9-485b397ce758/motion_planner-1.log
> [Thread debugging using libthread_db enabled]
> [New Thread 0x7fffebbbf710 (LWP 9194)]
> [New Thread 0x7fffeb3be710 (LWP 9195)]
> [New Thread 0x7fffeabbd710 (LWP 9196)]
> [New Thread 0x7fffea3bc710 (LWP 9201)]
> [New Thread 0x7fffe9bbb710 (LWP 9204)]
> [ WARN] [1287330043.490047007]: No default collision operations specified
> [ INFO] [1287330043.493481452]: Robot frame is 'base_link'
> [New Thread 0x7fffe93ba710 (LWP 9218)]
> [ WARN] [1287330043.669888723]: Unknown planner type:
> [ WARN] [1287330043.671902945]: Unknown planner type:
> [ INFO] [1287330043.676405613]: Known models:
> [ INFO] [1287330043.676785969]:   * irp6p
> [ INFO] [1287330043.676924813]: Motion planning running in frame 'base_link'
> [ WARN] [1287330078.760853844]: Message from [/addCylinder] has a
> non-fully-qualified frame_id [base_link]. Resolved locally to [/base_link].
>  This is will likely not work in multi-robot systems.  This message will
> only print once.
> [ INFO] [1287330078.761141310]: Added 1 object to namespace pole in
> collision space
> [New Thread 0x7fffe8bb9710 (LWP 9331)]
> [ INFO] [1287330290.291668304]: Received request for planning
> [ INFO] [1287330290.293103682]: Selected motion planner:
> 'kinematic::SBL[SBLkConfig2]', with priority 10
> [ INFO] [1287330290.304334439]: ompl planning for group irp6p
> Program received signal SIGSEGV, Segmentation fault.
> planning_models::KinematicModel::computeTransforms (this=0x0,
> params=0x7a0900)
>     at
> /tmp/buildd/ros-cturtle-motion-planning-common-0.2.4/debian/ros-cturtle-motion-planning-common/opt/ros/cturtle/stacks/motion_planning_common/planning_models/src/kinematic_model.cpp:461
> 461
> /tmp/buildd/ros-cturtle-motion-planning-common-0.2.4/debian/ros-cturtle-motion-planning-common/opt/ros/cturtle/stacks/motion_planning_common/planning_models/src/kinematic_model.cpp:
> No such file or directory.
>         in
> /tmp/buildd/ros-cturtle-motion-planning-common-0.2.4/debian/ros-cturtle-motion-planning-common/opt/ros/cturtle/stacks/motion_planning_common/planning_models/src/kinematic_model.cpp
> (gdb) bt
> #0  planning_models::KinematicModel::computeTransforms (this=0x0,
>     params=0x7a0900)
>     at
> /tmp/buildd/ros-cturtle-motion-planning-common-0.2.4/debian/ros-cturtle-motion-planning-common/opt/ros/cturtle/stacks/motion_planning_common/planning_models/src/kinematic_model.cpp:461
> #1  0x000000000043b96e in ompl_planning::RequestHandler::configure (
>     this=<value optimized out>, startState=<value optimized out>, req=...,
>     psetup=0x6adf40, distance_metric=...)
>     at
> /tmp/buildd/ros-cturtle-motion-planners-0.2.4/debian/ros-cturtle-motion-planners/opt/ros/cturtle/stacks/motion_planners/ompl_planning/src/request_handler/RequestHandler.cpp:218
> #2  0x000000000043c252 in ompl_planning::RequestHandler::computePlan (
>     this=0x7fffffffdf80, models=<value optimized out>,
>     start=<value optimized out>, stateDelay=<value optimized out>, req=...,
>     res=<value optimized out>, distance_metric=<value optimized out>)
>     at
> /tmp/buildd/ros-cturtle-motion-planners-0.2.4/debian/ros-cturtle-motion-planners/opt/ros/cturtle/stacks/motion_planners/ompl_planning/src/request_handler/RequestHandler.cpp:302
> #3  0x000000000042be62 in OMPLPlanning::planToGoal (this=0x7fffffffdb60,
>     req=<value optimized out>, res=...)
>     at
> /tmp/buildd/ros-cturtle-motion-planners-0.2.4/debian/ros-cturtle-motion-planners/opt/ros/cturtle/stacks/motion_planners/ompl_planning/src/motion_planner.cpp:178
> #4  0x0000000000435e94 in boost::function2<bool,
> motion_planning_msgs::GetMotionPlanRequest_<std::allocator<void> >&,
> motion_planning_msgs::GetMotionPlanResponse_<std::allocator<void>
>>&>::operator() (this=0x6b6390, params=...)
>     at /usr/include/boost/function/function_template.hpp:1013
> #5
>  ros::ServiceSpec<motion_planning_msgs::GetMotionPlanRequest_<std::allocator<void>
>>, motion_planning_msgs::GetMotionPlanResponse_<std::allocator<void> >
>>::call(boost::function<bool
> ()(motion_planning_msgs::GetMotionPlanRequest_<std::allocator<void> >&,
> motion_planning_msgs::GetMotionPlanResponse_<std::allocator<void> >&)>
> const&,
> ros::ServiceSpecCallParams<motion_planning_msgs::GetMotionPlanRequest_<std::allocator<void>
>>, motion_planning_msgs::GetMotionPlanResponse_<std::allocator<void> > >&)
> (this=0x6b6390, params=...)
>     at
> /opt/ros/cturtle/ros/core/roscpp/include/ros/service_callback_helper.h:136
> #6
>  ros::ServiceCallbackHelperT<ros::ServiceSpec<motion_planning_msgs::GetMotionPlanRequest_<std::allocator<void>
>>, motion_planning_msgs::GetMotionPlanResponse_<std::allocator<void> > >
>>::call (this=0x6b6390, params=...)
>     at
> /opt/ros/cturtle/ros/core/roscpp/include/ros/service_callback_helper.h:188
> #7  0x00007ffff4ad8488 in ros::ServiceCallback::call (this=0x7fffe417a910)
>     at
> /tmp/buildd/ros-cturtle-ros-1.2.3/debian/ros-cturtle-ros/opt/ros/cturtle/ros/core/roscpp/src/libros/service_publication.cpp:123
> #8  0x00007ffff4aea631 in ros::CallbackQueue::callOneCB (this=0x693220,
>     tls=0x7fffe4003140)
>     at
> /tmp/buildd/ros-cturtle-ros-1.2.3/debian/ros-cturtle-ros/opt/ros/cturtle/ros/core/roscpp/src/libros/callback_queue.cpp:381
> #9  0x00007ffff4aeb72b in ros::CallbackQueue::callAvailable (this=0x693220,
>     timeout=<value optimized out>)
>     at
> /tmp/buildd/ros-cturtle-ros-1.2.3/debian/ros-cturtle-ros/opt/ros/cturtle/ros/core/roscpp/src/libros/callback_queue.cpp:333
> #10 0x00007ffff4af0b09 in ros::SingleThreadedSpinner::spin (
>     this=<value optimized out>, queue=0x693220)
>     at
> /tmp/buildd/ros-cturtle-ros-1.2.3/debian/ros-cturtle-ros/opt/ros/cturtle/ros/core/roscpp/src/libros/spinner.cpp:49
> #11 0x00007ffff4a79abb in ros::spin ()
>     at
> /tmp/buildd/ros-cturtle-ros-1.2.3/debian/ros-cturtle-ros/opt/ros/cturtle/ros/core/roscpp/src/libros/init.cpp:488
> #12 0x000000000041c248 in OMPLPlanning::run (this=0x7fffffffdb60)
>     at
> /tmp/buildd/ros-cturtle-motion-planners-0.2.4/debian/ros-cturtle-motion-planners/opt/ros/cturtle/stacks/motion_planners/ompl_planning/src/motion_planner.cpp:105
> #13 0x0000000000419a39 in main (argc=1, argv=0x7fffffffe0a8)
>     at
> /tmp/buildd/ros-cturtle-motion-planners-0.2.4/debian/ros-cturtle-motion-planners/opt/ros/cturtle/stacks/motion_planners/ompl_planning/src/motion_planner.cpp:210
>
> Pozdrawiam
> Konrad Banachowicz
>
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>
>



-- 
Sachin Chitta
Research Scientist
Willow Garage