Hi Tonu,

This is a known issue when running on ARM that is scheduled to be fixed for
1.3: https://code.ros.org/trac/ros/ticket/2883.  There's a patch for at
least part of the problem attached to that ticket, and the original thread
regarding it is archived on gmane:
http://comments.gmane.org/gmane.science.robotics.ros.user/6294

<https://code.ros.org/trac/ros/ticket/2883>Josh

On Tue, Sep 14, 2010 at 11:19 AM, Tõnu Samuel <tonu@jes.ee> wrote:

> On Tue, 2010-09-14 at 11:00 -0700, Tully Foote wrote:
> > Tonu,
> > The node which is crashing is the tf/static_transform_publisher.  I'd
> > suggest you try running that manually in gdb and try to get a
> > backtrace.
>
> ros@arm7:~/ros/stacks/geometry$ gdb ./tf/bin/static_transform_publisher
> 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 "arm-linux-gnueabi".
> For bug reporting instructions, please see:
> <http://www.gnu.org/software/gdb/bugs/>...
> Reading symbols
> from /home/ros/ros/stacks/geometry/tf/bin/static_transform_publisher...(no
> debugging symbols found)...done.
> (gdb) run 0 0 0 0 0 0 base_footprint base_link 100
> Starting
> program: /home/ros/ros/stacks/geometry/tf/bin/static_transform_publisher
> 0 0 0 0 0 0 base_footprint base_link 100
> [Thread debugging using libthread_db enabled]
> [New Thread 0x425a4420 (LWP 8321)]
> [New Thread 0x42da4420 (LWP 8322)]
> [New Thread 0x435a4420 (LWP 8323)]
> [New Thread 0x43da4420 (LWP 8328)]
>
> Program received signal SIGILL, Illegal instruction.
> 0x405e9eb8 in ros::SerializedMessage
> ros::serialization::serializeMessage<tf::tfMessage_<std::allocator<void>
> > >(tf::tfMessage_<std::allocator<void> > const&) ()
> from /home/ros/ros/stacks/geometry/tf/lib/libtf.so
> (gdb)
> (gdb) thread 1
> [Switching to thread 1 (Thread 0x41d92790 (LWP 8295))]#0  0x405e9eb8 in
> ros::SerializedMessage
> ros::serialization::serializeMessage<tf::tfMessage_<std::allocator<void>
> > >(tf::tfMessage_<std::allocator<void> > const&) ()
>   from /home/ros/ros/stacks/geometry/tf/lib/libtf.so
> (gdb) bt
> #0  0x405e9eb8 in ros::SerializedMessage
> ros::serialization::serializeMessage<tf::tfMessage_<std::allocator<void>
> > >(tf::tfMessage_<std::allocator<void> > const&) ()
> from /home/ros/ros/stacks/geometry/tf/lib/libtf.so
> #1  0x405e96e8 in
> boost::detail::function::function_obj_invoker0<boost::_bi::bind_t<ros::SerializedMessage,
> ros::SerializedMessage (*)(tf::tfMessage_<std::allocator<void> > const&),
> boost::_bi::list1<boost::reference_wrapper<tf::tfMessage_<std::allocator<void>
> > const> > >,
> ros::SerializedMessage>::invoke(boost::detail::function::function_buffer&)
> ()
>   from /home/ros/ros/stacks/geometry/tf/lib/libtf.so
> #2  0x40319ae8 in boost::function0<ros::SerializedMessage>::operator() (
>    this=0x34cf8, topic=<value optimized out>, serfunc=..., m=...)
>    at /usr/include/boost/function/function_template.hpp:1013
> #3  ros::TopicManager::publish(std::string const&,
> boost::function<ros::SerializedMessage ()()> const&,
> ros::SerializedMessage&) (this=0x34cf8,
>    topic=<value optimized out>, serfunc=..., m=...)
>    at /home/ros/ros/ros/core/roscpp/src/libros/topic_manager.cpp:726
> #4  0x4035a7e0 in
> ros::Publisher::publish(boost::function<ros::SerializedMessage ()()>
> const&, ros::SerializedMessage&) const (this=0xbe9aaf20, serfunc=...,
>    m=...) at /home/ros/ros/ros/core/roscpp/src/libros/publisher.cpp:93
> #5  0x405e8f94 in
> tf::TransformBroadcaster::sendTransform(std::vector<geometry_msgs::TransformStamped_<std::allocator<void>
> >, std::allocator<geometry_msgs::TransformStamped_<std::allocator<void> > >
> > const&) ()
>   from /home/ros/ros/stacks/geometry/tf/lib/libtf.so
> #6  0x405e953c in
> tf::TransformBroadcaster::sendTransform(std::vector<tf::StampedTransform,
> std::allocator<tf::StampedTransform> > const&) ()
>   from /home/ros/ros/stacks/geometry/tf/lib/libtf.so
> #7  0x405e965c in
> tf::TransformBroadcaster::sendTransform(tf::StampedTransform const&) ()
> from /home/ros/ros/stacks/geometry/tf/lib/libtf.so
> #8  0x00009f86 in main ()
> (gdb)
>
> BTW, I am newbie on topic. So do not assume I can debug ROS much. But I
> help as much I can.
>
>   Tõnu
>
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