Pozdrawiam
Konrad Banachowicz


2010/10/19 Sachin Chitta <sachinc@willowgarage.com>

> 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
> >
> > _______________________________________________
> > ros-users mailing list
> > ros-users@code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
> >
> >
>
>
>
> --
> Sachin Chitta
> Research Scientist
> Willow Garage
> _______________________________________________
> ros-users mailing list
> ros-users@code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>