Hi Sachin,

Now it's working for me, thx.

Pozdrawiam
Konrad Banachowicz


2010/10/21 Sachin Chitta <sachinc@willowgarage.com>

> Hi Konrad,
>
> I think I might have an answer now. Could you please follow these two
> steps and let me know if things work for you:
>
> (1) Add the following lines to your urdf
>
>  <link name="world">
>    <inertial>
>      <mass value="0.05" />
>      <origin xyz="-0.0 0.0 -10.0" />
>      <inertia ixx="1.0" ixy="0.0" ixz="0.0"
>               iyy="1.0" iyz="0.0"
>               izz="1.0" />
>    </inertial>
>
>    <collision>
>      <origin xyz="0 0 0.15" rpy="0 0 0" />
>      <geometry>
>        <box size="0.4 0.4 0.3" />
>      </geometry>
>    </collision>
>  </link>
>
>  <joint name="base_joint" type="fixed">
>    <parent link="world"/>
>    <child link="base_link"/>
>  </joint>
>
> This anchors your robot in the world with a dummy fixed link.
>
> (2) Apply the attached patch to a cturtle version of the
> motion_planners stack directory. (I am assuming you are working with
> cturtle).
>
> Try again with these changes and let me know - if they work for you, I
> will push them out into cturtle. For your reference, I have also
> attached a tarred version of the planning files that I used to
> configure the planner for your robot. Some of these issues are
> currently fixed in trunk but it might take us a while to push out a
> release from trunk into cturtle, hence the patch.
>
> Regards,
> Sachin
>
> On Mon, Oct 18, 2010 at 11:58 PM, Konrad Banachowicz <konradb3@gmail.com>
> wrote:
> > Here is my urdf.
> > Pozdrawiam
> > Konrad Banachowicz
> >
> >
> > 2010/10/19 Konrad Banachowicz <konradb3@gmail.com>
> >>
> >> 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
> >>
> >
> >
> > _______________________________________________
> > 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
>
>