Here is my urdf. Pozdrawiam Konrad Banachowicz 2010/10/19 Konrad Banachowicz > > Pozdrawiam > Konrad Banachowicz > > > 2010/10/19 Sachin Chitta > > 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 >> 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 >> > >> > 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: >> > ... >> > 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=, startState=, >> 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=, >> > start=, stateDelay=, >> req=..., >> > res=, 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:302 >> > #3 0x000000000042be62 in OMPLPlanning::planToGoal (this=0x7fffffffdb60, >> > req=, 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> > motion_planning_msgs::GetMotionPlanRequest_ >&, >> > motion_planning_msgs::GetMotionPlanResponse_ >> >>&>::operator() (this=0x6b6390, params=...) >> > at /usr/include/boost/function/function_template.hpp:1013 >> > #5 >> > >> ros::ServiceSpec >> >>, motion_planning_msgs::GetMotionPlanResponse_ > >> >>::call(boost::function> > ()(motion_planning_msgs::GetMotionPlanRequest_ >&, >> > motion_planning_msgs::GetMotionPlanResponse_ >&)> >> > const&, >> > >> ros::ServiceSpecCallParams >> >>, motion_planning_msgs::GetMotionPlanResponse_ > >> >&) >> > (this=0x6b6390, params=...) >> > at >> > >> /opt/ros/cturtle/ros/core/roscpp/include/ros/service_callback_helper.h:136 >> > #6 >> > >> ros::ServiceCallbackHelperT >> >>, motion_planning_msgs::GetMotionPlanResponse_ > > >> >>::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=) >> > 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=, 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 >> > >