Here you go. I attached it as a text file--let's see if that works...I
did the backtrace on videre_cam_node in the bin directory since I
couldn't get roslaunch to work width gdb.
--patrick
On 02/13/2011 06:29 PM, Antons Rebguns wrote:
> Patrick,
>
> Could you get a backtrace?
>
> Anton
>
> On Sun, Feb 13, 2011 at 7:06 PM, Patrick Goebel<patrick@pirobot.org> wrote:
>> Hi Anton,
>>
>> That fixed the compile error nicely. However, when running
>> videre.launch or videre_non_stoc.launch, I get an endless cycle of
>> "System segfaulted" messages with the following screen messages on each
>> cycle:
>>
>> [extractParams] Parameters:
>>
>> [dcam] SVS-type parameters
>> System segfaulted, stopping camera nicely
>> [stereo/videre_stereo_cam-1] process has died [pid 3864, exit code -11].
>> log files:
>> /home/patrick/.ros/log/1bdd0550-37de-11e0-a639-8c736e77238f/stereo/videre_stereo_cam-1*.log
>> respawning...
>> [stereo/videre_stereo_cam-1] restarting process
>> process[stereo/videre_stereo_cam-1]: started with pid [3920]
>> [ INFO] [1297649063.545960764]: Resetting bus
>> [ INFO] [1297649063.546300537]: Initializing camera, turning off ISO
>> [ INFO] [1297649063.613279461]: [dcam] Videre camera, getting local params
>> [ INFO] [1297649063.613756713]: [dcam] Camera firmware: 07.01
>> [ INFO] [1297649063.614315245]: [dcam] Imager firmware: 0008
>> [ INFO] [1297649063.614408503]: [Dcam] Found stereo device
>> [ INFO] [1297649063.614883041]: [dcam] STOC version: 04.02
>> [ INFO] [1297649063.615964524]: [dcam] STOC thresholds: 00010c0a
>> [ INFO] [1297649063.915806728]: [dcam] Calibration, 1975 bytes
>> [ INFO] [1297649063.917534544]: [dcam] Color device
>> [ INFO] [1297649063.918105004]: [dcam] Feature register hi: d2800000
>> [ INFO] [1297649063.918664157]: [dcam] Feature register lo: 00000000
>> [ INFO] [1297649063.922694032]: [Dcam] Exposure min/max: [0,529]
>> [ INFO] [1297649063.926707507]: [Dcam] Gain min/max: [0,48]
>> [ INFO] [1297649063.930772554]: [Dcam] Brightness min/max: [0,255]
>> [ INFO] [1297649063.933052144]: [Dcam] Whitebalance min/max: [0,30]
>>
>> Note that the camera now works fine using the SVS smallv program so I am
>> able to verify that the camera itself is OK.
>>
>> --patrick
>>
>>
>> On 02/13/2011 05:49 PM, Antons Rebguns wrote:
>>> Patrick,
>>>
>>>> Congrats on releasing DB RC1! I don't know if this is a Diamondback
>>>> issue or an issue with the UA videre_stereo_cam package (r1188) but the
>>>> package compiles fine under the latest C-turtle but fails under
>>>> Diamondback with the following errors:
>>>
>>> I haven't yet had time to try out diamondback, but let's see if we can
>>> fix this particular problem.
>>>
>>>> $ rosmake --pre-clean --rosdep-install videre_stereo_cam
>>>> ...
>>>> /home/patrick/Eclipse/ros/ua-ros-pkg/arrg/ua_drivers/videre_stereo_cam/src/videre_stereo_cam/stereoimage.cpp:257:
>>>> error: ‘class std::vector<double, std::allocator<double> >’ has no
>>>> member named ‘c_array’
>>>>
>>>> /home/patrick/Eclipse/ros/ua-ros-pkg/arrg/ua_drivers/videre_stereo_cam/src/videre_stereo_cam/stereoimage.cpp:
>>>> In member function ‘char* StereoData::createParams(bool)’:
>>>>
>>>> /home/patrick/Eclipse/ros/ua-ros-pkg/arrg/ua_drivers/videre_stereo_cam/src/videre_stereo_cam/stereoimage.cpp:517:
>>>> error: ‘class std::vector<double, std::allocator<double> >’ has no
>>>> member named ‘c_array’
>>>>
>>>> /home/patrick/Eclipse/ros/ua-ros-pkg/arrg/ua_drivers/videre_stereo_cam/src/videre_stereo_cam/stereoimage.cpp:531:
>>>> error: ‘class std::vector<double, std::allocator<double> >’ has no
>>>> member named ‘c_array’
>>>>
>>>> /home/patrick/Eclipse/ros/ua-ros-pkg/arrg/ua_drivers/videre_stereo_cam/src/videre_stereo_cam/stereoimage.cpp:
>>>> At global scope:
>>>>
>>>> /home/patrick/Eclipse/ros/ua-ros-pkg/arrg/ua_drivers/videre_stereo_cam/src/videre_stereo_cam/stereoimage.cpp:461:
>>>> warning: ‘void PrintMat(double*, int, int)’ defined but not used
>>>> make[3]: ***
>>>> [CMakeFiles/videre_stereo_node.dir/src/videre_stereo_cam/stereoimage.o]
>>>> Error 1
>>>
>>> Can you try batch replacing .c_array() to .data() in stereoimage.cpp
>>> and see if that compiles?
>>>
>>>
>>> Anton
>>> _______________________________________________
>>> 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
>>
> _______________________________________________
> ros-users mailing list
> ros-users@code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
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 "i486-linux-gnu".
For bug reporting instructions, please see:
<http://www.gnu.org/software/gdb/bugs/>...
Reading symbols from /home/patrick/Eclipse/ros/ua-ros-pkg/arrg/ua_drivers/videre_stereo_cam/bin/videre_stereo_node...done.
(gdb) handle SIG33 pass nostop noprint\??[K
Signal Stop Print Pass to program Description
SIG33 No No Yes Real-time event 33
(gdb) set pagination 0
(gdb) run
Starting program: /home/patrick/Eclipse/ros/ua-ros-pkg/arrg/ua_drivers/videre_stereo_cam/bin/videre_stereo_node
[Thread debugging using libthread_db enabled]
[New Thread 0xb707cb70 (LWP 4400)]
[New Thread 0xb687bb70 (LWP 4401)]
[New Thread 0xb607ab70 (LWP 4402)]
[New Thread 0xb5879b70 (LWP 4407)]
Program received signal SIGSEGV, Segmentation fault.
0x01418d11 in void std::__convert_to_v<double>(char const*, double&, std::_Ios_Iostate&, __locale_struct* const&) () from /usr/lib/libstdc++.so.6
(gdb) backtrace full
#0 0x01418d11 in void std::__convert_to_v<double>(char const*, double&, std::_Ios_Iostate&, __locale_struct* const&) () from /usr/lib/libstdc++.so.6
No symbol table info available.
#1 0x013e69cc in std::num_get<char, std::istreambuf_iterator<char, std::char_traits<char> > >::do_get(std::istreambuf_iterator<char, std::char_traits<char> >, std::istreambuf_iterator<char, std::char_traits<char> >, std::ios_base&, std::_Ios_Iostate&, double&) const () from /usr/lib/libstdc++.so.6
No symbol table info available.
#2 0x013cc92e in std::istream& std::istream::_M_extract<double>(double&) () from /usr/lib/libstdc++.so.6
No symbol table info available.
#3 0x0806cab4 in std::istream::operator>> (data=..., section=..., param=..., t=@0x0) at /usr/include/c++/4.4/istream:207
No locals.
#4 extract<double> (data=..., section=..., param=..., t=@0x0) at /home/patrick/Eclipse/ros/ua-ros-pkg/arrg/ua_drivers/videre_stereo_cam/src/videre_stereo_cam/stereoimage.cpp:174
iss = <incomplete type>
found = <value optimized out>
#5 0x080681a8 in StereoData::parseCalibrationSVS (this=0x80fca60, params=..., stereo_side=SIDE_LEFT, cam_info=...) at /home/patrick/Eclipse/ros/ua-ros-pkg/arrg/ua_drivers/videre_stereo_cam/src/videre_stereo_cam/stereoimage.cpp:225
side = {static npos = 4294967295, _M_dataplus = {<std::allocator<char>> = {<__gnu_cxx::new_allocator<char>> = {<No data fields>}, <No data fields>}, _M_p = 0x80f8a74 "left"}}
#6 0x08068a45 in StereoData::extractParams (this=0x80fca60, ps=<value optimized out>, store=false) at /home/patrick/Eclipse/ros/ua-ros-pkg/arrg/ua_drivers/videre_stereo_cam/src/videre_stereo_cam/stereoimage.cpp:393
params = {static npos = 4294967295, _M_dataplus = {<std::allocator<char>> = {<__gnu_cxx::new_allocator<char>> = {<No data fields>}, <No data fields>}, _M_p = 0x8101cdc "# SVS Engine v 4.0 Stereo Camera Parameter File\n\n\n\n[image]\nmax_linelen 640 \nmax_lines 480 \nmax_decimation 1 \nmax_binning 2 \nmax_framediv 1 \ngamma 0.850000 \ncolor_right 1 \ncolor 1 \nix 0 \niy 0 \nvergence"...}}
#7 0x08072157 in VidereStereoDriver (this=0x80f8938, guid=0, bsize=8) at /home/patrick/Eclipse/ros/ua-ros-pkg/arrg/ua_drivers/videre_stereo_cam/src/videre_stereo_cam/videre_stereo_1394.cpp:298
params = <value optimized out>
qval = 3221220680
#8 0x08099d99 in VidereStereoNode::VidereStereoNode() ()
No symbol table info available.
#9 0x0807b439 in main (argc=1, argv=0xbffff2c4) at /home/patrick/Eclipse/ros/ua-ros-pkg/arrg/ua_drivers/videre_stereo_cam/src/videre_stereo_node.cpp:706
No locals.
(gdb) info registers
eax 0x80f8b95 135236501
ecx 0xbfffe8d0 -1073747760
edx 0xbfdb8548 -1076132536
ebx 0x144bff4 21282804
esp 0xbfffe910 0xbfffe910
ebp 0xbfffe948 0xbfffe948
esi 0x0 0
edi 0xbfffea18 -1073747432
eip 0x1418d11 0x1418d11 <void std::__convert_to_v<double>(char const*, double&, std::_Ios_Iostate&, __locale_struct* const&)+65>
eflags 0x10216 [ PF AF IF RF ]
cs 0x73 115
ss 0x7b 123
ds 0x7b 123
es 0x7b 123
fs 0x0 0
gs 0x33 51
(gdb) x/16i $pc
=> 0x1418d11 <_ZSt14__convert_to_vIdEvPKcRT_RSt12_Ios_IostateRKP15__locale_struct+65>: fstl (%esi)
0x1418d13 <_ZSt14__convert_to_vIdEvPKcRT_RSt12_Ios_IostateRKP15__locale_struct+67>: je 0x1418d68 <_ZSt14__convert_to_vIdEvPKcRT_RSt12_Ios_IostateRKP15__locale_struct+152>
0x1418d15 <_ZSt14__convert_to_vIdEvPKcRT_RSt12_Ios_IostateRKP15__locale_struct+69>: cmpb $0x0,(%eax)
0x1418d18 <_ZSt14__convert_to_vIdEvPKcRT_RSt12_Ios_IostateRKP15__locale_struct+72>: jne 0x1418d70 <_ZSt14__convert_to_vIdEvPKcRT_RSt12_Ios_IostateRKP15__locale_struct+160>
0x1418d1a <_ZSt14__convert_to_vIdEvPKcRT_RSt12_Ios_IostateRKP15__locale_struct+74>: fldl -0x25ef4(%ebx)
0x1418d20 <_ZSt14__convert_to_vIdEvPKcRT_RSt12_Ios_IostateRKP15__locale_struct+80>: fxch %st(1)
0x1418d22 <_ZSt14__convert_to_vIdEvPKcRT_RSt12_Ios_IostateRKP15__locale_struct+82>: fucom %st(1)
0x1418d24 <_ZSt14__convert_to_vIdEvPKcRT_RSt12_Ios_IostateRKP15__locale_struct+84>: fnstsw %ax
0x1418d26 <_ZSt14__convert_to_vIdEvPKcRT_RSt12_Ios_IostateRKP15__locale_struct+86>: sahf
0x1418d27 <_ZSt14__convert_to_vIdEvPKcRT_RSt12_Ios_IostateRKP15__locale_struct+87>: ja 0x1418d40 <_ZSt14__convert_to_vIdEvPKcRT_RSt12_Ios_IostateRKP15__locale_struct+112>
0x1418d29 <_ZSt14__convert_to_vIdEvPKcRT_RSt12_Ios_IostateRKP15__locale_struct+89>: fstp %st(1)
0x1418d2b <_ZSt14__convert_to_vIdEvPKcRT_RSt12_Ios_IostateRKP15__locale_struct+91>: fldl -0x25eec(%ebx)
0x1418d31 <_ZSt14__convert_to_vIdEvPKcRT_RSt12_Ios_IostateRKP15__locale_struct+97>: fucom %st(1)
0x1418d33 <_ZSt14__convert_to_vIdEvPKcRT_RSt12_Ios_IostateRKP15__locale_struct+99>: fnstsw %ax
0x1418d35 <_ZSt14__convert_to_vIdEvPKcRT_RSt12_Ios_IostateRKP15__locale_struct+101>: fstp %st(1)
0x1418d37 <_ZSt14__convert_to_vIdEvPKcRT_RSt12_Ios_IostateRKP15__locale_struct+103>: sahf
(gdb) thread al??[Kpply all backg??[Ktrace
Thread 5 (Thread 0xb5879b70 (LWP 4407)):
#0 0x0012d422 in __kernel_vsyscall ()
#1 0x014a3342 in pthread_cond_timedwait@@GLIBC_2.3.2 () from /lib/tls/i686/cmov/libpthread.so.0
#2 0x0102fe0e in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000ll> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000ll> const&) () from /opt/ros/diamondback/stacks/ros_comm/clients/cpp/roscpp/lib/libros.so
#3 0x0102c14b in ros::CallbackQueue::callAvailable (this=0x80f0e58, timeout=DWARF-2 expression error: DW_OP_reg operations must be used either alone or in conjuction with DW_OP_piece.
) at /tmp/buildd/ros-diamondback-ros-comm-1.4.0/debian/ros-diamondback-ros-comm/opt/ros/diamondback/stacks/ros_comm/clients/cpp/roscpp/src/libros/callback_queue.cpp:307
#4 0x00fb8061 in ros::internalCallbackQueueThreadFunc () at /tmp/buildd/ros-diamondback-ros-comm-1.4.0/debian/ros-diamondback-ros-comm/opt/ros/diamondback/stacks/ros_comm/clients/cpp/roscpp/src/libros/init.cpp:265
#5 0x00fbcc5f in boost::detail::thread_data<void (*)()>::run (this=0x80f1520) at /usr/include/boost/thread/detail/thread.hpp:56
#6 0x010e67c5 in thread_proxy () from /usr/lib/libboost_thread.so.1.40.0
#7 0x0149e96e in start_thread () from /lib/tls/i686/cmov/libpthread.so.0
#8 0x0157fa4e in clone () from /lib/tls/i686/cmov/libc.so.6
Thread 4 (Thread 0xb607ab70 (LWP 4402)):
#0 0x0012d422 in __kernel_vsyscall ()
#1 0x014a3015 in pthread_cond_wait@@GLIBC_2.3.2 () from /lib/tls/i686/cmov/libpthread.so.0
#2 0x01026b73 in boost::condition_variable::wait (this=0x80efeb8) at /usr/include/boost/thread/pthread/condition_variable.hpp:20
#3 ros::ROSOutAppender::logThread (this=0x80efeb8) at /tmp/buildd/ros-diamondback-ros-comm-1.4.0/debian/ros-diamondback-ros-comm/opt/ros/diamondback/stacks/ros_comm/clients/cpp/roscpp/src/libros/rosout_appender.cpp:135
#4 0x01027b47 in boost::detail::thread_data<boost::_bi::bind_t<void, boost::_mfi::mf0<void, ros::ROSOutAppender>, boost::_bi::list1<boost::_bi::value<ros::ROSOutAppender*> > > >::run() () from /opt/ros/diamondback/stacks/ros_comm/clients/cpp/roscpp/lib/libros.so
#5 0x010e67c5 in thread_proxy () from /usr/lib/libboost_thread.so.1.40.0
#6 0x0149e96e in start_thread () from /lib/tls/i686/cmov/libpthread.so.0
#7 0x0157fa4e in clone () from /lib/tls/i686/cmov/libc.so.6
Thread 3 (Thread 0xb687bb70 (LWP 4401)):
#0 0x0012d422 in __kernel_vsyscall ()
#1 0x01578971 in select () from /lib/tls/i686/cmov/libc.so.6
#2 0x010a6e0b in XmlRpc::XmlRpcDispatch::work (this=0x80eccbc, timeout=0.10000000000000001) at /tmp/buildd/ros-diamondback-ros-comm-1.4.0/debian/ros-diamondback-ros-comm/opt/ros/diamondback/stacks/ros_comm/utilities/xmlrpcpp/src/XmlRpcDispatch.cpp:110
#3 0x010a70d3 in XmlRpc::XmlRpcServer::work (this=0x80eccb0, msTime=0.10000000000000001) at /tmp/buildd/ros-diamondback-ros-comm-1.4.0/debian/ros-diamondback-ros-comm/opt/ros/diamondback/stacks/ros_comm/utilities/xmlrpcpp/src/XmlRpcServer.cpp:132
#4 0x00fc6da4 in ros::XMLRPCManager::serverThreadFunc (this=0x80ecc88) at /tmp/buildd/ros-diamondback-ros-comm-1.4.0/debian/ros-diamondback-ros-comm/opt/ros/diamondback/stacks/ros_comm/clients/cpp/roscpp/src/libros/xmlrpc_manager.cpp:256
#5 0x00fca277 in boost::_mfi::mf0<void, ros::XMLRPCManager>::operator() (this=0x80f00d0) at /usr/include/boost/bind/mem_fn_template.hpp:49
#6 operator()<boost::_mfi::mf0<void, ros::XMLRPCManager>, boost::_bi::list0> (this=0x80f00d0) at /usr/include/boost/bind/bind.hpp:246
#7 boost::_bi::bind_t<void, boost::_mfi::mf0<void, ros::XMLRPCManager>, boost::_bi::list1<boost::_bi::value<ros::XMLRPCManager*> > >::operator() (this=0x80f00d0) at /usr/include/boost/bind/bind_template.hpp:20
#8 boost::detail::thread_data<boost::_bi::bind_t<void, boost::_mfi::mf0<void, ros::XMLRPCManager>, boost::_bi::list1<boost::_bi::value<ros::XMLRPCManager*> > > >::run (this=0x80f00d0) at /usr/include/boost/thread/detail/thread.hpp:56
#9 0x010e67c5 in thread_proxy () from /usr/lib/libboost_thread.so.1.40.0
#10 0x0149e96e in start_thread () from /lib/tls/i686/cmov/libpthread.so.0
#11 0x0157fa4e in clone () from /lib/tls/i686/cmov/libc.so.6
Thread 2 (Thread 0xb707cb70 (LWP 4400)):
#0 0x0012d422 in __kernel_vsyscall ()
#1 0x01571b86 in poll () from /lib/tls/i686/cmov/libc.so.6
#2 0x00f86c0c in ros::PollSet::update (this=0x80ee060, poll_timeout=100) at /tmp/buildd/ros-diamondback-ros-comm-1.4.0/debian/ros-diamondback-ros-comm/opt/ros/diamondback/stacks/ros_comm/clients/cpp/roscpp/src/libros/poll_set.cpp:202
#3 0x00fcc5e3 in ros::PollManager::threadFunc (this=0x80ee060) at /tmp/buildd/ros-diamondback-ros-comm-1.4.0/debian/ros-diamondback-ros-comm/opt/ros/diamondback/stacks/ros_comm/clients/cpp/roscpp/src/libros/poll_manager.cpp:95
#4 0x00fcdad7 in boost::_mfi::mf0<void, ros::PollManager>::operator() (this=0x80efd40) at /usr/include/boost/bind/mem_fn_template.hpp:49
#5 operator()<boost::_mfi::mf0<void, ros::PollManager>, boost::_bi::list0> (this=0x80efd40) at /usr/include/boost/bind/bind.hpp:246
#6 boost::_bi::bind_t<void, boost::_mfi::mf0<void, ros::PollManager>, boost::_bi::list1<boost::_bi::value<ros::PollManager*> > >::operator() (this=0x80efd40) at /usr/include/boost/bind/bind_template.hpp:20
#7 boost::detail::thread_data<boost::_bi::bind_t<void, boost::_mfi::mf0<void, ros::PollManager>, boost::_bi::list1<boost::_bi::value<ros::PollManager*> > > >::run (this=0x80efd40) at /usr/include/boost/thread/detail/thread.hpp:56
#8 0x010e67c5 in thread_proxy () from /usr/lib/libboost_thread.so.1.40.0
#9 0x0149e96e in start_thread () from /lib/tls/i686/cmov/libpthread.so.0
#10 0x0157fa4e in clone () from /lib/tls/i686/cmov/libc.so.6
Thread 1 (Thread 0xb707d760 (LWP 4396)):
#0 0x01418d11 in void std::__convert_to_v<double>(char const*, double&, std::_Ios_Iostate&, __locale_struct* const&) () from /usr/lib/libstdc++.so.6
#1 0x013e69cc in std::num_get<char, std::istreambuf_iterator<char, std::char_traits<char> > >::do_get(std::istreambuf_iterator<char, std::char_traits<char> >, std::istreambuf_iterator<char, std::char_traits<char> >, std::ios_base&, std::_Ios_Iostate&, double&) const () from /usr/lib/libstdc++.so.6
#2 0x013cc92e in std::istream& std::istream::_M_extract<double>(double&) () from /usr/lib/libstdc++.so.6
#3 0x0806cab4 in std::istream::operator>> (data=..., section=..., param=..., t=@0x0) at /usr/include/c++/4.4/istream:207
#4 extract<double> (data=..., section=..., param=..., t=@0x0) at /home/patrick/Eclipse/ros/ua-ros-pkg/arrg/ua_drivers/videre_stereo_cam/src/videre_stereo_cam/stereoimage.cpp:174
#5 0x080681a8 in StereoData::parseCalibrationSVS (this=0x80fca60, params=..., stereo_side=SIDE_LEFT, cam_info=...) at /home/patrick/Eclipse/ros/ua-ros-pkg/arrg/ua_drivers/videre_stereo_cam/src/videre_stereo_cam/stereoimage.cpp:225
#6 0x08068a45 in StereoData::extractParams (this=0x80fca60, ps=<value optimized out>, store=false) at /home/patrick/Eclipse/ros/ua-ros-pkg/arrg/ua_drivers/videre_stereo_cam/src/videre_stereo_cam/stereoimage.cpp:393
#7 0x08072157 in VidereStereoDriver (this=0x80f8938, guid=0, bsize=8) at /home/patrick/Eclipse/ros/ua-ros-pkg/arrg/ua_drivers/videre_stereo_cam/src/videre_stereo_cam/videre_stereo_1394.cpp:298
#8 0x08099d99 in VidereStereoNode::VidereStereoNode() ()
#9 0x0807b439 in main (argc=1, argv=0xbffff2c4) at /home/patrick/Eclipse/ros/ua-ros-pkg/arrg/ua_drivers/videre_stereo_cam/src/videre_stereo_node.cpp:706
(gdb) quit
A debugging session is active.
Inferior 1 [process 4396] will be killed.
Quit anyway? (y or n)
(text/plain)
