[ros-users] Segmentation fault in ompl-planning.

Konrad Banachowicz konradb3 at gmail.com
Sun Oct 17 16:23:40 UTC 2010 

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
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