[ros-users] Segmentation fault in ompl-planning.
Konrad Banachowicz
konradb3 at gmail.com
Tue Oct 19 06:58:18 UTC 2010
Here is my urdf.
Pozdrawiam
Konrad Banachowicz
2010/10/19 Konrad Banachowicz <konradb3 at gmail.com>
>
> Pozdrawiam
> Konrad Banachowicz
>
>
> 2010/10/19 Sachin Chitta <sachinc at 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 at 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 at code.ros.org
>> > https://code.ros.org/mailman/listinfo/ros-users
>> >
>> >
>>
>>
>>
>> --
>> Sachin Chitta
>> Research Scientist
>> Willow Garage
>> _______________________________________________
>> ros-users mailing list
>> ros-users at code.ros.org
>> https://code.ros.org/mailman/listinfo/ros-users
>>
>
>
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