[ros-users] NXT on ARM (beagleboard) crashing

Tõnu Samuel tonu at jes.ee
Tue Sep 14 18:19:34 UTC 2010


On Tue, 2010-09-14 at 11:00 -0700, Tully Foote wrote:
> Tonu, 
> The node which is crashing is the tf/static_transform_publisher.  I'd
> suggest you try running that manually in gdb and try to get a
> backtrace.  

ros at arm7:~/ros/stacks/geometry$ gdb ./tf/bin/static_transform_publisher
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 "arm-linux-gnueabi".
For bug reporting instructions, please see:
<http://www.gnu.org/software/gdb/bugs/>...
Reading symbols
from /home/ros/ros/stacks/geometry/tf/bin/static_transform_publisher...(no debugging symbols found)...done.
(gdb) run 0 0 0 0 0 0 base_footprint base_link 100
Starting
program: /home/ros/ros/stacks/geometry/tf/bin/static_transform_publisher
0 0 0 0 0 0 base_footprint base_link 100
[Thread debugging using libthread_db enabled]
[New Thread 0x425a4420 (LWP 8321)]
[New Thread 0x42da4420 (LWP 8322)]
[New Thread 0x435a4420 (LWP 8323)]
[New Thread 0x43da4420 (LWP 8328)]

Program received signal SIGILL, Illegal instruction.
0x405e9eb8 in ros::SerializedMessage
ros::serialization::serializeMessage<tf::tfMessage_<std::allocator<void>
> >(tf::tfMessage_<std::allocator<void> > const&) ()
from /home/ros/ros/stacks/geometry/tf/lib/libtf.so
(gdb) 
(gdb) thread 1
[Switching to thread 1 (Thread 0x41d92790 (LWP 8295))]#0  0x405e9eb8 in
ros::SerializedMessage
ros::serialization::serializeMessage<tf::tfMessage_<std::allocator<void>
> >(tf::tfMessage_<std::allocator<void> > const&) ()
   from /home/ros/ros/stacks/geometry/tf/lib/libtf.so
(gdb) bt
#0  0x405e9eb8 in ros::SerializedMessage
ros::serialization::serializeMessage<tf::tfMessage_<std::allocator<void>
> >(tf::tfMessage_<std::allocator<void> > const&) ()
from /home/ros/ros/stacks/geometry/tf/lib/libtf.so
#1  0x405e96e8 in
boost::detail::function::function_obj_invoker0<boost::_bi::bind_t<ros::SerializedMessage, ros::SerializedMessage (*)(tf::tfMessage_<std::allocator<void> > const&), boost::_bi::list1<boost::reference_wrapper<tf::tfMessage_<std::allocator<void> > const> > >, ros::SerializedMessage>::invoke(boost::detail::function::function_buffer&) ()
   from /home/ros/ros/stacks/geometry/tf/lib/libtf.so
#2  0x40319ae8 in boost::function0<ros::SerializedMessage>::operator() (
    this=0x34cf8, topic=<value optimized out>, serfunc=..., m=...)
    at /usr/include/boost/function/function_template.hpp:1013
#3  ros::TopicManager::publish(std::string const&,
boost::function<ros::SerializedMessage ()()> const&,
ros::SerializedMessage&) (this=0x34cf8, 
    topic=<value optimized out>, serfunc=..., m=...)
    at /home/ros/ros/ros/core/roscpp/src/libros/topic_manager.cpp:726
#4  0x4035a7e0 in
ros::Publisher::publish(boost::function<ros::SerializedMessage ()()>
const&, ros::SerializedMessage&) const (this=0xbe9aaf20, serfunc=..., 
    m=...) at /home/ros/ros/ros/core/roscpp/src/libros/publisher.cpp:93
#5  0x405e8f94 in
tf::TransformBroadcaster::sendTransform(std::vector<geometry_msgs::TransformStamped_<std::allocator<void> >, std::allocator<geometry_msgs::TransformStamped_<std::allocator<void> > > > const&) ()
   from /home/ros/ros/stacks/geometry/tf/lib/libtf.so
#6  0x405e953c in
tf::TransformBroadcaster::sendTransform(std::vector<tf::StampedTransform, std::allocator<tf::StampedTransform> > const&) ()
   from /home/ros/ros/stacks/geometry/tf/lib/libtf.so
#7  0x405e965c in
tf::TransformBroadcaster::sendTransform(tf::StampedTransform const&) ()
from /home/ros/ros/stacks/geometry/tf/lib/libtf.so
#8  0x00009f86 in main ()
(gdb) 

BTW, I am newbie on topic. So do not assume I can debug ROS much. But I
help as much I can.

   Tõnu




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