[ros-users] PCL filtering causes SIGILL on Q6600

[Srećko Jurić-Kavelj]

Hi everyone,

I just wanted to share my recent experience on running
tabletop_segmentation. I'm running groovy on 64 bit precise (Intel
Q6600 CPU, /proc/cpuinfo attached) . All packages are latest from
packages.ros.org.

The tabletop_segmentation node would crash right after step 1 of
running the tabletop_object_detector/TabletopSegmentation service. It
turned out that filtering in the PCL library caused a SIGILL. Building
the ros-groovy-pcl package on my machine solved the problem.

However, I can't really pinpoint what's the problem with the package
provided on packages.ros.org. Provided that this is the build log
(http://jenkins.willowgarage.com:8080/view/GbinP64/job/ros-groovy-pcl_binarydeb_precise_amd64/lastBuild/consoleFull),
I don't see any suspicious flags for the compiler, except
-march=native (from the cmake configuration: -- Using CPU native flags
for SSE optimization:  -march=native). Does this use SSE 4.1 if
available on build machine? How many users are affected by this?

To resolve this, one can rebuild the package:

$ git clone git://github.com/ros-gbp/pcl-release.git
$ cd pcl-release
$ git checkout debian/groovy/precise/pcl
$ git-buildpackage --git-ignore-branch
--git-upstream-branch=863fbba11458cd95480e5e376bb42ade2969be39

with this in ~/.gbp.conf:
[git-buildpackage]
export-dir = ../build-area/
tarball-dir = ../tarballs/

Best regards,

Srećko Jurić-Kavelj, dipl.ing. (Ms.E.E)
Research and Teaching Assistant at University of Zagreb
(Faculty of Electrical Engineering and Computing, Department of
Control and Computer Engineering)

Phone: +385 (0)1 6129 529
Fax: +385 (0)1 6129 809
E-mail: srecko.juric-kavelj at fer.hr
URL: http://www.fer.hr/srecko.juric-kavelj

Sanctus Hieronymus: "Parce mihi, Domine, quia dalmata sum!"
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