<br clear="all">Pozdrawiam<br>Konrad Banachowicz<br>
<br><br><div class="gmail_quote">2010/10/19 Sachin Chitta <span dir="ltr"><<a href="mailto:sachinc@willowgarage.com">sachinc@willowgarage.com</a>></span><br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">
Hi Konrad,<br>
<br>
Could you please send me a urdf for your manipulator and I will try to<br>
reproduce your problem.<br>
<br>
Regards,<br>
Sachin<br>
<div><div></div><div class="h5"><br>
On Sun, Oct 17, 2010 at 9:23 AM, Konrad Banachowicz <<a href="mailto:konradb3@gmail.com">konradb3@gmail.com</a>> wrote:<br>
> Hi all,<br>
> I have problem with running ompl motion planner on our irb-6 manipulator.<br>
> When i send a goal to move arm ompl-planning node ends with segfault.<br>
> This is very strange to me because stomp-motion-planner works for me.<br>
> Here is backtrace :<br>
> GNU gdb (GDB) 7.1-ubuntu<br>
> Copyright (C) 2010 Free Software Foundation, Inc.<br>
> License GPLv3+: GNU GPL version 3 or later<br>
> <<a href="http://gnu.org/licenses/gpl.html" target="_blank">http://gnu.org/licenses/gpl.html</a>><br>
> This is free software: you are free to change and redistribute it.<br>
> There is NO WARRANTY, to the extent permitted by law. Type "show copying"<br>
> and "show warranty" for details.<br>
> This GDB was configured as "x86_64-linux-gnu".<br>
> For bug reporting instructions, please see:<br>
> <<a href="http://www.gnu.org/software/gdb/bugs/" target="_blank">http://www.gnu.org/software/gdb/bugs/</a>>...<br>
> Reading symbols from<br>
> /opt/ros/cturtle/stacks/motion_planners/ompl_planning/motion_planner...done.<br>
> (gdb) r<br>
> Starting program:<br>
> /opt/ros/cturtle/stacks/motion_planners/ompl_planning/motion_planner<br>
> __name:=motion_planner<br>
> __log:=/home/konrad/.ros/log/479ff7be-d9de-11df-87a9-485b397ce758/motion_planner-1.log<br>
> [Thread debugging using libthread_db enabled]<br>
> [New Thread 0x7fffebbbf710 (LWP 9194)]<br>
> [New Thread 0x7fffeb3be710 (LWP 9195)]<br>
> [New Thread 0x7fffeabbd710 (LWP 9196)]<br>
> [New Thread 0x7fffea3bc710 (LWP 9201)]<br>
> [New Thread 0x7fffe9bbb710 (LWP 9204)]<br>
> [ WARN] [1287330043.490047007]: No default collision operations specified<br>
> [ INFO] [1287330043.493481452]: Robot frame is 'base_link'<br>
> [New Thread 0x7fffe93ba710 (LWP 9218)]<br>
> [ WARN] [1287330043.669888723]: Unknown planner type:<br>
> [ WARN] [1287330043.671902945]: Unknown planner type:<br>
> [ INFO] [1287330043.676405613]: Known models:<br>
> [ INFO] [1287330043.676785969]: * irp6p<br>
> [ INFO] [1287330043.676924813]: Motion planning running in frame 'base_link'<br>
> [ WARN] [1287330078.760853844]: Message from [/addCylinder] has a<br>
> non-fully-qualified frame_id [base_link]. Resolved locally to [/base_link].<br>
> This is will likely not work in multi-robot systems. This message will<br>
> only print once.<br>
> [ INFO] [1287330078.761141310]: Added 1 object to namespace pole in<br>
> collision space<br>
> [New Thread 0x7fffe8bb9710 (LWP 9331)]<br>
> [ INFO] [1287330290.291668304]: Received request for planning<br>
> [ INFO] [1287330290.293103682]: Selected motion planner:<br>
> 'kinematic::SBL[SBLkConfig2]', with priority 10<br>
> [ INFO] [1287330290.304334439]: ompl planning for group irp6p<br>
> Program received signal SIGSEGV, Segmentation fault.<br>
> planning_models::KinematicModel::computeTransforms (this=0x0,<br>
> params=0x7a0900)<br>
> at<br>
> /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<br>
> 461<br>
> /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:<br>
> No such file or directory.<br>
> in<br>
> /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<br>
> (gdb) bt<br>
> #0 planning_models::KinematicModel::computeTransforms (this=0x0,<br>
> params=0x7a0900)<br>
> at<br>
> /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<br>
> #1 0x000000000043b96e in ompl_planning::RequestHandler::configure (<br>
> this=<value optimized out>, startState=<value optimized out>, req=...,<br>
> psetup=0x6adf40, distance_metric=...)<br>
> at<br>
> /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<br>
> #2 0x000000000043c252 in ompl_planning::RequestHandler::computePlan (<br>
> this=0x7fffffffdf80, models=<value optimized out>,<br>
> start=<value optimized out>, stateDelay=<value optimized out>, req=...,<br>
> res=<value optimized out>, distance_metric=<value optimized out>)<br>
> at<br>
> /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<br>
> #3 0x000000000042be62 in OMPLPlanning::planToGoal (this=0x7fffffffdb60,<br>
> req=<value optimized out>, res=...)<br>
> at<br>
> /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<br>
> #4 0x0000000000435e94 in boost::function2<bool,<br>
> motion_planning_msgs::GetMotionPlanRequest_<std::allocator<void> >&,<br>
> motion_planning_msgs::GetMotionPlanResponse_<std::allocator<void><br>
>>&>::operator() (this=0x6b6390, params=...)<br>
> at /usr/include/boost/function/function_template.hpp:1013<br>
> #5<br>
> ros::ServiceSpec<motion_planning_msgs::GetMotionPlanRequest_<std::allocator<void><br>
>>, motion_planning_msgs::GetMotionPlanResponse_<std::allocator<void> ><br>
>>::call(boost::function<bool<br>
> ()(motion_planning_msgs::GetMotionPlanRequest_<std::allocator<void> >&,<br>
> motion_planning_msgs::GetMotionPlanResponse_<std::allocator<void> >&)><br>
> const&,<br>
> ros::ServiceSpecCallParams<motion_planning_msgs::GetMotionPlanRequest_<std::allocator<void><br>
>>, motion_planning_msgs::GetMotionPlanResponse_<std::allocator<void> > >&)<br>
> (this=0x6b6390, params=...)<br>
> at<br>
> /opt/ros/cturtle/ros/core/roscpp/include/ros/service_callback_helper.h:136<br>
> #6<br>
> ros::ServiceCallbackHelperT<ros::ServiceSpec<motion_planning_msgs::GetMotionPlanRequest_<std::allocator<void><br>
>>, motion_planning_msgs::GetMotionPlanResponse_<std::allocator<void> > ><br>
>>::call (this=0x6b6390, params=...)<br>
> at<br>
> /opt/ros/cturtle/ros/core/roscpp/include/ros/service_callback_helper.h:188<br>
> #7 0x00007ffff4ad8488 in ros::ServiceCallback::call (this=0x7fffe417a910)<br>
> at<br>
> /tmp/buildd/ros-cturtle-ros-1.2.3/debian/ros-cturtle-ros/opt/ros/cturtle/ros/core/roscpp/src/libros/service_publication.cpp:123<br>
> #8 0x00007ffff4aea631 in ros::CallbackQueue::callOneCB (this=0x693220,<br>
> tls=0x7fffe4003140)<br>
> at<br>
> /tmp/buildd/ros-cturtle-ros-1.2.3/debian/ros-cturtle-ros/opt/ros/cturtle/ros/core/roscpp/src/libros/callback_queue.cpp:381<br>
> #9 0x00007ffff4aeb72b in ros::CallbackQueue::callAvailable (this=0x693220,<br>
> timeout=<value optimized out>)<br>
> at<br>
> /tmp/buildd/ros-cturtle-ros-1.2.3/debian/ros-cturtle-ros/opt/ros/cturtle/ros/core/roscpp/src/libros/callback_queue.cpp:333<br>
> #10 0x00007ffff4af0b09 in ros::SingleThreadedSpinner::spin (<br>
> this=<value optimized out>, queue=0x693220)<br>
> at<br>
> /tmp/buildd/ros-cturtle-ros-1.2.3/debian/ros-cturtle-ros/opt/ros/cturtle/ros/core/roscpp/src/libros/spinner.cpp:49<br>
> #11 0x00007ffff4a79abb in ros::spin ()<br>
> at<br>
> /tmp/buildd/ros-cturtle-ros-1.2.3/debian/ros-cturtle-ros/opt/ros/cturtle/ros/core/roscpp/src/libros/init.cpp:488<br>
> #12 0x000000000041c248 in OMPLPlanning::run (this=0x7fffffffdb60)<br>
> at<br>
> /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<br>
> #13 0x0000000000419a39 in main (argc=1, argv=0x7fffffffe0a8)<br>
> at<br>
> /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<br>
><br>
> Pozdrawiam<br>
> Konrad Banachowicz<br>
><br>
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><br>
><br>
<font color="#888888"><br>
<br>
<br>
--<br>
Sachin Chitta<br>
Research Scientist<br>
Willow Garage<br>
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