Hi <meta http-equiv="content-type" content="text/html; charset=utf-8"><span class="Apple-style-span" style="font-family: arial, sans-serif; font-size: 13px; border-collapse: collapse; color: rgb(121, 6, 25); white-space: nowrap; -webkit-border-horizontal-spacing: 2px; -webkit-border-vertical-spacing: 2px; ">Sachin</span>,<div>
<br><div>Now it's working for me, thx.</div><div><br></div><div>Pozdrawiam<br>Konrad Banachowicz<br>
<br><br><div class="gmail_quote">2010/10/21 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>
I think I might have an answer now. Could you please follow these two<br>
steps and let me know if things work for you:<br>
<br>
(1) Add the following lines to your urdf<br>
<br>
<link name="world"><br>
<inertial><br>
<mass value="0.05" /><br>
<origin xyz="-0.0 0.0 -10.0" /><br>
<inertia ixx="1.0" ixy="0.0" ixz="0.0"<br>
iyy="1.0" iyz="0.0"<br>
izz="1.0" /><br>
</inertial><br>
<br>
<collision><br>
<origin xyz="0 0 0.15" rpy="0 0 0" /><br>
<geometry><br>
<box size="0.4 0.4 0.3" /><br>
</geometry><br>
</collision><br>
</link><br>
<br>
<joint name="base_joint" type="fixed"><br>
<parent link="world"/><br>
<child link="base_link"/><br>
</joint><br>
<br>
This anchors your robot in the world with a dummy fixed link.<br>
<br>
(2) Apply the attached patch to a cturtle version of the<br>
motion_planners stack directory. (I am assuming you are working with<br>
cturtle).<br>
<br>
Try again with these changes and let me know - if they work for you, I<br>
will push them out into cturtle. For your reference, I have also<br>
attached a tarred version of the planning files that I used to<br>
configure the planner for your robot. Some of these issues are<br>
currently fixed in trunk but it might take us a while to push out a<br>
release from trunk into cturtle, hence the patch.<br>
<br>
Regards,<br>
<font color="#888888">Sachin<br>
</font><div><div></div><div class="h5"><br>
On Mon, Oct 18, 2010 at 11:58 PM, Konrad Banachowicz <<a href="mailto:konradb3@gmail.com">konradb3@gmail.com</a>> wrote:<br>
> Here is my urdf.<br>
> Pozdrawiam<br>
> Konrad Banachowicz<br>
><br>
><br>
> 2010/10/19 Konrad Banachowicz <<a href="mailto:konradb3@gmail.com">konradb3@gmail.com</a>><br>
>><br>
>> Pozdrawiam<br>
>> Konrad Banachowicz<br>
>><br>
>><br>
>> 2010/10/19 Sachin Chitta <<a href="mailto:sachinc@willowgarage.com">sachinc@willowgarage.com</a>><br>
>>><br>
>>> 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>
>>><br>
>>> On Sun, Oct 17, 2010 at 9:23 AM, Konrad Banachowicz <<a href="mailto:konradb3@gmail.com">konradb3@gmail.com</a>><br>
>>> wrote:<br>
>>> > Hi all,<br>
>>> > I have problem with running ompl motion planner on our irb-6<br>
>>> > 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<br>
>>> > 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>
>>> ><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>
>>> ><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<br>
>>> > 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<br>
>>> > 'base_link'<br>
>>> > [ WARN] [1287330078.760853844]: Message from [/addCylinder] has a<br>
>>> > non-fully-qualified frame_id [base_link]. Resolved locally to<br>
>>> > [/base_link].<br>
>>> > This is will likely not work in multi-robot systems. This message<br>
>>> > 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>
>>> ><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>
>>> ><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>
>>> ><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>
>>> ><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>,<br>
>>> > req=...,<br>
>>> > psetup=0x6adf40, distance_metric=...)<br>
>>> > at<br>
>>> ><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>,<br>
>>> > req=...,<br>
>>> > res=<value optimized out>, distance_metric=<value optimized out>)<br>
>>> > at<br>
>>> ><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<br>
>>> > (this=0x7fffffffdb60,<br>
>>> > req=<value optimized out>, res=...)<br>
>>> > at<br>
>>> ><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>
>>> ><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>
>>> ><br>
>>> > ros::ServiceSpecCallParams<motion_planning_msgs::GetMotionPlanRequest_<std::allocator<void><br>
>>> >>, motion_planning_msgs::GetMotionPlanResponse_<std::allocator<void> ><br>
>>> >> >&)<br>
>>> > (this=0x6b6390, params=...)<br>
>>> > at<br>
>>> ><br>
>>> > /opt/ros/cturtle/ros/core/roscpp/include/ros/service_callback_helper.h:136<br>
>>> > #6<br>
>>> ><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>
>>> ><br>
>>> > /opt/ros/cturtle/ros/core/roscpp/include/ros/service_callback_helper.h:188<br>
>>> > #7 0x00007ffff4ad8488 in ros::ServiceCallback::call<br>
>>> > (this=0x7fffe417a910)<br>
>>> > at<br>
>>> ><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>
>>> ><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<br>
>>> > (this=0x693220,<br>
>>> > timeout=<value optimized out>)<br>
>>> > at<br>
>>> ><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>
>>> ><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>
>>> ><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>
>>> ><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>
>>> ><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>
>>> > _______________________________________________<br>
>>> > ros-users mailing list<br>
>>> > <a href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a><br>
>>> > <a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
>>> ><br>
>>> ><br>
>>><br>
>>><br>
>>><br>
>>> --<br>
>>> Sachin Chitta<br>
>>> Research Scientist<br>
>>> Willow Garage<br>
>>> _______________________________________________<br>
>>> ros-users mailing list<br>
>>> <a href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a><br>
>>> <a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
>><br>
><br>
><br>
> _______________________________________________<br>
> ros-users mailing list<br>
> <a href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a><br>
> <a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
><br>
><br>
<br>
<br>
<br>
--<br>
Sachin Chitta<br>
Research Scientist<br>
Willow Garage<br>
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<br></blockquote></div><br></div></div>