Moveit_setup_assistant crash when loading srdf file
Hi All,
When I use moveitsetupassistant to make the config for my urdf model, it crashes when loading my urdf file. I am using ubuntu raring and ROS hydro. Anyone can help me out?
Error information is:
[ INFO] [1392915540.792389328]: Loaded quadrotor robot model.
[ INFO] [1392915540.792804347]: Setting Param Server with Robot Description
[ INFO] [1392915540.809329943]: Robot semantic model successfully loaded.
[ INFO] [1392915540.809518277]: Setting Param Server with Robot Semantic Description
[ INFO] [1392915540.867516809]: Loading robot model 'quadrotor'...
[ INFO] [1392915540.867726681]: No root joint specified. Assuming fixed joint
================================================================================REQUIRED process [moveit_setup_assistant-2] has died!
process has died [pid 12441, exit code -11, cmd /opt/ros/hydro/lib/moveit_setup_assistant/moveit_setup_assistant __name:=moveit_setup_assistant __log:=/home/cds/.ros/log/161db952-9a50-11e3-b57e-3ca9f430b69c/moveit_setup_assistant-2.log].
log file: /home/cds/.ros/log/161db952-9a50-11e3-b57e-3ca9f430b69c/moveit_setup_assistant-2*.log
Initiating shutdown!
The RGB for the crush shows:
Program received signal SIGSEGV, Segmentation fault.
0xb6b8e0f6 in free () from /lib/i386-linux-gnu/libc.so.6
(gdb) where
#0 0xb6b8e0f6 in free () from /lib/i386-linux-gnu/libc.so.6
#1 0xb6a31573 in std::_Rb_tree<moveit::core::LinkModel const*, std::pair<moveit::core::LinkModel const* const, Eigen::Transform<double, 3, 2, 0> >, std::_Select1st<std::pair<moveit::core::LinkModel const* const, Eigen::Transform<double, 3, 2, 0> > >, std::less<moveit::core::LinkModel const*>, Eigen::aligned_allocator<std::pair<moveit::core::LinkModel const* const, Eigen::Transform<double, 3, 2, 0> > > >::_M_erase(std::_Rb_tree_node<std::pair<moveit::core::LinkModel const* const, Eigen::Transform<double, 3, 2, 0> > >*) ()
from /opt/ros/hydro/lib/libmoveit_robot_model.so
#2 0xb6a5423c in moveit::core::RobotModel::buildJointInfo() ()
from /opt/ros/hydro/lib/libmoveit_robot_model.so
#3 0xb6a54b14 in moveit::core::RobotModel::buildModel(urdf::ModelInterface const&, srdf::Model const&) () from /opt/ros/hydro/lib/libmoveit_robot_model.so
#4 0xb6a551a1 in moveit::core::RobotModel::RobotModel(boost::shared_ptr<urdf::ModelInterface const> const&, boost::shared_ptr<srdf::Model const> const&) ()
from /opt/ros/hydro/lib/libmoveit_robot_model.so
#5 0xb6af076d in moveit_setup_assistant::MoveItConfigData::getRobotModel() ()
from /opt/ros/hydro/lib/libmoveit_setup_assistant_tools.so
#6 0xb6af20c0 in moveit_setup_assistant::MoveItConfigData::getPlanningScene()
() from /opt/ros/hydro/lib/libmoveit_setup_assistant_tools.so
#7 0xb7f856f8 in moveit_setup_assistant::RobotPosesWidget::RobotPosesWidget(QWidget*, boost::shared_ptr<moveit_setup_assistant::MoveItConfigData>) ()
from /opt/ros/hydro/lib/libmoveit_setup_assistant_widgets.s
My urdf file can be found below:
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from quadrotor_with_kinect.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="quadrotor" xmlns:xacro="http://ros.org/wiki/xacro">
<!-- Included URDF Files -->
<!-- Instantiate quadrotor_base_macro once (has no parameters atm) -->
<link name="base_link">
<inertial>
<mass value="1.477"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.01152" ixy="0.0" ixz="0.0" iyy="0.01152" iyz="0.0" izz="0.0218"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hector_quadrotor_urdf/meshes/quadrotor/quadrotor_base.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hector_quadrotor_urdf/meshes/quadrotor/quadrotor_base.stl"/>
</geometry>
</collision>
</link>
<joint name="sonar_joint" type="fixed">
<origin rpy="0 1.57079632679 0" xyz="-0.16 0.0 -0.012"/>
<parent link="base_link"/>
<child link="sonar_link"/>
</joint>
<link name="sonar_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.000000017" ixy="0" ixz="0" iyy="0.000000017" iyz="0" izz="0.000000017"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<!--<box size="0.01 0.01 0.01" /> -->
<mesh filename="package://hector_sensors_description/meshes/sonar_sensor/max_sonar_ez4.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
</collision>
</link>
<gazebo reference="sonar_link">
<sensor name="sonar" type="ray">
<always_on>true</always_on>
<update_rate>10</update_rate>
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<ray>
<scan>
<horizontal>
<samples>3</samples>
<resolution>1</resolution>
<min_angle>-0.349065850399</min_angle>
<max_angle> 0.349065850399</max_angle>
</horizontal>
<vertical>
<samples>3</samples>
<resolution>1</resolution>
<min_angle>-0.349065850399</min_angle>
<max_angle> 0.349065850399</max_angle>
</vertical>
</scan>
<range>
<min>0.03</min>
<max>3.0</max>
<resolution>0.01</resolution>
</range>
</ray>
<plugin filename="libhector_gazebo_ros_sonar.so" name="gazebo_ros_sonar_controller">
<gaussianNoise>0.005</gaussianNoise>
<topicName>sonar_height</topicName>
<frameId>sonar_link</frameId>
</plugin>
</sensor>
</gazebo>
<gazebo reference="base_link">
<turnGravityOff>false</turnGravityOff>
</gazebo>
<canonicalBody>base_link</canonicalBody>
<gazebo>
<plugin filename="libhector_gazebo_ros_imu.so" name="quadrotor_imu_sim">
<updateRate>100.0</updateRate>
<bodyName>base_link</bodyName>
<topicName>raw_imu</topicName>
<rpyOffsets>0 0 0</rpyOffsets>
<!-- deprecated -->
<gaussianNoise>0</gaussianNoise>
<!-- deprecated -->
<accelDrift>0.5 0.5 0.5</accelDrift>
<accelGaussianNoise>0.35 0.35 0.3</accelGaussianNoise>
<rateDrift>0.1 0.1 0.1</rateDrift>
<rateGaussianNoise>0.05 0.05 0.015</rateGaussianNoise>
<headingDrift>0.1</headingDrift>
<headingGaussianNoise>0.05</headingGaussianNoise>
</plugin>
<plugin filename="libhector_gazebo_ros_baro.so" name="quadrotor_baro_sim">
<updateRate>10.0</updateRate>
<bodyName>base_link</bodyName>
<topicName>pressure_height</topicName>
<altimeterTopicName>altimeter</altimeterTopicName>
<offset>0</offset>
<drift>0.1</drift>
<gaussianNoise>0.1</gaussianNoise>
</plugin>
<plugin filename="libhector_gazebo_ros_magnetic.so" name="quadrotor_magnetic_sim">
<updateRate>10.0</updateRate>
<bodyName>base_link</bodyName>
<topicName>magnetic</topicName>
<offset>0 0 0</offset>
<drift>0.0 0.0 0.0</drift>
<gaussianNoise>1.3e-2 1.3e-2 1.3e-2</gaussianNoise>
</plugin>
<plugin filename="libhector_gazebo_ros_gps.so" name="quadrotor_gps_sim">
<updateRate>4.0</updateRate>
<bodyName>base_link</bodyName>
<topicName>fix</topicName>
<velocityTopicName>fix_velocity</velocityTopicName>
<drift>5.0 5.0 5.0</drift>
<gaussianNoise>0.01 0.01 0.01</gaussianNoise>
<velocityDrift>0 0 0</velocityDrift>
<velocityGaussianNoise>0.05 0.05 0.05</velocityGaussianNoise>
</plugin>
<plugin filename="libgazebo_ros_p3d.so" name="quadrotor_groundtruth_sim">
<updateRate>100.0</updateRate>
<bodyName>base_link</bodyName>
<topicName>ground_truth/state</topicName>
<gaussianNoise>0.0</gaussianNoise>
<frameName>map</frameName>
</plugin>
<plugin filename="libgazebo_ros_controller_manager.so" name="gazebo_ros_controller_manager">
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
</plugin>
</gazebo>
<gazebo>
<plugin filename="libhector_gazebo_quadrotor_simple_controller.so" name="quadrotor_simple_controller">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<bodyName>base_link</bodyName>
<topicName>cmd_vel</topicName>
<stateTopic>ground_truth/state</stateTopic>
<imuTopic>raw_imu</imuTopic>
<rollpitchProportionalGain>10.0</rollpitchProportionalGain>
<rollpitchDifferentialGain>5.0</rollpitchDifferentialGain>
<rollpitchLimit>0.5</rollpitchLimit>
<yawProportionalGain>2.0</yawProportionalGain>
<yawDifferentialGain>1.0</yawDifferentialGain>
<yawLimit>1.5</yawLimit>
<velocityXYProportionalGain>5.0</velocityXYProportionalGain>
<velocityXYDifferentialGain>1.0</velocityXYDifferentialGain>
<velocityXYLimit>5</velocityXYLimit>
<velocityZProportionalGain>5.0</velocityZProportionalGain>
<velocityZDifferentialGain>1.0</velocityZDifferentialGain>
<velocityZLimit>2</velocityZLimit>
<maxForce>30</maxForce>
</plugin>
</gazebo>
<!-- Kinect -->
<joint name="camera_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.05 0.0 -0.06"/>
<parent link="base_link"/>
<child link="camera_link"/>
</joint>
<link name="camera_link">
<inertial_sphere diameter="0.07" mass="0.01"/>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hector_sensors_description/meshes/kinect_camera/kinect_camera_simple.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hector_sensors_description/meshes/kinect_camera/kinect_camera_simple.stl"/>
</geometry>
</collision>
</link>
<joint name="camera_depth_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 -0.02 0.0"/>
<parent link="camera_link"/>
<child link="camera_depth_frame"/>
</joint>
<link name="camera_depth_frame"/>
<joint name="camera_depth_optical_joint" type="fixed">
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
<parent link="camera_depth_frame"/>
<child link="camera_depth_optical_frame"/>
</joint>
<link name="camera_depth_optical_frame"/>
<joint name="camera_rgb_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 -0.0125 0.0"/>
<parent link="camera_link"/>
<child link="camera_rgb_frame"/>
</joint>
<link name="camera_rgb_frame"/>
<joint name="camera_rgb_optical_joint" type="fixed">
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
<parent link="camera_rgb_frame"/>
<child link="camera_rgb_optical_frame"/>
</joint>
<link name="camera_rgb_optical_frame"/>
<gazebo reference="camera_depth_frame">
<sensor name="camera" type="depth">
<update_rate>20</update_rate>
<camera>
<horizontal_fov>1.0471975512</horizontal_fov>
<image>
<format>R8G8B8</format>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.05</near>
<far>3</far>
</clip>
</camera>
<plugin filename="libgazebo_ros_openni_kinect.so" name="camera_camera_controller">
<alwaysOn>true</alwaysOn>
<updateRate>20</updateRate>
<imageTopicName>camera/rgb/image_raw</imageTopicName>
<cameraInfoTopicName>camera/rgb/camera_info</cameraInfoTopicName>
<depthImageTopicName>camera/depth/image_raw</depthImageTopicName>
<depthImageCameraInfoTopicName>camera/depth/camera_info</depthImageCameraInfoTopicName>
<pointCloudTopicName>camera/depth/points</pointCloudTopicName>
<frameName>camera_depth_optical_frame</frameName>
<distortion_k1>0.0</distortion_k1>
<distortion_k2>0.0</distortion_k2>
<distortion_k3>0.0</distortion_k3>
<distortion_t1>0.0</distortion_t1>
<distortion_t2>0.0</distortion_t2>
</plugin>
</sensor>
</gazebo>
</robot>
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Asked by Sendoh on 2014-02-20 07:05:26 UTC
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