this line gives me a seg fault: graspdata.pregraspposture_.points[0].positions.resize(1);

is there any solution for this?

it is being caused by points[0]. i know this because it happened another time when i was trying to convert manipulationmsgs::Grasp to moveitmsgs::Grasp.

here is the struct of graspdata as used by dave coleman's clam arm:

namespace block_grasp_generator
{

struct RobotGraspData
{

RobotGraspData() :

    // Fill in default values where possible:
    base_link_("/base_link"), 
    grasp_depth_(0.12), 
    angle_resolution_(16),
    approach_retreat_desired_dist_(0.6),
    approach_retreat_min_dist_(0.4),
    block_size_(0.04)
  {}

  //sensor_msgs::JointState pre_grasp_posture_;

  //sensor_msgs::JointState grasp_posture_;

  trajectory_msgs::JointTrajectory pre_grasp_posture_;

  trajectory_msgs::JointTrajectory grasp_posture_;

  std::string base_link_; // name of global frame with z pointing up

  std::string ee_parent_link_; // the last link in the kinematic chain before the end effector, e.g. "/gripper_roll_link"

  double grasp_depth_; // distance from center point of object to end effector

  int angle_resolution_; // generate grasps at PI/angle_resolution increments

  double approach_retreat_desired_dist_; // how far back from the grasp position the pregrasp phase should be

  double approach_retreat_min_dist_; // how far back from the grasp position the pregrasp phase should be at minimum
  double block_size_; // for visualization

};


block_grasp_generator::RobotGraspData grasp_data_;

i have to use moveitmsgs::Grasp because pick place needs it in hydro as opposed to groovy which uses manipulationmsgs(moveit/movegroupinterface/movegroup.h), therefore i have changed sensormsgs to trajectory_msgs.

i am using:

ros hydro

kubuntu 12.04 precise