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Moveit Setup Assistant crashes when loading a URDF

asked 2015-01-08 13:20:55 -0600

TedK gravatar image

updated 2015-01-08 15:53:28 -0600

Hi,

I am doing the Tutorials from http://aeswiki.datasys.swri.edu/rosit... During the Session 3 Tutorials Moveit! keeps crashing when ever I have to use it.

I am running Ubuntu 13.04 (32-bit), ROS-I Hydro

I noticed that the Moveit Setup Assistant launchens when I start it with:

roslaunch moveit_setup_assistant setup_assistant.launch

But as soon as I try to create a new moveit config pkg by loading a .urdf file it crashes.

The console shows this Error message:

REQUIRED process [moveit_setup_assistant-2] has died!
process has died [pid 7937, exit code -11, cmd /opt/ros/hydro/lib/moveit_setup_assistant/moveit_setup_assistant __name:=moveit_setup_assistant __log:=/home/siemens/.ros/log/c324fdc4-9769-11e4-99d8-c4d98785fc5f/moveit_setup_assistant-2.log].
log file: /home/siemens/.ros/log/c324fdc4-9769-11e4-99d8-c4d98785fc5f/moveit_setup_assistant-2*.log
Initiating shutdown!

the log file /moveit_setup_assistant-2.log does not exist!

This is the urdf file I used: https://www.dropbox.com/s/2mtvf4ctmax...

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Comments

Without access to the URDF we cannot really do anything I'm afraid. You might want to try and run the Setup Assistant in GDB. That could provide you with some more information as to where it is crashing precisely, but without proper debug symbols that will probably not be too helpful.

gvdhoorn gravatar imagegvdhoorn ( 2015-01-08 15:25:51 -0600 )edit

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answered 2015-01-11 22:49:47 -0600

The ROS-Industrial training files also contain "working" solutions to each of the tasks. They can be found in the "ref" directory as described at the bottom of this page.

Instead of using "training_unit", you can call "training_ref" and that will switch you to the solved package. You can also diff the working and ref directories to determine what may be causing the issue (assuming the ref version does not cause the same issue).

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answered 2016-01-05 20:25:21 -0600

jbrown gravatar image

There is a problem with running the setup assistant on 32-bit OS's. This was taken directly from the Moveit! website:

Note for Ubuntu 13.4 32 bit users: There is a bug with GCC 4.7 on Ubuntu 13.4 32bit with Eigen 3.1.2. It’s not likely to be fixed, so upgrade/downgrade your system to 13.4 64 bit resp. 12.4.

So basically, don't use a 32-bit OS, use a 64-bit one. It doesn't seem to be working on the Jetson TK1 or TX1, but as of this moment, those are all running 32-bit OS's as well.

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answered 2015-01-09 02:19:34 -0600

gvdhoorn gravatar image

You seem to be using the pr2.urdf from pr2_description. I cannot reproduce the crashes you are reporting either with your file, or the one from the package.

Does the Setup Assistant crash with other urdfs as well?

At the point where the Setup Assistant is loading the urdf, it starts to make proper use of your OpenGL subsystem. If anything is not ok there, it might lead to crashes such as your seeing. This is especially true if you are running Ubuntu/ROS in a VM.

In any case, make sure you have the correct (and up-to-date) drivers installed (check output of glxinfo, look at OpenGL vendor/renderer/version strings).

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answered 2015-01-10 16:13:00 -0600

Andromeda gravatar image

I had the same problem. Try with a simpler URDF file AND, most important, be sure that all .stl and .dae files[1] are properly downloaded (not using the right taste of the mouse to download them...otherwise it will save a html page) and that they are in the right orders and relative paths.

Let us know.

[1] find every sentence with the word "mesh" and check it three times with the reccomandations above!!! :)

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answered 2015-01-19 16:01:38 -0600

DevonW gravatar image

I believe this happens because the changes within the urdfdom package. The parser does not know of the PR2 specific transmission elements. Try running the ROS-I Hydro urdf parser to see this error for yourself:

rosrun check_urdf pr2.urdf

Make sure that it is run in a Hydro environment. If you would like, try parsing it using this file https://github.com/PR2/pr2_calibratio... . You may have to hack MoveIt to point towards this parser.

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Asked: 2015-01-08 13:20:55 -0600

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Last updated: Jan 05 '16