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a moveit pr2 tutorial terminates with a mutex_lock error

asked 2015-01-08 21:26:30 -0600

andsok75 gravatar image

updated 2015-01-08 21:58:08 -0600

I run a moveit pr2 tutorial like so:

roslaunch pr2_moveit_tutorials move_group_interface_tutorial.launch

and it runs through different motions fine but at the end it shows an error and then just hangs. Is this an expected behaviour. What should I do to get rid of this error message and have the program finish cleanly? The error message looks like this:

move_group_interface_tutorial: /usr/include/boost/thread/pthread/recursive_mutex.hpp:110: void boost::recursive_mutex::lock(): Assertion `!pthread_mutex_lock(&m)' failed.
[move_group_interface_tutorial-7] process has died [pid 13649, exit code -6, cmd /home/andrey/misc/ros/devel/lib/pr2_moveit_tutorials/move_group_interface_tutorial __name:=move_group_interface_tutorial __log:=/home/andrey/.ros/log/dbebe4c8-97ad-11e4-ba0e-90b11c98a3ed/move_group_interface_tutorial-7.log].
log file: /home/andrey/.ros/log/dbebe4c8-97ad-11e4-ba0e-90b11c98a3ed/move_group_interface_tutorial-7*.log

moveit_pr2 and the necessary pr2 modules are compiled and installed with catkin_make from source (indigo).

I also had a look at master.log and it shows the following error (not sure if it's relevant):

[rosmaster.threadpool][ERROR] 2015-01-09 14:49:10,269: Traceback (most recent call last):
 File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/", line 218, in run
result = cmd(*args)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/", line 208, in publisher_update_task
xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
File "/usr/lib/python2.7/", line 1224, in __call__
return self.__send(self.__name, args)
File "/usr/lib/python2.7/", line 1578, in __request
File "/usr/lib/python2.7/", line 1264, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python2.7/", line 1297, in single_request
return self.parse_response(response)
File "/usr/lib/python2.7/", line 1473, in parse_response
return u.close()
File "/usr/lib/python2.7/", line 793, in close
raise Fault(**self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>
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same problem for me.

Juan gravatar image Juan  ( 2018-01-08 02:22:42 -0600 )edit

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answered 2015-01-19 15:56:26 -0600

DevonW gravatar image

I'm not sure moveit_pr2 and the pr2 modules are intended to work on Indigo at the moment. Do you mind filing a bug report on the moveit_pr2 github located here . I'm unsure if this is a MoveIt bug or a PR2 specific bug at the moment.

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Asked: 2015-01-08 21:26:30 -0600

Seen: 380 times

Last updated: Jan 19 '15