MoveIt RRTstar crashes when compiled from source

asked 2016-03-29 17:33:10 -0600

c3po gravatar image

Hello dear ROS-users,

I am currently trying to write a new planner within OMPL to use with MoveIT.

I have succesfully compiled both MoveIt (0.7.0) and OMPL (1.1.0) from source as described in the tutorials.

Whenever I try to plan with RRTstar the move_group node crashes. All other planners I have tested seem to work (RRT, RRTconnect, PRM, PRMstar). Also it is possible to use RRTstar when only compiling MoveIt from source but not OMPL.

This is the console output when compiled with "-DCMAKE_BUILD_TYPE=Debug":

[ INFO] [1459288486.787400426]: Planner configuration 'manipulator[RRTstarkConfigDefault]' will use planner 'geometric::RRTstar'. Additional configuration parameters will be set when the planner is constructed.

[ INFO] [1459288486.788914041]: manipulator[RRTstarkConfigDefault]: problem definition is not set, deferring setup completion...

move_group: /usr/include/boost/smart_ptr/shared_ptr.hpp:653: typename boost::detail::sp_member_access<t>::type boost::shared_ptr<t>::operator->() const [with T = ompl::base::OptimizationObjective; typename boost::detail::sp_member_access<t>::type = ompl::base::OptimizationObjective*]: Assertion `px != 0' failed.

[move_group-2] process has died [pid 30078, exit code -6, ......

My system:

  • Ubuntu 14.04
  • ROS Indigo
  • OMPL 1.1.0
  • MoveIt 0.7.0

Thank you for your help :)

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Did you find a solution?

machinekoder gravatar image machinekoder  ( 2019-08-02 02:53:56 -0600 )edit