# footstep_planner thread error

Hi～ sorry for my poor English first..

I am going to do Indoor Navigation with Nao using the code from https://github.com/ahornung/humanoid_... for path planning...

There are some diffrences in my situation...I'm using ROS+Xtion Pro + OBR_SLAM + Octomap Server + Naoqi + RVIZ+humanoid_navigation

the last one is for path planning and control the robot...

It works well and the path is generated on RVIZ, but Nao cannot walk somehow or just walk one or two step , By the way, If I use the FAST mode, executeFootstepsFast() , Nao can walk but not very accurate ...

I tried to debug with GDB ,there will be a Segmentation Fault

here is the GDB information：
 Program received signal SIGSEGV, Segmentation fault. [Switching to Thread 0x7fffebf32700 (LWP 9682)] 0x00000000407a3e in boost::detail::atomic_exchange_and_add( pw=0x7fff443bace,dv=-1) at /usr/include /boost/..../... 

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