Crash running moveit move_group node
Hi All. I'm running a UR5 simulation, using ROS Kinetic with MoveIt! and gazebo, but the moveit_ros_move_group node crashes on start-up.
A backtrace shows an illegal instruction, seemingly issued by libmoveit_collision_detection_fcl.so:
Thread 1 "move_group" received signal SIGILL, Illegal instruction.
0x00007fffeb76b430 in fcl::AABB::AABB() () from /usr/lib/x86_64-linux-gnu/libfcl.so.0.5
(gdb) bt
#0 0x00007fffeb76b430 in fcl::AABB::AABB() () from /usr/lib/x86_64-linux-gnu/libfcl.so.0.5
#1 0x00007fffef50f139 in fcl::BVHModel<fcl::OBBRSS>::BVHModel() () from /opt/ros/kinetic/lib/libmoveit_collision_detection_fcl.so.0.9.1
I followed the instructions at http://wiki.ros.org/ur_gazebo initially and the above error comes when the move_group node is called from within the ur5_moveit_planning_execution.launch file. Running 'rosrun moveit_ros_move_group move_group' directly gives the same error and stack trace.
I've tried using MoveIt from within the Kinetic distro and tried updating from the shadow-fixed server, and also tried building MoveIt from source, but the behaviour is the same.
I'm running Linux Ubuntu, version details: 4.4.0-43-generic (buildd@lgw01-22) (gcc version 5.4.0 20160609 (Ubuntu 5.4.0-6ubuntu1~16.04.2)
Any advice on what to try next would be greatly appreciated!
System details:
lsb_release -a
LSB Version: core-9.20160110ubuntu0.2-amd64:core-9.20160110ubuntu0.2-noarch:security-9.20160110ubuntu0.2-amd64:security-9.20160110ubuntu0.2-noarch
Distributor ID: Ubuntu
Description: Ubuntu 16.04.1 LTS
Release: 16.04
Codename: xenial
Cpu:
processor : 0
vendor_id : GenuineIntel
cpu family : 6
model : 26
model name : Intel(R) Core(TM) i7 CPU 950 @ 3.07GHz
stepping : 5
microcode : 0xf
cpu MHz : 1867.000
cache size : 8192 KB
physical id : 0
siblings : 8
core id : 0
cpu cores : 4
apicid : 0
initial apicid : 0
fpu : yes
fpu_exception : yes
cpuid level : 11
wp : yes
flags : fpu vme de pse tsc msr pae mce cx8 apic sep mtrr pge mca cmov pat pse36 clflush dts acpi mmx fxsr sse sse2 ss ht tm pbe syscall nx rdtscp lm constant_tsc arch_perfmon pebs bts rep_good nopl xtopology nonstop_tsc aperfmperf pni dtes64 monitor ds_cpl vmx est tm2 ssse3 cx16 xtpr pdcm sse4_1 sse4_2 popcnt lahf_lm tpr_shadow vnmi flexpriority ept vpid dtherm ida
bugs :
bogomips : 6141.46
clflush size : 64
cache_alignment : 64
address sizes : 36 bits physical, 48 bits virtual
power management:
EDIT - more info:
installing debug files, gdb shows the problem location:
#0 fcl::AABB::AABB (this=0x92fad8) at /var/lib/jenkins/workspace/fcl0.5-pkg_builder-master-generic/repo/src/BV/AABB.cpp:47
gdb dissassemly output gives the problem as the command "vmovsd %xmm2,(%rdx,%rax,8) ", which suggests the library has been compiled on an architecture with an 'avx' flag on the cpu, which my system doesn't have
This is interesting. Can you tell us your cpu arch (x86, x64, something else) and OS version (
lsb_release -a)?Note that the
universal_robotpackages are not necessarily Kinetic compatible, but I don't think that's what causing you issues here.Perhaps this is related to FCL's use of SSE instructions? Just a thought.
Could be, that's why I asked more info on cpu arch, etc.
Thanks for the reply, lsb_release -a output added to the question
And the cpu type? can you post the output of
cat /proc/cpuinfo? (just a single processor is fine)processor : 0 vendor_id : GenuineIntel cpu family : 6 model : 26 model name : Intel(R) Core(TM) i7 CPU 950 @ 3.07GHz stepping : 5 microcode : 0xf cpu MHz : 1867.000 cache size : 8192 KB physical id : 0 siblings : 8 core id
You're last update suggests something might be wrong with the binary distribution of
libfcl. Perhaps it'd be good to report this over at flexible-collision-library/fcl/issues. The MoveIt issue tracker might also be good to notify.Provided this really is an
SIGILLdue to miscompilation (and not a code corruption issue), this is serious and needs to be addressed. An i7-950 should definitely be capable of running MoveIt/FCL.