How to solve ROS moveit cpp node segmentation fault problem?

asked 2017-06-20 01:12:36 -0600

anadgopi1994 gravatar image

updated 2017-06-20 22:06:48 -0600

I am publishing a PIR (Passive Infrared ) sensor data using Arduino ROS node. I wrote another ROS node which is given below, which subscribes to this PIR data send from the Arduino. This node tells a ABB 2400 to execute a path in a loop similar to a pick and place operating path. Based on the sensor values, I am slowing down the robot which is executing a continuous path. But a "Segmentation fault" error is showing after the the robot completes one or two loops of execution. Can any one please answer me how to solve this problem. I am giving my ROS code below:


float range; 

float sx=0.750045;

float sy;

float sz=1.17302;

int i=1;

int j=1;

int c=1;

float k=-0.005;

int n=1;

float dx;

float cz1;

float cz2;

float cx1;

float cx2;

geometry_msgs::Pose target_pose1;

geometry_msgs::Pose target_pose2;

geometry_msgs::Pose target_pose3;

geometry_msgs::Pose target_current;

void  rangeCallback(const std_msgs::Float32::ConstPtr& pir_data)

{

range=pir_data->data;

moveit::planning_interface::MoveGroup group("manipulator");

if(i<=1)

{

if(range==1)

{

group.setMaxAccelerationScalingFactor(0.005);

group.setMaxVelocityScalingFactor(0.005); 

}

else

{

group.setMaxAccelerationScalingFactor(0.05);

group.setMaxVelocityScalingFactor(0.05); 

}

target_pose1.orientation.w = 0.162635;

target_pose1.orientation.x= 0.0283592;

target_pose1.orientation.y = 0.985703;

target_pose1.orientation.z = 0.0336909;

target_pose1.position.x = 0.769102;

target_pose1.position.y = -0.0173314;

target_pose1.position.z = 0.915313;

group.setPoseTarget(target_pose1);

group.asyncMove();

if(range==0)

{

sleep(2.2);

}

else 

{

sleep(6);

}

target_current=group.getCurrentPose().pose;

cz1=target_pose1.position.z;

cz2=target_current.position.z;

cz1=floorf(cz1*100)/100;

cz2=floorf(cz2*100)/100;

cx1=target_pose1.position.x;

cx2=target_current.position.x;

cx1=floorf(cx1*100)/100;

cx2=floorf(cx2*100)/100;

if(cz1==cz2 && cx1==cx2)

{

i=i+1;

j=1;

}

else

{

i=1;

c=c+1;

if(c==3)

{

i=i+1;

c=1;

}

}

}

else if(i==2)

{

if(range==1)

{

group.setMaxAccelerationScalingFactor(0.005);

group.setMaxVelocityScalingFactor(0.005); 

}

else

{

group.setMaxAccelerationScalingFactor(0.05);

group.setMaxVelocityScalingFactor(0.05); 

}

  target_pose2.orientation.w = 0.160792;

  target_pose2.orientation.x= 0.0376416;

  target_pose2.orientation.y = 0.985994;

  target_pose2.orientation.z = -0.0233425;

  target_pose2.position.x = 0.608187;

  target_pose2.position.y = -0.146997;

  target_pose2.position.z = 1.01364;

   group.setPoseTarget(target_pose2);

 group.asyncMove();

if(range==0)

{

sleep(2.2);

}

else

{

sleep(6);

}

target_current=group.getCurrentPose().pose;

cz1=target_pose2.position.z;

cz2=target_current.position.z;

cz1=floorf(cz1*100)/100;

cz2=floorf(cz2*100)/100;

cx1=target_pose2.position.x;

cx2=target_current.position.x;

cx1=floorf(cx1*100)/100;

cx2=floorf(cx2*100)/100;

if(cz1==cz2 && cx1==cx2)

{

if(j==1)

{

i=3;

}

else

{

i=1;

}

}

else

{

i=2;

c=c+1;

if(c==3)

{

if(j==1)

{

i=3;

}

else

{

i=1;

}

c=1;

}

}

}

else

{

if(range==1)

{

group.setMaxAccelerationScalingFactor(0.005);

group.setMaxVelocityScalingFactor(0.005); 

//group.stop();

}

    else

{

group.setMaxAccelerationScalingFactor(0.05);

group.setMaxVelocityScalingFactor(0.05); 

}

  target_pose3.orientation.w = 0.160727;

  target_pose3.orientation.x= 0.0376638;

  target_pose3.orientation.y = 0.986003;

  target_pose3.orientation.z = -0.0233583;

  target_pose3.position.x = 0.613978 ...
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Comments

Please reformat your code. This is hardly readable.

Did you debug the segfault in gdb? What's the backtrace?

v4hn gravatar image v4hn  ( 2017-06-20 03:40:06 -0600 )edit

How to format the above code , I tried but I was not able to make it in bigger font. How to debug segfault in gdb

anadgopi1994 gravatar image anadgopi1994  ( 2017-06-20 05:14:55 -0600 )edit

I tried to debug my code using gbd by typing "rosrun --prefix 'gdb --args' using_markers pick" in the terminal, but the node is not running. Here my pkg name is using_markers and the node name is pick.How to debug using gdb?

anadgopi1994 gravatar image anadgopi1994  ( 2017-06-20 10:40:47 -0600 )edit

To get a gdb backtrace: rosrun --prefix 'xterm -e gdb --args' using_markers pick. Then, when the small terminal pops up, type run and press enter. Then go through the backtrace using frame 1, frame 2 etc. Please format your code using the 101010 button.

ufr3c_tjc gravatar image ufr3c_tjc  ( 2017-06-20 17:44:36 -0600 )edit

I formatted the ROS code. Now the gdb is working, I will post the backtrace soon. how long i have to type frame1, frame 2 etc?

anadgopi1994 gravatar image anadgopi1994  ( 2017-06-20 22:25:29 -0600 )edit

Eventually it will just say something like 0x000000. But you don't have to step through it one-by-one like that, it's just a good way to see what the process is doing in detail.

ufr3c_tjc gravatar image ufr3c_tjc  ( 2017-06-20 22:51:01 -0600 )edit

I debug the code using gdb and the backtrace i got by typing "where" in gdb pop up window is given below "#0 0x00007ffff77cdf15 in ros::CallbackQueue::callOneCB(ros::CallbackQueue::TLS*) () from /opt/ros/indigo/lib/libroscpp" . What is this error indicating?

anadgopi1994 gravatar image anadgopi1994  ( 2017-06-21 00:13:20 -0600 )edit

If this is the top of your call-stack then either you hit a bug in the core ROS library (not impossible) or you forgot to compile your code with debugging symbols.

v4hn gravatar image v4hn  ( 2017-06-27 07:41:22 -0600 )edit