MoveGroup::plan causes hang/crash after apt update on ARM64
On an ARM64 docker image based on ros:noetic, calling a MoveIt MoveGroup::plan
, the process... dies? hangs infinitely? it's very unclear -- I don't know that I've ever seen anything like it, but quite simply nothing gets printed anywhere and the process completely hangs.
The docker image used to work (and still works on AMD64), but I think every build since around May 24 has some kind of failure. I've tried to nail down what the issue was, and the only thing I can see is catkin_tools going from 0.8.5 to 0.9.0, but I specifically reinstalled 0.8.5 in the docker image and it was still failing.
LazyPRM:
type: geometric::LazyPRM
LazyPRM_load:
type: geometric::LazyPRM
multi_query_planning_enabled: True
store_planner_data: False
load_planner_data: True
planner_data_path: roadmap.graph
LazyPRMstar:
type: geometric::LazyPRMstar
multi_query_planning_enabled: True
store_planner_data: True
load_planner_data: False
planner_data_path: roadmap.graph
The roadmap.graph
hasn't changed or moved, and it's located in the correct .ros
folder. I also tried replacing the value under planner_data_path
with the absolute path (/root/.ros/roadmap.graph
) with no difference.
If I set the planner to LazyPRM
, it succeeds, but if I set the planner to be either of the other two (LazyPRM_load
or LazyPRMstar
), it crashes as described above.
How can I fix this?