MoveGroup::plan causes hang/crash after apt update on ARM64

asked 2022-07-11 08:52:58 -0600

rivertam gravatar image

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?

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