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laser_self_filter crashes when launching PR2 arm_navigation

asked 2013-02-24 17:15:12 -0500

jys gravatar image

updated 2014-11-22 17:05:38 -0500

ngrennan gravatar image

It is basically a problem reported before by @ASchwa but never got resolved. Though it is a wiki question, I don't have enough Karma, so I am posting as new question.

I just want to run roslaunch pr2_3dnav right_arm_navigation.launch

laser_self_filter continues to crash and gets respawned on Ubuntu 12.04 LTS 64-bit with ROS Fuerte.

I know this launch file does work on many other machines that also runs 12.04 64bit with Fuerte. It is crucial for us to get this working please take a look.

As @Lorenz suggested, I attached gdb to laser_self_filter. Please take a look. Thanks!

(gdb) bt
#0  0x00007ffff6ae20e1 in pcl::VoxelGrid<pcl::PointXYZ>::applyFilter(pcl::PointCloud<pcl::PointXYZ>&) () from /opt/ros/fuerte/lib/libpcl_filters.so.1.5
#1  0x0000000000434527 in filter (output=..., this=0x7fffffffdb10)
    at /opt/ros/fuerte/include/pcl-1.5/pcl/filters/filter.h:117
#2  SelfFilter::cloudCallback (this=0x7fffffffd600, cloud2=...)
    at /tmp/buildd/ros-fuerte-arm-navigation-1.1.11/debian/ros-fuerte-arm-navigation/opt/ros/fuerte/stacks/arm_navigation/robot_self_filter/src/self_filter.cpp:105
#3  0x0000000000424b3a in operator() (a0=..., this=<optimized out>)
    at /usr/include/boost/function/function_template.hpp:1013
#4  boost::detail::function::void_function_obj_invoker1<boost::function<void (boost::shared_ptr<sensor_msgs::PointCloud2_<std::allocator<void> > const> const&)>, void, boost::shared_ptr<sensor_msgs::PointCloud2_<std::allocator<void> > const> >::invoke(boost::detail::function::function_buffer&, boost::shared_ptr<sensor_msgs::PointCloud2_<std::allocator<void> > const>) (function_obj_ptr=..., a0=...)
    at /usr/include/boost/function/function_template.hpp:153
#5  0x000000000043821c in operator() (
    a0=<error reading variable: access outside bounds of object referenced via synthetic pointer>, this=0x698238) at /usr/include/boost/function/function_template.hpp:1013
#6  message_filters::CallbackHelper1T<boost::shared_ptr<sensor_msgs::PointCloud2_<std::allocator<void> > const> const&, sensor_msgs::PointCloud2_<std::allocator<void> > >::call (this=0x698230, event=..., nonconst_force_copy=<optimized out>)
    at /opt/ros/fuerte/include/message_filters/signal1.h:76
#7  0x000000000042a367 in call (event=..., this=<optimized out>)
    at /opt/ros/fuerte/include/message_filters/signal1.h:119
#8  message_filters::SimpleFilter<sensor_msgs::PointCloud2_<std::allocator<void> > >::signalMessage (this=<optimized out>, event=...)
    at /opt/ros/fuerte/include/message_filters/simple_filter.h:135
#9  0x000000000043b365 in tf::MessageFilter<sensor_msgs::PointCloud2_<std::allocator<void> > >::testMessage (this=0x7a2970, evt=...)
    at /opt/ros/fuerte/stacks/geometry/tf/include/tf/message_filter.h:413
#10 0x000000000043bf91 in tf::MessageFilter<sensor_msgs::PointCloud2_<std::allocator<void> > >::add (this=0x7a2970, evt=...)
    at /opt/ros/fuerte/stacks/geometry/tf/include/tf/message_filter.h:255
#11 0x0000000000438408 in operator() (a0=..., this=0x7c05f8)
    at /usr/include/boost/function/function_template.hpp:1013
#12 message_filters::CallbackHelper1T<ros::MessageEvent<sensor_msgs::PointCloud2_<std::allocator<void> > const> const&, sensor_msgs::PointCloud2_<std::allocator<void> > >::call (this=0x7c05f0, event=..., nonconst_force_copy=<optimized out>)
    at /opt/ros/fuerte/include/message_filters/signal1.h:76
#13 0x000000000042a367 in call (event=..., this=<optimized out>)
    at /opt/ros/fuerte/include/message_filters/signal1.h:119
#14 message_filters::SimpleFilter<sensor_msgs::PointCloud2_<std::allocator<void> > >::signalMessage (this=<optimized out>, event=...)
    at /opt/ros/fuerte/include/message_filters/simple_filter.h:135
#15 0x000000000043853b in operator() (a0=..., this=0x7e4458)
    at /usr/include/boost/function/function_template.hpp:1013
#16 ros::SubscriptionCallbackHelperT<ros::MessageEvent<sensor_msgs::PointCloud2_<std::allocator<void> > const> const&, void>::call ...
(more)
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answered 2013-06-02 21:24:16 -0500

alex_rockt gravatar image

updated 2013-06-04 02:58:19 -0500

I'm getting the same error if I try to run a launchfile from the erratic_robot package (roslaunch erratic_navigation_apps demo_2dnav_empty_map.launch). I'm also running Ubuntu 12.04 64-Bit with Fuerte.

UPDATE: Have a look at this ticket: https://github.com/ros-perception/perception_pcl/issues/10

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Asked: 2013-02-24 17:15:12 -0500

Seen: 261 times

Last updated: Feb 27 '13