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Illegal Instruction when reading PCD/PLY files readHeader()

asked 2013-06-06 03:07:59 -0600

dberm22 gravatar image

updated 2014-04-20 14:09:34 -0600

ngrennan gravatar image

EDIT I've narrowed down the issue to reading of PCD/PLY files, so the question has basically changed...

I have been stuck on this issue for days, and finally I've given up and decided to ask for help:

I am trying to run a variation of my_pcl_tutorial, but instead of receiving a point cloud via subscription, I am still setting up a subscriber, but then reading the cloud from a pcb file and then publishing it (via a message forwarder node to avoid sub/pub of the same topic on a single node) on the same topic I am subscribing to. Here is my main():

int main (int argc, char** argv)
{
  // Initialize ROS
  ros::init (argc, argv, "my_pcl_tutorial");

  // Load from file
   pcl::PointCloud<pcl::PointXYZ>::Ptr pcloud(new pcl::PointCloud<pcl::PointXYZ>);
  //sensor_msgs::PointCloud2::Ptr pcloud(new sensor_msgs::PointCloud2);
  if ( pcl::io::loadPCDFile<pcl::PointXYZ> ("/home/user/Documents/table_scene_lms400.pcd", *pcloud) == -1) // load the file
  {
    std::cout << "Couldn't read file!\n";
    return (-1);
  }
  std::cout << "Loaded " << pcloud->points.size () << " points." << std::endl;

  //set up publishers and subscribers
  ros::NodeHandle nh;// = ros::NodeHandle(ros::this_node::getName());
  ros::Duration(5).sleep();
  ros::Publisher pubcloud = nh.advertise<sensor_msgs::PointCloud2> ("/inputforwarder", 1);
  ros::Subscriber sub = nh.subscribe ("/input", 1, cloud_cb);
  //puboutput = nh.advertise<sensor_msgs::PointCloud2> ("/output", 1);
  puboutput = nh.advertise<pcl::ModelCoefficients> ("/output", 1);
  ros::Duration(5).sleep();

  //publish cloud
  sensor_msgs::PointCloud2 pc2;
  pcl::toROSMsg(*pcloud, pc2);
  pubcloud.publish(pc2);

  // Spin
  ros::spin ();

  return (0);
}

Which gives me the error on my loadPCDFile():

Starting program: /home/user/ros_workspace/my_pcl_tutorial/bin/example 
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".

Program received signal SIGILL, Illegal instruction.
0x00007ffff6f4b1a1 in pcl17::PCDReader::readHeader(std::string const&, sensor_msgs::PointCloud2_<std::allocator<void> >&, Eigen::Matrix<float, 4, 1, 0, 4, 1>&, Eigen::Quaternion<float, 0>&, int&, int&, unsigned int&, int) ()
   from /home/user/ros_workspace/fuerte-unstable-devel/pcl17/lib/libpcl_io.so.1.7
(gdb) bt
#0  0x00007ffff6f4b1a1 in pcl17::PCDReader::readHeader(std::string const&, sensor_msgs::PointCloud2_<std::allocator<void> >&, Eigen::Matrix<float, 4, 1, 0, 4, 1>&, Eigen::Quaternion<float, 0>&, int&, int&, unsigned int&, int) ()
   from /home/user/ros_workspace/fuerte-unstable-devel/pcl17/lib/libpcl_io.so.1.7
#1  0x00007ffff6f48af4 in pcl17::PCDReader::read(std::string const&, sensor_msgs::PointCloud2_<std::allocator<void> >&, Eigen::Matrix<float, 4, 1, 0, 4, 1>&, Eigen::Quaternion<float, 0>&, int&, int) ()
   from /home/user/ros_workspace/fuerte-unstable-devel/pcl17/lib/libpcl_io.so.1.7
#2  0x000000000044e9f4 in pcl17::PCDReader::read<pcl17::PointXYZ> (
this=0x7fffffffd970, file_name=..., cloud=..., offset=0)
at /home/user/ros_workspace/fuerte-unstable-devel/pcl17/include/pcl-1.7/pcl17/io/pcd_io.h:209
#3  0x000000000044af8e in pcl17::io::loadPCDFile<pcl17::PointXYZ> (
file_name=..., cloud=...)
    at /home/user/ros_workspace/fuerte-unstable-devel/pcl17/include/pcl-1.7/pcl17/io/pcd_io.h:544
#4  0x0000000000445afd in main (argc=1, argv=0x7fffffffdd38)
at /home/user/ros_workspace/my_pcl_tutorial/src/example.cpp:72

which boils down to an issue in readHeader().

It is finding the file just fine, in case you were wondering. I've tried multiple PCD and PLY ... (more)

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2 Answers

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answered 2013-06-06 03:56:53 -0600

alex_rockt gravatar image

Try to update your ros-fuerte-perception-pcl (There is a new version out since yesterday I think). I had a similar problem giving me an "Illegal instruction" error. The 1.2.3 version of ros-fuerte-perception-pcl was compiled with differend flags which led to this error.

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Try x/i $pc in gdb to see which instruction is causing the SIGILL, for me it was vmovsd

alex_rockt gravatar imagealex_rockt ( 2013-06-06 20:12:01 -0600 )edit

You are mostly correct. I updated to pcl-1.7 thinking that the changes made to 1.5 would be reflect in 1.7, but they were not. I downloaded the new version of 1.5 from here http://50.28.27.175/repos/building/pool/main/r/ros-fuerte-pcl/ and it worked like a charm. I will update the rest now. Thanks!

dberm22 gravatar imagedberm22 ( 2013-06-11 02:59:22 -0600 )edit
0

answered 2013-06-06 11:40:54 -0600

Felsi gravatar image

Hi,

i had similar problems with some PCL functions. The problem are the flags as already said. There are some opcodes that your CPU doesn't support (so in my case). Try your code on another machine with a newer CPU. That solved my Problems so far.

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while technically you are correct, that didn't help me solve the issue on THIS computer. See the comments on the accepted answer. Thanks anyway.

dberm22 gravatar imagedberm22 ( 2013-06-11 03:20:43 -0600 )edit

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Asked: 2013-06-06 03:07:59 -0600

Seen: 634 times

Last updated: Jun 06 '13