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moveit crashes while loading model, or shows no model

Hello,

I am running ubuntu 12.04 with ros groovy. I have installed moveit from source (I also tried the debian package, but get the same errors).

I start by running

kel@balmorra:~$ roslaunch moveitsetupassistant setup_assistant.launch

which yields this startup message and presents the assistant gui.

kel@balmorra:~$ roslaunch moveitsetupassistant setupassistant.launch
WARNING: Metapackage "rqt" must buildtooldepend on catkin.
... logging to /home/kel/.ros/log/d1000d52-f2de-11e2-b551-0019d170a2e8/roslaunch-balmorra-22425.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.



started roslaunch server http://192.168.1.3:49438/



SUMMARY



PARAMETERS
 * /rosdistro
 * /rosversion



NODES
  /
    moveitsetupassistant (moveitsetupassistant/moveitsetupassistant)



ROSMASTERURI=http://192.168.1.2:11311



core service [/rosout] found
WARNING: Metapackage "rqt" must buildtooldepend on catkin.
process[moveitsetup_assistant-1]: started with pid [22434]
Xlib:  extension "RANDR" missing on display ":0.0".

When I click on Create New MoveIt Configuration Package and load the pr2.urdf file I generated as per the instructions on the moveit wiki, and click Load Files, I get one of two behaviors (seemingly randomly):

Either the model loads, and I can view the joints under active joints, but there is nothing shown in the render window, or the program crashes with the following error:

[ INFO] [1374593536.722684914]: Loaded pr2 robot model.
[ INFO] [1374593536.722770146]: Setting Param Server with Robot Description
[ INFO] [1374593536.761468904]: Robot semantic model successfully loaded.
[ INFO] [1374593536.761501409]: Setting Param Server with Robot Semantic Description
[ INFO] [1374593536.775857444]: No root joint specified. Assuming fixed joint
[ INFO] [1374593538.672573680]: OpenGl version: 2.1 (GLSL 1.2).
[ INFO] [1374593539.984490707]: No root joint specified. Assuming fixed joint
================================================================================REQUIRED process [moveitsetupassistant-1] has died!
process has died [pid 22538, exit code -11, cmd /home/kel/rosworkspace/catkinoverlay/devel/lib/moveitsetupassistant/moveitsetupassistant _name:=moveitsetupassistant _log:=/home/kel/.ros/log/d1000d52-f2de-11e2-b551-0019d170a2e8/moveitsetupassistant-1.log].
log file: /home/kel/.ros/log/d1000d52-f2de-11e2-b551-0019d170a2e8/moveitsetupassistant-1*.log



Initiating shutdown!



[moveitsetupassistant-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Here is the same behavior with debug:=true


[ INFO] [1374593751.311360356]: Loaded pr2 robot model.
[ INFO] [1374593751.311450977]: Setting Param Server with Robot Description
[ INFO] [1374593751.354008760]: Robot semantic model successfully loaded.
[ INFO] [1374593751.354043996]: Setting Param Server with Robot Semantic Description
[ INFO] [1374593751.384640395]: No root joint specified. Assuming fixed joint
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffa698c700 (LWP 22643)]
[New Thread 0x7fffbd4c4700 (LWP 22644)]
[New Thread 0x7fffa718d700 (LWP 22645)]
[New Thread 0x7fff97efe700 (LWP 22646)]
[New Thread 0x7fff976fd700 (LWP 22647)]
[New Thread 0x7fff96efc700 (LWP 22648)]
[New Thread 0x7fff966fb700 (LWP 22649)]
[New Thread 0x7fff95efa700 (LWP 22650)]
[ INFO] [1374593753.398904818]: OpenGl version: 2.1 (GLSL 1.2).
[New Thread 0x7fff955f9700 (LWP 22673)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[ INFO] [1374593754.816397472]: No root joint specified. Assuming fixed joint



Program received signal SIGSEGV, Segmentation fault.
0x00007fffec357415 in Ogre::EdgeListBuilder::buildTrianglesEdges(Ogre::EdgeListBuilder::Geometry const&) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4

and gdb where returns the following:

(gdb) where



0  0x00007fffec357415 in Ogre::EdgeListBuilder::buildTrianglesEdges(Ogre::EdgeListBuilder::Geometry const&) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4



1  0x00007fffec357bff in Ogre::EdgeListBuilder::build() ()



from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4



2  0x00007fffec4029ee in Ogre::Mesh::buildEdgeList() ()



from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4



3  0x00007ffff3166c31 in ogre_tools::STLLoader::toMesh(std::string const&) ()



from /opt/ros/groovy/lib/librviz.so



4  0x00007ffff314cff6 in rviz::loadMeshFromResource(std::string const&) ()



from /opt/ros/groovy/lib/librviz.so



5  0x00007ffff3184a73 in rviz::RobotLink::createEntityForGeometryElement(boost::shared_ptr const&, urdf::Geometry const&, urdf::Pose const&, Ogre::SceneNode, Ogre::Entity&) ()



from /opt/ros/groovy/lib/librviz.so



6  0x00007ffff3185625 in rviz::RobotLink::createCollision(boost::shared_ptr const&) () from /opt/ros/groovy/lib/librviz.so



7  0x00007ffff3186bab in rviz::RobotLink::RobotLink(rviz::Robot*, boost::shared_ptr const&, std::string const&, bool, bool) () from /opt/ros/groovy/lib/librviz.so



8  0x00007ffff31896d7 in rviz::Robot::LinkFactory::createLink(rviz::Robot*, boost::shared_ptr const&, std::string const&, bool, bool) () from /opt/ros/groovy/lib/librviz.so



9  0x00007ffff318b180 in rviz::Robot::load(urdf::ModelInterface const&, bool, bool) ()



from /opt/ros/groovy/lib/librviz.so



10 0x00007fffed3ee64f in moveitrvizplugin::RobotStateVisualization::load(urdf::ModelInterface const&, bool, bool) ()



from /home/kel/rosworkspace/catkinoverlay/devel/lib/libmoveitrvizpluginrendertools.so



11 0x00007ffff345b2e9 in moveitrvizplugin::RobotStateDisplay::loadRobotModel() ()



from /home/kel/rosworkspace/catkinoverlay/devel/lib/libmoveitrobotstatervizplugin_core.so



12 0x00007ffff345b839 in moveitrvizplugin::RobotStateDisplay::onEnable() ()



from /home/kel/rosworkspace/catkinoverlay/devel/lib/libmoveitrobotstatervizplugin_core.so



13 0x00007ffff3110033 in rviz::Display::onEnableChanged() () from /opt/ros/groovy/lib/librviz.so



---Type  to continue, or q  to quit---

I have also tried with my own urdf file, which works perfectly for doing stuff with roscontrol, as well as the urdf visualizer in rviz. Rviz and RQT both work fine as well.

Please let me know if you have any thoughts, several other people reported this problem, but later said that it got fixed by upgrading. I have the latest version of moveit, I have made sure all of my dependencies are in order using rosdep install, and its still not working.

Also let me know if there is other information I can provide to help.

Thanks very much!

Kel

Asked by Kel Guerin on 2013-07-23 05:44:19 UTC

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Answers

im having this exact same problem. moveit setup assistant worked a week ago for the pr2 urdf...

Asked by llSourcell on 2013-08-01 08:52:32 UTC

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