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rviz crash with moveit! (dynamics solver)

asked 2013-10-09 05:33:01 -0500

marcoesposito1988 gravatar image

updated 2013-11-14 10:14:12 -0500

tfoote gravatar image

Hi everyone,

I'm trying to start the Universal Robot UR5 moveit_config demo.launch, but rviz crashes:

Program received signal SIGSEGV, Segmentation fault.
0x00007fffa0353a03 in dynamics_solver::DynamicsSolver::DynamicsSolver(boost::shared_ptr<moveit::core::RobotModel const> const&, std::string const&, geometry_msgs::Vector3_<std::allocator<void> > const&) ()
   from /opt/ros/hydro/lib/libmoveit_dynamics_solver.so
(gdb) backtrace
0x00007fffa0353a03 in dynamics_solver::DynamicsSolver::DynamicsSolver(boost::shared_ptr<moveit::core::RobotModel const> const&, std::string const&, geometry_msgs::Vector3_<std::allocator<void> > const&) ()
   from /opt/ros/hydro/lib/libmoveit_dynamics_solver.so
0x00007fffa25c4675 in moveit_rviz_plugin::MotionPlanningDisplay::onRobotModelLoaded() () from /opt/ros/hydro/lib/libmoveit_motion_planning_rviz_plugin_core.so
0x00007fffa207a2a7 in moveit_rviz_plugin::PlanningSceneDisplay::executeMainLoopJobs() () from /opt/ros/hydro/lib/libmoveit_planning_scene_rviz_plugin_core.so
0x00007fffa207a688 in moveit_rviz_plugin::PlanningSceneDisplay::update(float, float) () from /opt/ros/hydro/lib/libmoveit_planning_scene_rviz_plugin_core.so

I can start rviz on its own or spawn the model; the problem seems to be in relationship with MoveIt!.

I am already using shadow-fix, so if the problem is known was not solved (others were known with MoveIt!: see question 75769, ros-moveit-pr2-demo-launch-fails)

Shall I file a bug or does anyone know about this?

Thanks in advance! Marco

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answered 2013-10-24 04:11:45 -0500

marcoesposito1988 gravatar image

For anyone interested, I found the problem.

I had updated the URDF in ur_description, but not the SRDF in ur_moveit_config. These resulted in a discrepancy between the joints name and indices, I presume.

I still think this is a bug, as no single useful error message was emitted, just a SEGFAULT.

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Asked: 2013-10-09 05:33:01 -0500

Seen: 484 times

Last updated: Oct 24 '13