moveit_setup_assistant crashed on groovy [closed]

asked 2013-10-20 23:23:22 -0500

Fabien R gravatar image

updated 2014-01-28 17:18:18 -0500

ngrennan gravatar image

I compiled moveit_setup_assistant on debian AMD64/stable but roslaunch crashed with this output in debug mode:

Program received signal SIGILL, Illegal instruction.
0x00007fffd72c6680 in cv::initInterTab2D(int, bool) ()
   from /opt/ros/groovy/lib/libopencv_imgproc.so.2.4
(gdb) up
#1  0x00007fffd71c2bf2 in _GLOBAL__sub_I_imgwarp.cpp ()
   from /opt/ros/groovy/lib/libopencv_imgproc.so.2.4
(gdb) up
#2  0x00007ffff7deaf80 in ?? () from /lib64/ld-linux-x86-64.so.2

What can the problem be ?

Edit: The recompilation of opencv in verbose mode showed that cmake generated sse3 instructions. But proc/cpuinfo showed that my CPU does not support sse3. Thus, I disabled sse3 in cmake/OpenCVCompilerOptions.cmake. Now, roslaunch fails on this error:

started core service [/rosout]
process[moveit_setup_assistant-2]: started with pid [24853]
[FATAL] [1382633706.128830068]: You must call ros::init() before creating the first NodeHandle
[FATAL] [1382633706.129891600]: BREAKPOINT HIT
        file = /media/hd160/robot/ros/catkin_workspace/src/roscpp/src/libros/node_handle.cpp
        line=151

Edit: After having recompiled groovy for debug mode, I obtained this stack:

(gdb) break setup_assistant_main.cpp:47
Breakpoint 1 at 0x42bbd9: file /media/travail/robot/ros/catkin_workspace_groovy/src/moveit_setup_assistant/src/setup_assistant_main.cpp, line 47.
(gdb) r
Starting program: /media/travail/opt/ros/groovy/lib/moveit_setup_assistant/moveit_setup_assistant 
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[FATAL] [1385139085.163041856]: You must call ros::init() before creating the first NodeHandle
[FATAL] [1385139085.176137067]: BREAKPOINT HIT
        file = /media/travail/robot/ros/catkin_workspace_groovy/src/roscpp/src/libros/node_handle.cpp
        line=151


Program received signal SIGTRAP, Trace/breakpoint trap.
ros::NodeHandle::construct (this=0x7fffeb6041a0, ns=..., validate_name=true) at /media/travail/robot/ros/catkin_workspace_groovy/src/roscpp/src/libros/node_handle.cpp:154
154       collection_ = new NodeHandleBackingCollection;
(gdb) bt
#0  ros::NodeHandle::construct (this=0x7fffeb6041a0, ns=..., validate_name=true) at /media/travail/robot/ros/catkin_workspace_groovy/src/roscpp/src/libros/node_handle.cpp:154
#1  0x00007fffef14f687 in ros::NodeHandle::NodeHandle (this=0x7fffeb6041a0, ns=..., remappings=...) at /media/travail/robot/ros/catkin_workspace_groovy/src/roscpp/src/libros/node_handle.cpp:82
#2  0x00007fffeb335556 in dynamic_reconfigure::Server<moveit_ros_manipulation::PickPlaceDynamicReconfigureConfig>::Server (this=0x7fffeb6041a0)
    at /opt/ros/groovy/include/dynamic_reconfigure/server.h:69
#3  0x00007fffeb32a6ba in pick_place::(anonymous namespace)::DynamicReconfigureImpl::DynamicReconfigureImpl (this=0x7fffeb6041a0)
    at /media/travail/robot/ros/catkin_workspace_groovy/src/moveit_ros/manipulation/pick_place/src/approach_and_translate_stage.cpp:67
#4  0x00007fffeb32d8b0 in __static_initialization_and_destruction_0 (__initialize_p=1, __priority=65535)
    at /media/travail/robot/ros/catkin_workspace_groovy/src/moveit_ros/manipulation/pick_place/src/approach_and_translate_stage.cpp:84
#5  0x00007fffeb32d8df in _GLOBAL__sub_I_approach_and_translate_stage.cpp(void) ()
    at /media/travail/robot/ros/catkin_workspace_groovy/src/moveit_ros/manipulation/pick_place/src/approach_and_translate_stage.cpp:340
#6  0x00007ffff7deaf80 in ?? () from /lib64/ld-linux-x86-64.so.2
#7  0x00007ffff7deb077 in ?? () from /lib64/ld-linux-x86-64.so.2
#8  0x00007ffff7dddb2a in ?? () from /lib64/ld-linux-x86-64.so.2
#9  0x0000000000000001 in ?? ()
#10 0x00007fffffffe326 in ?? ()
#11 0x0000000000000000 in ?? ()
(gdb)

Although I set a breakpoint at the beginning of the main function of setup_assistant_main, it is not triggered. The instruction static DynamicReconfigureImpl PICK_PLACE_PARAMS; in approach_and_translate_stage.cpp is called before main().

Edit2: I disabled the ROS_BREAK() instruction and got:

[ERROR] [1386433215.438427353]: [registerPublisher] Failed to contact master at [:0].  Retrying...

Any hints ?

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2014-10-25 23:00:09.328947

Comments

Can anyone tell me what version of `opencv` is used ? Mine is `opencv 2.4.6`.

Fabien R gravatar imageFabien R ( 2013-10-24 00:49:44 -0500 )edit