moveit: RPi (ARMv7/v8): move_group segfault
Description
move_group process dies with an exit code 11 on a new installation of moveit while runnning the move_group launch file from crdwolfe’s phantomx_arm package (connecting a physical robotic arm). It tells me that the error is written to a log file, which is not found. I even tried running move_group from the main moveit_ros_move_group package. It failed with a Segmentation Fault. I have tried running the same code on another computer running ROS Indigo and it works fine.
I have already tried uninstalling and reinstalling moveit. Hasn’t worked.
Your environment
- ROS Distro: Kinetic
- OS Version: Ubuntu Mate 16.04 running on Raspberry Pi 3
- Binary build latest version as of Jul 27, 2017
Steps to reproduce
To reproduce this, load a robot description file, eg.: phantomx_arm package from crdwolfe (roslaunch phantomx_arm_bringup arm.launch) and run “roslaunch phantomx_arm_moveit_config move_group.launch” Or, rosrun moveit_ros_move_group move_group
Expected behaviour
MoveGroup is supposed to run without any errors if the robotic arm is connected. Otherwise, should give an error that the Robot model parameter is not found
Actual behaviour
move_group process dies with exit code -11 even if the robotic arm is connected In the case of running move_group directly from moveit_ros_move_group, there is a Segmentation fault
Backtrace or Console output
ubuntu@alphaduck:~$ roslaunch phantomx_arm_moveit_config move_group.launch
... logging to /home/ubuntu/.ros/log/5ad7f5d0-730f-11e7-8846-b827eb368427/roslaunch-alphaduck-8679.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://192.168.1.2:34509/
SUMMARY
========
PARAMETERS
* /move_group/allow_trajectory_execution: True
* /move_group/arm/planner_configs: ['SBLkConfigDefau...
* /move_group/controller_list: [{'default': True...
* /move_group/gripper/planner_configs: ['SBLkConfigDefau...
* /move_group/jiggle_fraction: 0.05
* /move_group/max_range: 5.0
* /move_group/max_safe_path_cost: 1
* /move_group/moveit_controller_manager: moveit_simple_con...
* /move_group/moveit_manage_controllers: True
* /move_group/octomap_resolution: 0.025
* /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
* /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
* /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
* /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
* /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
* /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/ESTkConfigDefault/range: 0.0
* /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
* /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
* /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
* /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
* /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
* /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
* /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
* /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
* /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
* /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
* /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
* /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
* /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
* /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
* /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
* /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/RRTkConfigDefault/range: 0.0
* /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
* /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
* /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
* /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
* /move_group/planner_configs/SBLkConfigDefault/range: 0.0
* /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
* /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
* /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
* /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
* /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
* /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
* /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
* /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
* /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
* /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
* /move_group/planning_plugin: ompl_interface/OM...
* /move_group/planning_scene_monitor/publish_geometry_updates: True
* /move_group/planning_scene_monitor/publish_planning_scene: True
* /move_group/planning_scene_monitor/publish_state_updates: True
* /move_group/planning_scene_monitor/publish_transforms_updates: True
* /move_group/request_adapters: default_planner_r...
* /move_group/start_state_max_bounds_error: 0.1
* /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
* /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
* /move_group/trajectory_execution/allowed_start_tolerance: 0.01
* /robot_description_kinematics/arm/kinematics_solver: phantomx_arm_arm_...
* /robot_description_kinematics/arm/kinematics_solver_attempts: 3
* /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
* /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
* /robot_description_planning/joint_limits/arm_elbow_flex_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/arm_elbow_flex_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/arm_elbow_flex_joint/max_acceleration: 1.0
* /robot_description_planning/joint_limits/arm_elbow_flex_joint/max_velocity: 1.0
* /robot_description_planning/joint_limits/arm_shoulder_lift_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/arm_shoulder_lift_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/arm_shoulder_lift_joint/max_acceleration: 1.0
* /robot_description_planning/joint_limits/arm_shoulder_lift_joint/max_velocity: 1.0
* /robot_description_planning/joint_limits/arm_shoulder_pan_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/arm_shoulder_pan_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/arm_shoulder_pan_joint/max_acceleration: 1.0
* /robot_description_planning/joint_limits/arm_shoulder_pan_joint/max_velocity: 1.0
* /robot_description_planning/joint_limits/arm_wrist_flex_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/arm_wrist_flex_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/arm_wrist_flex_joint/max_acceleration: 1.0
* /robot_description_planning/joint_limits/arm_wrist_flex_joint/max_velocity: 1.0
* /robot_description_planning/joint_limits/gripper_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/gripper_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/gripper_joint/max_acceleration: 1.0
* /robot_description_planning/joint_limits/gripper_joint/max_velocity: 0.5
* /robot_description_planning/joint_limits/gripper_link_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/gripper_link_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/gripper_link_joint/max_acceleration: 1.0
* /robot_description_planning/joint_limits/gripper_link_joint/max_velocity: 1.0
* /robot_description_semantic: <?xml version="1....
* /rosdistro: kinetic
* /rosversion: 1.12.7
NODES
/
move_group (moveit_ros_move_group/move_group)
ROS_MASTER_URI=http://192.168.1.2:11311/
core service [/rosout] found
process[move_group-1]: started with pid [8699]
[ INFO] [1501193542.674868605]: Loading robot model 'phantomx_arm'...
[ INFO] [1501193543.060439720]: arm_shoulder_pan_joint -2.617 2.617 1
[ INFO] [1501193543.061069248]: arm_shoulder_lift_joint -2.2 2.16 1
[ INFO] [1501193543.061426017]: arm_elbow_flex_joint -2.42 2.38 1
[ INFO] [1501193543.061725443]: arm_wrist_flex_joint -1.72 1.68 1
[ INFO] [1501193543.062002733]: gripper_link_joint -3.14 3.14 1
_**[move_group-1] process has died [pid 8699, exit code -11, cmd /opt/ros/kinetic/lib/moveit_ros_move_group/move_group __name:=move_group __log:=/home/ubuntu/.ros/log/5ad7f5d0-730f-11e7-8846-b827eb368427/move_group-1.log].**_
log file: /home/ubuntu/.ros/log/5ad7f5d0-730f-11e7-8846-b827eb368427/move_group-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done
The gdb backtrace of rosrun --prefix 'gdb -ex run --args' moveit_ros_move_group move_group is:
GNU gdb (Ubuntu 7.11.1-0ubuntu1~16.5) 7.11.1
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License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
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and "show warranty" for details.
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Type "show configuration" for configuration details.
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<http://www.gnu.org/software/gdb/bugs/>.
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Reading symbols from /opt/ros/kinetic/lib/moveit_ros_move_group/move_group...(no debugging symbols found)...done.
Starting program: /opt/ros/kinetic/lib/moveit_ros_move_group/move_group
**Program received signal SIGSEGV, Segmentation fault.
0x76fd9dde in ?? () from /lib/ld-linux-armhf.so.3**
About this issue
- Original URL
- State: closed
- Created 7 years ago
- Comments: 18 (11 by maintainers)
Commits related to this issue
- Delete "stop distance"-based collision checking (#564) Co-authored-by: Tyler Weaver <tyler@picknik.ai> — committed to JafarAbdi/moveit by AndyZe 3 years ago
I’ve gone through the process of installing
kinetic-develfrom source and building on Ubuntu Mate 16 on a Raspberry Pi 3. Unfortunately, it still segfaults on launch of move-group. I modifiedsrc/moveit/moveit_ros/move_group/src/move_group.cppto include the following so it would break for GDB;I attempted to run the standard moveit demo which loaded my robot params into the param server. I killed this process. I then started the moveit node with
rosrun moveit_ros_move_group move_group, it then stalled atgetline()as expected. Running gdb in another ssh’d terminal withgdb run -p 14181produced the following result:Does this provide any useful info for debugging? Let me know if there’s any other data I can try and get to assist.