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ADVRHumanoids / ROSEndEffector

ROS End-Effector package: provides a ROS-based set of standard interfaces to command robotics end-effectors in an agnostic fashion
Apache License 2.0
27 stars 6 forks source link

trying to solve actuator-joint coupling issue #54

Closed torydebra closed 4 years ago

torydebra commented 4 years ago

Hey, I added some methods in heri hal to "convert" from joint pos to actuator pos and viceversa. I added a lot of TODOs so we can remember on what to discuss. I can't try the hand now, but these modifications should solve the joint state - actuator coupling issue (still not in an elegant way, there is a bit of harcoded things).

While checking the code, I found some getMotorPosition in the executor. I know that it is there since long time, but now it comes in my mind: "Why?". We are filling joint states so I would expect getJointPosition (which exists, but it is a protected method of EEHal).

torydebra commented 4 years ago
torydebra commented 4 years ago

With this branch (_ral_2020_experimentstori), sometimes the programs crash:

This DOES NOT happend with original branch _ral_2020experiments

Click to expand (Long Error print) ``` *** Error in `/home/pilot/src/ROSEndEffectorPackageManager/devel/lib/ros_end_effector/UniversalRosEndEffector': corrupted size vs. prev_size: 0x0000000001b36040 *** ======= Backtrace: ========= /lib/x86_64-linux-gnu/libc.so.6(+0x777e5)[0x7f3d41e1e7e5] /lib/x86_64-linux-gnu/libc.so.6(+0x7e9dc)[0x7f3d41e259dc] /lib/x86_64-linux-gnu/libc.so.6(+0x80678)[0x7f3d41e27678] /lib/x86_64-linux-gnu/libc.so.6(cfree+0x4c)[0x7f3d41e2b53c] /home/pilot/src/ROSEndEffectorPackageManager/devel/lib/libROSEEParser.so(_ZN5ROSEE6ParserD1Ev+0xd2)[0x7f3d4064da0e] /home/pilot/src/ROSEndEffectorPackageManager/devel/lib/libUniversalRosEndEffectorExecutor.so(_ZN5ROSEE31UniversalRosEndEffectorExecutorC1ENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE+0xe3f)[0x7f3d42f83541] /home/pilot/src/ROSEndEffectorPackageManager/devel/lib/ros_end_effector/UniversalRosEndEffector(main+0xd5)[0x414597] /lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xf0)[0x7f3d41dc7830] /home/pilot/src/ROSEndEffectorPackageManager/devel/lib/ros_end_effector/UniversalRosEndEffector(_start+0x29)[0x413ed9] ======= Memory map: ======== 00400000-00422000 r-xp 00000000 08:02 6422790 /home/pilot/src/ROSEndEffectorPackageManager/devel/lib/ros_end_effector/UniversalRosEndEffector 00621000-00622000 r--p 00021000 08:02 6422790 /home/pilot/src/ROSEndEffectorPackageManager/devel/lib/ros_end_effector/UniversalRosEndEffector 00622000-00623000 rw-p 00022000 08:02 6422790 /home/pilot/src/ROSEndEffectorPackageManager/devel/lib/ros_end_effector/UniversalRosEndEffector 01b11000-01bab000 rw-p 00000000 00:00 0 [heap] 7f3d18000000-7f3d18021000 rw-p 00000000 00:00 0 7f3d18021000-7f3d1c000000 ---p 00000000 00:00 0 7f3d20000000-7f3d20021000 rw-p 00000000 00:00 0 7f3d20021000-7f3d24000000 ---p 00000000 00:00 0 7f3d24000000-7f3d24021000 rw-p 00000000 00:00 0 7f3d24021000-7f3d28000000 ---p 00000000 00:00 0 7f3d28000000-7f3d28021000 rw-p 00000000 00:00 0 7f3d28021000-7f3d2c000000 ---p 00000000 00:00 0 7f3d2d4c3000-7f3d2d4c4000 ---p 00000000 00:00 0 7f3d2d4c4000-7f3d2dcc4000 rw-p 00000000 00:00 0 7f3d2dcc4000-7f3d2dcc5000 ---p 00000000 00:00 0 7f3d2dcc5000-7f3d2f7ff000 rw-p 00000000 00:00 0 7f3d2f7ff000-7f3d2f800000 ---p 00000000 00:00 0 7f3d2f800000-7f3d30000000 rw-p 00000000 00:00 0 7f3d30000000-7f3d30021000 rw-p 00000000 00:00 0 7f3d30021000-7f3d34000000 ---p 00000000 00:00 0 7f3d34638000-7f3d34639000 ---p 00000000 00:00 0 7f3d34639000-7f3d34e39000 rw-p 00000000 00:00 0 7f3d34e39000-7f3d34e3a000 ---p 00000000 00:00 0 7f3d34e3a000-7f3d3563a000 rw-p 00000000 00:00 0 7f3d3563a000-7f3d3563b000 ---p 00000000 00:00 0 7f3d3563b000-7f3d35e3b000 rw-p 00000000 00:00 0 7f3d35e3b000-7f3d35e46000 r-xp 00000000 08:02 4854467 /lib/x86_64-linux-gnu/libnss_files-2.23.so 7f3d35e46000-7f3d36045000 ---p 0000b000 08:02 4854467 /lib/x86_64-linux-gnu/libnss_files-2.23.so 7f3d36045000-7f3d36046000 r--p 0000a000 08:02 4854467 /lib/x86_64-linux-gnu/libnss_files-2.23.so 7f3d36046000-7f3d36047000 rw-p 0000b000 08:02 4854467 /lib/x86_64-linux-gnu/libnss_files-2.23.so 7f3d36047000-7f3d3604d000 rw-p 00000000 00:00 0 7f3d3604d000-7f3d3604f000 r-xp 00000000 08:02 4854549 /lib/x86_64-linux-gnu/libutil-2.23.so 7f3d3604f000-7f3d3624e000 ---p 00002000 08:02 4854549 /lib/x86_64-linux-gnu/libutil-2.23.so 7f3d3624e000-7f3d3624f000 r--p 00001000 08:02 4854549 /lib/x86_64-linux-gnu/libutil-2.23.so 7f3d3624f000-7f3d36250000 rw-p 00002000 08:02 4854549 /lib/x86_64-linux-gnu/libutil-2.23.so 7f3d36250000-7f3d36542000 r-xp 00000000 08:02 12454328 /usr/lib/x86_64-linux-gnu/libpython2.7.so.1.0 7f3d36542000-7f3d36742000 ---p 002f2000 08:02 12454328 /usr/lib/x86_64-linux-gnu/libpython2.7.so.1.0 7f3d36742000-7f3d36744000 r--p 002f2000 08:02 12454328 /usr/lib/x86_64-linux-gnu/libpython2.7.so.1.0 7f3d36744000-7f3d367bb000 rw-p 002f4000 08:02 12454328 /usr/lib/x86_64-linux-gnu/libpython2.7.so.1.0 7f3d367bb000-7f3d367de000 rw-p 00000000 00:00 0 7f3d367de000-7f3d36858000 r-xp 00000000 08:02 12456784 /usr/lib/x86_64-linux-gnu/libboost_program_options.so.1.58.0 7f3d36858000-7f3d36a58000 ---p 0007a000 08:02 12456784 /usr/lib/x86_64-linux-gnu/libboost_program_options.so.1.58.0 7f3d36a58000-7f3d36a5b000 r--p 0007a000 08:02 12456784 /usr/lib/x86_64-linux-gnu/libboost_program_options.so.1.58.0 7f3d36a5b000-7f3d36a5c000 rw-p 0007d000 08:02 12456784 /usr/lib/x86_64-linux-gnu/libboost_program_options.so.1.58.0 7f3d36a5c000-7f3d36a75000 r-xp 00000000 08:02 4849693 /lib/x86_64-linux-gnu/libz.so.1.2.8 7f3d36a75000-7f3d36c74000 ---p 00019000 08:02 4849693 /lib/x86_64-linux-gnu/libz.so.1.2.8 7f3d36c74000-7f3d36c75000 r--p 00018000 08:02 4849693 /lib/x86_64-linux-gnu/libz.so.1.2.8 7f3d36c75000-7f3d36c76000 rw-p 00019000 08:02 4849693 /lib/x86_64-linux-gnu/libz.so.1.2.8 7f3d36c76000-7f3d36ce4000 r-xp 00000000 08:02 4854497 /lib/x86_64-linux-gnu/libpcre.so.3.13.2 7f3d36ce4000-7f3d36ee4000 ---p 0006e000 08:02 4854497 /lib/x86_64-linux-gnu/libpcre.so.3.13.2 7f3d36ee4000-7f3d36ee5000 r--p 0006e000 08:02 4854497 /lib/x86_64-linux-gnu/libpcre.so.3.13.2 7f3d36ee5000-7f3d36ee6000 rw-p 0006f000 08:02 4854497 /lib/x86_64-linux-gnu/libpcre.so.3.13.2 7f3d36ee6000-7f3d36f27000 r-xp 00000000 08:02 6816817 /opt/ros/kinetic/lib/librospack.so 7f3d36f27000-7f3d37126000 ---p 00041000 08:02 6816817 /opt/ros/kinetic/lib/librospack.so 7f3d37126000-7f3d37127000 r--p 00040000 08:02 6816817 /opt/ros/kinetic/lib/librospack.so 7f3d37127000-7f3d37128000 rw-p 00041000 08:02 6816817 /opt/ros/kinetic/lib/librospack.so 7f3d37128000-7f3d37277000 r-xp 00000000 08:02 12462647 /usr/lib/libPocoFoundation.so.9 7f3d37277000-7f3d37477000 ---p 0014f000 08:02 12462647 /usr/lib/libPocoFoundation.so.9 7f3d37477000-7f3d37480000 r--p 0014f000 08:02 12462647 /usr/lib/libPocoFoundation.so.9 7f3d37480000-7f3d37483000 rw-p 00158000 08:02 12462647 /usr/lib/libPocoFoundation.so.9 7f3d37483000-7f3d37484000 rw-p 00000000 00:00 0 7f3d37484000-7f3d37487000 r-xp 00000000 08:02 6819913 /opt/ros/kinetic/lib/librosconsole_bridge.so 7f3d37487000-7f3d37686000 ---p 00003000 08:02 6819913 /opt/ros/kinetic/lib/librosconsole_bridge.so 7f3d37686000-7f3d37687000 r--p 00002000 08:02 6819913 /opt/ros/kinetic/lib/librosconsole_bridge.so 7f3d37687000-7f3d37688000 rw-p 00003000 08:02 6819913 /opt/ros/kinetic/lib/librosconsole_bridge.so 7f3d37688000-7f3d37698000 r-xp 00000000 08:02 6816828 /opt/ros/kinetic/lib/libroslib.so 7f3d37698000-7f3d37898000 ---p 00010000 08:02 6816828 /opt/ros/kinetic/lib/libroslib.so 7f3d37898000-7f3d37899000 r--p 00010000 08:02 6816828 /opt/ros/kinetic/lib/libroslib.so 7f3d37899000-7f3d3789a000 rw-p 00011000 08:02 6816828 /opt/ros/kinetic/lib/libroslib.so 7f3d3789a000-7f3d378bc000 r-xp 00000000 08:02 6819808 /opt/ros/kinetic/lib/libclass_loader.so 7f3d378bc000-7f3d37abc000 ---p 00022000 08:02 6819808 /opt/ros/kinetic/lib/libclass_loader.so 7f3d37abc000-7f3d37abd000 r--p 00022000 08:02 6819808 /opt/ros/kinetic/lib/libclass_loader.so 7f3d37abd000-7f3d37abe000 rw-p 00023000 08:02 6819808 /opt/ros/kinetic/lib/libclass_loader.so 7f3d37abe000-7f3d37acf000 r-xp 00000000 08:02 12458905 /usr/lib/x86_64-linux-gnu/libtinyxml2.so.2.2.0 7f3d37acf000-7f3d37ccf000 ---p 00011000 08:02 12458905 /usr/lib/x86_64-linux-gnu/libtinyxml2.so.2.2.0 7f3d37ccf000-7f3d37cd0000 r--p 00011000 08:02 12458905 /usr/lib/x86_64-linux-gnu/libtinyxml2.so.2.2.0 7f3d37cd0000-7f3d37cd1000 rw-p 00012000 08:02 12458905 /usr/lib/x86_64-linux-gnu/libtinyxml2.so.2.2.0 7f3d37cd1000-7f3d37ceb000 r-xp 00000000 08:02 7078517 /opt/xbot/build/install/lib/libsrdfdom_advr.so 7f3d37ceb000-7f3d37eea000 ---p 0001a000 08:02 7078517 /opt/xbot/build/install/lib/libsrdfdom_advr.so 7f3d37eea000-7f3d37eeb000 r--p 00019000 08:02 7078517 /opt/xbot/build/install/lib/libsrdfdom_advr.so 7f3d37eeb000-7f3d37eec000 rw-p 0001a000 08:02 7078517 /opt/xbot/build/install/lib/libsrdfdom_advr.so 7f3d37eec000-7f3d397a2000 r-xp 00000000 08:02 12454434 /usr/lib/x86_64-linux-gnu/libicudata.so.55.1 7f3d397a2000-7f3d399a1000 ---p 018b6000 08:02 12454434 /usr/lib/x86_64-linux-gnu/libicudata.so.55.1 7f3d399a1000-7f3d399a2000 r--p 018b5000 08:02 12454434 /usr/lib/x86_64-linux-gnu/libicudata.so.55.1 7f3d399a2000-7f3d399a3000 rw-p 018b6000 08:02 12454434 /usr/lib/x86_64-linux-gnu/libicudata.so.55.1 7f3d399a3000-7f3d399c9000 r-xp 00000000 08:02 4849756 /lib/x86_64-linux-gnu/libexpat.so.1.6.0 7f3d399c9000-7f3d39bc9000 ---p 00026000 08:02 4849756 /lib/x86_64-linux-gnu/libexpat.so.1.6.0 7f3d39bc9000-7f3d39bcb000 r--p 00026000 08:02 4849756 /lib/x86_64-linux-gnu/libexpat.so.1.6.0 7f3d39bcb000-7f3d39bcc000 rw-p 00028000 08:02 4849756 /lib/x86_64-linux-gnu/libexpat.so.1.6.0 7f3d39bcc000-7f3d39bd5000 r-xp 00000000 08:02 4854378 /lib/x86_64-linux-gnu/libcrypt-2.23.so 7f3d39bd5000-7f3d39dd4000 ---p 00009000 08:02 4854378 /lib/x86_64-linux-gnu/libcrypt-2.23.so 7f3d39dd4000-7f3d39dd5000 r--p 00008000 08:02 4854378 /lib/x86_64-linux-gnu/libcrypt-2.23.so 7f3d39dd5000-7f3d39dd6000 rw-p 00009000 08:02 4854378 /lib/x86_64-linux-gnu/libcrypt-2.23.so 7f3d39dd6000-7f3d39e04000 rw-p 00000000 00:00 0 7f3d39e04000-7f3d39e07000 r-xp 00000000 08:02 4854392 /lib/x86_64-linux-gnu/libdl-2.23.so 7f3d39e07000-7f3d3a006000 ---p 00003000 08:02 4854392 /lib/x86_64-linux-gnu/libdl-2.23.so 7f3d3a006000-7f3d3a007000 r--p 00002000 08:02 4854392 /lib/x86_64-linux-gnu/libdl-2.23.so 7f3d3a007000-7f3d3a008000 rw-p 00003000 08:02 4854392 /lib/x86_64-linux-gnu/libdl-2.23.so 7f3d3a008000-7f3d3a00c000 r-xp 00000000 08:02 4854304 /lib/x86_64-linux-gnu/libuuid.so.1.3.0 7f3d3a00c000-7f3d3a20b000 ---p 00004000 08:02 4854304 /lib/x86_64-linux-gnu/libuuid.so.1.3.0 7f3d3a20b000-7f3d3a20c000 r--p 00003000 08:02 4854304 /lib/x86_64-linux-gnu/libuuid.so.1.3.0 7f3d3a20c000-7f3d3a20d000 rw-p 00004000 08:02 4854304 /lib/x86_64-linux-gnu/libuuid.so.1.3.0 7f3d3a20d000-7f3d3a21f000 r-xp 00000000 08:02 6441029 /home/pilot/src/ROSEndEffectorPackageManager/devel/lib/libActionPinchGeneric.so 7f3d3a21f000-7f3d3a41e000 ---p 00012000 08:02 6441029 /home/pilot/src/ROSEndEffectorPackageManager/devel/lib/libActionPinchGeneric.so 7f3d3a41e000-7f3d3a41f000 r--p 00011000 08:02 6441029 /home/pilot/src/ROSEndEffectorPackageManager/devel/lib/libActionPinchGeneric.so 7f3d3a41f000-7f3d3a420000 rw-p 00012000 08:02 6441029 /home/pilot/src/ROSEndEffectorPackageManager/devel/lib/libActionPinchGeneric.so 7f3d3a420000-7f3d3a449000 r-xp 00000000 08:02 12462521 /usr/lib/x86_64-linux-gnu/liburdfdom_world.so.0.4 7f3d3a449000-7f3d3a649000 ---p 00029000 08:02 12462521 /usr/lib/x86_64-linux-gnu/liburdfdom_world.so.0.4 7f3d3a649000-7f3d3a64a000 r--p 00029000 08:02 12462521 /usr/lib/x86_64-linux-gnu/liburdfdom_world.so.0.4 7f3d3a64a000-7f3d3a64b000 rw-p 0002a000 08:02 12462521 /usr/lib/x86_64-linux-gnu/liburdfdom_world.so.0.4 7f3d3a64b000-7f3d3a67c000 r-xp 00000000 08:02 6819923 /opt/ros/kinetic/lib/liburdf.so 7f3d3a67c000-7f3d3a87b000 ---p 00031000 08:02 6819923 /opt/ros/kinetic/lib/liburdf.so 7f3d3a87b000-7f3d3a87d000 r--p 00030000 08:02 6819923 /opt/ros/kinetic/lib/liburdf.so 7f3d3a87d000-7f3d3a87e000 rw-p 00032000 08:02 6819923 /opt/ros/kinetic/lib/liburdf.so 7f3d3a87e000-7f3d3a892000 r-xp 00000000 08:02 12454059 /usr/lib/x86_64-linux-gnu/libtinyxml.so.2.6.2 7f3d3a892000-7f3d3aa92000 ---p 00014000 08:02 12454059 /usr/lib/x86_64-linux-gnu/libtinyxml.so.2.6.2 7f3d3aa92000-7f3d3aa93000 r--p 00014000 08:02 12454059 /usr/lib/x86_64-linux-gnu/libtinyxml.so.2.6.2 7f3d3aa93000-7f3d3aa94000 rw-p 00015000 08:02 12454059 /usr/lib/x86_64-linux-gnu/libtinyxml.so.2.6.2 7f3d3aa94000-7f3d3aa98000 r-xp 00000000 08:02 6821330 /opt/ros/kinetic/lib/libeigen_conversions.so 7f3d3aa98000-7f3d3ac97000 ---p 00004000 08:02 6821330 /opt/ros/kinetic/lib/libeigen_conversions.so 7f3d3ac97000-7f3d3ac98000 r--p 00003000 08:02 6821330 /opt/ros/kinetic/lib/libeigen_conversions.so 7f3d3ac98000-7f3d3ac99000 rw-p 00004000 08:02 6821330 /opt/ros/kinetic/lib/libeigen_conversions.so 7f3d3ac99000-7f3d3acb3000 r-xp 00000000 08:02 7078328 /opt/xbot/build/install/lib/libXBotCoreModel.so.1.0.0 7f3d3acb3000-7f3d3aeb2000 ---p 0001a000 08:02 7078328 /opt/xbot/build/install/lib/libXBotCoreModel.so.1.0.0 7f3d3aeb2000-7f3d3aeb3000 r--p 00019000 08:02 7078328 /opt/xbot/build/install/lib/libXBotCoreModel.so.1.0.0 7f3d3aeb3000-7f3d3aeb4000 rw-p 0001a000 08:02 7078328 /opt/xbot/build/install/lib/libXBotCoreModel.so.1.0.0 7f3d3aeb4000-7f3d3aebc000 r-xp 00000000 08:02 5642170 /home/pilot/MultiDoF-superbuild/build/install/lib/libiitecat_iface_nrt.so.1.0.0 7f3d3aebc000-7f3d3b0bb000 ---p 00008000 08:02 5642170 /home/pilot/MultiDoF-superbuild/build/install/lib/libiitecat_iface_nrt.so.1.0.0 7f3d3b0bb000-7f3d3b0bc000 r--p 00007000 08:02 5642170 /home/pilot/MultiDoF-superbuild/build/install/lib/libiitecat_iface_nrt.so.1.0.0 7f3d3b0bc000-7f3d3b0bd000 rw-p 00008000 08:02 5642170 /home/pilot/MultiDoF-superbuild/build/install/lib/libiitecat_iface_nrt.so.1.0.0 7f3d3b0bd000-7f3d3b0be000 rw-p 00000000 00:00 0 7f3d3b0be000-7f3d3b23d000 r-xp 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7f3d40ebc000-7f3d410bc000 ---p 0006d000 08:02 6441493 /home/pilot/src/ROSEndEffectorPackageManager/devel/lib/libMapActionHandler.so 7f3d410bc000-7f3d410bd000 r--p 0006d000 08:02 6441493 /home/pilot/src/ROSEndEffectorPackageManager/devel/lib/libMapActionHandler.so 7f3d410bd000-7f3d410c0000 rw-p 0006e000 08:02 6441493 /home/pilot/src/ROSEndEffectorPackageManager/devel/lib/libMapActionHandler.so 7f3d410c0000-7f3d41100000 r-xp 00000000 08:02 6440728 /home/pilot/src/ROSEndEffectorPackageManager/devel/lib/libROSEEInterface.so 7f3d41100000-7f3d412ff000 ---p 00040000 08:02 6440728 /home/pilot/src/ROSEndEffectorPackageManager/devel/lib/libROSEEInterface.so 7f3d412ff000-7f3d41300000 r--p 0003f000 08:02 6440728 /home/pilot/src/ROSEndEffectorPackageManager/devel/lib/libROSEEInterface.so 7f3d41300000-7f3d41302000 rw-p 00040000 08:02 6440728 /home/pilot/src/ROSEndEffectorPackageManager/devel/lib/libROSEEInterface.so 7f3d41302000-7f3d4131a000 r-xp 00000000 08:02 4854514 /lib/x86_64-linux-gnu/libpthread-2.23.so 7f3d4131a000-7f3d41519000 ---p 00018000 08:02 4854514 /lib/x86_64-linux-gnu/libpthread-2.23.so 7f3d41519000-7f3d4151a000 r--p 00017000 08:02 4854514 /lib/x86_64-linux-gnu/libpthread-2.23.so 7f3d4151a000-7f3d4151b000 rw-p 00018000 08:02 4854514 /lib/x86_64-linux-gnu/libpthread-2.23.so 7f3d4151b000-7f3d4151f000 rw-p 00000000 00:00 0 7f3d4151f000-7f3d41543000 r-xp 00000000 08:02 12456786 /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.58.0 7f3d41543000-7f3d41742000 ---p 00024000 08:02 12456786 /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.58.0 7f3d41742000-7f3d41744000 r--p 00023000 08:02 12456786 /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.58.0 7f3d41744000-7f3d41745000 rw-p 00025000 08:02 12456786 /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.58.0 7f3d41745000-7f3d41770000 r-xp 00000000 08:02 6816110 /opt/ros/kinetic/lib/librostime.so 7f3d41770000-7f3d4196f000 ---p 0002b000 08:02 6816110 /opt/ros/kinetic/lib/librostime.so 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00000000 08:02 6816695 /opt/ros/kinetic/lib/libroscpp.so 7f3d42cb7000-7f3d42eb6000 ---p 00192000 08:02 6816695 /opt/ros/kinetic/lib/libroscpp.so 7f3d42eb6000-7f3d42ebd000 r--p 00191000 08:02 6816695 /opt/ros/kinetic/lib/libroscpp.so 7f3d42ebd000-7f3d42ec1000 rw-p 00198000 08:02 6816695 /opt/ros/kinetic/lib/libroscpp.so 7f3d42ec1000-7f3d42fe5000 r-xp 00000000 08:02 6422809 /home/pilot/src/ROSEndEffectorPackageManager/devel/lib/libUniversalRosEndEffectorExecutor.so 7f3d42fe5000-7f3d431e5000 ---p 00124000 08:02 6422809 /home/pilot/src/ROSEndEffectorPackageManager/devel/lib/libUniversalRosEndEffectorExecutor.so 7f3d431e5000-7f3d431e7000 r--p 00124000 08:02 6422809 /home/pilot/src/ROSEndEffectorPackageManager/devel/lib/libUniversalRosEndEffectorExecutor.so 7f3d431e7000-7f3d431ee000 rw-p 00126000 08:02 6422809 /home/pilot/src/ROSEndEffectorPackageManager/devel/lib/libUniversalRosEndEffectorExecutor.so 7f3d431ee000-7f3d43214000 r-xp 00000000 08:02 4854340 /lib/x86_64-linux-gnu/ld-2.23.so 7f3d4339a000-7f3d433ce000 rw-p 00000000 00:00 0 7f3d433ff000-7f3d43413000 rw-p 00000000 00:00 0 7f3d43413000-7f3d43414000 r--p 00025000 08:02 4854340 /lib/x86_64-linux-gnu/ld-2.23.so 7f3d43414000-7f3d43415000 rw-p 00026000 08:02 4854340 /lib/x86_64-linux-gnu/ld-2.23.so 7f3d43415000-7f3d43416000 rw-p 00000000 00:00 0 7ffc99ce3000-7ffc99d05000 rw-p 00000000 00:00 0 [stack] 7ffc99d6c000-7ffc99d6f000 r--p 00000000 00:00 0 [vvar] 7ffc99d6f000-7ffc99d71000 r-xp 00000000 00:00 0 [vdso] ffffffffff600000-ffffffffff601000 r-xp 00000000 00:00 0 [vsyscall] [UniversalRosEndEffector-2] process has died [pid 9188, exit code -6, cmd /home/pilot/src/ROSEndEffectorPackageManager/devel/lib/ros_end_effector/UniversalRosEndEffector __name:=UniversalRosEndEffector __log:=/home/pilot/.ros/log/5cbea6d0-aef5-11ea-bbce-00012e814b18/UniversalRosEndEffector-2.log]. log file: /home/pilot/.ros/log/5cbea6d0-aef5-11ea-bbce-00012e814b18/UniversalRosEndEffector-2*.log ```
torydebra commented 4 years ago

With this branch (_ral_2020_experimentstori), sometimes the programs crash:

This DOES NOT happend with original branch _ral_2020experiments Click to expand (Long Error print)

This problem is caused by yaml-cpp: multiple called to loadfile() (with the same file to open) probably cause some conflicts. The more loadFile on the same file are present, the more the crashes happens. We will solve in future.

torydebra commented 4 years ago

I closed because this pull request seems obsolete, I add a lot of other things on that branch