seg fault

[auturgy]

I have working ubuntu 18.04 / gazebo9 / ardupilot_gazebo / ros-melodic, but based on Pierre's setup (not swiftgus fork as per the readme here). the planner segfaults as detailed:

/home/james/Development/OctomapPlanner/src/OctomapServer.cpp OctomapServer: Line 49: Octomap Initalized
Info:    InformedRRTstar: Space information setup was not yet called. Calling now.
Debug:   InformedRRTstar: Planner range detected to be 5.688585
/home/james/Development/OctomapPlanner/src/Planner.cpp Planner: Line 91: Planner Initialized
/home/james/Development/OctomapPlanner/src/mavlink_comm.cpp MavlinkComm: Line 56: Mavlink Initialized
/home/james/Development/OctomapPlanner/src/arduplanner.cpp executePlan: Line 220: No new plan available, waiting for 1 seconds before next callback
/home/james/Development/OctomapPlanner/src/arduplanner.cpp executePlan: Line 220: No new plan available, waiting for 1 seconds before next callback
/home/james/Development/OctomapPlanner/src/arduplanner.cpp executePlan: Line 220: No new plan available, waiting for 1 seconds before next callback
/home/james/Development/OctomapPlanner/src/arduplanner.cpp executePlan: Line 220: No new plan available, waiting for 1 seconds before next callback
/home/james/Development/OctomapPlanner/src/arduplanner.cpp executePlan: Line 220: No new plan available, waiting for 1 seconds before next callback
/home/james/Development/OctomapPlanner/src/arduplanner.cpp replanCb: Line 229: Replanner called
/home/james/Development/OctomapPlanner/src/Planner.cpp setGoal: Line 134: Goal point set to: 5 1 1
/home/james/Development/OctomapPlanner/src/Planner.cpp setStart: Line 112: Start point set to: -0.12129 -0.112817 5.00172
/home/james/Development/OctomapPlanner/src/Planner.cpp replan: Line 180: Replanning
Warning: InformedRRTstar: Skipping invalid start state (invalid bounds)
         at line 248 in /tmp/binarydeb/ros-melodic-ompl-1.4.0/src/ompl/base/src/Planner.cpp
Debug:   InformedRRTstar: Discarded start state RealVectorState [-0.12129 -0.112817 5.00172]

Error:   InformedRRTstar: There are no valid initial states!
         at line 193 in /tmp/binarydeb/ros-melodic-ompl-1.4.0/src/ompl/geometric/planners/rrt/src/RRTstar.cpp
/home/james/Development/OctomapPlanner/src/Planner.cpp plan: Line 216: No solution found
/home/james/Development/OctomapPlanner/src/arduplanner.cpp replanCb: Line 246: New plan generated
Segmentation fault (core dumped)
james@auturgy:~/Development/OctomapPlanner$ 

[ayushgaud]

Hi @auturgy Thanks for reporting. Did you try using the swiftguest repo gazebo9 branch?

[RobertWZ]

I have working ubuntu 18.04 ,but how to install ros-kinetic-mavlink and ros-kinetic-ompl,E: Unable to locate package.

[ayushgaud]

Hi @RobertWZ, could you just check that you are using the latest master branch since I have also tested it on Ubuntu 18.04 and it is able to find packages correctly. If that doesn't work, please also post a screenshot or a more detailed build output.

[RobertWZ]

/OctomapPlanner/build$ cmake .. CMake Error at CMakeLists.txt:30 (find_package): By not providing "Findmavlink.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "mavlink", but CMake did not find one.

Could not find a package configuration file provided by "mavlink" with any of the following names:

mavlinkConfig.cmake
mavlink-config.cmake

Add the installation prefix of "mavlink" to CMAKE_PREFIX_PATH or set "mavlink_DIR" to a directory containing one of the above files. If "mavlink" provides a separate development package or SDK, be sure it has been installed.

-- Configuring incomplete, errors occurred! See also "/home/r/OctomapPlanner/build/CMakeFiles/CMakeOutput.log". See also "/home/r/OctomapPlanner/build/CMakeFiles/CMakeError.log". Product:~/OctomapPlanner/build$ sudo apt install ros-kinetic-mavlink [sudo] password for r: Reading package lists... Done Building dependency tree
Reading state information... Done E: Unable to locate package ros-kinetic-mavlink Product:~/OctomapPlanner/build$