ros2_control_node segfault when running robot_bringup.launch on real robot

[fzoric8]

Hi,

I'm experiencing segfault when running robot_bringup.launch from ros2_kortex for the ros2 humble:

Error output is:

Creating session for communication
[ros2_control_node-1] terminate called after throwing an instance of 'std::runtime_error'
[ros2_control_node-1]   what():  not connected !!!
[ros2_control_node-1] Stack trace (most recent call last):
[ros2_control_node-1] #19   Object "", at 0xffffffffffffffff, in 
[ros2_control_node-1] #18   Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x5648385e7d84, in 
[ros2_control_node-1] #17   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8ac015ae3f, in __libc_start_main
[ros2_control_node-1] #16   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8ac015ad8f, in 
[ros2_control_node-1] #15   Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x5648385e789e, in 
[ros2_control_node-1] #14   Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7f8ac084fe79, in controller_manager::ControllerManager::ControllerManager(std::shared_ptr<rclcpp::Executor>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::NodeOptions const&)
[ros2_control_node-1] #13   Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7f8ac084b6bf, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
[ros2_control_node-1] #12   Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7f8ac005dd9d, in hardware_interface::ResourceManager::load_urdf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, bool)
[ros2_control_node-1] #11   Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7f8ac005ce7b, in 
[ros2_control_node-1] #10   Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7f8ac0084caa, in 
[ros2_control_node-1] #9    Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7f8ac00831db, in hardware_interface::System::initialize(hardware_interface::HardwareInfo const&)
[ros2_control_node-1] #8    Object "/root/ws_moveit2/build/kortex_driver/libkortex_driver.so", at 0x7f8aadc1f00f, in kortex_driver::KortexMultiInterfaceHardware::on_init(hardware_interface::HardwareInfo const&)
[ros2_control_node-1] #7    Object "/root/ws_moveit2/build/kortex_driver/libkortex_driver.so", at 0x7f8aadcf5f02, in Kinova::Api::SessionManager::CreateSession(Kinova::Api::Session::CreateSessionInfo const&)
[ros2_control_node-1] #6    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f8ac04284d7, in __cxa_throw
[ros2_control_node-1] #5    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f8ac0428276, in std::terminate()
[ros2_control_node-1] #4    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f8ac042820b, in 
[ros2_control_node-1] #3    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f8ac041cb9d, in 
[ros2_control_node-1] #2    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8ac01597f2, in abort
[ros2_control_node-1] #1    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8ac0173475, in raise
[ros2_control_node-1] #0    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8ac01c79fc, in pthread_kill
[ros2_control_node-1] Aborted (Signal sent by tkill() 13675 0)

I'm aware that this may be ros2_control_node problem, but if anyone had same problem, any help would be greatily appreciated.

[smoya23]

Hi @fzoric8 ,

Can you provide more details on what you're trying to do? Which command did you run specifically, the robot_bringup.launch file does not exist. Do you have a real robot or are you trying to use a gazebo simulated/fake hardware one?

[fzoric8]

Hi @smoya23,

I'm tryng to launch gen3 robot on real robot. I've figured out that segmentation fault occurs because my robot was connected over ethernet to my laptop dock. When I connected it directly to my laptop, there's no segmentation fault.

However, following warning appear:

[spawner-5] [INFO] [1716907416.817350453] [spawner_twist_controller]: Waiting for '/controller_manager' services to be available
[spawner-3] [INFO] [1716907416.825386875] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-6] [INFO] [1716907416.826389381] [spawner_robotiq_gripper_controller]: Waiting for '/controller_manager' services to be available
[spawner-4] [INFO] [1716907418.813499985] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' services to be available
[spawner-5] [INFO] [1716907418.845475542] [spawner_twist_controller]: Waiting for '/controller_manager' services to be available

when running:

ros2 launch kortex_bringup gen3.launch.py robot_ip:=192.168.1.10 

[smoya23]

@fzoric8 These warnings can happen while the ros2_control controller_manageris being launched. If your code does not end with an error, it means it was eventually able to contact the controller_manager and load the different controllers defined. If not, the process will fail with an error. Most of the times, I have seen that this happens when there are missing dependencies in the workspace, did you complete all of the instructions inside the 'Build from source' section of our instructions (they were recently updated due to some missing steps)