octomap_server crash due to illegal instruction

[GoogleCodeExporter]

What steps will reproduce the problem?

1. Setup ros node using depth_image_proc to publish point_cloud_xyzrgb on 
/camera/points topic.

2. Execute this command:

$ rosrun octomap_server octomap_server_node cloud_in:=/camera/points 
_frame_id:=/world

[ INFO] [1369221775.959744322]: Publishing latched (single publish will take 
longer, all topics are prepared)
Illegal instruction (core dumped)

What is the expected output?

octomap-sever should process point cloud and publish occupancy grid markers 
that can be visualised in rviz.

What do you see instead?

octomap_server node crashes with Illegal instruction (core dumped)

What version of the product are you using?

ROS feurte (ros-feurte-octomap-mapping)

On what operating system?

Linux XX 3.2.0-43-generic #68-Ubuntu SMP Wed May 15 03:33:33 UTC 2013 x86_64 
x86_64 x86_64 GNU/Linux

Please provide any additional information below.

My setup used to work correctly - I believe there was an update at the 
beginning of may due to file timestamps:

 ls -lh /opt/ros/fuerte/stacks/octomap_mapping/
total 20K
-rw-r--r--  1 root root  817 Feb 16 12:44 CMakeLists.txt
-rw-r--r--  1 root root   47 Feb 16 12:44 Makefile
drwxr-xr-x  2 root root 4.0K May  8 13:54 octomap
drwxr-xr-x 11 root root 4.0K May  8 13:54 octomap_server
-rw-r--r--  1 root root  985 Feb 16 12:44 stack.xml

I hadn't used the tools since then (and didn't notice I had updated it) but now 
it crashes (with the exact same setup that used to work).

Original issue reported on code.google.com by mpupi...@gmail.com on 22 May 2013 at 11:33

[GoogleCodeExporter]

Further investigation reveals the crash is in OctomapServer.cpp line 308 - 
commenting this out (ground plane filtering is off so why call filtering 
method?) seems to fix the crash.

Original comment by mpupi...@gmail.com on 22 May 2013 at 4:36

[GoogleCodeExporter]

Actually the crash comes on the return statement from PCLBase::initCompute() : 
pcl_base.h line 255. What version of PCL should octomap_server be linked 
against? Mine is linked against ros-feurte's pcl-1.5.

Original comment by mpupi...@gmail.com on 23 May 2013 at 10:18

[GoogleCodeExporter]

What are the exact versions of ros-fuerte-octomap-mapping (apt-cache show 
ros-fuerte-octomap-mapping | grep Version), ros-fuerte-perception-pcl, and 
ros-fuerte-pcl?

The latest release of octomap_mapping was in February, there were no changes 
released since then. The line you mentioned is for filtering by height (=z), 
not ground plane detection.

This looks like a bug with the PCL release to me, please file a bug with them.

Original comment by ar.hrng on 24 May 2013 at 8:21

[GoogleCodeExporter]

$ apt-cache show ros-fuerte-octomap-mapping | grep Version
Version: 0.4.6.1-s1367624687~precise

$ apt-cache show ros-fuerte-perception-pcl | grep Version
Version: 1.2.3-s1367556503~precise

$ apt-cache show ros-fuerte-pcl | grep Version
Version: 1.5.2-9precise-20130502-0928-+0000

I have definitely had it working after February, so maybe there was a pcl 
release in the mean time. I will file a bug with PCL.

Thank you.

Original comment by mpupi...@gmail.com on 24 May 2013 at 12:47

[GoogleCodeExporter]

[deleted comment]

[GoogleCodeExporter]

This is definitely a bug in PCL that was recently released:
https://github.com/ros-perception/perception_pcl/issues/10

Original comment by ar.hrng on 28 May 2013 at 11:13

• Changed state: WontFix