aizuspiderの起動でcore dumpが起こる．

EndoYuuki commented 5 years ago

以下のコマンドで，aizuspiderを起動しました．

./run_no_gl.sh roslaunch aizuspider_description aizuspider.launch

環境は次のとおりです．

Ubuntu 16.04.6 LTS 64 ビット
Docker version 18.09.6, build 481bc77

ですが，次のようなエラーとともに起動できなかったです．（一瞬起動する様子はあるのですが，すぐにウィンドウが落ちてしまいます）

localuser:root being added to access control list
choreonoidsim
... logging to /root/.ros/log/d5da7dd4-86b3-11e9-a8f1-00a0b0a5eabf/roslaunch-teraubuntu-1.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://localhost:36011/

SUMMARY
========

PARAMETERS
 * /AizuSpiderAA/fullbody_controller/gains/ARM/d: 0.0
 * /AizuSpiderAA/fullbody_controller/gains/ARM/i: 0.0
 * /AizuSpiderAA/fullbody_controller/gains/ARM/p: 2000.0
 * /AizuSpiderAA/fullbody_controller/gains/BL_FLIPPER/d: 0.0
 * /AizuSpiderAA/fullbody_controller/gains/BL_FLIPPER/i: 0.0
 * /AizuSpiderAA/fullbody_controller/gains/BL_FLIPPER/p: 8000.0
 * /AizuSpiderAA/fullbody_controller/gains/BR_FLIPPER/d: 0.0
 * /AizuSpiderAA/fullbody_controller/gains/BR_FLIPPER/i: 0.0
 * /AizuSpiderAA/fullbody_controller/gains/BR_FLIPPER/p: 8000.0
 * /AizuSpiderAA/fullbody_controller/gains/FINGER1/d: 0.0
 * /AizuSpiderAA/fullbody_controller/gains/FINGER1/i: 0.0
 * /AizuSpiderAA/fullbody_controller/gains/FINGER1/p: 100.0
 * /AizuSpiderAA/fullbody_controller/gains/FINGER2/d: 0.0
 * /AizuSpiderAA/fullbody_controller/gains/FINGER2/i: 0.0
 * /AizuSpiderAA/fullbody_controller/gains/FINGER2/p: 100.0
 * /AizuSpiderAA/fullbody_controller/gains/FINGER3/d: 0.0
 * /AizuSpiderAA/fullbody_controller/gains/FINGER3/i: 0.0
 * /AizuSpiderAA/fullbody_controller/gains/FINGER3/p: 100.0
 * /AizuSpiderAA/fullbody_controller/gains/FL_FLIPPER/d: 0.0
 * /AizuSpiderAA/fullbody_controller/gains/FL_FLIPPER/i: 0.0
 * /AizuSpiderAA/fullbody_controller/gains/FL_FLIPPER/p: 8000.0
 * /AizuSpiderAA/fullbody_controller/gains/FOREARM/d: 0.0
 * /AizuSpiderAA/fullbody_controller/gains/FOREARM/i: 0.0
 * /AizuSpiderAA/fullbody_controller/gains/FOREARM/p: 2000.0
 * /AizuSpiderAA/fullbody_controller/gains/FR_FLIPPER/d: 0.0
 * /AizuSpiderAA/fullbody_controller/gains/FR_FLIPPER/i: 0.0
 * /AizuSpiderAA/fullbody_controller/gains/FR_FLIPPER/p: 8000.0
 * /AizuSpiderAA/fullbody_controller/gains/HAND/d: 0.0
 * /AizuSpiderAA/fullbody_controller/gains/HAND/i: 0.0
 * /AizuSpiderAA/fullbody_controller/gains/HAND/p: 2000.0
 * /AizuSpiderAA/fullbody_controller/gains/SHOULDER/d: 0.0
 * /AizuSpiderAA/fullbody_controller/gains/SHOULDER/i: 0.0
 * /AizuSpiderAA/fullbody_controller/gains/SHOULDER/p: 2000.0
 * /AizuSpiderAA/fullbody_controller/gains/WRIST1/d: 0.0
 * /AizuSpiderAA/fullbody_controller/gains/WRIST1/i: 0.0
 * /AizuSpiderAA/fullbody_controller/gains/WRIST1/p: 2000.0
 * /AizuSpiderAA/fullbody_controller/gains/WRIST2/d: 0.0
 * /AizuSpiderAA/fullbody_controller/gains/WRIST2/i: 0.0
 * /AizuSpiderAA/fullbody_controller/gains/WRIST2/p: 2000.0
 * /AizuSpiderAA/fullbody_controller/joints: ['FR_FLIPPER', 'F...
 * /AizuSpiderAA/fullbody_controller/type: position_controll...
 * /AizuSpiderAA/joint_state_controller/publish_rate: 50
 * /AizuSpiderAA/joint_state_controller/type: joint_state_contr...
 * /AizuSpiderAA/robot_description: <?xml version="1....
 * /AizuSpiderAA/robot_interface_controllers: ['fullbody']
 * /AizuSpiderBB/fullbody_controller/gains/ARM/d: 0.0
 * /AizuSpiderBB/fullbody_controller/gains/ARM/i: 0.0
 * /AizuSpiderBB/fullbody_controller/gains/ARM/p: 2000.0
 * /AizuSpiderBB/fullbody_controller/gains/BL_FLIPPER/d: 0.0
 * /AizuSpiderBB/fullbody_controller/gains/BL_FLIPPER/i: 0.0
 * /AizuSpiderBB/fullbody_controller/gains/BL_FLIPPER/p: 8000.0
 * /AizuSpiderBB/fullbody_controller/gains/BR_FLIPPER/d: 0.0
 * /AizuSpiderBB/fullbody_controller/gains/BR_FLIPPER/i: 0.0
 * /AizuSpiderBB/fullbody_controller/gains/BR_FLIPPER/p: 8000.0
 * /AizuSpiderBB/fullbody_controller/gains/FINGER1/d: 0.0
 * /AizuSpiderBB/fullbody_controller/gains/FINGER1/i: 0.0
 * /AizuSpiderBB/fullbody_controller/gains/FINGER1/p: 100.0
 * /AizuSpiderBB/fullbody_controller/gains/FINGER2/d: 0.0
 * /AizuSpiderBB/fullbody_controller/gains/FINGER2/i: 0.0
 * /AizuSpiderBB/fullbody_controller/gains/FINGER2/p: 100.0
 * /AizuSpiderBB/fullbody_controller/gains/FINGER3/d: 0.0
 * /AizuSpiderBB/fullbody_controller/gains/FINGER3/i: 0.0
 * /AizuSpiderBB/fullbody_co/choreonoid_ws/src/aizuspider_description/Task1-AizuSpiderSS.cnoid __name:=choreonoid __log:=/root/.ros/log/d5da7dd4-86b3-11e9-a8f1-00a0b0a5eabf/choreonoid-4.log
/choreonoid_ws/src/aizuspider_description/run_cnoid.sh: line 8:    96 Segmentation fault      (core dumped) choreonoid $@
[choreonoid-4] process has died [pid 81, exit code 139, cmd /choreonoid_ws/src/aizuspider_description/run_cnoid.sh /choreonoid_ws/src/aizuspider_description/Task1-AizuSpiderSS.cnoid __name:=choreonoid __log:=/root/.ros/log/d5da7dd4-86b3-11e9-a8f1-00a0b0a5eabf/choreonoid-4.log].
log file: /root/.ros/log/d5da7dd4-86b3-11e9-a8f1-00a0b0a5eabf/choreonoid-4*.log
[WARN] [1559644288.009767, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[WARN] [1559644288.281777, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface.

YoheiKakiuchi commented 5 years ago

すこし修正しました。

以下で更新してから試してもらえますでしょうか

docker pull yoheikakiuchi/choreonoidsim:16.04_no_gl_release-1.7

EndoYuuki commented 5 years ago

ご指示の通り更新してから行ったらうまく動作しました．ありがとうございます．

agent-system / lecture2019

aizuspiderの起動でcore dumpが起こる． #2