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moveit / moveit_planners

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OMPL's TRRT planner segfaults #65

Open rhaschke opened 8 years ago

rhaschke commented 8 years ago

The TRRT planner from OMPL crashes move_group with an invalid pointer dereference:

[ INFO] [1448231583.542524841]: Planner configuration 'arm[TRRTkConfigDefault]' will use planner 'geometric::TRRT'. Additional configuration parameters will be set when the planner is constructed.
move_group: /usr/include/boost/smart_ptr/shared_ptr.hpp:653: typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = ompl::base::ProblemDefinition; typename boost::detail::sp_member_access<T>::type = ompl::base::ProblemDefinition*]: Assertion `px != 0' failed.

partial backtrace: 

#4  0x00007fbacbaf7ffc in ?? () from /opt/ros/indigo/lib/x86_64-linux-gnu/libompl.so.10
#5  0x00007fbacbb9a6a9 in ompl::geometric::TRRT::setup() () from /opt/ros/indigo/lib/x86_64-linux-gnu/libompl.so.10