Segfault while launching moveit_setup_assistant on jade-devel on ROS Kinetic

[dbolkensteyn]

Launching moveit_setup_assistant using the following command as documented on ROS Kinetic yields a segmentation fault.

roslaunch moveit_setup_assistant setup_assistant.launch

outputs:

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.2

NODES
  /
    moveit_setup_assistant (moveit_setup_assistant/moveit_setup_assistant)

auto-starting new master
process[master]: started with pid [17777]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to ed290684-5319-11e6-b625-0242ac110002
process[rosout-1]: started with pid [17790]
started core service [/rosout]
process[moveit_setup_assistant-2]: started with pid [17802]
================================================================================REQUIRED process [moveit_setup_assistant-2] has died!
process has died [pid 17802, exit code -11, cmd /root/ws_moveit/devel/lib/moveit_setup_assistant/moveit_setup_assistant __name:=moveit_setup_assistant __log:=/root/.ros/log/ed290684-5319-11e6-b625-0242ac110002/moveit_setup_assistant-2.log].
log file: /root/.ros/log/ed290684-5319-11e6-b625-0242ac110002/moveit_setup_assistant-2*.log
Initiating shutdown!
================================================================================
[moveit_setup_assistant-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

There is no such file as /root/.ros/log/ed290684-5319-11e6-b625-0242ac110002/moveit*.

I've built MoveIt myself from the experimental unified repository.

I've tried to add a breakpoint on the entry of the main function in setup_assistant_main.cpp using CLion [I'm not familiar with gdb] - and it does not even get hit.

Here is the full text under visible within the Thread-1 window:

long double boost::math::detail::erf_imp<long double, boost::math::policies::policy<boost::math::policies::promote_float<false>, boost::math::policies::promote_double<false>, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> >(long double, bool, boost::math::policies::policy<boost::math::policies::promote_float<false>, boost::math::policies::promote_double<false>, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> const&, mpl_::int_<64> const&)

I've googled a bit, and found that such Boost errors might be caused by different versions or flags of the compiler. I've first tried to build MoveIt with clang, which failed, and then tried to use the already-built from sources moveit-kinetic-source Docker image. Even on that image, I'm getting the same segmentation fault upon the start of the moveit_setup_assistant node.

[dbolkensteyn]

FYI : I'm going to try to run a git bisect on the unified repo to see if I can go back to a commit where this doesn't happen - but I'll only test against ROS Kinetic

[dbolkensteyn]

Looks like there was an elephant in the room: A very recent upgrade to C++11.

I was able to fix this issue by reverting it [see https://github.com/davetcoleman/moveit/pull/7] - but I am not familiar enough with C++ and Boost's black magic to understand why.

This seems to relate to https://groups.google.com/forum/#!topic/moveit-users/F9vl9OadFf8

[dbolkensteyn]

According to https://github.com/PointCloudLibrary/pcl/issues/619 and https://github.com/felixendres/rgbdslam_v2/issues/8, using C++11 is all in or all out: You can't safely mix libraries compiled with different versions of the standard.

[v4hn]

We are currently working on moving MoveIt! to c++11 in all subprojects. So you will have to wait for a bit or help us out there to get it to work in kinetic. See https://github.com/ros-planning/moveit_core/issues/315 for details

[dbolkensteyn]

This duplicates https://github.com/ros-planning/moveit_core/issues/313

[davetcoleman]

@dbolkensteyn can you open a PR that switches the setup assistant to C++11? To get Travis to pass you'll also need to switch the .travis.yml to moveit_ci https://github.com/ros-planning/moveit_ci