Closed rgleichman closed 10 years ago
dhadfieldmenell
commented
10 years ago The issue in register.py is a known bug. There should be a fix soon. @antingshen do you know anything about issues with the Manipulator class?
I haven't seen the other issues before.
alexlee-gk
commented
10 years ago Can you check which test is failing? That command basically runs all test files in the test/ directory (i.e. test_registration.py and test_simulation.py).
move_box.py and move_rope.py might be failing because GetArmDOFValues() is not defined in OpenRAVE 0.8. This repo requires OpenRAVE 0.9 or later. In addition, are you using the trajopt version from the README?
record_sim.py should be fixed with issue #6
register.py should be fixed with issue #3
rgleichman
commented
10 years ago The test test_registration.py fails with the segfault. The other test test_simulation.py seems to work.
The segfault from test_registration.py is caused by importing cloudprocpy (see ipython output below).
For trajopt I am using the trajopt-jointopt branch of git@github.com:erictzeng/trajopt.git
OpenRAVE 0.9 is installed
pcl 1.7 is installed with sudo apt-get install libpcl-1.7-all
In [1]: from lfd.rapprentice import clouds
In [2]: clouds.downsample('','')
---------------------------------------------------------------------------
ImportError Traceback (most recent call last)
<ipython-input-2-624f2a19b00b> in <module>()
----> 1 clouds.downsample('','')
/home/robbie/git/robbie/lfd/lfd/rapprentice/clouds.pyc in downsample(xyz, v)
26
27 def downsample(xyz, v):
---> 28 import cloudprocpy
29 if xyz.shape[1] == 3:
30 cloud = cloudprocpy.CloudXYZ()
ImportError: /home/robbie/git/erict/trajopt/build_trajopt/lib/cloudprocpy.so: undefined symbol: _ZN9cloudproc15downsampleCloudIN3pcl8PointXYZEEENS1_10PointCloudIT_E3PtrENS5_8ConstPtrEf
In [3]: import cloudprocpy
Segmentation fault (core dumped)Can you paste the configured cmake variables here? You can get those by running cmake -L in your trajopt build directory.
rgleichman
commented
10 years ago robbie@bluefin:~/git/erict/trajopt/build_trajopt$ cmake -L
CMake Error: The source directory "/home/robbie/git/erict/trajopt/build_trajopt" does not appear to contain CMakeLists.txt.
Specify --help for usage, or press the help button on the CMake GUI.
-- Cache values
BOOST_THREAD_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpthread.so
BUILD_CLOUDPROC:BOOL=ON
BUILD_HUMANOIDS:BOOL=OFF
BUILD_SANDBOX:BOOL=OFF
BUILD_SENSORSIM:BOOL=OFF
BUILD_SHARED_LIBS:BOOL=OFF
CMAKE_BUILD_TYPE:STRING=Release
CMAKE_INSTALL_PREFIX:PATH=/usr/local
DEVEL_MODE:BOOL=OFF
FLANN_INCLUDE_DIRS:PATH=/usr/include
FLANN_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a
FLANN_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a
LIBUSB_1_INCLUDE_DIR:PATH=/usr/include
LIBUSB_1_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libusb-1.0.so
OPENNI_INCLUDE_DIRS:PATH=/usr/include/ni
OPENNI_LIBRARY:FILEPATH=/usr/lib/libOpenNI.so
OPENTHREADS_INCLUDE_DIR:PATH=/usr/include
OPENTHREADS_LIBRARY:FILEPATH=/usr/lib/libOpenThreads.so
OPENTHREADS_LIBRARY_DEBUG:FILEPATH=OPENTHREADS_LIBRARY_DEBUG-NOTFOUND
OSGDB_INCLUDE_DIR:PATH=/usr/include
OSGDB_LIBRARY:FILEPATH=/usr/lib/libosgDB.so
OSGDB_LIBRARY_DEBUG:FILEPATH=OSGDB_LIBRARY_DEBUG-NOTFOUND
OSGGA_INCLUDE_DIR:PATH=/usr/include
OSGGA_LIBRARY:FILEPATH=/usr/lib/libosgGA.so
OSGGA_LIBRARY_DEBUG:FILEPATH=OSGGA_LIBRARY_DEBUG-NOTFOUND
OSGUTIL_INCLUDE_DIR:PATH=/usr/include
OSGUTIL_LIBRARY:FILEPATH=/usr/lib/libosgUtil.so
OSGUTIL_LIBRARY_DEBUG:FILEPATH=OSGUTIL_LIBRARY_DEBUG-NOTFOUND
OSGVIEWER_INCLUDE_DIR:PATH=/usr/include
OSGVIEWER_LIBRARY:FILEPATH=/usr/lib/libosgViewer.so
OSGVIEWER_LIBRARY_DEBUG:FILEPATH=OSGVIEWER_LIBRARY_DEBUG-NOTFOUND
OSG_INCLUDE_DIR:PATH=/usr/include
OSG_LIBRARY:FILEPATH=/usr/lib/libosg.so
OSG_LIBRARY_DEBUG:FILEPATH=OSG_LIBRARY_DEBUG-NOTFOUND
OpenRAVE_DIR:PATH=/usr/local/lib/cmake/openrave-0.9
OpenRAVE_LIBRARY_SUFFIX:STRING=0.9
PCL_APPS_INCLUDE_DIR:PATH=/usr/include/pcl-1.7
PCL_COMMON_INCLUDE_DIR:PATH=/usr/include/pcl-1.7
PCL_DIR:PATH=/usr/share/pcl-1.7
PCL_FEATURES_INCLUDE_DIR:PATH=/usr/include/pcl-1.7
PCL_FILTERS_INCLUDE_DIR:PATH=/usr/include/pcl-1.7
PCL_GEOMETRY_INCLUDE_DIR:PATH=/usr/include/pcl-1.7
PCL_IO_INCLUDE_DIR:PATH=/usr/include/pcl-1.7
PCL_KDTREE_INCLUDE_DIR:PATH=/usr/include/pcl-1.7
PCL_KEYPOINTS_INCLUDE_DIR:PATH=/usr/include/pcl-1.7
PCL_OCTREE_INCLUDE_DIR:PATH=/usr/include/pcl-1.7
PCL_OUTOFCORE_INCLUDE_DIR:PATH=/usr/include/pcl-1.7
PCL_PEOPLE_INCLUDE_DIR:PATH=/usr/include/pcl-1.7
PCL_RECOGNITION_INCLUDE_DIR:PATH=/usr/include/pcl-1.7
PCL_REGISTRATION_INCLUDE_DIR:PATH=/usr/include/pcl-1.7
PCL_SAMPLE_CONSENSUS_INCLUDE_DIR:PATH=/usr/include/pcl-1.7
PCL_SEARCH_INCLUDE_DIR:PATH=/usr/include/pcl-1.7
PCL_SEGMENTATION_INCLUDE_DIR:PATH=/usr/include/pcl-1.7
PCL_SURFACE_INCLUDE_DIR:PATH=/usr/include/pcl-1.7
PCL_TRACKING_INCLUDE_DIR:PATH=/usr/include/pcl-1.7
PCL_VISUALIZATION_INCLUDE_DIR:PATH=/usr/include/pcl-1.7
QHULL_INCLUDE_DIRS:PATH=/usr/include
QHULL_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libqhull.so
QHULL_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libqhull.so
_PYTHON_NUMPY_INCLUDE_DIR:PATH=/usr/lib/python2.7/dist-packages/numpy/core/include/numpy
gtest_build_samples:BOOL=OFF
gtest_build_tests:BOOL=OFF
gtest_disable_pthreads:BOOL=OFF
gtest_force_shared_crt:BOOL=OFFYou might want to do ldd cloudprocpy.so to see which library is not linking properly and then see if the missing library can't be seen from the path.
rgleichman
commented
10 years ago The import cloudproc issue is fixed with https://github.com/erictzeng/trajopt/pull/1. I will create a new issue for GetArmDOFValues since GetArmDOFValues is not included in the latest-stable branch of OpenRave. The tests seem to pass, but at the end of running test_registration there is an Arithmetic exception. I will make another issue for that.
When I run the test suite I get a segfault:
Also all of the exaples except
drop_objs.pyfail.move_box:
move_rope
record_sim
register