search

robotology / icub-tutorials

Tutorials on iCub code
19 stars 9 forks source link

iKinCartesianSolver Segmentation Fault #4

Closed yeshasvitirupachuri closed 8 years ago

yeshasvitirupachuri commented 8 years ago

Dear @pattacini,

I am trying to used cartesian control with icub gazebo models. I followed the cartesian interface tutorial ( http://wiki.icub.org/brain/icub_cartesian_interface.html)

1) Launched Gazebo and inserted icub_with_hands model 2) simCartesianControl --robot icubGazeboSim (runs without errors) 3) iKinCartesianSolver --robot icubGazeboSim --context simCartesianControl --part left_arm (this gives me a segmentation fault) log.txt

Please let me know how to address this issue

Thank you

pattacini commented 8 years ago

Hi @Yeshasvitvs

Honestly, I have no experience with Gazebo and it's also not easy for me to test it at the moment, given that Gazebo is not really multi-platform yet.

However, it doesn't seem there're problems to use Cartesian control in that environment: see e.g. https://github.com/robotology/QA/issues/115. Perhaps, @apostroph might help you out too.

Regarding the log you provided, there's a quite weird thing: the connection between the extended state ports (i.e. stateExt) took place far after the connections among the other ports of the same device driver. This is very suspicious and might indicate that the system is not in a good shape in yarp sense.

yeshasvitirupachuri commented 8 years ago

@pattacini regarding the yarp setup of the system could you please direct me where to look to check the weird connections. I followed the tutorials on installation for both yarp and icub

jimmybaraglia commented 8 years ago

Hi @Yeshasvitvs

Thank you @pattacini for tagging me here. I wish I could help more, but I just started using iCub Gazebo few days ago. I tried to reproduce the error and did the same steps with you, but everything worked fine. The difference maybe be that I modified "cartesianSolver.ini" so that the "robot" variable is set at "icubGazeboSim" there.

I will continue to test it and tell you if I find something else.

pattacini commented 8 years ago

@Yeshasvitvs the very first attempt I would do is to launch iCub_SIM (aka the old simulator) alongside with the Cartesian control suite while keeping an eye to the very same timing of those connections.

yeshasvitirupachuri commented 8 years ago

@pattacini I tried it with iCub_Sim and have the same problem of segmentation fault while running iKinCartesianSolver. Also no weird delay the connection between the extended state ports log_icubSim.txt

pattacini commented 8 years ago

How did you install/compile yarp and icub-main then?

Also, did you make sure that the binaries you're launching are the intended ones, rather than some outdated executable that are leftovers of old building processes?

I've just set up a virtual ubuntu xenial machine and everything works fine here.

yeshasvitirupachuri commented 8 years ago

@pattacini Sorry for the trouble. It was my bad that I did not install icub-common and there was a problem in linking to the ipopt library. I fixed it with help of @traversaro Thank you guys. Now everything works in gazebo.

pattacini commented 8 years ago

Glad to know you got it working. Another great support from @traversaro :smiley: