Closed GiulioRomualdi closed 3 years ago
This seems to be a bug related to https://github.com/robotology/whole-body-estimators/pull/45/commits/74ffe79c53e90ba040d24503466ba5d7aedf9ba9 that we had fixed with @HosameldinMohamed in the past. (See https://github.com/robotology/whole-body-estimators/pull/45#issuecomment-657555969)
Could you tell us if you are in the latest devel
? In my system, with the latest devel
, it seems to be working.
yes latest devel: f75d1042fbfd6dfee568f8a186ef9ac452ae764f
do we need a specific version of yarp?
do we need a specific version of yarp?
In my local,
YARP version 3.4.100+20201003.1+gitf87738350
I also updated to the latest master
, YARP version 3.4.100+20201111.5+git08c1f164d
its fine.
Can you collect a stacktrace when the yarprobotinterface goes in segmentation fault? If you are using the superbuild recompiling everything in Debug should be doable, or at least you can recompile just YARP in RelWithDebInfo .
The output fault is related to MASRemapper.
It must be noted that prior to yarp v3.4
, there was a bug in MASRemapper which was fixed in https://github.com/robotology/yarp/pull/2300.
This was identified thanks to @GiulioRomualdi gdb output.
gdb$ where
#0 0x00007fda90160b2e in bool MultipleAnalogSensorsRemapper::genericAttachAll<yarp::dev::IPositionSensors>(MAS_SensorType, std::vector<yarp::dev::IPositionSensors*, std::allocator<yarp::dev::IPositionSensors*> >&, yarp::dev::PolyDriverList const&, bool (yarp::dev::IPositionSensors::*)(unsigned long, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&) const, unsigned long (yarp::dev::IPositionSensors::*)() const) () from /home/gromualdi/robot-code/robotology-superbuild/build/install/lib/yarp/yarp_multipleanalogsensorsremapper.so
#1 0x00007fda90155903 in MultipleAnalogSensorsRemapper::attachAll(yarp::dev::PolyDriverList const&) () from /home/gromualdi/robot-code/robotology-superbuild/build/install/lib/yarp/yarp_multipleanalogsensorsremapper.so
#2 0x00007fdb0c34d3e6 in yarp::dev::WholeBodyDynamicsDevice::attachAllFTs(yarp::dev::PolyDriverList const&) () from /home/gromualdi/robot-code/robotology-superbuild/build/install/lib/yarp/wholeBodyDynamicsDevice.so
#3 0x00007fdb0c34c45a in yarp::dev::WholeBodyDynamicsDevice::attachAll(yarp::dev::PolyDriverList const&) () from /home/gromualdi/robot-code/robotology-superbuild/build/install/lib/yarp/wholeBodyDynamicsDevice.so
#4 0x00007fdb2c780986 in yarp::robotinterface::Device::attach(yarp::dev::PolyDriverList const&) const () from /home/gromualdi/robot-code/robotology-superbuild/build/install/lib/libYARP_robotinterface.so.3
#5 0x00007fdb2c786aa3 in yarp::robotinterface::Robot::Private::attach(yarp::robotinterface::Device const&, std::vector<yarp::robotinterface::Param, std::allocator<yarp::robotinterface::Param> > const&) () from /home/gromualdi/robot-code/robotology-superbuild/build/install/lib/libYARP_robotinterface.so.3
#6 0x00007fdb2c7884aa in yarp::robotinterface::Robot::enterPhase(yarp::robotinterface::ActionPhase) () from /home/gromualdi/robot-code/robotology-superbuild/build/install/lib/libYARP_robotinterface.so.3
#7 0x00005642e3cb8f6f in yarprobotinterface::Module::configure(yarp::os::ResourceFinder&) ()
#8 0x00007fdb2c29e632 in yarp::os::RFModule::runModule(yarp::os::ResourceFinder&) () from /home/gromualdi/robot-code/robotology-superbuild/build/install/lib/libYARP_os.so.3
#9 0x00005642e3cb7045 in main ()
Maybe updating YARP will fix this issue. Let's see.
Maybe updating YARP will fix this issue. Let's see.
Fixed thank you @prashanthr05
If I try to run
wholebodydynamics
oniCubGazeboV3
I get the following error. (I'm using the model defined in https://github.com/dic-iit/icub-models/tree/icub3/wbd)cc @prashanthr05 @traversaro