when I additionally uncomment from the tutoarial code
// 3. Create a planner and initialize it with our robot model
descartes_planner::DensePlanner planner;
planner.initialize(model);
// 4. Feed the trajectory to the planner
if (!planner.planPath(points))
{
ROS_ERROR("Could not solve for a valid path");
return -2;
}
and have gazebo and moveit running (so urdf and srdl are present), I'll get the following error:
rosrun descartes_tutorials tutorial1
[ INFO] [1480079917.141680125]: Loading robot model 'NextageOpen'...
[ INFO] [1480079917.141806220]: No root joint specified. Assuming fixed joint
[ INFO] [1480079917.496046383, 1285.616000000]: World frame 'WAIST' does not match model root frame '/world', all poses will be transformed to world frame 'WAIST'
tutorial1: /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 = const kinematics::KinematicsBase; typename boost::detail::sp_member_access<T>::type = const kinematics::KinematicsBase*]: Assertion `px != 0' failed.
Aborted (core dumped)
Could you please include useful checks (to prevent segfaults) and issue some error messages to enable better debugging?
+1 to this, but I believe the real issue is that MoveIt doesn't report/log errors when things fail. Checking the validity of pointers that are returned from MoveIt would provide more useful info then a seg fault.
Continuing the work from this issue: https://github.com/ros-industrial-consortium/descartes/issues/185
when I additionally uncomment from the tutoarial code
and have gazebo and moveit running (so urdf and srdl are present), I'll get the following error:
Could you please include useful checks (to prevent segfaults) and issue some error messages to enable better debugging?
BTW: I am using Ubuntu 14.04 and Indigo
Thank you! Jan