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ros-industrial / noether

Tool path planning and surface segmenter
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Mesh Filtering process died on launching. #108

Open shubhamwagh opened 4 years ago

shubhamwagh commented 4 years ago

Hi,

On launching mesh_filtering launch file : roslaunch noether_examples mesh_filtering_demo.launch

It says the process has died! May I know what is going wrong? 

started roslaunch server http://localhost:33195/

SUMMARY
========

PARAMETERS
 * /mesh_filter_server/mesh_filter_manager/filter_groups: [{'continue_on_fa...
 * /mesh_filtering_client/filter_group: DEFAULT
 * /mesh_filtering_client/mesh_file: /home/qbot/toolpa...
 * /mesh_filtering_client/results_dir: /home/qbot/toolpa...
 * /rosdistro: melodic
 * /rosversion: 1.14.9

NODES
  /
    mesh_filter_server (noether/mesh_filter_server)
    mesh_filtering_client (noether_examples/mesh_filtering_client)
    rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[mesh_filtering_client-1]: started with pid [15856]
process[rviz-2]: started with pid [15857]
process[mesh_filter_server-3]: started with pid [15858]
Info:    Available plugins for base class 'noether_filtering::mesh::MeshFilterBase' :
        noether_filtering/BSplineReconstruction
        noether_filtering/CleanData
        noether_filtering/EuclideanClustering
        noether_filtering/FillHoles
        noether_filtering/WindowedSincSmoothing
Info:    noether_filtering::FilterManager<pcl::PolygonMesh> loaded filter group 'DEFAULT'
[ INFO] [1600188535.393935342]: Mesh Filter Server loaded parameters
[ INFO] [1600188535.398359996]: Mesh Filter Server is ready ...
Info:    Available plugins for base class 'noether_filtering::mesh::MeshFilterBase' :
        noether_filtering/BSplineReconstruction
        noether_filtering/CleanData
        noether_filtering/EuclideanClustering
        noether_filtering/FillHoles
        noether_filtering/WindowedSincSmoothing
Info:    noether_filtering::FilterManager<pcl::PolygonMesh> loaded filter group 'DEFAULT'
[ INFO] [1600188535.664401032]: Mesh Filter Server loaded parameters
Warning: noether_filtering::FilterGroup<pcl::PolygonMesh> received empty list of filters, using all filters loaded
         at line 161 in /home/qbot/toolpath/src/noether/noether_filtering/include/noether_filtering/impl/filter_group.hpp
Info:    Removed duplicate points, retained 29768 points from 29768
[mesh_filter_server-3] process has died [pid 15858, exit code -11, cmd /home/qbot/toolpath/devel/lib/noether/mesh_filter_server __name:=mesh_filter_server __log:=/home/qbot/.ros/log/800b43bc-f759-11ea-8898-049226d2aab3/mesh_filter_server-3.log].
log file: /home/qbot/.ros/log/800b43bc-f759-11ea-8898-049226d2aab3/mesh_filter_server-3*.log
jrgnicho commented 4 years ago

Can you run the command below from the workspace and report the output?

ldd devel/lib/noether/mesh_filter_server | grep vtk
shubhamwagh commented 4 years ago

@jrgnicho here is the output for the given command:

ldd devel/lib/noether/mesh_filter_server | grep vtk
    libvtkCommonCore-7.1.so.1 => /usr/local/lib/libvtkCommonCore-7.1.so.1 (0x00007f830c84d000)
    libvtkIOPLY-7.1.so.1 => /usr/local/lib/libvtkIOPLY-7.1.so.1 (0x00007f830b954000)
    libvtkIOGeometry-7.1.so.1 => /usr/local/lib/libvtkIOGeometry-7.1.so.1 (0x00007f830ac7a000)
    libvtkIOLegacy-7.1.so.1 => /usr/local/lib/libvtkIOLegacy-7.1.so.1 (0x00007f830a9ae000)
    libvtkIOImage-7.1.so.1 => /usr/local/lib/libvtkIOImage-7.1.so.1 (0x00007f830a5b6000)
    libvtkImagingCore-7.1.so.1 => /usr/local/lib/libvtkImagingCore-7.1.so.1 (0x00007f830a178000)
    libvtkIOCore-7.1.so.1 => /usr/local/lib/libvtkIOCore-7.1.so.1 (0x00007f8309eca000)
    libvtkCommonExecutionModel-7.1.so.1 => /usr/local/lib/libvtkCommonExecutionModel-7.1.so.1 (0x00007f8309bb5000)
    libvtkCommonDataModel-7.1.so.1 => /usr/local/lib/libvtkCommonDataModel-7.1.so.1 (0x00007f8309447000)
    libvtksys-7.1.so.1 => /usr/local/lib/libvtksys-7.1.so.1 (0x00007f8307be5000)
    libvtkCommonMisc-7.1.so.1 => /usr/local/lib/libvtkCommonMisc-7.1.so.1 (0x00007f830736b000)
    libvtkCommonTransforms-7.1.so.1 => /usr/local/lib/libvtkCommonTransforms-7.1.so.1 (0x00007f8306a97000)
    libvtkCommonSystem-7.1.so.1 => /usr/local/lib/libvtkCommonSystem-7.1.so.1 (0x00007f830687c000)
    libvtkzlib-7.1.so.1 => /usr/local/lib/libvtkzlib-7.1.so.1 (0x00007f830665f000)
    libvtkDICOMParser-7.1.so.1 => /usr/local/lib/libvtkDICOMParser-7.1.so.1 (0x00007f8306405000)
    libvtkmetaio-7.1.so.1 => /usr/local/lib/libvtkmetaio-7.1.so.1 (0x00007f83060de000)
    libvtkpng-7.1.so.1 => /usr/local/lib/libvtkpng-7.1.so.1 (0x00007f8305ea9000)
    libvtktiff-7.1.so.1 => /usr/local/lib/libvtktiff-7.1.so.1 (0x00007f8305c23000)
    libvtkCommonMath-7.1.so.1 => /usr/local/lib/libvtkCommonMath-7.1.so.1 (0x00007f83059f8000)
    libvtkjpeg-7.1.so.1 => /usr/local/lib/libvtkjpeg-7.1.so.1 (0x00007f83057c9000)
jrgnicho commented 4 years ago

I haven't been able to reproduce your error I'd suggest a couple of things

At this point I would build the noether_filtering package in "Release with debug info" or in "debug" and then attach a gdb process to the mesh_filter_server node in the noether/launch/mesh_filter_server.launch to see where it fails.

shubhamwagh commented 4 years ago

Hi,

Here is the output to ldd devel/lib/noether/mesh_filter_server | grep pcl

    libpcl_common.so.1.9 => /usr/local/lib/libpcl_common.so.1.9 (0x00007f399b059000)
    libpcl_kdtree.so.1.9 => /usr/local/lib/libpcl_kdtree.so.1.9 (0x00007f399ad1d000)
    libpcl_octree.so.1.9 => /usr/local/lib/libpcl_octree.so.1.9 (0x00007f399a956000)
    libpcl_search.so.1.9 => /usr/local/lib/libpcl_search.so.1.9 (0x00007f399a576000)
    libpcl_sample_consensus.so.1.9 => /usr/local/lib/libpcl_sample_consensus.so.1.9 (0x00007f399979d000)
    libpcl_filters.so.1.9 => /usr/local/lib/libpcl_filters.so.1.9 (0x00007f3998e35000)
    libpcl_io.so.1.9 => /usr/local/lib/libpcl_io.so.1.9 (0x00007f39989de000)
    libpcl_features.so.1.9 => /usr/local/lib/libpcl_features.so.1.9 (0x00007f3996471000)
    libpcl_ml.so.1.9 => /usr/local/lib/libpcl_ml.so.1.9 (0x00007f3996251000)
    libpcl_segmentation.so.1.9 => /usr/local/lib/libpcl_segmentation.so.1.9 (0x00007f399538e000)
    libpcl_visualization.so.1.9 => /usr/local/lib/libpcl_visualization.so.1.9 (0x00007f3995054000)
    libpcl_surface.so.1.9 => /usr/local/lib/libpcl_surface.so.1.9 (0x00007f3993db3000)
    libpcl_registration.so.1.9 => /usr/local/lib/libpcl_registration.so.1.9 (0x00007f3993a0d000)
    libpcl_keypoints.so.1.9 => /usr/local/lib/libpcl_keypoints.so.1.9 (0x00007f3993653000)
    libpcl_tracking.so.1.9 => /usr/local/lib/libpcl_tracking.so.1.9 (0x00007f399305f000)
    libpcl_recognition.so.1.9 => /usr/local/lib/libpcl_recognition.so.1.9 (0x00007f399296c000)
    libpcl_stereo.so.1.9 => /usr/local/lib/libpcl_stereo.so.1.9 (0x00007f399272d000)
    libpcl_outofcore.so.1.9 => /usr/local/lib/libpcl_outofcore.so.1.9 (0x00007f3992513000)
    libpcl_people.so.1.9 => /usr/local/lib/libpcl_people.so.1.9 (0x00007f39922f6000)
    libpcl_io_ply.so.1.9 => /usr/local/lib/libpcl_io_ply.so.1.9 (0x00007f3975a39000)

which looks fine to me.

jrgnicho commented 4 years ago

Yes, it looks ok. I would run gdb as described in my earlier comment

Beshario commented 4 years ago

running cat /home/qbot/.ros/log/800b43bc-f759-11ea-8898-049226d2aab3/mesh_filter_server-3.log

can shed some light on what is happening.

shubhamwagh commented 4 years ago

Hi @jrgnicho I rebuilt it with RELWITHDEBINFO, I still get the same error. Kindly find the attached gdb debugger output.


Info:    Available plugins for base class 'noether_filtering::mesh::MeshFilterBase' :
        noether_filtering/BSplineReconstruction
        noether_filtering/CleanData
        noether_filtering/EuclideanClustering
        noether_filtering/FillHoles
        noether_filtering/WindowedSincSmoothing
GNU gdb (Ubuntu 8.1-0ubuntu3.2) 8.1.0.20180409-git
Copyright (C) 2018 Free Software Foundation, Inc.
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Type "show configuration" for configuration details.
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<http://www.gnu.org/software/gdb/bugs/>.
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For help, type "help".
Type "apropos word" to search for commands related to "word"...
Reading symbols from /home/qbot/saws-robot-software/ros_packages/devel/lib/noether_examples/mesh_filtering_client...done.
Info:    noether_filtering::FilterManager<pcl::PolygonMesh> loaded filter group 'DEFAULT'
[ INFO] [1600939495.869257109]: Mesh Filter Server loaded parameters
[ INFO] [1600939495.873436754]: Mesh Filter Server is ready ...
Starting program: /home/qbot/saws-robot-software/ros_packages/devel/lib/noether_examples/mesh_filtering_client __name:=mesh_filtering_client __log:=/home/qbot/.ros/log/ce96818c-fe47-11ea-85e1-049226d2aab3/mesh_filtering_client-2.log
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffea3e2700 (LWP 24359)]
[New Thread 0x7fffe9be1700 (LWP 24360)]
[New Thread 0x7fffe93e0700 (LWP 24361)]
[New Thread 0x7fffe8bdf700 (LWP 24362)]
[New Thread 0x7fffdbfff700 (LWP 24363)]
[New Thread 0x7fffdb7fe700 (LWP 24364)]
[New Thread 0x7fffdaffd700 (LWP 24365)]
[New Thread 0x7fffda7fc700 (LWP 24366)]
Info:    Available plugins for base class 'noether_filtering::mesh::MeshFilterBase' :
        noether_filtering/BSplineReconstruction
        noether_filtering/CleanData
        noether_filtering/EuclideanClustering
        noether_filtering/FillHoles
        noether_filtering/WindowedSincSmoothing
Info:    noether_filtering::FilterManager<pcl::PolygonMesh> loaded filter group 'DEFAULT'
[ INFO] [1600939498.737997224]: Mesh Filter Server loaded parameters
Warning: noether_filtering::FilterGroup<pcl::PolygonMesh> received empty list of filters, using all filters loaded
         at line 161 in /home/qbot/saws-robot-software/ros_packages/src/noether/noether_filtering/include/noether_filtering/impl/filter_group.hpp
Info:    Removed duplicate points, retained 29768 points from 29768
[New Thread 0x7fffd9ffb700 (LWP 24368)]
[mesh_filter_server-4] process has died [pid 24314, exit code -11, cmd /home/qbot/saws-robot-software/ros_packages/devel/lib/noether/mesh_filter_server __name:=mesh_filter_server __log:=/home/qbot/.ros/log/ce96818c-fe47-11ea-85e1-049226d2aab3/mesh_filter_server-4.log].
log file: /home/qbot/.ros/log/ce96818c-fe47-11ea-85e1-049226d2aab3/mesh_filter_server-4*.log

Also @Beshario, I tried doing that earlier, but for some reason, it says the file is not present. So for the above output, I tried the following command line:

cat /home/qbot/.ros/log/ce96818c-fe47-11ea-85e1-049226d2aab3/mesh_filter_server-4.log

Output:

cat: /home/qbot/.ros/log/ce96818c-fe47-11ea-85e1-049226d2aab3/mesh_filter_server-4.log: No such file or directory
jrgnicho commented 4 years ago

@shubhamwagh could you run a backtrace when the node crashes. You should be able to do that with the bt command

Levi-Armstrong commented 4 years ago

@shubhamwagh Were you able to resolve the issue?

shubhamwagh commented 4 years ago

Sorry, I am no more using this library. Last time, I remember I couldn't resolve the problem. Instead created my own custom toolpath generation software from point clouds to meet our use case. Thanks for the help anyways.

Levi-Armstrong commented 4 years ago

Is your point cloud method for generating tool paths open sourced?

shubhamwagh commented 3 years ago

@Levi-Armstrong, apologies for late reply. It is not open sourced as it is part of company project and in development stage.