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ros-industrial / ros2_canopen

CANopen driver framework for ROS2
https://ros-industrial.github.io/ros2_canopen/manual/rolling/
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Segmentation fault (Address not mapped to object [0x398]) #107

Closed albert285957606 closed 1 year ago

albert285957606 commented 1 year ago

Describe the bug I uninstalled all the unnecessary components on the control launch, but it still gave me this error and I couldn't get rid of it.

Logs [ros2_control_node-1] [INFO] [1683709909.075067756] [Cia402System]: Number of registered drivers: '1' [ros2_control_node-1] [INFO] [1683709909.075209664] [Cia402System]: [ros2_control_node-1] Registered driver: [ros2_control_node-1] name: 'kinco_node_1' [ros2_control_node-1] node_id: '10' [ros2_control_node-1] [INFO] [1683709909.075234619] [device_container]: Initialisation successful.

[ros2_control_node-1] [INFO] [1683709909.075514248] [resource_manager]: 'activate' hardware 'canopen_test_system'

[ros2_control_node-1] [INFO] [1683709909.078441846] [kinco_node_1]: Starting EMCY Listener [ros2_control_node-1] [INFO] [1683709909.086642043] [controller_manager]: update rate is 10 Hz [ros2_control_node-1] [WARN] [1683709909.086912809] [controller_manager]: Could not enable FIFO RT scheduling policy

[ros2_control_node-1] Stack trace (most recent call last) in thread 41744: [ros2_control_node-1] [INFO] [1683709909.088014763] [kinco_node_1]: Starting RPDO Listener [ros2_control_node-1] #11 Object "", at 0xffffffffffffffff, in [ros2_control_node-1] #10 Source "../sysdeps/unix/sysv/linux/x86_64/clone3.S", line 81, in clone3 [0x7f02eb3749ff] [ros2_control_node-1] #9 Source "./nptl/pthread_create.c", line 442, in start_thread [0x7f02eb2e2b42] [ros2_control_node-1] #8 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f02eb5742b2, in [ros2_control_node-1] #7 Source "./src/ros2_control_node.cpp", line 80, in operator() [0x561a1b681810] [ros2_control_node-1] #6 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7f02eb17a401, in hardware_interface::ResourceManager::read(rclcpp::Time const&, rclcpp::Duration const&) [ros2_control_node-1] #5 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7f02eb1a17c4, in hardware_interface::System::read(rclcpp::Time const&, rclcpp::Duration const&) [ros2_control_node-1] #4 Object "/home/test/Desktop/controller/demo5/install/canopen_ros2_control/lib/libcanopen_ros2_control.so", at 0x7f02e42e2efe, in canopen_ros2_control::Cia402System::read(rclcpp::Time const&, rclcpp::Duration const&) [ros2_control_node-1] #3 Object "/home/test/Desktop/controller/demo5/install/canopen_ros2_control/lib/libcanopen_ros2_control.so", at 0x7f02e42e4965, in ros2_canopen::Cia402Driver::get_position() [ros2_control_node-1] #2 Object "/home/test/Desktop/controller/demo5/install/canopen_ros2_control/lib/libcanopen_ros2_control.so", at 0x7f02e42e4ca7, in std::shared_ptr_access<ros2_canopen::node_interfaces::NodeCanopen402Driver, (gnu_cxx::_Lock_policy)2, false, false>::operator->() const [ros2_control_node-1] #1 Object "/home/test/Desktop/controller/demo5/install/canopen_ros2_control/lib/libcanopen_ros2_control.so", at 0x7f02e42e5453, in std::shared_ptr_access<ros2_canopen::node_interfaces::NodeCanopen402Driver, (gnu_cxx::_Lock_policy)2, false, false>::_M_get() const [ros2_control_node-1] #0 Object "/home/test/Desktop/controller/demo5/install/canopen_ros2_control/lib/libcanopen_ros2_control.so", at 0x7f02e42e5d80, in std::__shared_ptr<ros2_canopen::node_interfaces::NodeCanopen402Driver, (gnu_cxx::_Lock_policy)2>::get() const [ros2_control_node-1] Segmentation fault (Address not mapped to object [0x398]) [ERROR] [ros2_control_node-1]: process has died [pid 41684, exit code -11, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_rh1l5w25 --params-file /home/test/Desktop/controller/demo5/install/canopen_ros2_control/share/canopen_ros2_control/config/cia402_ros2_control.yaml']. [spawner-3] [INFO] [1683709911.295526322] [spawner_cia402_device_1_controller]: Waiting for '/controller_manager' node to exist [spawner-3] [INFO] [1683709913.315490602] [spawner_cia402_device_1_controller]: Waiting for '/controller_manager' node to exist

Setup:

Additional context Add any other context about the problem here.

hellantos commented 1 year ago

I haven't seen this one yet. Can you give a bit more context for reproducing?

albert285957606 commented 1 year ago

running command :

ros2 launch canopen_ros2_control cia402_system.launch.py

cia402_ros2_control.yaml

controller_manager: ros__parameters: update_rate: 10 # Hz cia402_device_1_controller: type: canopen_ros2_controllers/Cia402DeviceController cia402_device_1_controller: ros__parameters: joint: node_1

cia402_system.launch.py `from launch import LaunchDescription from launch.actions import DeclareLaunchArgument from launch.actions import OpaqueFunction from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource

from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource

def launch_setup(context, *args, **kwargs):

name = LaunchConfiguration("name")
prefix = LaunchConfiguration("prefix")

# bus configuration
bus_config_package = LaunchConfiguration("bus_config_package")
bus_config_directory = LaunchConfiguration("bus_config_directory")
bus_config_file = LaunchConfiguration("bus_config_file")
# bus configuration file full path
bus_config = PathJoinSubstitution(
    [FindPackageShare(bus_config_package), bus_config_directory, bus_config_file]
)

# master configuration
master_config_package = LaunchConfiguration("master_config_package")
master_config_directory = LaunchConfiguration("master_config_directory")
master_config_file = LaunchConfiguration("master_config_file")
# master configuration file full path
master_config = PathJoinSubstitution(
    [FindPackageShare(master_config_package), master_config_directory, master_config_file]
)

# can interface name
can_interface = LaunchConfiguration("can_interface")

# robot description stuff
description_package = LaunchConfiguration("description_package")
description_file = LaunchConfiguration("description_file")
robot_description_content = Command(
    [
        PathJoinSubstitution([FindExecutable(name="xacro")]),
        " ",
        PathJoinSubstitution(
            [FindPackageShare(description_package), "urdf", description_file]
        ),
        " ",
        "name:=",
        name,
        " ",
        "prefix:=",
        prefix,
        " ",
        "bus_config:=",
        bus_config,
        " ",
        "master_config:=",
        master_config,
        " ",
        "can_interface:=",
        can_interface,
        " ",
    ]
)
robot_description = {"robot_description": robot_description_content}

# ros2 control configuration
ros2_control_config_package = LaunchConfiguration("ros2_control_config_package")
ros2_control_config_directory = LaunchConfiguration("ros2_control_config_directory")
ros2_control_config_file = LaunchConfiguration("ros2_control_config_file")
# ros2 control configuration file full path
ros2_control_config = PathJoinSubstitution(
    [
        FindPackageShare(ros2_control_config_package),
        ros2_control_config_directory,
        ros2_control_config_file,
    ]
)

# nodes to start are listed below
# robot_description机器人配置文件描述，ros2_control_config配置文件文件夹
control_node = Node(
    package="controller_manager",
    executable="ros2_control_node",
    parameters=[robot_description, ros2_control_config],
    output="screen",
)

cia402_device_controller_spawner = Node(
    package="controller_manager",
    executable="spawner",
    arguments=["cia402_device_1_controller", "--controller-manager", "/controller_manager"],
)
robot_state_publisher_node = Node(
    package="robot_state_publisher",
    executable="robot_state_publisher",
    output="both",
    parameters=[robot_description],
)

# hardcoded slave configuration form test package
slave_config = PathJoinSubstitution(
    [FindPackageShare("canopen_tests"), "config/cia402", "cia402_slave.eds"]
)

slave_launch = PathJoinSubstitution(
    [FindPackageShare("canopen_fake_slaves"), "launch", "cia402_slave.launch.py"]
)
slave_node_1 = IncludeLaunchDescription(
    PythonLaunchDescriptionSource(slave_launch),
    launch_arguments={
        "node_id": "2",
        "node_name": "cia402_node_1",
        "slave_config": slave_config,
    }.items(),
)

nodes_to_start = [
    control_node,
    robot_state_publisher_node,
    # joint_state_broadcaster_spawner,
    # slave_node_1,
    cia402_device_controller_spawner,
    # forward_position_controller,
]

return nodes_to_start

def generate_launch_description():

declared_arguments = []
declared_arguments.append(
    DeclareLaunchArgument(
        "name", description="robot name", default_value="canopen_test_system"
    )
)
declared_arguments.append(
    DeclareLaunchArgument("prefix", description="Prefix.", default_value="")
)
declared_arguments.append(
    DeclareLaunchArgument(
        "description_package",
        description="Package where urdf file is stored.",
        default_value="canopen_ros2_control",
    )
)
declared_arguments.append(
    DeclareLaunchArgument(
        "description_file",
        description="Name of the urdf file.",
        default_value="cia402_system.urdf.xacro",
    )
)
declared_arguments.append(
    DeclareLaunchArgument(
        "ros2_control_config_package",
        default_value="canopen_ros2_control",
        description="Path to ros2_control configuration.",
    )
)
declared_arguments.append(
    DeclareLaunchArgument(
        "ros2_control_config_directory",
        default_value="config",
        description="Path to ros2_control configuration.",
    )
)
declared_arguments.append(
    DeclareLaunchArgument(
        "ros2_control_config_file",
        default_value="cia402_ros2_control.yaml",
        description="Path to ros2_control configuration.",
    )
)
declared_arguments.append(
    DeclareLaunchArgument(
        "bus_config_package",
        default_value="canopen_tests",
        description="Path to bus configuration.",
    )
)
declared_arguments.append(
    DeclareLaunchArgument(
        "bus_config_directory",
        default_value="config/cia402",
        description="Path to bus configuration.",
    )
)
declared_arguments.append(
    DeclareLaunchArgument(
        "bus_config_file",
        default_value="bus.yml",
        description="Path to bus configuration.",
    )
)
declared_arguments.append(
    DeclareLaunchArgument(
        "master_config_package",
        default_value="canopen_tests",
        description="Path to master configuration file (*.dcf)",
    )
)
declared_arguments.append(
    DeclareLaunchArgument(
        "master_config_directory",
        default_value="config/cia402",
        description="Path to master configuration file (*.dcf)",
    )
)
declared_arguments.append(
    DeclareLaunchArgument(
        "master_config_file",
        default_value="master.dcf",
        description="Path to master configuration file (*.dcf)",
    )
)

declared_arguments.append(
    DeclareLaunchArgument(
        "can_interface",
        default_value="can0",
        description="Interface name for can",
    )
)

return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])

`

hellantos commented 1 year ago

@albert285957606 Can you check if you can launch the following without problems:

ros2 launch canopen_tests robot_control.launch.py

This uses a different hardware interface.

gsalinas commented 1 year ago

Hi! I'm getting the same segfault when I run on my actual hardware, but robot_control_setup.launch.py works for me: @albert285957606 did you ever figure out what your issue was? I can't tell how the merged PR addresses whatever this problem is.

gsalinas commented 1 year ago

For anyone else who runs into this in the future, my issue turned out to be that my URDF files were incorrect: the .urdf.xacro file has some references to the bus and master configuration that need to be updated, and the .ros2_control.xacro file needs the node IDs for each joint.