Closed akmandor closed 2 years ago
While I thank you for the (more) detailed report, I still believe this is a problem with the MSA, not with the URDF here. It's possible #527 and #570 are other instances of this same problem.
The URDF specs don't state that collision geometry cannot overlap, and due to the fact that yours is only the second (or third) report about this, I'm inclined to believe (at this point) it's not a widespread / fundamental problem with the models here.
I would recommend to open an issue on the MoveIt issue tracker, and providing them with as much information as possible. You probably have a gdb
backtrace, which I would include.
If, after analysis there, it turns out there is a problem with the models in ur_description
here, we can try to address it of course.
For now I'm going to close this, but as I wrote in my previous comment, we can certainly come back to this and re-open if/when needed.
Thanks @gavanderhoorn and personally I agree with your comment that "The URDF specs don't state that collision geometry cannot overlap". I think it is more meaningful to expect from the MSA implementation to handle such overlapping geometries. However, in an ideal simulation, I also don't expect the physical entities collapse. Anyway, this is obviously a gray area :) As you suggested, I wrote my observations under a similar issue in MoveIt.
I would suggest to include a backtrace of an example crash.
I expect that to be one of the first questions you'll receive from the MoveIt maintainers.
Added :+1:
Someone in my lab pointed me out that there is another (Unofficial) universal_robot repository (branch: calibration_devel) which does not give the error. I just wanted to add here if someone needs to create moveit config files for UR arms from scratch.
Issue: When generating collision matrix in MoveIt Setup Assistant using the URDF which contains colliding link geometries, the "stack smashing detected" error happens and the Setup Assistant terminates. It would be really helpful if you could update the URDF files to resolve the issue.
Tests:
System details:
GDB settings:
catkin config --extend /opt/ros/${ROS_DISTRO} --cmake-args --cmake-args -DCMAKE_BUILD_TYPE=Debug
<arg name="debug" default="true" />
in setup_assistant.launchGDB output: