Open sasabot opened 5 years ago
Tests were passed at that time (March 13?) https://travis-ci.org/seed-solutions/aero-ros-pkg/builds/505707425
~~This PR https://github.com/ros-planning/moveit/pull/1382 is the cause of this. (If this PR is removed, all tests pass)~~ It's wrong
tests do not pass at 1.0.0, test pass at 0.10.8
Did you try MoveIt release 1.0.1? This includes https://github.com/ros-planning/moveit/pull/1382.
If you still have issues with MoveIt > 0.10.8, please perform a git bisect to narrow down the offending commit.
@rhaschke This is the first commit that causes the error. https://github.com/ros-planning/moveit/commit/5bedb7a31db8ab4ac7e474de762e5dfc42ad4d13
The error is something like 'double free' This commit just does refactoring, I think. I have no idea what's wrong.
@sasabot, I tried to replicate your issue locally, but you need to provide more information:
What are the exact steps to reproduce the problem? Just calling rosrun aero_samples fullbody_test_node
, does nothing...
@rhaschke Thanks for testing
We tested it by git bisect with https://gist.github.com/YoheiKakiuchi/ec0220af9305e90a65ec67d4e2cf6115 https://gist.github.com/YoheiKakiuchi/941d2eff594249da4950e1a2f7f45c1f
The difficult point for building aero-ros-pkg are,
at first you should build aero_description
catkin build aero_description
https://gist.github.com/YoheiKakiuchi/941d2eff594249da4950e1a2f7f45c1f#file-dockerfile-melodic-L34
after that, you should ./setup.sh typeF in aero_desctiption https://gist.github.com/YoheiKakiuchi/941d2eff594249da4950e1a2f7f45c1f#file-dockerfile-melodic-L36-L38 (it is for building indicated(typeF) robot model file, etc. )
then you build aero_samples and run rosrun aero_samples fullbody_test_node
@YoheiKakiuchi, these steps I already managed. However, running rosrun aero_samples fullbody_test_node
, just outputs the following debug message:
[INFO] ros.aero_std: start creating robot_interface
Other than this, I don't get any output or CPU activity. Is this intended?
@YoheiKakiuchi @rhaschke Thank you for investigating.
To run the samples, you also need to run a dummy robot controller. roslaunch aero_startup aero_bringup.launch
after running the dummy controller (keep this launched), and then running rosrun aero_samples fullbody_test_node
the sample should proceed.
Thanks for this hint. Now I the following are reported on the command line:
[ERROR] ros.rosconsole_bridge.console_bridge: Semantic description is not specified for the same robot as the URDF
[ INFO] ros.moveit_core.robot_model: Loading robot model 'AeroTypeFCET'...
[ WARN] ros.moveit_ros_planning.kinematics_plugin_loader: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/rarm/kinematics_solver_attempts' from your configuration.
[ERROR] ros.moveit_kinematics.kdl: Group 'both_arms' is not a chain
[ERROR] ros.moveit_ros_planning.kinematics_plugin_loader: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'both_arms'
[ERROR] ros.moveit_ros_planning: Kinematics solver could not be instantiated for joint group both_arms.
[ERROR] ros.moveit_kinematics.kdl: Group 'both_arms_with_waist' is not a chain
[ERROR] ros.moveit_ros_planning.kinematics_plugin_loader: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'both_arms_with_waist'
[ERROR] ros.moveit_ros_planning: Kinematics solver could not be instantiated for joint group both_arms_with_waist.
[ERROR] ros.moveit_kinematics.kdl: Group 'rarm_with_lifter' is not a chain
[ERROR] ros.moveit_ros_planning.kinematics_plugin_loader: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'rarm_with_lifter'
[ERROR] ros.moveit_ros_planning: Kinematics solver could not be instantiated for joint group rarm_with_lifter.
[ERROR] ros.moveit_kinematics.kdl: Group 'larm_with_lifter' is not a chain
[ERROR] ros.moveit_ros_planning.kinematics_plugin_loader: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'larm_with_lifter'
[ERROR] ros.moveit_ros_planning: Kinematics solver could not be instantiated for joint group larm_with_lifter.
[ERROR] ros.moveit_kinematics.kdl: Group 'upper_body' is not a chain
[ERROR] ros.moveit_ros_planning.kinematics_plugin_loader: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'upper_body'
[ERROR] ros.moveit_ros_planning: Kinematics solver could not be instantiated for joint group upper_body.
[ERROR] ros.moveit_kinematics.kdl: Group 'whole_body' is not a chain
[ERROR] ros.moveit_ros_planning.kinematics_plugin_loader: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'whole_body'
[ERROR] ros.moveit_ros_planning: Kinematics solver could not be instantiated for joint group whole_body.
You should fix your .srdf file(s) to handle them.
Finally, there is a
free(): invalid next size (fast)
Interestingly, I don't see this issue when running with a memory sanitizer. Looks like a timing/synchronization issue in the fullbody_test_node
code.
I was able to track down the issue: it's related to the two mimic joints in your "leg". I will file a PR for MoveIt to fix it.
@YoheiKakiuchi, can you confirm that https://github.com/ros-planning/moveit/pull/1490 resolves your issue?
I checked moveit demo.launch , so error and segfault on melodic. I tried to control lifter on move_group.
[ INFO] [1563963063.195973885]: Constructing new MoveGroup connection for group 'rarm_with_waist' in namespace ''
[ INFO] [1563963064.164067930]: Ready to take commands for planning group rarm_with_waist.
[ INFO] [1563963064.164143969]: Looking around: no
[ INFO] [1563963064.164180162]: Replanning: no
[ INFO] [1563963070.687721504]: Constructing new MoveGroup connection for group 'lifter' in namespace ''
[ INFO] [1563963070.716163254]: Ready to take commands for planning group lifter.
[ INFO] [1563963070.716225071]: Looking around: no
[ INFO] [1563963070.716244467]: Replanning: no
double free or corruption (out)
[rviz_f25f950d6097_3540_3681243212656806726-6] process has died [pid 3602, exit code -6, cmd /opt/ros/melodic/lib/rviz/rviz -d /home/seed/ros/melodic/src/seed_r7_ros_pkg/seed_r7_typef_moveit_config/launch/moveit.rviz __name:=rviz_f25f950d6097_3540_3681243212656806726 __log:=/root/.ros/log/c8ac2112-adfa-11e9-99d6-0242ac110006/rviz_f25f950d6097_3540_3681243212656806726-6.log].
log file: /root/.ros/log/c8ac2112-adfa-11e9-99d6-0242ac110006/rviz_f25f950d6097_3540_3681243212656806726-6*.log
Didn't it fix yet?
I'd like to know if anyone has succeeded or encountered similar issues. It seems that the functions around MoveIt crashes with melodic (cannot proceed the setLifter test in fullbody_test). Probably has something to do with the Affine to Isometry update.
Below is a temporary not so splendid solution that avoids the problem but does not solve the problem. Thanks.
[update] seems it was not the problem of using Isometry, but something due to moveit above version 1.0 (not sure what though)