Open garaemon opened 9 years ago
not urdf model but collada model
gdb
gdb --args /home/leus/ros/hydro_parent/devel/bin/openhrp-export-collada -i /home/leus/ros/hydro/src/rtm-ros-roboti
cs/rtmros_hrp2/jsk_models/JAXON_RED/JAXON_REDmain.wrl -o /home/leus/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON_RED.dae
Joint node RLEG_JOINT5
Segment node RLEG_LINK5
ForceSensorrfsensor
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
terminate called after throwing an instance of 'std::bad_alloc'
what(): std::bad_alloc
Program received signal SIGABRT, Aborted.
0xb7fdd424 in __kernel_vsyscall ()
(gdb) where
#0 0xb7fdd424 in __kernel_vsyscall ()
#1 0xb72c3e0f in raise () from /lib/i386-linux-gnu/libc.so.6
#2 0xb72c7455 in abort () from /lib/i386-linux-gnu/libc.so.6
#3 0xb753713d in __gnu_cxx::__verbose_terminate_handler() () from /usr/lib/i386-linux-gnu/libstdc++.so.6
#4 0xb7534ed3 in ?? () from /usr/lib/i386-linux-gnu/libstdc++.so.6
#5 0xb7534f0f in std::terminate() () from /usr/lib/i386-linux-gnu/libstdc++.so.6
#6 0xb753505e in __cxa_throw () from /usr/lib/i386-linux-gnu/libstdc++.so.6
#7 0xb753567f in operator new(unsigned int) () from /usr/lib/i386-linux-gnu/libstdc++.so.6
#8 0xb753574b in operator new[](unsigned int) () from /usr/lib/i386-linux-gnu/libstdc++.so.6
#9 0x080ac2cb in ShapeSetInfo_impl::shapes() ()
#10 0x08087558 in ColladaWriter::_WriteLink(BodyInfo_impl*, int, daeSmartRef<daeElement>, daeSmartRef<ColladaDOM150::domNode>, std::string const&, std::map<std::string, int, std::less<std::string>, std::allocator<std::pair<std::string const, int> > >) ()
#11 0x0808832e in ColladaWriter::_WriteLink(BodyInfo_impl*, int, daeSmartRef<daeElement>, daeSmartRef<ColladaDOM150::domNode>, std::string const&, std::map<std::string, int, std::less<std::string>, std::allocator<std::pair<std::string const, int> > >) ()
#12 0x0808832e in ColladaWriter::_WriteLink(BodyInfo_impl*, int, daeSmartRef<daeElement>, daeSmartRef<ColladaDOM150::domNode>, std::string const&, std::map<std::string, int, std::less<std::string>, std::allocator<std::pair<std::string const, int> > >) ()
#13 0x0808832e in ColladaWriter::_WriteLink(BodyInfo_impl*, int, daeSmartRef<daeElement>, daeSmartRef<ColladaDOM150::domNode>, std::string const&, std::map<std::string, int, std::less<std::string>, std::allocator<std::pair<std::string const, int> > >) ()
#14 0x0808832e in ColladaWriter::_WriteLink(BodyInfo_impl*, int, daeSmartRef<daeElement>, daeSmartRef<ColladaDOM150::domNode>, std::string const&, std::map<std::string, int, std::less<std::string>, std::allocator<std::pair<std::string const, int> > >) ()
#15 0x0808832e in ColladaWriter::_WriteLink(BodyInfo_impl*, int, daeSmartRef<daeElement>, daeSmartRef<ColladaDOM150::domNode>, std::string const&, std::map<std::string, int, std::less<std::string>, std::allocator<std::pair<std::string const, int> > >) ()
#16 0x0808a2bd in ColladaWriter::WriteKinematics_model(BodyInfo_impl*) ()
#17 0x0808ffb1 in ColladaWriter::_WriteInstance_kinematics_model(BodyInfo_impl*, daeSmartRef<daeElement>, std::string const&) ()
#18 0x08091e37 in ColladaWriter::_WriteRobot(BodyInfo_impl*) ()
#19 0x08079f0b in ColladaWriter::Write(BodyInfo_impl*) ()
#20 0x0806aa2d in main ()
hmm, need to recompile openhrp3?
JAXON.dae is successfully converted
compiled with "-g"
(gdb) where
#0 0xb7fdd424 in __kernel_vsyscall ()
#1 0xb72c3e0f in raise () from /lib/i386-linux-gnu/libc.so.6
#2 0xb72c7455 in abort () from /lib/i386-linux-gnu/libc.so.6
#3 0xb753713d in __gnu_cxx::__verbose_terminate_handler() () from /usr/lib/i386-linux-gnu/libstdc++.so.6
#4 0xb7534ed3 in ?? () from /usr/lib/i386-linux-gnu/libstdc++.so.6
#5 0xb7534f0f in std::terminate() () from /usr/lib/i386-linux-gnu/libstdc++.so.6
#6 0xb753505e in __cxa_throw () from /usr/lib/i386-linux-gnu/libstdc++.so.6
#7 0xb753567f in operator new(unsigned int) () from /usr/lib/i386-linux-gnu/libstdc++.so.6
#8 0xb753574b in operator new[](unsigned int) () from /usr/lib/i386-linux-gnu/libstdc++.so.6
#9 0x080ac2cb in allocbuf (nelems=<optimized out>) at /usr/include/omniORB4/seqTemplatedecls.h:171
#10 copybuffer (newmax=<optimized out>, this=<optimized out>) at /usr/include/omniORB4/seqTemplatedecls.h:288
#11 length (len=8262, this=0xbfaae50c) at /usr/include/omniORB4/seqTemplatedecls.h:155
#12 operator= (this=0xbfaae50c, s=...) at /usr/include/omniORB4/seqTemplatedecls.h:260
#13 operator= (s=..., this=0xbfaae50c) at /usr/include/omniORB4/seqTemplatedecls.h:332
#14 operator= (s=..., this=0xbfaae50c) at /usr/include/omniORB4/seqTemplatedecls.h:576
#15 operator= (_s=..., this=0xbfaae50c) at /home/leus/ros/hydro_parent/build/openhrp3/hrplib/hrpCorba/OpenHRPCommon.hh:78
#16 operator= (this=0xbfaae4f4) at /home/leus/ros/hydro_parent/build/openhrp3/hrplib/hrpCorba/ModelLoader.hh:1057
#17 _CORBA_Sequence (s=..., this=0xbfaacc80) at /usr/include/omniORB4/seqTemplatedecls.h:236
#18 _CORBA_Unbounded_Sequence (s=..., this=0xbfaacc80) at /usr/include/omniORB4/seqTemplatedecls.h:325
#19 ShapeInfoSequence (_s=..., this=0xbfaacc80) at /home/leus/ros/hydro_parent/build/openhrp3/hrplib/hrpCorba/ModelLoader.hh:1090
#20 ShapeSetInfo_impl::shapes (this=0xbfffaa04) at /home/leus/ros/hydro_parent/src/openhrp3/server/ModelLoader/ShapeSetInfo_impl.cpp:89
#21 0x08087558 in ColladaWriter::_WriteLink (this=0xbfffab84, bodyInfo=0xbfffa978, ilink=5, pkinparent=<error reading variable: Cannot access memory at address 0x4>, pnodeparent=..., strModelUri=..., mapjointnames=...)
at /home/leus/ros/hydro_parent/src/openhrp3/server/ModelLoader/ColladaWriter.h:1229
#22 0x0808832e in ColladaWriter::_WriteLink (this=0xbfffab84, bodyInfo=0xbfffa978, ilink=4, pkinparent=..., pnodeparent=..., strModelUri=..., mapjointnames=...) at /home/leus/ros/hydro_parent/src/openhrp3/server/ModelLoader/ColladaWriter.h:1277
#23 0x0808832e in ColladaWriter::_WriteLink (this=0xbfffab84, bodyInfo=0xbfffa978, ilink=3, pkinparent=..., pnodeparent=..., strModelUri=..., mapjointnames=...) at /home/leus/ros/hydro_parent/src/openhrp3/server/ModelLoader/ColladaWriter.h:1277
#24 0x0808832e in ColladaWriter::_WriteLink (this=0xbfffab84, bodyInfo=0xbfffa978, ilink=2, pkinparent=..., pnodeparent=..., strModelUri=..., mapjointnames=...) at /home/leus/ros/hydro_parent/src/openhrp3/server/ModelLoader/ColladaWriter.h:1277
#25 0x0808832e in ColladaWriter::_WriteLink (this=0xbfffab84, bodyInfo=0xbfffa978, ilink=1, pkinparent=..., pnodeparent=..., strModelUri=..., mapjointnames=...) at /home/leus/ros/hydro_parent/src/openhrp3/server/ModelLoader/ColladaWriter.h:1277
#26 0x0808832e in ColladaWriter::_WriteLink (this=0xbfffab84, bodyInfo=0xbfffa978, ilink=0, pkinparent=..., pnodeparent=..., strModelUri=..., mapjointnames=...) at /home/leus/ros/hydro_parent/src/openhrp3/server/ModelLoader/ColladaWriter.h:1277
#27 0x0808a2bd in ColladaWriter::WriteKinematics_model (this=0xbfffab84, bodyInfo=0xbfffa978) at /home/leus/ros/hydro_parent/src/openhrp3/server/ModelLoader/ColladaWriter.h:654
#28 0x0808ffb1 in ColladaWriter::_WriteInstance_kinematics_model (this=0xbfffab84, bodyInfo=0xbfffa978, parent=..., sidscope=...) at /home/leus/ros/hydro_parent/src/openhrp3/server/ModelLoader/ColladaWriter.h:467
#29 0x08091e37 in ColladaWriter::_WriteRobot (this=0xbfffab84, bodyInfo=0xbfffa978) at /home/leus/ros/hydro_parent/src/openhrp3/server/ModelLoader/ColladaWriter.h:280
#30 0x08079f0b in ColladaWriter::Write (this=0xbfffab84, bodyInfo=0xbfffa978) at /home/leus/ros/hydro_parent/src/openhrp3/server/ModelLoader/ColladaWriter.h:242
#31 0x0806aa2d in main (argc=5, argv=0xbfffaf54) at /home/leus/ros/hydro_parent/src/openhrp3/server/ModelLoader/exportCollada.cpp:130
It happens on jaxonred
I found that it crashed in reading/writing HEAD_LINK1.wrl. If I replace JAXON_RED/HEAD_LINK1.wrl with JAXON/HEAD_LINK1.wrl, it would be no crash but eventually it crashes in LARM_LINK0.wrl.
How about reverting JAXON_RED vrml model?
How about using environment variable ORBgiopMaxMsgSize=2147483648
export ORBgiopMaxMsgSize=2147483648
didn't work
Is this problem of CORBA ?
I dont know but it crashes in corba idl object
I don't think /home/leus/ros/hydro_parent/devel/bin/openhrp-export-collada uses corba communication, maybe wrl is not correct.
◉ Kei Okada
On Tue, Jul 21, 2015 at 3:56 PM, Ryohei Ueda notifications@github.com wrote:
I dont know but it crashes in corba idl object
— Reply to this email directly or view it on GitHub https://github.com/start-jsk/rtmros_tutorials/issues/355#issuecomment-123192037 .
Not communication but struct is defined via idl?
2015年7月21日火曜日、Kei Okadanotifications@github.comさんは書きました:
I don't think /home/leus/ros/hydro_parent/devel/bin/openhrp-export-collada uses corba communication, maybe wrl is not correct.
◉ Kei Okada
On Tue, Jul 21, 2015 at 3:56 PM, Ryohei Ueda <notifications@github.com javascript:_e(%7B%7D,'cvml','notifications@github.com');> wrote:
I dont know but it crashes in corba idl object
— Reply to this email directly or view it on GitHub < https://github.com/start-jsk/rtmros_tutorials/issues/355#issuecomment-123192037
.
— Reply to this email directly or view it on GitHub https://github.com/start-jsk/rtmros_tutorials/issues/355#issuecomment-123336378 .
✉︎ from iPhone
I have no idea for the actual cause. Reducing corba communication solves this problem.... https://github.com/fkanehiro/openhrp3/pull/63
https://github.com/fkanehiro/openhrp3/pull/63 seems not to solve this problem.
In JAXON, catkin bt --start-with-this --force-cmake -v -p1 -j1
in hrpsys_ros_bridge fails as follows.
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
terminate called after throwing an instance of 'std::bad_alloc'
what(): std::bad_alloc
make[2]: *** [/home/leus/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON_RED.dae] ()
make[1]: *** [CMakeFiles/jaxon_red_hrpsys_ros_bridge_tutorials_compile_dae.dir/all] 2
make: *** [all] 2
After I replace JAXON_RED/LARM_LINK0.wrl and JAXON_RED/HEAD_LINK1.wrl with JAXON, the build command succeeded.
please check your openhrp3 version, confirm using correct binary.
@eisoku9618 @YoheiKakiuchi `結局どうなりましたか?
32ビットOSでは、起こる環境があるように思います。
in 32bit, we cannot generate JAXON_RED.dae