[ompl-users] using thunder frame work under ros indigo

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*Hi all,*

*I am trying to use the "Thunder frame work" with moveit! under ubuntu
14.04 and ros indigo. So I had to install everything from source to make it
work. You can see all the details of problems I faced and how I worked
around them here
<https://groups.google.com/forum/#!topic/moveit-users/VPUhA46UkR4>, now
everything works and I am trying to build a database for my robot "Baxter"
using the attached code and launch file. The problem is that after some
iterations I always get a Segmentation fault, and it is random, for example
this one:*

Program received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7fffdcb73700 (LWP 13212)]
0x00007ffff7ba092c in
ompl_interface::ModelBasedStateSpace::copyState(ompl::base::State*,
ompl::base::State const*) const () from
/home/ghanim/ws_moveit/devel/.private/moveit_planners_ompl/lib/libmoveit_ompl_interface.so.0.7.3
(gdb) bt
#0  0x00007ffff7ba092c in
ompl_interface::ModelBasedStateSpace::copyState(ompl::base::State*,
ompl::base::State const*) const () from
/home/ghanim/ws_moveit/devel/.private/moveit_planners_ompl/lib/libmoveit_ompl_interface.so.0.7.3
#1  0x00007ffff7555368 in
ompl::base::StateSpace::cloneState(ompl::base::State const*) const () from
/home/ghanim/ws_moveit/devel/lib/x86_64-linux-gnu/libompl.so.12
#2  0x00007ffff78195b7 in
ompl::geometric::SPARSdb::findGraphNeighbors(ompl::base::State const*,
std::vector<unsigned long, std::allocator<unsigned long> >&) () from
/home/ghanim/ws_moveit/devel/lib/x86_64-linux-gnu/libompl.so.12
#3  0x00007ffff7821062 in ompl::geometric::SPARSdb::getSimilarPaths(int,
ompl::base::State const*, ompl::base::State const*,
ompl::geometric::SPARSdb::CandidateSolution&,
ompl::base::PlannerTerminationCondition const&) ()
   from /home/ghanim/ws_moveit/devel/lib/x86_64-linux-gnu/libompl.so.12
#4  0x00007ffff782419d in ompl::tools::ThunderDB::findNearestStartGoal(int,
ompl::base::State const*, ompl::base::State const*,
ompl::geometric::SPARSdb::CandidateSolution&,
ompl::base::PlannerTerminationCondition const&) ()
   from /home/ghanim/ws_moveit/devel/lib/x86_64-linux-gnu/libompl.so.12
#5  0x00007ffff7726d1a in
ompl::geometric::ThunderRetrieveRepair::solve(ompl::base::PlannerTerminationCondition
const&) () from
/home/ghanim/ws_moveit/devel/lib/x86_64-linux-gnu/libompl.so.12
#6  0x00007ffff7801085 in
ompl::tools::ParallelPlan::solveOne(ompl::base::Planner*, unsigned long,
ompl::base::PlannerTerminationCondition const*) () from
/home/ghanim/ws_moveit/devel/lib/x86_64-linux-gnu/libompl.so.12
#7  0x00007ffff5102c30 in ?? () from
/usr/lib/x86_64-linux-gnu/libstdc++.so.6
#8  0x00007ffff55f7184 in start_thread (arg=0x7fffdcb73700) at
pthread_create.c:312
#9  0x00007ffff4b9037d in clone () at
../sysdeps/unix/sysv/linux/x86_64/clone.S:111

*This is another one:*

Program received signal SIGSEGV, Segmentation fault.
0x00007fffeeec5e96 in
fcl::HierarchyTree<fcl::AABB>::bottomup(__gnu_cxx::__normal_iterator<fcl::NodeBase<fcl::AABB>**,
std::vector<fcl::NodeBase<fcl::AABB>*,
std::allocator<fcl::NodeBase<fcl::AABB>*> > >,
__gnu_cxx::__normal_iterator<fcl::NodeBase<fcl::AABB>**,
std::vector<fcl::NodeBase<fcl::AABB>*,
std::allocator<fcl::NodeBase<fcl::AABB>*> > >) () from
/opt/ros/indigo/lib/libfcl.so
(gdb) bt
#0  0x00007fffeeec5e96 in
fcl::HierarchyTree<fcl::AABB>::bottomup(__gnu_cxx::__normal_iterator<fcl::NodeBase<fcl::AABB>**,
std::vector<fcl::NodeBase<fcl::AABB>*,
std::allocator<fcl::NodeBase<fcl::AABB>*> > >,
__gnu_cxx::__normal_iterator<fcl::NodeBase<fcl::AABB>**,
std::vector<fcl::NodeBase<fcl::AABB>*,
std::allocator<fcl::NodeBase<fcl::AABB>*> > >) () from
/opt/ros/indigo/lib/libfcl.so
#1  0x00007fffeeec7c65 in
fcl::HierarchyTree<fcl::AABB>::topdown_0(__gnu_cxx::__normal_iterator<fcl::NodeBase<fcl::AABB>**,
std::vector<fcl::NodeBase<fcl::AABB>*,
std::allocator<fcl::NodeBase<fcl::AABB>*> > >,
__gnu_cxx::__normal_iterator<fcl::NodeBase<fcl::AABB>**,
std::vector<fcl::NodeBase<fcl::AABB>*,
std::allocator<fcl::NodeBase<fcl::AABB>*> > >) () from
/opt/ros/indigo/lib/libfcl.so
#2  0x00007fffeeec7c21 in
fcl::HierarchyTree<fcl::AABB>::topdown_0(__gnu_cxx::__normal_iterator<fcl::NodeBase<fcl::AABB>**,
std::vector<fcl::NodeBase<fcl::AABB>*,
std::allocator<fcl::NodeBase<fcl::AABB>*> > >,
__gnu_cxx::__normal_iterator<fcl::NodeBase<fcl::AABB>**,
std::vector<fcl::NodeBase<fcl::AABB>*,
std::allocator<fcl::NodeBase<fcl::AABB>*> > >) () from
/opt/ros/indigo/lib/libfcl.so
#3  0x00007fffeeec7c0f in
fcl::HierarchyTree<fcl::AABB>::topdown_0(__gnu_cxx::__normal_iterator<fcl::NodeBase<fcl::AABB>**,
std::vector<fcl::NodeBase<fcl::AABB>*,
std::allocator<fcl::NodeBase<fcl::AABB>*> > >,
__gnu_cxx::__normal_iterator<fcl::NodeBase<fcl::AABB>**,
std::vector<fcl::NodeBase<fcl::AABB>*,
std::allocator<fcl::NodeBase<fcl::AABB>*> > >) () from
/opt/ros/indigo/lib/libfcl.so
#4  0x00007fffeeec7c0f in
fcl::HierarchyTree<fcl::AABB>::topdown_0(__gnu_cxx::__normal_iterator<fcl::NodeBase<fcl::AABB>**,
std::vector<fcl::NodeBase<fcl::AABB>*,
std::allocator<fcl::NodeBase<fcl::AABB>*> > >,
__gnu_cxx::__normal_iterator<fcl::NodeBase<fcl::AABB>**,
std::vector<fcl::NodeBase<fcl::AABB>*,
std::allocator<fcl::NodeBase<fcl::AABB>*> > >) () from
/opt/ros/indigo/lib/libfcl.so
#5  0x00007fffeeec7c0f in
fcl::HierarchyTree<fcl::AABB>::topdown_0(__gnu_cxx::__normal_iterator<fcl::NodeBase<fcl::AABB>**,
std::vector<fcl::NodeBase<fcl::AABB>*,
std::allocator<fcl::NodeBase<fcl::AABB>*> > >,
__gnu_cxx::__normal_iterator<fcl::NodeBase<fcl::AABB>**,
std::vector<fcl::NodeBase<fcl::AABB>*,
std::allocator<fcl::NodeBase<fcl::AABB>*> > >) () from
/opt/ros/indigo/lib/libfcl.so
#6  0x00007fffeeec7c0f in
fcl::HierarchyTree<fcl::AABB>::topdown_0(__gnu_cxx::__normal_iterator<fcl::NodeBase<fcl::AABB>**,
std::vector<fcl::NodeBase<fcl::AABB>*,
std::allocator<fcl::NodeBase<fcl::AABB>*> > >,
__gnu_cxx::__normal_iterator<fcl::NodeBase<fcl::AABB>**,
std::vector<fcl::NodeBase<fcl::AABB>*,
std::allocator<fcl::NodeBase<fcl::AABB>*> > >) () from
/opt/ros/indigo/lib/libfcl.so
#7  0x00007fffeeec8331 in
fcl::HierarchyTree<fcl::AABB>::init_0(std::vector<fcl::NodeBase<fcl::AABB>*,
std::allocator<fcl::NodeBase<fcl::AABB>*> >&) () from
/opt/ros/indigo/lib/libfcl.so
#8  0x00007fffeeec4df3 in
fcl::DynamicAABBTreeCollisionManager::registerObjects(std::vector<fcl::CollisionObject*,
std::allocator<fcl::CollisionObject*> > const&) () from
/opt/ros/indigo/lib/libfcl.so
#9  0x00007ffff2382d86 in
collision_detection::FCLObject::registerTo(fcl::BroadPhaseCollisionManager*)
() from
/home/ghanim/ws_moveit/devel/.private/moveit_core/lib/libmoveit_collision_detection_fcl.so.0.7.3
#10 0x00007ffff2391cad in
collision_detection::CollisionRobotFCL::checkSelfCollisionHelper(collision_detection::CollisionRequest
const&, collision_detection::CollisionResult&, moveit::core::RobotState
const&, collision_detection::AllowedCollisionMatrix const*) const () from
/home/ghanim/ws_moveit/devel/.private/moveit_core/lib/libmoveit_collision_detection_fcl.so.0.7.3
#11 0x000000000043ccd4 in isStateValid(ompl::base::State const*,
boost::shared_ptr<moveit::core::RobotModel>&,
boost::shared_ptr<ompl_interface::ModelBasedPlanningContext>&) ()
#12 0x00007ffff756c4bf in
ompl::base::SpaceInformation::setStateValidityChecker(std::function<bool
(ompl::base::State const*)>
const&)::FnStateValidityChecker::isValid(ompl::base::State const*) const ()
   from /home/ghanim/ws_moveit/devel/lib/x86_64-linux-gnu/libompl.so.12
#13 0x00007ffff7583e85 in
ompl::base::DiscreteMotionValidator::checkMotion(ompl::base::State const*,
ompl::base::State const*) const () from
/home/ghanim/ws_moveit/devel/lib/x86_64-linux-gnu/libompl.so.12
#14 0x00007ffff7784be6 in
ompl::geometric::PathSimplifier::collapseCloseVertices(ompl::geometric::PathGeometric&,
unsigned int, unsigned int) () from
/home/ghanim/ws_moveit/devel/lib/x86_64-linux-gnu/libompl.so.12
#15 0x00007ffff7786933 in
ompl::geometric::PathSimplifier::simplify(ompl::geometric::PathGeometric&,
ompl::base::PlannerTerminationCondition const&) () from
/home/ghanim/ws_moveit/devel/lib/x86_64-linux-gnu/libompl.so.12
#16 0x00007ffff7786c14 in
ompl::geometric::PathSimplifier::simplify(ompl::geometric::PathGeometric&,
double) () from
/home/ghanim/ws_moveit/devel/lib/x86_64-linux-gnu/libompl.so.12
#17 0x00007ffff77793b6 in
ompl::geometric::SimpleSetup::simplifySolution(double) () from
/home/ghanim/ws_moveit/devel/lib/x86_64-linux-gnu/libompl.so.12
#18 0x000000000043b6ee in main ()

*So I am wondering about what could be the problem exactly? *

*Thanks for your help *

*Cheers!*