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

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So regarding the question above, I found out that when I disable the "state
validity check" part, everything works fine and the database is produced.
And I can reuse the produced data to plan for the baxter arm around (look
at the attached files: "generate_baxter_database.cpp" produce the database
for the planner, and "test_baxter_database.cpp" uses it to move the arm via
a movegroup class) but what I noticed is that this way the produced
solutions later aren't always collision free and if I activate the "state
validity check" in "test_baxter_database.cpp" then again after some
iterations I got a segmentation fault.

Any ideas of how to correctly set this validity checker?

Cheers!

On Wed, Jan 18, 2017 at 6:12 PM, MUKHTAR GHANIM RIDAELDIN <
gha...@gm...> wrote:

> *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::DynamicAABBTreeCollisionManage
> r::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!*
>