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

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Well, I manage to tackle my issues, just for future users that might run in
those problems I have several pointers that might be relevant.

   1. Regarding the problem with OMPL version 1.2 and its compatibility
   with ros indigo moveit I replaced the fix given here
   <https://groups.google.com/forum/#!topic/moveit-users/VPUhA46UkR4> by
   the building against a catkenized ompl for ros indigo that I found here
   <https://github.com/DavidB-CMU/OMPL_catkin_pkg/tree/master/ompl> where
   all shared pointers have been changed directly into boost::shared_ptr. But
   anyway this was not the cause of my segfault, because I kept getting it.
   2. After following the error trace I found that the genesis of the error
   comes from passing an empty ompl::base::state to some other planning
   functions (there are several of them) so I added a couple of tests in all
   relevant places and now I can run the planning for 100 thousands iteration
   and more. But I don't know why those empty states were coming, may it is my
   naive implementation of the thunder frame work (I am new to this). As
   example of the places where I inserted the test of the ompl::base::state:

   - For example the error related to FCL comes from the fact that when the
      program tries to validate a sampled state in
      (ompl::base::UniformValidStateSampler::sample(*state) ) and the state is
      empty it gives this segfault. So I added a simple if() condition
to verify
      that the state isn't NULL before calling the validation.
      - Another example is in ompl::base::PlannerInputStates::nextStart()
      after calling the problem definition member (getStartState())
sometimes it
      returns empty states, so I verify there also.
      - In general you can follow the segfault by running your node with a
      gdb debugger.

Cheers!

On Fri, Jan 20, 2017 at 3:54 PM, MUKHTAR GHANIM RIDAELDIN <
gha...@gm...> wrote:

> 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::ModelBasedStat
>> eSpace::copyState(ompl::base::State*, ompl::base::State const*) const ()
>> from /home/ghanim/ws_moveit/devel/.private/moveit_planners_ompl/l
>> ib/libmoveit_ompl_interface.so.0.7.3
>> (gdb) bt
>> #0  0x00007ffff7ba092c in ompl_interface::ModelBasedStat
>> eSpace::copyState(ompl::base::State*, ompl::base::State const*) const ()
>> from /home/ghanim/ws_moveit/devel/.private/moveit_planners_ompl/l
>> ib/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/l
>> ib/x86_64-linux-gnu/libompl.so.12
>> #2  0x00007ffff78195b7 in ompl::geometric::SPARSdb::find
>> GraphNeighbors(ompl::base::State const*, std::vector<unsigned long,
>> std::allocator<unsigned long> >&) () from /home/ghanim/ws_moveit/devel/l
>> ib/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::ThunderRetrie
>> veRepair::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/libs
>> tdc++.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::DynamicAABBTreeCollisionM
>> anager::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/libmov
>> eit_collision_detection_fcl.so.0.7.3
>> #10 0x00007ffff2391cad in collision_detection::Collision
>> RobotFCL::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/libmov
>> eit_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::DiscreteMotionVali
>> dator::checkMotion(ompl::base::State const*, ompl::base::State const*)
>> const () from /home/ghanim/ws_moveit/devel/l
>> ib/x86_64-linux-gnu/libompl.so.12
>> #14 0x00007ffff7784be6 in ompl::geometric::PathSimplifie
>> r::collapseCloseVertices(ompl::geometric::PathGeometric&, unsigned int,
>> unsigned int) () from /home/ghanim/ws_moveit/devel/l
>> ib/x86_64-linux-gnu/libompl.so.12
>> #15 0x00007ffff7786933 in ompl::geometric::PathSimplifie
>> r::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::PathSimplifie
>> r::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!*
>>
>
>