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MoveIt Robot Commander Segmentation fault

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May 14th, 2015
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  1. [~/ros/indigo/repos/https:/github.com/tue-robotics/tue_manipulation/test] (MoveIt %)
  2. tim@tim-mate $ roscore &
  3. [1] 26392
  4. [~/ros/indigo/repos/https:/github.com/tue-robotics/tue_manipulation/test] (MoveIt %)
  5. tim@tim-mate $ ... logging to /home/tim/.ros/log/9a691456-fa3d-11e4-93d7-ac7ba1dfb083/roslaunch-tim-mate-26392.log
  6. Checking log directory for disk usage. This may take awhile.
  7. Press Ctrl-C to interrupt
  8. Done checking log file disk usage. Usage is <1GB.
  9.  
  10. started roslaunch server http://tim-mate:49812/
  11. ros_comm version 1.11.10
  12.  
  13.  
  14. SUMMARY
  15. ========
  16.  
  17. PARAMETERS
  18.  * /rosdistro: indigo
  19.  * /rosversion: 1.11.10
  20.  
  21. NODES
  22.  
  23. auto-starting new master
  24. process[master]: started with pid [26419]
  25. ROS_MASTER_URI=http://tim-mate:11311/
  26.  
  27. setting /run_id to 9a691456-fa3d-11e4-93d7-ac7ba1dfb083
  28. process[rosout-1]: started with pid [26432]
  29. started core service [/rosout]
  30.  
  31. [~/ros/indigo/repos/https:/github.com/tue-robotics/tue_manipulation/test] (MoveIt %)
  32. tim@tim-mate $ ./test_moveit.py
  33. ============ Starting tutorial setup
  34. python: /usr/include/boost/smart_ptr/shared_ptr.hpp:653: typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = const moveit::core::RobotModel; typename boost::detail::sp_member_access<T>::type = const moveit::core::RobotModel*]: Assertion `px != 0' failed.
  35. Aborted (core dumped)
  36. [~/ros/indigo/repos/https:/github.com/tue-robotics/tue_manipulation/test] (MoveIt %)
  37. tim@tim-mate $ gdb python
  38. GNU gdb (Ubuntu 7.7.1-0ubuntu5~14.04.2) 7.7.1
  39. Copyright (C) 2014 Free Software Foundation, Inc.
  40. License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
  41. This is free software: you are free to change and redistribute it.
  42. There is NO WARRANTY, to the extent permitted by law.  Type "show copying"
  43. and "show warranty" for details.
  44. This GDB was configured as "x86_64-linux-gnu".
  45. Type "show configuration" for configuration details.
  46. For bug reporting instructions, please see:
  47. <http://www.gnu.org/software/gdb/bugs/>.
  48. Find the GDB manual and other documentation resources online at:
  49. <http://www.gnu.org/software/gdb/documentation/>.
  50. For help, type "help".
  51. Type "apropos word" to search for commands related to "word"...
  52. Reading symbols from python...Reading symbols from /usr/lib/debug//usr/bin/python2.7...done.
  53. done.
  54. (gdb) run test_moveit.py
  55. Starting program: /usr/bin/python test_moveit.py
  56. [Thread debugging using libthread_db enabled]
  57. Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
  58. ============ Starting tutorial setup
  59. [New Thread 0x7fffdd735700 (LWP 26526)]
  60. [New Thread 0x7fffdcf34700 (LWP 26527)]
  61. [New Thread 0x7fffd7fff700 (LWP 26528)]
  62. [New Thread 0x7fffd77fe700 (LWP 26533)]
  63. [New Thread 0x7fffd6ffd700 (LWP 26534)]
  64. [New Thread 0x7fffd67fc700 (LWP 26535)]
  65. [New Thread 0x7fffd5ffb700 (LWP 26536)]
  66. [New Thread 0x7fffd57fa700 (LWP 26539)]
  67. [New Thread 0x7fffd4ff9700 (LWP 26555)]
  68. python: /usr/include/boost/smart_ptr/shared_ptr.hpp:653: typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = const moveit::core::RobotModel; typename boost::detail::sp_member_access<T>::type = const moveit::core::RobotModel*]: Assertion `px != 0' failed.
  69.  
  70. Program received signal SIGABRT, Aborted.
  71. 0x00007ffff782dcc9 in __GI_raise (sig=sig@entry=6) at ../nptl/sysdeps/unix/sysv/linux/raise.c:56
  72. 56  ../nptl/sysdeps/unix/sysv/linux/raise.c: No such file or directory.
  73. (gdb) bt
  74. #0  0x00007ffff782dcc9 in __GI_raise (sig=sig@entry=6) at ../nptl/sysdeps/unix/sysv/linux/raise.c:56
  75. #1  0x00007ffff78310d8 in __GI_abort () at abort.c:89
  76. #2  0x00007ffff7826b86 in __assert_fail_base (fmt=0x7ffff7977830 "%s%s%s:%u: %s%sAssertion `%s' failed.\n%n",
  77.     assertion=assertion@entry=0x7fffe7f9067c "px != 0", file=file@entry=0x7fffe7f90650 "/usr/include/boost/smart_ptr/shared_ptr.hpp",
  78.     line=line@entry=653,
  79.     function=function@entry=0x7fffe7f92020 <boost::shared_ptr<moveit::core::RobotModel const>::operator->() const::__PRETTY_FUNCTION__> "typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = const moveit::core::RobotModel; typename boost::detail::sp_member_access<T>::type = const moveit::c"...) at assert.c:92
  80.  
  81. #3  0x00007ffff7826c32 in __GI___assert_fail (assertion=0x7fffe7f9067c "px != 0", file=0x7fffe7f90650 "/usr/include/boost/smart_ptr/shared_ptr.hpp",
  82.     line=653,
  83.     function=0x7fffe7f92020 <boost::shared_ptr<moveit::core::RobotModel const>::operator->() const::__PRETTY_FUNCTION__> "typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = const moveit::core::RobotModel; typename boost::detail::sp_member_access<T>::type = const moveit::c"...) at assert.c:101
  84. #4  0x00007fffe7f1cfe7 in boost::shared_ptr<moveit::core::RobotModel const>::operator-> (this=0x1594688)
  85.     at /usr/include/boost/smart_ptr/shared_ptr.hpp:653
  86. #5  0x00007fffe7f0bf24 in moveit::core::RobotState::RobotState (this=0x1594688, robot_model=...)
  87.     at /home/tim/ros/indigo/system/src/moveit_core/robot_state/src/robot_state.cpp:51
  88. #6  0x00007fffe88c0cfe in planning_scene_monitor::CurrentStateMonitor::CurrentStateMonitor(boost::shared_ptr<moveit::core::RobotModel const> const&, boost::shared_ptr<tf::Transformer> const&) () from /opt/ros/indigo/lib/libmoveit_planning_scene_monitor.so
  89. #7  0x00007fffe902906f in moveit::planning_interface::getSharedStateMonitor(boost::shared_ptr<moveit::core::RobotModel const> const&, boost::shared_ptr<tf::Transformer> const&) () from /opt/ros/indigo/lib/libmoveit_common_planning_interface_objects.so
  90. #8  0x00007fffdd951a9f in boost::python::objects::make_holder<1>::apply<boost::python::objects::value_holder<moveit::RobotInterfacePython>, boost::mpl::vector1<std::string> >::execute(_object*, std::string) ()
  91.    from /opt/ros/indigo/lib/python2.7/dist-packages/moveit_ros_planning_interface/_moveit_robot_interface.so
  92. #9  0x00007fffdd9510d5 in boost::python::objects::caller_py_function_impl<boost::python::detail::caller<void (*)(_object*, std::string), boost::python::default_call_policies, boost::mpl::vector3<void, _object*, std::string> > >::operator()(_object*, _object*) ()
  93.    from /opt/ros/indigo/lib/python2.7/dist-packages/moveit_ros_planning_interface/_moveit_robot_interface.so
  94. #10 0x00007ffff3ddf64a in boost::python::objects::function::call(_object*, _object*) const ()
  95.    from /usr/lib/x86_64-linux-gnu/libboost_python-py27.so.1.54.0
  96. #11 0x00007ffff3ddf9b8 in ?? () from /usr/lib/x86_64-linux-gnu/libboost_python-py27.so.1.54.0
  97. #12 0x00007ffff3de9c93 in boost::python::handle_exception_impl(boost::function0<void>) ()
  98.    from /usr/lib/x86_64-linux-gnu/libboost_python-py27.so.1.54.0
  99. #13 0x00007ffff3dde2c3 in ?? () from /usr/lib/x86_64-linux-gnu/libboost_python-py27.so.1.54.0
  100. #14 0x00000000004d9854 in PyObject_Call (kw=0x0, arg=(<RobotInterface at remote 0x7fffecf33fc8>, 'robot_description'),
  101.     func=<Boost.Python.function at remote 0x157d550>) at ../Objects/abstract.c:2529
  102. #15 instancemethod_call.8802 (func=<Boost.Python.function at remote 0x157d550>, func@entry=<instancemethod at remote 0x7fffecf385f0>,
  103. ---Type <return> to continue, or q <return> to quit---
  104.     arg=(<RobotInterface at remote 0x7fffecf33fc8>, 'robot_description'), kw=kw@entry=0x0) at ../Objects/classobject.c:2602
  105. #16 0x00000000004d8379 in PyObject_Call (kw=0x0, arg=<optimized out>, func=<instancemethod at remote 0x7fffecf385f0>) at ../Objects/abstract.c:2529
  106. #17 slot_tp_init.25831 (self=self@entry=<RobotInterface at remote 0x7fffecf33fc8>, args=args@entry=('robot_description',), kwds=kwds@entry=0x0)
  107.     at ../Objects/typeobject.c:5692
  108. #18 0x00000000004f5d0b in type_call.25495 (type=<optimized out>, args=('robot_description',), kwds=0x0) at ../Objects/typeobject.c:745
  109. #19 0x000000000052cc20 in PyObject_Call (kw=0x0, arg=('robot_description',), func=<Boost.Python.class at remote 0x157cff0>)
  110.     at ../Objects/abstract.c:2529
  111. #20 do_call (nk=<optimized out>, na=<optimized out>, pp_stack=0x7fffffffc440, func=<Boost.Python.class at remote 0x157cff0>)
  112.     at ../Python/ceval.c:4238
  113. #21 call_function (oparg=<optimized out>, pp_stack=0x7fffffffc440) at ../Python/ceval.c:4043
  114. #22 PyEval_EvalFrameEx (
  115.     f=f@entry=Frame 0x7fffecfc5c58, for file /home/tim/ros/indigo/system/src/moveit_commander/src/moveit_commander/robot.py, line 97, in __init__ (self=<RobotCommander at remote 0x7fffecf28d90>), throwflag=throwflag@entry=0) at ../Python/ceval.c:2666
  116. #23 0x000000000056d0aa in PyEval_EvalCodeEx (closure=<optimized out>, defcount=<optimized out>, defs=0x0, kwcount=<optimized out>,
  117.     kws=<optimized out>, argcount=-319005608, args=<optimized out>, locals=0x0, globals=<optimized out>, co=<optimized out>)
  118.     at ../Python/ceval.c:3252
  119. #24 function_call (func=func@entry=<function at remote 0x7fffecf1f050>, arg=arg@entry=(<RobotCommander at remote 0x7fffecf28d90>,), kw=kw@entry=0x0)
  120.     at ../Objects/funcobject.c:526
  121. #25 0x00000000004d9854 in PyObject_Call (kw=0x0, arg=(<RobotCommander at remote 0x7fffecf28d90>,), func=<function at remote 0x7fffecf1f050>)
  122.     at ../Objects/abstract.c:2529
  123. #26 instancemethod_call.8802 (func=<function at remote 0x7fffecf1f050>, func@entry=<instancemethod at remote 0x7fffecf381e0>,
  124.     arg=(<RobotCommander at remote 0x7fffecf28d90>,), kw=kw@entry=0x0) at ../Objects/classobject.c:2602
  125. #27 0x00000000004d8379 in PyObject_Call (kw=0x0, arg=<optimized out>, func=<instancemethod at remote 0x7fffecf381e0>) at ../Objects/abstract.c:2529
  126. #28 slot_tp_init.25831 (self=self@entry=<RobotCommander at remote 0x7fffecf28d90>, args=args@entry=(), kwds=kwds@entry=0x0)
  127.     at ../Objects/typeobject.c:5692
  128. #29 0x00000000004f5d0b in type_call.25495 (type=<optimized out>, args=(), kwds=0x0) at ../Objects/typeobject.c:745
  129. #30 0x000000000052cc20 in PyObject_Call (kw=0x0, arg=(), func=<type at remote 0x157c2f0>) at ../Objects/abstract.c:2529
  130. #31 do_call (nk=<optimized out>, na=<optimized out>, pp_stack=0x7fffffffc980, func=<type at remote 0x157c2f0>) at ../Python/ceval.c:4238
  131. #32 call_function (oparg=<optimized out>, pp_stack=0x7fffffffc980) at ../Python/ceval.c:4043
  132. #33 PyEval_EvalFrameEx (f=f@entry=Frame 0x7ffff7ed0910, for file test_moveit.py, line 14, in <module> (), throwflag=throwflag@entry=0)
  133.     at ../Python/ceval.c:2666
  134. #34 0x000000000055c594 in PyEval_EvalCodeEx (co=0x7ffff7ec6130, globals=<optimized out>, locals=<optimized out>, args=<optimized out>,
  135.     argcount=<optimized out>, kws=<optimized out>, kwcount=0, defs=0x0, defcount=0, closure=0x0) at ../Python/ceval.c:3252
  136. #35 0x00000000005b7392 in PyEval_EvalCode (co=co@entry=0x7ffff7ec6130,
  137.     globals=globals@entry={'moveit_msgs': <module at remote 0x7ffff49a0de0>, 'moveit_commander': <module at remote 0x7ffff7e930f8>, '__builtins__': <module at remote 0x7ffff7f88b08>, '__file__': 'test_moveit.py', 'geometry_msgs': <module at remote 0x7ffff49bf6e0>, '__package__': None, 'sys': <module---Type <return> to continue, or q <return> to quit---
  138.  at remote 0x7ffff7f88bb0>, 'rospy': <module at remote 0x7ffff7e84638>, '__name__': '__main__', 'copy': <module at remote 0x7ffff7e84670>, '__doc__': None},
  139.     locals=locals@entry={'moveit_msgs': <module at remote 0x7ffff49a0de0>, 'moveit_commander': <module at remote 0x7ffff7e930f8>, '__builtins__': <module at remote 0x7ffff7f88b08>, '__file__': 'test_moveit.py', 'geometry_msgs': <module at remote 0x7ffff49bf6e0>, '__package__': None, 'sys': <module at remote 0x7ffff7f88bb0>, 'rospy': <module at remote 0x7ffff7e84638>, '__name__': '__main__', 'copy': <module at remote 0x7ffff7e84670>, '__doc__': None}) at ../Python/ceval.c:667
  140. #36 0x0000000000469663 in run_mod.42576 (mod=<optimized out>, filename=<optimized out>,
  141.     globals={'moveit_msgs': <module at remote 0x7ffff49a0de0>, 'moveit_commander': <module at remote 0x7ffff7e930f8>, '__builtins__': <module at remote 0x7ffff7f88b08>, '__file__': 'test_moveit.py', 'geometry_msgs': <module at remote 0x7ffff49bf6e0>, '__package__': None, 'sys': <module at remote 0x7ffff7f88bb0>, 'rospy': <module at remote 0x7ffff7e84638>, '__name__': '__main__', 'copy': <module at remote 0x7ffff7e84670>, '__doc__': None},
  142.     locals={'moveit_msgs': <module at remote 0x7ffff49a0de0>, 'moveit_commander': <module at remote 0x7ffff7e930f8>, '__builtins__': <module at remote 0x7ffff7f88b08>, '__file__': 'test_moveit.py', 'geometry_msgs': <module at remote 0x7ffff49bf6e0>, '__package__': None, 'sys': <module at remote 0x7ffff7f88bb0>, 'rospy': <module at remote 0x7ffff7e84638>, '__name__': '__main__', 'copy': <module at remote 0x7ffff7e84670>, '__doc__': None},
  143.     flags=<optimized out>, arena=<optimized out>) at ../Python/pythonrun.c:1370
  144. #37 0x00000000004699e3 in PyRun_FileExFlags (fp=fp@entry=0x977da0, filename=filename@entry=0x7fffffffd2a5 "test_moveit.py", start=start@entry=257,
  145.     globals=globals@entry={'moveit_msgs': <module at remote 0x7ffff49a0de0>, 'moveit_commander': <module at remote 0x7ffff7e930f8>, '__builtins__': <module at remote 0x7ffff7f88b08>, '__file__': 'test_moveit.py', 'geometry_msgs': <module at remote 0x7ffff49bf6e0>, '__package__': None, 'sys': <module at remote 0x7ffff7f88bb0>, 'rospy': <module at remote 0x7ffff7e84638>, '__name__': '__main__', 'copy': <module at remote 0x7ffff7e84670>, '__doc__': None},
  146.     locals=locals@entry={'moveit_msgs': <module at remote 0x7ffff49a0de0>, 'moveit_commander': <module at remote 0x7ffff7e930f8>, '__builtins__': <module at remote 0x7ffff7f88b08>, '__file__': 'test_moveit.py', 'geometry_msgs': <module at remote 0x7ffff49bf6e0>, '__package__': None, 'sys': <module at remote 0x7ffff7f88bb0>, 'rospy': <module at remote 0x7ffff7e84638>, '__name__': '__main__', 'copy': <module at remote 0x7ffff7e84670>, '__doc__': None}, closeit=closeit@entry=1, flags=flags@entry=0x7fffffffcbc0) at ../Python/pythonrun.c:1356
  147. #38 0x0000000000469f1c in PyRun_SimpleFileExFlags (fp=fp@entry=0x977da0, filename=<optimized out>, filename@entry=0x7fffffffd2a5 "test_moveit.py",
  148.     closeit=closeit@entry=1, flags=flags@entry=0x7fffffffcbc0) at ../Python/pythonrun.c:948
  149. #39 0x000000000046a018 in PyRun_AnyFileExFlags (fp=fp@entry=0x977da0, filename=filename@entry=0x7fffffffd2a5 "test_moveit.py",
  150.     closeit=closeit@entry=1, flags=flags@entry=0x7fffffffcbc0) at ../Python/pythonrun.c:752
  151. #40 0x000000000046ab81 in Py_Main (argc=<optimized out>, argv=0x7fffffffcd78) at ../Modules/main.c:640
  152. #41 0x00007ffff7818ec5 in __libc_start_main (main=0x46ac3f <main>, argc=2, argv=0x7fffffffcd78, init=<optimized out>, fini=<optimized out>,
  153.     rtld_fini=<optimized out>, stack_end=0x7fffffffcd68) at libc-start.c:287
  154. #42 0x000000000057497e in _start ()
  155. (gdb)
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