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complete error bitstar

ljklonepiece
Oct 16th, 2017
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  1. [ INFO] [1508138576.385308640]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
  2. [ INFO] [1508138576.385327925]: MoveGroup context initialization complete
  3.  
  4. All is well! Everyone is happy! You can start planning now!
  5.  
  6. [ WARN] [1508138576.517388467]: goalConnectCallback: Trying to add [/move_group] to goalSubscribers, but it is already in the goalSubscribers list
  7. [ WARN] [1508138576.555692471]: cancelConnectCallback: Trying to add [/move_group] to cancelSubscribers, but it is already in the cancelSubscribers list
  8. [ WARN] [1508138576.555738370]: goalConnectCallback: Trying to add [/move_group] to goalSubscribers, but it is already in the goalSubscribers list
  9. [ WARN] [1508138576.555756470]: cancelConnectCallback: Trying to add [/move_group] to cancelSubscribers, but it is already in the cancelSubscribers list
  10. [ WARN] [1508138576.555772273]: goalConnectCallback: Trying to add [/move_group] to goalSubscribers, but it is already in the goalSubscribers list
  11. [ WARN] [1508138576.555787980]: cancelConnectCallback: Trying to add [/move_group] to cancelSubscribers, but it is already in the cancelSubscribers list
  12. [ WARN] [1508138576.555863745]: Transitioning goal to LOST
  13. [ WARN] [1508138576.555999831]: Fail: LOST: This goal has been accepted by the simple action server
  14. [ INFO] [1508138579.784771520]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
  15. [New Thread 0x7fffb4d66700 (LWP 14318)]
  16. [ INFO] [1508138579.801754386]: No optimization objective specified, defaulting to PathLengthOptimizationObjective
  17. [ INFO] [1508138579.802100505]: Planner configuration 'arm[BITstarConfigDefault]' will use planner 'geometric::BITstar'. Additional configuration parameters will be set when the planner is constructed.
  18. [Thread 0x7fffb4d66700 (LWP 14318) exited]
  19.  
  20. Program received signal SIGSEGV, Segmentation fault.
  21. [Switching to Thread 0x7fffb6ab3700 (LWP 14248)]
  22. 0x00007fffc98188f6 in std::__shared_ptr<ompl::base::StateSpace, (__gnu_cxx::_Lock_policy)2>::operator-> (this=0x8) at /usr/include/c++/4.8/bits/shared_ptr_base.h:915
  23. 915     return _M_ptr;
  24. (gdb) bt
  25. #0  0x00007fffc98188f6 in std::__shared_ptr<ompl::base::StateSpace, (__gnu_cxx::_Lock_policy)2>::operator-> (this=0x8) at /usr/include/c++/4.8/bits/shared_ptr_base.h:915
  26. #1  0x00007fffc99bc808 in ompl::base::SpaceInformation::getSpaceMeasure (this=0x0) at /home/ljk/robot_exp/moveit_ws/src/batch-informed-trees/src/ompl/base/SpaceInformation.h:218
  27. #2  0x00007fffc99c797f in ompl::geometric::BITstar::ImplicitGraph::clear (this=0x7fffa8018fe8)
  28.     at /home/ljk/robot_exp/moveit_ws/src/batch-informed-trees/src/ompl/geometric/planners/bitstar/datastructures/src/ImplicitGraph.cpp:236
  29. #3  0x00007fffc99b66bc in ompl::geometric::BITstar::clear (this=0x7fffa800e4e0) at /home/ljk/robot_exp/moveit_ws/src/batch-informed-trees/src/ompl/geometric/planners/bitstar/src/BITstar.cpp:309
  30. #4  0x00007fffca37ab8a in ompl_interface::ModelBasedPlanningContext::preSolve() () from /home/ljk/robot_exp/moveit_ws/devel/.private/moveit_planners_ompl/lib/libmoveit_ompl_interface.so.0.7.3
  31. #5  0x00007fffca37b11a in ompl_interface::ModelBasedPlanningContext::solve(double, unsigned int) ()
  32.    from /home/ljk/robot_exp/moveit_ws/devel/.private/moveit_planners_ompl/lib/libmoveit_ompl_interface.so.0.7.3
  33. #6  0x00007fffca37e2b5 in ompl_interface::ModelBasedPlanningContext::solve(planning_interface::MotionPlanResponse&) ()
  34.    from /home/ljk/robot_exp/moveit_ws/devel/.private/moveit_planners_ompl/lib/libmoveit_ompl_interface.so.0.7.3
  35. #7  0x00007ffff0b06f98 in planning_request_adapter::(anonymous namespace)::callPlannerInterfaceSolve(planning_interface::PlannerManager const*, boost::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&) ()
  36.    from /home/ljk/robot_exp/moveit_ws/devel/.private/moveit_core/lib/libmoveit_planning_request_adapter.so.0.7.3
  37. #8  0x00007ffff0b0a439 in boost::function3<bool, boost::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&>::operator()(boost::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&) const ()
  38.    from /home/ljk/robot_exp/moveit_ws/devel/.private/moveit_core/lib/libmoveit_planning_request_adapter.so.0.7.3
  39. #9  0x00007fffc80a0522 in default_planner_request_adapters::FixStartStatePathConstraints::adaptAndPlan(boost::function<bool (boost::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&)> const&, boost::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator<unsigned long> >&) const ()
  40.    from /home/ljk/robot_exp/moveit_ws/devel/lib/libmoveit_default_planning_request_adapter_plugins.so
  41. #10 0x00007ffff0b070a0 in planning_request_adapter::PlanningRequestAdapter::adaptAndPlan(boost::shared_ptr<planning_interface::PlannerManager> const&, boost::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator<unsigned long> >&) const ()
  42.    from /home/ljk/robot_exp/moveit_ws/devel/.private/moveit_core/lib/libmoveit_planning_request_adapter.so.0.7.3
  43. #11 0x00007ffff0b07185 in planning_request_adapter::(anonymous namespace)::callAdapter1(planning_request_adapter::PlanningRequestAdapter const*, boost::shared_ptr<planning_interface::PlannerManager> const&, boost::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator<unsigned long> >&) () from /home/ljk/robot_exp/moveit_ws/devel/.private/moveit_core/lib/libmoveit_planning_request_adapter.so.0.7.3
  44. #12 0x00007ffff0b0a439 in boost::function3<bool, boost::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&>::operator()(boost::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&) const ()
  45.    from /home/ljk/robot_exp/moveit_ws/devel/.private/moveit_core/lib/libmoveit_planning_request_adapter.so.0.7.3
  46. #13 0x00007fffc809b8e7 in default_planner_request_adapters::FixStartStateCollision::adaptAndPlan(boost::function<bool (boost::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&)> const&, boost::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator<unsigned long> >&) const ()
  47.    from /home/ljk/robot_exp/moveit_ws/devel/lib/libmoveit_default_planning_request_adapter_plugins.so
  48. #14 0x00007ffff0b07316 in planning_request_adapter::(anonymous namespace)::callAdapter2(planning_request_adapter::PlanningRequestAdapter const*, boost::function<bool (boost::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&)> const&, boost::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator<unsigned long> >&) ()
  49.    from /home/ljk/robot_exp/moveit_ws/devel/.private/moveit_core/lib/libmoveit_planning_request_adapter.so.0.7.3
  50. #15 0x00007ffff0b0a439 in boost::function3<bool, boost::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&>::operator()(boost::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&) const ()
  51.    from /home/ljk/robot_exp/moveit_ws/devel/.private/moveit_core/lib/libmoveit_planning_request_adapter.so.0.7.3
  52. #16 0x00007fffc8099b32 in default_planner_request_adapters::FixStartStateBounds::adaptAndPlan(boost::function<bool (boost::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&)> const&, boost::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator<unsigned long> >&) const ()
  53.    from /home/ljk/robot_exp/moveit_ws/devel/lib/libmoveit_default_planning_request_adapter_plugins.so
  54. #17 0x00007ffff0b07316 in planning_request_adapter::(anonymous namespace)::callAdapter2(planning_request_adapter::PlanningRequestAdapter const*, boost::function<bool (boost::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&)> const&, boost::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator<unsigned long> >&) ()
  55.    from /home/ljk/robot_exp/moveit_ws/devel/.private/moveit_core/lib/libmoveit_planning_request_adapter.so.0.7.3
  56. #18 0x00007fffc80a1780 in default_planner_request_adapters::FixWorkspaceBounds::adaptAndPlan(boost::function<bool (boost::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&)> const&, boost::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator<unsigned long> >&) const ()
  57.    from /home/ljk/robot_exp/moveit_ws/devel/lib/libmoveit_default_planning_request_adapter_plugins.so
  58. #19 0x00007ffff0b07316 in planning_request_adapter::(anonymous namespace)::callAdapter2(planning_request_adapter::PlanningRequestAdapter const*, boost::function<bool (boost::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&)> const&, boost::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator<unsigned long> >&) ()
  59.    from /home/ljk/robot_exp/moveit_ws/devel/.private/moveit_core/lib/libmoveit_planning_request_adapter.so.0.7.3
  60. #20 0x00007fffc80a204a in default_planner_request_adapters::AddTimeParameterization::adaptAndPlan(boost::function<bool (boost::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::MotionPla---Type <return> to continue, or q <return> to quit---
  61. nRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&)> const&, boost::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator<unsigned long> >&) const ()
  62.    from /home/ljk/robot_exp/moveit_ws/devel/lib/libmoveit_default_planning_request_adapter_plugins.so
  63. #21 0x00007ffff0b07316 in planning_request_adapter::(anonymous namespace)::callAdapter2(planning_request_adapter::PlanningRequestAdapter const*, boost::function<bool (boost::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&)> const&, boost::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator<unsigned long> >&) ()
  64.    from /home/ljk/robot_exp/moveit_ws/devel/.private/moveit_core/lib/libmoveit_planning_request_adapter.so.0.7.3
  65. #22 0x00007ffff0b08123 in planning_request_adapter::PlanningRequestAdapterChain::adaptAndPlan(boost::shared_ptr<planning_interface::PlannerManager> const&, boost::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator<unsigned long> >&) const ()
  66.    from /home/ljk/robot_exp/moveit_ws/devel/.private/moveit_core/lib/libmoveit_planning_request_adapter.so.0.7.3
  67. #23 0x00007ffff553f370 in planning_pipeline::PlanningPipeline::generatePlan(boost::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator<unsigned long> >&) const ()
  68.    from /home/ljk/robot_exp/moveit_ws/devel/.private/moveit_ros_planning/lib/libmoveit_planning_pipeline.so.0.7.3
  69. #24 0x00007ffff5540daa in planning_pipeline::PlanningPipeline::generatePlan(boost::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&) const () from /home/ljk/robot_exp/moveit_ws/devel/.private/moveit_ros_planning/lib/libmoveit_planning_pipeline.so.0.7.3
  70. #25 0x00007fffb7b25e75 in move_group::MoveGroupMoveAction::executeMoveCallback_PlanOnly(boost::shared_ptr<moveit_msgs::MoveGroupGoal_<std::allocator<void> > const> const&, moveit_msgs::MoveGroupResult_<std::allocator<void> >&) () from /home/ljk/robot_exp/moveit_ws/devel/lib/libmoveit_move_group_default_capabilities.so
  71. #26 0x00007fffb7b2834c in move_group::MoveGroupMoveAction::executeMoveCallback(boost::shared_ptr<moveit_msgs::MoveGroupGoal_<std::allocator<void> > const> const&) ()
  72.    from /home/ljk/robot_exp/moveit_ws/devel/lib/libmoveit_move_group_default_capabilities.so
  73. #27 0x00007fffb7b3a103 in actionlib::SimpleActionServer<moveit_msgs::MoveGroupAction_<std::allocator<void> > >::executeLoop() ()
  74.    from /home/ljk/robot_exp/moveit_ws/devel/lib/libmoveit_move_group_default_capabilities.so
  75. #28 0x00007ffff28a8a4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
  76. #29 0x00007ffff627c184 in start_thread (arg=0x7fffb6ab3700) at pthread_create.c:312
  77. #30 0x00007ffff5875ffd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111
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