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  1. eol@vinson:~$ cat /proc/cpuinfo
  2. Processor   : ARMv7 Processor rev 3 (v7l)
  3. BogoMIPS    : 499.92
  4. Features    : swp half thumb fastmult vfp edsp neon vfpv3
  5. CPU implementer : 0x41
  6. CPU architecture: 7
  7. CPU variant : 0x1
  8. CPU part    : 0xc08
  9. CPU revision    : 3
  10.  
  11. Hardware    : Gumstix Overo
  12. Revision    : 0020
  13. Serial      : 0000000000000000
  14.  
  15.  
  16. $ rosrun nodelet nodelet manager __name:=nodelet_manager
  17. $ rosrun nodelet nodelet load QCCoPro/AutoPilotNodelet nodelet_manager
  18. [ INFO] [1322514948.517856442]: Initializing Autopilot Nodelet
  19. [ INFO] [1322514948.523776853]: Creating AutoPilot Interface
  20. [ INFO] [1322514948.673007810]: freq_=2000.000000
  21. [ INFO] [1322514948.676791989]: Initializing serial port...
  22. [ INFO] [1322514948.683658444]: Successfully connected to /dev/ttyUSB0, Baudrate 115200
  23.  
  24. [ INFO] [1322514948.807437741]: Subscribing to topics
  25. Illegal instruction
  26.  
  27.  
  28. $ sudo sh -c "echo 5 > /proc/cpu/alignment"
  29. $ rosrun nodelet nodelet manager __name:=nodelet_manager
  30. $ rosrun nodelet nodelet load QCCoPro/AutoPilotNodelet nodelet_manager
  31. [ INFO] [1322514984.906223142]: Initializing Autopilot Nodelet
  32. [ INFO] [1322514984.916141354]: Creating AutoPilot Interface
  33. [ INFO] [1322514985.070468747]: freq_=2000.000000
  34. [ INFO] [1322514985.078647458]: Initializing serial port...
  35. [ INFO] [1322514985.089481198]: Successfully connected to /dev/ttyUSB0, Baudrate 115200
  36.  
  37. [ INFO] [1322514985.237186276]: Subscribing to topics
  38. Bus error
  39.  
  40.  
  41. $ gdb --args /opt/ros/diamondback/stacks/common/nodelet/bin/nodelet manager __name:=nodelet_manager
  42. $ rosrun nodelet nodelet load QCCoPro/AutoPilotNodelet nodelet_manager
  43. GNU gdb (GDB) 7.1-ubuntu
  44. Copyright (C) 2010 Free Software Foundation, Inc.
  45. License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
  46. This is free software: you are free to change and redistribute it.
  47. There is NO WARRANTY, to the extent permitted by law.  Type "show copying"
  48. and "show warranty" for details.
  49. This GDB was configured as "arm-linux-gnueabi".
  50. For bug reporting instructions, please see:
  51. <http://www.gnu.org/software/gdb/bugs/>...
  52. Reading symbols from /opt/ros/diamondback/stacks/common/nodelet/bin/nodelet...done.
  53. (gdb) run
  54. Starting program: /opt/ros/diamondback/stacks/common/nodelet/bin/nodelet manager __name:=nodelet_manager
  55. [Thread debugging using libthread_db enabled]
  56. [New Thread 0x4236f420 (LWP 5286)]
  57. [New Thread 0x42b6f420 (LWP 5287)]
  58. [New Thread 0x4336f420 (LWP 5289)]
  59. [New Thread 0x43b6f420 (LWP 5298)]
  60. [New Thread 0x4436f420 (LWP 5306)]
  61. [New Thread 0x44b6f420 (LWP 5307)]
  62. [ INFO] [1322515108.170902096]: Initializing Autopilot Nodelet
  63. [ INFO] [1322515108.185397946]: Creating AutoPilot Interface
  64. [ INFO] [1322515108.362003171]: freq_=2000.000000
  65. [ INFO] [1322515108.370334469]: Initializing serial port...
  66. [ INFO] [1322515108.380679928]: Successfully connected to /dev/ttyUSB0, Baudrate 115200
  67.  
  68. [ INFO] [1322515108.509708249]: Subscribing to topics
  69. [New Thread 0x454b8420 (LWP 5377)]
  70. [New Thread 0x45cb8420 (LWP 5378)]
  71.  
  72. Program received signal SIGBUS, Bus error.
  73. 0x400a551e in ros::SerializedMessage ros::serialization::serializeMessage<bond::Status_<std::allocator<void> > >(bond::Status_<std::allocator<void> > const&) () from /opt/ros/diamondback/stacks/common/bondcpp/lib/libbondcpp.so
  74. (gdb) bt
  75. #0  0x400a551e in ros::SerializedMessage ros::serialization::serializeMessage<bond::Status_<std::allocator<void> > >(bond::Status_<std::allocator<void> > const&) () from /opt/ros/diamondback/stacks/common/bondcpp/lib/libbondcpp.so
  76. #1  0x400a1b20 in operator()<ros::SerializedMessage, ros::SerializedMessage (*)(const bond::Status_<std::allocator<void> >&), boost::_bi::list0> (
  77.     function_obj_ptr=<value optimized out>) at /usr/include/boost/bind/bind.hpp:236
  78. #2  boost::_bi::bind_t<ros::SerializedMessage, ros::SerializedMessage (*)(bond::Status_<std::allocator<void> > const&), boost::_bi::list1<boost::reference_wrapper<bond::Status_<std::allocator<void> > > > >::operator() (function_obj_ptr=<value optimized out>) at /usr/include/boost/bind/bind_template.hpp:20
  79. #3  boost::detail::function::function_obj_invoker0<boost::_bi::bind_t<ros::SerializedMessage, ros::SerializedMessage (*)(bond::Status_<std::allocator<void> > const&), boost::_bi::list1<boost::reference_wrapper<bond::Status_<std::allocator<void> > > > >, ros::SerializedMessage>::invoke (
  80.     function_obj_ptr=<value optimized out>) at /usr/include/boost/function/function_template.hpp:132
  81. #4  0x4014b53a in boost::function0<ros::SerializedMessage>::operator() (this=0x4b210, topic=<value optimized out>, serfunc=..., m=...)
  82.     at /usr/include/boost/function/function_template.hpp:1013
  83. #5  ros::TopicManager::publish(std::string const&, boost::function<ros::SerializedMessage ()()> const&, ros::SerializedMessage&) (this=0x4b210,
  84.     topic=<value optimized out>, serfunc=..., m=...)
  85.     at /tmp/buildd/ros-diamondback-ros-comm-1.4.7/debian/ros-diamondback-ros-comm/opt/ros/diamondback/stacks/ros_comm/clients/cpp/roscpp/src/libros/topic_manager.cpp:730
  86. #6  0x4018a778 in ros::Publisher::publish(boost::function<ros::SerializedMessage ()()> const&, ros::SerializedMessage&) const (this=0x4d7cc, serfunc=...,
  87.     m=...)
  88.     at /tmp/buildd/ros-diamondback-ros-comm-1.4.7/debian/ros-diamondback-ros-comm/opt/ros/diamondback/stacks/ros_comm/clients/cpp/roscpp/src/libros/publisher.cpp:95
  89. #7  0x400a322e in void ros::Publisher::publish<bond::Status_<std::allocator<void> > >(boost::shared_ptr<bond::Status_<std::allocator<void> > > const&) const () from /opt/ros/diamondback/stacks/common/bondcpp/lib/libbondcpp.so
  90. #8  0x4009ddae in bond::Bond::publishStatus (this=0x4d560, active=true)
  91.     at /tmp/buildd/ros-diamondback-common-1.4.3/debian/ros-diamondback-common/opt/ros/diamondback/stacks/common/bondcpp/src/bond.cpp:325
  92. #9  0x4009deec in bond::Bond::doPublishing (this=0x4d560, e=<value optimized out>)
  93.     at /tmp/buildd/ros-diamondback-common-1.4.3/debian/ros-diamondback-common/opt/ros/diamondback/stacks/common/bondcpp/src/bond.cpp:303
  94. #10 0x400a1b02 in boost::_mfi::mf1<void, bond::Bond, ros::WallTimerEvent const&>::operator() (function_obj_ptr=<value optimized out>, a0=...)
  95.     at /usr/include/boost/bind/mem_fn_template.hpp:162
  96. #11 operator()<boost::_mfi::mf1<void, bond::Bond, const ros::WallTimerEvent&>, boost::_bi::list1<const ros::WallTimerEvent&> > (
  97.     function_obj_ptr=<value optimized out>, a0=...) at /usr/include/boost/bind/bind.hpp:306
  98. #12 operator()<ros::WallTimerEvent> (function_obj_ptr=<value optimized out>, a0=...) at /usr/include/boost/bind/bind_template.hpp:47
  99. #13 boost::detail::function::void_function_obj_invoker1<boost::_bi::bind_t<void, boost::_mfi::mf1<void, bond::Bond, ros::WallTimerEvent const&>, boost::_bi::list2<boost::_bi::value<bond::Bond*>, boost::arg<1> > >, void, ros::WallTimerEvent const&>::invoke (function_obj_ptr=<value optimized out>, a0=...)
  100.     at /usr/include/boost/function/function_template.hpp:153
  101. #14 0x4015d17c in ros::TimerManager<ros::WallTime, ros::WallDuration, ros::WallTimerEvent>::TimerQueueCallback::call() ()
  102.    from /opt/ros/diamondback/stacks/ros_comm/clients/cpp/roscpp/lib/libros.so
  103. #15 0x40181a72 in ros::CallbackQueue::callOneCB (this=0x321f8, tls=0x3ce30)
  104.     at /tmp/buildd/ros-diamondback-ros-comm-1.4.7/debian/ros-diamondback-ros-comm/opt/ros/diamondback/stacks/ros_comm/clients/cpp/roscpp/src/libros/callback_queue.cpp:381
  105. #16 0x40181db8 in ros::CallbackQueue::callAvailable (this=0x321f8, timeout=<value optimized out>)
  106.     at /tmp/buildd/ros-diamondback-ros-comm-1.4.7/debian/ros-diamondback-ros-comm/opt/ros/diamondback/stacks/ros_comm/clients/cpp/roscpp/src/libros/callback_queue.cpp:333
  107. #17 0x40185146 in ros::SingleThreadedSpinner::spin (this=<value optimized out>, queue=0x321f8)
  108.     at /tmp/buildd/ros-diamondback-ros-comm-1.4.7/debian/ros-diamondback-ros-comm/opt/ros/diamondback/stacks/ros_comm/clients/cpp/roscpp/src/libros/spinner.cpp:49
  109. #18 0x40131b6e in ros::spin (s=...)
  110.     at /tmp/buildd/ros-diamondback-ros-comm-1.4.7/debian/ros-diamondback-ros-comm/opt/ros/diamondback/stacks/ros_comm/clients/cpp/roscpp/src/libros/init.cpp:493
  111. #19 0x40131b8c in ros::spin ()
  112.     at /tmp/buildd/ros-diamondback-ros-comm-1.4.7/debian/ros-diamondback-ros-comm/opt/ros/diamondback/stacks/ros_comm/clients/cpp/roscpp/src/libros/init.cpp:488
  113. #20 0x0000d96e in main (argc=0, argv=0xbeed5164)
  114.     at /tmp/buildd/ros-diamondback-common-1.4.3/debian/ros-diamondback-common/opt/ros/diamondback/stacks/common/nodelet/src/nodelet.cpp:259
  115.  
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