Hello all,
I'm running the following distro on the intel edison:
Linux up1 3.10.17-yocto-standard-r2 #7 SMP PREEMPT Thu Feb 26 09:57:06 UTC 2015 i686 GNU/Linux
I compiled ros indigo from source as follows:
http://wiki.ros.org/indigo/Installation/Debian
And added the moveit packages as per the "Adding released packages" section. I commented the rviz launch out of demo.launch in our moveit_config and it runs without issue on my desktop. With the exact same code checkout on the edison, I get the following error:
[move_group-5] process has died [pid 2648, exit code -11, cmd /opt/ros/indigo/lib/moveit_ros_move_group/move_group --debug __name:=move_group __log:=/home/edison/.ros/log/8b397c3a-50de-11e5-b896-fcc2de337ed5/move_group-5.log].
According to the MoveItErrorCodes documentation, -11 corresponds to START_STATE_VIOLATES_PATH_CONSTRAINTS, but I don't know why I would get that error on the edison, but not on my desktop. The only difference is that I compiled ros from source for the edison. I know the edison doesn't officially support moveit yet, but does anyone know if there is a specific reason why moveit can't work on it besides overall slow speed? Any ideas what specifically triggers that error? I dug into the logs and there wasn't any additional information. Turning on the debug flag in the launch file triggers another error:
gdb -x /home/edison/uproot/catkin_ws/src/up1_moveit_config/launch/gdb_settings.gdb --ex run --args /opt/ros/indigo/lib/moveit_ros_move_group/move_group --debug __name:=move_group __log:=/home/edison/.ros/log/3fee3b24-50e0-11e5-a834-fcc2de337ed5/move_group-5.log
Please make sure that all the executables in this command exist and have
executable permission. This is often caused by a bad launch-prefix.
Any help would be greatly appreciated.
Thanks!
-Nate
*** edit ***
Turns out gdb wasn't installed on the edison by default. Launching demo.launch with debugging enabled causes a seg fault, here is the backtrace:
#0 0xb69f41d1 in free () from /lib/i386-linux-gnu/libc.so.6
#1 0xb7a11c35 in std::_Rb_tree>, std::_Select1st>>, std::less, Eigen::aligned_allocator>>>::_M_erase(std::_Rb_tree_node>>*) () from /opt/ros/indigo/lib/libmoveit_robot_model.so
#2 0xb7a351cc in moveit::core::RobotModel::buildJointInfo() () from /opt/ros/indigo/lib/libmoveit_robot_model.so
#3 0xb7a35a5c in moveit::core::RobotModel::buildModel(urdf::ModelInterface const&, srdf::Model const&) () from /opt/ros/indigo/lib/libmoveit_robot_model.so
#4 0xb7a36028 in moveit::core::RobotModel::RobotModel(boost::shared_ptr const&, boost::shared_ptr const&) ()
from /opt/ros/indigo/lib/libmoveit_robot_model.so
#5 0xb7f582e8 in robot_model_loader::RobotModelLoader::configure(robot_model_loader::RobotModelLoader::Options const&) () from /opt/ros/indigo/lib/libmoveit_robot_model_loader.so
#6 0xb7f59347 in robot_model_loader::RobotModelLoader::RobotModelLoader(std::string const&, bool) () from /opt/ros/indigo/lib/libmoveit_robot_model_loader.so
#7 0xb7d06f68 in planning_scene_monitor::PlanningSceneMonitor::PlanningSceneMonitor(std::string const&, boost::shared_ptr const&, std::string const&) ()
from /opt/ros/indigo/lib/libmoveit_planning_scene_monitor.so
#8 0x0805b31b in main ()
It looks like our problem is with the Eigen::Transform function. Now I see at the top of the moveit instructions that there is an incompatability with Eigen on 32 bit Ubuntu (the intel edison is 32 bit):
http://moveit.ros.org/install/
Also dug up a similar github issue, and there is a comment that moveit no longer officially supports 32 bit archetectures:
https://github.com/ros-planning/moveit_setup_assistant/issues/40
Does anyone know the full extent of that incompatibility?
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