Hi everyone,
I am currently trying to run ROS kinetic with Moveit! on my Raspberry Pi 3 board.
I successfully installed Ubuntu Mate 16.04 (https://ubuntu-mate.org/raspberry-pi/), ROS kinetic (http://wiki.ros.org/kinetic/Installation/Ubuntu) and Moveit! packages on the Raspberry.
I also successfully built all the packages for my custom robot with catkin. And I can launch my nodes, set robot_description param, etc... The problems comes when I launch move_group (with move_group.launch from my moveit config folder)
Note that everything is working fine on my Ubuntu 16.04 desktop installation, I created and tested all my packages. Here is what is happening on my laptop, while running "roslaunch my_robot_package_moveit_config move_group.launch" :
...
...
[ INFO] [1482395047.420033154]: Loading robot model 'my_robot'...
[ INFO] [1482395047.511544563]: Publishing maintained planning scene on 'monitored_planning_scene'
[New Thread 0x7fffcbdf8700 (LWP 5206)]
...
...
However, on the Raspberry Pi 3 with Ubuntu Mate, with the **exact same installation, config and files** :
NODES
/
move_group (moveit_ros_move_group/move_group)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[move_group-1]: started with pid [17610]
[ INFO] [1482398385.724625628]: Loading robot model 'my_robot'...
[ INFO] [1482398386.383339632]: Loading robot model 'my_robot'...
[move_group-1] process has died [pid 17610, exit code -11, cmd /opt/ros/kinetic/lib/moveit_ros_move_group/move_group __name:=move_group __log:=/home/niryo/.ros/log/d73c13fc-c826-11e6-b1b9-b827eb50f10b/move_group-1.log].
log file: /home/my_robot/.ros/log/d73c13fc-c826-11e6-b1b9-b827eb50f10b/move_group-1*.log
I also launched move_group.launch with debug:=true :
...
...
[ INFO] [1482398405.376777619]: Loading robot model 'my_robot'...
Thread 1 "move_group" received signal SIGSEGV, Segmentation fault.
0x76f73f96 in std::_Rb_tree_iterator, std::allocator> const, double>> std::_Rb_tree, std::allocator>, std::pair, std::allocator> const, double>, std::_Select1st, std::allocator> const, double>>, std::less, std::allocator>>, std::allocator, std::allocator> const, double>>>::_M_emplace_hint_unique, std::allocator> const&>, std::tuple<>>(std::_Rb_tree_const_iterator, std::allocator> const, double>>, std::piecewise_construct_t const&, std::tuple, std::allocator> const&>&&, std::tuple<>&&) ()
from /opt/ros/kinetic/lib/libmoveit_planning_scene_monitor.so.0.9.3
...
...
I also tried with Ubuntu ARM (https://wiki.ubuntu.com/ARM/RaspberryPi) and I got the same error.
Does anyone know how to fix that ? Is it a Raspberry Pi relative problem ? Or Ubuntu version problem ? Or a Moveit! problem ?
Thanks
↧