move_group segfaults after multiple planning requests #10
Description
I have a simple URDF for a robotic arm for which I generate a MoveIt setup.
Then I run the demo using
roslaunch [generated package] demo.launch debug:=true
From there, if I run several times [usually less than 20] "Plan & Execute" to a random valid state, I end up seeing the move_group process segfault.
Thanks to the debug:=true argument, I am able to see some details (on Kinetic):
[ INFO] [1470066134.494887876]: LBKPIECE1: Created 17 (8 start + 9 goal) states in 13 cells (7 start (7 on boundary) + 6 goal (6 on boundary))
[ INFO] [1470066134.496745447]: LBKPIECE1: Created 45 (19 start + 26 goal) states in 35 cells (18 start (18 on boundary) + 17 goal (17 on boundary))
[ INFO] [1470066134.498151876]: LBKPIECE1: Created 85 (39 start + 46 goal) states in 72 cells (37 start (37 on boundary) + 35 goal (35 on boundary))
[Thread 0x7fffb5d62700 (LWP 13802) exited]
[Thread 0x7fffb5561700 (LWP 13801) exited]
[Thread 0x7fffb4d60700 (LWP 13800) exited]
Thread 41 "move_group" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7fffa7fff700 (LWP 13799)]
0x00007fffc95a99ad in ompl::Grid<ompl::geometric::Discretization<ompl::geometric::LBKPIECE1::Motion>::CellData*>::neighbors(std::vector<int, std::allocator<int> >&, std::vector<ompl::Grid<ompl::geometric::Discretization<ompl::geometric::LBKPIECE1::Motion>::CellData*>::Cell*, std::allocator<ompl::Grid<ompl::geometric::Discretization<ompl::geometric::LBKPIECE1::Motion>::CellData*>::Cell*> >&) const () from /opt/ros/kinetic/lib/x86_64-linux-gnu/libompl.so.12
(gdb)
I could reproduce this crash on both Kinetic (built from sources) but also Indigo (using Docker).
I'm open to suggestions on how to investigate this further. I'll try to record the requests, and see if the move_group crash is always reproducible with a particular request. I also need to run with debug on on Indigo to compare the error messages.
Also, perhaps this isn't the best repo for this issue: I'll recreate it where appropriate once the root cause is identified.