Description

I have been working on a problem where I need orientation constraints to be held when transporting an object and have been observing segmentation faults in MoveIt. In my setup I'm also trying to build databases to speed up planning but when I enable multi_query_planning_enabled motion planning crashes.

Your environment

• ROS Distro: [Humble & Rolling]
• OS Version: e.g. Ubuntu 22.04
• Source build
• Cyclone DDS

Steps to reproduce

I have made a working docker container with instructions that includes some details on where I have been seeing the faults. In this container I have modified ompl_constrained_planning_tutorial to include some collision objects around the robot and to attempt to find motion plans forever because the fault happens on the second or third attempt. I'm asking for multiple plans because in my actual application I'm using MTC and this happens when my constraint stage has a parent with multiple solutions.

Expected behaviour

I should be able to run the modified tutorial example without MoveIt crashing.

Actual behaviour

Program crashes with a segfault.

Backtrace or Console output

segfault backtrace after failed motion plan
segfault backtrace after successful motion plan