Description

Hello, I am working to set up gripper motion planning onto a 6-DOF robot arm. The motion planning and execution for the arm is functional. However attempting motion planning with the gripper results in a segmentation fault error and RViz to lock up (window can be moved but nothing is clickable). The URDF and configuration was done using the MoveIt2 Setup Assistant, with slight modifications to the OMPL_planning.yaml to include things like TimeOptimalParameterization.

The back trace is provided below.

Your environment

• ROS Distro: Humble
• OS Version: Ubuntu 22.04
• Source or Binary build? Source
• If source, which branch? Not sure how to check
• Which RMW (Fast DDS or Cyclone DDS)? Cyclone

Expected behaviour

The plan button is pressed and a simple motion plan is generated.

Actual behaviour

Plan button is pressed and a segmentation fault error immediately occurs, resulting is RViz locking up.

Backtrace or Console output

`[rviz2-4] [INFO] [1721068688.016296688] [move_group_interface]: Planning request accepted
[move_group-3] [INFO] [1721068688.017333480] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[move_group-3] [INFO] [1721068688.017493961] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'ompl'
[move_group-3] [INFO] [1721068691.156032173] [chomp_planner]: CHOMP trajectory initialized using method: quintic-spline
[move_group-3] [INFO] [1721068691.156132578] [chomp_optimizer]: Active collision detector is: HYBRID
[move_group-3] [INFO] [1721068691.295521299] [chomp_optimizer]: First coll check took 0.139371 sec
[move_group-3] Stack trace (most recent call last) in thread 12395:
[move_group-3] #23 Object "", at 0xffffffffffffffff, in
[move_group-3] #22 Source "../sysdeps/unix/sysv/linux/x86_64/clone3.S", line 81, in clone3 [0x7675bc92684f]
[move_group-3] #21 Source "./nptl/pthread_create.c", line 442, in start_thread [0x7675bc894ac2]
[move_group-3] #20 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7675bccdc252, in
[move_group-3] #19 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7675bd0f8349, in rclcpp::executors::MultiThreadedExecutor::run(unsigned long)
[move_group-3] #18 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7675bd0f111e, in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&)
[move_group-3] #17 Object "/opt/ros/humble/lib/librclcpp_action.so", at 0x7675bc42b246, in rclcpp_action::ServerBase::execute_goal_request_received(std::shared_ptr&)
[move_group-3] #16 Object "/home/graeme/ws_moveit2/install/moveit_ros_move_group/lib/libmoveit_move_group_default_capabilities.so.2.5.5", at 0x76759cfa7b08, in rclcpp_action::Server<moveit_msgs::action::MoveGroup>::call_goal_accepted_callback(std::shared_ptr<rcl_action_goal_handle_s>, std::array<unsigned char, 16ul>, std::shared_ptr)
[move_group-3] #15 Object "/home/graeme/ws_moveit2/install/moveit_ros_move_group/lib/libmoveit_move_group_default_capabilities.so.2.5.5", at 0x76759cf97404, in move_group::MoveGroupMoveAction::executeMoveCallback(std::shared_ptr<rclcpp_action::ServerGoalHandle<moveit_msgs::action::MoveGroup> > const&)
[move_group-3] #14 Object "/home/graeme/ws_moveit2/install/moveit_ros_move_group/lib/libmoveit_move_group_default_capabilities.so.2.5.5", at 0x76759cf93afb, in move_group::MoveGroupMoveAction::executeMoveCallbackPlanOnly(std::shared_ptr<rclcpp_action::ServerGoalHandle<moveit_msgs::action::MoveGroup> > const&, std::shared_ptr<moveit_msgs::action::MoveGroup_Result<std::allocator > >&)
[move_group-3] #13 Object "/home/graeme/ws_moveit2/install/moveit_ros_planning/lib/libmoveit_planning_pipeline.so.2.5.5", at 0x7675bcf681b2, in planning_pipeline::PlanningPipeline::generatePlan(std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest<std::allocator > const&, planning_interface::MotionPlanResponse&) const
[move_group-3] #12 Object "/home/graeme/ws_moveit2/install/moveit_ros_planning/lib/libmoveit_planning_pipeline.so.2.5.5", at 0x7675bcf66636, in planning_pipeline::PlanningPipeline::generatePlan(std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator >&) const
[move_group-3] #11 Object "/home/graeme/ws_moveit2/install/moveit_core/lib/libmoveit_planning_request_adapter.so.2.5.5", at 0x7675bc3e44e1, in planning_request_adapter::PlanningRequestAdapterChain::adaptAndPlan(std::shared_ptr<planning_interface::PlannerManager> const&, std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator >&) const
[move_group-3] #10 Object "/home/graeme/ws_moveit2/install/moveit_core/lib/libmoveit_planning_request_adapter.so.2.5.5", at 0x7675bc3e3939, in planning_request_adapter::(anonymous namespace)::callAdapter(planning_request_adapter::PlanningRequestAdapter const&, std::function<bool (std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&)> const&, std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator >&)
[move_group-3] #9 Object "/home/graeme/ws_moveit2/install/moveit_ros_planning/lib/libmoveit_default_planning_request_adapter_plugins.so.2.5.5", at 0x76759dafb238, in default_planner_request_adapters::ResolveConstraintFrames::adaptAndPlan(std::function<bool (std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&)> const&, std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator >&) const
[move_group-3] #8 Object "/home/graeme/ws_moveit2/install/moveit_core/lib/libmoveit_planning_request_adapter.so.2.5.5", at 0x7675bc3e3939, in planning_request_adapter::(anonymous namespace)::callAdapter(planning_request_adapter::PlanningRequestAdapter const&, std::function<bool (std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&)> const&, std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator >&)
[move_group-3] #7 Object "/home/graeme/ws_moveit2/install/moveit_ros_planning/lib/libmoveit_default_planning_request_adapter_plugins.so.2.5.5", at 0x76759daf8b98, in default_planner_request_adapters::AddRuckigTrajectorySmoothing::adaptAndPlan(std::function<bool (std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&)> const&, std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator >&) const
[move_group-3] #6 Object "/home/graeme/ws_moveit2/install/moveit_core/lib/libmoveit_planning_request_adapter.so.2.5.5", at 0x7675bc3e3939, in planning_request_adapter::(anonymous namespace)::callAdapter(planning_request_adapter::PlanningRequestAdapter const&, std::function<bool (std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&)> const&, std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator >&)
[move_group-3] #5 Object "/home/graeme/ws_moveit2/install/moveit_ros_planning/lib/libmoveit_default_planning_request_adapter_plugins.so.2.5.5", at 0x76759dafa24d, in default_planner_request_adapters::AddTimeOptimalParameterization::adaptAndPlan(std::function<bool (std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&)> const&, std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator >&) const
[move_group-3] #4 Object "/home/graeme/ws_moveit2/install/moveit_core/lib/libmoveit_planning_request_adapter.so.2.5.5", at 0x7675bc3e3fae, in std::Function_handler<bool (std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest<std::allocator > const&, planning_interface::MotionPlanResponse&), planning_request_adapter::PlanningRequestAdapterChain::adaptAndPlan(std::shared_ptr<planning_interface::PlannerManager> const&, std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator >&) const::{lambda(std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&)#1}>::M_invoke(std::Any_data const&, std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest<std::allocator > const&, planning_interface::MotionPlanResponse&)
[move_group-3] #3 Object "/home/graeme/ws_moveit2/install/moveit_planners_chomp/lib/libmoveit_chomp_interface.so.2.5.5", at 0x7675b4054c02, in chomp_interface::CHOMPPlanningContext::solve(planning_interface::MotionPlanResponse&)
[move_group-3] #2 Object "/home/graeme/ws_moveit2/install/chomp_motion_planner/lib/libchomp_motion_planner.so.2.5.5", at 0x76759dbbeced, in chomp::ChompPlanner::solve(std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest<std::allocator > const&, chomp::ChompParameters const&, planning_interface::MotionPlanDetailedResponse&) const
[move_group-3] #1 Object "/home/graeme/ws_moveit2/install/chomp_motion_planner/lib/libchomp_motion_planner.so.2.5.5", at 0x76759dbab8ad, in chomp::ChompOptimizer::ChompOptimizer(chomp::ChompTrajectory*, std::shared_ptr<planning_scene::PlanningScene const> const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, chomp::ChompParameters const*, moveit::core::RobotState const&)
[move_group-3] #0 Object "/home/graeme/ws_moveit2/install/chomp_motion_planner/lib/libchomp_motion_planner.so.2.5.5", at 0x76759dbaa094, in chomp::ChompOptimizer::initialize()
[move_group-3] Segmentation fault (Address not mapped to object [0x28])
[ERROR] [move_group-3]: process has died [pid 12214, exit code -11, cmd '/home/graeme/ws_moveit2/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_tgxu72eh --params-file /tmp/launch_params_gj6cqp77'].