Fix seg fault with attached objects during motion execution (backport #3466)#3470
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Fix seg fault with attached objects during motion execution (backport #3466)#3470
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(cherry picked from commit c81ac91)
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## jazzy #3470 +/- ##
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- Coverage 46.18% 45.80% -0.38%
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bmagyar
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MarqRazz
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May 13, 2025
Eldgar
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May 24, 2025
…moveit#3284) (moveit#3320) * Revert "Fix RobotState::getRigidlyConnectedParentLinkModel() (moveit#2985)" This reverts commit 1f23344. * Merge PR moveit#3388: Generalize RobotState::setFromIK() So far, setFromIK only accepted target (link) frames that were rigidly connected to a solver's tip frame. This, for example, excluded the fingertip of an actuated gripper, because that would be separated by an active joint from the arm's tooltip. However, as long as this joint is not part of the JMG, the corresponding transform can be considered as fixed as well. This PR generalizes the functions getRigidlyConnectedParentLinkModel() in RobotState and RobotModel to receive an optional JMG pointer. If present, only (active) joints from that group are considered non-fixed. This PR also enables subframe support for setFromIK - simply by using getRigidlyConnectedParentLinkModel(), which already supported that. There is one drawback of this approach: A repeated application of setFromIK with the same target frame and JMG (as in computeCartesianPath()), will repeat the search for the common fixed parent link. Additionally, the passed RobotState needs to be up-to-date. We could mitigate this by pulling the corresponding code into a separate function and calling it once in computeCartesianPath(). * Merge PR moveit#3470: Avoid global transforms in getRigidlyConnectedParentLinkModel() Fixes moveit#3388 * Merge pull request moveit#3539 from v4hn/find-links-with-slashes-again find links with slashes again * Ports to ROS2 and fixes problems introduced in merge conflicts. * Fixes formatting. * Makes robot_state_test.cpp include gmock. * Updates trajectory_msgs::JointTrajectory to trajectory_msgs::msg::JointTrajectory. * Adds braces to make clang-tidy happy. * Removes test-only arguments; adds more comments. * Fixes formatting. * Fixes formatting. * Adds missing class scope. --------- Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de> Co-authored-by: Michael Görner <me@v4hn.de> (cherry picked from commit 1794b8e) Co-authored-by: Mark Johnson <104826595+rr-mark@users.noreply.github.com>
medvedevigorek
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May 29, 2025
…(backport moveit#3284) (moveit#3319) * Reverts moveit#2985, Ports moveit moveit#3388 moveit#3470 moveit#3539 (moveit#3284) * Revert "Fix RobotState::getRigidlyConnectedParentLinkModel() (moveit#2985)" This reverts commit 1f23344. * Merge PR moveit#3388: Generalize RobotState::setFromIK() So far, setFromIK only accepted target (link) frames that were rigidly connected to a solver's tip frame. This, for example, excluded the fingertip of an actuated gripper, because that would be separated by an active joint from the arm's tooltip. However, as long as this joint is not part of the JMG, the corresponding transform can be considered as fixed as well. This PR generalizes the functions getRigidlyConnectedParentLinkModel() in RobotState and RobotModel to receive an optional JMG pointer. If present, only (active) joints from that group are considered non-fixed. This PR also enables subframe support for setFromIK - simply by using getRigidlyConnectedParentLinkModel(), which already supported that. There is one drawback of this approach: A repeated application of setFromIK with the same target frame and JMG (as in computeCartesianPath()), will repeat the search for the common fixed parent link. Additionally, the passed RobotState needs to be up-to-date. We could mitigate this by pulling the corresponding code into a separate function and calling it once in computeCartesianPath(). * Merge PR moveit#3470: Avoid global transforms in getRigidlyConnectedParentLinkModel() Fixes moveit#3388 * Merge pull request moveit#3539 from v4hn/find-links-with-slashes-again find links with slashes again * Ports to ROS2 and fixes problems introduced in merge conflicts. * Fixes formatting. * Makes robot_state_test.cpp include gmock. * Updates trajectory_msgs::JointTrajectory to trajectory_msgs::msg::JointTrajectory. * Adds braces to make clang-tidy happy. * Removes test-only arguments; adds more comments. * Fixes formatting. * Fixes formatting. * Adds missing class scope. --------- Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de> Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com> Co-authored-by: Michael Görner <me@v4hn.de> (cherry picked from commit 1794b8e) * Resolves merge conflicts. (moveit#3323) --------- Co-authored-by: Mark Johnson <104826595+rr-mark@users.noreply.github.com>
rhaschke
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Jun 6, 2025
…moveit#3284) * Revert "Fix RobotState::getRigidlyConnectedParentLinkModel() (moveit#2985)" This reverts commit 1f23344. * Merge PR moveit#3388: Generalize RobotState::setFromIK() So far, setFromIK only accepted target (link) frames that were rigidly connected to a solver's tip frame. This, for example, excluded the fingertip of an actuated gripper, because that would be separated by an active joint from the arm's tooltip. However, as long as this joint is not part of the JMG, the corresponding transform can be considered as fixed as well. This PR generalizes the functions getRigidlyConnectedParentLinkModel() in RobotState and RobotModel to receive an optional JMG pointer. If present, only (active) joints from that group are considered non-fixed. This PR also enables subframe support for setFromIK - simply by using getRigidlyConnectedParentLinkModel(), which already supported that. There is one drawback of this approach: A repeated application of setFromIK with the same target frame and JMG (as in computeCartesianPath()), will repeat the search for the common fixed parent link. Additionally, the passed RobotState needs to be up-to-date. We could mitigate this by pulling the corresponding code into a separate function and calling it once in computeCartesianPath(). * Merge PR moveit#3470: Avoid global transforms in getRigidlyConnectedParentLinkModel() Fixes moveit#3388 * Merge pull request moveit#3539 from v4hn/find-links-with-slashes-again find links with slashes again * Ports to ROS2 and fixes problems introduced in merge conflicts. * Fixes formatting. * Makes robot_state_test.cpp include gmock. * Updates trajectory_msgs::JointTrajectory to trajectory_msgs::msg::JointTrajectory. * Adds braces to make clang-tidy happy. * Removes test-only arguments; adds more comments. * Fixes formatting. * Fixes formatting. * Adds missing class scope. --------- Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de> Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com> Co-authored-by: Michael Görner <me@v4hn.de> Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
Markus-Simonsen
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Aug 12, 2025
…moveit#3284) * Revert "Fix RobotState::getRigidlyConnectedParentLinkModel() (moveit#2985)" This reverts commit 1f23344. * Merge PR moveit#3388: Generalize RobotState::setFromIK() So far, setFromIK only accepted target (link) frames that were rigidly connected to a solver's tip frame. This, for example, excluded the fingertip of an actuated gripper, because that would be separated by an active joint from the arm's tooltip. However, as long as this joint is not part of the JMG, the corresponding transform can be considered as fixed as well. This PR generalizes the functions getRigidlyConnectedParentLinkModel() in RobotState and RobotModel to receive an optional JMG pointer. If present, only (active) joints from that group are considered non-fixed. This PR also enables subframe support for setFromIK - simply by using getRigidlyConnectedParentLinkModel(), which already supported that. There is one drawback of this approach: A repeated application of setFromIK with the same target frame and JMG (as in computeCartesianPath()), will repeat the search for the common fixed parent link. Additionally, the passed RobotState needs to be up-to-date. We could mitigate this by pulling the corresponding code into a separate function and calling it once in computeCartesianPath(). * Merge PR moveit#3470: Avoid global transforms in getRigidlyConnectedParentLinkModel() Fixes moveit#3388 * Merge pull request moveit#3539 from v4hn/find-links-with-slashes-again find links with slashes again * Ports to ROS2 and fixes problems introduced in merge conflicts. * Fixes formatting. * Makes robot_state_test.cpp include gmock. * Updates trajectory_msgs::JointTrajectory to trajectory_msgs::msg::JointTrajectory. * Adds braces to make clang-tidy happy. * Removes test-only arguments; adds more comments. * Fixes formatting. * Fixes formatting. * Adds missing class scope. --------- Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de> Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com> Co-authored-by: Michael Görner <me@v4hn.de> Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
helen9975
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Feb 17, 2026
…moveit#3284) * Revert "Fix RobotState::getRigidlyConnectedParentLinkModel() (moveit#2985)" This reverts commit 1f23344. * Merge PR moveit#3388: Generalize RobotState::setFromIK() So far, setFromIK only accepted target (link) frames that were rigidly connected to a solver's tip frame. This, for example, excluded the fingertip of an actuated gripper, because that would be separated by an active joint from the arm's tooltip. However, as long as this joint is not part of the JMG, the corresponding transform can be considered as fixed as well. This PR generalizes the functions getRigidlyConnectedParentLinkModel() in RobotState and RobotModel to receive an optional JMG pointer. If present, only (active) joints from that group are considered non-fixed. This PR also enables subframe support for setFromIK - simply by using getRigidlyConnectedParentLinkModel(), which already supported that. There is one drawback of this approach: A repeated application of setFromIK with the same target frame and JMG (as in computeCartesianPath()), will repeat the search for the common fixed parent link. Additionally, the passed RobotState needs to be up-to-date. We could mitigate this by pulling the corresponding code into a separate function and calling it once in computeCartesianPath(). * Merge PR moveit#3470: Avoid global transforms in getRigidlyConnectedParentLinkModel() Fixes moveit#3388 * Merge pull request moveit#3539 from v4hn/find-links-with-slashes-again find links with slashes again * Ports to ROS2 and fixes problems introduced in merge conflicts. * Fixes formatting. * Makes robot_state_test.cpp include gmock. * Updates trajectory_msgs::JointTrajectory to trajectory_msgs::msg::JointTrajectory. * Adds braces to make clang-tidy happy. * Removes test-only arguments; adds more comments. * Fixes formatting. * Fixes formatting. * Adds missing class scope. --------- Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de> Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com> Co-authored-by: Michael Görner <me@v4hn.de> Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
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Description
#3327 introduced a bug where motion execution can segfault by attempting to indexing into arrays of zero length.
I assume this is because MTC sends execution requests where only the planing scene in modified, so trajectory lengths are zero. I also added some guards in robot_state to make sure we are not adding null objects to the
attached_bodieslist/map.This is an automatic backport of pull request #3466 done by [Mergify](https://mergify.com).