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openrave checkout 334 crashes when invoking testlasersensor script

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openrave checkout 334 crashes when invoking testlasersensor script

Paul E. Rybski
Hi,
        I'm running Ubuntu 8.04 64-bit.  Openrave (subversion checkout 334)
crashes when I try to invoke the testlasersensor octave script.

Here's the backtrace when I try to run the binary in gdb and then invoke
the script from within octave:

prybski@ubuntu:~/soft-dist/openrave/bin$ gdb openrave
GNU gdb 6.8-debian
Copyright (C) 2008 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later
<http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law.  Type "show copying"
and "show warranty" for details.
This GDB was configured as "x86_64-linux-gnu"...
(gdb) run
Starting program: /home/prybski/soft-dist/openrave/bin/openrave
[Thread debugging using libthread_db enabled]
[server.cpp:2110] logging network to serverlog.txt
[New Thread 0x7f89907ee7c0 (LWP 18951)]
[New Thread 0x41219950 (LWP 18954)]
warning: Lowest section in /usr/lib/libicudata.so.38 is .hash at
0000000000000120
[New Thread 0x42269950 (LWP 18955)]
[New Thread 0x42a6a950 (LWP 18956)]
QLayout: Attempting to add QLayout "" to QtCoinViewer "", which already
has a layout
X Error: BadWindow (invalid Window parameter) 3
  Major opcode: 20 (X_GetProperty)
  Resource id:  0x1241573
[New Thread 0x4326b950 (LWP 18959)]
[environment.cpp:432] resetting raveviewer

Program received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x41219950 (LWP 18954)]
0x00007f8996918bcb in gim_trimesh_update_aabbset ()
   from /usr/lib/libode.so.0debian1
(gdb) bt
#0  0x00007f8996918bcb in gim_trimesh_update_aabbset ()
   from /usr/lib/libode.so.0debian1
#1  0x00007f8996919028 in gim_trimesh_update ()
   from /usr/lib/libode.so.0debian1
#2  0x00007f899690970c in dxTriMesh::computeAABB ()
   from /usr/lib/libode.so.0debian1
#3  0x00007f89968fafa0 in dxGeomTransform::computeAABB ()
   from /usr/lib/libode.so.0debian1
#4  0x00007f89968dfb44 in dxHashSpace::cleanGeoms ()
   from /usr/lib/libode.so.0debian1
#5  0x00007f89968dfb6f in dxHashSpace::cleanGeoms ()
   from /usr/lib/libode.so.0debian1
#6  0x00007f89968dfa86 in dxHashSpace::collide2 ()
   from /usr/lib/libode.so.0debian1
#7  0x000000000048295b in CollisionCheckerODE::CheckCollision
(this=0x6d8390,
    ray=<value optimized out>, pReport=0x41218d20) at odephysics.cpp:761
#8  0x0000000000463111 in Environment::CheckCollision (
    this=<value optimized out>, ray=@0x1236228, pReport=0x24012173a8)
    at environment.cpp:808
#9  0x00007f8990105110 in BaseLaser2DSensor::SimulationStep ()
   from plugins/basesensors.so.0.1
#10 0x00007f8990329f49 in OpenRAVE::RobotBase::SimulationStep
(this=0x979a50,
    fElapsedTime=0.00200000009) at ../Robot.cpp:1322
#11 0x00007f898e08dd23 in GenericRobot::SimulationStep ()
   from plugins/baserobots.so.0.1
#12 0x00000000004643a2 in Environment::StepSimulation (this=0x6d8800,
    timeStep=0.00200000009) at environment.cpp:1158
#13 0x0000000000468192 in Environment::_main (this=0x6d8800)
    at environment.cpp:1192
#14 0x00007f899a3733f7 in start_thread () from /lib/libpthread.so.0
#15 0x00007f8995b8db2d in clone () from /lib/libc.so.6
#16 0x0000000000000000 in ?? ()


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Re: openrave checkout 334 crashes when invoking testlasersensor script

Rosen Diankov-2
Hi Paul,

It looks like you have setup ODE with the gimpact trimesh collider.
Gimpact is buggy, so you should switch to the default one (opcode). I
would download the newest ode (0.10.1) and configure with

./configure --disable-asserts

(you might have to add --enable-shared for x86-64 OSes)

rosen,


2008/8/18 Paul E. Rybski <[hidden email]>:

> Hi,
>        I'm running Ubuntu 8.04 64-bit.  Openrave (subversion checkout 334)
> crashes when I try to invoke the testlasersensor octave script.
>
> Here's the backtrace when I try to run the binary in gdb and then invoke
> the script from within octave:
>
> prybski@ubuntu:~/soft-dist/openrave/bin$ gdb openrave
> GNU gdb 6.8-debian
> Copyright (C) 2008 Free Software Foundation, Inc.
> License GPLv3+: GNU GPL version 3 or later
> <http://gnu.org/licenses/gpl.html>
> This is free software: you are free to change and redistribute it.
> There is NO WARRANTY, to the extent permitted by law.  Type "show copying"
> and "show warranty" for details.
> This GDB was configured as "x86_64-linux-gnu"...
> (gdb) run
> Starting program: /home/prybski/soft-dist/openrave/bin/openrave
> [Thread debugging using libthread_db enabled]
> [server.cpp:2110] logging network to serverlog.txt
> [New Thread 0x7f89907ee7c0 (LWP 18951)]
> [New Thread 0x41219950 (LWP 18954)]
> warning: Lowest section in /usr/lib/libicudata.so.38 is .hash at
> 0000000000000120
> [New Thread 0x42269950 (LWP 18955)]
> [New Thread 0x42a6a950 (LWP 18956)]
> QLayout: Attempting to add QLayout "" to QtCoinViewer "", which already
> has a layout
> X Error: BadWindow (invalid Window parameter) 3
>  Major opcode: 20 (X_GetProperty)
>  Resource id:  0x1241573
> [New Thread 0x4326b950 (LWP 18959)]
> [environment.cpp:432] resetting raveviewer
>
> Program received signal SIGSEGV, Segmentation fault.
> [Switching to Thread 0x41219950 (LWP 18954)]
> 0x00007f8996918bcb in gim_trimesh_update_aabbset ()
>   from /usr/lib/libode.so.0debian1
> (gdb) bt
> #0  0x00007f8996918bcb in gim_trimesh_update_aabbset ()
>   from /usr/lib/libode.so.0debian1
> #1  0x00007f8996919028 in gim_trimesh_update ()
>   from /usr/lib/libode.so.0debian1
> #2  0x00007f899690970c in dxTriMesh::computeAABB ()
>   from /usr/lib/libode.so.0debian1
> #3  0x00007f89968fafa0 in dxGeomTransform::computeAABB ()
>   from /usr/lib/libode.so.0debian1
> #4  0x00007f89968dfb44 in dxHashSpace::cleanGeoms ()
>   from /usr/lib/libode.so.0debian1
> #5  0x00007f89968dfb6f in dxHashSpace::cleanGeoms ()
>   from /usr/lib/libode.so.0debian1
> #6  0x00007f89968dfa86 in dxHashSpace::collide2 ()
>   from /usr/lib/libode.so.0debian1
> #7  0x000000000048295b in CollisionCheckerODE::CheckCollision
> (this=0x6d8390,
>    ray=<value optimized out>, pReport=0x41218d20) at odephysics.cpp:761
> #8  0x0000000000463111 in Environment::CheckCollision (
>    this=<value optimized out>, ray=@0x1236228, pReport=0x24012173a8)
>    at environment.cpp:808
> #9  0x00007f8990105110 in BaseLaser2DSensor::SimulationStep ()
>   from plugins/basesensors.so.0.1
> #10 0x00007f8990329f49 in OpenRAVE::RobotBase::SimulationStep
> (this=0x979a50,
>    fElapsedTime=0.00200000009) at ../Robot.cpp:1322
> #11 0x00007f898e08dd23 in GenericRobot::SimulationStep ()
>   from plugins/baserobots.so.0.1
> #12 0x00000000004643a2 in Environment::StepSimulation (this=0x6d8800,
>    timeStep=0.00200000009) at environment.cpp:1158
> #13 0x0000000000468192 in Environment::_main (this=0x6d8800)
>    at environment.cpp:1192
> #14 0x00007f899a3733f7 in start_thread () from /lib/libpthread.so.0
> #15 0x00007f8995b8db2d in clone () from /lib/libc.so.6
> #16 0x0000000000000000 in ?? ()
>
> -------------------------------------------------------------------------
> This SF.Net email is sponsored by the Moblin Your Move Developer's challenge
> Build the coolest Linux based applications with Moblin SDK & win great prizes
> Grand prize is a trip for two to an Open Source event anywhere in the world
> http://moblin-contest.org/redirect.php?banner_id=100&url=/
> _______________________________________________
> Openrave-users mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/openrave-users
>


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Re: openrave checkout 334 crashes when invoking testlasersensor script

Paul E. Rybski
I was using 1.0.9 which was part of the Ubuntu package distribution.
That's been removed and I just downloaded/configured 0.10.1.  Here's the
output of the configure script:

Configuration:
  Build  system type:      x86_64-unknown-linux-gnu
  Host   system type:      x86_64-unknown-linux-gnu
  Use double precision:    no
  Use drawstuff:           X11
  Demos enabled:           yes
  Use OPCODE:              yes
  Use GIMPACT:             no
  Use gyroscopic term:     yes
  Is target a Pentium:     yes
  Is target x86-64:        yes
  Use new opcode trimesh collider: no
  TLS for global data:     no
  Enable debug error check: no
  Headers will be installed in ${prefix}/include/ode
  Libraries will be installed in ${exec_prefix}/lib
  Building in directory    /home/prybski/soft-dist/ode-0.10.1

I've just rebuilt and it works perfectly.

Thank you, Rosen!

-Paul

Rosen Diankov wrote:

> Hi Paul,
>
> It looks like you have setup ODE with the gimpact trimesh collider.
> Gimpact is buggy, so you should switch to the default one (opcode). I
> would download the newest ode (0.10.1) and configure with
>
> ./configure --disable-asserts
>
> (you might have to add --enable-shared for x86-64 OSes)
>
> rosen,
>
>
> 2008/8/18 Paul E. Rybski <[hidden email]>:
>> Hi,
>>        I'm running Ubuntu 8.04 64-bit.  Openrave (subversion checkout 334)
>> crashes when I try to invoke the testlasersensor octave script.
>>
>> Here's the backtrace when I try to run the binary in gdb and then invoke
>> the script from within octave:
>>
>> prybski@ubuntu:~/soft-dist/openrave/bin$ gdb openrave
>> GNU gdb 6.8-debian
>> Copyright (C) 2008 Free Software Foundation, Inc.
>> License GPLv3+: GNU GPL version 3 or later
>> <http://gnu.org/licenses/gpl.html>
>> This is free software: you are free to change and redistribute it.
>> There is NO WARRANTY, to the extent permitted by law.  Type "show copying"
>> and "show warranty" for details.
>> This GDB was configured as "x86_64-linux-gnu"...
>> (gdb) run
>> Starting program: /home/prybski/soft-dist/openrave/bin/openrave
>> [Thread debugging using libthread_db enabled]
>> [server.cpp:2110] logging network to serverlog.txt
>> [New Thread 0x7f89907ee7c0 (LWP 18951)]
>> [New Thread 0x41219950 (LWP 18954)]
>> warning: Lowest section in /usr/lib/libicudata.so.38 is .hash at
>> 0000000000000120
>> [New Thread 0x42269950 (LWP 18955)]
>> [New Thread 0x42a6a950 (LWP 18956)]
>> QLayout: Attempting to add QLayout "" to QtCoinViewer "", which already
>> has a layout
>> X Error: BadWindow (invalid Window parameter) 3
>>  Major opcode: 20 (X_GetProperty)
>>  Resource id:  0x1241573
>> [New Thread 0x4326b950 (LWP 18959)]
>> [environment.cpp:432] resetting raveviewer
>>
>> Program received signal SIGSEGV, Segmentation fault.
>> [Switching to Thread 0x41219950 (LWP 18954)]
>> 0x00007f8996918bcb in gim_trimesh_update_aabbset ()
>>   from /usr/lib/libode.so.0debian1
>> (gdb) bt
>> #0  0x00007f8996918bcb in gim_trimesh_update_aabbset ()
>>   from /usr/lib/libode.so.0debian1
>> #1  0x00007f8996919028 in gim_trimesh_update ()
>>   from /usr/lib/libode.so.0debian1
>> #2  0x00007f899690970c in dxTriMesh::computeAABB ()
>>   from /usr/lib/libode.so.0debian1
>> #3  0x00007f89968fafa0 in dxGeomTransform::computeAABB ()
>>   from /usr/lib/libode.so.0debian1
>> #4  0x00007f89968dfb44 in dxHashSpace::cleanGeoms ()
>>   from /usr/lib/libode.so.0debian1
>> #5  0x00007f89968dfb6f in dxHashSpace::cleanGeoms ()
>>   from /usr/lib/libode.so.0debian1
>> #6  0x00007f89968dfa86 in dxHashSpace::collide2 ()
>>   from /usr/lib/libode.so.0debian1
>> #7  0x000000000048295b in CollisionCheckerODE::CheckCollision
>> (this=0x6d8390,
>>    ray=<value optimized out>, pReport=0x41218d20) at odephysics.cpp:761
>> #8  0x0000000000463111 in Environment::CheckCollision (
>>    this=<value optimized out>, ray=@0x1236228, pReport=0x24012173a8)
>>    at environment.cpp:808
>> #9  0x00007f8990105110 in BaseLaser2DSensor::SimulationStep ()
>>   from plugins/basesensors.so.0.1
>> #10 0x00007f8990329f49 in OpenRAVE::RobotBase::SimulationStep
>> (this=0x979a50,
>>    fElapsedTime=0.00200000009) at ../Robot.cpp:1322
>> #11 0x00007f898e08dd23 in GenericRobot::SimulationStep ()
>>   from plugins/baserobots.so.0.1
>> #12 0x00000000004643a2 in Environment::StepSimulation (this=0x6d8800,
>>    timeStep=0.00200000009) at environment.cpp:1158
>> #13 0x0000000000468192 in Environment::_main (this=0x6d8800)
>>    at environment.cpp:1192
>> #14 0x00007f899a3733f7 in start_thread () from /lib/libpthread.so.0
>> #15 0x00007f8995b8db2d in clone () from /lib/libc.so.6
>> #16 0x0000000000000000 in ?? ()
>>
>> -------------------------------------------------------------------------
>> This SF.Net email is sponsored by the Moblin Your Move Developer's challenge
>> Build the coolest Linux based applications with Moblin SDK & win great prizes
>> Grand prize is a trip for two to an Open Source event anywhere in the world
>> http://moblin-contest.org/redirect.php?banner_id=100&url=/
>> _______________________________________________
>> Openrave-users mailing list
>> [hidden email]
>> https://lists.sourceforge.net/lists/listinfo/openrave-users
>>
>

--
Paul E. Rybski, Ph.D., Systems Scientist
The Robotics Institute, Carnegie Mellon University
Phone: 412-268-7417, Fax: 412-268-7350
Web: http://www.cs.cmu.edu/~prybski


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