openrave exception when destroying environment

classic Classic list List threaded Threaded
2 messages Options
Reply | Threaded
Open this post in threaded view
|

openrave exception when destroying environment

Okal Billy
Dear All,

I keep getting openrave exception when running my examples in python. It shows up when I call the env.Destroy() at the end of my scripts, i.e

...
[basemanipulation.h:453] Starting MoveManipulator...
[basemanipulation.h:531] starting planning
jadala@nyumbani-labs:~/WorkSpace/Projects/prob-planning$ python Examples/sbl_planning.py
[openravepy_int.cpp:2688] viewer qtcoin successfully attached
[KinBody.cpp:2252] Successfully computed joint hierarchy for number of joints 11!
[basemanipulation.h:109] BaseManipulation: using sblplanner planner
[basemanipulation.h:453] Starting MoveManipulator...
[basemanipulation.h:531] starting planning
[bprms.h:520] SBL::Initializing...
[bprms.h:80] PRMPlanner::InitPlan - PRM Planner Initialized
[bprms.h:594] SBLPlanner::InitPlan - SBL Planner Initialized
[bprms.h:618] SBLPlanner::RoadMap built
[bprms.h:628] SBLPlanner::Connecting Trees...
[bprms.h:663] SBLPlanner::Checking goal index
[bprms.h:669] SBLPlanner::Setting up Trajectory
[bprms.h:680] plan success, path=260 points in 1.086000s[bprms.h:520] SBL::Initializing...
[bprms.h:80] PRMPlanner::InitPlan - PRM Planner Initialized
[bprms.h:594] SBLPlanner::InitPlan - SBL Planner Initialized
[bprms.h:618] SBLPlanner::RoadMap built
[bprms.h:628] SBLPlanner::Connecting Trees...
[bprms.h:663] SBLPlanner::Checking goal index
[bprms.h:669] SBLPlanner::Setting up Trajectory
[bprms.h:680] plan success, path=600 points in 4.622000s
[basemanipulation.h:541] finished planning
[environment.h:180] Environment destructor
[environment.h:188] resetting raveviewer
[environment.h:215] destroy problems
terminate called after throwing an instance of 'OpenRAVE::openrave_exception'
  what():  OpenRAVE: [/usr/include/boost/thread/pthread/recursive_mutex.hpp:67] -> void boost::recursive_mutex::lock(), expr: !pthread_mutex_lock(&m)
Aborted
jadala@nyumbani-labs:~/WorkSpace/Projects/prob-planning$
[basemanipulation.h:541] finished planning
[basemanipulation.h:453] Starting MoveManipulator...
[basemanipulation.h:531] starting planning
[bprms.h:520] SBL::Initializing...
[bprms.h:80] PRMPlanner::InitPlan - PRM Planner Initialized
[bprms.h:594] SBLPlanner::InitPlan - SBL Planner Initialized
[bprms.h:618] SBLPlanner::RoadMap built
[bprms.h:628] SBLPlanner::Connecting Trees...
[bprms.h:663] SBLPlanner::Checking goal index
[bprms.h:669] SBLPlanner::Setting up Trajectory
[bprms.h:680] plan success, path=533 points in 4.603000s
[basemanipulation.h:541] finished planning
[basemanipulation.h:453] Starting MoveManipulator...
[basemanipulation.h:531] starting planning
[bprms.h:520] SBL::Initializing...
[bprms.h:80] PRMPlanner::InitPlan - PRM Planner Initialized
[bprms.h:594] SBLPlanner::InitPlan - SBL Planner Initialized
[bprms.h:618] SBLPlanner::RoadMap built
[bprms.h:628] SBLPlanner::Connecting Trees...
[bprms.h:663] SBLPlanner::Checking goal index
[bprms.h:669] SBLPlanner::Setting up Trajectory
[bprms.h:680] plan success, path=267 points in 1.196000s
[basemanipulation.h:541] finished planning
[basemanipulation.h:453] Starting MoveManipulator...
[basemanipulation.h:531] starting planning
[bprms.h:520] SBL::Initializing...
[bprms.h:80] PRMPlanner::InitPlan - PRM Planner Initialized
[bprms.h:594] SBLPlanner::InitPlan - SBL Planner Initialized
[bprms.h:618] SBLPlanner::RoadMap built
[bprms.h:628] SBLPlanner::Connecting Trees...
[bprms.h:663] SBLPlanner::Checking goal index
[bprms.h:669] SBLPlanner::Setting up Trajectory
[bprms.h:680] plan success, path=600 points in 5.830000s
[basemanipulation.h:541] finished planning
[environment.h:180] Environment destructor
[environment.h:188] resetting raveviewer
[environment.h:215] destroy problems
terminate called after throwing an instance of 'OpenRAVE::openrave_exception'
  what():  OpenRAVE: [/usr/include/boost/thread/pthread/recursive_mutex.hpp:67] -> void boost::recursive_mutex::lock(), expr: !pthread_mutex_lock(&m)
Aborted
jadala@nyumbani-labs:~/WorkSpace/Projects/prob-planning$

I have scripts of the following nature;

from openravepy import *
import time

env = Environment()
env.SetDebugLevel(DebugLevel.Debug)
env.SetViewer('qtcoin')
env.Load('data/lab1.env.xml')
robot = env.GetRobots()[0]
maniprob = interfaces.BaseManipulation(robot, 'sblplanner')
res = maniprob.MoveManipulator(goal=[-0.75, 1.24, -0.064, 2.33, -1.16, -1.548, 1.19])
robot.WaitForController(0)
time.sleep(2)
res = maniprob.MoveManipulator(goal=[1, 1, 1, 1, 1, 1, 1])
robot.WaitForController(0)
time.sleep(2)
res = maniprob.MoveManipulator(goal=[2.75, 1.24, -0.064, 1.33, -5.16, -1.548, 7.19])
robot.WaitForController(0)
res = maniprob.MoveManipulator(goal=[-0.75, 1.24, -0.064, 2.33, -1.16, -1.548, 1.19])
robot.WaitForController(0)
time.sleep(5)
env.Destroy()

Is this just a problem with my installation of openrave, as I get the same thing when I set the planner to birrt.

Best,

--
Best Regards,

Billy Okal

sure vi is user friendly, its just particular about who to be friends with

------------------------------------------------------------------------------
ThinkGeek and WIRED's GeekDad team up for the Ultimate
GeekDad Father's Day Giveaway. ONE MASSIVE PRIZE to the
lucky parental unit.  See the prize list and enter to win:
http://p.sf.net/sfu/thinkgeek-promo
_______________________________________________
Openrave-users mailing list
[hidden email]
https://lists.sourceforge.net/lists/listinfo/openrave-users
Reply | Threaded
Open this post in threaded view
|

Re: openrave exception when destroying environment

Rosen Diankov
Administrator
hi billy,
This is a known problem, but a solution hasn't been found yet.
Fortunately, it only occurs at program shutdown, so it shouldn't get
in the way of your usage.
rosen,

2010/6/14 Billy Okal <[hidden email]>:

> Dear All,
>
> I keep getting openrave exception when running my examples in python. It
> shows up when I call the env.Destroy() at the end of my scripts, i.e
>
> ...
> [basemanipulation.h:453] Starting MoveManipulator...
> [basemanipulation.h:531] starting planning
> jadala@nyumbani-labs:~/WorkSpace/Projects/prob-planning$ python
> Examples/sbl_planning.py
> [openravepy_int.cpp:2688] viewer qtcoin successfully attached
> [KinBody.cpp:2252] Successfully computed joint hierarchy for number of
> joints 11!
> [basemanipulation.h:109] BaseManipulation: using sblplanner planner
> [basemanipulation.h:453] Starting MoveManipulator...
> [basemanipulation.h:531] starting planning
> [bprms.h:520] SBL::Initializing...
> [bprms.h:80] PRMPlanner::InitPlan - PRM Planner Initialized
> [bprms.h:594] SBLPlanner::InitPlan - SBL Planner Initialized
> [bprms.h:618] SBLPlanner::RoadMap built
> [bprms.h:628] SBLPlanner::Connecting Trees...
> [bprms.h:663] SBLPlanner::Checking goal index
> [bprms.h:669] SBLPlanner::Setting up Trajectory
> [bprms.h:680] plan success, path=260 points in 1.086000s[bprms.h:520]
> SBL::Initializing...
> [bprms.h:80] PRMPlanner::InitPlan - PRM Planner Initialized
> [bprms.h:594] SBLPlanner::InitPlan - SBL Planner Initialized
> [bprms.h:618] SBLPlanner::RoadMap built
> [bprms.h:628] SBLPlanner::Connecting Trees...
> [bprms.h:663] SBLPlanner::Checking goal index
> [bprms.h:669] SBLPlanner::Setting up Trajectory
> [bprms.h:680] plan success, path=600 points in 4.622000s
> [basemanipulation.h:541] finished planning
> [environment.h:180] Environment destructor
> [environment.h:188] resetting raveviewer
> [environment.h:215] destroy problems
> terminate called after throwing an instance of
> 'OpenRAVE::openrave_exception'
>   what():  OpenRAVE:
> [/usr/include/boost/thread/pthread/recursive_mutex.hpp:67] -> void
> boost::recursive_mutex::lock(), expr: !pthread_mutex_lock(&m)
> Aborted
> jadala@nyumbani-labs:~/WorkSpace/Projects/prob-planning$
> [basemanipulation.h:541] finished planning
> [basemanipulation.h:453] Starting MoveManipulator...
> [basemanipulation.h:531] starting planning
> [bprms.h:520] SBL::Initializing...
> [bprms.h:80] PRMPlanner::InitPlan - PRM Planner Initialized
> [bprms.h:594] SBLPlanner::InitPlan - SBL Planner Initialized
> [bprms.h:618] SBLPlanner::RoadMap built
> [bprms.h:628] SBLPlanner::Connecting Trees...
> [bprms.h:663] SBLPlanner::Checking goal index
> [bprms.h:669] SBLPlanner::Setting up Trajectory
> [bprms.h:680] plan success, path=533 points in 4.603000s
> [basemanipulation.h:541] finished planning
> [basemanipulation.h:453] Starting MoveManipulator...
> [basemanipulation.h:531] starting planning
> [bprms.h:520] SBL::Initializing...
> [bprms.h:80] PRMPlanner::InitPlan - PRM Planner Initialized
> [bprms.h:594] SBLPlanner::InitPlan - SBL Planner Initialized
> [bprms.h:618] SBLPlanner::RoadMap built
> [bprms.h:628] SBLPlanner::Connecting Trees...
> [bprms.h:663] SBLPlanner::Checking goal index
> [bprms.h:669] SBLPlanner::Setting up Trajectory
> [bprms.h:680] plan success, path=267 points in 1.196000s
> [basemanipulation.h:541] finished planning
> [basemanipulation.h:453] Starting MoveManipulator...
> [basemanipulation.h:531] starting planning
> [bprms.h:520] SBL::Initializing...
> [bprms.h:80] PRMPlanner::InitPlan - PRM Planner Initialized
> [bprms.h:594] SBLPlanner::InitPlan - SBL Planner Initialized
> [bprms.h:618] SBLPlanner::RoadMap built
> [bprms.h:628] SBLPlanner::Connecting Trees...
> [bprms.h:663] SBLPlanner::Checking goal index
> [bprms.h:669] SBLPlanner::Setting up Trajectory
> [bprms.h:680] plan success, path=600 points in 5.830000s
> [basemanipulation.h:541] finished planning
> [environment.h:180] Environment destructor
> [environment.h:188] resetting raveviewer
> [environment.h:215] destroy problems
> terminate called after throwing an instance of
> 'OpenRAVE::openrave_exception'
>   what():  OpenRAVE:
> [/usr/include/boost/thread/pthread/recursive_mutex.hpp:67] -> void
> boost::recursive_mutex::lock(), expr: !pthread_mutex_lock(&m)
> Aborted
> jadala@nyumbani-labs:~/WorkSpace/Projects/prob-planning$
>
> I have scripts of the following nature;
>
> from openravepy import *
> import time
>
> env = Environment()
> env.SetDebugLevel(DebugLevel.Debug)
> env.SetViewer('qtcoin')
> env.Load('data/lab1.env.xml')
> robot = env.GetRobots()[0]
> maniprob = interfaces.BaseManipulation(robot, 'sblplanner')
> res = maniprob.MoveManipulator(goal=[-0.75, 1.24, -0.064, 2.33, -1.16,
> -1.548, 1.19])
> robot.WaitForController(0)
> time.sleep(2)
> res = maniprob.MoveManipulator(goal=[1, 1, 1, 1, 1, 1, 1])
> robot.WaitForController(0)
> time.sleep(2)
> res = maniprob.MoveManipulator(goal=[2.75, 1.24, -0.064, 1.33, -5.16,
> -1.548, 7.19])
> robot.WaitForController(0)
> res = maniprob.MoveManipulator(goal=[-0.75, 1.24, -0.064, 2.33, -1.16,
> -1.548, 1.19])
> robot.WaitForController(0)
> time.sleep(5)
> env.Destroy()
>
> Is this just a problem with my installation of openrave, as I get the same
> thing when I set the planner to birrt.
>
> Best,
>
> --
> Best Regards,
>
> Billy Okal
>
> sure vi is user friendly, its just particular about who to be friends with
>
> ------------------------------------------------------------------------------
> ThinkGeek and WIRED's GeekDad team up for the Ultimate
> GeekDad Father's Day Giveaway. ONE MASSIVE PRIZE to the
> lucky parental unit.  See the prize list and enter to win:
> http://p.sf.net/sfu/thinkgeek-promo
> _______________________________________________
> Openrave-users mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/openrave-users
>
>

------------------------------------------------------------------------------
ThinkGeek and WIRED's GeekDad team up for the Ultimate
GeekDad Father's Day Giveaway. ONE MASSIVE PRIZE to the
lucky parental unit.  See the prize list and enter to win:
http://p.sf.net/sfu/thinkgeek-promo
_______________________________________________
Openrave-users mailing list
[hidden email]
https://lists.sourceforge.net/lists/listinfo/openrave-users