urdf reading core dump

[gchenfc]

This issue was imported from github.gatech.edu.
The original issue was opened by @mxie32 on 2020-05-23T04:50:45Z

create example in scripts folder, the following code will result in core dump:
auto robot = Robot("../../urdfs/fetch.urdf");
however, the following works:
auto robot = Robot("../../urdfs/vision60.urdf");

(gdb) bt
#0  Eigen::internal::call_dense_assignment_loop<Eigen::Matrix<double, 3, 3, 0, 3, 3>, Eigen::Matrix<double, 3, 3, 0, 3, 3>, Eigen::internal::assign_op<double, double> > (dst=..., src=..., func=...)
    at ~/lib_install/include/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:741
#1  0x00007ffff7b9c52e in Eigen::internal::Assignment<Eigen::Matrix<double, 3, 3, 0, 3, 3>, Eigen::Matrix<double, 3, 3, 0, 3, 3>, Eigen::internal::assign_op<double, double>, Eigen::internal::Dense2Dense, void>::run (func=..., src=..., dst=...)
    at ~/lib_install/include/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:879
#2  Eigen::internal::call_assignment_no_alias<Eigen::Matrix<double, 3, 3, 0, 3, 3>, Eigen::Matrix<double, 3, 3, 0, 3, 3>, Eigen::internal::assign_op<double, double> > (func=..., src=..., dst=...)
    at ~/lib_install/include/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:836
#3  Eigen::internal::call_assignment<Eigen::Matrix<double, 3, 3, 0, 3, 3>, Eigen::Matrix<double, 3, 3, 0, 3, 3>, Eigen::internal::assign_op<double, double> >(Eigen::Matrix<double, 3, 3, 0, 3, 3>&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::internal::assign_op<double, double> const&, Eigen::internal::enable_if<!Eigen::internal::evaluator_assume_aliasing<Eigen::Matrix<double, 3, 3, 0, 3, 3>, Eigen::internal::evaluator_traits<Eigen::Matrix<double, 3, 3, 0, 3, 3> >::Shape>::value, void*>::type) (func=..., src=..., 
    dst=...)
    at ~/lib_install/include/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:804
#4  Eigen::internal::call_assignment<Eigen::Matrix<double, 3, 3, 0, 3, 3>, Eigen::Matrix<double, 3, 3, 0, 3, 3> > (src=..., dst=...)
    at ~/lib_install/include/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:782
#5  Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 3, 0, 3, 3> >::_set<Eigen::Matrix<double, 3, 3, 0, 3, 3> > (other=..., this=0x7fffffffd388)
    at ~/lib_install/include/gtsam/3rdparty/Eigen/Eigen/src/Core/PlainObjectBase.h:714
#6  Eigen::Matrix<double, 3, 3, 0, 3, 3>::operator=
    (other=..., this=0x7fffffffd388)
    at ~/lib_install/include/gtsam/3rdparty/Eigen/Eigen/src/Core/Matrix.h:208
#7  gtsam::SO<3>::operator= (this=0x7fffffffd388)
    at ~/lib_install/include/gtsam/geometry/SOn.h:50
#8  gtsam::Rot3::operator= (this=0x7fffffffd380)
    at ~/lib_install/include/gtsam/geometry/Rot3.h:59
#9  gtsam::Pose3::operator= (this=0x7fffffffd380)
    at ~/lib_install/include/gtsam/geometry/Pose3.h:37
#10 gtdynamics::Joint::Joint (
    this=this@entry=0x7fffffffd320, sdf_joint=..., 
---Type <return> to continue, or q <return> to quit---
    parent_link=std::shared_ptr<gtdynamics::Link> (use count 8, weak count 1) = {...}, 
    child_link=std::shared_ptr<gtdynamics::Link> (empty) = {...})
    at ~/CS/Research/code/GTDynamics/gtdynamics/universal_robot/Joint.h:155
#11 0x00007ffff7b9ef3c in gtdynamics::ScrewJointBase::ScrewJointBase (this=this@entry=0x7fffffffd320, 
    sdf_joint=..., jScrewAxis=..., 
    joint_effort_type=joint_effort_type@entry=gtdynamics::Joint::Actuated, 
    springCoefficient=springCoefficient@entry=0, 
    jointLimitThreshold=jointLimitThreshold@entry=0, velocityLimitThreshold=velocityLimitThreshold@entry=0, accelerationLimit=accelerationLimit@entry=10000, 
    accelerationLimitThreshold=accelerationLimitThreshold@entry=0, 
    torqueLimitThreshold=torqueLimitThreshold@entry=0, 
    parent_link=std::shared_ptr<gtdynamics::Link> (use count 8, weak count 1) = {...}, 
    child_link=std::shared_ptr<gtdynamics::Link> (empty) = {...})
    at ~/CS/Research/code/GTDynamics/gtdynamics/universal_robot/ScrewJointBase.h:123
#12 0x00007ffff7b9027b in gtdynamics::PrismaticJoint::PrismaticJoint (
    child_link=std::shared_ptr<gtdynamics::Link> (empty) = {...}, 
    parent_link=std::shared_ptr<gtdynamics::Link> (empty) = {...}, torqueLimitThreshold=<optimized out>, 
    accelerationLimitThreshold=<optimized out>, 
    accelerationLimit=<optimized out>, 
    velocityLimitThreshold=<optimized out>, 
    jointLimitThreshold=<optimized out>, 
    springCoefficient=<optimized out>, 
    joint_effort_type=gtdynamics::Joint::Actuated, 
    sdf_joint=..., this=0x7fffffffd320)
    at ~/CS/Research/code/GTDynamics/gtdynamics/universal_robot/PrismaticJoint.h:66
#13 gtdynamics::PrismaticJoint::PrismaticJoint (
    child_link=std::shared_ptr<gtdynamics::Link> (empty) = {...}, 
    parent_link=std::shared_ptr<gtdynamics::Link> (empty) = {...}, parameters=..., sdf_joint=..., 
    this=0x7fffffffd320)
    at ~/CS/Research/code/GTDynamics/gtdynamics/universal_robot/PrismaticJoint.h:84
#14 gtdynamics::extractRobotFromSdf[abi:cxx11](sdf::v8::Model, boost::optional<std::vector<gtdynamics::JointParams, std::allocator<gtdynamics::JointParams> > >) (sdf=..., joint_params=...)
    at ~/CS/Research/code/GTDynamics/gtdynamics/universal_robot/Robot.cpp:10---Type <return> to continue, or q <return> to quit---
1
#15 0x00007ffff7b91c55 in gtdynamics::extractRobotFromFile (file_path="../../urdfs/fetch.urdf", 
    model_name="", joint_params=...)
    at ~/CS/Research/code/GTDynamics/gtdynamics/universal_robot/Robot.cpp:138
#16 0x00007ffff7b91f87 in gtdynamics::Robot::Robot (
    this=0x7fffffffd850, file_path=..., 
    model_name=...)
    at ~/CS/Research/code/GTDynamics/gtdynamics/universal_robot/Robot.cpp:150
#17 0x0000555555555e36 in main (
    argc=<optimized out>, argv=<optimized out>)
    at ~/CS/Research/code/GTDynamics/scripts/mandy00_talos_dynamics_timing.cpp:23

[varunagrawal]

This could be because of a malformed URDF file, or it may have some external dependencies (like texture meshes).

[varunagrawal]

It is because the URDF file relies on external STL meshes and the sdformat parser can't deal with it.

[varunagrawal]

@gchenfc I am updating the fetch.urdf model. It is interesting to note however that the loading segfaults because sdformat8 fails to read in all the links (it is not reading in the r_gripper_link).

Sdformat9 does not have this issue, so this issue will be fixed once #48 is merged in.

[dellaert]

I know I have to be in python directory when executing python tests, otherwise segfault. Might just be a crude "file not found"