urdf reading core dump #12
Description
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