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process has died during runtime,please help #26

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advented0126 opened this issue Jan 22, 2024 · 13 comments
Open

process has died during runtime,please help #26

advented0126 opened this issue Jan 22, 2024 · 13 comments

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@advented0126
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can you help me,please

SUMMARY

PARAMETERS
 * /depth_camera_kinectv2/cloud_filter_chain: [{'name': 'robot_...
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /
    depth_camera_kinectv2 (sensor_filters/pointcloud2_filter_chain)

ROS_MASTER_URI=http://localhost:11311

process[depth_camera_kinectv2-1]: started with pid [284937]
[ INFO] [1705838045.059808596]: robot_body_filter_containment: Parameter sensor/point_by_point not defined, assigning default: False
[ INFO] [1705838045.060513597]: robot_body_filter_containment: Parameter transforms/buffer_length not defined, assigning default: 60.000000 s
[ INFO] [1705838045.064103973]: robot_body_filter_containment: Parameter frames/fixed not defined, assigning default: base_link
[ INFO] [1705838045.064126842]: robot_body_filter_containment: Parameter frames/sensor not defined, assigning default: 
[ INFO] [1705838045.064143821]: robot_body_filter_containment: Found parameter: frames/filtering, value: base
[ INFO] [1705838045.064158689]: robot_body_filter_containment: Found parameter: sensor/min_distance, value: 0.150000 m
[ INFO] [1705838045.064169151]: robot_body_filter_containment: Found parameter: sensor/max_distance, value: 0.000000 m
[ INFO] [1705838045.064180200]: robot_body_filter_containment: Found parameter: body_model/robot_description_param, value: /robot_description2
[ INFO] [1705838045.064189932]: robot_body_filter_containment: Parameter filter/keep_clouds_organized not defined, assigning default: True
[ INFO] [1705838045.064203803]: robot_body_filter_containment: Parameter filter/model_pose_update_interval not defined, assigning default: 0.000000 s
[ INFO] [1705838045.064214794]: robot_body_filter_containment: Found parameter: filter/do_clipping, value: True
[ INFO] [1705838045.064222966]: robot_body_filter_containment: Found parameter: filter/do_contains_test, value: True
[ INFO] [1705838045.064230394]: robot_body_filter_containment: Found parameter: filter/do_shadow_test, value: False
[ INFO] [1705838045.064238683]: robot_body_filter_containment: Parameter filter/max_shadow_distance not defined, assigning default: 0.000000 m
[ INFO] [1705838045.064247800]: robot_body_filter_containment: Parameter transforms/timeout/reachable not defined, assigning default: 0.100000 s
[ INFO] [1705838045.064256734]: robot_body_filter_containment: Parameter transforms/timeout/unreachable not defined, assigning default: 0.200000 s
[ INFO] [1705838045.064266187]: robot_body_filter_containment: Parameter transforms/require_all_reachable not defined, assigning default: False
[ INFO] [1705838045.064274673]: robot_body_filter_containment: Parameter bounding_sphere/publish_cut_out_pointcloud not defined, assigning default: False
[ INFO] [1705838045.064282768]: robot_body_filter_containment: Parameter bounding_box/publish_cut_out_pointcloud not defined, assigning default: False
[ INFO] [1705838045.064291187]: robot_body_filter_containment: Parameter oriented_bounding_box/publish_cut_out_pointcloud not defined, assigning default: False
[ INFO] [1705838045.064299364]: robot_body_filter_containment: Parameter local_bounding_box/publish_cut_out_pointcloud not defined, assigning default: False
[ INFO] [1705838045.064307976]: robot_body_filter_containment: Parameter bounding_sphere/compute not defined, assigning default: False
[ INFO] [1705838045.064315853]: robot_body_filter_containment: Parameter bounding_box/compute not defined, assigning default: False
[ INFO] [1705838045.064323880]: robot_body_filter_containment: Parameter oriented_bounding_box/compute not defined, assigning default: False
[ INFO] [1705838045.064331596]: robot_body_filter_containment: Parameter local_bounding_box/compute not defined, assigning default: False
[ INFO] [1705838045.064339478]: robot_body_filter_containment: Parameter bounding_sphere/debug not defined, assigning default: False
[ INFO] [1705838045.064347139]: robot_body_filter_containment: Parameter bounding_box/debug not defined, assigning default: False
[ INFO] [1705838045.064355032]: robot_body_filter_containment: Parameter oriented_bounding_box/debug not defined, assigning default: False
[ INFO] [1705838045.064362842]: robot_body_filter_containment: Parameter local_bounding_box/debug not defined, assigning default: False
[ INFO] [1705838045.064370459]: robot_body_filter_containment: Parameter bounding_sphere/marker not defined, assigning default: False
[ INFO] [1705838045.064380057]: robot_body_filter_containment: Parameter bounding_box/marker not defined, assigning default: False
[ INFO] [1705838045.064392414]: robot_body_filter_containment: Parameter oriented_bounding_box/marker not defined, assigning default: False
[ INFO] [1705838045.064404617]: robot_body_filter_containment: Parameter local_bounding_box/marker not defined, assigning default: False
[ INFO] [1705838045.064413249]: robot_body_filter_containment: Parameter local_bounding_box/frame_id not defined, assigning default: base_link
[ INFO] [1705838045.064421556]: robot_body_filter_containment: Parameter debug/pcl/inside not defined, assigning default: False
[ INFO] [1705838045.064429377]: robot_body_filter_containment: Found parameter: debug/pcl/clip, value: True
[ INFO] [1705838045.064437224]: robot_body_filter_containment: Parameter debug/pcl/shadow not defined, assigning default: False
[ INFO] [1705838045.064445243]: robot_body_filter_containment: Parameter debug/marker/contains not defined, assigning default: False
[ INFO] [1705838045.064453039]: robot_body_filter_containment: Parameter debug/marker/shadow not defined, assigning default: False
[ INFO] [1705838045.064460906]: robot_body_filter_containment: Parameter debug/marker/bounding_sphere not defined, assigning default: False
[ INFO] [1705838045.064468623]: robot_body_filter_containment: Parameter debug/marker/bounding_box not defined, assigning default: False
[ INFO] [1705838045.064477801]: robot_body_filter_containment: Found parameter: body_model/inflation/padding, value: 0.030000 m
[ INFO] [1705838045.064486021]: robot_body_filter_containment: Found parameter: body_model/inflation/scale, value: 1.000000
[ INFO] [1705838045.064494511]: robot_body_filter_containment: Parameter body_model/inflation/contains_test/padding not defined, assigning default: 0.030000 m
[ INFO] [1705838045.064503124]: robot_body_filter_containment: Parameter body_model/inflation/contains_test/scale not defined, assigning default: 1.000000
[ INFO] [1705838045.064511650]: robot_body_filter_containment: Parameter body_model/inflation/shadow_test/padding not defined, assigning default: 0.030000 m
[ INFO] [1705838045.064520103]: robot_body_filter_containment: Parameter body_model/inflation/shadow_test/scale not defined, assigning default: 1.000000
[ INFO] [1705838045.064529779]: robot_body_filter_containment: Parameter body_model/inflation/bounding_sphere/padding not defined, assigning default: 0.030000 m
[ INFO] [1705838045.064538323]: robot_body_filter_containment: Parameter body_model/inflation/bounding_sphere/scale not defined, assigning default: 1.000000
[ INFO] [1705838045.064546783]: robot_body_filter_containment: Parameter body_model/inflation/bounding_box/padding not defined, assigning default: 0.030000 m
[ INFO] [1705838045.064555202]: robot_body_filter_containment: Parameter body_model/inflation/bounding_box/scale not defined, assigning default: 1.000000
[ INFO] [1705838045.064593742]: robot_body_filter_containment: Parameter body_model/inflation/per_link/padding not defined, assigning default: {} m
[ INFO] [1705838045.064611321]: robot_body_filter_containment: Parameter body_model/inflation/per_link/scale not defined, assigning default: {}
[ INFO] [1705838045.064657104]: robot_body_filter_containment: Parameter ignored_links/bounding_sphere not defined, assigning default: []
[ INFO] [1705838045.064710117]: robot_body_filter_containment: Parameter ignored_links/bounding_box not defined, assigning default: []
[ INFO] [1705838045.064721962]: robot_body_filter_containment: Parameter ignored_links/contains_test not defined, assigning default: []
[ INFO] [1705838045.064765326]: robot_body_filter_containment: Parameter ignored_links/shadow_test not defined, assigning default: ["laser"]
[ INFO] [1705838045.064800306]: robot_body_filter_containment: Parameter ignored_links/everywhere not defined, assigning default: []
[ INFO] [1705838045.064810675]: robot_body_filter_containment: Parameter only_links not defined, assigning default: []
[ INFO] [1705838045.064820570]: robot_body_filter_containment: Parameter body_model/dynamic_robot_description/field_name not defined, assigning default: robot_model
[ INFO] [1705838045.891410713]: RobotBodyFilter: Successfully configured.
[ INFO] [1705838045.891445910]: Filtering data in frame base
[ INFO] [1705838045.891469159]: RobotBodyFilter: Filtering into the following categories:
[ INFO] [1705838045.891494905]: RobotBodyFilter: 	OUTSIDE
[ INFO] [1705838045.891511857]: RobotBodyFilter: 	CLIP
[ INFO] [1705838045.891531219]: RobotBodyFilter: 	INSIDE
[ INFO] [1705838045.891549388]: RobotBodyFilter: Filtering applied to all links.
[ INFO] [1705838045.891580658]: robot_body_filter_containment: Found parameter: frames/output, value: base
[ INFO] [1705838045.891608983]: robot_body_filter_containment: Parameter cloud/point_channels not defined, assigning default: ["vp_"]
[ INFO] [1705838045.891638246]: robot_body_filter_containment: Parameter cloud/direction_channels not defined, assigning default: ["normal_"]
[ INFO] [1705838045.891708809]: Configured filter chain of type sensor_msgs/PointCloud2 from namespace /depth_camera_kinectv2/cloud_filter_chain
[ERROR] [1705838046.077211582]: Filtering data from time 1705838045.705044565 failed.
[ WARN] [1705838047.093697189]: RobotBodyFilter: The pointcloud is dense, which usually means it was captured each point at a different time instant. Consider setting 'point_by_point_scan' to true to get a more accurate version.
[ INFO] [1705838047.093762718]: RobotBodyFilter: Transforming cloud from frame kinect2_ir_optical_frame to base
[depth_camera_kinectv2-1] process has died [pid 284937, exit code -11, cmd /opt/ros/noetic/lib/sensor_filters/pointcloud2_filter_chain ~input:=/number_count ~output:=velodyne_points_filtered __name:=depth_camera_kinectv2 __log:=/home/ted/.ros/log/288a1e94-b84c-11ee-a211-2fb15fb040b4/depth_camera_kinectv2-1.log].
log file: /home/ted/.ros/log/288a1e94-b84c-11ee-a211-2fb15fb040b4/depth_camera_kinectv2-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

lsb_release -a

No LSB modules are available. Distributor ID: Ubuntu Description: Ubuntu 20.04.6 LTS Release: 20.04 Codename: focal

uname -a

Linux ted 5.15.0-91-generic #101~20.04.1-Ubuntu SMP Thu Nov 16 14:22:28 UTC 2023 x86_64 x86_64 x86_64 GNU/Linux

gdb

(gdb) bt

#0  0x00007ffff20a234e in _mm256_store_pd (__A=..., __P=0x555555ba93d0) at /usr/lib/gcc/x86_64-linux-gnu/7/include/avxintrin.h:868
#1  Eigen::internal::pstore<double, double __vector(4)>(double*, double __vector(4) const&) (to=0x555555ba93d0, from=...) at /usr/include/eigen3/Eigen/src/Core/arch/AVX/PacketMath.h:252
#2  0x00007ffff214582f in Eigen::internal::pstoret<double, double __vector(4), 32>(double*, double __vector(4) const&) (from=..., to=0x555555ba93d0) at /usr/include/eigen3/Eigen/src/Core/GenericPacketMath.h:474
#3  Eigen::internal::assign_op<double, double>::assignPacket<32, double __vector(4)>(double*, double __vector(4) const&) const (this=0x7fffffffb3f7, a=0x555555ba93d0, b=...)
    at /usr/include/eigen3/Eigen/src/Core/functors/AssignmentFunctors.h:28
#4  0x00007ffff214609e in Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<double, double>, 0>::assignPacket<32, 32, double __vector(4)>(long, long) (this=0x7fffffffb2f0, row=0, col=0) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:652
#5  0x00007ffff2141941 in Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<double, double>, 0>::assignPacketByOuterInner<32, 32, double __vector(4)>(long, long) (this=0x7fffffffb2f0, outer=0, inner=0) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:666
#6  0x00007ffff213c3d6 in Eigen::internal::copy_using_evaluator_innervec_CompleteUnrolling<Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<double, double>, 0>, 0, 16>::run (kernel=...) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:274
#7  0x00007ffff21361b4 in Eigen::internal::dense_assignment_loop<Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<double, double>, 0>, 2, 2>::run (kernel=...) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:468
#8  0x00007ffff212f598 in Eigen::internal::call_dense_assignment_loop<Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::internal::assign_op<double, double> > (dst=..., src=..., 
    func=...) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:741
#9  0x00007ffff21272b6 in Eigen::internal::Assignment<Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::internal::assign_op<double, double>, Eigen::internal::Dense2Dense, void>::run
    (dst=..., src=..., func=...) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:879
#10 0x00007ffff211deb1 in Eigen::internal::call_assignment_no_alias<Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::internal::assign_op<double, double> > (dst=..., src=..., 
    func=...) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:836
#11 0x00007ffff2110dc9 in Eigen::internal::call_assignment<Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::internal::assign_op<double, double> >(Eigen::Matrix<double, 4, 4, 0, 4, 4>&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, Eigen::internal::assign_op<double, double> const&, Eigen::internal::enable_if<!Eigen::internal::evaluator_assume_aliasing<Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::internal::evaluator_traits<Eigen::Matrix<double, 4, 4, 0, 4, 4> >::Shape>::value, void*>::type) (dst=..., src=..., func=...) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:804
#12 0x00007ffff2102e87 in Eigen::internal::call_assignment<Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::Matrix<double, 4, 4, 0, 4, 4> > (dst=..., src=...) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:782
#13 0x00007ffff20eb475 in Eigen::PlainObjectBase<Eigen::Matrix<double, 4, 4, 0, 4, 4> >::_set<Eigen::Matrix<double, 4, 4, 0, 4, 4> > (this=0x555555ba93d0, other=...)
    at /usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:714
#14 0x00007ffff20c7b25 in Eigen::Matrix<double, 4, 4, 0, 4, 4>::operator= (this=0x555555ba93d0, other=...) at /usr/include/eigen3/Eigen/src/Core/Matrix.h:208
#15 0x00007ffff20a9a27 in Eigen::Transform<double, 3, 1, 0>::operator= (this=0x555555ba93d0, other=...) at /usr/include/eigen3/Eigen/src/Geometry/Transform.h:286
#16 0x00007ffff1d8990b in bodies::Body::setPoseDirty (this=0x555555ba93b0, pose=...) at /opt/ros/noetic/include/geometric_shapes/bodies.h:169
#17 0x00007ffff1d89931 in bodies::Body::setPose (this=0x555555ba93b0, pose=...) at /opt/ros/noetic/include/geometric_shapes/bodies.h:175
#18 0x00007ffff1d85f92 in robot_body_filter::RayCastingShapeMask::updateBodyPosesNoLock (this=0x555555b84570) at /home/ted/catkin_ws/src/robot_body_filter/src/RayCastingShapeMask.cpp:140
#19 0x00007ffff1d8711a in robot_body_filter::RayCastingShapeMask::maskContainmentAndShadows (this=0x555555b84570, data=..., mask=std::vector of length 1995, capacity 1995 = {...}, sensorPos=...)
    at /home/ted/catkin_ws/src/robot_body_filter/src/RayCastingShapeMask.cpp:232
#20 0x00007ffff20c34f2 in robot_body_filter::RobotBodyFilter<sensor_msgs::PointCloud2_<std::allocator<void> > >::computeMask (this=0x555555b7cee0, projectedPointCloud=..., 
    pointMask=std::vector of length 1995, capacity 1995 = {...}, sensorFrame="kinect2_ir_optical_frame") at /home/ted/catkin_ws/src/robot_body_filter/src/RobotBodyFilter.cpp:445
#21 0x00007ffff209f538 in robot_body_filter::RobotBodyFilterPointCloud2::update (this=0x555555b7cee0, inputCloud=..., filteredCloud=...) at /home/ted/catkin_ws/src/robot_body_filter/src/RobotBodyFilter.cpp:813
#22 0x0000555555575084 in ?? ()
#23 0x0000555555578897 in ?? ()
#24 0x00007ffff1c8c9cf in ?? () from /opt/ros/noetic/lib//libpoint_cloud_transport_plugins.so
#25 0x00007ffff1c80dd2 in ?? () from /opt/ros/noetic/lib//libpoint_cloud_transport_plugins.so
#26 0x00007ffff1c89728 in ?? () from /opt/ros/noetic/lib//libpoint_cloud_transport_plugins.so
#27 0x00007ffff7e5b139 in ros::SubscriptionQueue::call() () from /opt/ros/noetic/lib/libroscpp.so
#28 0x00007ffff7e09172 in ros::CallbackQueue::callOneCB(ros::CallbackQueue::TLS*) () from /opt/ros/noetic/lib/libroscpp.so
#29 0x00007ffff7e0a883 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/noetic/lib/libroscpp.so
#30 0x00007ffff7e5dfcf in ros::SingleThreadedSpinner::spin(ros::CallbackQueue*) () from /opt/ros/noetic/lib/libroscpp.so
#31 0x00007ffff7e4621f in ros::spin() () from /opt/ros/noetic/lib/libroscpp.so
#32 0x000055555558b5a1 in ?? ()
#33 0x0000555555568c31 in ?? ()
#34 0x00007ffff7834083 in __libc_start_main (main=0x555555568bf0, argc=5, argv=0x7fffffffd518, init=<optimized out>, fini=<optimized out>, rtld_fini=<optimized out>, stack_end=0x7fffffffd508)
    at ../csu/libc-start.c:308
#35 0x0000555555568dae in ?? ()

launch file & yaml

<launch>
    <!-- Prerequisite: sensor_filters -->
    <!-- http://wiki.ros.org/sensor_filters -->
    <node name="depth_camera_kinectv2" pkg="sensor_filters" type="pointcloud2_filter_chain" output="screen">
        <rosparam command="load" file="$(dirname)/ur3_wth_nerian.yaml" />
        <remap from="~input" to="/number_count" />
        <remap from="~output" to="velodyne_points_filtered" />
        
    </node>
</launch>

cloud_filter_chain:
  # Only containment filtering
  - name: robot_body_filter_containment
    type: robot_body_filter/RobotBodyFilterPointCloud2
    params:
      frames/filtering: "base"
      frames/output: "base"
      sensor/min_distance: 0.15
      sensor/max_distance: 0
      body_model/inflation/scale: 1.0
      body_model/inflation/padding: 0.03
      body_model/robot_description_param: /robot_description2
      filter/do_clipping: true
      filter/do_contains_test: true
      filter/do_shadow_test: false
      debug/pcl/clip: true

my tf tree

Screenshot from 2024-01-21 19-46-13

and i compiled it from source

after rebuild the geometric_shapes from source still corrupt

SUMMARY
========

PARAMETERS
 * /depth_camera_kinectv2/cloud_filter_chain: [{'name': 'robot_...
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /
    depth_camera_kinectv2 (sensor_filters/pointcloud2_filter_chain)

ROS_MASTER_URI=http://localhost:11311

process[depth_camera_kinectv2-1]: started with pid [37568]
[ INFO] [1705890713.326696573]: robot_body_filter_containment: Parameter sensor/point_by_point not defined, assigning default: False
[ INFO] [1705890713.327758450]: robot_body_filter_containment: Parameter transforms/buffer_length not defined, assigning default: 60.000000 s
[ INFO] [1705890713.332238416]: robot_body_filter_containment: Parameter frames/fixed not defined, assigning default: base_link
[ INFO] [1705890713.332270276]: robot_body_filter_containment: Parameter frames/sensor not defined, assigning default: 
[ INFO] [1705890713.332299105]: robot_body_filter_containment: Found parameter: frames/filtering, value: base
[ INFO] [1705890713.332327008]: robot_body_filter_containment: Found parameter: sensor/min_distance, value: 0.150000 m
[ INFO] [1705890713.332352033]: robot_body_filter_containment: Found parameter: sensor/max_distance, value: 0.000000 m
[ INFO] [1705890713.332372992]: robot_body_filter_containment: Found parameter: body_model/robot_description_param, value: /robot_description2
[ INFO] [1705890713.332393416]: robot_body_filter_containment: Parameter filter/keep_clouds_organized not defined, assigning default: True
[ INFO] [1705890713.332419454]: robot_body_filter_containment: Parameter filter/model_pose_update_interval not defined, assigning default: 0.000000 s
[ INFO] [1705890713.332444413]: robot_body_filter_containment: Found parameter: filter/do_clipping, value: True
[ INFO] [1705890713.332463977]: robot_body_filter_containment: Found parameter: filter/do_contains_test, value: True
[ INFO] [1705890713.332484225]: robot_body_filter_containment: Found parameter: filter/do_shadow_test, value: False
[ INFO] [1705890713.332506751]: robot_body_filter_containment: Parameter filter/max_shadow_distance not defined, assigning default: 0.000000 m
[ INFO] [1705890713.332529477]: robot_body_filter_containment: Parameter transforms/timeout/reachable not defined, assigning default: 0.100000 s
[ INFO] [1705890713.332553371]: robot_body_filter_containment: Parameter transforms/timeout/unreachable not defined, assigning default: 0.200000 s
[ INFO] [1705890713.332572037]: robot_body_filter_containment: Parameter transforms/require_all_reachable not defined, assigning default: False
[ INFO] [1705890713.332595799]: robot_body_filter_containment: Parameter bounding_sphere/publish_cut_out_pointcloud not defined, assigning default: False
[ INFO] [1705890713.332617685]: robot_body_filter_containment: Parameter bounding_box/publish_cut_out_pointcloud not defined, assigning default: False
[ INFO] [1705890713.332636753]: robot_body_filter_containment: Parameter oriented_bounding_box/publish_cut_out_pointcloud not defined, assigning default: False
[ INFO] [1705890713.332660105]: robot_body_filter_containment: Parameter local_bounding_box/publish_cut_out_pointcloud not defined, assigning default: False
[ INFO] [1705890713.332681932]: robot_body_filter_containment: Parameter bounding_sphere/compute not defined, assigning default: False
[ INFO] [1705890713.332700905]: robot_body_filter_containment: Parameter bounding_box/compute not defined, assigning default: False
[ INFO] [1705890713.332723935]: robot_body_filter_containment: Parameter oriented_bounding_box/compute not defined, assigning default: False
[ INFO] [1705890713.332746536]: robot_body_filter_containment: Parameter local_bounding_box/compute not defined, assigning default: False
[ INFO] [1705890713.332765413]: robot_body_filter_containment: Parameter bounding_sphere/debug not defined, assigning default: False
[ INFO] [1705890713.332793986]: robot_body_filter_containment: Parameter bounding_box/debug not defined, assigning default: False
[ INFO] [1705890713.332815843]: robot_body_filter_containment: Parameter oriented_bounding_box/debug not defined, assigning default: False
[ INFO] [1705890713.332836823]: robot_body_filter_containment: Parameter local_bounding_box/debug not defined, assigning default: False
[ INFO] [1705890713.332858077]: robot_body_filter_containment: Parameter bounding_sphere/marker not defined, assigning default: False
[ INFO] [1705890713.332878557]: robot_body_filter_containment: Parameter bounding_box/marker not defined, assigning default: False
[ INFO] [1705890713.332898175]: robot_body_filter_containment: Parameter oriented_bounding_box/marker not defined, assigning default: False
[ INFO] [1705890713.332920883]: robot_body_filter_containment: Parameter local_bounding_box/marker not defined, assigning default: False
[ INFO] [1705890713.332939873]: robot_body_filter_containment: Parameter local_bounding_box/frame_id not defined, assigning default: base_link
[ INFO] [1705890713.332962529]: robot_body_filter_containment: Parameter debug/pcl/inside not defined, assigning default: False
[ INFO] [1705890713.332980183]: robot_body_filter_containment: Found parameter: debug/pcl/clip, value: True
[ INFO] [1705890713.333001996]: robot_body_filter_containment: Parameter debug/pcl/shadow not defined, assigning default: False
[ INFO] [1705890713.333018783]: robot_body_filter_containment: Parameter debug/marker/contains not defined, assigning default: False
[ INFO] [1705890713.333040822]: robot_body_filter_containment: Parameter debug/marker/shadow not defined, assigning default: False
[ INFO] [1705890713.333057390]: robot_body_filter_containment: Parameter debug/marker/bounding_sphere not defined, assigning default: False
[ INFO] [1705890713.333079492]: robot_body_filter_containment: Parameter debug/marker/bounding_box not defined, assigning default: False
[ INFO] [1705890713.333100985]: robot_body_filter_containment: Found parameter: body_model/inflation/padding, value: 0.030000 m
[ INFO] [1705890713.333122525]: robot_body_filter_containment: Found parameter: body_model/inflation/scale, value: 1.000000
[ INFO] [1705890713.333145238]: robot_body_filter_containment: Parameter body_model/inflation/contains_test/padding not defined, assigning default: 0.030000 m
[ INFO] [1705890713.333166561]: robot_body_filter_containment: Parameter body_model/inflation/contains_test/scale not defined, assigning default: 1.000000
[ INFO] [1705890713.333188896]: robot_body_filter_containment: Parameter body_model/inflation/shadow_test/padding not defined, assigning default: 0.030000 m
[ INFO] [1705890713.333210039]: robot_body_filter_containment: Parameter body_model/inflation/shadow_test/scale not defined, assigning default: 1.000000
[ INFO] [1705890713.333233289]: robot_body_filter_containment: Parameter body_model/inflation/bounding_sphere/padding not defined, assigning default: 0.030000 m
[ INFO] [1705890713.333255277]: robot_body_filter_containment: Parameter body_model/inflation/bounding_sphere/scale not defined, assigning default: 1.000000
[ INFO] [1705890713.333277705]: robot_body_filter_containment: Parameter body_model/inflation/bounding_box/padding not defined, assigning default: 0.030000 m
[ INFO] [1705890713.333296827]: robot_body_filter_containment: Parameter body_model/inflation/bounding_box/scale not defined, assigning default: 1.000000
[ INFO] [1705890713.333357104]: robot_body_filter_containment: Parameter body_model/inflation/per_link/padding not defined, assigning default: {} m
[ INFO] [1705890713.333393660]: robot_body_filter_containment: Parameter body_model/inflation/per_link/scale not defined, assigning default: {}
[ INFO] [1705890713.333450924]: robot_body_filter_containment: Parameter ignored_links/bounding_sphere not defined, assigning default: []
[ INFO] [1705890713.333523811]: robot_body_filter_containment: Parameter ignored_links/bounding_box not defined, assigning default: []
[ INFO] [1705890713.333553116]: robot_body_filter_containment: Parameter ignored_links/contains_test not defined, assigning default: []
[ INFO] [1705890713.333614747]: robot_body_filter_containment: Parameter ignored_links/shadow_test not defined, assigning default: ["laser"]
[ INFO] [1705890713.333671806]: robot_body_filter_containment: Parameter ignored_links/everywhere not defined, assigning default: []
[ INFO] [1705890713.333698626]: robot_body_filter_containment: Parameter only_links not defined, assigning default: []
[ INFO] [1705890713.333720407]: robot_body_filter_containment: Parameter body_model/dynamic_robot_description/field_name not defined, assigning default: robot_model
[depth_camera_kinectv2-1] process has died [pid 37568, exit code -11, cmd /opt/ros/noetic/lib/sensor_filters/pointcloud2_filter_chain ~input:=/number_count ~output:=velodyne_points_filtered __name:=depth_camera_kinectv2 __log:=/home/ted/.ros/log/1f563560-b8ce-11ee-924f-61a77cf05a9a/depth_camera_kinectv2-1.log].
log file: /home/ted/.ros/log/1f563560-b8ce-11ee-924f-61a77cf05a9a/depth_camera_kinectv2-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

(gdb) bt

#0  0x00007ffff20a234e in _mm256_store_pd (__A=..., __P=0x7fffffffb4d0) at /usr/lib/gcc/x86_64-linux-gnu/7/include/avxintrin.h:868
#1  Eigen::internal::pstore<double, double __vector(4)>(double*, double __vector(4) const&) (to=0x7fffffffb4d0, from=...) at /usr/include/eigen3/Eigen/src/Core/arch/AVX/PacketMath.h:252
#2  0x00007ffff214582f in Eigen::internal::pstoret<double, double __vector(4), 32>(double*, double __vector(4) const&) (from=..., to=0x7fffffffb4d0) at /usr/include/eigen3/Eigen/src/Core/GenericPacketMath.h:474
#3  Eigen::internal::assign_op<double, double>::assignPacket<32, double __vector(4)>(double*, double __vector(4) const&) const (this=0x7fffffffb43f, a=0x7fffffffb4d0, b=...) at /usr/include/eigen3/Eigen/src/Core/functors/AssignmentFunctors.h:28
#4  0x00007ffff214609e in Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<double, double>, 0>::assignPacket<32, 32, double __vector(4)>(long, long) (
    this=0x7fffffffb480, row=0, col=0) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:652
#5  0x00007ffff2141941 in Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<double, double>, 0>::assignPacketByOuterInner<32, 32, double __vector(4)>(long, long) (this=0x7fffffffb480, outer=0, inner=0) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:666
#6  0x00007ffff213c3d6 in Eigen::internal::copy_using_evaluator_innervec_CompleteUnrolling<Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<double, double>, 0>, 0, 16>::run (kernel=...) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:274
#7  0x00007ffff1d01e3e in bodies::ConvexMesh::updateInternalData() () from /home/ted/catkin_ws/devel/lib/libgeometric_shapes.so.0.7.5
#8  0x00007ffff129d5b9 in point_containment_filter::ShapeMask::addShape (this=0x555555ba93b0, shape=std::shared_ptr<const shapes::Shape> (use count 1, weak count 0) = {...}, scale=1, padding=0.029999999999999999) at ./point_containment_filter/src/shape_mask.cpp:78
#9  0x00007ffff1d87b62 in robot_body_filter::RayCastingShapeMask::addShape (this=0x555555ba93b0, shape=std::shared_ptr<const shapes::Shape> (use count 1, weak count 0) = {...}, containsScale=1, containsPadding=0.029999999999999999, shadowScale=1, shadowPadding=0.029999999999999999, bsphereScale=1, 
    bspherePadding=0.029999999999999999, bboxScale=1, bboxPadding=0.029999999999999999, updateInternalStructures=false, name="base_link_inertia::0") at /home/ted/catkin_ws/src/robot_body_filter/src/RayCastingShapeMask.cpp:356
#10 0x00007ffff20d8bf5 in robot_body_filter::RobotBodyFilter<sensor_msgs::PointCloud2_<std::allocator<void> > >::addRobotMaskFromUrdf (this=0x555555ba1ba0, 
    urdfModel="<?xml version=\"1.0\" ?>\n<!-- ", '=' <repeats 83 times>, " -->\n<!-- |    This document was autogenerated by xacro from ur3.xacro", ' ' <repeats 19 times>...) at /home/ted/catkin_ws/src/robot_body_filter/src/RobotBodyFilter.cpp:1032
#11 0x00007ffff20bc59a in robot_body_filter::RobotBodyFilter<sensor_msgs::PointCloud2_<std::allocator<void> > >::configure (this=0x555555ba1ba0) at /home/ted/catkin_ws/src/robot_body_filter/src/RobotBodyFilter.cpp:353
#12 0x00007ffff209b678 in robot_body_filter::RobotBodyFilterPointCloud2::configure (this=0x555555ba1ba0) at /home/ted/catkin_ws/src/robot_body_filter/src/RobotBodyFilter.cpp:393
#13 0x000055555558200a in ?? ()
#14 0x0000555555582b4a in ?? ()
#15 0x0000555555582ea2 in ?? ()
#16 0x000055555558d217 in ?? ()
#17 0x000055555558b54c in ?? ()
#18 0x0000555555568c31 in ?? ()
#19 0x00007ffff7834083 in __libc_start_main (main=0x555555568bf0, argc=5, argv=0x7fffffffd468, init=<optimized out>, fini=<optimized out>, rtld_fini=<optimized out>, stack_end=0x7fffffffd458) at ../csu/libc-start.c:308
#20 0x0000555555568dae in ?? ()
@peci1
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peci1 commented Jan 22, 2024

It fails in an AVX CPU instruction.

What CPU do you have?

Also, if you change the collisions to primitive shapes instead of a mesh, would that help?

@advented0126
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lscpu

Architecture:                       x86_64
CPU op-mode(s):                     32-bit, 64-bit
Byte Order:                         Little Endian
Address sizes:                      39 bits physical, 48 bits virtual
CPU(s):                             16
On-line CPU(s) list:                0-15
Thread(s) per core:                 2
Core(s) per socket:                 8
Socket(s):                          1
NUMA node(s):                       1
Vendor ID:                          GenuineIntel
CPU family:                         6
Model:                              158
Model name:                         Intel(R) Core(TM) i9-9900K CPU @ 3.60GHz
Stepping:                           12
CPU MHz:                            3600.000
CPU max MHz:                        5000.0000
CPU min MHz:                        800.0000
BogoMIPS:                           7200.00
Virtualization:                     VT-x
L1d cache:                          256 KiB
L1i cache:                          256 KiB
L2 cache:                           2 MiB
L3 cache:                           16 MiB
NUMA node0 CPU(s):                  0-15
Vulnerability Gather data sampling: Mitigation; Microcode
Vulnerability Itlb multihit:        KVM: Mitigation: VMX disabled
Vulnerability L1tf:                 Not affected
Vulnerability Mds:                  Mitigation; Clear CPU buffers; SMT vulnerabl
                                    e
Vulnerability Meltdown:             Not affected
Vulnerability Mmio stale data:      Mitigation; Clear CPU buffers; SMT vulnerabl
                                    e
Vulnerability Retbleed:             Mitigation; IBRS
Vulnerability Spec rstack overflow: Not affected
Vulnerability Spec store bypass:    Mitigation; Speculative Store Bypass disable
                                    d via prctl and seccomp
Vulnerability Spectre v1:           Mitigation; usercopy/swapgs barriers and __u
                                    ser pointer sanitization
Vulnerability Spectre v2:           Mitigation; IBRS, IBPB conditional, STIBP co
                                    nditional, RSB filling, PBRSB-eIBRS Not affe
                                    cted
Vulnerability Srbds:                Mitigation; Microcode
Vulnerability Tsx async abort:      Mitigation; TSX disabled
Flags:                              fpu vme de pse tsc msr pae mce cx8 apic sep 
                                    mtrr pge mca cmov pat pse36 clflush dts acpi
                                     mmx fxsr sse sse2 ss ht tm pbe syscall nx p
                                    dpe1gb rdtscp lm constant_tsc art arch_perfm
                                    on pebs bts rep_good nopl xtopology nonstop_
                                    tsc cpuid aperfmperf pni pclmulqdq dtes64 mo
                                    nitor ds_cpl vmx smx est tm2 ssse3 sdbg fma 
                                    cx16 xtpr pdcm pcid sse4_1 sse4_2 x2apic mov
                                    be popcnt tsc_deadline_timer aes xsave avx f
                                    16c rdrand lahf_lm abm 3dnowprefetch cpuid_f
                                    ault epb invpcid_single ssbd ibrs ibpb stibp
                                     tpr_shadow vnmi flexpriority ept vpid ept_a
                                    d fsgsbase tsc_adjust bmi1 avx2 smep bmi2 er
                                    ms invpcid mpx rdseed adx smap clflushopt in
                                    tel_pt xsaveopt xsavec xgetbv1 xsaves dtherm
                                     ida arat pln pts hwp hwp_notify hwp_act_win
                                    dow hwp_epp md_clear flush_l1d arch_capabili
                                    ties

and i change the mesh to the box(primitive shapes) but still not working

SUMMARY


PARAMETERS
 * /depth_camera_kinectv2/cloud_filter_chain: [{'name': 'robot_...
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /
    depth_camera_kinectv2 (sensor_filters/pointcloud2_filter_chain)

ROS_MASTER_URI=http://localhost:11311

process[depth_camera_kinectv2-1]: started with pid [8745]
[ INFO] [1705902007.123206196]: robot_body_filter_containment: Parameter sensor/point_by_point not defined, assigning default: False
[ INFO] [1705902007.123869936]: robot_body_filter_containment: Parameter transforms/buffer_length not defined, assigning default: 60.000000 s
[ INFO] [1705902007.126658273]: robot_body_filter_containment: Parameter frames/fixed not defined, assigning default: base_link
[ INFO] [1705902007.126689922]: robot_body_filter_containment: Parameter frames/sensor not defined, assigning default: 
[ INFO] [1705902007.126716619]: robot_body_filter_containment: Found parameter: frames/filtering, value: base
[ INFO] [1705902007.126741852]: robot_body_filter_containment: Found parameter: sensor/min_distance, value: 0.150000 m
[ INFO] [1705902007.126763713]: robot_body_filter_containment: Found parameter: sensor/max_distance, value: 0.000000 m
[ INFO] [1705902007.126783556]: robot_body_filter_containment: Found parameter: body_model/robot_description_param, value: /robot_description
[ INFO] [1705902007.126804770]: robot_body_filter_containment: Parameter filter/keep_clouds_organized not defined, assigning default: True
[ INFO] [1705902007.126829368]: robot_body_filter_containment: Parameter filter/model_pose_update_interval not defined, assigning default: 0.000000 s
[ INFO] [1705902007.126851772]: robot_body_filter_containment: Found parameter: filter/do_clipping, value: True
[ INFO] [1705902007.126871117]: robot_body_filter_containment: Found parameter: filter/do_contains_test, value: True
[ INFO] [1705902007.126889835]: robot_body_filter_containment: Found parameter: filter/do_shadow_test, value: False
[ INFO] [1705902007.126910838]: robot_body_filter_containment: Parameter filter/max_shadow_distance not defined, assigning default: 0.000000 m
[ INFO] [1705902007.126932304]: robot_body_filter_containment: Parameter transforms/timeout/reachable not defined, assigning default: 0.100000 s
[ INFO] [1705902007.126953551]: robot_body_filter_containment: Parameter transforms/timeout/unreachable not defined, assigning default: 0.200000 s
[ INFO] [1705902007.126974228]: robot_body_filter_containment: Parameter transforms/require_all_reachable not defined, assigning default: False
[ INFO] [1705902007.126995177]: robot_body_filter_containment: Parameter bounding_sphere/publish_cut_out_pointcloud not defined, assigning default: False
[ INFO] [1705902007.127017750]: robot_body_filter_containment: Parameter bounding_box/publish_cut_out_pointcloud not defined, assigning default: False
[ INFO] [1705902007.127038932]: robot_body_filter_containment: Parameter oriented_bounding_box/publish_cut_out_pointcloud not defined, assigning default: False
[ INFO] [1705902007.127059508]: robot_body_filter_containment: Parameter local_bounding_box/publish_cut_out_pointcloud not defined, assigning default: False
[ INFO] [1705902007.127080052]: robot_body_filter_containment: Parameter bounding_sphere/compute not defined, assigning default: False
[ INFO] [1705902007.127099682]: robot_body_filter_containment: Parameter bounding_box/compute not defined, assigning default: False
[ INFO] [1705902007.127120050]: robot_body_filter_containment: Parameter oriented_bounding_box/compute not defined, assigning default: False
[ INFO] [1705902007.127140390]: robot_body_filter_containment: Parameter local_bounding_box/compute not defined, assigning default: False
[ INFO] [1705902007.127160579]: robot_body_filter_containment: Parameter bounding_sphere/debug not defined, assigning default: False
[ INFO] [1705902007.127179978]: robot_body_filter_containment: Parameter bounding_box/debug not defined, assigning default: False
[ INFO] [1705902007.127200436]: robot_body_filter_containment: Parameter oriented_bounding_box/debug not defined, assigning default: False
[ INFO] [1705902007.127221021]: robot_body_filter_containment: Parameter local_bounding_box/debug not defined, assigning default: False
[ INFO] [1705902007.127240931]: robot_body_filter_containment: Parameter bounding_sphere/marker not defined, assigning default: False
[ INFO] [1705902007.127260219]: robot_body_filter_containment: Parameter bounding_box/marker not defined, assigning default: False
[ INFO] [1705902007.127280551]: robot_body_filter_containment: Parameter oriented_bounding_box/marker not defined, assigning default: False
[ INFO] [1705902007.127300903]: robot_body_filter_containment: Parameter local_bounding_box/marker not defined, assigning default: False
[ INFO] [1705902007.127321649]: robot_body_filter_containment: Parameter local_bounding_box/frame_id not defined, assigning default: base_link
[ INFO] [1705902007.127341925]: robot_body_filter_containment: Parameter debug/pcl/inside not defined, assigning default: False
[ INFO] [1705902007.127360258]: robot_body_filter_containment: Found parameter: debug/pcl/clip, value: True
[ INFO] [1705902007.127386815]: robot_body_filter_containment: Parameter debug/pcl/shadow not defined, assigning default: False
[ INFO] [1705902007.127412609]: robot_body_filter_containment: Parameter debug/marker/contains not defined, assigning default: False
[ INFO] [1705902007.127432774]: robot_body_filter_containment: Parameter debug/marker/shadow not defined, assigning default: False
[ INFO] [1705902007.127452250]: robot_body_filter_containment: Parameter debug/marker/bounding_sphere not defined, assigning default: False
[ INFO] [1705902007.127471876]: robot_body_filter_containment: Parameter debug/marker/bounding_box not defined, assigning default: False
[ INFO] [1705902007.127492626]: robot_body_filter_containment: Found parameter: body_model/inflation/padding, value: 0.030000 m
[ INFO] [1705902007.127511912]: robot_body_filter_containment: Found parameter: body_model/inflation/scale, value: 1.000000
[ INFO] [1705902007.127533008]: robot_body_filter_containment: Parameter body_model/inflation/contains_test/padding not defined, assigning default: 0.030000 m
[ INFO] [1705902007.127553474]: robot_body_filter_containment: Parameter body_model/inflation/contains_test/scale not defined, assigning default: 1.000000
[ INFO] [1705902007.127574389]: robot_body_filter_containment: Parameter body_model/inflation/shadow_test/padding not defined, assigning default: 0.030000 m
[ INFO] [1705902007.127594939]: robot_body_filter_containment: Parameter body_model/inflation/shadow_test/scale not defined, assigning default: 1.000000
[ INFO] [1705902007.127616049]: robot_body_filter_containment: Parameter body_model/inflation/bounding_sphere/padding not defined, assigning default: 0.030000 m
[ INFO] [1705902007.127636817]: robot_body_filter_containment: Parameter body_model/inflation/bounding_sphere/scale not defined, assigning default: 1.000000
[ INFO] [1705902007.127658851]: robot_body_filter_containment: Parameter body_model/inflation/bounding_box/padding not defined, assigning default: 0.030000 m
[ INFO] [1705902007.127675465]: robot_body_filter_containment: Parameter body_model/inflation/bounding_box/scale not defined, assigning default: 1.000000
[ INFO] [1705902007.127724733]: robot_body_filter_containment: Parameter body_model/inflation/per_link/padding not defined, assigning default: {} m
[ INFO] [1705902007.127744331]: robot_body_filter_containment: Parameter body_model/inflation/per_link/scale not defined, assigning default: {}
[ INFO] [1705902007.127781772]: robot_body_filter_containment: Parameter ignored_links/bounding_sphere not defined, assigning default: []
[ INFO] [1705902007.127832479]: robot_body_filter_containment: Parameter ignored_links/bounding_box not defined, assigning default: []
[ INFO] [1705902007.127844091]: robot_body_filter_containment: Parameter ignored_links/contains_test not defined, assigning default: []
[ INFO] [1705902007.127884750]: robot_body_filter_containment: Parameter ignored_links/shadow_test not defined, assigning default: ["laser"]
[ INFO] [1705902007.127917295]: robot_body_filter_containment: Parameter ignored_links/everywhere not defined, assigning default: []
[ INFO] [1705902007.127927562]: robot_body_filter_containment: Parameter only_links not defined, assigning default: []
[ INFO] [1705902007.127937848]: robot_body_filter_containment: Parameter body_model/dynamic_robot_description/field_name not defined, assigning default: robot_model
[depth_camera_kinectv2-1] process has died [pid 8745, exit code -11, cmd /opt/ros/noetic/lib/sensor_filters/pointcloud2_filter_chain ~input:=/number_count ~output:=velodyne_points_filtered __name:=depth_camera_kinectv2 __log:=/home/ted/.ros/log/aad8109e-b8e8-11ee-95b4-41a4f7dc10d2/depth_camera_kinectv2-1.log].
log file: /home/ted/.ros/log/aad8109e-b8e8-11ee-95b4-41a4f7dc10d2/depth_camera_kinectv2-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

### gdb

  #0  0x00007ffff20a2308 in double __vector(4) Eigen::internal::pload<double __vector(4)>(Eigen::internal::unpacket_traits<double __vector(4)>::type const*) ()
   from /home/ted/catkin_ws/devel/lib//librobot_body_filter.so
#1  0x00007ffff2148fd6 in double __vector(4) Eigen::internal::evaluator<Eigen::PlainObjectBase<Eigen::Matrix<double, 4, 4, 0, 4, 4> > >::packet<32, double __vector(4)>(long, long) const ()
   from /home/ted/catkin_ws/devel/lib//librobot_body_filter.so
#2  0x00007ffff2146067 in void Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<double, double>, 0>::assignPacket<32, 32, double __vector(4)>(long, long) () from /home/ted/catkin_ws/devel/lib//librobot_body_filter.so
#3  0x00007ffff2141941 in void Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<double, double>, 0>::assignPacketByOuterInner<32, 32, double __vector(4)>(long, long) () from /home/ted/catkin_ws/devel/lib//librobot_body_filter.so
#4  0x00007ffff213c3d6 in Eigen::internal::copy_using_evaluator_innervec_CompleteUnrolling<Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<double, double>, 0>, 0, 16>::run(Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eig--Type <RET> for more, q to quit, c to continue without paging--c
en::internal::assign_op<double, double>, 0>&) () from /home/ted/catkin_ws/devel/lib//librobot_body_filter.so
#5  0x00007ffff1d01e3e in bodies::ConvexMesh::updateInternalData() () from /home/ted/catkin_ws/devel/lib/libgeometric_shapes.so.0.7.5
#6  0x00007ffff129d5b9 in point_containment_filter::ShapeMask::addShape (this=0x555555bab770, shape=warning: RTTI symbol not found for class 'std::_Sp_counted_ptr<shapes::Mesh*, (__gnu_cxx::_Lock_policy)2>'
warning: RTTI symbol not found for class 'std::_Sp_counted_ptr<shapes::Mesh*, (__gnu_cxx::_Lock_policy)2>'
std::shared_ptr<const class shapes::Shape> (use count 1, weak count 0) = {...}, scale=1, padding=0.029999999999999999) at ./point_containment_filter/src/shape_mask.cpp:78
#7  0x00007ffff1d87b62 in robot_body_filter::RayCastingShapeMask::addShape(std::shared_ptr<shapes::Shape const> const&, double, double, double, double, double, double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) () from /home/ted/catkin_ws/devel/lib/libRayCastingShapeMask.so
#8  0x00007ffff20d8bf5 in robot_body_filter::RobotBodyFilter<sensor_msgs::PointCloud2_<std::allocator<void> > >::addRobotMaskFromUrdf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) () from /home/ted/catkin_ws/devel/lib//librobot_body_filter.so
#9  0x00007ffff20bc59a in robot_body_filter::RobotBodyFilter<sensor_msgs::PointCloud2_<std::allocator<void> > >::configure() () from /home/ted/catkin_ws/devel/lib//librobot_body_filter.so
#10 0x00007ffff209b678 in robot_body_filter::RobotBodyFilterPointCloud2::configure() () from /home/ted/catkin_ws/devel/lib//librobot_body_filter.so
#11 0x000055555558200a in ?? ()
#12 0x0000555555582b4a in ?? ()
#13 0x0000555555582ea2 in ?? ()
#14 0x000055555558d217 in ?? ()
#15 0x000055555558b54c in ?? ()
#16 0x0000555555568c31 in ?? ()
#17 0x00007ffff7834083 in __libc_start_main (main=0x555555568bf0, argc=5, argv=0x7fffffffd4f8, init=<optimized out>, fini=<optimized out>, rtld_fini=<optimized out>, stack_end=0x7fffffffd4e8) at ../csu/libc-start.c:308
#18 0x0000555555568dae in ?? ()

rviz

Screenshot from 2024-01-22 13-47-08

urdf

Screenshot from 2024-01-22 13-48-21

i got test on the another computer and it will work but with some ros info error ,and it still output the point cloud

Screenshot from 2024-01-22 13-59-05

please help me with this problem

@peci1
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peci1 commented Jan 22, 2024

Okay, this CPU has AVX instructions.

I still see in the gdb trace:

bodies::ConvexMesh::updateInternalData()

So there probably still is some collision mesh left? Or an element with only a visual mesh and no collision (I'm not sure whether these are automatically used for collision or not).

Also, does the problem happen if you install robot_body_filter using APT?

The errors you see on the other computer mean you have too short TF timeout. But that definitely doesn't lead to the segfaults.

@advented0126
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Thanks man , thank you for making this wonderful library

solve by the following but not sure its the right answer

i remake the whole ROS workspace by
catkin build --cmake-args -DCMAKE_CXX_FLAGS="-mno-avx"
and also i have used the pcl ,so recompile the pcl with the same flag.
now its work and publish the point cloud !!

Screenshot from 2024-01-22 15-43-32
i felt like it kind of problem between eigen and AUX instructions, thanks for the helps again.

@peci1
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peci1 commented Jan 22, 2024

Great it works now. It is very important to have the avx/sse flags identical for all used libraries.

Just to make it clear - did you specify any custom compiler flags in your unsuccessful cases?

@advented0126
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I only used
catkin build
to compile to code before.
oh and i have tried to change the gcc version from 7 to 9 and still not working before.
now i have to add the flag.

@peci1
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peci1 commented Jan 22, 2024

It definitely shouldn't be needed to add the flag.

oh and i have tried to change the gcc version from 7 to 9 and still not working before.

All you other debug info indicated you're on Ubuntu 20.04. This Ubuntu has default GCC 9 and GCC 7 should not even be available on this system. Do you have some unusual system configuration?

@peci1
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peci1 commented Jan 22, 2024

And what about the APT-installed package? Does it also have this problem?

@advented0126
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i have tried using the apt install but still not working(before adding the flag)

@peci1
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peci1 commented Jan 22, 2024

Please, checkout current master. I've added examples/full_example.launch. Try running that and see if it fails, too. This should need nothing else running and should provide you with an RViz window displaying results of a running LaserScan body filter.

@advented0126
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Thanks you ,I will try it later.

@advented0126
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Sorry, I don't understand what you mean.Should I remake my Ros workspace without cpp flag only using catkin build to test it?

@peci1
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peci1 commented Jan 24, 2024

You said you're building this package from source. Just update it from git (git pull). No rebuilding needed.

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