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[Issue] Segmentation Fault when running urdf2graspit_node #68

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flydog521 opened this issue Nov 28, 2024 · 1 comment
Open

[Issue] Segmentation Fault when running urdf2graspit_node #68

flydog521 opened this issue Nov 28, 2024 · 1 comment

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@flydog521
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Dear Author,

I hope this message finds you well. First of all, I would like to express my gratitude for the urdf2graspit tool, which has been incredibly useful for my work.

I am writing to report an issue I encountered while using the urdf2graspit_node. When attempting to convert a URDF file into a GraspIt! model, I experienced a segmentation fault. The command I used was as follows:

> rosrun urdf2graspit urdf2graspit_node \
>     ~/catkin_ws/src/gripper/urdf/gripper.urdf \
>     ~/catkin_ws/src/gripper/graspit_models \
>     base_link left_gripper right_gripper

The conversion process seemed to proceed normally until the very end, at which point the program crashed with a "Segmentation fault (core dumped)" message. I have verified that my input files are correct and that I followed the instructions in the documentation.

Here is the full terminal output, which may help in diagnosing the problem:

[ INFO] [1732804980.297763005]: URDF file: /home/kf/catkin_ws/src/gripper/urdf/gripper.urdf
[ INFO] [1732804980.297900374]: Output dir: /home/kf/catkin_ws/src/gripper/graspit_models
[ INFO] [1732804980.297948454]: Hand root: base_link
[ INFO] [1732804980.297966328]: Joint: left_gripper
[ INFO] [1732804980.298003187]: Joint: right_gripper
[ INFO] [1732804980.299332601]: output_material: <plastic>
[ INFO] [1732804980.300345559]: scale_factor: <1000.000000>
[ INFO] [1732804980.301103185]: negate_joint_movement: <0>
[ INFO] [1732804980.305118827]: Starting model conversion...
[ INFO] [1732804980.305358959]: ### Loading from URDF file /home/kf/catkin_ws/src/gripper/urdf/gripper.urdf...
[ INFO] [1732804980.305592008]: Setting base model directory to /home/kf/catkin_ws/src/gripper/urdf
[ INFO] [1732804980.306039401]: ### Converting files starting from link base_link
[ INFO] [1732804980.306094775]: ### Preparing for DH conversion...
[ INFO] [1732804980.306122667]: URDF before joining fixed links: 
[ INFO] [1732804980.306174445]: Printing model down from link: base_link
[ INFO] [1732804980.306293028]: **base_link: parent joint NULL
[ INFO] [1732804980.306349625]:    **left_Link: parent joint left_gripper
[ INFO] [1732804980.306383729]:    **right_Link: parent joint right_gripper
[ INFO] [1732804980.306564219]: ### Joining fixed links..
[ INFO] [1732804980.306640913]: ############### Joining fixed links
[ INFO] [1732804980.306710033]: Start from root link: base_link
[ INFO] [1732804980.306981254]: URDF after joining fixed links: 
[ INFO] [1732804980.307062026]: Printing model down from link: base_link
[ INFO] [1732804980.307128511]: **base_link: parent joint NULL
[ INFO] [1732804980.307193704]:    **left_Link: parent joint left_gripper
[ INFO] [1732804980.307258466]:    **right_Link: parent joint right_gripper
[ INFO] [1732804980.307322807]: ### Transforming rotation axes to z...
[ INFO] [1732804980.307403529]: ############### Aligning rotation axis to [0, 0, 1]
[ INFO] [1732804980.311941685]: ### Converting files...
[ INFO] [1732804980.312102077]: ### Urdf2GraspIt::preConvert for robot gripper
[ INFO] [1732804980.312272198]: ##### Computing DH parameters out of model
[ INFO] [1732804980.312361185]: ############### Getting DH params
[ INFO] [1732804980.312484858]: ### Starting DH conversion from link base_link
[ INFO] [1732804980.312574727]: ======== Transforming joint left_gripper to DH parameters.
[ INFO] [1732804980.312709060]: ======== Transforming joint right_gripper to DH parameters.
[ INFO] [1732804980.312830479]: ############### Transform links to DH reference frames
[ INFO] [1732804980.316231874]: --- DH Parameters: ---
[ INFO] [1732804980.316701618]: left_gripper: d=0, r=0, theta=0, alpha=0, dof_idx=0 (prismatic)
[ INFO] [1732804980.316748937]: right_gripper: d=0, r=0, theta=0, alpha=0, dof_idx=1 (prismatic)
[ INFO] [1732804980.316783302]: ##### Scaling DH parameters
[ INFO] [1732804980.316856530]: ############### Scaling model
[ INFO] [1732804980.318060056]: ############### Converting meshes
[ INFO] [1732804980.318233162]: Convert mesh for link 'base_link'
[ INFO] [1732804980.329118339]: Converting mesh file /home/kf/catkin_ws/src/gripper/meshes/base_link.STL with factor 1000
[ INFO] [1732804980.329932502]: Scaling the mesh /home/kf/catkin_ws/src/gripper/meshes/base_link.STL with factor 1000
[ INFO] [1732804980.361712891]: Convert mesh for link 'left_Link'
[ INFO] [1732804980.377005573]: Converting mesh file /home/kf/catkin_ws/src/gripper/meshes/left_Link.STL with factor 1000
[ INFO] [1732804980.377632804]: Scaling the mesh /home/kf/catkin_ws/src/gripper/meshes/left_Link.STL with factor 1000
[ INFO] [1732804980.415787012]: Convert mesh for link 'right_Link'
[ INFO] [1732804980.416224245]: Converting mesh file /home/kf/catkin_ws/src/gripper/meshes/right_Link.STL with factor 1000
[ INFO] [1732804980.416665276]: Scaling the mesh /home/kf/catkin_ws/src/gripper/meshes/right_Link.STL with factor 1000
[ INFO] [1732804980.439283027]: ### Urdf2GraspIt::postConvert for robot gripper
[ INFO] [1732804980.439602779]: ############### Getting XML
[ INFO] [1732804980.440617299]: Conversion done.
段错误 (核心已转储)

my urdf：

<?xml version="1.0" encoding="utf-8"?>

<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected]) 

     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578

     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->

<robot

  name="gripper">

  <link

    name="base_link">

    <inertial>

      <origin

        xyz="0.00071481 1.3035E-08 0.0367"

        rpy="0 0 0" />

      <mass

        value="0.20436" />

      <inertia

        ixx="0.00014463"

        ixy="-1.6371E-10"

        ixz="3.3175E-06"

        iyy="0.00016506"

        iyz="1.533E-10"

        izz="9.367E-05" />

    </inertial>

    <visual>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://gripper/meshes/base_link.STL" />

      </geometry>

      <material

        name="">

        <color

          rgba="0.79216 0.81961 0.93333 1" />

      </material>

    </visual>

    <collision>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://gripper/meshes/base_link.STL" />

      </geometry>

    </collision>

  </link>

  <link

    name="left_Link">

    <inertial>

      <origin

        xyz="-0.013523 0.017097 0.012374"

        rpy="0 0 0" />

      <mass

        value="0.012374" />

      <inertia

        ixx="2.7148E-06"

        ixy="2.3906E-07"

        ixz="-6.5477E-07"

        iyy="3.6615E-06"

        iyz="4.7346E-07"

        izz="1.5304E-06" />

    </inertial>

    <visual>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://gripper/meshes/left_Link.STL" />

      </geometry>

      <material

        name="">

        <color

          rgba="0.52941 0.54902 0.54902 1" />

      </material>

    </visual>

    <collision>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://gripper/meshes/left_Link.STL" />

      </geometry>

    </collision>

  </link>

  <joint

    name="left_gripper"

    type="prismatic">

    <origin

      xyz="-0.0265 0.01 0.0815"

      rpy="0 0 3.1416" />

    <parent

      link="base_link" />

    <child

      link="left_Link" />

    <axis

      xyz="-1 0 0" />

    <limit

      lower="-0.0175"

      upper="0"

      effort="0"

      velocity="0" />

  </joint>

  <link

    name="right_Link">

    <inertial>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <mass

        value="0" />

      <inertia

        ixx="0"

        ixy="0"

        ixz="0"

        iyy="0"

        iyz="0"

        izz="0" />

    </inertial>

    <visual>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://gripper/meshes/right_Link.STL" />

      </geometry>

      <material

        name="">

        <color

          rgba="0.52941 0.54902 0.54902 1" />

      </material>

    </visual>

    <collision>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://gripper/meshes/right_Link.STL" />

      </geometry>

    </collision>

  </link>

  <joint

    name="right_gripper"

    type="prismatic">

    <origin

      xyz="0.009 -0.009825 0.081803"

      rpy="0 0 0" />

    <parent

      link="base_link" />

    <child

      link="right_Link" />

    <axis

      xyz="-1 0 0" />

    <limit

      lower="-0.0175"

      upper="0"

      effort="0"

      velocity="0" />

  </joint>

</robot>

If there is any additional information or testing that could be helpful, please let me know. I look forward to your response and appreciate your time and assistance in resolving this matter.

Best regards,

[email protected]
@JenniferBuehler
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Owner

Hello, I am so sorry for the very late response. I hope I will have time over the holidays to look at this. Are there any new developments since you opened the issue? Have you run it through gdb or valgrind?

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@JenniferBuehler @flydog521