Problem with or_rviz when launching table_clearing

[stepelle]

1. I run rosrun or_rviz test.py:
   rviz correctly loads and visualizes the environment. However, the following warning is present
   _[plugindatabase.h:929 _SysLoadLibrary] /home/rosubuntu/ros_ws/devel/share/openrave-0.9/plugins/or_sbpl_plugin.so: /home/rosubuntu/ros_ws/devel/lib/libor_sbpl.so: undefined symbol:
   _ZN4YAML6detail9node_data12empty_scalarE
   [plugindatabase.h:857 _LoadPlugin] failed to load: /home/rosubuntu/ros_ws/devel/share/openrave-0.9/plugins/or_sbpl_plugin.so
   [kinbody.cpp:3232 _ComputeInternalInformation] whiteboard link index 0 has no name
   [kinbody.cpp:3232 ComputeInternalInformation] whiteboard link index 1 has no name

2. I run rosrun table_clearing runHardcodedTask.py --task table_clearing_task --viewSim qtcoin --vision-sim:
   everying is correctly shown even if these warnings exist

   _[plugindatabase.h:929 _SysLoadLibrary] /home/rosubuntu/ros_ws/devel/share/openrave-0.9/plugins/or_sbpl_plugin.so: /home/rosubuntu/ros_ws/devel/lib/libor_sbpl.so: undefined symbol:
   _ZN4YAML6detail9node_data12empty_scalarE
   [plugindatabase.h:857 LoadPlugin] failed to load:
   /home/rosubuntu/ros_ws/devel/share/openrave-0.9/plugins/or_sbpl_plugin.so

   [ WARN] [1441620093.532895787]: Group 'head_hand' is empty.
   [kinbody.cpp:1470 SetDOFValues] dof 4 value is not in limits 0.000000e+00<5.235988e-01
   [kinbody.cpp:1470 SetDOFValues] dof 15 value is not in limits 0.000000e+00<5.235988e-01
   [plugindatabase.h:577 Create] Failed to create name SBPL, interface planner
   WARNING: QApplication was not created in the main() thread.
   [plugindatabase.h:577 Create] Failed to create name viewerrecorder, interface module

3. I run rosrun table_clearing runHardcodedTask.py --task table_clearing_task --viewSim rviz --vision-sim:
   Rviz window opens but nothing is shown (nor the scene or the window buttons). I have the same warnings of point 2 and this error and segmentation fault
   _[kinbody.cpp:3378 _ComputeInternalInformation] failed to set mimic equations on kinematics body herb: openrave (InvalidArguments): [virtual void OpenRAVE::KinBody::Joint::SetMimicEquations(int, const string&, const string&, const string&):1144] failed to set equation '/left/j01_0.321429+0.000000' on herb:/left/j02, at 8. Error is Syntax error: Operator expected*
   Program received signal SIGSEGV, Segmentation fault.
   0x081270f7 in PyEval_CallObjectWithKeywords ()

4. I tried to use on test.py the out-of-process "interactivemarker" mode without
   success. I'm probably doing something wrong. I tried it on test.py. When I
   send some command through the shell, I have a segmentation fault.

I'm working on 14.04.1-Ubuntu i686.

[jeking04]

I have a few ideas. First, for #1, the or_sbpl problem is probably just that you need to download or_sbpl into your workspace: https://github.com/personalrobotics/or_sbpl

This will be unrelated to rviz or the crash, but will get rid of the message. You might also need to install ros-indigo-sbpl from apt to get or_sbpl to build properly.

We have sometimes seen a crash of or_rviz on 14.04 due to a race condition in initialization. Could you run this test and see if you still get the crash:

cmd> rosrun herbpy console.py --sim --viewer rviz

This should load herb in an empty rviz environment. If you see the crash, could you then run:

cmd> rosrun herbpy console.py --sim
ipython> env.SetViewer('rviz')

And see if you still get the crash.

[mkoval]

From the stack trace you sent by email, it looks like you may be missing a few dependencies. If you are on Ubuntu 14.04, then you should be able to install them via rosdep. If you have not already, you will need initialize rosdep and add our custom configuration to /etc/ros/rosdep before doing so.

[mkoval]

There was also a bug in interactive_markers (ros-visualization/interactive_markers#18) that will cause SEGFAULTs in our viewer. This is fixed in the latest version of the code, but it's possible that you have an older version installed. I suggest building interactive_markers from source to rule this out:

$ wstool set interactive_markers https://github.com/ros-visualization/interactive_markers.git --git -v indigo-devel

Make sure you source devel/setup.bash again after building the library so you are sure you're using the right version.

[stepelle]

I downloaded or_sbplfrom github, substituting the existing version, and the problem was fixed. I run

cmd> rosrun herbpy console.py --sim --viewer rviz

and everything worked out.

The problem related to

rosrun table_clearing runHardcodedTask.py --task table_clearing_task --viewSim rviz --vision-sim

was solved by adding a pause in the code: the program crashed before the visualization in rviz was possible. The crash is still there but it seems to be not related to or_viz (even if it is not clear to me why it doesn't happen when using qtcoin as visualizer).

Thank you for the help.