Segfault in GRIPEvenSceneLoaded()

[jmainpri]

At last week's hackathon we intended to simulate a full body waving gesture with hubo. The motion was planned in openrave and the idea was to execute it using hubo-motion-rt connected to dart through ach using hubo-ach-tab. dart was unfortunately returning a segfault right after loading the scene.

Can someone tell me the sequence of commands, to start the simulation properly?

The Readme file says:

sudo service tech virtual

which returns => tech: unrecognized service

When I do it manually:

sudo ach -1 -C hubo-ref -m 10 -n 3000 -o 666
sudo ach -1 -C hubo-state -m 10 -n 8000 -o 666

launching "gdb HuboAchTab" fails on

frame->SimulateFrame(evt);

in void HuboAchTab::GRIPEventSceneLoaded() in file HuboAchTab.cpp

with the following error (this is the same error I had at the hackathon) dart stats up and then shuts down almost instantaneously:

trying to load installed world from /usr/share/hubo-ach-tab

• World Info *

---

• Robot[0]: huboplus : 63 DOFs
  --(v) Done Parsing World information (v)--
  --(v) Done Updating TreeView (v)--
  update All Tabs
  Automatically starting simulation

(HuboAchTab:13088): LIBDBUSMENU-GLIB-WARNING **: Trying to remove a child that doesn't believe we're it's parent.

(HuboAchTab:13088): LIBDBUSMENU-GLIB-WARNING **: Trying to remove a child that doesn't believe we're it's parent.

(HuboAchTab:13088): LIBDBUSMENU-GLIB-WARNING **: Trying to remove a child that doesn't believe we're it's parent.

(HuboAchTab:13088): LIBDBUSMENU-GLIB-WARNING **: Trying to remove a child that doesn't believe we're it's parent.

(HuboAchTab:13088): LIBDBUSMENU-GLIB-WARNING **: Trying to remove a child that doesn't believe we're it's parent.

(HuboAchTab:13088): LIBDBUSMENU-GLIB-WARNING **: Trying to remove a child that doesn't believe we're it's parent.
[Thread 0x7fffe26af700 (LWP 13835) exited]
[Thread 0x7fffe963c700 (LWP 13792) exited]
[Thread 0x7fffe9e3d700 (LWP 13781) exited]
Inferior 1 (process 13088) exited with code 0377 bt
No stack.

[saulrh]

There are two issues here.

The first issue, with service tech not existing, is that some of the hubo-ach stuff has been renamed and those changes haven't been propagated into hubo-ach-tab.

The second issue looks to be something with wxwidgets. I'll see if I can reproduce it.

[jmainpri]

Hi, were you able to reproduce the bug?

[saulrh]

Not yet. I'm working on getting my instructions up to date to see if that
was the issue.

If you look in /etc/init.d/hubo-motion, is there a function "DartHubo"
around line 165? If so, try doing "sudo service hubo-motion dart" to set up
the ach channels. If you installed dart, grip, ach, hubo-ach, and
hubo-motion-rt from debian packages, you may also have some luck installing
hubo-ach-tab using "cpack -G DEB && sudo dpkg -i *.deb" from the build
directory for hubo-ach-tab.

On Thu, May 2, 2013 at 1:50 PM, Jim Mainprice notifications@github.comwrote:

Hi, were you able to reproduce the bug?

—
Reply to this email directly or view it on GitHubhttps://github.com//issues/8#issuecomment-17353241
.

[jmainpri]

I have DartHubo at line 165 and i tried setting up the ach channels with "sudo service hubo-motion dart" but it doesn't change anything. I've installed the git version of everything.

[jmainpri]

With the latest version it doesn't segfault anymore :-). I do have an error with hubo-motion-rt though.

Everything seems to work fine otherwise, I haven't tested talking to the ach channels yet.

sudo service tech virtual
tech: unrecognized service

[saulrh]

The service's name was changed from "tech" to "hubo-motion" at some point. They've also renamed the option you have to run from "virtual" to "dart".

If you're running on a recent installation of the hubo-ach stack, there should be a file called "hubo-motion" in the /etc/init.d/ directory. If so, run "sudo service hubo-motion dart" to set up the ach channels. I've updated the Readme to reflect these changes.