Conflict with non-released updates in geometric_shapes@noetic-devel

[fmessmer]

I'm trying to use this filter on our robot to filter robot_body parts from a PointCloud

While I got it to work on real HW, I experience issues when using the same filter pipeline/config with sensor data simulated in gazebo - see "Details" below
Has anybody used this filter together with gazebo, too?

First I thought the simulated PointCloud message might be the problem or it might be related to filtering meshes.
But I get a filtered output PointCloud from the robot_body_filter before the SegFault - thus I dont think it's the data
And I get the same SegFault when only filtering SolidPrimitives (i.e. Boxes)

So eventually, I think this is related to maybe tf being published at a slower rate in gazebo (real-time factor!)?
Or maybe the robot_body_filter node not considering sim_time: true or something

I also don't understand the log messages...

[ INFO] [1652874275.464236263, 8.168000000]: /robot_body_filter(TFFramesWatchdog::searchForReachableFrames): TFFramesWatchdog (torso_cam3d_bottom_depth_optical_frame): Frame test_link became reachable at 8.168000000

actually sounds like something good happening....but it SegFaults right after that!

Are there any parameters that I could play with to relax potential tf timeouts?
Any additional hints to debug this SegFault? Thanks!

``` started roslaunch server http://alpamayo:38357/

SUMMARY

PARAMETERS

• /robot_body_filter/cloud_filter_chain: [{'name': 'robot_...
• /rosdistro: noetic
• /rosversion: 1.15.14

NODES
/
robot_body_filter (sensor_filters/pointcloud2_filter_chain)

ROS_MASTER_URI=http://localhost:11311

process[robot_body_filter-1]: started with pid [1104702]
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Reading symbols from /opt/ros/noetic/lib/sensor_filters/pointcloud2_filter_chain...
--Type for more, q to quit, c to continue without paging--c
(No debugging symbols found in /opt/ros/noetic/lib/sensor_filters/pointcloud2_filter_chain)
Starting program: /opt/ros/noetic/lib/sensor_filters/pointcloud2_filter_chain ~input:=/torso_cam3d_bottom/depth/points ~output:=/torso_cam3d_bottom/depth/points_filtered __name:=robot_body_filter log:=/home/fxm/.ros/log/ae38a35c-d69f-11ec-a079-e98e37d8e7f7/robot_body_filter-1.log
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7ffff42ac700 (LWP 1104822)]
[New Thread 0x7ffff3aab700 (LWP 1104823)]
[New Thread 0x7ffff32aa700 (LWP 1104824)]
[New Thread 0x7ffff2aa9700 (LWP 1104825)]
[ INFO] [1652874266.266266917, 7.160000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Found parameter: sensor/point_by_point, value: False
[ INFO] [1652874266.268948633, 7.160000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Found parameter: transforms/buffer_length, value: 60.000000 s
[New Thread 0x7fffe197e700 (LWP 1104873)]
[ INFO] [1652874266.302806741, 7.163000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Found parameter: frames/fixed, value: base_link
[ INFO] [1652874266.303274481, 7.163000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Found parameter: frames/sensor, value: torso_cam3d_bottom_depth_optical_frame
[ INFO] [1652874266.306058089, 7.163000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Found parameter: frames/filtering, value: torso_cam3d_bottom_depth_optical_frame
[ INFO] [1652874266.306634509, 7.163000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Found parameter: sensor/min_distance, value: 0.000000 m
[ INFO] [1652874266.307093232, 7.163000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Found parameter: sensor/max_distance, value: 2.000000 m
[ INFO] [1652874266.307797563, 7.163000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Found parameter: body_model/robot_description_param, value: /robot_description
[ INFO] [1652874266.308176273, 7.163000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Found parameter: filter/keep_clouds_organized, value: True
[ INFO] [1652874266.309143428, 7.163000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Found parameter: filter/model_pose_update_interval, value: 0.000000 s
[ INFO] [1652874266.309552967, 7.163000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Found parameter: filter/do_clipping, value: True
[ INFO] [1652874266.311286367, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Found parameter: filter/do_contains_test, value: True
[ INFO] [1652874266.312016289, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Found parameter: filter/do_shadow_test, value: False
[ INFO] [1652874266.312961398, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Found parameter: filter/max_shadow_distance, value: 2.000000 m
[ INFO] [1652874266.313842679, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Found parameter: transforms/timeout/reachable, value: 0.100000 s
[ INFO] [1652874266.314885319, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Found parameter: transforms/timeout/unreachable, value: 0.200000 s
[ INFO] [1652874266.315764613, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Found parameter: transforms/require_all_reachable, value: False
[ INFO] [1652874266.316376708, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter bounding_sphere/publish_cut_out_pointcloud not defined, assigning default: False
[ INFO] [1652874266.316769610, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Found parameter: bounding_box/publish_cut_out_pointcloud, value: False
[ INFO] [1652874266.316943156, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter oriented_bounding_box/publish_cut_out_pointcloud not defined, assigning default: False
[ INFO] [1652874266.316974232, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter local_bounding_box/publish_cut_out_pointcloud not defined, assigning default: False
[ INFO] [1652874266.317001224, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter bounding_sphere/compute not defined, assigning default: False
[ INFO] [1652874266.317031035, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Found parameter: bounding_box/compute, value: False
[ INFO] [1652874266.317055972, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter oriented_bounding_box/compute not defined, assigning default: False
[ INFO] [1652874266.317895075, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter local_bounding_box/compute not defined, assigning default: False
[ INFO] [1652874266.318058339, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter bounding_sphere/debug not defined, assigning default: False
[ INFO] [1652874266.319147916, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter bounding_box/debug not defined, assigning default: False
[ INFO] [1652874266.319917465, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter oriented_bounding_box/debug not defined, assigning default: False
[ INFO] [1652874266.321123209, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter local_bounding_box/debug not defined, assigning default: False
[ INFO] [1652874266.322318696, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter bounding_sphere/marker not defined, assigning default: False
[ INFO] [1652874266.323932030, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter bounding_box/marker not defined, assigning default: False
[ INFO] [1652874266.324288608, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter oriented_bounding_box/marker not defined, assigning default: False
[ INFO] [1652874266.324397226, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter local_bounding_box/marker not defined, assigning default: False
[ INFO] [1652874266.324551261, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter local_bounding_box/frame_id not defined, assigning default: base_link
[ INFO] [1652874266.324662172, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Found parameter: debug/pcl/inside, value: False
[ INFO] [1652874266.324806651, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Found parameter: debug/pcl/clip, value: False
[ INFO] [1652874266.325027957, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Found parameter: debug/pcl/shadow, value: False
[ INFO] [1652874266.325918933, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Found parameter: debug/marker/contains, value: False
[ INFO] [1652874266.326025054, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Found parameter: debug/marker/shadow, value: False
[ INFO] [1652874266.326129102, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter debug/marker/bounding_sphere not defined, assigning default: False
[ INFO] [1652874266.327593080, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter debug/marker/bounding_box not defined, assigning default: False
[ INFO] [1652874266.328036678, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Found parameter: body_model/inflation/padding, value: 0.030000 m
[ INFO] [1652874266.328162408, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Found parameter: body_model/inflation/scale, value: 1.000000
[ INFO] [1652874266.328274965, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter body_model/inflation/contains_test/padding not defined, assigning default: 0.030000 m
[ INFO] [1652874266.328490782, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter body_model/inflation/contains_test/scale not defined, assigning default: 1.000000
[ INFO] [1652874266.329814176, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter body_model/inflation/shadow_test/padding not defined, assigning default: 0.030000 m
[ INFO] [1652874266.330097885, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter body_model/inflation/shadow_test/scale not defined, assigning default: 1.000000
[ INFO] [1652874266.330207487, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter body_model/inflation/bounding_sphere/padding not defined, assigning default: 0.030000 m
[ INFO] [1652874266.330403855, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter body_model/inflation/bounding_sphere/scale not defined, assigning default: 1.000000
[ INFO] [1652874266.330581312, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter body_model/inflation/bounding_box/padding not defined, assigning default: 0.030000 m
[ INFO] [1652874266.331063924, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter body_model/inflation/bounding_box/scale not defined, assigning default: 1.000000
[ INFO] [1652874266.331248820, 7.164000000]: /robot_body_filter(FilterBase::getParamVerboseMap): robot_body_filter_containment: Parameter body_model/inflation/per_link/padding not defined, assigning default: {} m
[ INFO] [1652874266.331361251, 7.164000000]: /robot_body_filter(FilterBase::getParamVerboseMap): robot_body_filter_containment: Parameter body_model/inflation/per_link/scale not defined, assigning default: {}
[ INFO] [1652874266.331550596, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter ignored_links/bounding_sphere not defined, assigning default: []
[ INFO] [1652874266.332191717, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter ignored_links/bounding_box not defined, assigning default: []
[ INFO] [1652874266.332314027, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter ignored_links/contains_test not defined, assigning default: []
[ INFO] [1652874266.332426775, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter ignored_links/shadow_test not defined, assigning default: ["laser"]
[ INFO] [1652874266.332543035, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Found parameter: ignored_links/everywhere, value: ["torso_cam3d_bottom_link"]
[ INFO] [1652874266.332727647, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Found parameter: only_links, value: ["test_link"]
[ INFO] [1652874266.332963173, 7.164000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter body_model/dynamic_robot_description/field_name not defined, assigning default: robot_model
[New Thread 0x7fffe117d700 (LWP 1104874)]
[ INFO] [1652874266.379603495, 7.173000000]: /robot_body_filter(TFFramesWatchdog::searchForReachableFrames): TFFramesWatchdog (torso_cam3d_bottom_depth_optical_frame): Frame torso_cam3d_bottom_depth_optical_frame became reachable at 7.171000000
[ INFO] [1652874266.391269303, 7.173000000]: /robot_body_filter(RobotBodyFilter::configure): RobotBodyFilter: Successfully configured.
[ INFO] [1652874266.391635744, 7.173000000]: /robot_body_filter(RobotBodyFilter::configure): Filtering data in frame torso_cam3d_bottom_depth_optical_frame
[ INFO] [1652874266.391902447, 7.173000000]: /robot_body_filter(RobotBodyFilter::configure): RobotBodyFilter: Filtering into the following categories:
[ INFO] [1652874266.392050973, 7.173000000]: /robot_body_filter(RobotBodyFilter::configure): RobotBodyFilter: OUTSIDE
[ INFO] [1652874266.392242579, 7.173000000]: /robot_body_filter(RobotBodyFilter::configure): RobotBodyFilter: CLIP
[ INFO] [1652874266.392383724, 7.173000000]: /robot_body_filter(RobotBodyFilter::configure): RobotBodyFilter: INSIDE
[ INFO] [1652874266.392528936, 7.173000000]: /robot_body_filter(RobotBodyFilter::configure): RobotBodyFilter: Filtering applied to links ["test_link"] with these links excluded: ["torso_cam3d_bottom_link"].
[ INFO] [1652874266.392656495, 7.173000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Found parameter: frames/output, value: torso_cam3d_bottom_depth_optical_frame
[ INFO] [1652874266.392801770, 7.173000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter cloud/point_channels not defined, assigning default: ["vp"]
[ INFO] [1652874266.403096473, 7.174000000]: /robot_body_filter(FilterBase::getParamVerbose): robot_body_filter_containment: Parameter cloud/direction_channels not defined, assigning default: ["normal"]
[ INFO] [1652874266.403349974, 7.174000000]: /robot_body_filter(FilterChainBase::initFilters): Configured filter chain of type sensor_msgs/PointCloud2 from namespace /robot_body_filter/cloud_filter_chain
[ERROR] [1652874266.948915619, 7.219000000]: /robot_body_filter(RayCastingShapeMask::updateBodyPosesNoLock): Missing transform for shape test_link::0 (box)
[ INFO] [1652874266.974278894, 7.221000000]: /robot_body_filter(RobotBodyFilter::computeMask): RobotBodyFilter: Mask computed in 0.00643 secs.
[ INFO] [1652874266.974371447, 7.221000000]: /robot_body_filter(RobotBodyFilter::computeMask): RobotBodyFilter: Filtering run time is 0.00658 secs.
[ERROR] [1652874267.587398951, 7.281000000]: /robot_body_filter(RayCastingShapeMask::updateBodyPosesNoLock): Missing transform for shape test_link::0 (box)
[ INFO] [1652874267.618778450, 7.281000000]: /robot_body_filter(RobotBodyFilter::computeMask): RobotBodyFilter: Mask computed in 0.00626 secs.
[ INFO] [1652874267.619368723, 7.281000000]: /robot_body_filter(RobotBodyFilter::computeMask): RobotBodyFilter: Filtering run time is 0.00651 secs.
[ERROR] [1652874268.254474563, 7.345000000]: /robot_body_filter(RayCastingShapeMask::updateBodyPosesNoLock): Missing transform for shape test_link::0 (box)
[ INFO] [1652874268.262294920, 7.345000000]: /robot_body_filter(RobotBodyFilter::computeMask): RobotBodyFilter: Mask computed in 0.00570 secs.
[ INFO] [1652874268.263384428, 7.345000000]: /robot_body_filter(RobotBodyFilter::computeMask): RobotBodyFilter: Filtering run time is 0.00600 secs.
[ERROR] [1652874268.804828648, 7.416000000]: /robot_body_filter(RayCastingShapeMask::updateBodyPosesNoLock): Missing transform for shape test_link::0 (box)
[ INFO] [1652874268.812696253, 7.417000000]: /robot_body_filter(RobotBodyFilter::computeMask): RobotBodyFilter: Mask computed in 0.00564 secs.
[ INFO] [1652874268.812773668, 7.417000000]: /robot_body_filter(RobotBodyFilter::computeMask): RobotBodyFilter: Filtering run time is 0.00575 secs.
[ERROR] [1652874269.332022793, 7.472000000]: /robot_body_filter(RayCastingShapeMask::updateBodyPosesNoLock): Missing transform for shape test_link::0 (box)
[ INFO] [1652874269.347230021, 7.474000000]: /robot_body_filter(RobotBodyFilter::computeMask): RobotBodyFilter: Mask computed in 0.00576 secs.
[ INFO] [1652874269.347289552, 7.474000000]: /robot_body_filter(RobotBodyFilter::computeMask): RobotBodyFilter: Filtering run time is 0.00587 secs.
[ERROR] [1652874270.041836650, 7.561000000]: /robot_body_filter(RayCastingShapeMask::updateBodyPosesNoLock): Missing transform for shape test_link::0 (box)
[ INFO] [1652874270.074277857, 7.565000000]: /robot_body_filter(RobotBodyFilter::computeMask): RobotBodyFilter: Mask computed in 0.00714 secs.
[ INFO] [1652874270.074529526, 7.565000000]: /robot_body_filter(RobotBodyFilter::computeMask): RobotBodyFilter: Filtering run time is 0.00726 secs.
[ERROR] [1652874270.567284762, 7.607000000]: /robot_body_filter(RayCastingShapeMask::updateBodyPosesNoLock): Missing transform for shape test_link::0 (box)
[ INFO] [1652874270.581640438, 7.607000000]: /robot_body_filter(RobotBodyFilter::computeMask): RobotBodyFilter: Mask computed in 0.00589 secs.
[ INFO] [1652874270.581699439, 7.607000000]: /robot_body_filter(RobotBodyFilter::computeMask): RobotBodyFilter: Filtering run time is 0.00598 secs.
[ERROR] [1652874271.119675245, 7.682000000]: /robot_body_filter(RayCastingShapeMask::updateBodyPosesNoLock): Missing transform for shape test_link::0 (box)
[ INFO] [1652874271.126813706, 7.682000000]: /robot_body_filter(RobotBodyFilter::computeMask): RobotBodyFilter: Mask computed in 0.00577 secs.
[ INFO] [1652874271.126874611, 7.682000000]: /robot_body_filter(RobotBodyFilter::computeMask): RobotBodyFilter: Filtering run time is 0.00587 secs.
[ERROR] [1652874271.614572948, 7.729000000]: /robot_body_filter(RayCastingShapeMask::updateBodyPosesNoLock): Missing transform for shape test_link::0 (box)
[ INFO] [1652874271.625155992, 7.730000000]: /robot_body_filter(RobotBodyFilter::computeMask): RobotBodyFilter: Mask computed in 0.00625 secs.
[ INFO] [1652874271.625375549, 7.730000000]: /robot_body_filter(RobotBodyFilter::computeMask): RobotBodyFilter: Filtering run time is 0.00635 secs.
[ERROR] [1652874272.386260280, 7.811000000]: /robot_body_filter(RayCastingShapeMask::updateBodyPosesNoLock): Missing transform for shape test_link::0 (box)
[ INFO] [1652874272.393699142, 7.811000000]: /robot_body_filter(RobotBodyFilter::computeMask): RobotBodyFilter: Mask computed in 0.00573 secs.
[ INFO] [1652874272.393797406, 7.811000000]: /robot_body_filter(RobotBodyFilter::computeMask): RobotBodyFilter: Filtering run time is 0.00588 secs.
[ERROR] [1652874273.047674516, 7.891000000]: /robot_body_filter(RayCastingShapeMask::updateBodyPosesNoLock): Missing transform for shape test_link::0 (box)
[ INFO] [1652874273.054201521, 7.892000000]: /robot_body_filter(RobotBodyFilter::computeMask): RobotBodyFilter: Mask computed in 0.00609 secs.
[ INFO] [1652874273.054305147, 7.892000000]: /robot_body_filter(RobotBodyFilter::computeMask): RobotBodyFilter: Filtering run time is 0.00626 secs.
[ERROR] [1652874273.643079076, 7.963000000]: /robot_body_filter(RayCastingShapeMask::updateBodyPosesNoLock): Missing transform for shape test_link::0 (box)
[ INFO] [1652874273.650786838, 7.963000000]: /robot_body_filter(RobotBodyFilter::computeMask): RobotBodyFilter: Mask computed in 0.00651 secs.
[ INFO] [1652874273.651405320, 7.963000000]: /robot_body_filter(RobotBodyFilter::computeMask): RobotBodyFilter: Filtering run time is 0.00666 secs.
[ERROR] [1652874274.104660230, 8.010000000]: /robot_body_filter(RayCastingShapeMask::updateBodyPosesNoLock): Missing transform for shape test_link::0 (box)
[ INFO] [1652874274.116530653, 8.012000000]: /robot_body_filter(RobotBodyFilter::computeMask): RobotBodyFilter: Mask computed in 0.00591 secs.
[ INFO] [1652874274.117471024, 8.012000000]: /robot_body_filter(RobotBodyFilter::computeMask): RobotBodyFilter: Filtering run time is 0.00615 secs.
[ERROR] [1652874274.753310595, 8.086000000]: /robot_body_filter(RayCastingShapeMask::updateBodyPosesNoLock): Missing transform for shape test_link::0 (box)
[ INFO] [1652874274.762670958, 8.086000000]: /robot_body_filter(RobotBodyFilter::computeMask): RobotBodyFilter: Mask computed in 0.00611 secs.
[ INFO] [1652874274.766801807, 8.090000000]: /robot_body_filter(RobotBodyFilter::computeMask): RobotBodyFilter: Filtering run time is 0.00632 secs.
[ERROR] [1652874275.352529500, 8.154000000]: /robot_body_filter(RayCastingShapeMask::updateBodyPosesNoLock): Missing transform for shape test_link::0 (box)
[ INFO] [1652874275.361050299, 8.156000000]: /robot_body_filter(RobotBodyFilter::computeMask): RobotBodyFilter: Mask computed in 0.00585 secs.
[ INFO] [1652874275.361116807, 8.156000000]: /robot_body_filter(RobotBodyFilter::computeMask): RobotBodyFilter: Filtering run time is 0.00595 secs.
[ INFO] [1652874275.464236263, 8.168000000]: /robot_body_filter(TFFramesWatchdog::searchForReachableFrames): TFFramesWatchdog (torso_cam3d_bottom_depth_optical_frame): Frame test_link became reachable at 8.168000000

Thread 1 "pointcloud2_fil" received signal SIGSEGV, Segmentation fault.
0x00007ffff2159f1a in bodies::Box::cloneAt(Eigen::Transform<double, 3, 1, 0> const&, double, double) const () from /home/fxm/projects/default/moveit_ws/devel/lib/libgeometric_shapes.so.0.7.3
(gdb) bt
#0 0x00007ffff2159f1a in bodies::Box::cloneAt(Eigen::Transform<double, 3, 1, 0> const&, double, double) const ()
from /home/fxm/projects/default/moveit_ws/devel/lib/libgeometric_shapes.so.0.7.3
#1 0x00007ffff2280a76 in robot_body_filter::RayCastingShapeMask::updateBodyPosesNoLock() () from /home/fxm/projects/default/robot_ws/devel/lib/libRayCastingShapeMask.so
#2 0x00007ffff22828ea in robot_body_filter::RayCastingShapeMask::maskContainmentAndShadows(sensor_msgs::PointCloud2_<std::allocator > const&, std::vector<robot_body_filter::RayCastingShapeMask::MaskValue, std::allocator<robot_body_filter::RayCastingShapeMask::MaskValue> >&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) ()
from /home/fxm/projects/default/robot_ws/devel/lib/libRayCastingShapeMask.so
#3 0x00007ffff221506c in robot_body_filter::RobotBodyFilter<sensor_msgs::PointCloud2_<std::allocator > >::computeMask(sensor_msgs::PointCloud2_<std::allocator > const&, std::vector<robot_body_filter::RayCastingShapeMask::MaskValue, std::allocator<robot_body_filter::RayCastingShapeMask::MaskValue> >&, std::cxx11::basic_string<char, std::char_traits, std::allocator > const&) () from /home/fxm/projects/default/robot_ws/devel/lib//librobot_body_filter.so
#4 0x00007ffff21bc19e in robot_body_filter::RobotBodyFilterPointCloud2::update(sensor_msgs::PointCloud2<std::allocator > const&, sensor_msgs::PointCloud2<std::allocator >&) () from /home/fxm/projects/default/robot_ws/devel/lib//librobot_body_filter.so
#5 0x000055555557fd04 in sensor_filters::FilterChainBase<sensor_msgs::PointCloud2_<std::allocator > >::filter(sensor_msgs::PointCloud2_<std::allocator > const&, sensor_msgs::PointCloud2_<std::allocator >&) ()
#6 0x000055555557db84 in sensor_filters::FilterChainBase<sensor_msgs::PointCloud2_<std::allocator > >::callbackReference(sensor_msgs::PointCloud2_<std::allocator > const&)
()
#7 0x000055555558d434 in ros::SubscriptionCallbackHelperT<sensor_msgs::PointCloud2_<std::allocator > const&, void>::call(ros::SubscriptionCallbackHelperCallParams&) ()

</details>

[fmessmer]

the node crashes the first time, a transform becomes available in https://github.com/peci1/robot_body_filter/blob/master/src/RayCastingShapeMask.cpp#L138

but I still don't get what's going on there - as I see the filtered pointcloud before the transform is availalbe....so the robot_body_filter already did what I wanted it to do...and then it crashed because a tranform became available...

is this an issue of some kind of incompatibility with geometric_shapes library?
is this possibly related to the PRs there?

• Added bodies::Body::computeBoundingBox (oriented box version).  moveit/geometric_shapes#105
• [melodic backport] Added body operations constructShapeFromBody() and constructMarkerFromBody(). moveit/geometric_shapes#209

@peci1 do you have any further insights here?

[peci1]

Hi, I'm sorry I ignored this issue when you first reported it, I had some problems with receiving emails from Github. We definitely use this library in sim time, so that should not be a problem.

Could you try to provide a minimal bag file and filter config so that I can try to reproduce the issue locally? And could you provide a stack trace when the library is built in debug mode (it would work super-slow, but for debugging purposes, it would be the best we could have)?

[fmessmer]

thanks for getting back to me!

I guess (part of) the issue was actually on my side
I figured out I had a source overlay of geometric_shapes in my workspace chain - as part of my moveit (source) workspace

So once I removed that overlay of geometric_shapes and compiled robot_body_filter against the released version of geometric_shapes (0.7.3), I could use the robot_body_filter in gazebo simulation - as expected!

Adding geometric_shapes overlay again shows that everything still works with geometric_shapes at tag 0.7.3
But I'm getting the same SIGSEGV, Segmentation fault. once I switch geometric_shapes to latest noetic-devel

Seems like there is a potential regression coming up - once the moveit team decides to release a new version of geometric_shapes

Can you confirm my argumentation makes sense?

[peci1]

Hmm, the noetic-devel branch has added FCL library as a new dependency. Can you check what version of libfcl-dev do you have installed? Is it the system one?

[fmessmer]

dpkg -l libfcl-dev 
Desired=Unknown/Install/Remove/Purge/Hold
| Status=Not/Inst/Conf-files/Unpacked/halF-conf/Half-inst/trig-aWait/Trig-pend
|/ Err?=(none)/Reinst-required (Status,Err: uppercase=bad)
||/ Name           Version       Architecture Description
+++-==============-=============-============-==============================================
ii  libfcl-dev     0.5.0-5build1 amd64        Flexible Collision Library - development files

I'm (pretty) sure I don't have a source overlay of libfcl....

[peci1]

And ros-noetic-fcl? Can you check against which is robot_body_filter linked? I.e. ldd devel/lib/librobot_body_filter.so | grep fcl

[fmessmer]

dpkg -l ros-noetic-fcl
Desired=Unknown/Install/Remove/Purge/Hold
| Status=Not/Inst/Conf-files/Unpacked/halF-conf/Half-inst/trig-aWait/Trig-pend
|/ Err?=(none)/Reinst-required (Status,Err: uppercase=bad)
||/ Name           Version                      Architecture Description
+++-==============-============================-============-===================================
ii  ros-noetic-fcl 0.6.1-3focal.20220515.061114 amd64        FCL: the Flexible Collision Library

using geometric_shapes#0.7.3:

ldd devel/lib/librobot_body_filter.so |grep fcl
	libfcl.so.0.6 => /opt/ros/noetic/lib/x86_64-linux-gnu/libfcl.so.0.6 (0x00007fe410f15000)

using geometric_shapes#noetic-devel now gives me a compilation error:
(not sure why I didn't see that before - possibly because my geometric_shapes overlay was downstream of my robot_body_filter overlay....

Starting  >>> robot_body_filter                                                                                                                                                         
________________________________________________________________________________________________________________________________________________________________________________________
Errors     << robot_body_filter:make /home/fxm/projects/default/robot_ws/logs/robot_body_filter/build.make.022.log                                                                      
In file included from /home/fxm/projects/default/robot_ws/src/robot_body_filter/include/robot_body_filter/utils/bodies.h:7,
                 from /home/fxm/projects/default/robot_ws/src/robot_body_filter/src/utils/bodies.cpp:10:
/home/fxm/projects/default/robot_ws/src/robot_body_filter/include/robot_body_filter/utils/obb.h:53:7: error: redefinition of ‘class bodies::OBB’
   53 | class OBB
      |       ^~~
In file included from /home/fxm/projects/default/robot_ws/src/geometric_shapes/include/geometric_shapes/bodies.h:45,
                 from /home/fxm/projects/default/robot_ws/src/robot_body_filter/src/utils/bodies.cpp:6:
/home/fxm/projects/default/robot_ws/src/geometric_shapes/include/geometric_shapes/obb.h:52:7: note: previous definition of ‘class bodies::OBB’
   52 | class OBB
      |       ^~~
In file included from /home/fxm/projects/default/robot_ws/src/robot_body_filter/include/robot_body_filter/utils/bodies.h:7,
                 from /home/fxm/projects/default/robot_ws/src/robot_body_filter/src/utils/shapes.cpp:6:
/home/fxm/projects/default/robot_ws/src/robot_body_filter/include/robot_body_filter/utils/obb.h:53:7: error: redefinition of ‘class bodies::OBB’
   53 | class OBB
      |       ^~~
In file included from /home/fxm/projects/default/robot_ws/src/geometric_shapes/include/geometric_shapes/bodies.h:45,
                 from /home/fxm/projects/default/robot_ws/src/robot_body_filter/include/robot_body_filter/utils/bodies.h:4,
                 from /home/fxm/projects/default/robot_ws/src/robot_body_filter/src/utils/shapes.cpp:6:
/home/fxm/projects/default/robot_ws/src/geometric_shapes/include/geometric_shapes/obb.h:52:7: note: previous definition of ‘class bodies::OBB’
   52 | class OBB
      |       ^~~
make[2]: *** [CMakeFiles/robot_body_filter_utils.dir/build.make:102: CMakeFiles/robot_body_filter_utils.dir/src/utils/shapes.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [CMakeFiles/robot_body_filter_utils.dir/build.make:63: CMakeFiles/robot_body_filter_utils.dir/src/utils/bodies.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:1873: CMakeFiles/robot_body_filter_utils.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
cd /home/fxm/projects/default/robot_ws/build/robot_body_filter; catkin build --get-env robot_body_filter | catkin env -si  /usr/bin/make --jobserver-auth=42,43; cd -

........................................................................................................................................................................................
Failed     << robot_body_filter:make           [ Exited with code 2 ]                                                                                                                   
Failed    <<< robot_body_filter                [ 5.6 seconds ]

as I said:
the issue was probably on my end having a messed up workspace and not cleaning/sourcing correctly...

[peci1]

Ahh, now I see it. There is a conflict between class bodies::OBB defined in this package and the one that was added to geometric_shapes. I've put the local "copy" in the same namespace. This should be easily fixed on my side by moving it to a different namespace. I'll have a look at it.

[peci1]

Check the latest commit. It should fix the issue you are seeing.

[fmessmer]

thanks @peci1
I can confirm that with 7c7466b I can now use the robot_body_filter with both geometric_shapes#0.7.3 and geometric_shapes#noetic-devel

[peci1]

Thank you for reporting the issue!