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WIP: fix chomp issues #1377

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merged 1 commit into from Mar 6, 2019

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commented Mar 4, 2019

This is an attempt to fix various chomp issues.

  • 1st one is to fix a segfault when the main planner fails. In this case res.trajectory_ is NULL.

Open issues:

  • plan + exec behaves differently (fails) than separate plan and execute (when triggered from rviz plugin)
    When running plan+exec, the initial RobotState seems to be undefined, while it is defined otherwise.

@rhaschke rhaschke referenced this pull request Mar 5, 2019

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Releasing MoveIt! 1.0 #1326

9 of 12 tasks complete

@rhaschke rhaschke requested a review from bmagyar Mar 5, 2019

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commented Mar 5, 2019

I take this is not yet ready to review, right? The changes so far look good!

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commented Mar 5, 2019

@bmagyar I hope we / you? can fix more of the chomp issues before releasing. That's why I marked this as wip.

fix segfault
If the main planner fails, res.trajectory_ is NULL, and accessing it segfaults.
Now, bail out in this case.

@rhaschke rhaschke force-pushed the ubi-agni:fix-chomp branch from 0983662 to 1012092 Mar 5, 2019

@rhaschke rhaschke merged commit b2cbfc4 into ros-planning:master Mar 6, 2019

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@rhaschke rhaschke deleted the ubi-agni:fix-chomp branch Mar 6, 2019

MohmadAyman added a commit to MohmadAyman/moveit that referenced this pull request Mar 9, 2019

fix segfault in chomp adapter (ros-planning#1377)
If the main planner fails, res.trajectory_ is NULL, and accessing it segfaults.
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