Segfault calling spawn() from ComputeIK stage in latest ROS 2 version

[sea-bass]

I've just upgraded to the latest version of MoveIt 2 and MTC and running into an issue I could use some help with.

I've partially isolated a new segfault to the ComputeIK stage calling spawn() in this line: https://github.com/ros-planning/moveit_task_constructor/blob/ros2/core/src/stages/compute_ik.cpp#L437 ... which in turn fails in this line: https://github.com/ros-planning/moveit_task_constructor/blob/master/core/src/stage.cpp#L237

The error itself is:

 terminate called after throwing an instance of 'std::out_of_range'
   what():  vector::_M_range_check: __n (which is 12) >= this->size() (which is 12)

Any ideas that could help pinpoint the problem?

[sea-bass]

I just saw moveit/moveit2#2615 which may actually point to the root cause, if it's also happening outside MTC?

[sea-bass]

Update: I've found that reverting moveit/moveit2#2546 makes this issue go away. Seems to be related to a recent refactor of MoveIt's RobotState type and nothing to do with MTC.

[marioprats]

This should be (partially) fixed by: #519
The real fix should happen on the MoveIt RobotState side.

[rhaschke]

I don't see how #519 is related to spawn().

[sea-bass]

Right. It's an underlying MoveIt issue with the RobotState refactor that we ended up finding later. We can close this as it's not related to MTC.

Thank you for looking into this!