JAXON_RED cannot generate collada model in 32bit? #355

garaemon · 2015-07-20T08:07:56Z

in 32bit, we cannot generate JAXON_RED.dae

[hrpsys_ros_bridge_tutorials] Collada Info: joint type free not supported                                                  
[hrpsys_ros_bridge_tutorials] [ 90%] Generating /home/leus/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridg
e_tutorials/models/JAXON_WH.urdf 
[hrpsys_ros_bridge_tutorials] ;                                                                                            
[hrpsys_ros_bridge_tutorials]       0/  16471;                                                                             
[hrpsys_ros_bridge_tutorials]     910/  16471;                                                                             
[hrpsys_ros_bridge_tutorials]    1820/  16471;                                                                             
[hrpsys_ros_bridge_tutorials]    2730/  16471[ 90%] Generating /home/leus/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/h
rpsys_ros_bridge_tutorials/models/JAXON_WH_SENSORS.urdf 
[hrpsys_ros_bridge_tutorials] ;                                                                                            
[hrpsys_ros_bridge_tutorials]    3640/  16471;                                                                             
[hrpsys_ros_bridge_tutorials]    4550/  16471;                                                                             
[hrpsys_ros_bridge_tutorials]    5460/  16471;                                                                             
[hrpsys_ros_bridge_tutorials]    6370/  16471;                                                                             
[hrpsys_ros_bridge_tutorials]    7280/  16471;                                                                             
[hrpsys_ros_bridge_tutorials]    8190/  16471[ 90%] Built target JAXON_WH_SENSORS.urdf_generate                            
[hrpsys_ros_bridge_tutorials] ;                                                                                            
[hrpsys_ros_bridge_tutorials]    9100/  16471;                                                                             
[hrpsys_ros_bridge_tutorials]   10010/  16471;                                                                             
[hrpsys_ros_bridge_tutorials]   10920/  16471;                                                                             
[hrpsys_ros_bridge_tutorials]   11830/  16471terminate called after throwing an instance of 'std::bad_alloc'               
[hrpsys_ros_bridge_tutorials]   what():  std::bad_alloc                                                                    
[hrpsys_ros_bridge_tutorials] ;                                                                                            
[hrpsys_ros_bridge_tutorials]   12740/  16471;                                                                             
[hrpsys_ros_bridge_tutorials]   13650/  16471;                                                                             
[hrpsys_ros_bridge_tutorials]   14560/  16471;                                                                             [hrpsys_ros_bridge_tutorials]   15470/  16471;                                                                             
[hrpsys_ros_bridge_tutorials]   16380/  16471                                                                              
[hrpsys_ros_bridge_tutorials] [ 91%] Generating staro_joint_minmax_conf_done                                               
[hrpsys_ros_bridge_tutorials] make[2]: *** [/home/leus/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON_RED.dae]  () 
[hrpsys_ros_bridge_tutorials] make[1]: *** [CMakeFiles/jaxon_red_hrpsys_ros_bridge_tutorials_compile_dae.dir/all]  2       [hrpsys_ros_bridge_tutorials] make[1]: *** ....                                                                            
[hrpsys_ros_bridge_tutorials] Xserver connection failed[ 91%] Built target staro_hrpsys_ros_bridge_tutorials_compile_joint_minmax

The text was updated successfully, but these errors were encountered:

garaemon · 2015-07-20T08:09:28Z

not urdf model but collada model

garaemon · 2015-07-20T08:10:43Z

gdb

gdb --args /home/leus/ros/hydro_parent/devel/bin/openhrp-export-collada -i /home/leus/ros/hydro/src/rtm-ros-roboti
cs/rtmros_hrp2/jsk_models/JAXON_RED/JAXON_REDmain.wrl -o /home/leus/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON_RED.dae

            Joint node RLEG_JOINT5
              Segment node RLEG_LINK5
                ForceSensorrfsensor
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc

Program received signal SIGABRT, Aborted.
0xb7fdd424 in __kernel_vsyscall ()
(gdb) where
#0  0xb7fdd424 in __kernel_vsyscall ()
#1  0xb72c3e0f in raise () from /lib/i386-linux-gnu/libc.so.6
#2  0xb72c7455 in abort () from /lib/i386-linux-gnu/libc.so.6
#3  0xb753713d in __gnu_cxx::__verbose_terminate_handler() () from /usr/lib/i386-linux-gnu/libstdc++.so.6
#4  0xb7534ed3 in ?? () from /usr/lib/i386-linux-gnu/libstdc++.so.6
#5  0xb7534f0f in std::terminate() () from /usr/lib/i386-linux-gnu/libstdc++.so.6
#6  0xb753505e in __cxa_throw () from /usr/lib/i386-linux-gnu/libstdc++.so.6
#7  0xb753567f in operator new(unsigned int) () from /usr/lib/i386-linux-gnu/libstdc++.so.6
#8  0xb753574b in operator new[](unsigned int) () from /usr/lib/i386-linux-gnu/libstdc++.so.6
#9  0x080ac2cb in ShapeSetInfo_impl::shapes() ()
#10 0x08087558 in ColladaWriter::_WriteLink(BodyInfo_impl*, int, daeSmartRef<daeElement>, daeSmartRef<ColladaDOM150::domNode>, std::string const&, std::map<std::string, int, std::less<std::string>, std::allocator<std::pair<std::string const, int> > >) ()
#11 0x0808832e in ColladaWriter::_WriteLink(BodyInfo_impl*, int, daeSmartRef<daeElement>, daeSmartRef<ColladaDOM150::domNode>, std::string const&, std::map<std::string, int, std::less<std::string>, std::allocator<std::pair<std::string const, int> > >) ()
#12 0x0808832e in ColladaWriter::_WriteLink(BodyInfo_impl*, int, daeSmartRef<daeElement>, daeSmartRef<ColladaDOM150::domNode>, std::string const&, std::map<std::string, int, std::less<std::string>, std::allocator<std::pair<std::string const, int> > >) ()
#13 0x0808832e in ColladaWriter::_WriteLink(BodyInfo_impl*, int, daeSmartRef<daeElement>, daeSmartRef<ColladaDOM150::domNode>, std::string const&, std::map<std::string, int, std::less<std::string>, std::allocator<std::pair<std::string const, int> > >) ()
#14 0x0808832e in ColladaWriter::_WriteLink(BodyInfo_impl*, int, daeSmartRef<daeElement>, daeSmartRef<ColladaDOM150::domNode>, std::string const&, std::map<std::string, int, std::less<std::string>, std::allocator<std::pair<std::string const, int> > >) ()
#15 0x0808832e in ColladaWriter::_WriteLink(BodyInfo_impl*, int, daeSmartRef<daeElement>, daeSmartRef<ColladaDOM150::domNode>, std::string const&, std::map<std::string, int, std::less<std::string>, std::allocator<std::pair<std::string const, int> > >) ()
#16 0x0808a2bd in ColladaWriter::WriteKinematics_model(BodyInfo_impl*) ()
#17 0x0808ffb1 in ColladaWriter::_WriteInstance_kinematics_model(BodyInfo_impl*, daeSmartRef<daeElement>, std::string const&) ()
#18 0x08091e37 in ColladaWriter::_WriteRobot(BodyInfo_impl*) ()
#19 0x08079f0b in ColladaWriter::Write(BodyInfo_impl*) ()
#20 0x0806aa2d in main ()

garaemon · 2015-07-20T08:12:47Z

hmm, need to recompile openhrp3?

garaemon · 2015-07-20T08:21:28Z

JAXON.dae is successfully converted

garaemon · 2015-07-20T08:29:08Z

compiled with "-g"

(gdb) where
#0  0xb7fdd424 in __kernel_vsyscall ()
#1  0xb72c3e0f in raise () from /lib/i386-linux-gnu/libc.so.6
#2  0xb72c7455 in abort () from /lib/i386-linux-gnu/libc.so.6
#3  0xb753713d in __gnu_cxx::__verbose_terminate_handler() () from /usr/lib/i386-linux-gnu/libstdc++.so.6
#4  0xb7534ed3 in ?? () from /usr/lib/i386-linux-gnu/libstdc++.so.6
#5  0xb7534f0f in std::terminate() () from /usr/lib/i386-linux-gnu/libstdc++.so.6
#6  0xb753505e in __cxa_throw () from /usr/lib/i386-linux-gnu/libstdc++.so.6
#7  0xb753567f in operator new(unsigned int) () from /usr/lib/i386-linux-gnu/libstdc++.so.6
#8  0xb753574b in operator new[](unsigned int) () from /usr/lib/i386-linux-gnu/libstdc++.so.6
#9  0x080ac2cb in allocbuf (nelems=<optimized out>) at /usr/include/omniORB4/seqTemplatedecls.h:171
#10 copybuffer (newmax=<optimized out>, this=<optimized out>) at /usr/include/omniORB4/seqTemplatedecls.h:288
#11 length (len=8262, this=0xbfaae50c) at /usr/include/omniORB4/seqTemplatedecls.h:155
#12 operator= (this=0xbfaae50c, s=...) at /usr/include/omniORB4/seqTemplatedecls.h:260
#13 operator= (s=..., this=0xbfaae50c) at /usr/include/omniORB4/seqTemplatedecls.h:332
#14 operator= (s=..., this=0xbfaae50c) at /usr/include/omniORB4/seqTemplatedecls.h:576
#15 operator= (_s=..., this=0xbfaae50c) at /home/leus/ros/hydro_parent/build/openhrp3/hrplib/hrpCorba/OpenHRPCommon.hh:78
#16 operator= (this=0xbfaae4f4) at /home/leus/ros/hydro_parent/build/openhrp3/hrplib/hrpCorba/ModelLoader.hh:1057
#17 _CORBA_Sequence (s=..., this=0xbfaacc80) at /usr/include/omniORB4/seqTemplatedecls.h:236
#18 _CORBA_Unbounded_Sequence (s=..., this=0xbfaacc80) at /usr/include/omniORB4/seqTemplatedecls.h:325
#19 ShapeInfoSequence (_s=..., this=0xbfaacc80) at /home/leus/ros/hydro_parent/build/openhrp3/hrplib/hrpCorba/ModelLoader.hh:1090
#20 ShapeSetInfo_impl::shapes (this=0xbfffaa04) at /home/leus/ros/hydro_parent/src/openhrp3/server/ModelLoader/ShapeSetInfo_impl.cpp:89
#21 0x08087558 in ColladaWriter::_WriteLink (this=0xbfffab84, bodyInfo=0xbfffa978, ilink=5, pkinparent=<error reading variable: Cannot access memory at address 0x4>, pnodeparent=..., strModelUri=..., mapjointnames=...)
    at /home/leus/ros/hydro_parent/src/openhrp3/server/ModelLoader/ColladaWriter.h:1229
#22 0x0808832e in ColladaWriter::_WriteLink (this=0xbfffab84, bodyInfo=0xbfffa978, ilink=4, pkinparent=..., pnodeparent=..., strModelUri=..., mapjointnames=...) at /home/leus/ros/hydro_parent/src/openhrp3/server/ModelLoader/ColladaWriter.h:1277
#23 0x0808832e in ColladaWriter::_WriteLink (this=0xbfffab84, bodyInfo=0xbfffa978, ilink=3, pkinparent=..., pnodeparent=..., strModelUri=..., mapjointnames=...) at /home/leus/ros/hydro_parent/src/openhrp3/server/ModelLoader/ColladaWriter.h:1277
#24 0x0808832e in ColladaWriter::_WriteLink (this=0xbfffab84, bodyInfo=0xbfffa978, ilink=2, pkinparent=..., pnodeparent=..., strModelUri=..., mapjointnames=...) at /home/leus/ros/hydro_parent/src/openhrp3/server/ModelLoader/ColladaWriter.h:1277
#25 0x0808832e in ColladaWriter::_WriteLink (this=0xbfffab84, bodyInfo=0xbfffa978, ilink=1, pkinparent=..., pnodeparent=..., strModelUri=..., mapjointnames=...) at /home/leus/ros/hydro_parent/src/openhrp3/server/ModelLoader/ColladaWriter.h:1277
#26 0x0808832e in ColladaWriter::_WriteLink (this=0xbfffab84, bodyInfo=0xbfffa978, ilink=0, pkinparent=..., pnodeparent=..., strModelUri=..., mapjointnames=...) at /home/leus/ros/hydro_parent/src/openhrp3/server/ModelLoader/ColladaWriter.h:1277
#27 0x0808a2bd in ColladaWriter::WriteKinematics_model (this=0xbfffab84, bodyInfo=0xbfffa978) at /home/leus/ros/hydro_parent/src/openhrp3/server/ModelLoader/ColladaWriter.h:654
#28 0x0808ffb1 in ColladaWriter::_WriteInstance_kinematics_model (this=0xbfffab84, bodyInfo=0xbfffa978, parent=..., sidscope=...) at /home/leus/ros/hydro_parent/src/openhrp3/server/ModelLoader/ColladaWriter.h:467
#29 0x08091e37 in ColladaWriter::_WriteRobot (this=0xbfffab84, bodyInfo=0xbfffa978) at /home/leus/ros/hydro_parent/src/openhrp3/server/ModelLoader/ColladaWriter.h:280
#30 0x08079f0b in ColladaWriter::Write (this=0xbfffab84, bodyInfo=0xbfffa978) at /home/leus/ros/hydro_parent/src/openhrp3/server/ModelLoader/ColladaWriter.h:242
#31 0x0806aa2d in main (argc=5, argv=0xbfffaf54) at /home/leus/ros/hydro_parent/src/openhrp3/server/ModelLoader/exportCollada.cpp:130

garaemon · 2015-07-20T08:38:51Z

It happens on jaxonred

garaemon · 2015-07-20T08:42:07Z

I found that it crashed in reading/writing HEAD_LINK1.wrl.
If I replace JAXON_RED/HEAD_LINK1.wrl with JAXON/HEAD_LINK1.wrl, it would be no crash but eventually it crashes in LARM_LINK0.wrl.

snozawa · 2015-07-20T09:53:07Z

How about reverting JAXON_RED vrml model?

YoheiKakiuchi · 2015-07-20T10:35:41Z

How about using environment variable ORBgiopMaxMsgSize=2147483648

garaemon · 2015-07-20T12:31:00Z

export ORBgiopMaxMsgSize=2147483648 didn't work

YoheiKakiuchi · 2015-07-21T06:02:08Z

Is this problem of CORBA ?

garaemon · 2015-07-21T06:56:39Z

I dont know but it crashes in corba idl object

k-okada · 2015-07-21T14:28:09Z

I don't think
/home/leus/ros/hydro_parent/devel/bin/openhrp-export-collada
uses corba communication, maybe wrl is not correct.

◉ Kei Okada

On Tue, Jul 21, 2015 at 3:56 PM, Ryohei Ueda notifications@github.com
wrote:

I dont know but it crashes in corba idl object

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#355 (comment)
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garaemon · 2015-07-21T14:55:30Z

Not communication but struct is defined via idl?

2015年7月21日火曜日、Kei Okadanotifications@github.comさんは書きました:

I don't think
/home/leus/ros/hydro_parent/devel/bin/openhrp-export-collada
uses corba communication, maybe wrl is not correct.

◉ Kei Okada

On Tue, Jul 21, 2015 at 3:56 PM, Ryohei Ueda <notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');>
wrote:

I dont know but it crashes in corba idl object

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YoheiKakiuchi · 2015-07-22T06:23:05Z

I have no idea for the actual cause.
Reducing corba communication solves this problem....
fkanehiro/openhrp3#63

eisoku9618 · 2015-10-20T04:43:35Z

fkanehiro/openhrp3#63 seems not to solve this problem.

In JAXON, catkin bt --start-with-this --force-cmake -v -p1 -j1 in hrpsys_ros_bridge fails as follows.

Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
make[2]: *** [/home/leus/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON_RED.dae]  ()
make[1]: *** [CMakeFiles/jaxon_red_hrpsys_ros_bridge_tutorials_compile_dae.dir/all]  2
make: *** [all]  2

After I replace JAXON_RED/LARM_LINK0.wrl and JAXON_RED/HEAD_LINK1.wrl with JAXON, the build command succeeded.

YoheiKakiuchi · 2015-10-22T02:32:56Z

please check your openhrp3 version, confirm using correct binary.

iory · 2016-04-18T06:29:15Z

@eisoku9618 @YoheiKakiuchi `結局どうなりましたか？

YoheiKakiuchi · 2016-04-18T06:39:21Z

32ビットOSでは、起こる環境があるように思います。

…nse_calib_file [jsk_hrp2_ros_bridge/calib_data] Update hrp2007 multisense calibration file

garaemon changed the title ~~JAXON_RED cannot generate urdf model in 32bit?~~ JAXON_RED cannot generate collada model in 32bit? Jul 20, 2015

itohdak pushed a commit to itohdak/rtmros_tutorials that referenced this issue Jan 10, 2019

Merge pull request start-jsk#355 from k-kimura/update_hrp2007_multise…

15ec774

…nse_calib_file [jsk_hrp2_ros_bridge/calib_data] Update hrp2007 multisense calibration file

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JAXON_RED cannot generate collada model in 32bit? #355

JAXON_RED cannot generate collada model in 32bit? #355

garaemon commented Jul 20, 2015

garaemon commented Jul 20, 2015

garaemon commented Jul 20, 2015

garaemon commented Jul 20, 2015

garaemon commented Jul 20, 2015

garaemon commented Jul 20, 2015

garaemon commented Jul 20, 2015

garaemon commented Jul 20, 2015

snozawa commented Jul 20, 2015

YoheiKakiuchi commented Jul 20, 2015

garaemon commented Jul 20, 2015

YoheiKakiuchi commented Jul 21, 2015

garaemon commented Jul 21, 2015

k-okada commented Jul 21, 2015

garaemon commented Jul 21, 2015

YoheiKakiuchi commented Jul 22, 2015

eisoku9618 commented Oct 20, 2015

YoheiKakiuchi commented Oct 22, 2015

iory commented Apr 18, 2016

YoheiKakiuchi commented Apr 18, 2016

JAXON_RED cannot generate collada model in 32bit? #355

JAXON_RED cannot generate collada model in 32bit? #355

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k-okada commented Jul 21, 2015

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eisoku9618 commented Oct 20, 2015

YoheiKakiuchi commented Oct 22, 2015

iory commented Apr 18, 2016

YoheiKakiuchi commented Apr 18, 2016