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verified publisher icon mikeferguson

Seg fault on object support segmentation

Open elsayedelsheikh opened this issue 8 months ago • 2 comments

Issue

When I tires to run the node with

ros2 run simple_grasping basic_grasping_perception_node --ros-args -p debug_topics:=true -p frame_id:=world -r /head_camera/depth_registered/points:=/eef_camera/pcl -p continuous_detection:=true --log-level DEBUG

I get

[ros2run]: Segmentation fault

I think this is the cause https://github.com/mikeferguson/simple_grasping/blob/5ca780e82d10eb5ad00ee667b9e35ced7cc15a30/src/object_support_segmentation.cpp#L94

System Setup

Component Version
OS Docker-Ubuntu22.04
ROS 2 Distribution Humble
PCL 1.12.1
Eigen3 3.4.0

Log

Click to expand full log 
[DEBUG] [1750403419.940910862] [rclcpp]: signal handler installed
[DEBUG] [1750403419.940935298] [rclcpp]: deferred_signal_handler(): waiting for SIGINT/SIGTERM or uninstall
[DEBUG] [1750403419.941106511] [rcl]: Initializing wait set with '0' subscriptions, '2' guard conditions, '0' timers, '0' clients, '0' services
[DEBUG] [1750403419.941141046] [basic_grasping_perception_node]: Load library libbasic_grasping_perception.so
[DEBUG] [1750403420.005623115] [basic_grasping_perception_node]: Instantiate class rclcpp_components::NodeFactoryTemplate<simple_grasping::BasicGraspingPerception>
[DEBUG] [1750403420.005681305] [rcl]: Couldn't parse arg 0 (/workspaces/ws_panda_curobo/install/lib/simple_grasping/basic_grasping_perception_node) as a remap rule in its deprecated form. Error: Expected lexeme type (19) not found, search ended at index 86, at ./src/rcl/lexer_lookahead.c:239
[DEBUG] [1750403420.005714127] [rcl]: Initializing node 'basic_grasping_perception' in namespace ''
[DEBUG] [1750403420.005731901] [rcl]: Using domain ID of '0'
[DEBUG] [1750403420.007622206] [rcl]: Initializing publisher for topic name '/rosout'
[DEBUG] [1750403420.007647233] [rcl]: Expanded and remapped topic name '/rosout'
[DEBUG] [1750403420.008093495] [rcl]: Publisher initialized
[DEBUG] [1750403420.008110467] [rcl]: Node initialized
[DEBUG] [1750403420.008267173] [rcl]: Initializing service for service name 'basic_grasping_perception/get_parameters'
[DEBUG] [1750403420.008280828] [rcl]: Expanded and remapped service name '/basic_grasping_perception/get_parameters'
[DEBUG] [1750403420.008763739] [rmw_cyclonedds_cpp]: ************ Service Details *********
[DEBUG] [1750403420.008776373] [rmw_cyclonedds_cpp]: Sub Topic rq/basic_grasping_perception/get_parametersRequest
[DEBUG] [1750403420.008783506] [rmw_cyclonedds_cpp]: Pub Topic rr/basic_grasping_perception/get_parametersReply
[DEBUG] [1750403420.008798054] [rmw_cyclonedds_cpp]: ***********
[DEBUG] [1750403420.008953557] [rcl]: Service initialized
[DEBUG] [1750403420.008983213] [rcl]: Initializing service for service name 'basic_grasping_perception/get_parameter_types'
[DEBUG] [1750403420.008997590] [rcl]: Expanded and remapped service name '/basic_grasping_perception/get_parameter_types'
[DEBUG] [1750403420.009044459] [rmw_cyclonedds_cpp]: ************ Service Details *********
[DEBUG] [1750403420.009056441] [rmw_cyclonedds_cpp]: Sub Topic rq/basic_grasping_perception/get_parameter_typesRequest
[DEBUG] [1750403420.009064406] [rmw_cyclonedds_cpp]: Pub Topic rr/basic_grasping_perception/get_parameter_typesReply
[DEBUG] [1750403420.009071650] [rmw_cyclonedds_cpp]: ***********
[DEBUG] [1750403420.009331771] [rcl]: Service initialized
[DEBUG] [1750403420.009353712] [rcl]: Initializing service for service name 'basic_grasping_perception/set_parameters'
[DEBUG] [1750403420.009365594] [rcl]: Expanded and remapped service name '/basic_grasping_perception/set_parameters'
[DEBUG] [1750403420.009421820] [rmw_cyclonedds_cpp]: ************ Service Details *********
[DEBUG] [1750403420.009432711] [rmw_cyclonedds_cpp]: Sub Topic rq/basic_grasping_perception/set_parametersRequest
[DEBUG] [1750403420.009440185] [rmw_cyclonedds_cpp]: Pub Topic rr/basic_grasping_perception/set_parametersReply
[DEBUG] [1750403420.009447359] [rmw_cyclonedds_cpp]: ***********
[DEBUG] [1750403420.009583956] [rcl]: Service initialized
[DEBUG] [1750403420.009601790] [rcl]: Initializing service for service name 'basic_grasping_perception/set_parameters_atomically'
[DEBUG] [1750403420.009611829] [rcl]: Expanded and remapped service name '/basic_grasping_perception/set_parameters_atomically'
[DEBUG] [1750403420.009657745] [rmw_cyclonedds_cpp]: ************ Service Details *********
[DEBUG] [1750403420.009668596] [rmw_cyclonedds_cpp]: Sub Topic rq/basic_grasping_perception/set_parameters_atomicallyRequest
[DEBUG] [1750403420.009676260] [rmw_cyclonedds_cpp]: Pub Topic rr/basic_grasping_perception/set_parameters_atomicallyReply
[DEBUG] [1750403420.009683544] [rmw_cyclonedds_cpp]: ***********
[DEBUG] [1750403420.009869655] [rcl]: Service initialized
[DEBUG] [1750403420.009936351] [rcl]: Initializing service for service name 'basic_grasping_perception/describe_parameters'
[DEBUG] [1750403420.009949726] [rcl]: Expanded and remapped service name '/basic_grasping_perception/describe_parameters'
[DEBUG] [1750403420.009995422] [rmw_cyclonedds_cpp]: ************ Service Details *********
[DEBUG] [1750403420.010002706] [rmw_cyclonedds_cpp]: Sub Topic rq/basic_grasping_perception/describe_parametersRequest
[DEBUG] [1750403420.010008567] [rmw_cyclonedds_cpp]: Pub Topic rr/basic_grasping_perception/describe_parametersReply
[DEBUG] [1750403420.010014639] [rmw_cyclonedds_cpp]: ***********
[DEBUG] [1750403420.010185250] [rcl]: Service initialized
[DEBUG] [1750403420.010205499] [rcl]: Initializing service for service name 'basic_grasping_perception/list_parameters'
[DEBUG] [1750403420.010217261] [rcl]: Expanded and remapped service name '/basic_grasping_perception/list_parameters'
[DEBUG] [1750403420.010262566] [rmw_cyclonedds_cpp]: ************ Service Details *********
[DEBUG] [1750403420.010271934] [rmw_cyclonedds_cpp]: Sub Topic rq/basic_grasping_perception/list_parametersRequest
[DEBUG] [1750403420.010278216] [rmw_cyclonedds_cpp]: Pub Topic rr/basic_grasping_perception/list_parametersReply
[DEBUG] [1750403420.010284187] [rmw_cyclonedds_cpp]: ***********
[DEBUG] [1750403420.010492710] [rcl]: Service initialized
[DEBUG] [1750403420.010521324] [rcl]: Initializing publisher for topic name '/parameter_events'
[DEBUG] [1750403420.010533357] [rcl]: Expanded and remapped topic name '/parameter_events'
[DEBUG] [1750403420.010773570] [rcl]: Publisher initialized
[DEBUG] [1750403420.011022129] [rcl]: Initializing subscription for topic name '/parameter_events'
[DEBUG] [1750403420.011037197] [rcl]: Expanded and remapped topic name '/parameter_events'
[DEBUG] [1750403420.011324509] [rcl]: Subscription initialized
[DEBUG] [1750403420.012477053] [rcl]: Initializing publisher for topic name 'object_cloud'
[DEBUG] [1750403420.012511237] [rcl]: Expanded and remapped topic name '/object_cloud'
[DEBUG] [1750403420.013637862] [rcl]: Publisher initialized
[DEBUG] [1750403420.013941184] [rcl]: Initializing publisher for topic name 'support_cloud'
[DEBUG] [1750403420.013959038] [rcl]: Expanded and remapped topic name '/support_cloud'
[DEBUG] [1750403420.014202377] [rcl]: Publisher initialized
[DEBUG] [1750403420.014282788] [rcl]: Arg 1 (-r) is not a --param nor a -p flag.
[DEBUG] [1750403420.014293599] [rcl]: Got remap rule : __node:=transform_listener_impl_6214863377f0

[DEBUG] [1750403420.014305631] [rcl]: Initializing node '_' in namespace ''
[DEBUG] [1750403420.014315500] [rcl]: Using domain ID of '0'
[DEBUG] [1750403420.014407944] [rcl]: Initializing publisher for topic name '/rosout'
[DEBUG] [1750403420.014420678] [rcl]: Expanded and remapped topic name '/rosout'
[DEBUG] [1750403420.014600147] [rcl]: Publisher initialized
[DEBUG] [1750403420.014615095] [rcl]: Node initialized
[DEBUG] [1750403420.014755770] [rcl]: Initializing subscription for topic name '/parameter_events'
[DEBUG] [1750403420.014786909] [rcl]: Expanded and remapped topic name '/parameter_events'
[DEBUG] [1750403420.015102604] [rcl]: Subscription initialized
[DEBUG] [1750403420.015258648] [rcl]: Initializing subscription for topic name '/tf'
[DEBUG] [1750403420.015276131] [rcl]: Expanded and remapped topic name '/tf'
[DEBUG] [1750403420.015966363] [rcl]: Subscription initialized
[DEBUG] [1750403420.016037737] [rcl]: Initializing subscription for topic name '/tf_static'
[DEBUG] [1750403420.016050271] [rcl]: Expanded and remapped topic name '/tf_static'
[DEBUG] [1750403420.016232264] [rcl]: Subscription initialized
[DEBUG] [1750403420.016266359] [rcl]: Initializing wait set with '0' subscriptions, '2' guard conditions, '0' timers, '0' clients, '0' services
[DEBUG] [1750403420.016633160] [rcl]: Initializing subscription for topic name '/head_camera/depth_registered/points'
[DEBUG] [1750403420.016651485] [rcl]: Expanded and remapped topic name '/eef_camera/pcl'
[DEBUG] [1750403420.016865288] [rcl]: Subscription initialized
[DEBUG] [1750403420.016949597] [rcl_action]: Initializing action server for action name 'find_objects'
[DEBUG] [1750403420.017009530] [rcl]: Initializing service for service name 'find_objects/_action/send_goal'
[DEBUG] [1750403420.017021272] [rcl]: Expanded and remapped service name '/find_objects/_action/send_goal'
[DEBUG] [1750403420.017411178] [rcl]: Subscription taking message
[DEBUG] [1750403420.017444060] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.017480859] [rcl]: Subscription taking message
[DEBUG] [1750403420.017488994] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.018865030] [rmw_cyclonedds_cpp]: ************ Service Details *********
[DEBUG] [1750403420.018880659] [rmw_cyclonedds_cpp]: Sub Topic rq/find_objects/_action/send_goalRequest
[DEBUG] [1750403420.018888424] [rmw_cyclonedds_cpp]: Pub Topic rr/find_objects/_action/send_goalReply
[DEBUG] [1750403420.018896449] [rmw_cyclonedds_cpp]: ***********
[DEBUG] [1750403420.019145038] [rcl]: Service initialized
[DEBUG] [1750403420.019162561] [rcl]: Initializing service for service name 'find_objects/_action/cancel_goal'
[DEBUG] [1750403420.019174143] [rcl]: Expanded and remapped service name '/find_objects/_action/cancel_goal'
[DEBUG] [1750403420.019408154] [rmw_cyclonedds_cpp]: ************ Service Details *********
[DEBUG] [1750403420.019419195] [rmw_cyclonedds_cpp]: Sub Topic rq/find_objects/_action/cancel_goalRequest
[DEBUG] [1750403420.019424695] [rmw_cyclonedds_cpp]: Pub Topic rr/find_objects/_action/cancel_goalReply
[DEBUG] [1750403420.019429825] [rmw_cyclonedds_cpp]: ***********
[DEBUG] [1750403420.019821694] [rcl]: Service initialized
[DEBUG] [1750403420.019838716] [rcl]: Initializing service for service name 'find_objects/_action/get_result'
[DEBUG] [1750403420.019850749] [rcl]: Expanded and remapped service name '/find_objects/_action/get_result'
[DEBUG] [1750403420.019952571] [rmw_cyclonedds_cpp]: ************ Service Details *********
[DEBUG] [1750403420.019962520] [rmw_cyclonedds_cpp]: Sub Topic rq/find_objects/_action/get_resultRequest
[DEBUG] [1750403420.019969543] [rmw_cyclonedds_cpp]: Pub Topic rr/find_objects/_action/get_resultReply
[DEBUG] [1750403420.019979692] [rmw_cyclonedds_cpp]: ***********
[DEBUG] [1750403420.020571909] [rcl]: Service initialized
[DEBUG] [1750403420.020591426] [rcl]: Initializing publisher for topic name 'find_objects/_action/feedback'
[DEBUG] [1750403420.020624188] [rcl]: Expanded and remapped topic name '/find_objects/_action/feedback'
[DEBUG] [1750403420.021087051] [rcl]: Publisher initialized
[DEBUG] [1750403420.021105025] [rcl]: Initializing publisher for topic name 'find_objects/_action/status'
[DEBUG] [1750403420.021116496] [rcl]: Expanded and remapped topic name '/find_objects/_action/status'
[DEBUG] [1750403420.021288140] [rcl]: Publisher initialized
[DEBUG] [1750403420.021303228] [rcl]: Initializing timer with period: 900000000000ns
[DEBUG] [1750403420.021320070] [rcl]: Timer canceled
[INFO] [1750403420.021353824] [basic_grasping_perception]: basic_grasping_perception initialized
[DEBUG] [1750403420.021462909] [rcl]: Subscription taking message
[DEBUG] [1750403420.021477838] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.021503716] [rcl]: Subscription taking message
[DEBUG] [1750403420.021510830] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.021520117] [rcl]: Subscription taking message
[DEBUG] [1750403420.021527551] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.021536769] [rcl]: Subscription taking message
[DEBUG] [1750403420.021542840] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.021552659] [rcl]: Subscription taking message
[DEBUG] [1750403420.021558229] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.021566785] [rcl]: Subscription taking message
[DEBUG] [1750403420.021572386] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.021580571] [rcl]: Subscription taking message
[DEBUG] [1750403420.021586242] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.021594387] [rcl]: Subscription taking message
[DEBUG] [1750403420.021631778] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.021641707] [rcl]: Subscription taking message
[DEBUG] [1750403420.021647327] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.021655633] [rcl]: Subscription taking message
[DEBUG] [1750403420.021661183] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.021669229] [rcl]: Subscription taking message
[DEBUG] [1750403420.021675110] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.021683185] [rcl]: Subscription taking message
[DEBUG] [1750403420.021688635] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.021696720] [rcl]: Subscription taking message
[DEBUG] [1750403420.021702201] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.021710326] [rcl]: Subscription taking message
[DEBUG] [1750403420.021715726] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.021723811] [rcl]: Subscription taking message
[DEBUG] [1750403420.021729192] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.021737317] [rcl]: Subscription taking message
[DEBUG] [1750403420.021742727] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.035008255] [rcl]: Subscription taking message
[DEBUG] [1750403420.035054893] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.101785445] [rcl]: Subscription taking message
[DEBUG] [1750403420.101822575] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.168607669] [rcl]: Subscription taking message
[DEBUG] [1750403420.168652453] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.234958664] [rcl]: Subscription taking message
[DEBUG] [1750403420.234994792] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.284968642] [rcl]: Subscription taking message
[DEBUG] [1750403420.285004009] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.351592361] [rcl]: Subscription taking message
[DEBUG] [1750403420.351631455] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.401705192] [rcl]: Subscription taking message
[DEBUG] [1750403420.401743334] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.468323432] [rcl]: Subscription taking message
[DEBUG] [1750403420.468357737] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.518379666] [rcl]: Subscription taking message
[DEBUG] [1750403420.518419792] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.584998757] [rcl]: Subscription taking message
[DEBUG] [1750403420.585039955] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.651740339] [rcl]: Subscription taking message
[DEBUG] [1750403420.651788089] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.718337830] [rcl]: Subscription taking message
[DEBUG] [1750403420.718378707] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.768361342] [rcl]: Subscription taking message
[DEBUG] [1750403420.768394896] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.834911383] [rcl]: Subscription taking message
[DEBUG] [1750403420.834944355] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.871159115] [rcl]: Subscription taking message
[DEBUG] [1750403420.878344566] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.884980623] [rcl]: Subscription taking message
[DEBUG] [1750403420.885014406] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403420.887969829] [basic_grasping_perception]: Cloud received with 262144 points.
[DEBUG] [1750403420.894352367] [basic_grasping_perception]: Filtered for range, now 262144 points.
[ERROR] [1750403420.894542846] [pcl_ros]: "realsense_camera" passed to lookupTransform argument source_frame does not exist. 
[ERROR] [1750403420.894557664] [basic_grasping_perception]: Error transforming to frame world
[DEBUG] [1750403420.934963287] [rcl]: Subscription taking message
[DEBUG] [1750403420.935000698] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.001642181] [rcl]: Subscription taking message
[DEBUG] [1750403421.001681365] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.021069911] [rcl]: Subscription taking message
[DEBUG] [1750403421.021139523] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.045758824] [rcl]: Subscription taking message
[DEBUG] [1750403421.045794692] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.068347625] [rcl]: Subscription taking message
[DEBUG] [1750403421.068385356] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.069258362] [rcl]: Subscription taking message
[DEBUG] [1750403421.069275815] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.097946528] [rcl]: Subscription taking message
[DEBUG] [1750403421.097986824] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.118421964] [rcl]: Subscription taking message
[DEBUG] [1750403421.118461629] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.124147302] [rcl]: Subscription taking message
[DEBUG] [1750403421.124212505] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.150039082] [rcl]: Subscription taking message
[DEBUG] [1750403421.150075641] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.175352283] [rcl]: Subscription taking message
[DEBUG] [1750403421.175391657] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.184956045] [rcl]: Subscription taking message
[DEBUG] [1750403421.184997283] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.198712839] [rcl]: Subscription taking message
[DEBUG] [1750403421.198752234] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.226359981] [rcl]: Subscription taking message
[DEBUG] [1750403421.226405517] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.234929914] [rcl]: Subscription taking message
[DEBUG] [1750403421.234965290] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.252168184] [rcl]: Subscription taking message
[DEBUG] [1750403421.252202399] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.277954306] [rcl]: Subscription taking message
[DEBUG] [1750403421.277994432] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.300416708] [rcl]: Subscription taking message
[DEBUG] [1750403421.300462375] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.301583960] [rcl]: Subscription taking message
[DEBUG] [1750403421.301600982] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.326358434] [rcl]: Subscription taking message
[DEBUG] [1750403421.326427374] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.351618654] [rcl]: Subscription taking message
[DEBUG] [1750403421.351659210] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.352100102] [rcl]: Subscription taking message
[DEBUG] [1750403421.352116493] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.378627312] [rcl]: Subscription taking message
[DEBUG] [1750403421.378666676] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.399325438] [rcl]: Subscription taking message
[DEBUG] [1750403421.399393657] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.418367150] [rcl]: Subscription taking message
[DEBUG] [1750403421.418400613] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.425927788] [rcl]: Subscription taking message
[DEBUG] [1750403421.425960730] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.451270533] [rcl]: Subscription taking message
[DEBUG] [1750403421.451311741] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.479456923] [rcl]: Subscription taking message
[DEBUG] [1750403421.479494564] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.484961253] [rcl]: Subscription taking message
[DEBUG] [1750403421.484991139] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.506448257] [rcl]: Subscription taking message
[DEBUG] [1750403421.506488252] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.530624082] [rcl]: Subscription taking message
[DEBUG] [1750403421.530668957] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.551688449] [rcl]: Subscription taking message
[DEBUG] [1750403421.551742060] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.553665277] [rcl]: Subscription taking message
[DEBUG] [1750403421.553691807] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.583764723] [rcl]: Subscription taking message
[DEBUG] [1750403421.583996099] [rcl]: Subscription taking message
[DEBUG] [1750403421.584025194] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.585498402] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.595314115] [basic_grasping_perception]: Cloud received with 262144 points.
[DEBUG] [1750403421.596908932] [basic_grasping_perception]: Filtered for range, now 262144 points.
[ERROR] [1750403421.597037905] [pcl_ros]: Lookup would require extrapolation into the past.  Requested time 4544.966903 but the earliest data is at time 4545.250237, when looking up transform from frame [realsense_camera] to frame [world]
[ERROR] [1750403421.597047574] [basic_grasping_perception]: Error transforming to frame world
[DEBUG] [1750403421.608381379] [rcl]: Subscription taking message
[DEBUG] [1750403421.608419110] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.618339991] [rcl]: Subscription taking message
[DEBUG] [1750403421.618386338] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.628672046] [rcl]: Subscription taking message
[DEBUG] [1750403421.628731839] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.657785203] [rcl]: Subscription taking message
[DEBUG] [1750403421.657824186] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.681396563] [rcl]: Subscription taking message
[DEBUG] [1750403421.681446337] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.684943373] [rcl]: Subscription taking message
[DEBUG] [1750403421.684962579] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.708855229] [rcl]: Subscription taking message
[DEBUG] [1750403421.708896266] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.734176454] [rcl]: Subscription taking message
[DEBUG] [1750403421.734217441] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.751775375] [rcl]: Subscription taking message
[DEBUG] [1750403421.751826892] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.759930285] [rcl]: Subscription taking message
[DEBUG] [1750403421.759973216] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.780777802] [rcl]: Subscription taking message
[DEBUG] [1750403421.780828468] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.809841976] [rcl]: Subscription taking message
[DEBUG] [1750403421.809890227] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.818261416] [rcl]: Subscription taking message
[DEBUG] [1750403421.818294408] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.833507218] [rcl]: Subscription taking message
[DEBUG] [1750403421.833555339] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.861890999] [rcl]: Subscription taking message
[DEBUG] [1750403421.861943959] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.884990825] [rcl]: Subscription taking message
[DEBUG] [1750403421.885028025] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.885656259] [rcl]: Subscription taking message
[DEBUG] [1750403421.885676207] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.909741913] [rcl]: Subscription taking message
[DEBUG] [1750403421.909784674] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.933369144] [rcl]: Subscription taking message
[DEBUG] [1750403421.933412295] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.951625415] [rcl]: Subscription taking message
[DEBUG] [1750403421.951665731] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.962140936] [rcl]: Subscription taking message
[DEBUG] [1750403421.962187494] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403421.989480789] [rcl]: Subscription taking message
[DEBUG] [1750403421.989520715] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403422.015289583] [rcl]: Subscription taking message
[DEBUG] [1750403422.015333907] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403422.018279382] [rcl]: Subscription taking message
[DEBUG] [1750403422.018299971] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403422.040841943] [rcl]: Subscription taking message
[DEBUG] [1750403422.040908529] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403422.064323559] [rcl]: Subscription taking message
[DEBUG] [1750403422.064368404] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403422.085027697] [rcl]: Subscription taking message
[DEBUG] [1750403422.085070457] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403422.094071653] [rcl]: Subscription taking message
[DEBUG] [1750403422.094116938] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403422.117873723] [rcl]: Subscription taking message
[DEBUG] [1750403422.117911775] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403422.135073922] [rcl]: Subscription taking message
[DEBUG] [1750403422.135115620] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403422.142767191] [rcl]: Subscription taking message
[DEBUG] [1750403422.142821063] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403422.165161947] [rcl]: Subscription taking message
[DEBUG] [1750403422.165213313] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403422.193329399] [rcl]: Subscription taking message
[DEBUG] [1750403422.193380525] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403422.201637379] [rcl]: Subscription taking message
[DEBUG] [1750403422.201678636] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403422.216476554] [rcl]: Subscription taking message
[DEBUG] [1750403422.216516319] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403422.246395099] [rcl]: Subscription taking message
[DEBUG] [1750403422.246457327] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403422.267901289] [rcl]: Subscription taking message
[DEBUG] [1750403422.267945242] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403422.268263623] [rcl]: Subscription taking message
[DEBUG] [1750403422.268282639] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403422.288432511] [rcl]: Subscription taking message
[DEBUG] [1750403422.290806578] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403422.294545981] [basic_grasping_perception]: Cloud received with 262144 points.
[DEBUG] [1750403422.296412140] [rcl]: Subscription taking message
[DEBUG] [1750403422.296479707] [rcl]: Subscription take succeeded: true
[DEBUG] [1750403422.297670353] [basic_grasping_perception]: Filtered for range, now 262144 points.
[INFO] [1750403422.299980069] [object_support_segmentation]: object support segmentation starting...
[ros2run]: Segmentation fault

elsayedelsheikh avatar Jun 20 '25 07:06 elsayedelsheikh

@elsayedelsheikh I had a similar issue until I understood that the node requires an action goal. Simply run: ros2 action send_goal /find_objects grasping_msgs/action/FindGraspableObjects (in separate terminal) prior to starting basic_grasping_perception_node.

Background: the shared pointer to the ObjectSupportSegmentation instance is created only within handle_accepted (refer: https://github.com/mikeferguson/simple_grasping/blob/5ca780e82d10eb5ad00ee667b9e35ced7cc15a30/src/basic_grasping_perception.cpp#L215)

Without an action goal it's never created and hence, you run into a null ptr during the subscription callback.

robgineer avatar Oct 30 '25 14:10 robgineer

Easiest solution to run the node without an action goal is

change https://github.com/mikeferguson/simple_grasping/blob/5ca780e82d10eb5ad00ee667b9e35ced7cc15a30/src/basic_grasping_perception.cpp#L138C4-L138C50

to

 if ((!find_objects_ && !continuous_detection_)) || !planner_ || !segmentation_)

robgineer avatar Oct 30 '25 17:10 robgineer