Thread 1 "ur_robot_driver" received signal SIGSEGV, Segmentation fault.

[gdufay]

Summary

Launching

roslaunch ur_robot_driver ur10_bringup.launch robot_ip:=10.31.1.70 \
kinematics_config:="${HOME}/left_ur_calibration.yaml" debug:=true

display

Thread 1 "ur_robot_driver" received signal SIGSEGV, Segmentation fault.
ur_driver::rtde_interface::RTDEClient::negotiateProtocolVersion (this=this@entry=0x55555585c9f0)
    at /home/gaetan/ur_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/rtde/rtde_client.cpp:87
87	  if (!tmp_version->accepted_)

and then quit due to missing required process.

Version

• ROS Driver version: commit 8d8e909
• Affected Robot Software Version(s): Polyscope 3.13

Impact

Cannot control robot

Issue details

Use Case and Setup

UR10 CB3.1 Series with default Polyscope version 3.2.21545 upgrading with a new USB key with version 3.13 on it

Actual Behavior

Segfault then quit due to missing required process

Moreover, launching

roslaunch ur_calibration calibration_correction.launch robot_ip:=10.31.1.70 \
target_filename:="${HOME}/left_ur_calibration.yaml"

works but says

[DEBUG]: Invalid robot package type recieved: 24
[DEBUG]: Invalid robot package type recieved: 23
[DEBUG]: Invalid robot package type recieved: 5

cannot say if this is linked or not

[fmauch]

Thanks for reporting this! Does this happen every time? I haven't tried v3.13 myself, yet.

[gdufay]

Every time I'm connected to the robot yes, when not, the process finish smoothly (good comportement because no connection available)

I will try another version of Polyscope (3.10.1) tomorrow and see if this is the same result

[fmauch]

I cannot reproduce this at least with a 3.13 URSim.

[DEBUG]: Invalid robot package type recieved: 24
[DEBUG]: Invalid robot package type recieved: 23
[DEBUG]: Invalid robot package type recieved: 5

This is most likely not linked to this problem, but part of #171

[fmauch]

@gdufay could you pleas try adding the following line inside /home/gaetan/ur_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/rtde/rtde_client.cpp directly after line 84

I think, that part of the code is suboptimal, but I am very curious what kind of RTDE package is received there.

You will find it in the output, mine looks like this:

[ INFO] [1590594075.744725501]: Received RTDE answer: accepted: 1

ROS_INFO_STREAM("Received RTDE answer: " << package->toString());

[gdufay]

Thanks for your answer !

The output is :

[ INFO] [1590647445.174693364]: Received RTDE answer: message: SafetySetup has not been confirmed yet, therefore no data will be send yet
source: 

So my bad sorry, I didn't configure properly the robot when I upgrade it, I'll try to fix it and come back to you

[fmauch]

I don't think, it's your bad at all. You clearly indicated a problem in our driver that we should check for this.

For you, the workaround would be to confirm the safety setup.

For us that means we should provide a fix.

[gdufay]

Trying Polyscope v3.10.1 everything works (not the same security required)

Thanks again !