tue-robotics / ed Goto Github PK

The config-files offer many configuration options with various plugins.
It would be handy to state at least what type some ROS topic should have etc.

[ WARN] [1411993192.412417138]: TF to MSG: Quaternion Not Properly Normalized
Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "8e78fcd9afe5d9accc4972cdda699a82" from authority "/ed" because of a nan value in the transform (0.000000 0.000000 0.000000) (-nan -nan -nan -nan)
at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.11-0precise-20140819-2312/src/buffer_core.cpp

When measurements are saved to disk, the sensorPose is not recorded.
Add this data to saved measurements.

When an empty map is used in ED config, there is a constant output that says:

Error getting map data:
width: -799999999
length: -799999999

While looking for the bar

[RobotPlugin] Topic: /amigo/joint_states
/amigo/amigo/grippoint_left: Blue
/amigo/amigo/grippoint_right: Blue
/amigo/amigo/top_kinect/openni_camera: 
/amigo/amigo/torso_dummy: Red
�[0m[ INFO] [1508170751.503659497]: [ED KINECT PLUGIN] Initializing kinect client with topic '/amigo/top_kinect/rgbd'.�[0m
[ED FITTER] Received new map or had an updated entity pose!
�[33m[ WARN] [1508170761.879432269]: ED Laserplugin: Lookup would require extrapolation into the future.  Requested time 1508170761.842328230 but the latest data is at time 1508170761.826379841, when looking up transform from frame [amigo/torso_laser] to frame [map]�[0m
�[0m[ INFO] [1508170766.818325435]: [ED KINECT] Requested image. Image size: 374877 bytes. Meta-data size: 201 bytes.�[0m
�[0m[ INFO] [1508170769.223151259]: Nr clusters: 3, nr_entities: 2�[0m
�[38;5;1m[ED] ED Crashed!

    Signal: segmentation fault

    Thread: name unknown (id = 7fd248f90700)

    Error context: 

        Plugin: kinect_integration


--------------------------------------------------
Backtrace: 

�[0m

If Amigo is looking up he will segment lamps, metal beams or the window divisions on our lab for example. Either create a ceiling or add a parameter in the config file to ignore detections above a certain height

This (full output on the desktop of the PC in the lab):

[ED] ED Crashed! This was caused by a segmentation fault.

Caused by plugin 'gui_server'

Here's the stack trace:

/home/amigo/ros/hydro/system/devel/lib/ed/ed(_Z13signalHandleri+0x13e)[0x42498e]
/lib/x86_64-linux-gnu/libc.so.6(+0x36150)[0x7f9094b2a150]
/usr/lib/x86_64-linux-gnu/libstdc++.so.6(+0x9ebc3)[0x7f9095463bc3]
/usr/lib/x86_64-linux-gnu/libstdc++.so.6(_ZNSs6assignERKSs+0x76)[0x7f9095464ff6]
/home/amigo/ros/hydro/system/devel/lib/libed_gui_server_plugin.so(_Z11entityToMsgRKN5boost10shared_ptrIKN2ed6EntityEEERN13ed_gui_server11EntityInfo_ISaIvEEE+0x2f)[0x7f906c10f06f]
/home/amigo/ros/hydro/system/devel/lib/libed_gui_server_plugin.so(_ZN15GUIServerPlugin7processERKN2ed10WorldModelERNS0_13UpdateRequestE+0x215)[0x7f906c1111a5]
/home/amigo/ros/hydro/system/devel/lib/ed/ed(_ZN2ed15PluginContainer4stepEv+0x303)[0x4464a3]
/home/amigo/ros/hydro/system/devel/lib/ed/ed(_ZN2ed15PluginContainer3runEv+0x38)[0x4467c8]
/usr/lib/libboost_thread.so.1.46.1(thread_proxy+0x69)[0x7f9096130ce9]
/lib/x86_64-linux-gnu/libpthread.so.0(+0x7e9a)[0x7f9095f0ee9a]

ed: /usr/include/boost/smart_ptr/shared_ptr.hpp:418: T* boost::shared_ptr::operator->() const [with T = const ed::Entity]: Assertion `px != 0' failed.
[amigo/ed-13] process has died [pid 8893, exit code -6, cmd /home/amigo/ros/hydro/system/devel/lib/ed/ed /home/amigo/ros/hydro/system/src/amigo_bringup/parameters/world_modeling/world_model.yaml __name:=ed __log:=/home/amigo/.ros/log/07aa7fae-be8a-11e4-bc0f-00018080b210/amigo-ed-13.log].
log file: /home/amigo/.ros/log/07aa7fae-be8a-11e4-bc0f-00018080b210/amigo-ed-13*.log

Just like every other ros package (e.g. moveit_msgs) we could move the messages and services to a separate package. This will separate interface from implementation.

As a side effect the python code can more easily be unit-tested because it will not depend on the full ed anymore.

New package: https://github.com/tue-robotics/ed_msgs

PRs

• tue-robotics/cb_base_navigation#12
• #53
• tue-robotics/ed_object_models#14
• tue-robotics-graveyard/head_ref_ed_client#3
• tue-robotics/nl_robot_console#18
• tue-robotics/tue-env#179
• tue-robotics/tue_mobile_ui#18
• tue-robotics/tue_robocup#428
• tue-robotics/ed_sensor_integration#13
• did we forgot any repo?

It would be nice if we could also visualize wayspoints and make them reloadable. Now we have to reset ed to reload.

The WIRE worldmodel supports a query interface through PSI (Probabilistic Semantic Interface).
PSI allowed you to query the worldmodel through Prolog queries and also to query other Prolog knowledge bases that were linked to the worldmodel.
For example: the world model had an object with the label 'coke'. A separate Prolog knowledge base would contain the fact that 'coke' is a sort of 'drink' and some more knowledge based on that.

A similar interface is also desired for Ed.

With WIRE, a query was created in an executive using the PSI library. A query is PSI Term with some unresolved variables, exactly like a Prolog query. PSI is actually a way to serialize Prolog queries for ROS.
A Term is sent to the tue_reasoner node that offers a query-service.
The tue_reasoner is subscribed to WIRE world state updates. When a query is received, the current world state is investigated to find an answer, combined with external knowledge files.

Instead of subscribing to WIRE updates, a query can be processed and passed on to an ED SimpleQuery.
An ED/SimpleQuery can now filter on id, type and distance to some point.
The result of a SimpleQuery is a list of EntityInfo's.

Take information that is in different places, like size, color, etc of a model, and store that in a dedicated Yaml file for each model. This is already done on some models, but not for any of the drink and food models, so its just copy pasting the information

Ref: tue-robotics/tue_robocup#145

/home/ramon/catkin_ws/src/ed/test/test_heightmap_triangulation.cpp: In function ‘int main(int, char**)’:
/home/ramon/catkin_ws/src/ed/test/test_heightmap_triangulation.cpp:78:9: error: ‘line’ is not a member of ‘cv’
         cv::line(viz, cv::Point(v1.x, v1.y), cv::Point(v2.x, v2.y), cv::Scalar(0, 0, 255), 1);
         ^
/home/ramon/catkin_ws/src/ed/test/test_heightmap_triangulation.cpp:79:9: error: ‘line’ is not a member of ‘cv’
         cv::line(viz, cv::Point(v2.x, v2.y), cv::Point(v3.x, v3.y), cv::Scalar(0, 0, 255), 1);
         ^
/home/ramon/catkin_ws/src/ed/test/test_heightmap_triangulation.cpp:80:9: error: ‘line’ is not a member of ‘cv’
         cv::line(viz, cv::Point(v3.x, v3.y), cv::Point(v1.x, v1.y), cv::Scalar(0, 0, 255), 1);
         ^

In ED, you can get all Entities that are withing a sphere (e.g. within some radius to a given point).
It is very handy if we can get all entities with e.g. a box/cylinder/sphere/(mesh?) relative to some frame.
You an use this for querying all items in a room but also all items on a table, a shelf etc.

Maybe the Shape_msgs can help.

It would be nice to be able to make the debug visualization window fullscreen, sometimes just to show off, other times for debug.

I tried doing that on the ed/src/helpers/visualization.cpp file, where the window is being updated, but i could not find the point where it is created, so i could add the flag CV_WINDOW_NORMAL.

Maybe i overlooked something

After running the tutorial (rev a63fbbf)
Error during configuration:

While loading plugin 'gui_server':

Could not find plugin 'libed_gui_server_plugin.so'.

To fix this, you need to
git clone https://github.com/tue-robotics/ed_gui_server.git into the workspace as well and catkin_make then.

*** glibc detected *** /home/amigo/ros/hydro/dev/devel/lib/ed/ed_server: malloc(): smallbin double linked list corrupted: 0x000000000201ca20 ***

No idea where this is from, most probably the occupancygrid publisher

To avoid re-reading the model.yml file in every plugin loading, do that reading once and provide an extra parameter with that information.

Create an enhanced version of the previous object learning tool that records not only images, but also size, color, name and maybe shape of the object. The way this knowledge is stored still has to be discussed. Use ED for the segmentation of the object.

This is for example needed in the base navigation to improve the constraint based planner:

• Go to table-1 in the kitchen

amigo@amigo3 $ rosservice call /amigo/ed/simple_query "id: ''
type: ''
center_point:
x: 0.0
y: 0.0
z: 0.0
radius: 0.0"
ERROR: service [/amigo/ed/simple_query] responded with an error: Error in function boost::math::round(d): Value -nan can not be represented in the target integer type.

On ROS indigo I keep getting this error:

Error getting map data:
width: -39999960
height: -39999960
resolution: 0.05
Error getting map data:
width: -39999960
height: -39999960
resolution: 0.05

@reinzor you wrote this error, what could be the cause?

Take information that is in different places, like size, color, etc of a model, and store that in a dedicated Yaml file for each model. This is already done on some models, but not for any of the drink and food models, so its just copy pasting the information

For debugging purposes it would be useful to have a service that returns the latest tue::Configuration for a given entity ID.

ED uses way too much cpu, any (easy) way to fix this?

When you don't really know what you're looking for in the configuration, its useful to crawl level by level like we do now. But it would be nice to be able to jump directly into a level/group if you are certain of the path. Example, instead of having:

if (!config.readGroup("perception_result")) return false;
if (!config.readGroup("face_detector")) return false;
if (!config.readArray("faces_front")) return false;

Having something like this:

if (!config.readGroup("perception_result/face_detector/faces_front")) return false;

A "one line read", with an argument like a normal file path or a vector of strings

OpenCV Error: Assertion failed (rect.width >= 0 && rect.height >= 0 && rect.x < image->width && rect.y < image->height && rect.x + rect.width >= (int)(rect.width > 0) && rect.y + rect.height >= (int)(rect.height > 0)) in cvSetImageROI, file /tmp/buildd/ros-hydro-opencv2-2.4.9-2precise-20141231-1923/modules/core/src/array.cpp, line 3006
terminate called after throwing an instance of 'cv::Exception'
what(): /tmp/buildd/ros-hydro-opencv2-2.4.9-2precise-20141231-1923/modules/core/src/array.cpp:3006: error: (-215) rect.width >= 0 && rect.height >= 0 && rect.x < image->width && rect.y < image->height && rect.x + rect.width >= (int)(rect.width > 0) && rect.y + rect.height >= (int)(rect.height > 0) in function cvSetImageROI

[amigo/ed-13] process has died [pid 27858, exit code -6, cmd /home/amigo/ros/hydro/system/devel/lib/ed/ed /home/amigo/ros/hydro/system/src/amigo_bringup/parameters/world_modeling/world_model.yaml __name:=ed __log:=/home/amigo/.ros/log/162ccd16-bdf9-11e4-af5c-0090f5cdbcde/amigo-ed-13.log].
log file: /home/amigo/.ros/log/162ccd16-bdf9-11e4-af5c-0090f5cdbcde/amigo-ed-13*.log

ed_server: /tmp/buildd/pcl-1.7-1.7.0/kdtree/include/pcl/kdtree/impl/kdtree_flann.hpp:172: int pcl::KdTreeFLANN<PointT, Dist>::radiusSearch(const PointT&, double, std::vector&, std::vector&, unsigned int) const [with PointT = pcl::PointNormal, Dist = flann::L2_Simple]: Assertion `point_representation_->isValid (point) && "Invalid (NaN, Inf) point coordinates given to radiusSearch!"' failed.
[ed_server-29] process has died [pid 20144, exit code -6, cmd /home/amigo/ros/hydro/system/devel/lib/ed/ed_server /home/amigo/ros/hydro/system/src/ed/config/config_amigo.yml __name:=ed_server __log:=/home/amigo/.ros/log/179a12e8-5f45-11e4-82f0-00018080b210/ed_server-29.log].
log file: /home/amigo/.ros/log/179a12e8-5f45-11e4-82f0-00018080b210/ed_server-29*.log

*** glibc detected ** /home/amigo/ros/hydro/system/devel/lib/ed/ed: malloc(): memory corruption (fast): 0x00007ff50c003750 ***
======= Backtrace: =========
/lib/x86_64-linux-gnu/libc.so.6(+0x7de16)[0x7ff54b811e16]
/lib/x86_64-linux-gnu/libc.so.6(+0x806c8)[0x7ff54b8146c8]
/lib/x86_64-linux-gnu/libc.so.6(__libc_malloc+0x75)[0x7ff54b816265]
/usr/lib/x86_64-linux-gnu/libstdc++.so.6(_Znwm+0x1d)[0x7ff54c11aded]
/usr/lib/x86_64-linux-gnu/libstdc++.so.6(_ZNSs4_Rep9_S_createEmmRKSaIcE+0x59)[0x7ff54c103a89]
/usr/lib/x86_64-linux-gnu/libstdc++.so.6(_ZNSs12_S_constructIPKcEEPcT_S3_RKSaIcESt20forward_iterator_tag+0x35)[0x7ff54c105495]
/usr/lib/x86_64-linux-gnu/libstdc++.so.6(_ZNSsC2EPKcRKSaIcE+0x43)[0x7ff54c1055e3]
/home/amigo/ros/hydro/system/devel/lib/libed_gui_server_plugin.so(_Z11entityToMsgRKN5boost10shared_ptrIKN2ed6EntityEEERN13ed_gui_server11EntityInfo_ISaIvEEE+0x2b2)[0x7ff51a5fd2f2]
/home/amigo/ros/hydro/system/devel/lib/libed_gui_server_plugin.so(_ZN15GUIServerPlugin7processERKN2ed10WorldModelERNS0_13UpdateRequestE+0x215)[0x7ff51a5ff1a5]
/home/amigo/ros/hydro/system/devel/lib/ed/ed(_ZN2ed15PluginContainer4stepEv+0x2ce)[0x444cbe]
/home/amigo/ros/hydro/system/devel/lib/ed/ed(_ZN2ed15PluginContainer3runEv+0x38)[0x444fe8]
/usr/lib/libboost_thread.so.1.46.1(thread_proxy+0x69)[0x7ff54cdd0ce9]
/lib/x86_64-linux-gnu/libpthread.so.0(+0x7e9a)[0x7ff54cbaee9a]
/lib/x86_64-linux-gnu/libc.so.6(clone+0x6d)[0x7ff54b8878bd]
======= Memory map: ========
00400000-0045c000 r-xp 00000000 08:06 3146323 /home/amigo/ros/hydro/system/devel/lib/ed/ed
0065b000-0065c000 r--p 0005b000 08:06 3146323 /home/amigo/ros/hydro/system/devel/lib/ed/ed
0065c000-0065d000 rw-p 0005c000 08:06 3146323 /home/amigo/ros/hydro/system/devel/lib/ed/ed
0065d000-0065e000 rw-p 00000000 00:00 0
021d4000-10aab000 rw-p 00000000 00:00 0 [heap]
7ff4967f5000-7ff4967f6000 ---p 00000000 00:00 0
7ff4967f6000-7ff496ff6000 rw-p 00000000 00:00 0
7ff4977f7000-7ff4977f8000 ---p 00000000 00:00 0
7ff4977f8000-7ff497ff8000 rw-p 00000000 00:00 0
7ff497ff8000-7ff497ff9000 ---p 00000000 00:00 0
7ff497ff9000-7ff4987f9000 rw-p 00000000 00:00 0
7ff4997fb000-7ff4997fc000 ---p 00000000 00:00 0
7ff4997fc000-7ff499ffc000 rw-p 00000000 00:00 0
7ff499ffc000-7ff499ffd000 ---p 00000000 00:00 0
7ff499ffd000-7ff49a7fd000 rw-p 00000000 00:00 0 [stack:22467]
7ff49a7fd000-7ff49a7fe000 ---p 00000000 00:00 0
7ff49a7fe000-7ff49affe000 rw-p 00000000 00:00 0 [stack:22460]
7ff49affe000-7ff49afff000 ---p 00000000 00:00 0
7ff49afff000-7ff49b7ff000 rw-p 00000000 00:00 0 [stack:22464]
7ff49b7ff000-7ff49b800000 ---p 00000000 00:00 0
7ff49b800000-7ff49c000000 rw-p 00000000 00:00 0 [stack:22461]
7ff49c000000-7ff49e8a1000 rw-p 00000000 00:00 0
7ff49e8a1000-7ff4a0000000 ---p 00000000 00:00 0
7ff4a0000000-7ff4a27c6000 rw-p 00000000 00:00 0
7ff4a27c6000-7ff4a4000000 ---p 00000000 00:00 0
7ff4a4000000-7ff4a67a4000 rw-p 00000000 00:00 0
7ff4a67a4000-7ff4a8000000 ---p 00000000 00:00 0
7ff4a87f9000-7ff4a87fa000 ---p 00000000 00:00 0
7ff4a87fa000-7ff4a8ffa000 rw-p 00000000 00:00 0 [stack:22462]
7ff4a8ffa000-7ff4a8ffb000 ---p 00000000 00:00 0
7ff4a8ffb000-7ff4a97fb000 rw-p 00000000 00:00 0 [stack:22463]
7ff4a97fb000-7ff4a97fc000 ---p 00000000 00:00 0
7ff4a97fc000-7ff4a9ffc000 rw-p 00000000 00:00 0
7ff4a9ffc000-7ff4a9ffd000 ---p 00000000 00:00 0
7ff4a9ffd000-7ff4aa7fd000 rw-p 00000000 00:00 0 [stack:9427]
7ff4aa7fd000-7ff4aa7fe000 ---p 00000000 00:00 0
7ff4aa7fe000-7ff4aaffe000 rw-p 00000000 00:00 0
7ff4aaffe000-7ff4aafff000 ---p 00000000 00:00 0
7ff4aafff000-7ff4ab7ff000 rw-p 00000000 00:00 0 [stack:22466]
7ff4ab7ff000-7ff4ab800000 ---p 00000000 00:00 0
7ff4ab800000-7ff4ac000000 rw-p 00000000 00:00 0
7ff4ac000000-7ff4ae8c2000 rw-p 00000000 00:00 0
7ff4ae8c2000-7ff4b0000000 ---p 00000000 00:00 0
7ff4b0000000-7ff4b288a000 rw-p 00000000 00:00 0
7ff4b288a000-7ff4b4000000 ---p 00000000 00:00 0
7ff4b4000000-7ff4b69c8000 rw-p 00000000 00:00 0
7ff4b69c8000-7ff4b8000000 ---p 00000000 00:00 0
7ff4b8000000-7ff4ba7b2000 rw-p 00000000 00:00 0
7ff4ba7b2000-7ff4bc000000 ---p 00000000 00:00 0
7ff4bc000000-7ff4bc021000 rw-p 00000000 00:00 0
7ff4bc021000-7ff4c0000000 ---p 00000000 00:00 0
7ff4c07f9000-7ff4c07fa000 ---p 00000000 00:00 0
7ff4c07fa000-7ff4c0ffa000 rw-p 00000000 00:00 0
7ff4c0ffa000-7ff4c0ffb000 ---p 00000000 00:00 0
7ff4c0ffb000-7ff4c17fb000 rw-p 00000000 00:00 0
7ff4c17fb000-7ff4c17fc000 ---p 00000000 00:00 0
7ff4c17fc000-7ff4c1ffc000 rw-p 00000000 00:00 0
7ff4c1ffc000-7ff4c1ffd000 ---p 00000000 00:00 0
7ff4c1ffd000-7ff4c27fd000 rw-p 00000000 00:00 0
7ff4c27fd000-7ff4c27fe000 ---p 00000000 00:00 0
7ff4c27fe000-7ff4c2ffe000 rw-p 00000000 00:00 0
7ff4c2ffe000-7ff4c2fff000 ---p 00000000 00:00 0
7ff4c2fff000-7ff4c37ff000 rw-p 00000000 00:00 0
7ff4c37ff000-7ff4c3800000 ---p 00000000 00:00 0
7ff4c3800000-7ff4c4000000 rw-p 00000000 00:00 0
7ff4c4000000-7ff4c4021000 rw-p 00000000 00:00 0
7ff4c4021000-7ff4c8000000 ---p 00000000 00:00 0
7ff4c87f9000-7ff4c87fa000 ---p 00000000 00:00 0
7ff4c87fa000-7ff4c8ffa000 rw-p 00000000 00:00 0
7ff4c8ffa000-7ff4c8ffb000 ---p 00000000 00:00 0
7ff4c8ffb000-7ff4c97fb000 rw-p 00000000 00:00 0
7ff4c97fb000-7ff4c97fc000 ---p 00000000 00:00 0
7ff4c97fc000-7ff4c9ffc000 rw-p 00000000 00:00 0
7ff4c9ffc000-7ff4c9ffd000 ---p 00000000 00:00 0
7ff4c9ffd000-7ff4ca7fd000 rw-p 00000000 00:00 0
7ff4ca7fd000-7ff4ca7fe000 ---p 00000000 00:00 0
7ff4ca7fe000-7ff4caffe000 rw-p 00000000 00:00 0
7ff4caffe000-7ff4cafff000 ---p 00000000 00:00 0
7ff4cafff000-7ff4cb7ff000 rw-p 00000000 00:00 0
7ff4cb7ff000-7ff4cb800000 ---p 00000000 00:00 0
7ff4cb800000-7ff4cc000000 rw-p 00000000 00:00 0
7ff4cc000000-7ff4cc021000 rw-p 00000000 00:00 0
7ff4cc021000-7ff4d0000000 ---p 00000000 00:00 0
7ff4d07c9000-7ff4d07ca000 ---p 00000000 00:00 0
7ff4d07ca000-7ff4d0fca000 rw-p 00000000 00:00 0
7ff4d0fca000-7ff4d0fcb000 ---p 00000000 00:00 0
7ff4d0fcb000-7ff4d17cb000 rw-p 00000000 00:00 0 [stack:22465]
7ff4d17cb000-7ff4d17cc000 ---p 00000000 00:00 0
7ff4d17cc000-7ff4d1fcc000 rw-p 00000000 00:00 0
7ff4d1fcc000-7ff4d1fcd000 ---p 00000000 00:00 0
7ff4d1fcd000-7ff4d27cd000 rw-p 00000000 00:00 0
7ff4d27cd000-7ff4d27ce000 ---p 00000000 00:00 0
7ff4d27ce000-7ff4d2fce000 rw-p 00000000 00:00 0
7ff4d2fce000-7ff4d2fcf000 ---p 00000000 00:00 0
7ff4d2fcf000-7ff4d37cf000 rw-p 00000000 00:00 0
7ff4d37cf000-7ff4d37d0000 ---p 00000000 00:00 0
7ff4d37d0000-7ff4d3fd0000 rw-p 00000000 00:00 0 [stack:6615]
7ff4d3fd0000-7ff4d3fd1000 ---p 00000000 00:00 0
7ff4d3fd1000-7ff4d47d1000 rw-p 00000000 00:00 0 [stack:6614]
7ff4d47d1000-7ff4d47d2000 ---p 00000000 00:00 0
7ff4d47d2000-7ff4d4fd2000 rw-p 00000000 00:00 0 [stack:6613]
7ff4d4fd2000-7ff4d4fd3000 ---p 00000000 00:00 0
7ff4d4fd3000-7ff4d57d3000 rw-p 00000000 00:00 0 [stack:6612]
7ff4d57d3000-7ff4d57d4000 ---p 00000000 00:00 0
7ff4d57d4000-7ff4d5fd4000 rw-p 00000000 00:00 0 [stack:6611]
7ff4d5fd4000-7ff4d5fd5000 ---p 00000000 00:00 0
7ff4d5fd5000-7ff4d67d5000 rw-p 00000000 00:00 0 [stack:6610]
7ff4d67d5000-7ff4d67d6000 ---p 00000000 00:00 0
7ff4d67d6000-7ff4d6fd6000 rw-p 00000000 00:00 0 [stack:6609]
7ff4d6fd6000-7ff4d6fd7000 ---p 00000000 00:00 0
7ff4d6fd7000-7ff4d77d7000 rw-p 00000000 00:00 0
7ff4d77d7000-7ff4d77d8000 ---p 00000000 00:00 0
7ff4d77d8000-7ff4d7fd8000 rw-p 00000000 00:00 0
7ff4d7fd8000-7ff4d7fd9000 ---p 00000000 00:00 0
7ff4d7fd9000-7ff4d87d9000 rw-p 00000000 00:00 0
7ff4d87d9000-7ff4d87da000 ---p 00000000 00:00 0
7ff4d87da000-7ff4d8fda000 rw-p 00000000 00:00 0
7ff4d8fda000-7ff4d8fdb000 ---p 00000000 00:00 0
7ff4d8fdb000-7ff4d97db000 rw-p 00000000 00:00 0
7ff4d97db000-7ff4d97dc000 ---p 00000000 00:00 0
7ff4d97dc000-7ff4d9fdc000 rw-p 00000000 00:00 0
7ff4d9fdc000-7ff4d9fdd000 ---p 00000000 00:00 0
7ff4d9fdd000-7ff4da7dd000 rw-p 00000000 00:00 0
7ff4da7dd000-7ff4da7de000 ---p 00000000 00:00 0
7ff4da7de000-7ff4dafde000 rw-p 00000000 00:00 0
7ff4dafde000-7ff4dafdf000 ---p 00000000 00:00 0
7ff4dafdf000-7ff4db7df000 rw-p 00000000 00:00 0
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7ff4dbfe0000-7ff4dbfe1000 ---p 00000000 00:00 0
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7ff4dc7e2000-7ff4dcfe2000 rw-p 00000000 00:00 0
7ff4dcfe2000-7ff4dcfe3000 ---p 00000000 00:00 0
7ff4dcfe3000-7ff4dd7e3000 rw-p 00000000 00:00 0
7ff4dd7e3000-7ff4dd7e4000 ---p 00000000 00:00 0
7ff4dd7e4000-7ff4ddfe4000 rw-p 00000000 00:00 0
7ff4ddfe4000-7ff4ddfe5000 ---p 00000000 00:00 0
7ff4ddfe5000-7ff4de7e5000 rw-p 00000000 00:00 0
7ff4de7e5000-7ff4de7e6000 ---p 00000000 00:00 0
7ff4de7e6000-7ff4defe6000 rw-p 00000000 00:00 0
7ff4defe6000-7ff4defe7000 ---p 00000000 00:00 0
7ff4defe7000-7ff4df7e7000 rw-p 00000000 00:00 0
7ff4df7e7000-7ff4df7e8000 ---p 00000000 00:00 0
7ff4df7e8000-7ff4dffe8000 rw-p 00000000 00:00 0
7ff4dffe8000-7ff4dffe9000 ---p 00000000 00:00 0
7ff4dffe9000-7ff4e07e9000 rw-p 00000000 00:00 0
7ff4e07e9000-7ff4e07ea000 ---p 00000000 00:00 0
7ff4e07ea000-7ff4e0fea000 rw-p 00000000 00:00 0
7ff4e0fea000-7ff4e0feb000 ---p 00000000 00:00 0
7ff4e0feb000-7ff4e17eb000 rw-p 00000000 00:00 0
7ff4e17eb000-7ff4e17ec000 ---p 00000000 00:00 0
7ff4e17ec000-7ff4e1fec000 rw-p 00000000 00:00 0
7ff4e1fec000-7ff4e1fed000 ---p 00000000 00:00 0
7ff4e1fed000-7ff4e27ed000 rw-p 00000000 00:00 0
7ff4e27ed000-7ff4e27ee000 ---p 00000000 00:00 0
7ff4e27ee000-7ff4e2fee000 rw-p 00000000 00:00 0
7ff4e2fee000-7ff4e2fef000 ---p 00000000 00:00 0
7ff4e2fef000-7ff4e37ef000 rw-p 00000000 00:00 0
7ff4e37ef000-7ff4e37f0000 ---p 00000000 00:00 0
7ff4e37f0000-7ff4e3ff0000 rw-p 00000000 00:00 0
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7ff4e3ff1000-7ff4e47f1000 rw-p 00000000 00:00 0
7ff4e47f1000-7ff4e47f2000 ---p 00000000 00:00 0
7ff4e47f2000-7ff4e4ff2000 rw-p 00000000 00:00 0
7ff4e4ff2000-7ff4e4ff3000 ---p 00000000 00:00 0
7ff4e4ff3000-7ff4e57f3000 rw-p 00000000 00:00 0
7ff4e57f3000-7ff4e57f4000 ---p 00000000 00:00 0
7ff4e57f4000-7ff4e5ff4000 rw-p 00000000 00:00 0
7ff4e5ff4000-7ff4e5ff5000 ---p 00000000 00:00 0
7ff4e5ff5000-7ff4e67f5000 rw-p 00000000 00:00 0
7ff4e67f5000-7ff4e67f6000 ---p 00000000 00:00 0
7ff4e67f6000-7ff4e6ff6000 rw-p 00000000 00:00 0
7ff4e6ff6000-7ff4e6ff7000 ---p 00000000 00:00 0
7ff4e6ff7000-7ff4e77f7000 rw-p 00000000 00:00 0
7ff4e77f7000-7ff4e77f8000 ---p 00000000 00:00 0
7ff4e77f8000-7ff4e7ff8000 rw-p 00000000 00:00 0
7ff4e7ff8000-7ff4e7ff9000 ---p 00000000 00:00 0
7ff4e7ff9000-7ff4e87f9000 rw-p 00000000 00:00 0
7ff4e87f9000-7ff4e87fa000 ---p 00000000 00:00 0
7ff4e87fa000-7ff4e8ffa000 rw-p 00000000 00:00 0
7ff4e8ffa000-7ff4e8ffb000 ---p 00000000 00:00 0
7ff4e8ffb000-7ff4e97fb000 rw-p 00000000 00:00 0
7ff4e97fb000-7ff4e97fc000 ---p 00000000 00:00 0
7ff4e97fc000-7ff4e9ffc000 rw-p 00000000 00:00 0
7ff4e9ffc000-7ff4e9ffd000 ---p 00000000 00:00 0
7ff4e9ffd000-7ff4ea7fd000 rw-p 00000000 00:00 0
7ff4ea7fd000-7ff4ea7fe000 ---p 00000000 00:00 0
7ff4ea7fe000-7ff4eaffe000 rw-p 00000000 00:00 0
7ff4eaffe000-7ff4eafff000 ---p 00000000 00:00 0
7ff4eafff000-7ff4eb7ff000 rw-p 00000000 00:00 0
7ff4eb7ff000-7ff4eb800000 ---p 00000000 00:00 0
7ff4eb800000-7ff4ec000000 rw-p 00000000 00:00 0
7ff4ec000000-7ff4ec021000 rw-p 00000000 00:00 0
7ff4ec021000-7ff4f0000000 ---p 00000000 00:00 0
7ff4f0000000-7ff4f0021000 rw-p 00000000 00:00 0
7ff4f0021000-7ff4f4000000 ---p 00000000 00:00 0
7ff4f4000000-7ff4f4021000 rw-p 00000000 00:00 0
7ff4f4021000-7ff4f8000000 ---p 00000000 00:00 0
7ff4f8000000-7ff4f8021000 rw-p 00000000 00:00 0
7ff4f8021000-7ff4fc000000 ---p 00000000 00:00 0
7ff4fc000000-7ff4fc5b4000 rw-p 00000000 00:00 0
7ff4fc5b4000-7ff500000000 ---p 00000000 00:00 0
7ff500000000-7ff500021000 rw-p 00000000 00:00 0
7ff500021000-7ff504000000 ---p 00000000 00:00 0
7ff504000000-7ff504021000 rw-p 00000000 00:00 0
7ff504021000-7ff508000000 ---p 00000000 00:00 0
7ff5085c9000-7ff5085ca000 ---p 00000000 00:00 0
7ff5085ca000-7ff508dca000 rw-p 00000000 00:00 0
7ff508dca000-7ff508dcb000 ---p 00000000 00:00 0
7ff508dcb000-7ff5095cb000 rw-p 00000000 00:00 0
7ff5095cb000-7ff5095cc000 ---p 00000000 00:00 0
7ff5095cc000-7ff509dcc000 rw-p 00000000 00:00 0
7ff509dcc000-7ff509dcd000 ---p 00000000 00:00 0
7ff509dcd000-7ff50a5cd000 rw-p 00000000 00:00 0
7ff50a5cd000-7ff50a5ce000 ---p 00000000 00:00 0
7ff50a5ce000-7ff50adce000 rw-p 00000000 00:00 0 [stack:6353]
7ff50adce000-7ff50adcf000 ---p 00000000 00:00 0
7ff50adcf000-7ff50b5cf000 rw-p 00000000 00:00 0 [stack:6351]
7ff50b5cf000-7ff50b5fd000 r-xp 00000000 08:06 3146835 /home/amigo/ros/hydro/system/devel/lib/libed_localization_plugin.so
7ff50b5fd000-7ff50b7fc000 ---p 0002e000 08:06 3146835 /home/amigo/ros/hydro/system/devel/lib/libed_localization_plugin.so
7ff50b7fc000-7ff50b7fe000 r--p 0002d000 08:06 3146835 /home/amigo/ros/hydro/system/devel/lib/libed_localization_plugin.so
7ff50b7fe000-7ff50b7ff000 rw-p 0002f000 08:06 3146835 /home/amigo/ros/hydro/system/devel/lib/libed_localization_plugin.so
7ff50b7ff000-7ff50b800000 ---p 00000000 00:00 0
7ff50b800000-7ff50c000000 rw-p 00000000 00:00 0 [stack:6348]
7ff50c000000-7ff50c021000 rw-p 00000000 00:00 0
7ff50c021000-7ff510000000 ---p 00000000 00:00 0
7ff510000000-7ff510083000 rw-p 00000000 00:00 0
7ff510083000-7ff514000000 ---p 00000000 00:00 0
7ff514000000-7ff5145b9000 rw-p 00000000 00:00 0
7ff5145b9000-7ff518000000 ---p 00000000 00:00 0
7ff518135000-7ff51813b000 r-xp 00000000 08:06 3146384 /home/amigo/ros/hydro/system/devel/lib/libed_tf_publisher_plugin.so
7ff51813b000-7ff51833a000 ---p 00006000 08:06 3146384 /home/amigo/ros/hydro/system/devel/lib/libed_tf_publisher_plugin.so
7ff51833a000-7ff51833b000 r--p 00005000 08:06 3146384 /home/amigo/ros/hydro/system/devel/lib/libed_tf_publisher_plugin.so
7ff51833b000-7ff51833c000 rw-p 00006000 08:06 3146384 /home/amigo/ros/hydro/system/devel/lib/libed_tf_publisher_plugin.so
7ff51833c000-7ff51833d000 ---p 00000000 00:00 0
7ff51833d000-7ff518b3d000 rw-p 00000000 00:00 0 [stack:6346]
7ff518b3d000-7ff518b4d000 r-xp 00000000 08:06 3146418 /home/amigo/ros/hydro/system/devel/lib/libed_occupancy_grid_publisher_plugin.so
7ff518b4d000-7ff518d4c000 ---p 00010000 08:06 3146418 /home/amigo/ros/hydro/system/devel/lib/libed_occupancy_grid_publisher_plugin.so
7ff518d4c000-7ff518d4d000 r--p 0000f000 08:06 3146418 /home/amigo/ros/hydro/system/devel/lib/libed_occupancy_grid_publisher_plugin.so
7ff518d4d000-7ff518d4e000 rw-p 00010000 08:06 3146418 /home/amigo/ros/hydro/system/devel/lib/libed_occupancy_grid_publisher_plugin.so
7ff518d4e000-7ff518d4f000 ---p 00000000 00:00 0
7ff518d4f000-7ff51954f000 rw-p 00000000 00:00 0 [stack:6344]
7ff51954f000-7ff519550000 ---p 00000000 00:00 0
7ff519550000-7ff519d50000 rw-p 00000000 00:00 0 [stack:6297]
7ff519d50000-7ff519d7c000 r-xp 00000000 08:06 547873 /opt/ros/hydro/lib/liburdfdom_model.so
7ff519d7c000-7ff519f7b000 ---p 0002c000 08:06 547873 /opt/ros/hydro/lib/liburdfdom_model.so
7ff519f7b000-7ff519f7d000 r--p 0002b000 08:06 547873 /opt/ros/hydro/lib/liburdfdom_model.so
7ff519f7d000-7ff519f7e000 rw-p 0002d000 08:06 547873 /opt/ros/hydro/lib/liburdfdom_model.so
7ff519f7e000-7ff519f81000 r-xp 00000000 08:06 547866 /opt/ros/hydro/lib/librosconsole_bridge.so
7ff519f81000-7ff51a180000 ---p 00003000 08:06 547866 /opt/ros/hydro/lib/librosconsole_bridge.so
7ff51a180000-7ff51a181000 r--p 00002000 08:06 547866 /opt/ros/hydro/lib/librosconsole_bridge.so
7ff51a181000-7ff51a182000 rw-p 00003000 08:06 547866 /opt/ros/hydro/lib/librosconsole_bridge.so
7ff51a182000-7ff51a1ae000 r-xp 00000000 08:06 547871 /opt/ros/hydro/lib/liburdfdom_world.so
7ff51a1ae000-7ff51a3ad000 ---p 0002c000 08:06 547871 /opt/ros/hydro/lib/liburdfdom_world.so
7ff51a3ad000-7ff51a3af000 r--p 0002b000 08:06 547871 /opt/ros/hydro/lib/liburdfdom_world.so
7ff51a3af000-7ff51a3b0000 rw-p 0002d000 08:06 547871 /opt/ros/hydro/lib/liburdfdom_world.so
7ff51a3b0000-7ff51a3d8000 r-xp 00000000 08:06 547881 /opt/ros/hydro/lib/liburdf.so
7ff51a3d8000-7ff51a5d7000 ---p 00028000 08:06 547881 /opt/ros/hydro/lib/liburdf.so
7ff51a5d7000-7ff51a5d9000 r--p 00027000 08:06 547881 /opt/ros/hydro/lib/liburdf.so
7ff51a5d9000-7ff51a5da000 rw-p 00029000 08:06 547881 /opt/ros/hydro/lib/liburdf.so
7ff51a5da000-7ff51a627000 r-xp 00000000 08:06 3151740 /home/amigo/ros/hydro/system/devel/lib/libed_gui_server_plugin.so
7ff51a627000-7ff51a826000 ---p 0004d000 08:06 3151740 /home/amigo/ros/hydro/system/devel/lib/libed_gui_server_plugin.so
7ff51a826000-7ff51a829000 r--p 0004c000 08:06 3151740 /home/amigo/ros/hydro/system/devel/lib/libed_gui_server_plugin.so
7ff51a829000-7ff51a82a000 rw-p 0004f000 08:06 3151740 /home/amigo/ros/hydro/system/devel/lib/libed_gui_server_plugin.so
7ff51a82a000-7ff51a836000 r-xp 00000000 08:06 3151739 /home/amigo/ros/hydro/system/devel/lib/libtype_aggregator.so
7ff51a836000-7ff51aa35000 ---p 0000c000 08:06 3151739 /home/amigo/ros/hydro/system/devel/lib/libtype_aggregator.so
7ff51aa35000-7ff51aa36000 r--p 0000b000 08:06 3151739 /home/amigo/ros/hydro/system/devel/lib/libtype_aggregator.so
7ff51aa36000-7ff51aa37000 rw-p 0000c000 08:06 3151739 /home/amigo/ros/hydro/system/devel/lib/libtype_aggregator.so
7ff51aa37000-7ff51ab17000 r-xp 00000000 08:06 547169 /opt/ros/hydro/lib/libopencv_contrib.so.2.4.9
7ff51ab17000-7ff51ad17000 ---p 000e0000 08:06 547169 /opt/ros/hydro/lib/libopencv_contrib.so.2.4.9
7ff51ad17000-7ff51ad19000 r--p 000e0000 08:06 547169 /opt/ros/hydro/lib/libopencv_contrib.so.2.4.9
7ff51ad19000-7ff51ad1b000 rw-p 000e2000 08:06 547169 /opt/ros/hydro/lib/libopencv_contrib.so.2.4.9
7ff51ad1b000-7ff51ad4e000 r-xp 00000000 08:06 3151736 /home/amigo/ros/hydro/system/devel/lib/libface_recognition_ed.so
7ff51ad4e000-7ff51af4e000 ---p 00033000 08:06 3151736 /home/amigo/ros/hydro/system/devel/lib/libface_recognition_ed.so
7ff51af4e000-7ff51af50000 r--p 00033000 08:06 3151736 /home/amigo/ros/hydro/system/devel/lib/libface_recognition_ed.so
7ff51af50000-7ff51af51000 rw-p 00035000 08:06 3151736 /home/amigo/ros/hydro/system/devel/lib/libface_recognition_ed.so
7ff51af51000-7ff51af60000 r-xp 00000000 08:06 3151735 /home/amigo/ros/hydro/system/devel/lib/libface_detector.so
7ff51af60000-7ff51b15f000 ---p 0000f000 08:06 3151735 /home/amigo/ros/hydro/system/devel/lib/libface_detector.so
7ff51b15f000-7ff51b160000 r--p 0000e000 08:06 3151735 /home/amigo/ros/hydro/system/devel/lib/libface_detector.so
7ff51b160000-7ff51b161000 rw-p 0000f000 08:06 3151735 /home/amigo/ros/hydro/system/devel/lib/libface_detector.so
7ff51b161000-7ff51b1da000 r-xp 00000000 08:06 547176 /opt/ros/hydro/lib/libopencv_objdetect.so.2.4.9
7ff51b1da000-7ff51b3d9000 ---p 00079000 08:06 547176 /opt/ros/hydro/lib/libopencv_objdetect.so.2.4.9
7ff51b3d9000-7ff51b3da000 r--p 00078000 08:06 547176 /opt/ros/hydro/lib/libopencv_objdetect.so.2.4.9
7ff51b3da000-7ff51b3db000 rw-p 00079000 08:06 547176 /opt/ros/hydro/lib/libopencv_objdetect.so.2.4.9
7ff51b3db000-7ff51b3dc000 rw-p 00000000 00:00 0
7ff51b3dc000-7ff51b3f1000 r-xp 00000000 08:06 3151737 /home/amigo/ros/hydro/system/devel/lib/libhuman_contour_matcher.so
7ff51b3f1000-7ff51b5f1000 ---p 00015000 08:06 3151737 /home/amigo/ros/hydro/system/devel/lib/libhuman_contour_matcher.so
7ff51b5f1000-7ff51b5f2000 r--p 00015000 08:06 3151737 /home/amigo/ros/hydro/system/devel/lib/libhuman_contour_matcher.so
7ff51b5f2000-7ff51b5f3000 rw-p 00016000 08:06 3151737 /home/amigo/ros/hydro/system/devel/lib/libhuman_contour_matcher.so
7ff51b5f3000-7ff51b612000 r-xp 00000000 08:06 3151733 /home/amigo/ros/hydro/system/devel/lib/libcolor_matcher.so
7ff51b612000-7ff51b812000 ---p 0001f000 08:06 3151733 /home/amigo/ros/hydro/system/devel/lib/libcolor_matcher.so
7ff51b812000-7ff51b813000 r--p 0001f000 08:06 3151733 /home/amigo/ros/hydro/system/devel/lib/libcolor_matcher.so
7ff51b813000-7ff51b814000 rw-p 00020000 08:06 3151733 /home/amigo/ros/hydro/system/devel/lib/libcolor_matcher.so
7ff51b814000-7ff51b869000 r-xp 00000000 08:06 547190 /opt/ros/hydro/lib/libopencv_video.so.2.4.9
7ff51b869000-7ff51ba69000 ---p 00055000 08:06 547190 /opt/ros/hydro/lib/libopencv_video.so.2.4.9
7ff51ba69000-7ff51ba6a000 r--p 00055000 08:06 547190 /opt/ros/hydro/lib/libopencv_video.so.2.4.9
7ff51ba6a000-7ff51ba6b000 rw-p 00056000 08:06 547190 /opt/ros/hydro/lib/libopencv_video.so.2.4.9
7ff51ba6b000-7ff51bae1000 r-xp 00000000 08:06 547188 /opt/ros/hydro/lib/libopencv_ml.so.2.4.9
7ff51bae1000-7ff51bce1000 ---p 00076000 08:06 547188 /opt/ros/hydro/lib/libopencv_ml.so.2.4.9
7ff51bce1000-7ff51bce3000 r--p 00076000 08:06 547188 /opt/ros/hydro/lib/libopencv_ml.so.2.4.9
7ff51bce3000-7ff51bce5000 rw-p 00078000 08:06 547188 /opt/ros/hydro/lib/libopencv_ml.so.2.4.9
7ff51bce5000-7ff51bdfa000 r-xp 00000000 08:06 547178 /opt/ros/hydro/lib/libopencv_legacy.so.2.4.9
7ff51bdfa000-7ff51bff9000 ---p 00115000 08:06 547178 /opt/ros/hydro/lib/libopencv_legacy.so.2.4.9
7ff51bff9000-7ff51bffc000 r--p 00114000 08:06 547178 /opt/ros/hydro/lib/libopencv_legacy.so.2.4.9
7ff51bffc000-7ff51bfff000 rw-p 00117000 08:06 547178 /opt/ros/hydro/lib/libopencv_legacy.so.2.4.9
7ff51bfff000-7ff51c000000 rw-p 00000000 00:00 0
7ff51c000000-7ff51c021000 rw-p 00000000 00:00 0
7ff51c021000-7ff520000000 ---p 00000000 00:00 0
7ff520000000-7ff5205bd000 rw-p 00000000 00:00 0
7ff5205bd000-7ff524000000 ---p 00000000 00:00 0
7ff524000000-7ff524021000 rw-p 00000000 00:00 0
7ff524021000-7ff528000000 ---p 00000000 00:00 0
7ff528000000-7ff528021000 rw-p 00000000 00:00 0
7ff528021000-7ff52c000000 ---p 00000000 00:00 0
7ff52c000000-7ff52c630000 rw-p 00000000 00:00 0
7ff52c630000-7ff530000000 ---p 00000000 00:00 0
7ff530064000-7ff530088000 r-xp 00000000 08:06 3933086 /usr/local/lib/libsiftfast.so.1.3.0
7ff530088000-7ff530287000 ---p 00024000 08:06 3933086 /usr/local/lib/libsiftfast.so.1.3.0
7ff530287000-7ff530288000 r--p 00023000 08:06 3933086 /usr/local/lib/libsiftfast.so.1.3.0
7ff530288000-7ffed: /usr/include/boost/smart_ptr/shared_ptr.hpp:418: T* boost::shared_ptr::operator->() const [with T = const ed::Entity]: Assertion `px != 0' failed.
530289000 rw-p 00024000 08:06 3933086 /usr/local/lib/libsiftfast.so.1.3.0
7ff530289000-7ff530297000 r-xp 00000000 08:06 3152069 /home/amigo/ros/hydro/system/devel/lib/libANN.so
7ff530297000-7ff530496000 ---p 0000e000 08:06 3152069 /home/amigo/ros/hydro/system/devel/lib/libANN.so
7ff530496000-7ff530497000 r--p 0000d000 08:06 3152069 /home/amigo/ros/hydro/system/devel/lib/libANN.so
7ff530497000-7ff530498000 rw-p 0000e000 08:06 3152069 /home/amigo/ros/hydro/system/devel/lib/libANN.so
7ff530498000-7ff5304b6000 r-xp 00000000 08:06 3146870 /home/amigo/ros/hydro/system/devel/lib/libvocabulary_tree.so
7ff5304b6000-7ff5306b5000 ---p 0001e000 08:06 3146870 /home/amigo/ros/hydro/system/devel/lib/libvocabulary_tree.so
7ff5306b5000-7ff5306b6000 r--p 0001d000 08:06 3146870 /home/amigo/ros/hydro/system/devel/lib/libvocabulary_tree.so
7ff5306b6000-7ff5306b7000 rw-p 0001e000 0[amigo/ed-13] process has died [pid 6257, exit code -6, cmd /home/amigo/ros/hydro/system/devel/lib/ed/ed /home/amigo/ros/hydro/system/src/amigo_bringup/parameters/world_modeling/world_model.yaml __name:=ed __log:=/home/amigo/.ros/log/f832ae6a-bdf9-11e4-812c-0090f5cdbcde/amigo-ed-13.log].
log file: /home/amigo/.ros/log/f832ae6a-bdf9-11e4-812c-0090f5cdbcde/amigo-ed-13.log

Right now there is a simple working version that takes the perception results and finds the best match against entries of a dictionary. The matching is literal and not flexible, the idea is to use some kind of learning technique that takes the results from the "lower perception layers" and presents one result

OpenCV Error: Bad flag (parameter or structure field) (Unrecognized or unsupported array type) in cvGetMat, file /tmp/buildd/ros-hydro-opencv2-2.4.9-2precise-20140819-1745/modules/core/src/array.cpp, line 2482
terminate called after throwing an instance of 'cv::Exception'
what(): /tmp/buildd/ros-hydro-opencv2-2.4.9-2precise-20140819-1745/modules/core/src/array.cpp:2482: error: (-206) Unrecognized or unsupported array type in function cvGetMat

[ed_server-14] process has died [pid 17987, exit code -6, cmd /home/amigo/ros/hydro/system/devel/lib/ed/ed_server /home/amigo/ros/hydro/system/src/ed/config/amigo.yaml __name:=ed_server __log:=/home/amigo/.ros/log/7f8f5e36-964e-11e4-8f37-6cc217ec10f1/ed_server-14.log].
log file: /home/amigo/.ros/log/7f8f5e36-964e-11e4-8f37-6cc217ec10f1/ed_server-14*.log

robot_plugin crashes ED when used with PR2 URDF. The output is following:

[RobotPlugin] Topic: /joint_states
[ WARN] [1467885323.210067213]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
ed: /usr/include/boost/smart_ptr/shared_ptr.hpp:653: typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = geo::Shape; typename boost::detail::sp_member_access<T>::type = geo::Shape*]: Assertion `px != 0' failed.
[ED] ED Crashed!

    Signal: abort

    Thread: robot_plugin

    Error context: 

        Plugin: robot_plugin


--------------------------------------------------
Backtrace: 

/home/artable/artable_ws/devel/lib/ed/ed(_Z13signalHandleri+0x44d)[0x4c0044]
/lib/x86_64-linux-gnu/libc.so.6(+0x36cb0)[0x7f171a816cb0]
/lib/x86_64-linux-gnu/libc.so.6(gsignal+0x37)[0x7f171a816c37]
/lib/x86_64-linux-gnu/libc.so.6(abort+0x148)[0x7f171a81a028]
/lib/x86_64-linux-gnu/libc.so.6(+0x2fbf6)[0x7f171a80fbf6]
/lib/x86_64-linux-gnu/libc.so.6(+0x2fca2)[0x7f171a80fca2]
/home/artable/artable_ws/devel/lib/libed_core.so(_ZNK5boost10shared_ptrIN3geo5ShapeEEptEv+0x37)[0x7f171d4e7005]
/home/artable/artable_ws/devel/lib/libed_robot_plugin.so(_Z11linkToShapeRKN5boost10shared_ptrIN4urdf4LinkEEE+0xabb)[0x7f16e41c52de]
/home/artable/artable_ws/devel/lib/libed_robot_plugin.so(_ZN11RobotPlugin7processERKN2ed10WorldModelERNS0_13UpdateRequestE+0xc8)[0x7f16e41c6898]
/home/artable/artable_ws/devel/lib/ed/ed(_ZN2ed15PluginContainer4stepEv+0x247)[0x50de8d]

terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
  what():  boost: mutex lock failed in pthread_mutex_lock: Invalid argument
[ed-4] process has died [pid 21765, exit code -6, cmd /home/artable/artable_ws/devel/lib/ed/ed /home/artable/artable_ws/src/ar-table-itable/art_ed/world/fitlab.yaml __name:=ed __log:=/home/artable/.ros/log/b0427e0e-4413-11e6-b232-001517c3b75d/ed-4.log].
log file: /home/artable/.ros/log/b0427e0e-4413-11e6-b232-001517c3b75d/ed-4*.log

Is ed supposed to use so much cpu and memory? I thought it was much lower a week ago.

Temp workaround restart robot-console when restarting ed

log:
/home/amigo/ros/kinetic/system/devel/lib/ed/ed(_Z13signalHandleri+0x558)[0x4da144]
/lib/x86_64-linux-gnu/libc.so.6(+0x354b0)[0x7f9f54cb94b0]
/home/amigo/ros/kinetic/system/devel/.private/ed_sensor_integration/lib/libed_kinect.so(_ZN3dml12findContoursERKN2cv3MatERKN3geo5Vec2TIiEEiRSt6vectorIS6_SaIS6_EESC_RS1_b+0x128)[0x7f9f2ce54bef]
/home/amigo/ros/kinetic/system/devel/.private/ed_sensor_integration/lib/libed_kinect.so(_ZN3dml16calculateContourERKN2cv3MatERSt6vectorIS4_IN3geo5Vec2TIiEESaIS7_EESaIS9_EE+0x193)[0x7f9f2ce55049]
/home/amigo/ros/kinetic/system/devel/.private/ed_sensor_integration/lib/libed_kinect.so(_ZN3dml9project2DERKN3geo4MeshERSt6vectorIS4_INS0_5Vec2TIdEESaIS6_EESaIS8_EE+0x67d)[0x7f9f2ce55a88]
/home/amigo/ros/kinetic/system/devel/.private/ed_sensor_integration/lib/libed_kinect.so(_ZN6Fitter19GetOrCreateEntity2DERKN5boost10shared_ptrIKN2ed6EntityEEE+0x27e)[0x7f9f2ce4b922]
/home/amigo/ros/kinetic/system/devel/.private/ed_sensor_integration/lib/libed_kinect.so(_ZN6Fitter12renderEntityERKN5boost10shared_ptrIKN2ed6EntityEEERKN3geo11Transform3TIdEEiRSt6vectorIdSaIdEERSD_IiSaIiEE+0x1a8)[0x7f9f2ce4bbbe]
/home/amigo/ros/kinetic/system/devel/.private/ed_sensor_integration/lib/libed_kinect.so(_ZN6Fitter18estimateEntityPoseERK10FitterDataRKN2ed10WorldModelERKNS3_4UUIDERKN3geo11Transform3TIdEERSC_d+0x4e1)[0x7f9f2ce4a217]
/home/amigo/ros/kinetic/system/devel/.private/ed_sensor_integration/lib/libed_kinect.so(_ZN7Updater6updateERKN2ed10WorldModelERKN5boost10shared_ptrIKN4rgbd5ImageEEERKN3geo11Transform3TIdEERK13UpdateRequestR12UpdateResult+0x585)[0x7f9f2ce6fee5]
/home/amigo/ros/kinetic/system/devel/lib/libed_kinect_plugin.so(_ZN12KinectPlugin9srvUpdateERN21ed_sensor_integration14UpdateRequest_ISaIvEEERNS0_15UpdateResponse_IS2_EE+0x1bc)[0x7f9f22dd731e]
[ERROR] [1489159733.482780]: InvalidUserCodeError: Could not execute state 'SEGMENT' of type '<robot_smach_states.world_model.SegmentObjects object at 0x7f5c5b4fe350>': Traceback (most recent call last):
File "/home/amigo/ros/kinetic/system/src/smach/src/smach/state_machine.py", line 247, in _update_once
self._remappings[self._current_label]))
File "/home/amigo/ros/kinetic/system/src/robot_smach_states/src/robot_smach_states/world_model.py", line 75, in execute
res = self.robot.ed.update_kinect("{} {}".format(self.segmentation_area, entity_to_inspect.id))
File "/home/amigo/ros/kinetic/system/src/robot_skills/src/robot_skills/world_model_ed.py", line 285, in update_kinect
res = self._ed_kinect_update_srv(area_description = area_description, background_padding = background_padding)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 435, in call
return self.call(*args, **kwds)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 525, in call
raise ServiceException("transport error completing service call: %s"%(str(e)))
ServiceException: transport error completing service call: unable to receive data from sender, check sender's logs for details

Exception in thread fsm:
Traceback (most recent call last):
File "/usr/lib/python2.7/threading.py", line 801, in __bootstrap_inner
self.run()
File "/usr/lib/python2.7/threading.py", line 754, in run
self.__target(*self.__args, **self._kwargs)
File "/home/amigo/ros/kinetic/repos/https/github.com/tue-robotics/action_server.git/src/action_server/actions/action.py", line 47, in _run
self._fsm.execute()
File "/home/amigo/ros/kinetic/system/src/smach/src/smach/state_machine.py", line 359, in execute
container_outcome = self._update_once()
File "/home/amigo/ros/kinetic/system/src/smach/src/smach/state_machine.py", line 254, in _update_once
+ traceback.format_exc())
InvalidUserCodeError: Could not execute state 'SEGMENT' of type '<robot_smach_states.world_model.SegmentObjects object at 0x7f5c5b4fe350>': Traceback (most recent call last):
File "/home/amigo/ros/kinetic/system/src/smach/src/smach/state_machine.py", line 247, in _update_once
self._remappings[self._current_label]))
File "/home/amigo/ros/kinetic/system/src/robot_smach_states/src/robot_smach_states/world_model.py", line 75, in execute
res = self.robot.ed.update_kinect("{} {}".format(self.segmentation_area, entity_to_inspect.id))
File "/home/amigo/ros/kinetic/system/src/robot_skills/src/robot_skills/world_model_ed.py", line 285, in update_kinect
res = self._ed_kinect_update_srv(area_description = area_description, background_padding = background_padding)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 435, in call
return self.call(*args, **kwds)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 525, in call
raise ServiceException("transport error completing service call: %s"%(str(e)))
ServiceException: transport error completing service call: unable to receive data from sender, check sender's logs for details

ed: /usr/include/boost/thread/pthread/recursive_mutex.hpp:113: void boost::recursive_mutex::lock(): Assertion `!pthread_mutex_lock(&m)' failed.
[amigo/ed-3] process has died [pid 5019, exit code -6, cmd /home/amigo/ros/kinetic/system/devel/lib/ed/ed __name:=ed __log:=/home/amigo/.ros/log/5317e40e-059b-11e7-936c-00031d0a0d6c/amigo-ed-3.log].
log file: /home/amigo/.ros/log/5317e40e-059b-11e7-936c-00031d0a0d6c/amigo-ed-3*.log

ed::models::create() : ERROR loading model 'robotic_testlabs'; '/home/rein/ros/hydro/system/src/ed_object_models/models/robotic_testlabs' does not exist.
ed_server: /usr/include/boost/smart_ptr/shared_ptr.hpp:418: T* boost::shared_ptr::operator->() const [with T = ed::models::NewEntity]: Assertion `px != 0' failed.
Aborted (core dumped)

Could also be in the ed_object_models

This is a problem when placing objects

Entities and measurements are really dependent now; think of a better solution that uncouples the entities and measurements.

I recently moved to Ubuntu 14 and everything seems to be working, but i also seem to be having a lot more segfaults than i remember. After some debugging in QTcreator and GDB the segfaults seem to come on parts where a "const ed::EntityConstPtr& e" is being acessed but its null (not sure if can trust qtcreator's gdb, i've had wrong results before)

I've tried to put some checks to make sure the pointer in not NULL with this commit, but it didn't solve everything and it might cause some unexpected behaviour, still its better than just a segfault ( c38e42c )

This warning shows up while running the new Kinect plugin...

Now we have two different representations hardcoded: convex hull + shape; a more generic representation instance is desired so that we can add other representation forms more easy

This causes stop-move behaviour during navigation.

Today I got the error that can be seen below. On src/plugin_container.cpp#L74 there is a comment // TODO: add mutex, does that have anything to do with eachother?

The error:

Program received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7fffb597d700 (LWP 31075)]
0x000000000046aec6 in boost::detail::sp_counted_base::release (this=0x997060)
    at /usr/include/boost/smart_ptr/detail/sp_counted_base_gcc_x86.hpp:145
145             dispose();

The backtrace:

#0  0x000000000046aec6 in boost::detail::sp_counted_base::release (this=0x997060)
    at /usr/include/boost/smart_ptr/detail/sp_counted_base_gcc_x86.hpp:145
#1  0x000000000046af61 in boost::detail::shared_count::~shared_count (this=0x7fffb597ca18, 
    __in_chrg=<optimized out>) at /usr/include/boost/smart_ptr/detail/shared_count.hpp:217
#2  0x000000000048bda8 in boost::shared_ptr<ed::WorldModel const>::~shared_ptr (this=0x7fffb597ca10, 
    __in_chrg=<optimized out>) at /usr/include/boost/smart_ptr/shared_ptr.hpp:168
#3  0x000000000048cba9 in boost::shared_ptr<ed::WorldModel const>::operator= (this=0x7b8530, r=...)
    at /usr/include/boost/smart_ptr/shared_ptr.hpp:305
#4  0x0000000000499587 in ed::PluginContainer::step (this=0x7b8490)
    at /home/ramon/ros/hydro/dev/src/ed/src/plugin_container.cpp:74
#5  0x00000000004994d2 in ed::PluginContainer::run (this=0x7b8490)
    at /home/ramon/ros/hydro/dev/src/ed/src/plugin_container.cpp:56
#6  0x000000000049b974 in boost::_mfi::mf0<void, ed::PluginContainer>::operator() (this=0x886cc8, p=0x7b8490)
    at /usr/include/boost/bind/mem_fn_template.hpp:49
#7  0x000000000049b8e4 in boost::_bi::list1<boost::_bi::value<ed::PluginContainer*> >::operator()<boost::_mfi::mf0<void, ed::PluginContainer>, boost::_bi::list0> (this=0x886cd8, f=..., a=...)
    at /usr/include/boost/bind/bind.hpp:253
#8  0x000000000049b893 in boost::_bi::bind_t<void, boost::_mfi::mf0<void, ed::PluginContainer>, boost::_bi::list1<boost::_bi::value<ed::PluginContainer*> > >::operator() (this=0x886cc8)
    at /usr/include/boost/bind/bind_template.hpp:20

DDP, Visualization and CDP

Create an history of perception results for each entity so that the final conclusions can be more consistent

I just saw an enormous purple floor. This is actually quite annoying, because it blurs the view of other (navigation markers).

When a plugin asserts a model that is not on the list this happens:

[ED] (perception) Error: While updating Categorical Distribution: unknown label 'cigarettes'.
ed: /home/amigo/ros/hydro/dev/src/ed_perception/src/categorical_distribution.cpp:107: void ed::perception::CategoricalDistribution::update(const ed::perception::CategoricalDistribution&): Assertion `pmf_.find(it->first) != pmf_.end()' failed.
Aborted (core dumped)

Prevent the crash by just ignoring the assertion maybe