{"action":"created","issue":{"url":"https://api.github.com/repos/robotology/OpenSoT/issues/119","repository_url":"https://api.github.com/repos/robotology/OpenSoT","labels_url":"https://api.github.com/repos/robotology/OpenSoT/issues/119/labels{/name}","comments_url":"https://api.github.com/repos/robotology/OpenSoT/issues/119/comments","events_url":"https://api.github.com/repos/robotology/OpenSoT/issues/119/events","html_url":"https://github.com/robotology/OpenSoT/issues/119","id":329077273,"node_id":"MDU6SXNzdWUzMjkwNzcyNzM=","number":119,"title":"Segmentation fault possibly from iHQP","user":{"login":"lothas","id":2698646,"node_id":"MDQ6VXNlcjI2OTg2NDY=","avatar_url":"https://avatars3.githubusercontent.com/u/2698646?v=4","gravatar_id":"","url":"https://api.github.com/users/lothas","html_url":"https://github.com/lothas","followers_url":"https://api.github.com/users/lothas/followers","following_url":"https://api.github.com/users/lothas/following{/other_user}","gists_url":"https://api.github.com/users/lothas/gists{/gist_id}","starred_url":"https://api.github.com/users/lothas/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/lothas/subscriptions","organizations_url":"https://api.github.com/users/lothas/orgs","repos_url":"https://api.github.com/users/lothas/repos","events_url":"https://api.github.com/users/lothas/events{/privacy}","received_events_url":"https://api.github.com/users/lothas/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":31,"created_at":"2018-06-04T14:22:05Z","updated_at":"2018-06-06T17:37:58Z","closed_at":null,"author_association":"NONE","body":"I'm getting a segmentation fault while initializing my controller (using OpenSoT on the devel branch).\r\n\r\nHere's the code:\r\n```\r\nauto_stack_.reset(new OpenSoT::AutoStack(particle_));\r\n  // auto_stack_ = (particle_);\r\n\r\n  auto_stack_ = auto_stack_  << joint_lims_ << vel_lims_;\r\n\r\n  auto_stack_->update(q0_);\r\n\r\n  LOG_INFO(\"--AutoStack set\"); // it's crashing between here\r\n\r\n  solver_.reset(new OpenSoT::solvers::iHQP(auto_stack_->getStack(),\r\n    auto_stack_->getBounds(), 1e8));\r\n  std::cout << \"Solver_ address (box reset):  \" << solver_ << std::endl;\r\n  std::cout << \"Solver() address (box reset): \" << solver() << std::endl;\r\n\r\n  LOG_INFO(\"--Solver reset\"); // and here\r\n```\r\n\r\nAnd here's the output from gdb bt:\r\n```\r\n[INFO] Setting model:\r\n[INFO] --Com task initialized\r\n[INFO] --Particle position task initialized\r\n[INFO] --Postural task initialized\r\n[INFO] --Joint limits:   0 -20, 20 20\r\n[SUCCESS] q(0) = 0 OK\r\n[SUCCESS] q(1) = 0 OK\r\n[INFO] --Joints limits initialized\r\n[INFO]   Joint velocity limits: 500 500\r\n[INFO] --Velocities limits task initialized\r\n[info] PilerHelper: expanding to 2 x 1 \r\n[info] PilerHelper: expanding to 2 x 1 \r\n[INFO] --AutoStack set\r\n[info] #USING BACK-END: qpOASES\r\n[info] PilerHelper: expanding to 2 x 1 \r\n[info] PilerHelper: expanding to 2 x 1 \r\n[success] OpenSotBackEndQPOases so library found! \r\n\r\nThread 1 \"box_mismatch\" received signal SIGSEGV, Segmentation fault.\r\n0x00000000005d5370 in void Eigen::internal::pstore<double, double __vector>(double*, double __vector const&) ()\r\n(gdb) bt\r\n#0  0x00000000005d5370 in void Eigen::internal::pstore<double, double __vector>(double*, double __vector const&) ()\r\n#1  0x0000000000629dd7 in void Eigen::internal::assign_op<double>::assignPacket<32, double __vector>(double*, double __vector const&) const ()\r\n#2  0x000000000062a8b3 in void Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, -1, -1, 0, -1, -1> >, Eigen::internal::evaluator<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > >, Eigen::internal::assign_op<double>, 0>::assignPacket<32, 32, double __vector>(long) ()\r\n#3  0x0000000000623bc4 in Eigen::internal::dense_assignment_loop<Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, -1, -1, 0, -1, -1> >, Eigen::internal::evaluator<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > >, Eigen::internal::assign_op<double>, 0>, 3, 0>::run(Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, -1, -1, 0, -1, -1> >, Eigen::internal::evaluator<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > >, Eigen::internal::assign_op<double>, 0>&) ()\r\n#4  0x000000000061c1e6 in void Eigen::internal::call_dense_assignment_loop<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> >, Eigen::internal::assign_op<double> >(Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, Eigen::internal::assign_op<double> const&) ()\r\n#5  0x00000000006134f9 in Eigen::internal::Assignment<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> >, Eigen::internal::assign_op<double>, Eigen::internal::Dense2Dense, double>::run(Eigen::Matrix<double, -1, -1, 0, -1, -1>&, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, Eigen::internal::assign_op<double> const&) ()\r\n#6  0x000000000060a60e in void Eigen::internal::call_assignment_no_alias<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> >, Eigen::internal::assign_op<double> >(Eigen::Matrix<double, -1, -1, 0, -1, -1>&, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, Eigen::internal::assign_op<double> const&) ()\r\n#7  0x00007ffff69b399b in Eigen::internal::call_assignment<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> >, Eigen::internal::assign_op<double> >(Eigen::Matrix<double, -1, -1, 0, -1, -1>&, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, Eigen::internal::assign_op<double> const&, Eigen::internal::enable_if<!Eigen::internal::evaluator_assume_aliasing<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> >, Eigen::internal::evaluator_traits<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > >::Shape>::value, void*>::type) (func=..., src=..., dst=...) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:712\r\n#8  Eigen::internal::call_assignment<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > > (src=..., dst=...)\r\n    at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:693\r\n#9  Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> >::_set<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > > (other=..., this=0xd68948)\r\n    at /usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:682\r\n#10 Eigen::Matrix<double, -1, -1, 0, -1, -1>::operator=<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > > (other=..., this=<optimized out>) at /usr/include/eigen3/Eigen/src/Core/Matrix.h:225\r\n#11 Eigen::DenseBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> >::setConstant (val=<optimized out>, this=<optimized out>)\r\n    at /usr/include/eigen3/Eigen/src/Core/CwiseNullaryOp.h:338\r\n#12 Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> >::setZero (cols=<optimized out>, rows=<optimized out>, \r\n    this=<optimized out>) at /usr/include/eigen3/Eigen/src/Core/CwiseNullaryOp.h:541\r\n#13 OpenSoT::solvers::BackEnd::BackEnd (this=0xd68940, number_of_variables=2, number_of_constraints=0)\r\n    at /home/icubuser/OpenSoT-superbuild/external/OpenSoT/src/solvers/BackEnd.cpp:9\r\n#14 0x00007fffa40d0c15 in OpenSoT::solvers::QPOasesBackEnd::QPOasesBackEnd (this=0xd68940, number_of_variables=2, \r\n    number_of_constraints=0, hessian_type=OpenSoT::HST_SEMIDEF, eps_regularisation=100000000)\r\n    at /home/icubuser/OpenSoT-superbuild/external/OpenSoT/src/solvers/QPOasesBackEnd.cpp:45\r\n#15 0x00007fffa40d122b in create_instance (number_of_variables=2, number_of_constraints=0, hessian_type=OpenSoT::HST_SEMIDEF, \r\n    eps_regularisation=100000000) at /home/icubuser/OpenSoT-superbuild/external/OpenSoT/src/solvers/QPOasesBackEnd.cpp:25\r\n#16 0x00007ffff69b824d in (anonymous namespace)::SoLib::getFactoryWithArgs<OpenSoT::solvers::BackEnd, int, int, OpenSoT::HessianType, double> (lib_name=\"OpenSotBackEndQPOases\", path_to_so=\"OpenSotBackEndQPOases.so\")\r\n---Type <return> to continue, or q <return> to quit---\r\n    at /home/icubuser/OpenSoT-superbuild/build/install/include/XBotInterface/SoLib.h:121\r\n#17 OpenSoT::solvers::BackEndFactory (be_solver=be_solver@entry=OpenSoT::solvers::solver_back_ends::qpOASES, \r\n    number_of_variables=2, number_of_constraints=0, hessian_type=OpenSoT::HST_SEMIDEF, eps_regularisation=100000000)\r\n    at /home/icubuser/OpenSoT-superbuild/external/OpenSoT/src/solvers/BackEndFactory.cpp:30\r\n#18 0x00007ffff69bb6b5 in OpenSoT::solvers::iHQP::prepareSoT (this=this@entry=0xcafe40, \r\n    be_solver=be_solver@entry=OpenSoT::solvers::solver_back_ends::qpOASES)\r\n    at /home/icubuser/OpenSoT-superbuild/external/OpenSoT/src/solvers/iHQP.cpp:136\r\n#19 0x00007ffff69bd79b in OpenSoT::solvers::iHQP::iHQP (this=0xcafe40, stack_of_tasks=std::vector of length 1, capacity 1 = {...}, \r\n    bounds=..., eps_regularisation=100000000, be_solver=OpenSoT::solvers::solver_back_ends::qpOASES)\r\n    at /home/icubuser/OpenSoT-superbuild/external/OpenSoT/src/solvers/iHQP.cpp:30\r\n#20 0x000000000066e3a2 in control::box_Impl_opensot_controller::setAutoStack() ()\r\n#21 0x000000000066d97a in control::box_Impl_opensot_controller::reset() ()\r\n#22 0x00007ffff7b21176 in api::robot_framework::robot_framework(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool*) () from /usr/local/lib/RobotFramework/libRobotFramework.so.1.0.0\r\n#23 0x00000000005cd6e8 in runAlgorithm(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int) ()\r\n#24 0x00000000005d217d in main ()\r\n```"},"comment":{"url":"https://api.github.com/repos/robotology/OpenSoT/issues/comments/395152775","html_url":"https://github.com/robotology/OpenSoT/issues/119#issuecomment-395152775","issue_url":"https://api.github.com/repos/robotology/OpenSoT/issues/119","id":395152775,"node_id":"MDEyOklzc3VlQ29tbWVudDM5NTE1Mjc3NQ==","user":{"login":"EnricoMingo","id":5511882,"node_id":"MDQ6VXNlcjU1MTE4ODI=","avatar_url":"https://avatars2.githubusercontent.com/u/5511882?v=4","gravatar_id":"","url":"https://api.github.com/users/EnricoMingo","html_url":"https://github.com/EnricoMingo","followers_url":"https://api.github.com/users/EnricoMingo/followers","following_url":"https://api.github.com/users/EnricoMingo/following{/other_user}","gists_url":"https://api.github.com/users/EnricoMingo/gists{/gist_id}","starred_url":"https://api.github.com/users/EnricoMingo/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/EnricoMingo/subscriptions","organizations_url":"https://api.github.com/users/EnricoMingo/orgs","repos_url":"https://api.github.com/users/EnricoMingo/repos","events_url":"https://api.github.com/users/EnricoMingo/events{/privacy}","received_events_url":"https://api.github.com/users/EnricoMingo/received_events","type":"User","site_admin":false},"created_at":"2018-06-06T17:37:58Z","updated_at":"2018-06-06T17:37:58Z","author_association":"MEMBER","body":"Because it is looking for qpOases in /usr/bin/ld which is the wrong path. Did you compiled using just make?"}}
{"actor":{"display_login":"EnricoMingo"}}