Runtime Error in 'create_reachability_map'

[vickailiu]

Hi @jontromanab

I was following the instructions in http://wiki.ros.org/reuleaux and use the package to analyze the reachability for a ur3 robot.

Everything proceeded ok until I run:
rosrun map_creator create_reachability_map 0.08 3_robot.h5

And it got the following error:
"terminate called after throwing an instance of 'std::runtime_error'
what(): GetSolution index is invalid
Aborted (core dumped)"

Can advise me how to troubleshoot, or even better the solution for it?

Thanks in advance!
Victor

[jontromanab]

Hello @vickailiu . Sorry for replying you so late. Regarding your problem, can you send me your ikfast file for the ur3 arm?
By the way, are you using Indigo or Kinectic?

[vickailiu]

@jontromanab surely, here it is:

output_ikfast61.cpp.zip

I traced back the problem in ikfast.h and did a hack on the function at line 297:

virtual const IkSolutionBase< T >& GetSolution(size_t index) const
{
//  if (index >= _listsolutions.size())
//  {
//    throw std::runtime_error("GetSolution index is invalid");
//  }
  typename std::list< IkSolution< T > >::const_iterator it = _listsolutions.begin();

  if (index < _listsolutions.size())
    std::advance(it, index);

  return *it;
}

It did run through. Then another problem comes as I cannot load the reachability map: the load_reachability_map runs looks ok but I cannot find an available topic in rviz. I tried both motoman_mh5_r0.08_reachability.h5 and my own ur3_r0.08_reachability.h5 with the same situation.

[jontromanab]

hello @vickailiu
Sorry for the delay in reply. I was debugging from the begining. However I have missed your comments that your hack worked and the problem is you cannot visualize the map. The solution is quite simple.
The fixed frame in load reachability map is "base_link". Have you tried with fixed_frame-> base_link ???

(Another question from me is are you sure the create_reachability_map process completed for you with 0.08?) If the load reachability map loads the map, then there should be a topic.

Though it worked for you, the hack is not working for me for resolution lower than 0.1. I have to go deep and find the solution.
Please let me know if you can see the map. If it does not work, I have to go through your version (may be the codes, or a video)

[vickailiu]

Hi @jontromanab , changing the fixed frame works. I can see the maps now. Thanks!

[zephirefaith]

Hi @jontromanab, I am trying to use your package to do reachability analysis for a UR5e arm, and stumbling upon the same problem. The hack by @vickailiu has not worked for me at all. I am using the kinetic-devel branch of reuleaux.