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backtrace for TrajectoryExecution vs OctomapUpdater
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gistfile1.txt
Thread 9 (Thread 0x7fffc9ffb700 (LWP 14410)):
#0 pthread_cond_wait@@GLIBC_2.3.2 () at ../sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
No locals.
#1 0x00007ffff5fd79f3 in trajectory_execution_manager::TrajectoryExecutionManager::waitForExecution() () from /opt/ros/kinetic/lib/libmoveit_trajectory_execution_manager.so.0.9.3
No symbol table info available.
#2 0x000000000053984c in RosWorld::executePlan (this=0x1057730, plan=...) at /home/sis/Mikado/src/Yenga2/mikado_gui/src/RosWorld.cpp:558
status = {status_ = moveit_controller_manager::ExecutionStatus::UNKNOWN}
__PRETTY_FUNCTION__ = "moveit_controller_manager::ExecutionStatus RosWorld::executePlan(const moveit::planning_interface::MoveGroupInterface::Plan&)"
#3 0x000000000058eb83 in MoveTcpToTask::run (this=0x2dd4330) at /home/sis/Mikado/src/Yenga2/mikado_gui/src/tasks/MoveTcpToTask.cpp:116
result = <optimized out>
tries = 0
inputUrl = {static null = {<No data fields>}, d = 0x2dd4f90}
goalVar = {d = {data = {c = 48 '0', uc = 48 '0', s = -32208, sc = 48 '0', us = 33328, i = -1327660496, u = 2967306800, l = 140736160694832, ul = 140736160694832, b = 48, d = 6.9532902126909629e-310, f = -1.61168678e-09, real = 6.9532902126909629e-310, ll = 140736160694832, ull = 140736160694832, o = 0x7fffb0dd8230, ptr = 0x7fffb0dd8230, shared = 0x7fffb0dd8230}, type = 1036, is_shared = 1, is_null = 0}}
planner = <optimized out>
state = {robot_model_ = {<std::__shared_ptr<moveit::core::RobotModel const, (__gnu_cxx::_Lock_policy)2>> = {_M_ptr = 0x7fffb0016770, _M_refcount = {_M_pi = 0x7fffb0016b10}}, <No data fields>}, memory_ = 0x7fffb0e63650, position_ = 0x7fffb0e65bf0, velocity_ = 0x7fffb0e65c20, acceleration_ = 0x7fffb0e65c50, effort_ = 0x7fffb0e65c50, has_velocity_ = false, has_acceleration_ = false, has_effort_ = false, dirty_link_transforms_ = 0x0, dirty_collision_body_transforms_ = 0x0, variable_joint_transforms_ = 0x7fffb0e63650, global_link_transforms_ = 0x7fffb0e64350, global_collision_body_transforms_ = 0x7fffb0e65050, dirty_joint_transforms_ = 0x7fffb0e65bd0 "", attached_body_map_ = {_M_t = {_M_impl = {<std::allocator<std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, moveit::core::AttachedBody*> > >> = {<__gnu_cxx::new_allocator<std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, moveit::core::AttachedBody*> > >> = {<No data fields>}, <No data fields>}, _M_key_compare = {<std::binary_function<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool>> = {<No data fields>}, <No data fields>}, _M_header = {_M_color = std::_S_red, _M_parent = 0x7fffb0de0000, _M_left = 0x7fffb0de0000, _M_right = 0x7fffb0de0000}, _M_node_count = 1}}}, attached_body_update_callback_ = {<boost::function2<void, moveit::core::AttachedBody*, bool>> = {<boost::function_base> = {vtable = 0x0, functor = {obj_ptr = 0x7ffff5842093 <moveit::core::RobotState::~RobotState()+67>, type = {type = 0x7ffff5842093 <moveit::core::RobotState::~RobotState()+67>, const_qualified = 80, volatile_qualified = 130}, func_ptr = 0x7ffff5842093 <moveit::core::RobotState::~RobotState()+67>, bound_memfunc_ptr = {memfunc_ptr = &virtual table offset 140737312465042, this adjustment 140736160694864, obj_ptr = 0x58c344 <MoveToTask::run()+3652>}, obj_ref = {obj_ptr = 0x7ffff5842093 <moveit::core::RobotState::~RobotState()+67>, is_const_qualified = 80, is_volatile_qualified = 130}, data = -109 '\223'}}, <std::binary_function<moveit::core::AttachedBody*, bool, void>> = {<No data fields>}, static args = <optimized out>, static arity = <optimized out>}, <No data fields>}, rng_ = 0x0}
goalState = {robot_model_ = {<std::__shared_ptr<moveit::core::RobotModel const, (__gnu_cxx::_Lock_policy)2>> = {_M_ptr = 0x7fffb0016770, _M_refcount = {_M_pi = 0x7fffb0016b10}}, <No data fields>}, memory_ = 0x7fffb0e85d80, position_ = 0x7fffb0e88320, velocity_ = 0x7fffb0e88350, acceleration_ = 0x7fffb0e88380, effort_ = 0x7fffb0e88380, has_velocity_ = false, has_acceleration_ = false, has_effort_ = false, dirty_link_transforms_ = 0x0, dirty_collision_body_transforms_ = 0x0, variable_joint_transforms_ = 0x7fffb0e85d80, global_link_transforms_ = 0x7fffb0e86a80, global_collision_body_transforms_ = 0x7fffb0e87780, dirty_joint_transforms_ = 0x7fffb0e88300 "", attached_body_map_ = {_M_t = {_M_impl = {<std::allocator<std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, moveit::core::AttachedBody*> > >> = {<__gnu_cxx::new_allocator<std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, moveit::core::AttachedBody*> > >> = {<No data fields>}, <No data fields>}, _M_key_compare = {<std::binary_function<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool>> = {<No data fields>}, <No data fields>}, _M_header = {_M_color = std::_S_red, _M_parent = 0x7fffb00484f0, _M_left = 0x7fffb00484f0, _M_right = 0x7fffb00484f0}, _M_node_count = 1}}}, attached_body_update_callback_ = {<boost::function2<void, moveit::core::AttachedBody*, bool>> = {<boost::function_base> = {vtable = 0x0, functor = {obj_ptr = 0x7fffc9ffa1b0, type = {type = 0x7fffc9ffa1b0, const_qualified = false, volatile_qualified = false}, func_ptr = 0x7fffc9ffa1b0, bound_memfunc_ptr = {memfunc_ptr = (void (boost::detail::function::X::*)(boost::detail::function::X * const, int)) 0x7fffc9ffa1b0, obj_ptr = 0x7fffffffc970}, obj_ref = {obj_ptr = 0x7fffc9ffa1b0, is_const_qualified = false, is_volatile_qualified = false}, data = -80 '\260'}}, <std::binary_function<moveit::core::AttachedBody*, bool, void>> = {<No data fields>}, static args = <optimized out>, static arity = <optimized out>}, <No data fields>}, rng_ = 0x0}
varType = {d = 0x7fffb0098a10}
__PRETTY_FUNCTION__ = "virtual QString MoveTcpToTask::run()"
gripperTransform = {m_matrix = {<Eigen::PlainObjectBase<Eigen::Matrix<double, 4, 4, 0, 4, 4> >> = {<Eigen::MatrixBase<Eigen::Matrix<double, 4, 4, 0, 4, 4> >> = {<Eigen::DenseBase<Eigen::Matrix<double, 4, 4, 0, 4, 4> >> = {<Eigen::internal::special_scalar_op_base<Eigen::Matrix<double, 4, 4, 0, 4, 4>, double, double, Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 4, 0, 4, 4>, 3>, false>> = {<Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 4, 0, 4, 4>, 3>> = {<Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 4, 0, 4, 4>, 1>> = {<Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 4, 0, 4, 4>, 0>> = {<Eigen::EigenBase<Eigen::Matrix<double, 4, 4, 0, 4, 4> >> = {<No data fields>}, <No data fields>}, <No data fields>}, <No data fields>}, <No data fields>}, <No data fields>}, <No data fields>}, m_storage = {m_data = {array = {-1, 0, -1.2246467991473532e-16, 0, 0, 1, 0, 0, 1.2246467991473532e-16, 0, -1, 0, -2.0818995585505005e-17, -0, 0.17000000000000001, 1}}}}, <No data fields>}}
linkModel = <optimized out>
goal = {m_matrix = {<Eigen::PlainObjectBase<Eigen::Matrix<double, 4, 4, 0, 4, 4> >> = {<Eigen::MatrixBase<Eigen::Matrix<double, 4, 4, 0, 4, 4> >> = {<Eigen::DenseBase<Eigen::Matrix<double, 4, 4, 0, 4, 4> >> = {<Eigen::internal::special_scalar_op_base<Eigen::Matrix<double, 4, 4, 0, 4, 4>, double, double, Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 4, 0, 4, 4>, 3>, false>> = {<Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 4, 0, 4, 4>, 3>> = {<Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 4, 0, 4, 4>, 1>> = {<Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 4, 0, 4, 4>, 0>> = {<Eigen::EigenBase<Eigen::Matrix<double, 4, 4, 0, 4, 4> >> = {<No data fields>}, <No data fields>}, <No data fields>}, <No data fields>}, <No data fields>}, <No data fields>}, <No data fields>}, m_storage = {m_data = {array = {-3.6732051033465739e-06, -0.99999999999325373, 0, 0, 0.99999999999325373, -3.6732051033465739e-06, 0, 0, 0, 0, 1, 0, -0.016, 0.40600000000000003, 0.32000000000000001, 1}}}}, <No data fields>}}
handPosition = {m_matrix = {<Eigen::PlainObjectBase<Eigen::Matrix<double, 4, 4, 0, 4, 4> >> = {<Eigen::MatrixBase<Eigen::Matrix<double, 4, 4, 0, 4, 4> >> = {<Eigen::DenseBase<Eigen::Matrix<double, 4, 4, 0, 4, 4> >> = {<Eigen::internal::special_scalar_op_base<Eigen::Matrix<double, 4, 4, 0, 4, 4>, double, double, Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 4, 0, 4, 4>, 3>, false>> = {<Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 4, 0, 4, 4>, 3>> = {<Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 4, 0, 4, 4>, 1>> = {<Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 4, 0, 4, 4>, 0>> = {<Eigen::EigenBase<Eigen::Matrix<double, 4, 4, 0, 4, 4> >> = {<No data fields>}, <No data fields>}, <No data fields>}, <No data fields>}, <No data fields>}, <No data fields>}, <No data fields>}, m_storage = {m_data = {array = {3.6732051033465739e-06, 0.99999999999325373, -1.2246467991473532e-16, 0, 0.99999999999325373, -3.6732051033465739e-06, 0, 0, -4.4983788724251044e-22, -1.2246467991390914e-16, -1, 0, -0.016, 0.40600000000000003, 0.48999999999999999, 1}}}}, <No data fields>}}
movePlan = {<QObject> = {_vptr.QObject = 0xc62448 <vtable for MovePlan+16>, static staticMetaObject = {d = {superdata = 0x0, stringdata = 0x7fffef4d5b40 <qt_meta_stringdata_QObject>, data = 0x7fffef4d5a20 <qt_meta_data_QObject>, static_metacall = 0x7fffef39c2c0 <QObject::qt_static_metacall(QObject*, QMetaObject::Call, int, void**)>, relatedMetaObjects = 0x0, extradata = 0x0}}, d_ptr = {d = 0x7fffb000aee0}, static staticQtMetaObject = {d = {superdata = 0x0, stringdata = 0x7fffef51d6a0 <qt_meta_stringdata_Qt>, data = 0x7fffef51ac20 <qt_meta_data_Qt>, static_metacall = 0x0, relatedMetaObjects = 0x0, extradata = 0x0}}}, static staticMetaObject = {d = {superdata = 0x7fffef5a6820 <QObject::staticMetaObject>, stringdata = 0x9c10a0 <qt_meta_stringdata_MovePlan>, data = 0x9c1060 <qt_meta_data_MovePlan>, static_metacall = 0x5ad820 <MovePlan::qt_static_metacall(QObject*, QMetaObject::Call, int, void**)>, relatedMetaObjects = 0x0, extradata = 0x0}}, m_startState = {<std::__shared_ptr<moveit::core::RobotState, (__gnu_cxx::_Lock_policy)2>> = {_M_ptr = 0x7fffb0dd88c0, _M_refcount = {_M_pi = 0x7fffb0048540}}, <No data fields>}, m_goalDoubles = {<std::_Vector_base<double, std::allocator<double> >> = {_M_impl = {<std::allocator<double>> = {<__gnu_cxx::new_allocator<double>> = {<No data fields>}, <No data fields>}, _M_start = 0x0, _M_finish = 0x0, _M_end_of_storage = 0x0}}, <No data fields>}, m_goalState = {<std::__shared_ptr<moveit::core::RobotState, (__gnu_cxx::_Lock_policy)2>> = {_M_ptr = 0x0, _M_refcount = {_M_pi = 0x0}}, <No data fields>}, m_goalPose = {m_matrix = {<Eigen::PlainObjectBase<Eigen::Matrix<double, 4, 4, 0, 4, 4> >> = {<Eigen::MatrixBase<Eigen::Matrix<double, 4, 4, 0, 4, 4> >> = {<Eigen::DenseBase<Eigen::Matrix<double, 4, 4, 0, 4, 4> >> = {<Eigen::internal::special_scalar_op_base<Eigen::Matrix<double, 4, 4, 0, 4, 4>, double, double, Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 4, 0, 4, 4>, 3>, false>> = {<Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 4, 0, 4, 4>, 3>> = {<Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 4, 0, 4, 4>, 1>> = {<Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 4, 0, 4, 4>, 0>> = {<Eigen::EigenBase<Eigen::Matrix<double, 4, 4, 0, 4, 4> >> = {<No data fields>}, <No data fields>}, <No data fields>}, <No data fields>}, <No data fields>}, <No data fields>}, <No data fields>}, m_storage = {m_data = {array = {3.6732051033465739e-06, 0.99999999999325373, -1.2246467991473532e-16, 0, 0.99999999999325373, -3.6732051033465739e-06, 0, 0, -4.4983788724251044e-22, -1.2246467991390914e-16, -1, 0, -0.016, 0.40600000000000003, 0.48999999999999999, 1}}}}, <No data fields>}}, m_checkDirectPath = true, m_allowPlanning = true, m_activeTarget = POSE, m_jointModelGroup = 0x7fffb0033770, m_lastLink = {static npos = 18446744073709551615, _M_dataplus = {<std::allocator<char>> = {<__gnu_cxx::new_allocator<char>> = {<No data fields>}, <No data fields>}, _M_p = 0x7fffc9ffa330 "tool0"}, _M_string_length = 5, {_M_local_buf = "tool0\000\000\000\000\000\000\000\000\000\000", _M_allocated_capacity = 207977672564}}}
plan = {start_state_ = {joint_state = {header = {seq = 0, stamp = {<ros::TimeBase<ros::Time, ros::Duration>> = {sec = 0, nsec = 0}, <No data fields>}, frame_id = {static npos = 18446744073709551615, _M_dataplus = {<std::allocator<char>> = {<__gnu_cxx::new_allocator<char>> = {<No data fields>}, <No data fields>}, _M_p = 0x7fffc9ffa360 "/world_frame"}, _M_string_length = 12, {_M_local_buf = "/world_frame\000\320ξ", _M_allocated_capacity = 7376725131595314991}}}, name = {<std::_Vector_base<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >> = {_M_impl = {<std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >> = {<__gnu_cxx::new_allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >> = {<No data fields>}, <No data fields>}, _M_start = 0x7fffb0e66090, _M_finish = 0x7fffb0e66150, _M_end_of_storage = 0x7fffb0e66190}}, <No data fields>}, position = {<std::_Vector_base<double, std::allocator<double> >> = {_M_impl = {<std::allocator<double>> = {<__gnu_cxx::new_allocator<double>> = {<No data fields>}, <No data fields>}, _M_start = 0x7fffb0e65f70, _M_finish = 0x7fffb0e65fa0, _M_end_of_storage = 0x7fffb0e65fb0}}, <No data fields>}, velocity = {<std::_Vector_base<double, std::allocator<double> >> = {_M_impl = {<std::allocator<double>> = {<__gnu_cxx::new_allocator<double>> = {<No data fields>}, <No data fields>}, _M_start = 0x7fffb0ddfe10, _M_finish = 0x7fffb0ddfe40, _M_end_of_storage = 0x7fffb0ddfe50}}, <No data fields>}, effort = {<std::_Vector_base<double, std::allocator<double> >> = {_M_impl = {<std::allocator<double>> = {<__gnu_cxx::new_allocator<double>> = {<No data fields>}, <No data fields>}, _M_start = 0x0, _M_finish = 0x0, _M_end_of_storage = 0x0}}, <No data fields>}}, multi_dof_joint_state = {header = {seq = 0, stamp = {<ros::TimeBase<ros::Time, ros::Duration>> = {sec = 0, nsec = 0}, <No data fields>}, frame_id = {static npos = 18446744073709551615, _M_dataplus = {<std::allocator<char>> = {<__gnu_cxx::new_allocator<char>> = {<No data fields>}, <No data fields>}, _M_p = 0x7fffc9ffa3f0 "/world_frame"}, _M_string_length = 12, {_M_local_buf = "/world_frame\000\177\000", _M_allocated_capacity = 7376725131595314991}}}, joint_names = {<std::_Vector_base<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >> = {_M_impl = {<std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >> = {<__gnu_cxx::new_allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >> = {<No data fields>}, <No data fields>}, _M_start = 0x0, _M_finish = 0x0, _M_end_of_storage = 0x0}}, <No data fields>}, transforms = {<std::_Vector_base<geometry_msgs::Transform_<std::allocator<void> >, std::allocator<geometry_msgs::Transform_<std::allocator<void> > > >> = {_M_impl = {<std::allocator<geometry_msgs::Transform_<std::allocator<void> > >> = {<__gnu_cxx::new_allocator<geometry_msgs::Transform_<std::allocator<void> > >> = {<No data fields>}, <No data fields>}, _M_start = 0x0, _M_finish = 0x0, _M_end_of_storage = 0x0}}, <No data fields>}, twist = {<std::_Vector_base<geometry_msgs::Twist_<std::allocator<void> >, std::allocator<geometry_msgs::Twist_<std::allocator<void> > > >> = {_M_impl = {<std::allocator<geometry_msgs::Twist_<std::allocator<void> > >> = {<__gnu_cxx::new_allocator<geometry_msgs::Twist_<std::allocator<void> > >> = {<No data fields>}, <No data fields>}, _M_start = 0x0, _M_finish = 0x0, _M_end_of_storage = 0x0}}, <No data fields>}, wrench = {<std::_Vector_base<geometry_msgs::Wrench_<std::allocator<void> >, std::allocator<geometry_msgs::Wrench_<std::allocator<void> > > >> = {_M_impl = {<std::allocator<geometry_msgs::Wrench_<std::allocator<void> > >> = {<__gnu_cxx::new_allocator<geometry_msgs::Wrench_<std::allocator<void> > >> = {<No data fields>}, <No data fields>}, _M_start = 0x0, _M_finish = 0x0, _M_end_of_storage = 0x0}}, <No data fields>}}, attached_collision_objects = {<std::_Vector_base<moveit_msgs::AttachedCollisionObject_<std::allocator<void> >, std::allocator<moveit_msgs::AttachedCollisionObject_<std::allocator<void> > > >> = {_M_impl = {<std::allocator<moveit_msgs::AttachedCollisionObject_<std::allocator<void> > >> = {<__gnu_cxx::new_allocator<moveit_msgs::AttachedCollisionObject_<std::allocator<void> > >> = {<No data fields>}, <No data fields>}, _M_start = 0x7fffb0e661a0, _M_finish = 0x7fffb0e66368, _M_end_of_storage = 0x7fffb0e66368}}, <No data fields>}, is_diff = 0 '\000'}, trajectory_ = {joint_trajectory = {header = {seq = 0, stamp = {<ros::TimeBase<ros::Time, ros::Duration>> = {sec = 0, nsec = 0}, <No data fields>}, frame_id = {static npos = 18446744073709551615, _M_dataplus = {<std::allocator<char>> = {<__gnu_cxx::new_allocator<char>> = {<No data fields>}, <No data fields>}, _M_p = 0x7fffc9ffa4a0 "/world_frame"}, _M_string_length = 12, {_M_local_buf = "/world_frame\000J\211\225", _M_allocated_capacity = 7376725131595314991}}}, joint_names = {<std::_Vector_base<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >> = {_M_impl = {<std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >> = {<__gnu_cxx::new_allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >> = {<No data fields>}, <No data fields>}, _M_start = 0x7fffb0e66370, _M_finish = 0x7fffb0e66430, _M_end_of_storage = 0x7fffb0e66470}}, <No data fields>}, points = {<std::_Vector_base<trajectory_msgs::JointTrajectoryPoint_<std::allocator<void> >, std::allocator<trajectory_msgs::JointTrajectoryPoint_<std::allocator<void> > > >> = {_M_impl = {<std::allocator<trajectory_msgs::JointTrajectoryPoint_<std::allocator<void> > >> = {<__gnu_cxx::new_allocator<trajectory_msgs::JointTrajectoryPoint_<std::allocator<void> > >> = {<No data fields>}, <No data fields>}, _M_start = 0x7fffb0df80b0, _M_finish = 0x7fffb0df8180, _M_end_of_storage = 0x7fffb0df8180}}, <No data fields>}}, multi_dof_joint_trajectory = {header = {seq = 0, stamp = {<ros::TimeBase<ros::Time, ros::Duration>> = {sec = 0, nsec = 0}, <No data fields>}, frame_id = {static npos = 18446744073709551615, _M_dataplus = {<std::allocator<char>> = {<__gnu_cxx::new_allocator<char>> = {<No data fields>}, <No data fields>}, _M_p = 0x7fffc9ffa500 ""}, _M_string_length = 0, {_M_local_buf = "\000\245\377\311\377\177\000\000`v\005\001\001\000\000", _M_allocated_capacity = 140736582362368}}}, joint_names = {<std::_Vector_base<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >> = {_M_impl = {<std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >> = {<__gnu_cxx::new_allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >> = {<No data fields>}, <No data fields>}, _M_start = 0x0, _M_finish = 0x0, _M_end_of_storage = 0x0}}, <No data fields>}, points = {<std::_Vector_base<trajectory_msgs::MultiDOFJointTrajectoryPoint_<std::allocator<void> >, std::allocator<trajectory_msgs::MultiDOFJointTrajectoryPoint_<std::allocator<void> > > >> = {_M_impl = {<std::allocator<trajectory_msgs::MultiDOFJointTrajectoryPoint_<std::allocator<void> > >> = {<__gnu_cxx::new_allocator<trajectory_msgs::MultiDOFJointTrajectoryPoint_<std::allocator<void> > >> = {<No data fields>}, <No data fields>}, _M_start = 0x0, _M_finish = 0x0, _M_end_of_storage = 0x0}}, <No data fields>}}}, planning_time_ = 6.9533110458495424e-310}
pathFound = true
moved = false
#4 0x00000000005d6763 in Engine::runCurrentTask (this=this@entry=0x1057660) at /home/sis/Mikado/src/Yenga2/mikado_gui/src/Engine.cpp:162
task = 0x2dd4330
__PRETTY_FUNCTION__ = "void Engine::runCurrentTask()"
timer = {t1 = 11943, t2 = 713474832}
next = {static null = {<No data fields>}, d = 0x7fffef4347c0 <QArrayData::shared_null>}
#5 0x00000000005d7028 in Engine::run (this=0x1057660) at /home/sis/Mikado/src/Yenga2/mikado_gui/src/Engine.cpp:66
__PRETTY_FUNCTION__ = "void Engine::run()"
#6 0x00007fffef3954b9 in QObject::event (this=0x1057660, e=<optimized out>) at kernel/qobject.cpp:1256
mce = <optimized out>
sw = {receiver = 0x1057660, previousSender = 0x0, currentSender = {sender = 0x0, signal = -1, ref = 1}, switched = true}
#7 0x00007ffff6e95dcc in QApplicationPrivate::notify_helper (this=<optimized out>, receiver=0x1057660, e=0x2bb6bb0) at kernel/qapplication.cpp:3804
consumed = <optimized out>
this = <optimized out>
e = 0x2bb6bb0
receiver = 0x1057660
#8 0x00007ffff6e9b306 in QApplication::notify (this=0x7fffffffc970, receiver=0x1057660, e=0x2bb6bb0) at kernel/qapplication.cpp:3561
w = 0x1057660
extra = <optimized out>
isProxyWidget = <optimized out>
res = false
#9 0x00007fffef368048 in QCoreApplication::notifyInternal2 (receiver=0x1057660, event=event@entry=0x2bb6bb0) at kernel/qcoreapplication.cpp:1015
selfRequired = true
result = false
cbdata = {0x1057660, 0x2bb6bb0, 0x7fffc9ffa94f}
d = <optimized out>
threadData = 0x10566c0
loopLevelCounter = {threadData = 0x10566c0}
#10 0x00007fffef369f0a in QCoreApplication::sendEvent (event=0x2bb6bb0, receiver=<optimized out>) at kernel/qcoreapplication.h:225
No locals.
#11 QCoreApplicationPrivate::sendPostedEvents (receiver=receiver@entry=0x0, event_type=event_type@entry=0, data=0x10566c0) at kernel/qcoreapplication.cpp:1650
e = 0x2bb6bb0
pe = <optimized out>
r = <optimized out>
unlocker = {m = <synthetischer Zeiger>}
event_deleter = {d = 0x2bb6bb0}
locker = {val = 17131240}
startOffset = 0
i = @0x10566dc: 1
cleanup = {receiver = 0x0, event_type = 0, data = 0x10566c0, exceptionCaught = true}
#12 0x00007fffef36a3c8 in QCoreApplication::sendPostedEvents (receiver=receiver@entry=0x0, event_type=event_type@entry=0) at kernel/qcoreapplication.cpp:1508
data = <optimized out>
#13 0x00007fffef3bcf23 in postEventSourceDispatch (s=0x7fffb00012d0) at kernel/qeventdispatcher_glib.cpp:270
source = 0x7fffb00012d0
#14 0x00007fffeddee1a7 in g_main_context_dispatch () from /lib/x86_64-linux-gnu/libglib-2.0.so.0
No symbol table info available.
#15 0x00007fffeddee400 in ?? () from /lib/x86_64-linux-gnu/libglib-2.0.so.0
No symbol table info available.
#16 0x00007fffeddee4ac in g_main_context_iteration () from /lib/x86_64-linux-gnu/libglib-2.0.so.0
No symbol table info available.
#17 0x00007fffef3bd32f in QEventDispatcherGlib::processEvents (this=0x7fffb00008c0, flags=...) at kernel/qeventdispatcher_glib.cpp:417
d = 0x7fffb00008e0
canWait = true
savedFlags = {i = 0}
result = <optimized out>
#18 0x00007fffef365d9a in QEventLoop::exec (this=this@entry=0x7fffc9ffac40, flags=..., flags@entry=...) at kernel/qeventloop.cpp:206
d = 0x7fffb0002d90
locker = {val = 17134400}
ref = {d = 0x7fffb0002d90, locker = @0x7fffc9ffabc0, exceptionCaught = true}
#19 0x00007fffef18e6b4 in QThread::exec (this=<optimized out>) at thread/qthread.cpp:500
d = 0x10572d0
locker = {val = 17134400}
eventLoop = {<QObject> = {_vptr.QObject = 0x7fffef5af378 <vtable for QEventLoop+16>, static staticMetaObject = {d = {superdata = 0x0, stringdata = 0x7fffef4d5b40 <qt_meta_stringdata_QObject>, data = 0x7fffef4d5a20 <qt_meta_data_QObject>, static_metacall = 0x7fffef39c2c0 <QObject::qt_static_metacall(QObject*, QMetaObject::Call, int, void**)>, relatedMetaObjects = 0x0, extradata = 0x0}}, d_ptr = {d = 0x7fffb0002d90}, static staticQtMetaObject = {d = {superdata = 0x0, stringdata = 0x7fffef51d6a0 <qt_meta_stringdata_Qt>, data = 0x7fffef51ac20 <qt_meta_data_Qt>, static_metacall = 0x0, relatedMetaObjects = 0x0, extradata = 0x0}}}, static staticMetaObject = {d = {superdata = 0x7fffef5a6820 <QObject::staticMetaObject>, stringdata = 0x7fffef534120 <qt_meta_stringdata_QEventLoop>, data = 0x7fffef5340c0 <qt_meta_data_QEventLoop>, static_metacall = 0x7fffef40f940 <QEventLoop::qt_static_metacall(QObject*, QMetaObject::Call, int, void**)>, relatedMetaObjects = 0x0, extradata = 0x0}}}
returnCode = <optimized out>
#20 0x00007fffef1934d8 in QThreadPrivate::start (arg=0x7fffffffcb00) at thread/qthread_unix.cpp:365
__clframe = {__cancel_routine = 0x7fffef1925e0 <QThreadPrivate::finish(void*)>, __cancel_arg = 0x7fffffffcb00, __do_it = 1, __cancel_type = <optimized out>}
thr = 0x7fffffffcb00
data = 0x10566c0
#21 0x00007fffefe0d6ba in start_thread (arg=0x7fffc9ffb700) at pthread_create.c:333
__res = <optimized out>
pd = 0x7fffc9ffb700
now = <optimized out>
unwind_buf = {cancel_jmp_buf = {{jmp_buf = {140736582366976, 6611126884299976416, 0, 140737488338639, 140736582367680, 140737488338824, -6611034522534531360, -6611091709272641824}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}}
not_first_call = <optimized out>
pagesize_m1 = <optimized out>
sp = <optimized out>
freesize = <optimized out>
__PRETTY_FUNCTION__ = "start_thread"
#22 0x00007fffee58282d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:109
No locals.
Thread 8 (Thread 0x7fffca7fc700 (LWP 14409)):
#0 0x00007fffee576b5d in poll () at ../sysdeps/unix/syscall-template.S:84
No locals.
#1 0x00007fffeddee39c in ?? () from /lib/x86_64-linux-gnu/libglib-2.0.so.0
No symbol table info available.
#2 0x00007fffeddee4ac in g_main_context_iteration () from /lib/x86_64-linux-gnu/libglib-2.0.so.0
No symbol table info available.
#3 0x00007fffef3bd32f in QEventDispatcherGlib::processEvents (this=0x7fffbc0008c0, flags=...) at kernel/qeventdispatcher_glib.cpp:417
d = 0x7fffbc0008e0
canWait = true
savedFlags = {i = 0}
result = <optimized out>
#4 0x00007fffef365d9a in QEventLoop::exec (this=this@entry=0x7fffca7fbc40, flags=..., flags@entry=...) at kernel/qeventloop.cpp:206
d = 0x7fffbc002f90
locker = {val = 17135968}
ref = {d = 0x7fffbc002f90, locker = @0x7fffca7fbbc0, exceptionCaught = true}
#5 0x00007fffef18e6b4 in QThread::exec (this=<optimized out>) at thread/qthread.cpp:500
d = 0x10578f0
locker = {val = 17135968}
eventLoop = {<QObject> = {_vptr.QObject = 0x7fffef5af378 <vtable for QEventLoop+16>, static staticMetaObject = {d = {superdata = 0x0, stringdata = 0x7fffef4d5b40 <qt_meta_stringdata_QObject>, data = 0x7fffef4d5a20 <qt_meta_data_QObject>, static_metacall = 0x7fffef39c2c0 <QObject::qt_static_metacall(QObject*, QMetaObject::Call, int, void**)>, relatedMetaObjects = 0x0, extradata = 0x0}}, d_ptr = {d = 0x7fffbc002f90}, static staticQtMetaObject = {d = {superdata = 0x0, stringdata = 0x7fffef51d6a0 <qt_meta_stringdata_Qt>, data = 0x7fffef51ac20 <qt_meta_data_Qt>, static_metacall = 0x0, relatedMetaObjects = 0x0, extradata = 0x0}}}, static staticMetaObject = {d = {superdata = 0x7fffef5a6820 <QObject::staticMetaObject>, stringdata = 0x7fffef534120 <qt_meta_stringdata_QEventLoop>, data = 0x7fffef5340c0 <qt_meta_data_QEventLoop>, static_metacall = 0x7fffef40f940 <QEventLoop::qt_static_metacall(QObject*, QMetaObject::Call, int, void**)>, relatedMetaObjects = 0x0, extradata = 0x0}}}
returnCode = <optimized out>
#6 0x00007fffef1934d8 in QThreadPrivate::start (arg=0x1057790) at thread/qthread_unix.cpp:365
__clframe = {__cancel_routine = 0x7fffef1925e0 <QThreadPrivate::finish(void*)>, __cancel_arg = 0x1057790, __do_it = 1, __cancel_type = <optimized out>}
thr = 0x1057790
data = 0x1057a10
#7 0x00007fffefe0d6ba in start_thread (arg=0x7fffca7fc700) at pthread_create.c:333
__res = <optimized out>
pd = 0x7fffca7fc700
now = <optimized out>
unwind_buf = {cancel_jmp_buf = {{jmp_buf = {140736590759680, 6611126884299976416, 0, 140737488338495, 140736590760384, 140737488338680, -6611033423559774496, -6611091709272641824}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}}
not_first_call = <optimized out>
pagesize_m1 = <optimized out>
sp = <optimized out>
freesize = <optimized out>
__PRETTY_FUNCTION__ = "start_thread"
#8 0x00007fffee58282d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:109
No locals.
Thread 74 (Thread 0x7ffee0ff9700 (LWP 16689)):
#0 pthread_cond_timedwait@@GLIBC_2.3.2 () at ../sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:225
No locals.
#1 0x00007fff83dd4a03 in bool boost::condition_variable_any::timed_wait<boost::unique_lock<boost::mutex>, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l> const&) () from /opt/ros/kinetic/lib/libmoveit_simple_controller_manager.so
No symbol table info available.
#2 0x00007fff83dd5cf9 in actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >::waitForResult(ros::Duration const&) () from /opt/ros/kinetic/lib/libmoveit_simple_controller_manager.so
No symbol table info available.
#3 0x00007ffff5fdea2f in trajectory_execution_manager::TrajectoryExecutionManager::executePart(unsigned long) () from /opt/ros/kinetic/lib/libmoveit_trajectory_execution_manager.so.0.9.3
No symbol table info available.
#4 0x00007ffff5fe03d5 in trajectory_execution_manager::TrajectoryExecutionManager::executeThread(boost::function<void (moveit_controller_manager::ExecutionStatus const&)> const&, boost::function<void (unsigned long)> const&, bool) () from /opt/ros/kinetic/lib/libmoveit_trajectory_execution_manager.so.0.9.3
No symbol table info available.
#5 0x00007fffeba5e5d5 in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.58.0
No symbol table info available.
#6 0x00007fffefe0d6ba in start_thread (arg=0x7ffee0ff9700) at pthread_create.c:333
__res = <optimized out>
pd = 0x7ffee0ff9700
now = <optimized out>
unwind_buf = {cancel_jmp_buf = {{jmp_buf = {140732673267456, 6611126884299976416, 0, 140736582359119, 8388608, 140733529818912, -6610526549236240672, -6611091709272641824}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}}
not_first_call = <optimized out>
pagesize_m1 = <optimized out>
sp = <optimized out>
freesize = <optimized out>
__PRETTY_FUNCTION__ = "start_thread"
#7 0x00007fffee58282d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:109
No locals.
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