The plugin you recommended makes rviz+moveit (motion planning) give a segmentation fault and close. Here is the output I get from gdb:
Program received signal SIGSEGV, Segmentation fault.
0x0000000000000000 in ?? ()
#0 0x0000000000000000 in ?? ()
#1 0x00007fff8d3d0344 in ?? () from /opt/ros/indigo/lib/libccd.so.2
#2 0x00007fff8d3d1477 in ccdMPRPenetration ()
from /opt/ros/indigo/lib/libccd.so.2
#3 0x00007fff8e03b9b8 in fcl::details::GJKCollide(void*, void (*)(void const*, ---Type <return> to continue, or q <return> to quit---
_ccd_vec3_t const*, _ccd_vec3_t*), void (*)(void const*, _ccd_vec3_t*), void*, void (*)(void const*, _ccd_vec3_t const*, _ccd_vec3_t*), void (*)(void const*, _ccd_vec3_t*), unsigned int, double, fcl::Vec3fX<fcl::details::Vec3Data<double> >*, double*, fcl::Vec3fX<fcl::details::Vec3Data<double> >*) ()
from /opt/ros/indigo/lib/libfcl.so
#4 0x00007fff8df34dd1 in fcl::ShapeCollisionTraversalNode<fcl::Plane, fcl::Cylinder, fcl::GJKSolver_libccd>::leafTesting(int, int) const ()
from /opt/ros/indigo/lib/libfcl.so
#5 0x00007fff8ded5891 in unsigned long fcl::ShapeShapeCollide<fcl::Plane, fcl::Cylinder, fcl::GJKSolver_libccd>(fcl::CollisionGeometry const*, fcl::Transform3f const&, fcl::CollisionGeometry const*, fcl::Transform3f const&, fcl::GJKSolver_libccd const*, fcl::CollisionRequest const&, fcl::CollisionResult&) ()
from /opt/ros/indigo/lib/libfcl.so
#6 0x00007fff8e02ce06 in unsigned long fcl::collide<fcl::GJKSolver_libccd>(fcl::CollisionGeometry const*, fcl::Transform3f const&, fcl::CollisionGeometry const*, fcl::Transform3f const&, fcl::GJKSolver_libccd const*, fcl::CollisionRequest const&, fcl::CollisionResult&) () from /opt/ros/indigo/lib/libfcl.so
#7 0x00007fff8e02cb2a in fcl::collide(fcl::CollisionObject const*, fcl::CollisionObject const*, fcl::CollisionRequest const&, fcl::CollisionResult&) ()
from /opt/ros/indigo/lib/libfcl.so
#8 0x00007fff8f5ba475 in collision_detection::collisionCallback(fcl::CollisionObject*, fcl::CollisionObject*, void*) ()
from /opt/ros/indigo/lib/libmoveit_collision_detection_fcl.so
---Type <return> to continue, or q <return> to quit---
#9 0x00007fff8e05a843 in fcl::details::dynamic_AABB_tree::collisionRecurse(fcl::NodeBase<fcl::AABB>*, fcl::CollisionObject*, void*, bool (*)(fcl::CollisionObject*, fcl::CollisionObject*, void*)) () from /opt/ros/indigo/lib/libfcl.so
#10 0x00007fff8e05a843 in fcl::details::dynamic_AABB_tree::collisionRecurse(fcl::NodeBase<fcl::AABB>*, fcl::CollisionObject*, void*, bool (*)(fcl::CollisionObject*, fcl::CollisionObject*, void*)) () from /opt/ros/indigo/lib/libfcl.so
#11 0x00007fff8e05a843 in fcl::details::dynamic_AABB_tree::collisionRecurse(fcl::NodeBase<fcl::AABB>*, fcl::CollisionObject*, void*, bool (*)(fcl::CollisionObject*, fcl::CollisionObject*, void*)) () from /opt/ros/indigo/lib/libfcl.so
#12 0x00007fff8e05cc12 in fcl::DynamicAABBTreeCollisionManager::collide(fcl::CollisionObject*, void*, bool (*)(fcl::CollisionObject*, fcl::CollisionObject*, void*)) const () from /opt/ros/indigo/lib/libfcl.so
#13 0x00007fff8f5c9c78 in collision_detection::CollisionWorldFCL::checkRobotCollisionHelper(collision_detection::CollisionRequest const&, collision_detection::CollisionResult&, collision_detection::CollisionRobot const&, moveit::core::RobotState const&, collision_detection::AllowedCollisionMatrix const*) const ()
from /opt/ros/indigo/lib/libmoveit_collision_detection_fcl.so
#14 0x00007fff99492181 in planning_scene::PlanningScene::checkCollision(collision_detection::CollisionRequest const&, collision_detection::CollisionResult&, moveit::core::RobotState const&, collision_detection::AllowedCollisionMatrix const&) const () from /opt/ros/indigo/lib/libmoveit_planning_scene.so
#15 0x00007fff994932b5 in planning_scene::PlanningScene::getCollidingPairs(std::map<std::pair<std::string, std::string>, std::vector<collision_detection::Contac---Type <return> to continue, or q <return> to quit---
t, std::allocator<collision_detection::Contact> >, std::less<std::pair<std::string, std::string> >, std::allocator<std::pair<std::pair<std::string, std::string> const, std::vector<collision_detection::Contact, std::allocator<collision_detection::Contact> > > > >&, moveit::core::RobotState const&, collision_detection::AllowedCollisionMatrix const&) const ()
from /opt/ros/indigo/lib/libmoveit_planning_scene.so
#16 0x00007fff9949669c in planning_scene::PlanningScene::getCollidingLinks(std::vector<std::string, std::allocator<std::string> >&, moveit::core::RobotState const&, collision_detection::AllowedCollisionMatrix const&) const ()
from /opt/ros/indigo/lib/libmoveit_planning_scene.so
#17 0x00007fff8c32f026 in moveit_rviz_plugin::MotionPlanningDisplay::drawQueryStartState() ()
from /opt/ros/indigo/lib/libmoveit_motion_planning_rviz_plugin_core.so
#18 0x00007fff8c32f760 in moveit_rviz_plugin::MotionPlanningDisplay::changedQueryStartState() ()
from /opt/ros/indigo/lib/libmoveit_motion_planning_rviz_plugin_core.so
#19 0x00007fff9a2a1bc6 in moveit_rviz_plugin::PlanningSceneDisplay::executeMainLoopJobs() ()
from /opt/ros/indigo/lib/libmoveit_planning_scene_rviz_plugin_core.so
#20 0x00007fff9a2a1fc9 in moveit_rviz_plugin::PlanningSceneDisplay::update(float, float) ()
from /opt/ros/indigo/lib/libmoveit_planning_scene_rviz_plugin_core.so
#21 0x00007ffff7aa7692 in rviz::DisplayGroup::update(float, float) ()
---Type <return> to continue, or q <return> to quit---
from /opt/ros/indigo/lib/librviz.so
#22 0x00007ffff7b48bbe in rviz::VisualizationManager::onUpdate() ()
from /opt/ros/indigo/lib/librviz.so
#23 0x00007ffff2eeb87a in QMetaObject::activate(QObject*, QMetaObject const*, int, void**) () from /usr/lib/x86_64-linux-gnu/libQtCore.so.4
#24 0x00007ffff2eefa31 in QObject::event(QEvent*) ()
from /usr/lib/x86_64-linux-gnu/libQtCore.so.4
#25 0x00007ffff6edce2c in QApplicationPrivate::notify_helper(QObject*, QEvent*)
() from /usr/lib/x86_64-linux-gnu/libQtGui.so.4
#26 0x00007ffff6ee34a0 in QApplication::notify(QObject*, QEvent*) ()
from /usr/lib/x86_64-linux-gnu/libQtGui.so.4
#27 0x00007ffff2ed74dd in QCoreApplication::notifyInternal(QObject*, QEvent*)
() from /usr/lib/x86_64-linux-gnu/libQtCore.so.4
#28 0x00007ffff2f07323 in ?? () from /usr/lib/x86_64-linux-gnu/libQtCore.so.4
#29 0x00007ffff2f045f1 in ?? () from /usr/lib/x86_64-linux-gnu/libQtCore.so.4
#30 0x00007ffff184ae04 in g_main_context_dispatch ()
from /lib/x86_64-linux-gnu/libglib-2.0.so.0
#31 0x00007ffff184b048 in ?? () from /lib/x86_64-linux-gnu/libglib-2.0.so.0
#32 0x00007ffff184b0ec in g_main_context_iteration ()
from /lib/x86_64-linux-gnu/libglib-2.0.so.0
#33 0x00007ffff2f047be in QEventDispatcherGlib::processEvents(QFlags<QEventLoop::ProcessEventsFlag>) () from /usr/lib/x86_64-linux-gnu/libQtCore.so.4
#34 0x00007ffff6f7ebe6 in ?? () from /usr/lib/x86_64-linux-gnu/libQtGui.so.4
---Type <return> to continue, or q <return> to quit---
#35 0x00007ffff2ed60af in QEventLoop::processEvents(QFlags<QEventLoop::ProcessEventsFlag>) () from /usr/lib/x86_64-linux-gnu/libQtCore.so.4
#36 0x00007ffff2ed63a5 in QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>) () from /usr/lib/x86_64-linux-gnu/libQtCore.so.4
#37 0x00007ffff2edbb79 in QCoreApplication::exec() ()
from /usr/lib/x86_64-linux-gnu/libQtCore.so.4
#38 0x0000000000400bc7 in main ()
1 events.c: No such file or directory.
for the links, but this warning doesn't come up without the plugin. Would this create any problems?
I checked and I am able to use the motion planning without problems when I don't the add the plugin, so I think there might be a bug with the plugin. Could you please help me on that as well?
Thanks.