Setup Assistant Crashes on Add Robot Poses

[noahbuttner]

Description

I am attempting to use the setup assistant to create a MoveIt package for a custom URDF of our robot. However, it crashes when I go to add Robot Poses. I'm new to MoveIt, so if there's a better place to put this, please let me know.

Your environment

• ROS Distro: Humble
• OS Version: e.g. Ubuntu 22.04
• Source or Binary build? Source
• If binary, which release version?
• If source, which branch? humble
• Which RMW (Fast DDS or Cyclone DDS)? Unsure, is there an easy way to check this?

Steps to reproduce

Tell us how to reproduce this issue. Attempt to provide a working demo, perhaps using Docker.
My URDF is in the gist, and I can provide the meshes if needed.

• Launch the setup assistant in the above install types
• Use the provided URDF, and import it
• generate the collision matrix as default resolution
• create a base fixed virtual joint as in the tutorials
• create a planning group with all joints
• create a pose with KDL, and then move any of the joints in the robot pose generator.

Expected behaviour

Setup assistant does not crash

Actual behaviour

Setup assistant crashes when moving any joint in the robot pose window (see backtrace below).

Backtrace or Console output

bractrace

[github-actions]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[github-actions]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[mikeferguson]

Since this is a source build on humble - it is almost certainly the same issue as #2980 - which appears to be an ABI issue due to differences in installed packages against the source. There's a lot more debugging notes available in the other ticket.