From 13d369122ae650c38a3cda919ad536450b1aa70d Mon Sep 17 00:00:00 2001 From: "carlos.cardoso" Date: Fri, 28 Jul 2017 18:34:38 +0100 Subject: [PATCH] fix: core dump in some Ubuntu 16.04 systems In some systems the non-void function SetupCollisionObject in trajectory_sampler.cpp causes a Illegal instruction (core dumped) error. This fix replaces the declaration of the function from bool to void, allowing trajectory_sampler to run without crashing. --- kuka_arm/include/kuka_arm/trajectory_sampler.h | 2 +- kuka_arm/src/trajectory_sampler.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/kuka_arm/include/kuka_arm/trajectory_sampler.h b/kuka_arm/include/kuka_arm/trajectory_sampler.h index 8b1ee419..81443635 100644 --- a/kuka_arm/include/kuka_arm/trajectory_sampler.h +++ b/kuka_arm/include/kuka_arm/trajectory_sampler.h @@ -71,7 +71,7 @@ class TrajectorySampler bool OpenGripper(); bool CloseGripper(); - bool SetupCollisionObject(const std::string &object_id, + void SetupCollisionObject(const std::string &object_id, const std::string &mesh_path, const geometry_msgs::Pose &object_pose, moveit_msgs::CollisionObject &collision_object); diff --git a/kuka_arm/src/trajectory_sampler.cpp b/kuka_arm/src/trajectory_sampler.cpp index 0baa409e..b8191427 100644 --- a/kuka_arm/src/trajectory_sampler.cpp +++ b/kuka_arm/src/trajectory_sampler.cpp @@ -558,7 +558,7 @@ bool TrajectorySampler::CloseGripper() return success; } -bool TrajectorySampler::SetupCollisionObject(const std::string &object_id, +void TrajectorySampler::SetupCollisionObject(const std::string &object_id, const std::string &mesh_path, const geometry_msgs::Pose &object_pose, moveit_msgs::CollisionObject &collision_object)