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LCM-based implementation of RRT*

CMake 12.27% Makefile 0.57% C 85.65% C++ 0.77% Dockerfile 0.74%

rrtstar's Introduction

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Name:         motion_planning/rrtstar_dub
Maintainers:  FILL-ME-IN
Summary:      FILL-ME-IN
Description:
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License:      FILL-ME-IN

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rrtstar's Issues

RRT* segfaults on call to mutex_unlock

The RRT* segfaults on a call to unlock plan_mutex when trashing the tree after the committed trajectory is in collision. It seems that the mutex is already unlocked.

The segfault occurs as a result of the mutex_unlock call at https://github.com/ripl-ttic/rrtstar/blob/89b13c4ca161470312c207570a75a4956e7c8eec/src/main.c#L2455, likely due to it already being unlocked at https://github.com/ripl-ttic/rrtstar/blob/89b13c4ca161470312c207570a75a4956e7c8eec/src/main.c#L2206.

For now, I will comment out the second call to unlock.

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