** Description changed: - When using the urdfdom headers versions 0.2.3 (on Trusty) and 0.3.0-1 - (Utopic and Vivid) there is a problem in the maths which makes that two - very similar quaternions can result in different and non-equivalent roll - pitch yaw angles. This is a severe bug for angles related to a severe - bug in the mathematical calculations. + [Impact] - Upstream bug: https://github.com/ros/urdfdom/issues/49 + * When using the urdfdom headers versions 0.2.3 (on Trusty) and 0.3.0-1 + (Utopic and Vivid) there is a problem in the maths which means that two + very similar quaternions can result in different and non-equivalent roll + pitch yaw angles. This is a severe bug for angles related to a severe bug + in the mathematical calculations. - [Impact] - * urdfdom-headers is a packages extensively use by probably the most famous open source robotics framework, ROS (Robot Operative System). So it potentially affects to a big part of the robotics open source community. - [Development version] - The patch is already hosted in the debian-science repository (waiting for mentor upload) and will land soon in Debian Sid and Ubuntu Willy after it: http://anonscm.debian.org/cgit/debian-science/packages/urdfdom-headers.git/commit/?id=c92c198a30d34a74abcf1905eeb484bfc76b0f5e + * Upstream bug: https://github.com/ros/urdfdom/issues/49 - I’m also waiting a new upstream version to sync Debian Sid and Ubuntu - Willy. + * urdfdom-headers is a package extensively use by probably the most famous + open source robotics framework, ROS (Robot Operative System). So it + potentially affects a big part of the robotics open source community. + + * The patch is already hosted in the debian-science repository (waiting for + mentor upload) and will land soon in Debian Sid and Ubuntu Wily after it: + http://anonscm.debian.org/cgit/debian-science/packages/urdfdom-headers.git/commit/?id=c92c198a30d34a74abcf1905eeb484bfc76b0f5e [Test Case] - * apt-get install libboost-test1.54-dev liburdfdom-headers-dev - * Download the urdf_unit_test.cpp from: + + * apt-get install libboost-test1.54-dev liburdfdom-headers-dev + + * Download the urdf_unit_test.cpp from: https://raw.githubusercontent.com/ros/urdfdom/master/urdf_parser/test/urdf_unit_test.cpp - * g++ urdf_unit_test.cpp -lboost_unit_test_framework -o test - * ./test - The expected result at the end of the test with the fixed version is: - ... - *** No errors detected - The failing versions should report: - ... - urdf_unit_test.cpp(56): error in "test_rotation_get_set_rpy_idempotent": check quat_are_near(rot0, rot1) failed - … - *** 1 failure detected in test suite "URDF_UNIT_TEST" + * g++ urdf_unit_test.cpp -lboost_unit_test_framework -o test + + * ./test + + * The expected result at the end of the test with the fixed version is: + ... + *** No errors detected + The failing versions should report: + ... + urdf_unit_test.cpp(56): error in "test_rotation_get_set_rpy_idempotent": + check quat_are_near(rot0, rot1) failed + … + *** 1 failure detected in test suite "URDF_UNIT_TEST" [Regression Potential] - urdfdom-headers is a hedare only package and we are not altering the ABI/API in any sense, just changing the way of computing maths. The dangerous computations (mostly asin and atan2) present in the patch were already present in the released code, that should minimize the possible regressions introduced by the patch. The computation of angles is already broken, so a possible bug in the new computation will not bring a worse state than current one. + + * urdfdom-headers is a header only package and we are not altering the + ABI/API in any sense, just changing the way of computing maths. + + * The dangerous computations (mostly asin and atan2) present in the patch + were already present in the released code. That should minimize the + possible regressions introduced by the patch. The computation of angles is + already broken, so a possible bug in the new computation will not bring a + worse state than current one. [Other Info] - * I'm attaching the debdiff related to Trusty release but I'm available to make any other needed, vivid or utopic. + + * I'm attaching the debdiff related to Trusty release, but I'm available + to make any other needed, Vivid or Utopic.
-- You received this bug notification because you are a member of Ubuntu Bugs, which is subscribed to Ubuntu. https://bugs.launchpad.net/bugs/1471047 Title: [SRU] urdfdom-headers: critical numerical issues problem when converting angles To manage notifications about this bug go to: https://bugs.launchpad.net/ubuntu/+source/urdfdom-headers/+bug/1471047/+subscriptions -- ubuntu-bugs mailing list [email protected] https://lists.ubuntu.com/mailman/listinfo/ubuntu-bugs
