Segmentation fault when starting motion planning for gripper using OMPL/CHOMP

[GraemeJf]

Description

Hello, I am working to set up gripper motion planning onto a 6-DOF robot arm. The motion planning and execution for the arm is functional. However attempting motion planning with the gripper results in a segmentation fault error and RViz to lock up (window can be moved but nothing is clickable). The URDF and configuration was done using the MoveIt2 Setup Assistant, with slight modifications to the OMPL_planning.yaml to include things like TimeOptimalParameterization.

The back trace is provided below.

Your environment

• ROS Distro: Humble
• OS Version: Ubuntu 22.04
• Source or Binary build? Source
• If source, which branch? Not sure how to check
• Which RMW (Fast DDS or Cyclone DDS)? Cyclone

Expected behaviour

The plan button is pressed and a simple motion plan is generated.

Actual behaviour

Plan button is pressed and a segmentation fault error immediately occurs, resulting is RViz locking up.

Backtrace or Console output

`[rviz2-4] [INFO] [1721068688.016296688] [move_group_interface]: Planning request accepted
[move_group-3] [INFO] [1721068688.017333480] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[move_group-3] [INFO] [1721068688.017493961] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'ompl'
[move_group-3] [INFO] [1721068691.156032173] [chomp_planner]: CHOMP trajectory initialized using method: quintic-spline
[move_group-3] [INFO] [1721068691.156132578] [chomp_optimizer]: Active collision detector is: HYBRID
[move_group-3] [INFO] [1721068691.295521299] [chomp_optimizer]: First coll check took 0.139371 sec
[move_group-3] Stack trace (most recent call last) in thread 12395:
[move_group-3] #23 Object "", at 0xffffffffffffffff, in
[move_group-3] #22 Source "../sysdeps/unix/sysv/linux/x86_64/clone3.S", line 81, in clone3 [0x7675bc92684f]
[move_group-3] #21 Source "./nptl/pthread_create.c", line 442, in start_thread [0x7675bc894ac2]
[move_group-3] #20 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7675bccdc252, in
[move_group-3] #19 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7675bd0f8349, in rclcpp::executors::MultiThreadedExecutor::run(unsigned long)
[move_group-3] #18 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7675bd0f111e, in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&)
[move_group-3] #17 Object "/opt/ros/humble/lib/librclcpp_action.so", at 0x7675bc42b246, in rclcpp_action::ServerBase::execute_goal_request_received(std::shared_ptr&)
[move_group-3] #16 Object "/home/graeme/ws_moveit2/install/moveit_ros_move_group/lib/libmoveit_move_group_default_capabilities.so.2.5.5", at 0x76759cfa7b08, in rclcpp_action::Server<moveit_msgs::action::MoveGroup>::call_goal_accepted_callback(std::shared_ptr<rcl_action_goal_handle_s>, std::array<unsigned char, 16ul>, std::shared_ptr)
[move_group-3] #15 Object "/home/graeme/ws_moveit2/install/moveit_ros_move_group/lib/libmoveit_move_group_default_capabilities.so.2.5.5", at 0x76759cf97404, in move_group::MoveGroupMoveAction::executeMoveCallback(std::shared_ptr<rclcpp_action::ServerGoalHandle<moveit_msgs::action::MoveGroup> > const&)
[move_group-3] #14 Object "/home/graeme/ws_moveit2/install/moveit_ros_move_group/lib/libmoveit_move_group_default_capabilities.so.2.5.5", at 0x76759cf93afb, in move_group::MoveGroupMoveAction::executeMoveCallbackPlanOnly(std::shared_ptr<rclcpp_action::ServerGoalHandle<moveit_msgs::action::MoveGroup> > const&, std::shared_ptr<moveit_msgs::action::MoveGroup_Result<std::allocator > >&)
[move_group-3] #13 Object "/home/graeme/ws_moveit2/install/moveit_ros_planning/lib/libmoveit_planning_pipeline.so.2.5.5", at 0x7675bcf681b2, in planning_pipeline::PlanningPipeline::generatePlan(std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest<std::allocator > const&, planning_interface::MotionPlanResponse&) const
[move_group-3] #12 Object "/home/graeme/ws_moveit2/install/moveit_ros_planning/lib/libmoveit_planning_pipeline.so.2.5.5", at 0x7675bcf66636, in planning_pipeline::PlanningPipeline::generatePlan(std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator >&) const
[move_group-3] #11 Object "/home/graeme/ws_moveit2/install/moveit_core/lib/libmoveit_planning_request_adapter.so.2.5.5", at 0x7675bc3e44e1, in planning_request_adapter::PlanningRequestAdapterChain::adaptAndPlan(std::shared_ptr<planning_interface::PlannerManager> const&, std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator >&) const
[move_group-3] #10 Object "/home/graeme/ws_moveit2/install/moveit_core/lib/libmoveit_planning_request_adapter.so.2.5.5", at 0x7675bc3e3939, in planning_request_adapter::(anonymous namespace)::callAdapter(planning_request_adapter::PlanningRequestAdapter const&, std::function<bool (std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&)> const&, std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator >&)
[move_group-3] #9 Object "/home/graeme/ws_moveit2/install/moveit_ros_planning/lib/libmoveit_default_planning_request_adapter_plugins.so.2.5.5", at 0x76759dafb238, in default_planner_request_adapters::ResolveConstraintFrames::adaptAndPlan(std::function<bool (std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&)> const&, std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator >&) const
[move_group-3] #8 Object "/home/graeme/ws_moveit2/install/moveit_core/lib/libmoveit_planning_request_adapter.so.2.5.5", at 0x7675bc3e3939, in planning_request_adapter::(anonymous namespace)::callAdapter(planning_request_adapter::PlanningRequestAdapter const&, std::function<bool (std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&)> const&, std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator >&)
[move_group-3] #7 Object "/home/graeme/ws_moveit2/install/moveit_ros_planning/lib/libmoveit_default_planning_request_adapter_plugins.so.2.5.5", at 0x76759daf8b98, in default_planner_request_adapters::AddRuckigTrajectorySmoothing::adaptAndPlan(std::function<bool (std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&)> const&, std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator >&) const
[move_group-3] #6 Object "/home/graeme/ws_moveit2/install/moveit_core/lib/libmoveit_planning_request_adapter.so.2.5.5", at 0x7675bc3e3939, in planning_request_adapter::(anonymous namespace)::callAdapter(planning_request_adapter::PlanningRequestAdapter const&, std::function<bool (std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&)> const&, std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator >&)
[move_group-3] #5 Object "/home/graeme/ws_moveit2/install/moveit_ros_planning/lib/libmoveit_default_planning_request_adapter_plugins.so.2.5.5", at 0x76759dafa24d, in default_planner_request_adapters::AddTimeOptimalParameterization::adaptAndPlan(std::function<bool (std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&)> const&, std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator >&) const
[move_group-3] #4 Object "/home/graeme/ws_moveit2/install/moveit_core/lib/libmoveit_planning_request_adapter.so.2.5.5", at 0x7675bc3e3fae, in std::Function_handler<bool (std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest<std::allocator > const&, planning_interface::MotionPlanResponse&), planning_request_adapter::PlanningRequestAdapterChain::adaptAndPlan(std::shared_ptr<planning_interface::PlannerManager> const&, std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator >&) const::{lambda(std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator > const&, planning_interface::MotionPlanResponse&)#1}>::M_invoke(std::Any_data const&, std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest<std::allocator > const&, planning_interface::MotionPlanResponse&)
[move_group-3] #3 Object "/home/graeme/ws_moveit2/install/moveit_planners_chomp/lib/libmoveit_chomp_interface.so.2.5.5", at 0x7675b4054c02, in chomp_interface::CHOMPPlanningContext::solve(planning_interface::MotionPlanResponse&)
[move_group-3] #2 Object "/home/graeme/ws_moveit2/install/chomp_motion_planner/lib/libchomp_motion_planner.so.2.5.5", at 0x76759dbbeced, in chomp::ChompPlanner::solve(std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest<std::allocator > const&, chomp::ChompParameters const&, planning_interface::MotionPlanDetailedResponse&) const
[move_group-3] #1 Object "/home/graeme/ws_moveit2/install/chomp_motion_planner/lib/libchomp_motion_planner.so.2.5.5", at 0x76759dbab8ad, in chomp::ChompOptimizer::ChompOptimizer(chomp::ChompTrajectory*, std::shared_ptr<planning_scene::PlanningScene const> const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, chomp::ChompParameters const*, moveit::core::RobotState const&)
[move_group-3] #0 Object "/home/graeme/ws_moveit2/install/chomp_motion_planner/lib/libchomp_motion_planner.so.2.5.5", at 0x76759dbaa094, in chomp::ChompOptimizer::initialize()
[move_group-3] Segmentation fault (Address not mapped to object [0x28])
[ERROR] [move_group-3]: process has died [pid 12214, exit code -11, cmd '/home/graeme/ws_moveit2/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_tgxu72eh --params-file /tmp/launch_params_gj6cqp77'].

[GraemeJf]

I've tried to troubleshoot a bit further and discovered that the segmentation fault issue happens no matter the planner. Same error occurs using Pilz, though it is now
[move_group-3] Segmentation fault (Address not mapped to object [(nil)])

Rather than object [0x28]

[mrjogo]

I have also recently been seeing this segfault when trying to plan from rviz using either CHOMP or Pilz (logs below). It doesn't happen with OMPL. It also doesn't happen when planning for the arm group (a UR5e using ur_robot_driver), but only when planning for the end effector group (open source parallel gripper w/ mimic joint. Driver for reference: https://github.com/mrjogo/ar_gripper/tree/ros2-control-alignment). I'm on Humble.

CHOMP segfault:

[rviz2-17] [INFO] [1721360052.669497635] [moveit_ros_visualization.motion_planning_frame]: group primary_ar_gripper
[rviz2-17] [INFO] [1721360052.669597754] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'primary_ar_gripper' in namespace ''
[rviz2-17] [INFO] [1721360052.707381298] [move_group_interface]: Ready to take commands for planning group primary_ar_gripper.
[rviz2-17] [INFO] [1721360087.151461192] [move_group_interface]: MoveGroup action client/server ready
[move_group-14] [INFO] [1721360087.152508527] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-14] [INFO] [1721360087.152771130] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[rviz2-17] [INFO] [1721360087.152994067] [move_group_interface]: Planning request accepted
[move_group-14] [INFO] [1721360087.156193723] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[move_group-14] [INFO] [1721360087.156257701] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'chomp'
[move_group-14] [INFO] [1721360088.922786893] [chomp_planner]: CHOMP trajectory initialized using method: quintic-spline 
[move_group-14] [INFO] [1721360088.922826020] [chomp_optimizer]: Active collision detector is: HYBRID
[move_group-14] [INFO] [1721360089.114687968] [chomp_optimizer]: First coll check took 0.191846 sec
[move_group-14] Stack trace (most recent call last) in thread 53167:
[move_group-14] #26   Object "", at 0xffffffffffffffff, in 
[move_group-14] #25   Source "../sysdeps/unix/sysv/linux/x86_64/clone3.S", line 81, in __clone3 [0x7e100112684f]
[move_group-14] #24   Source "./nptl/pthread_create.c", line 442, in start_thread [0x7e1001094ac2]
[move_group-14] #23   Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7e10014dc252, in 
[move_group-14] #22   Object "/opt/ros/humble/lib/librclcpp.so", at 0x7e10018ba349, in rclcpp::executors::MultiThreadedExecutor::run(unsigned long)
[move_group-14] #21   Object "/opt/ros/humble/lib/librclcpp.so", at 0x7e10018b311e, in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&)
[move_group-14] #20   Object "/opt/ros/humble/lib/librclcpp_action.so", at 0x7e1000c4b246, in rclcpp_action::ServerBase::execute_goal_request_received(std::shared_ptr<void>&)
[move_group-14] #19   Object "/opt/ros/humble/lib/libmoveit_move_group_default_capabilities.so.2.5.5", at 0x7e0fe12b3c37, in 
[move_group-14] #18   Object "/opt/ros/humble/lib/libmoveit_move_group_default_capabilities.so.2.5.5", at 0x7e0fe12a8b07, in move_group::MoveGroupMoveAction::executeMoveCallback(std::shared_ptr<rclcpp_action::ServerGoalHandle<moveit_msgs::action::MoveGroup> > const&)
[move_group-14] #17   Object "/opt/ros/humble/lib/libmoveit_move_group_default_capabilities.so.2.5.5", at 0x7e0fe12a2be8, in move_group::MoveGroupMoveAction::executeMoveCallbackPlanOnly(std::shared_ptr<rclcpp_action::ServerGoalHandle<moveit_msgs::action::MoveGroup> > const&, std::shared_ptr<moveit_msgs::action::MoveGroup_Result_<std::allocator<void> > >&)
[move_group-14] #16   Object "/opt/ros/humble/lib/libmoveit_planning_pipeline.so.2.5.5", at 0x7e100166fe0f, in planning_pipeline::PlanningPipeline::generatePlan(std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&) const
[move_group-14] #15   Object "/opt/ros/humble/lib/libmoveit_planning_pipeline.so.2.5.5", at 0x7e100166d988, in planning_pipeline::PlanningPipeline::generatePlan(std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator<unsigned long> >&) const
[move_group-14] #14   Object "/opt/ros/humble/lib/libmoveit_planning_request_adapter.so.2.5.5", at 0x7e1000c0440b, in planning_request_adapter::PlanningRequestAdapterChain::adaptAndPlan(std::shared_ptr<planning_interface::PlannerManager> const&, std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator<unsigned long> >&) const
[move_group-14] #13   Object "/opt/ros/humble/lib/libmoveit_planning_request_adapter.so.2.5.5", at 0x7e1000c03dd9, in 
[move_group-14] #12   Object "/opt/ros/humble/lib/libmoveit_default_planning_request_adapter_plugins.so.2.5.5", at 0x7e0ff8057cdd, in 
[move_group-14] #11   Object "/opt/ros/humble/lib/libmoveit_planning_request_adapter.so.2.5.5", at 0x7e1000c03dd9, in 
[move_group-14] #10   Object "/opt/ros/humble/lib/libmoveit_planning_request_adapter.so.2.5.5", at 0x7e1000c03dd9, in 
[move_group-14] #9    Object "/opt/ros/humble/lib/libmoveit_default_planning_request_adapter_plugins.so.2.5.5", at 0x7e0ff8053a8e, in 
[move_group-14] #8    Object "/opt/ros/humble/lib/libmoveit_planning_request_adapter.so.2.5.5", at 0x7e1000c03dd9, in 
[move_group-14] #7    Object "/opt/ros/humble/lib/libmoveit_default_planning_request_adapter_plugins.so.2.5.5", at 0x7e0ff80545c7, in 
[move_group-14] #6    Object "/opt/ros/humble/lib/libmoveit_planning_request_adapter.so.2.5.5", at 0x7e1000c03dd9, in 
[move_group-14] #5    Object "/opt/ros/humble/lib/libmoveit_default_planning_request_adapter_plugins.so.2.5.5", at 0x7e0ff805a31d, in 
[move_group-14] #4    Object "/opt/ros/humble/lib/libmoveit_planning_request_adapter.so.2.5.5", at 0x7e1000c03cbc, in 
[move_group-14] #3    Object "/opt/ros/humble/lib/libmoveit_chomp_interface.so.2.5.5", at 0x7e0fe1d46711, in chomp_interface::CHOMPPlanningContext::solve(planning_interface::MotionPlanResponse&)
[move_group-14] #2    Object "/opt/ros/humble/lib/libchomp_motion_planner.so.2.5.5", at 0x7e0fe1cf0717, in chomp::ChompPlanner::solve(std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator<void> > const&, chomp::ChompParameters const&, planning_interface::MotionPlanDetailedResponse&) const
[move_group-14] #1    Object "/opt/ros/humble/lib/libchomp_motion_planner.so.2.5.5", at 0x7e0fe1cdc21e, in chomp::ChompOptimizer::ChompOptimizer(chomp::ChompTrajectory*, std::shared_ptr<planning_scene::PlanningScene const> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, chomp::ChompParameters const*, moveit::core::RobotState const&)
[move_group-14] #0    Object "/opt/ros/humble/lib/libchomp_motion_planner.so.2.5.5", at 0x7e0fe1cda687, in chomp::ChompOptimizer::initialize()
[move_group-14] Segmentation fault (Address not mapped to object [0x28])

Pilz segfault:

[move_group-14] [INFO] [1721360970.681869600] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-14] [INFO] [1721360970.681978403] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[rviz2-17] [INFO] [1721360970.685153782] [move_group_interface]: Planning request accepted
[move_group-14] [INFO] [1721360970.686125395] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[move_group-14] [INFO] [1721360970.686177697] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'pilz'
[move_group-14] [INFO] [1721360970.686583822] [moveit.pilz_industrial_motion_planner.trajectory_generator]: Generating LIN trajectory...
[move_group-14] Stack trace (most recent call last) in thread 54895:
[move_group-14] #20   Object "", at 0xffffffffffffffff, in 
[move_group-14] #19   Source "../sysdeps/unix/sysv/linux/x86_64/clone3.S", line 81, in __clone3 [0x7070c672684f]
[move_group-14] #18   Source "./nptl/pthread_create.c", line 442, in start_thread [0x7070c6694ac2]
[move_group-14] #17   Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7070c6adc252, in 
[move_group-14] #16   Object "/opt/ros/humble/lib/librclcpp.so", at 0x7070c6f62349, in rclcpp::executors::MultiThreadedExecutor::run(unsigned long)
[move_group-14] #15   Object "/opt/ros/humble/lib/librclcpp.so", at 0x7070c6f5b11e, in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&)
[move_group-14] #14   Object "/opt/ros/humble/lib/librclcpp_action.so", at 0x7070c62f3246, in rclcpp_action::ServerBase::execute_goal_request_received(std::shared_ptr<void>&)
[move_group-14] #13   Object "/opt/ros/humble/lib/libmoveit_move_group_default_capabilities.so.2.5.5", at 0x707096a36c37, in 
[move_group-14] #12   Object "/opt/ros/humble/lib/libmoveit_move_group_default_capabilities.so.2.5.5", at 0x707096a2bb07, in move_group::MoveGroupMoveAction::executeMoveCallback(std::shared_ptr<rclcpp_action::ServerGoalHandle<moveit_msgs::action::MoveGroup> > const&)
[move_group-14] #11   Object "/opt/ros/humble/lib/libmoveit_move_group_default_capabilities.so.2.5.5", at 0x707096a25be8, in move_group::MoveGroupMoveAction::executeMoveCallbackPlanOnly(std::shared_ptr<rclcpp_action::ServerGoalHandle<moveit_msgs::action::MoveGroup> > const&, std::shared_ptr<moveit_msgs::action::MoveGroup_Result_<std::allocator<void> > >&)
[move_group-14] #10   Object "/opt/ros/humble/lib/libmoveit_planning_pipeline.so.2.5.5", at 0x7070c6d17e0f, in planning_pipeline::PlanningPipeline::generatePlan(std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&) const
[move_group-14] #9    Object "/opt/ros/humble/lib/libmoveit_planning_pipeline.so.2.5.5", at 0x7070c6d15988, in planning_pipeline::PlanningPipeline::generatePlan(std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator<unsigned long> >&) const
[move_group-14] #8    Object "/opt/ros/humble/lib/libmoveit_planning_request_adapter.so.2.5.5", at 0x7070c62ac40b, in planning_request_adapter::PlanningRequestAdapterChain::adaptAndPlan(std::shared_ptr<planning_interface::PlannerManager> const&, std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&, std::vector<unsigned long, std::allocator<unsigned long> >&) const
[move_group-14] #7    Object "/opt/ros/humble/lib/libmoveit_planning_request_adapter.so.2.5.5", at 0x7070c62abdd9, in 
[move_group-14] #6    Object "/opt/ros/humble/lib/libmoveit_planning_request_adapter.so.2.5.5", at 0x7070c62abdd9, in 
[move_group-14] #5    Object "/opt/ros/humble/lib/libmoveit_default_planning_request_adapter_plugins.so.2.5.5", at 0x707097773a8e, in 
[move_group-14] #4    Object "/opt/ros/humble/lib/libmoveit_planning_request_adapter.so.2.5.5", at 0x7070c62abdd9, in 
[move_group-14] #3    Object "/opt/ros/humble/lib/libmoveit_default_planning_request_adapter_plugins.so.2.5.5", at 0x7070977745c7, in 
[move_group-14] #2    Object "/opt/ros/humble/lib/libmoveit_planning_request_adapter.so.2.5.5", at 0x7070c62abcbc, in 
[move_group-14] #1    Object "/opt/ros/humble/lib/libtrajectory_generation_common.so", at 0x707097686070, in pilz_industrial_motion_planner::TrajectoryGenerator::generate(std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator<void> > const&, planning_interface::MotionPlanResponse&, double)
[move_group-14] #0    Object "/opt/ros/humble/lib/libplanning_context_loader_lin.so", at 0x707097660db8, in pilz_industrial_motion_planner::TrajectoryGeneratorLIN::extractMotionPlanInfo(std::shared_ptr<planning_scene::PlanningScene const> const&, moveit_msgs::msg::MotionPlanRequest_<std::allocator<void> > const&, pilz_industrial_motion_planner::TrajectoryGenerator::MotionPlanInfo&) const
[move_group-14] Segmentation fault (Address not mapped to object [(nil)])

[rhaschke]

This looks like moveit/moveit#2542. Please try moveit/moveit#3621 for CHOMP.