Fix moveit_py joint-group position setter conversion - #3821
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Route set_joint_group_positions and set_joint_group_active_positions through an owned float64 vector conversion so the Humble pybind11 Eigen path that crashes on the reported NumPy calls is avoided. Validate shapes and sizes in Python, no-op empty/zero-variable groups before core &gstate[0] access, and leave velocity/acceleration Eigen bindings unchanged until they are shown to share the failure.
trippyogi
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August 15, 2026 23:03
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Summary
set_joint_group_positionsandset_joint_group_active_positionsthrough an ownedstd::vector<double>conversionFixes #3718.
Context
The issue reports reproducible segmentation faults on ROS 2 Humble when these two
RobotStatesetters receive NumPy arrays. @LeeMin-hyeong confirmed that switching the bindings from theEigen::VectorXdoverloads to the existingstd::vector<double>overloads makes the same calls succeed in the affected environment.This change copies array-like input into owned storage before entering
RobotState. It intentionally leaves the velocity and acceleration bindings unchanged, and does not assert a specific Eigen or pybind11 lifetime failure without a backtrace.Verification
Independent crash reproduction remains inconclusive. I tested unmodified Humble on Ubuntu 22.04 with Python 3.10.12, NumPy 1.21.5, pybind11 2.9.1, and MoveIt 2.5.9 using both Panda and the public Doosan M0609 URDF/SRDF. The original Eigen bindings did not crash locally, including an edge-case sweep and a setters-only ASan run. This PR therefore does not claim an independently reproduced red-to-green SIGSEGV; it implements the conversion path reported to resolve the fault and adds regression coverage around that boundary.
@LeeMin-hyeong, could you test this branch in the environment where the original calls crash and confirm whether the baseline fails and this patch passes?