relaxed_ik_rust fails

Hi all,

I am trying the dev branch rust version relaxed_ik_rust on ROS Melodic with UR5 robot. I get the following fail: …bunch of what I assume Rust warnings, then warning: 118 warnings emitted Finished dev [optimized + debuginfo] target(s) in 0.07s Running target/debug/relaxed_ik_node solver initialized! thread ‘main’ panicked at ‘attempted to leave type linked_hash_map::Node<yaml::Yaml, yaml::Yaml> uninitialized, which is invalid’, /rustc/cb75ad5db02783e8b0222fee363c5f63f7e2cf5b/library/core/src/mem/mod.rs:659:9 [relaxed_ik_node-1] process has finished cleanly all processes on machine have died, roslaunch will exit shutting down processing monitor… … shutting down processing monitor complete

The python version works as intended, I haven’t tested the Julia version yet. Any advice?

[bryceikeda]

I was able to fix this by changing starting_config values to be 0 rather than 0.0. Rust works now!

[djrakita]

interesting…I see that rust just released their version 1.50, I wonder if that caused some subtle breaking changes for some other crates (e.g., maybe Yaml in this case). Maybe try reverting to/ installing an older version of rust to see if that makes a difference? https://users.rust-lang.org/t/how-can-i-revert-to-older-version-of-rust/20497

I’m currently using rust 1.46 and everything is working fine, so maybe that’s a good version to try first.