segfault when using a Plane in collision detection about fcl HOT 2 CLOSED

Ran into the same issue. The problem is that there is no template specialization of the GJKInitializer class for a Plane. Thus, the nonspezialized version is used, which returns a NULL pointer instead of a GJK object.

from fcl.

First, FCL calls GJK solver when there is no template specialization of the GJKSolver_libccd::shapeIntersect() for shape collision. However, there is GJKSolver_libccd::shapeIntersect<Cylinder, Plane>() that calls specific collision algorithm for cylinder-plane instead of GJK solver for cylinder-plane so it shouldn't returns NULL pointer.

The problem arises when the order of collision object pair is reversed (i.e., plane-cylinder). For the case, FCL attempts to call GJKSolver_libccd::shapeIntersect<Plane, Cylinder>() that doesn't exist. Then, FCL attempts to call GJK solver for plane-cylinder, which returns NULL pointer as @tobiaskunz explained.

I believe this issue fixed by #53. I haven't tried to test with moveit so if it's still a problem with it let me know.

from fcl.