Unhandled exception when marker contains mesh from unknown package

[simonschmeisser]

When a marker msgs with a mesh from an unknown package is loaded, it throws an Ogre exception which is unfortunately not handled:

[ WARN] [1613474597.318764360]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://motek_demo_2017/meshes/tilted-base.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/o
gre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)                                                                                                                                                            
terminate called after throwing an instance of 'Ogre::FileNotFoundException'

  what():  OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://motek_demo_2017/meshes/tilted-base.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1
.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)


backtrace:


1   __GI_raise                                                                                                                                                                                                                                                                     raise.c 51 0x7f6ae9cadfb7 
2   __GI_abort                                                                                                                                                                                                                                                                     abort.c 79 0x7f6ae9caf921 
3   ??                                                                                                                                                                                                                                                                                        0x7f6aea6a2957 
4   ??                                                                                                                                                                                                                                                                                        0x7f6aea6a8ae6 
5   std::terminate()                                                                                                                                                                                                                                                                          0x7f6aea6a8b21 
6   __cxa_rethrow                                                                                                                                                                                                                                                                             0x7f6aea6a8da9 
7   Ogre::Resource::load(bool)                                                                                                                                                                                                                                                                0x7f6ae717fb08 
8   Ogre::MeshManager::load(std::string const&, std::string const&, Ogre::HardwareBuffer::Usage, Ogre::HardwareBuffer::Usage, bool, bool)                                                                                                                                                     0x7f6ae70ec0a7 
9   Ogre::EntityFactory::createInstanceImpl(std::string const&, std::map<std::string, std::string, std::less<std::string>, Ogre::STLAllocator<std::pair<std::string const, std::string>, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0>>> const *)                                     0x7f6ae7013ce6 
10  Ogre::MovableObjectFactory::createInstance(std::string const&, Ogre::SceneManager *, std::map<std::string, std::string, std::less<std::string>, Ogre::STLAllocator<std::pair<std::string const, std::string>, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0>>> const *)            0x7f6ae70fbd44 
11  Ogre::SceneManager::createMovableObject(std::string const&, std::string const&, std::map<std::string, std::string, std::less<std::string>, Ogre::STLAllocator<std::pair<std::string const, std::string>, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0>>> const *)                 0x7f6ae71c477f 
12  Ogre::SceneManager::createEntity(std::string const&, std::string const&, std::string const&)                                                                                                                                                                                              0x7f6ae71c0f1a 
13  rviz::MeshResourceMarker::onNewMessage(boost::shared_ptr<visualization_msgs::Marker_<std::allocator<void>> const> const&, boost::shared_ptr<visualization_msgs::Marker_<std::allocator<void>> const> const&)                                                                              0x7f6adba6df9a 
14  rviz::MarkerBase::setMessage(boost::shared_ptr<visualization_msgs::Marker_<std::allocator<void>> const> const&)                                                                                                                                                                           0x7f6adba6b571 
15  rviz::MarkerDisplay::processAdd(boost::shared_ptr<visualization_msgs::Marker_<std::allocator<void>> const> const&)                                                                                                                                                                        0x7f6adba559e6 
16  rviz::MarkerDisplay::processMessage(boost::shared_ptr<visualization_msgs::Marker_<std::allocator<void>> const> const&)                                                                                                                                                                    0x7f6adba56103 
17  rviz::MarkerDisplay::update(float, float)                                                                                                                                                                                                                                                 0x7f6adba5651f 
18  rviz::DisplayGroup::update(float, float)                                                                                                                                                                                                                                                  0x7f6aed181b88 
19  rviz::VisualizationManager::onUpdate()                                                                                                                                                                                                                                                    0x7f6aed24bb25 
20  QMetaObject::activate(QObject *, int, int, void * *)                                                                                                                                                                                                                                      0x7f6af0631305 
... <Mehr>                                                                                                                                                                                                                                                                                                   

Your environment

• OS Version: e.g. Ubuntu 18.04
• ROS Distro: [Kinetic | Melodic]
• RViz, Qt, OGRE, OpenGl version as printed by rviz:

  [ INFO] [1613475494.475253896]: rviz version 1.13.15
  

[ INFO] [1613475494.475289937]: compiled against Qt version 5.12.8
[ INFO] [1613475494.475299717]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1613475494.483962728]: Forcing OpenGl version 0.
[ INFO] [1613475495.046200133]: Stereo is NOT SUPPORTED
[ INFO] [1613475495.046340502]: OpenGl version: 3,0 (GLSL 1,3).

```

• If source build, which git commit? d4603a4

I'll try to provide a PR soon

[rhaschke]

I'll try to provide a PR soon

Thanks.

[rhaschke]

I cannot reproduce the issue. In both, Melodic and Noetic, the unknown file/package is correctly reported in the display status:

[simonschmeisser]

Strange one ... I also couldn't reproduce it in standalone rviz but it successfully crashes our UI that includes the rviz::RenderPanel

The crash also happens in InteractiveMarker

comparing rviz and the embedded use case I see that rviz prints out the following for every marker, interactive marker, robot:

[rospack] Error: package 'motek_demo_2017' not found
[librospack]: error while executing command
[ERROR] [1615826641.080096501]: Could not load resource [package://motek_demo_2017/meshes/tilted-base.stl]: Unable to open file "package://motek_demo_2017/meshes/tilted-base.stl".

while rviz embedded in our application only prints that for RobotStateDisplay but not for the interactive marker where it crashes. So I wonder why this does not fail:

rviz/src/rviz/default_plugin/markers/mesh_resource_marker.cpp

Line 111 in ba536b2

if (loadMeshFromResource(new_message->mesh_resource).isNull())

Here is another backtrace:

1  __GI_raise                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 raise.c      51  0x7f817c605fb7 
2  __GI_abort                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 abort.c      79  0x7f817c607921 
3  ??                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0x7f817cffa957 
4  ??                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0x7f817d000ae6 
5  std::terminate()                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0x7f817d000b21 
6  __cxa_rethrow                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               0x7f817d000da9 
7  Ogre::Resource::load(bool)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0x7f8179ad7b08 
8  Ogre::MeshManager::load(std::string const&, std::string const&, Ogre::HardwareBuffer::Usage, Ogre::HardwareBuffer::Usage, bool, bool)                                                                                                                                                                                                                                                                                                                                                                                                                                                                       0x7f8179a440a7 
9  Ogre::EntityFactory::createInstanceImpl(std::string const&, std::map<std::string, std::string, std::less<std::string>, Ogre::STLAllocator<std::pair<std::string const, std::string>, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0>>> const *)                                                                                                                                                                                                                                                                                                                                                       0x7f817996bce6 
10 Ogre::MovableObjectFactory::createInstance(std::string const&, Ogre::SceneManager *, std::map<std::string, std::string, std::less<std::string>, Ogre::STLAllocator<std::pair<std::string const, std::string>, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0>>> const *)                                                                                                                                                                                                                                                                                                                              0x7f8179a53d44 
11 Ogre::SceneManager::createMovableObject(std::string const&, std::string const&, std::map<std::string, std::string, std::less<std::string>, Ogre::STLAllocator<std::pair<std::string const, std::string>, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0>>> const *)                                                                                                                                                                                                                                                                                                                                   0x7f8179b1c77f 
12 Ogre::SceneManager::createEntity(std::string const&, std::string const&, std::string const&)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0x7f8179b18f1a 
13 rviz::MeshResourceMarker::onNewMessage(boost::shared_ptr<visualization_msgs::Marker_<std::allocator<void>> const> const&, boost::shared_ptr<visualization_msgs::Marker_<std::allocator<void>> const> const&)                                                                                                                                                                                                                                                                                                                                                                                                0x7f816e3c5f9a 
14 rviz::MarkerBase::setMessage(boost::shared_ptr<visualization_msgs::Marker_<std::allocator<void>> const> const&)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                             0x7f816e3c3571 
15 rviz::InteractiveMarkerControl::makeMarkers(visualization_msgs::InteractiveMarkerControl_<std::allocator<void>> const&)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     0x7f816e383be7 
16 rviz::InteractiveMarkerControl::processMessage(visualization_msgs::InteractiveMarkerControl_<std::allocator<void>> const&)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0x7f816e3844a0 
17 rviz::InteractiveMarker::processMessage(visualization_msgs::InteractiveMarker_<std::allocator<void>> const&)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0x7f816e38a9af 
18 rviz::InteractiveMarkerDisplay::updateMarkers(std::string const&, std::vector<visualization_msgs::InteractiveMarker_<std::allocator<void>>, std::allocator<visualization_msgs::InteractiveMarker_<std::allocator<void>>>> const&)                                                                                                                                                                                                                                                                                                                                                                           0x7f816e37a8cf 
19 rviz::InteractiveMarkerDisplay::updateCb(boost::shared_ptr<visualization_msgs::InteractiveMarkerUpdate_<std::allocator<void>> const>)                                                                                                                                                                                                                                                                                                                                                                                                                                                                       0x7f816e37b9b8 
20 boost::detail::function::void_function_obj_invoker1<boost::_bi::bind_t<void, boost::_mfi::mf1<void, rviz::InteractiveMarkerDisplay, boost::shared_ptr<visualization_msgs::InteractiveMarkerUpdate_<std::allocator<void>> const>>, boost::_bi::list2<boost::_bi::value<rviz::InteractiveMarkerDisplay *>, boost::arg<1>>>, void, boost::shared_ptr<visualization_msgs::InteractiveMarkerUpdate_<std::allocator<void>> const> const&>::invoke(boost::detail::function::function_buffer&, boost::shared_ptr<visualization_msgs::InteractiveMarkerUpdate_<std::allocator<void>> const> const&)                  0x7f816e37c1ca 
21 interactive_markers::SingleClient::pushUpdates()                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0x7f817f54ed3e 
22 interactive_markers::SingleClient::update()                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 0x7f817f5503a5 
23 interactive_markers::InteractiveMarkerClient::update()                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0x7f817f545359 
24 rviz::InteractiveMarkerDisplay::update(float, float)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0x7f816e377626 
25 rviz::DisplayGroup::update(float, float)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0x7f817fad9b88 
26 rviz::VisualizationManager::onUpdate()                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0x7f817fba3b25 
27 QMetaObject::activate(QObject *, int, int, void * *)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0x7f8182f89305 
28 QTimer::timeout(QTimer::QPrivateSignal)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     0x7f8182f96237 
29 QTimer::timerEvent(QTimerEvent *)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           0x7f8182f96598 
30 QObject::event(QEvent *)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0x7f8182f89e6b 
31 QApplicationPrivate::notify_helper(QObject *, QEvent *)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     0x7f81821d8e4c 
32 QApplication::notify(QObject *, QEvent *)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   0x7f81821e0450 
33 QCoreApplication::notifyInternal2(QObject *, QEvent *)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0x7f8182f597d8 
34 QTimerInfoList::activateTimers()                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0x7f8182fb5cf9 
35 ??                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0x7f8182fb64c1 
36 g_main_context_dispatch                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     0x7f817ab53537 
37 ??                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0x7f817ab53770 
38 g_main_context_iteration                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0x7f817ab537fc 
39 QEventDispatcherGlib::processEvents(QFlags<QEventLoop::ProcessEventsFlag>)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0x7f8182fb688f 
40 QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     0x7f8182f57a2a 
41 QCoreApplication::exec()                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0x7f8182f60c30 
42 ??                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0x561bb3411d23 
43 __libc_start_main                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          libc-start.c 310 0x7f817c5e8bf7 
44 ??                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0x561bb342435a 

I'm not sure how to debug this further and have some headache due to covid so I'd be grateful for ideas. I noticed that InteractiveMarker just silently ignores (from a GUI point of view) the broken markers but still it does not crash in rviz. I could not find a general purpose catch that would explain it.

[rhaschke]

I might have an idea: Do you load the same mesh, both with rviz::Robot and InteractiveMarker?
The Robot code currently ignores the return value of loadMeshFromResource() (which should be fixed):

rviz/src/rviz/robot/robot_link.cpp

Lines 596 to 600 in 13d061d

	try
	{
	loadMeshFromResource(model_name);
	entity = scene_manager_->createEntity(ss.str(), model_name);
	}

and thus creates an invalid entity. Next time when the resource is requested, this existing but invalid entity is returned:

rviz/src/rviz/mesh_loader.cpp

Lines 671 to 674 in 13d061d

	if (Ogre::MeshManager::getSingleton().resourceExists(resource_path))
	{
	return Ogre::MeshManager::getSingleton().getByName(resource_path);
	}

[simonschmeisser]

Good catch @rhaschke ! Now I can crash rviz as well (by enabling a PlanningSceneDisplay containing the same mesh)

Not setting the entity in RobotLink fixes the crash. Will open a PR later, maybe also with some more error reporting in the UI

[simonschmeisser]

Do you see a more convenient way than adding a chain of signal/slots in RobotLink, Robot and RobotModelDisplay for actually making those resource loading errors visible in an UI/the status field? Same question for InteractiveMarkers where it looks even more complicated unfortunately

[rhaschke]

No, I'm afraid that's the only way. I'm fine to merge #1596 as is.

[rhaschke]

Closed via #1629.