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planning_display segfaults rviz (ros-pkg ticket #960) #78

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hershwg opened this issue Sep 19, 2012 · 9 comments
Closed

planning_display segfaults rviz (ros-pkg ticket #960) #78

hershwg opened this issue Sep 19, 2012 · 9 comments
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@hershwg
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hershwg commented Sep 19, 2012

I get the following gdb backtrace by roslaunching tabletop_manipulation/sim.launch, then running rviz, enabling Planning, with Visual enabled and Collision disabled. Seems pretty repeatable.

{{{
Program received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0xb35ee730 (LWP 21778)]
0xb7e3cdf5 in planning_models::KinematicModel::computeTransforms (this=0x0,
params=0xa873b830, groupID=-1)
at /u/gerkey/code/personalrobots/world_models/robot_models/planning_models/src/kinematic.cpp:82
82 assert(m_built);
(gdb) bt
#0 0xb7e3cdf5 in planning_models::KinematicModel::computeTransforms (

this=0x0, params=0xa873b830, groupID=-1)
at /u/gerkey/code/personalrobots/world_models/robot_models/planning_models/src/kinematic.cpp:82

#1 0xb6b07e22 in rviz::PlanningDisplay::update (this=0xa863b298,

dt=0.0359999985)
at /u/gerkey/code/personalrobots/visualization/rviz/src/rviz/displays/planning_display.cpp:229

#2 0xb6a961c4 in rviz::VisualizationManager::onUpdate (this=0x87c4340,

event=@0xbf85c174)
at /u/gerkey/code/personalrobots/visualization/rviz/src/rviz/visualization_manager.cpp:246

#3 0xb619a0e1 in wxAppConsole::HandleEvent ()

from /usr/lib/libwx_baseu-2.8.so.0
#4 0xb6241b88 in wxEvtHandler::ProcessEventIfMatches ()

from /usr/lib/libwx_baseu-2.8.so.0
#5 0xb6241d74 in wxEvtHandler::SearchDynamicEventTable ()

from /usr/lib/libwx_baseu-2.8.so.0
#6 0xb6241e33 in wxEvtHandler::ProcessEvent ()

from /usr/lib/libwx_baseu-2.8.so.0
---Type to continue, or q to quit---
#7 0xb6552921 in wxTimerBase::Notify ()

from /usr/lib/libwx_gtk2u_core-2.8.so.0
#8 0xb642dec5 in ?? () from /usr/lib/libwx_gtk2u_core-2.8.so.0
#9 0xb493a436 in ?? () from /usr/lib/libglib-2.0.so.0
#10 0x087c2398 in ?? ()
#11 0xb600ea0c in __pthread_mutex_unlock_usercnt ()

from /lib/tls/i686/cmov/libpthread.so.0
#12 0xb4939cc6 in g_main_context_dispatch () from /usr/lib/libglib-2.0.so.0
#13 0xb493d083 in ?? () from /usr/lib/libglib-2.0.so.0
#14 0x0808cf10 in ?? ()
#15 0x00000000 in ?? ()

}}}

trac data:
@hershwg
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hershwg commented Sep 19, 2012

[anonymous] It seems this=0x0 in planning models, so the call is made on an invalid instance. Are you sure bot rviz & planning_models are up to date and built ? The function signature used no longer exists.

@hershwg
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hershwg commented Sep 19, 2012

[isucan] I actually get a segfault from mechanism model:

{{{
Program received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7f8ba885f830 (LWP 24446)]
0x00007f8ba58d6787 in mechanism::findIndexByName (v=@0x2260260, name=@0x7fffb09bbf90)
at /home/isucan/repos/ros-pkg/mechanism/mechanism_model/src/robot.cpp:103
103 if (v[i]->name_ == name)
(gdb) p name
$1 = (const string &) @0x7fffb09bbf90: {static npos = 18446744073709551615,
_M_dataplus = {std::allocator = {<__gnu_cxx::new_allocator> = {}, }, _M_p = 0x2533a38 "fl_caster_rotation_motor"}}
(gdb) p v
$2 = (
std::vector<Actuator*, std::allocator<Actuator*> > &) @0x2260260: {<std::_Vector_base<Actuator*, std::allocator<Actuator*> >> = {
_M_impl = {std::allocator<Actuator*> = {<__gnu_cxx::new_allocator<Actuator*>> = {}, }, _M_start = 0x0, _M_finish = 0x2260210, _M_end_of_storage = 0x0}}, }
}}}

@hershwg
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hershwg commented Sep 19, 2012

[gerkey] I was up-to-date when I got the original crash. Now I get a similar but slightly different backtrace:
{{{
[Switching to Thread 0xb363a730 (LWP 28579)]
0xb7e89c3d in planning_models::KinematicModel::computeTransformsGroup (
this=0x0, params=0x8e95bf0, groupID=-1)
at /u/gerkey/code/personalrobots/world_models/robot_models/planning_models/src/kinematic.cpp:87
87 assert(m_built);
(gdb) bt
#0 0xb7e89c3d in planning_models::KinematicModel::computeTransformsGroup (
this=0x0, params=0x8e95bf0, groupID=-1)
at /u/gerkey/code/personalrobots/world_models/robot_models/planning_models/src/kinematic.cpp:87
#1 0xb7e89e36 in planning_models::KinematicModel::computeTransforms (
this=0x0, params=0x8e95bf0)
at /u/gerkey/code/personalrobots/world_models/robot_models/planning_models/src/kinematic.cpp:82
#2 0xb6b53e9a in rviz::PlanningDisplay::update (this=0x9289470,
dt=0.0320000015)
at /u/gerkey/code/personalrobots/visualization/rviz/src/rviz/displays/planning_display.cpp:229
#3 0xb6ae2234 in rviz::VisualizationManager::onUpdate (this=0x8771650,
event=@0xbfe2ff54)
at /u/gerkey/code/personalrobots/visualization/rviz/src/rviz/visualization_manager.cpp:246
#4 0xb61e60e1 in wxAppConsole::HandleEvent ()
from /usr/lib/libwx_baseu-2.8.so.0
#5 0xb628db88 in wxEvtHandler::ProcessEventIfMatches ()
from /usr/lib/libwx_baseu-2.8.so.0
#6 0xb628dd74 in wxEvtHandler::SearchDynamicEventTable ()
from /usr/lib/libwx_baseu-2.8.so.0
#7 0xb628de33 in wxEvtHandler::ProcessEvent ()
from /usr/lib/libwx_baseu-2.8.so.0
#8 0xb659e921 in wxTimerBase::Notify ()
from /usr/lib/libwx_gtk2u_core-2.8.so.0
#9 0xb6479ec5 in ?? () from /usr/lib/libwx_gtk2u_core-2.8.so.0
#10 0xb4986436 in ?? () from /usr/lib/libglib-2.0.so.0
#11 0x08770a08 in ?? ()
#12 0xb605aa0c in __pthread_mutex_unlock_usercnt ()
from /lib/tls/i686/cmov/libpthread.so.0
#13 0xb4985cc6 in g_main_context_dispatch () from /usr/lib/libglib-2.0.so.0
#14 0xb4989083 in ?? () from /usr/lib/libglib-2.0.so.0
#15 0x0808cf10 in ?? ()
#16 0x00000000 in ?? ()
}}}

@hershwg
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hershwg commented Sep 19, 2012

[sglaser] Ioan: Could you post the backtrace from the crash?

@hershwg
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hershwg commented Sep 19, 2012

[isucan] Here it is:

{{{
Program received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7f63a5614830 (LWP 7278)]
0x00007f63a268b787 in mechanism::findIndexByName (v=@0x7f6388061d10,
name=@0x7fffad772d50)
at /home/isucan/repos/ros-pkg/mechanism/mechanism_model/src/robot.cpp:103
103 if (v[i]->name_ == name)
}}}

@hershwg
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hershwg commented Sep 19, 2012

[isucan] The actual backtrace this time...

{{{
(gdb) bt
#0 0x00007f63a268b787 in mechanism::findIndexByName (
v=@0x7f6388061d10, name=@0x7fffad772d50)
at /home/isucan/repos/ros-pkg/mechanism/mechanism_model/src/robot.cpp:103
#1 0x00007f63a267fd96 in mechanism::Robot::getActuatorIndex (
this=0x7fffad773260, name=@0x7fffad772d50)
at /home/isucan/repos/ros-pkg/mechanism/mechanism_model/src/robot.cpp:113
#2 0x00007f63a2680f1b in mechanism::Robot::getActuator (this=0x7fffad773260,
name=@0x7fffad772d50)
at /home/isucan/repos/ros-pkg/mechanism/mechanism_model/src/robot.cpp:139
#3 0x00007f63a2673118 in mechanism::SimpleTransmission::initXml (
this=0x2ca60e0, elt=0x2babd90, robot=0x7fffad773260)
at /home/isucan/repos/ros-pkg/mechanism/mechanism_model/src/simple_transmission.cpp:62
#4 0x00007f63a268121e in mechanism::Robot::initXml (this=0x7fffad773260,
root=0x2b9fac0)
at /home/isucan/repos/ros-pkg/mechanism/mechanism_model/src/robot.cpp:65
#5 0x00007f63a52b4e55 in rviz::PlanningDisplay::load (this=0x7f638805a440)
at /home/isucan/repos/ros-pkg/visualization/rviz/src/rviz/displays/planning_display.cpp:167
#6 0x00007f63a52b52ed in rviz::PlanningDisplay::setRobotDescription (
this=0x7f638805a440, description_param=)
at /home/isucan/repos/ros-pkg/visualization/rviz/src/rviz/displays/planning_display.cpp:91
---Type to continue, or q to quit---
#7 0x00007f63a5243f34 in rviz::StringProperty::loadFromConfig (
this=0x7f6388061a40, config=0x29b6640)
at /opt/ros/include/boost-1_37/boost/function/function_template.hpp:989
#8 0x00007f63a524c6df in rviz::PropertyManager::load (
this=, config=0x29b6640)
at /home/isucan/repos/ros-pkg/visualization/rviz/src/rviz/properties/property_manager.cpp:199
#9 0x00007f63a525d1db in rviz::VisualizationManager::loadDisplayConfig (
this=0x29d1bb0, config=0x29b6640)
at /home/isucan/repos/ros-pkg/visualization/rviz/src/rviz/visualization_manager.cpp:650
#10 0x00007f63a526f3f7 in rviz::VisualizationFrame::initialize (this=0x23579f0)
at /home/isucan/repos/ros-pkg/visualization/rviz/src/rviz/visualization_frame.cpp:135
#11 0x00000000004069c8 in rviz::VisualizerApp::OnInit (this=0x22c2c50)
at /home/isucan/repos/ros-pkg/visualization/rviz/src/rviz/visualizer_app.cpp:96
#12 0x00007f639eae1713 in wxEntry () from /usr/lib/libwx_baseu-2.8.so.0
#13 0x0000000000405dd2 in main (argc=1, argv=0x0)
at /home/isucan/repos/ros-pkg/visualization/rviz/src/rviz/visualizer_app.cpp:161
}}}

@hershwg
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hershwg commented Sep 19, 2012

[sglaser] I fixed the crash Ioan is having in r11408

@hershwg
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hershwg commented Sep 19, 2012

[isucan] it seems to work; closing bug

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hershwg commented Sep 19, 2012

[gerkey] As an addendum, I encountered another segfaul with planning_display. In the end, it was because I hadn't entered anything for the Robot Description property. I added a check for this case to prevent the crash. It's checked in on the tabletop_manipulation_feb-2009 branch, which I'll merge to trunk next week.

@hershwg hershwg closed this as completed Sep 19, 2012
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