Background

311 Added a gui to our software stack to add a ui for managing our robot. Part of this ui is the systems plugin, which can be used to start/stop launch files and ROS nodes. We encountered a bug that causes the entire gui to crash under certain circumstances when stopping launch files. The error message looks like:

[gui-1] process has died [pid 4351, exit code -11, cmd /opt/ros/noetic/lib/rqt_gui/rqt_gui --perspective-file /root/dev/robosub-ros/landside/catkin_ws/src/gui/config/robosub_ros_gui.perspective __name:=gui __log:=/root/.ros/log/361052e6-4f06-11ed-9358-0242c0a80101/gui-1.log].
log file: /root/.ros/log/361052e6-4f06-11ed-9358-0242c0a80101/gui-1*.log

We need to investigate why this is happening and resolve it. It currently doesn't break any functionality, but is very unfriendly for users.

Important Notes

How to recreate the bug (taken from this discussion):

This happens when running certain launch files. I haven't been able to find the root cause, but it doesn't seem to be an issue with the remote_launch.py script. The process shuts down correctly and delete_launch is also successful, but somewhere later down the line the gui segfaults. I really have no clue what it is. To reproduce:

Run roslaunch system_utils remote_launch.launch

Run roslaunch gui gui.launch

Run simulation and enable simulation mode in gui

Start motion.launch from gui

Publish a desired pose from gui

Enable & disable controls

Attempting to stop motion.launch crashes the gui

Something similar happens to tasks.launch. The only lead I have is that if there is an [error] message in the roslaunch system_utils remote_launch.launch tab during shutdown the gui is more likely to crash, but this isn't always the case.

For starters, take a look at remote_launch.py and system_widget.py

Tasks

[ ] Find out root cause of crashes
[ ] Fix bug causing crashes

DukeRobotics / robosub-ros

Fix crashing GUI on launch shutdown #360

Background

Important Notes

Tasks