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RethinkRobotics / baxter_simulator

Gazebo Simulation interface for the Baxter Research Robot
http://sdk.rethinkrobotics.com/wiki/Baxter_Simulator
BSD 3-Clause "New" or "Revised" License
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Core dump on baxter_gazebo baxter_world.launch exit #41

Open rethink-imcmahon opened 9 years ago

rethink-imcmahon commented 9 years ago

As reported by Dr. Juan Rojas:

I am running the Baxter Simulator on Indigo and SDK 1.1.0. I find that every time I kill Gazebo with Ctrl+C I get the following output:

[gazebo-2] killing on exit
pure virtual method called
terminate called without an active exception
pure virtual method called
terminate called without an active exception
Aborted (core dumped)
[baxter_sim_io-12] escalating to SIGTERM
[robot/controller_spawner_stopped-10] escalating to SIGTERM
[robot/controller_spawner-9] escalating to SIGTERM
[gazebo_gui-3] escalating to SIGTERM
[robot/controller_spawner_stopped-10] escalating to SIGKILL
[robot/controller_spawner-9] escalating to SIGKILL
[rosout-1] killing on exit
[master] killing on exit
Shutdown errors:
 * process[robot/controller_spawner_stopped-10, pid 16160]: required SIGKILL. May still be running.
 * process[robot/controller_spawner-9, pid 16091]: required SIGKILL. May still be running.
shutting down processing monitor...
rethink-imcmahon commented 9 years ago

I poked around the internet for 

pure virtual method called
terminate called without an active exception
pure virtual method called
terminate called without an active exception 
Aborted (core dumped)

and found this rather helpful forum post: http://forums.fedoraforum.org/showthread.php?t=296756

It would appear that we have two virtual methods attempting to clean up the same object.

rethink-imcmahon commented 9 years ago

I looked into this a bit today. Looks like a nasty ROS-Gazebo Video stream bug in gzclient:

Core was generated by `gzclient __name:=gazebo_gui __log:=/data/users/imcmahon/.ros/log/9cd40d06-4d97-'.
Program terminated with signal SIGABRT, Aborted.
#0  0x00007f23c8298cc9 in __GI_raise (sig=sig@entry=6) at ../nptl/sysdeps/unix/sysv/linux/raise.c:56
56  ../nptl/sysdeps/unix/sysv/linux/raise.c: No such file or directory.
(gdb) set debug-file-directoy /usr/lib/debug/usr/bin/gzclient-2.2.3
No symbol "debug" in current context.
(gdb) bt full
#0  0x00007f23c8298cc9 in __GI_raise (sig=sig@entry=6) at ../nptl/sysdeps/unix/sysv/linux/raise.c:56
        resultvar = 0
        pid = 19889
        selftid = 19889
#1  0x00007f23c829c0d8 in __GI_abort () at abort.c:89
        save_stage = 2
        act = {__sigaction_handler = {sa_handler = 0x628ff48, sa_sigaction = 0x628ff48}, sa_mask = {__val = {
              103349392, 88715840, 139791731832151, 139788300582917, 0, 29, 139791658552616, 88701760, 88715840, 
              88715856, 139791731860757, 29, 139791659489421, 29, 139791668616960, 2}}, sa_flags = -933090864, 
          sa_restorer = 0x7f23c8c01fa6}
        sigs = {__val = {32, 0 <repeats 15 times>}}
#2  0x00007f23c8ba3645 in __gnu_cxx::__verbose_terminate_handler() () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
No symbol table info available.
#3  0x00007f23c8ba1836 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
No symbol table info available.
#4  0x00007f23c8ba1863 in std::terminate() () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
No symbol table info available.
#5  0x00007f23c8ba233f in __cxa_pure_virtual () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
No symbol table info available.
#6  0x00007f232b514905 in ros::Subscription::removeCallback(boost::shared_ptr<ros::SubscriptionCallbackHelper> const&)
    () from /opt/ros/indigo/lib/libroscpp.so
No symbol table info available.
#7  0x00007f232b4c434a in ros::TopicManager::unsubscribe(std::string const&, boost::shared_ptr<ros::SubscriptionCallbackHelper> const&) () from /opt/ros/indigo/lib/libroscpp.so
No symbol table info available.
#8  0x00007f232b497e58 in ros::Subscriber::Impl::unsubscribe() () from /opt/ros/indigo/lib/libroscpp.so
No symbol table info available.
#9  0x00007f232b497ee3 in ros::Subscriber::Impl::~Impl() () from /opt/ros/indigo/lib/libroscpp.so
No symbol table info available.
#10 0x00007f232b498932 in boost::detail::sp_counted_impl_p<ros::Subscriber::Impl>::dispose() ()
   from /opt/ros/indigo/lib/libroscpp.so
No symbol table info available.
#11 0x00000000004975fe in boost::detail::sp_counted_base::release (this=0x53478e0)
    at /usr/include/boost/smart_ptr/detail/sp_counted_base_gcc_x86.hpp:146
No locals.
#12 0x00007f232c48ae8d in gazebo::GazeboRosVideo::~GazeboRosVideo() () from /opt/ros/indigo/lib/libgazebo_ros_video.so
No symbol table info available.
#13 0x00007f232c48b019 in gazebo::GazeboRosVideo::~GazeboRosVideo() () from /opt/ros/indigo/lib/libgazebo_ros_video.so
No symbol table info available.
#14 0x00000000004975fe in boost::detail::sp_counted_base::release (this=0x29b9590)
    at /usr/include/boost/smart_ptr/detail/sp_counted_base_gcc_x86.hpp:146
No locals.
#15 0x00007f23cc0763d4 in ~shared_count (this=0x548d028, __in_chrg=<optimized out>)
    at /usr/include/boost/smart_ptr/detail/shared_count.hpp:371
No locals.
#16 ~shared_ptr (this=0x548d020, __in_chrg=<optimized out>) at /usr/include/boost/smart_ptr/shared_ptr.hpp:328
No locals.
#17 _Destroy<boost::shared_ptr<gazebo::VisualPlugin> > (__pointer=0x548d020)
    at /usr/include/c++/4.8/bits/stl_construct.h:93
No locals.
#18 __destroy<boost::shared_ptr<gazebo::VisualPlugin>*> (__last=<optimized out>, __first=0x548d020)
    at /usr/include/c++/4.8/bits/stl_construct.h:103
No locals.
#19 _Destroy<boost::shared_ptr<gazebo::VisualPlugin>*> (__last=<optimized out>, __first=<optimized out>)
    at /usr/include/c++/4.8/bits/stl_construct.h:126
No locals.
#20 _Destroy<boost::shared_ptr<gazebo::VisualPlugin>*, boost::shared_ptr<gazebo::VisualPlugin> > (__last=0x548d030, 
    __first=0x548d020) at /usr/include/c++/4.8/bits/stl_construct.h:151
No locals.
#21 _M_erase_at_end (this=<optimized out>, __pos=0x548d020) at /usr/include/c++/4.8/bits/stl_vector.h:1352
#22 clear (this=0x57ca508) at /usr/include/c++/4.8/bits/stl_vector.h:1126
No locals.
#23 gazebo::rendering::Visual::Fini (this=0x57ca4f0) at /tmp/buildd/gazebo2-2.2.3/gazebo/rendering/Visual.cc:160
        iter = <optimized out>
#24 0x00007f23cc0447fb in gazebo::rendering::Scene::RemoveVisual (this=this@entry=0x2ff6f30, _vis=...)
    at /tmp/buildd/gazebo2-2.2.3/gazebo/rendering/Scene.cc:2699
        piter = <optimized out>
        iter = {_M_node = 0x549b850}
#25 0x00007f23cc0493d0 in gazebo::rendering::Scene::Clear (this=0x2ff6f30)
    at /tmp/buildd/gazebo2-2.2.3/gazebo/rendering/Scene.cc:189
No locals.
#26 0x00007f23cc0314e8 in gazebo::rendering::RenderEngine::RemoveScene (
    this=this@entry=0x8ca5c0 <SingletonT<gazebo::rendering::RenderEngine>::GetInstance()::t>, _name=...)
    at /tmp/buildd/gazebo2-2.2.3/gazebo/rendering/RenderEngine.cc:218
        iter = {_M_current = 0x4bbae20}
#27 0x00007f23cc031697 in gazebo::rendering::RenderEngine::Fini (
    this=this@entry=0x8ca5c0 <SingletonT<gazebo::rendering::RenderEngine>::GetInstance()::t>)
    at /tmp/buildd/gazebo2-2.2.3/gazebo/rendering/RenderEngine.cc:326
No locals.
#28 0x00007f23cc0373e1 in gazebo::rendering::fini ()
    at /tmp/buildd/gazebo2-2.2.3/gazebo/rendering/RenderingIface.cc:66
No locals.
#29 0x00007f23c312ac2e in gazebo::sensors::fini () at /tmp/buildd/gazebo2-2.2.3/gazebo/sensors/SensorsIface.cc:71
No locals.
#30 0x00007f23cb2c4fd1 in gazebo::shutdown () at /tmp/buildd/gazebo2-2.2.3/gazebo/gazebo.cc:248
        lock = {m = 0x7f23cb4dae80 <fini_mutex>, is_locked = true}
#31 0x00000000004aea89 in gazebo::gui::stop () at /tmp/buildd/gazebo2-2.2.3/gazebo/gui/GuiIface.cc:220
No locals.
#32 0x00000000004aeac9 in signal_handler () at /tmp/buildd/gazebo2-2.2.3/gazebo/gui/GuiIface.cc:63
No locals.
#33 <signal handler called>
No locals.
#34 0x00007f23c834f12d in poll () at ../sysdeps/unix/syscall-template.S:81
No locals.
#35 0x00007f23c29a1fe4 in ?? () from /lib/x86_64-linux-gnu/libglib-2.0.so.0
No symbol table info available.
#36 0x00007f23c29a20ec in g_main_context_iteration () from /lib/x86_64-linux-gnu/libglib-2.0.so.0
No symbol table info available.
#37 0x00007f23ca2947a1 in QEventDispatcherGlib::processEvents(QFlags<QEventLoop::ProcessEventsFlag>) ()
   from /usr/lib/x86_64-linux-gnu/libQtCore.so.4
No symbol table info available.
#38 0x00007f23ca83abe6 in ?? () from /usr/lib/x86_64-linux-gnu/libQtGui.so.4
No symbol table info available.
#39 0x00007f23ca2660af in QEventLoop::processEvents(QFlags<QEventLoop::ProcessEventsFlag>) ()
   from /usr/lib/x86_64-linux-gnu/libQtCore.so.4
No symbol table info available.
#40 0x00007f23ca2663a5 in QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>) ()
   from /usr/lib/x86_64-linux-gnu/libQtCore.so.4
No symbol table info available.
#41 0x00007f23ca26bb79 in QCoreApplication::exec() () from /usr/lib/x86_64-linux-gnu/libQtCore.so.4
No symbol table info available.
#42 0x00000000004af9d1 in gazebo::gui::run (_argc=5, _argv=0x7ffeb075f5b8)
    at /tmp/buildd/gazebo2-2.2.3/gazebo/gui/GuiIface.cc:210
        sigact = {__sigaction_handler = {sa_handler = 0x4aeac0 <signal_handler(int)>, 
            sa_sigaction = 0x4aeac0 <signal_handler(int)>}, sa_mask = {__val = {139791668603694, 5718847, 9222256, 
              140731858941055, 5282480, 9213480, 139791658771673, 140731858941055, 45, 9154016, 139791668287040, 
              9213480, 139791658771673, 44, 45, 9154016}}, sa_flags = 4804503, sa_restorer = 0x8bade0}
#43 0x0000000000494699 in main (_argc=<optimized out>, _argv=<optimized out>)
    at /tmp/buildd/gazebo2-2.2.3/gazebo/gui/main.cc:23
        result = 0