traversaro
commented
2 years ago @nunoguedelha can you report the installed packages (mamba list) in the working env and in the not working one?
Closed traversaro closed 1 year ago
traversaro
commented
2 years ago @nunoguedelha can you report the installed packages (mamba list) in the working env and in the not working one?
traversaro
commented
2 years ago I reproduce the issue on macOS on an M1 machine, i.e. arm64.
What happens is that it seems that gz client is not connected to any simulation server, i.e. all the simulation time display are not updated, and gzclient output is:
(gazebo) icub@iCubs-Mac-mini ~ % gzclient --verbose
Gazebo multi-robot simulator, version 11.11.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 10.240.11.19
[Wrn] [GuiIface.cc:120] Populating font family aliases took 74 ms. Replace uses of missing font family "Sans" with one that exists to avoid this cost.
[Dbg] [ModelIter.cc:201] Got response [{"errcode":3017,"msg":"Page not found","extra":null,"errid":"cea76bd4-b5dd-420d-9313-7a9575395919","route":"GET /1.0/models?page=119","user-agent":"Gazebo 11.11.0(Mac OSX)","remote-address":"90.147.26.232"}
]
[Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
zsh: segmentation fault gzclient --verboseAlso gz stats just hangs when launched.
These are the packages installed.
conda info :
conda list :
nunoguedelha
commented
2 years ago My setup information...
Conda info and setup from an environment where Gazebo (11.9.0) is working:
Conda info and setup from an environment where Gazebo (11.11.0) experiences the mentioned issue:
nunoguedelha
commented
2 years ago I've tried to fall back to Gazebo 11.10.0 , running:
mamba clean --all
mamba install gazebo=11.10.0but I then stumbled on the problem:
$ gzserver --verbose
Gazebo multi-robot simulator, version 11.10.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.1.70
[Err] [server_main.cc:57] Ogre Error:ItemIdentityException: Resource with the name shadow_caster_vp_glsl already exists. in ResourceManager::add at /Users/runner/miniforge3/conda-bld/ogre_1655955436130/work/OgreMain/src/OgreResourceManager.cpp (line 158)Already tracked in https://github.com/conda-forge/gazebo-feedstock/issues/119.
Apparently the issue was due to QT 5.12, so after installing qt-main (which upgrades qt to ver 5.15), I've installed Gazebo 11.10.2.
nunoguedelha
commented
2 years ago Same problem with Gazebo 11.10.2, the simulator doesn't run after launching the server.
nunoguedelha
commented
2 years ago Actually same problem for Gazebo ≥ 11.10.1.
traversaro
commented
2 years ago I reproduced the same problem compiling gazebo (commit https://github.com/osrf/gazebo/commit/92f1b42efcbcf53f63e9904da7bb090a926eecf9).
To reproduce (dependencies from https://github.com/osrf/gazebo/blob/bf205dd8cf67c0ab0f61560d875f5eb5118fe9e1/.github/workflows/conda-forge.yml):
mamba create -n gazebodev libtar cmake compilers make ninja pkg-config libprotobuf libsdformat libignition-cmake2 libignition-math6 libignition-transport8 libignition-common3 libignition-fuel-tools4 qt-main ogre=1.10 freeimage curl tbb-devel qwt tinyxml2 libccd boost-cpp libcurl tinyxml bzip2 zlib ffmpeg graphviz libgdal libusb bullet-cpp simbody hdf5 openal-soft glib gts dartsim
mamba activate gazebodev
git clone https://github.com/osrf/gazebo
cd gazebo
mkdir build
cd build
cmake -GNinja -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX
ninja
ninja install
source $CONDA_PREFIX/share/gazebo-11/setup.sh
gazeboI reproduced the same problem compiling gazebo (commit osrf/gazebo@92f1b42).
To reproduce (dependencies from https://github.com/osrf/gazebo/blob/bf205dd8cf67c0ab0f61560d875f5eb5118fe9e1/.github/workflows/conda-forge.yml):
I've tried the same but I'm having lots of compile errors when running ninja due to Protobuf headers. Those are actually being found in the system (/usr/local/include/google/protobuf) instead of Conda install prefix, which can be seen in the Cmake cache:
Protobuf_DIR Protobuf_DIR-NOTFOUND
Protobuf_INCLUDE_DIR /usr/local/include
Protobuf_LIBRARY_DEBUG /usr/local/lib/libprotobuf.dylib
Protobuf_LIBRARY_RELEASE /usr/local/lib/libprotobuf.dylib
Protobuf_LITE_LIBRARY_DEBUG /usr/local/lib/libprotobuf-lite.dylib
Protobuf_LITE_LIBRARY_RELEASE /usr/local/lib/libprotobuf-lite.dylib
Protobuf_PROTOC_EXECUTABLE /Users/nunoguedelha/miniforge3/envs/robotologybin3/bin/protoc
Protobuf_PROTOC_LIBRARY_DEBUG /usr/local/lib/libprotoc.dylib
Protobuf_PROTOC_LIBRARY_RELEAS /usr/local/lib/libprotoc.dylibI could manually make these variables point to /Users/nunoguedelha/miniforge3/envs/robotologybin3/include and /Users/nunoguedelha/miniforge3/envs/robotologybin3/lib/libprotobufxxx.dylib but I guess it's better to do it in the CMakeLists.txt...
traversaro
commented
2 years ago I also had this problem with tags gazebo11_11.9.0 and gazebo11_11.9.1 with this env:
(gazebodev119) icub@iCubs-Mac-mini ~ % mamba list
# packages in environment at /Users/icub/mambaforge/envs/gazebodev119:
#
# Name Version Build Channel
aom 3.4.0 hbe31e94_1 conda-forge
assimp 5.2.4 h3287542_0 conda-forge
atk-1.0 2.36.0 heb41896_4 conda-forge
blosc 1.21.1 hd414afc_3 conda-forge
boost-cpp 1.74.0 h1cb353e_8 conda-forge
bullet-cpp 3.21 py310ha6a5cd6_3 conda-forge
bzip2 1.0.8 h3422bc3_4 conda-forge
c-ares 1.18.1 h3422bc3_0 conda-forge
c-compiler 1.5.0 h5008568_0 conda-forge
ca-certificates 2022.6.15 h4653dfc_0 conda-forge
cairo 1.16.0 h73a0509_1013 conda-forge
cctools 973.0.1 hcbb26d4_10 conda-forge
cctools_osx-arm64 973.0.1 he930820_10 conda-forge
cfitsio 4.1.0 hd4f5c17_0 conda-forge
clang 14.0.4 hce30654_0 conda-forge
clang-14 14.0.4 default_h81a5282_0 conda-forge
clang_osx-arm64 14.0.4 hc634a12_2 conda-forge
clangxx 14.0.4 default_hb7ecf47_0 conda-forge
clangxx_osx-arm64 14.0.4 hb7a33d8_2 conda-forge
cmake 3.24.1 h967666c_0 conda-forge
compiler-rt 14.0.4 h4418234_0 conda-forge
compiler-rt_osx-arm64 14.0.4 hb07f8d1_0 conda-forge
compilers 1.5.0 hce30654_0 conda-forge
console_bridge 1.0.2 h3e96240_1 conda-forge
cppzmq 4.8.1 h3212551_0 conda-forge
curl 7.83.1 h2fcd78c_0 conda-forge
cxx-compiler 1.5.0 hffc8910_0 conda-forge
dartsim 6.12.1 h217873d_5 conda-forge
eigen 3.4.0 hc021e02_0 conda-forge
expat 2.4.8 h6b3803e_0 conda-forge
fcl 0.6.1 hda9dc21_3 conda-forge
ffmpeg 4.4.2 gpl_hfdc7bce_107 conda-forge
flann 1.9.1 hd3e9afc_1011 conda-forge
font-ttf-dejavu-sans-mono 2.37 hab24e00_0 conda-forge
font-ttf-inconsolata 3.000 h77eed37_0 conda-forge
font-ttf-source-code-pro 2.038 h77eed37_0 conda-forge
font-ttf-ubuntu 0.83 hab24e00_0 conda-forge
fontconfig 2.14.0 hfb34624_0 conda-forge
fonts-conda-ecosystem 1 0 conda-forge
fonts-conda-forge 1 0 conda-forge
fortran-compiler 1.5.0 h2ccabda_0 conda-forge
freeimage 3.18.0 hb513136_10 conda-forge
freetype 2.12.1 hd633e50_0 conda-forge
freexl 1.0.6 h27ca646_0 conda-forge
fribidi 1.0.10 h27ca646_0 conda-forge
gdk-pixbuf 2.42.8 hdded42e_0 conda-forge
geos 3.11.0 h9a09cb3_0 conda-forge
geotiff 1.7.1 hc898e3f_3 conda-forge
gettext 0.19.8.1 h049c9fb_1008 conda-forge
gfortran 11.3.0 h1ca8e4b_0 conda-forge
gfortran_impl_osx-arm64 11.3.0 h95416cd_25 conda-forge
gfortran_osx-arm64 11.3.0 h57527a5_0 conda-forge
giflib 5.2.1 h27ca646_2 conda-forge
glib 2.72.1 h332123e_0 conda-forge
glib-tools 2.72.1 h332123e_0 conda-forge
gmp 6.2.1 h9f76cd9_0 conda-forge
gnutls 3.7.7 h27a1928_0 conda-forge
graphite2 1.3.13 h9f76cd9_1001 conda-forge
graphviz 5.0.1 h37ddf74_0 conda-forge
gst-plugins-base 1.20.3 h8b7775e_1 conda-forge
gstreamer 1.20.3 hcb7b3dd_1 conda-forge
gtk2 2.24.33 h57013de_2 conda-forge
gts 0.7.6 h4b6d4d6_2 conda-forge
harfbuzz 5.1.0 hd36a07e_0 conda-forge
hdf4 4.2.15 hc683e77_4 conda-forge
hdf5 1.12.2 nompi_h8968d4b_100 conda-forge
icu 70.1 h6b3803e_0 conda-forge
imath 3.1.5 h1280f1d_0 conda-forge
isl 0.22.1 hb904e53_2 conda-forge
jpeg 9e he4db4b2_2 conda-forge
json-c 0.16 hc449e50_0 conda-forge
jsoncpp 1.9.5 hc021e02_1 conda-forge
jxrlib 1.1 h27ca646_2 conda-forge
kealib 1.4.15 h02ce806_1 conda-forge
krb5 1.19.3 hf9b2bbe_0 conda-forge
lame 3.100 h27ca646_1001 conda-forge
lcms2 2.12 had6a04f_0 conda-forge
ld64 609 h619f069_10 conda-forge
ld64_osx-arm64 609 h132958c_10 conda-forge
lerc 4.0.0 h9a09cb3_0 conda-forge
libblas 3.9.0 16_osxarm64_openblas conda-forge
libcblas 3.9.0 16_osxarm64_openblas conda-forge
libccd 2.1 hbdafb3b_1 conda-forge
libclang 14.0.4 default_h81a5282_0 conda-forge
libclang-cpp14 14.0.4 default_h81a5282_0 conda-forge
libclang13 14.0.4 default_he70ec0d_0 conda-forge
libcurl 7.83.1 h2fcd78c_0 conda-forge
libcxx 14.0.6 h2692d47_0 conda-forge
libdap4 3.20.6 h8510809_2 conda-forge
libdeflate 1.13 h57fd34a_0 conda-forge
libedit 3.1.20191231 hc8eb9b7_2 conda-forge
libev 4.33 h642e427_1 conda-forge
libffi 3.4.2 h3422bc3_5 conda-forge
libgd 2.3.3 hede1055_3 conda-forge
libgdal 3.5.1 he1a18a7_5 conda-forge
libgfortran 5.0.0 11_3_0_hd922786_25 conda-forge
libgfortran-devel_osx-arm64 11.3.0 hfe9555d_25 conda-forge
libgfortran5 11.3.0 hdaf2cc0_25 conda-forge
libglib 2.72.1 ha1047ec_0 conda-forge
libiconv 1.16 h642e427_0 conda-forge
libidn2 2.3.3 he4db4b2_0 conda-forge
libignition-cmake2 2.15.0 hb7217d7_0 conda-forge
libignition-common3 3.13.2 ha785882_3 conda-forge
libignition-fuel-tools4 4.4.0 ha52498d_8 conda-forge
libignition-math6 6.11.0 py310h520f069_1 conda-forge
libignition-msgs5 5.9.0 hd2c25e4_1 conda-forge
libignition-tools1 1.5.0 h05620d7_0 conda-forge
libignition-transport8 8.3.0 h9e26ccd_1 conda-forge
libkml 1.3.0 h893ab4d_1014 conda-forge
liblapack 3.9.0 16_osxarm64_openblas conda-forge
libllvm14 14.0.4 h37c5ba8_0 conda-forge
libnetcdf 4.8.1 nompi_h996a5af_104 conda-forge
libnghttp2 1.47.0 h232270b_1 conda-forge
libode 0.16.2 py310h1105856_10 conda-forge
libogg 1.3.4 h27ca646_1 conda-forge
libopenblas 0.3.21 openmp_hc731615_3 conda-forge
libopus 1.3.1 h27ca646_1 conda-forge
libpng 1.6.37 h9b2ccdc_4 conda-forge
libpq 14.5 hb2ab832_0 conda-forge
libprotobuf 3.21.5 hb5ab8b9_3 conda-forge
libraw 0.20.2 h9166135_1 conda-forge
librsvg 2.54.4 ha2634a2_0 conda-forge
librttopo 1.1.0 h275bb25_11 conda-forge
libsdformat 9.8.0 hb3dc90a_2 conda-forge
libsodium 1.0.18 h27ca646_1 conda-forge
libspatialite 5.0.1 h47b1232_18 conda-forge
libsqlite 3.39.3 h76d750c_0 conda-forge
libssh2 1.10.0 hb80f160_3 conda-forge
libtar 1.2.20 h3422bc3_1004 conda-forge
libtasn1 4.19.0 h1a8c8d9_0 conda-forge
libtiff 4.4.0 hd6ca8d7_3 conda-forge
libtool 2.4.6 hbdafb3b_1008 conda-forge
libunistring 0.9.10 h3422bc3_0 conda-forge
libusb 1.0.26 h1c322ee_100 conda-forge
libuv 1.44.2 he4db4b2_0 conda-forge
libvorbis 1.3.7 h9f76cd9_0 conda-forge
libvpx 1.11.0 hc470f4d_3 conda-forge
libwebp 1.2.4 h328b37c_0 conda-forge
libwebp-base 1.2.4 h57fd34a_0 conda-forge
libxcb 1.13 h9b22ae9_1004 conda-forge
libxml2 2.9.14 h9d8dfc2_4 conda-forge
libzip 1.9.2 h96606af_1 conda-forge
libzlib 1.2.12 ha287fd2_2 conda-forge
llvm-openmp 14.0.4 hd125106_0 conda-forge
llvm-tools 14.0.4 h37c5ba8_0 conda-forge
lz4-c 1.9.3 hbdafb3b_1 conda-forge
make 4.3 he57ea6c_1 conda-forge
mpc 1.2.1 h309154c_0 conda-forge
mpfr 4.1.0 h6d7a090_1 conda-forge
mysql-common 8.0.30 hab468bb_1 conda-forge
mysql-libs 8.0.30 hea58576_1 conda-forge
ncurses 6.3 h07bb92c_1 conda-forge
nettle 3.8.1 h63371fa_1 conda-forge
ninja 1.11.0 hf86a087_0 conda-forge
nspr 4.32 hbdafb3b_1 conda-forge
nss 3.78 h1483a63_0 conda-forge
numpy 1.23.2 py310h127c7cf_0 conda-forge
octomap 1.9.7 hc021e02_0 conda-forge
ogre 1.10.12 h5654cb5_9 conda-forge
openal-soft 1.22.2 hf86a087_0 conda-forge
openexr 3.1.5 h264c651_0 conda-forge
openh264 2.3.0 h9a09cb3_0 conda-forge
openjpeg 2.5.0 h5d4e404_1 conda-forge
openssl 1.1.1q ha287fd2_0 conda-forge
p11-kit 0.24.1 h29577a5_0 conda-forge
pango 1.50.9 hc1f5a69_0 conda-forge
pcre 8.45 hbdafb3b_0 conda-forge
pip 22.2.2 pyhd8ed1ab_0 conda-forge
pixman 0.40.0 h27ca646_0 conda-forge
pkg-config 0.29.2 hab62308_1008 conda-forge
poppler 22.04.0 h2eb88e3_2 conda-forge
poppler-data 0.4.11 hd8ed1ab_0 conda-forge
postgresql 14.5 hb0ca4ee_0 conda-forge
proj 9.0.1 h4c79c2b_1 conda-forge
pthread-stubs 0.4 h27ca646_1001 conda-forge
pugixml 1.11.4 hbdafb3b_0 conda-forge
pybind11-abi 4 hd8ed1ab_3 conda-forge
python 3.10.6 hbce4517_0_cpython conda-forge
python_abi 3.10 2_cp310 conda-forge
qt-main 5.15.4 haf604a7_2 conda-forge
qwt 6.2.0 h52c5239_4 conda-forge
readline 8.1.2 h46ed386_0 conda-forge
rhash 1.4.3 he4db4b2_0 conda-forge
ruby 3.1.2 h462d72a_0 conda-forge
sdl2 2.0.22 h9a09cb3_2 conda-forge
setuptools 65.3.0 pyhd8ed1ab_1 conda-forge
sigtool 0.1.3 h7747421_0 conda-forge
simbody 3.7 h4b178c3_3 conda-forge
snappy 1.1.9 h39c3846_1 conda-forge
sqlite 3.39.3 h2229b38_0 conda-forge
svt-av1 1.2.1 he23bcac_0 conda-forge
swig 4.0.2 hc25a523_2 conda-forge
tapi 1100.0.11 he4954df_0 conda-forge
tbb 2020.2 h260d524_4 conda-forge
tbb-devel 2020.2 h260d524_4 conda-forge
tiledb 2.11.1 hc7ac4c9_0 conda-forge
tinyxml 2.6.2 h260d524_2 conda-forge
tinyxml2 9.0.0 hbdafb3b_2 conda-forge
tk 8.6.12 he1e0b03_0 conda-forge
tzcode 2022c h57fd34a_0 conda-forge
tzdata 2022c h191b570_0 conda-forge
urdfdom 3.1.0 h19b2bf3_1 conda-forge
urdfdom_headers 1.1.0 hf86a087_0 conda-forge
wheel 0.37.1 pyhd8ed1ab_0 conda-forge
x264 1!164.3095 h57fd34a_2 conda-forge
x265 3.5 hbc6ce65_3 conda-forge
xerces-c 3.2.3 h1b0b642_5 conda-forge
xorg-kbproto 1.0.7 h27ca646_1002 conda-forge
xorg-libice 1.0.10 h27ca646_0 conda-forge
xorg-libsm 1.2.3 h27ca646_1000 conda-forge
xorg-libx11 1.7.2 h3422bc3_0 conda-forge
xorg-libxau 1.0.9 h27ca646_0 conda-forge
xorg-libxaw 1.0.14 h3422bc3_1 conda-forge
xorg-libxdmcp 1.1.3 h27ca646_0 conda-forge
xorg-libxext 1.3.4 h27ca646_1 conda-forge
xorg-libxmu 1.1.3 h3422bc3_0 conda-forge
xorg-libxpm 3.5.13 h3422bc3_0 conda-forge
xorg-libxt 1.2.1 h27ca646_2 conda-forge
xorg-xextproto 7.3.0 h27ca646_1002 conda-forge
xorg-xproto 7.0.31 h27ca646_1007 conda-forge
xz 5.2.6 h57fd34a_0 conda-forge
yaml 0.2.5 h3422bc3_2 conda-forge
zeromq 4.3.4 hbdafb3b_1 conda-forge
zlib 1.2.12 ha287fd2_2 conda-forge
zstd 1.5.2 h8128057_4 conda-forge
zziplib 0.13.69 he1e0b03_1 conda-forgeSo probably the issue is not related to 11.9 vs 11.11, but rather to something else (compilation, dependencies).
traversaro
commented
2 years ago I could manually make these variables point to
/Users/nunoguedelha/miniforge3/envs/robotologybin3/includeand/Users/nunoguedelha/miniforge3/envs/robotologybin3/lib/libprotobufxxx.dylibbut I guess it's better to do it in theCMakeLists.txt...
As long as they are correct, probably that is ok, even if it is a good idea to avoiding polluting the CMakeLists.txt .
nunoguedelha
commented
2 years ago Maybe installing the google protobuf (libprotobuf-dev) would help?
traversaro
commented
2 years ago Maybe installing the google protobuf (libprotobuf-dev) would help?
All the development libraries should be provided by libprotobuf , I do not think there is a libprotobuf-dev package in conda-forge .
nunoguedelha
commented
2 years ago I added to the CMake command line DCMAKE_PREFIX_PATH=$CONDA_PREFIX to force CMake to find protobuf in conda environment. With this, the ninja compilation step seems to be working.
traversaro
commented
2 years ago I wondered if the problem was related to the clang version, but I tried with both clang 12 and clang 13 and the result was the same.
traversaro
commented
2 years ago I am debugging more in depth the issue, and apparently on macOS gzserver is running normally (the physics is effectively stepped), but for some reason not all topics are opened:
(gazebo) icub@iCubs-Mac-mini ~ % gz topic -l
/gazebo/default/atmosphere
/gazebo/default/factory
/gazebo/default/factory/light
/gazebo/default/joint
/gazebo/default/light/modify
/gazebo/default/log/control
/gazebo/default/model/modify
/gazebo/default/physics
/gazebo/default/playback_control
/gazebo/default/pose/modify
/gazebo/default/request
/gazebo/default/undo_redo
/gazebo/default/user_cmd
/gazebo/default/wind
/gazebo/default/world_control
/gazebo/server/controlvs a normal empty gazebo instance:
(gazebo) traversaro@IITICUBLAP257:~$ gz topic -l
/gazebo/default/atmosphere
/gazebo/default/diagnostics
/gazebo/default/factory
/gazebo/default/factory/light
/gazebo/default/gui
/gazebo/default/joint
/gazebo/default/light/modify
/gazebo/default/log/control
/gazebo/default/log/status
/gazebo/default/model/info
/gazebo/default/model/modify
/gazebo/default/physics
/gazebo/default/physics/contacts
/gazebo/default/playback_control
/gazebo/default/pose/info
/gazebo/default/pose/local/info
/gazebo/default/pose/modify
/gazebo/default/request
/gazebo/default/response
/gazebo/default/undo_redo
/gazebo/default/user_cmd
/gazebo/default/user_cmd_stats
/gazebo/default/visual
/gazebo/default/wind
/gazebo/default/world_control
/gazebo/default/world_stats
/gazebo/performance_metrics
/gazebo/server/control
/gazebo/world/modifyI debugged quite in depth, and the issue seems that ConnectionManager::Instance is not behaving as Singleton, but instead it is returning different instances over time. I am not sure what is the reason behind that, but may be it is just a strange side effect of some ABI incompatibility in the dependency chain?
traversaro
commented
2 years ago I added the following code to further debug:
diff --git a/gazebo/common/SingletonT.hh b/gazebo/common/SingletonT.hh
index e97b7c792e..3861046895 100644
--- a/gazebo/common/SingletonT.hh
+++ b/gazebo/common/SingletonT.hh
@@ -24,6 +24,10 @@
#include "gazebo/util/system.hh"
+#include <iostream>
+#include <thread>
+#include <typeinfo>
+
/// \addtogroup gazebo_common Common
/// \{
@@ -48,8 +52,14 @@ class SingletonT
private: static T &GetInstance()
{
static T t;
+ std::cerr << "\nSingletonT::GetInstance with type " << typeid(t).name() << " and instance " << &t << " thread_id " << std::this_thread::get_id() << std::endl;
return static_cast<T &>(t);
}
+
+ public: SingletonT(SingletonT const&) = delete;
+ public: void operator=(SingletonT const&) = delete;
+ public: SingletonT(SingletonT &&) = delete;
+ public: void operator=(SingletonT &&) = delete;
};
/// \brief Helper to declare typed SingletonTdiff --git a/gazebo/transport/ConnectionManager.cc b/gazebo/transport/ConnectionManager.cc
index 17016a4362..2175825108 100644
--- a/gazebo/transport/ConnectionManager.cc
+++ b/gazebo/transport/ConnectionManager.cc
@@ -71,6 +71,7 @@ class TopicManagerConnectionTask
ConnectionManager::ConnectionManager()
{
this->tmpIndex = 0;
+ std::cerr << "Seetting ConnectionManager::initialized to false (costru), this: " << this << std::endl;
this->initialized = false;
this->stop = false;
this->stopped = true;
@@ -201,6 +202,7 @@ bool ConnectionManager::Init(const std::string &_masterHost,
this->masterConn->AsyncRead(
boost::bind(&ConnectionManager::OnMasterRead, this, _1));
+ std::cerr << "Seetting ConnectionManager::initialized to true (init), this: " << this << std::endl;
this->initialized = true;
// Tell the user what address will be publicized to other nodes.
@@ -249,7 +251,7 @@ void ConnectionManager::Fini()
this->publishers.clear();
this->namespaces.clear();
this->masterMessages.clear();
-
+ std::cerr << "Seetting ConnectionManager::initialized to false (destru), this: " << this << std::endl;
this->initialized = false;
}
@@ -507,6 +509,7 @@ void ConnectionManager::OnRead(ConnectionPtr _connection,
void ConnectionManager::Advertise(const std::string &topic,
const std::string &msgType)
{
+ std::cerr << "ConnectionManager::Advertise: this->initialized " << this->initialized << " this " << this << std::endl;
if (!this->initialized)
return;
@@ -516,6 +519,7 @@ void ConnectionManager::Advertise(const std::string &topic,
msg.set_host(this->serverConn->GetLocalAddress());
msg.set_port(this->serverConn->GetLocalPort());
+ std::cerr << "ConnectionManager::Advertise: topic: " << topic << " msgType " << msgType << std::endl;
this->masterConn->EnqueueMsg(msgs::Package("advertise", msg));
}and this is the output: https://gist.github.com/traversaro/9783ef649048eab0a22ce82efed94978 .
It is possible to see how in sometimes the singleton type is the same, but the returned instance is different, for example:
SingletonT::GetInstance with type N6gazebo9transport17ConnectionManagerE and instance 0x1019888a8 thread_id 0x100ca8580
SingletonT::GetInstance with type N6gazebo9transport17ConnectionManagerE and instance 0x10284ef90 thread_id 0x100ca8580
SingletonT::GetInstance with type N6gazebo9transport17ConnectionManagerE and instance 0x100ba4db8 thread_id 0x100ca8580
SingletonT::GetInstance with type N6gazebo9transport17ConnectionManagerE and instance 0x100e78f50 thread_id 0x100ca8580
SingletonT::GetInstance with type N6gazebo9transport17ConnectionManagerE and instance 0x101871248 thread_id 0x100ca8580However, after the initial confusion, the instance return always the first (correctly initialized) instance:
SingletonT::GetInstance with type N6gazebo9transport17ConnectionManagerE and instance 0x1019888a8 thread_id 0x17202f000I have still no idea of what is happening. My best hypothesis is of a magical ABI problem in the dependency that would explain that, but to be honest at the moment I do not know how to debug this further, probably I should use something like valgrind or a memory/address sanitizer, but valgrind does not work on M1, and I was not able to get the Memory or Address sanitizer to work.
traversaro
commented
1 year ago Just for check, I tried to run gzserver --verbose under valgrind on Linux, but there was nothing too strange:
(gazebo1112) traversaro@IITICUBLAP257:~/valws$ valgrind --gen-suppressions=all --suppressions=./wsl.supp /home/traversaro/mambaforge/envs/gazebo1112/bin/gzserver --verbose
==1115== Memcheck, a memory error detector
==1115== Copyright (C) 2002-2017, and GNU GPL'd, by Julian Seward et al.
==1115== Using Valgrind-3.18.1 and LibVEX; rerun with -h for copyright info
==1115== Command: /home/traversaro/mambaforge/envs/gazebo1112/bin/gzserver --verbose
==1115==
Gazebo multi-robot simulator, version 11.12.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 172.21.215.116
==1115== Invalid read of size 8
==1115== at 0x40286C8: strncmp (strcmp.S:172)
==1115== by 0x400668D: is_dst (dl-load.c:216)
==1115== by 0x400810E: _dl_dst_count (dl-load.c:253)
==1115== by 0x400810E: expand_dynamic_string_token (dl-load.c:395)
==1115== by 0x40082B7: fillin_rpath.isra.0 (dl-load.c:483)
==1115== by 0x4008602: decompose_rpath (dl-load.c:654)
==1115== by 0x400ABF5: cache_rpath (dl-load.c:696)
==1115== by 0x400ABF5: cache_rpath (dl-load.c:677)
==1115== by 0x400ABF5: _dl_map_object (dl-load.c:2165)
==1115== by 0x4003494: openaux (dl-deps.c:64)
==1115== by 0x5378C27: _dl_catch_exception (dl-error-skeleton.c:208)
==1115== by 0x4003C7B: _dl_map_object_deps (dl-deps.c:248)
==1115== by 0x400EA0E: dl_open_worker_begin (dl-open.c:592)
==1115== by 0x5378C27: _dl_catch_exception (dl-error-skeleton.c:208)
==1115== by 0x400DF99: dl_open_worker (dl-open.c:782)
==1115== Address 0x84b7c169 is 9 bytes inside a block of size 15 alloc'd
==1115== at 0x4848899: malloc (in /usr/libexec/valgrind/vgpreload_memcheck-amd64-linux.so)
==1115== by 0x40271FF: malloc (rtld-malloc.h:56)
==1115== by 0x40271FF: strdup (strdup.c:42)
==1115== by 0x4008594: decompose_rpath (dl-load.c:629)
==1115== by 0x400ABF5: cache_rpath (dl-load.c:696)
==1115== by 0x400ABF5: cache_rpath (dl-load.c:677)
==1115== by 0x400ABF5: _dl_map_object (dl-load.c:2165)
==1115== by 0x4003494: openaux (dl-deps.c:64)
==1115== by 0x5378C27: _dl_catch_exception (dl-error-skeleton.c:208)
==1115== by 0x4003C7B: _dl_map_object_deps (dl-deps.c:248)
==1115== by 0x400EA0E: dl_open_worker_begin (dl-open.c:592)
==1115== by 0x5378C27: _dl_catch_exception (dl-error-skeleton.c:208)
==1115== by 0x400DF99: dl_open_worker (dl-open.c:782)
==1115== by 0x5378C27: _dl_catch_exception (dl-error-skeleton.c:208)
==1115== by 0x400E34D: _dl_open (dl-open.c:883)
==1115==
{
<insert_a_suppression_name_here>
Memcheck:Addr8
fun:strncmp
fun:is_dst
fun:_dl_dst_count
fun:expand_dynamic_string_token
fun:fillin_rpath.isra.0
fun:decompose_rpath
fun:cache_rpath
fun:cache_rpath
fun:_dl_map_object
fun:openaux
fun:_dl_catch_exception
fun:_dl_map_object_deps
fun:dl_open_worker_begin
fun:_dl_catch_exception
fun:dl_open_worker
}
==1115== Invalid read of size 8
==1115== at 0x40286C8: strncmp (strcmp.S:172)
==1115== by 0x400668D: is_dst (dl-load.c:216)
==1115== by 0x4007F79: _dl_dst_substitute (dl-load.c:295)
==1115== by 0x40082B7: fillin_rpath.isra.0 (dl-load.c:483)
==1115== by 0x4008602: decompose_rpath (dl-load.c:654)
==1115== by 0x400ABF5: cache_rpath (dl-load.c:696)
==1115== by 0x400ABF5: cache_rpath (dl-load.c:677)
==1115== by 0x400ABF5: _dl_map_object (dl-load.c:2165)
==1115== by 0x4003494: openaux (dl-deps.c:64)
==1115== by 0x5378C27: _dl_catch_exception (dl-error-skeleton.c:208)
==1115== by 0x4003C7B: _dl_map_object_deps (dl-deps.c:248)
==1115== by 0x400EA0E: dl_open_worker_begin (dl-open.c:592)
==1115== by 0x5378C27: _dl_catch_exception (dl-error-skeleton.c:208)
==1115== by 0x400DF99: dl_open_worker (dl-open.c:782)
==1115== Address 0x84b7c169 is 9 bytes inside a block of size 15 alloc'd
==1115== at 0x4848899: malloc (in /usr/libexec/valgrind/vgpreload_memcheck-amd64-linux.so)
==1115== by 0x40271FF: malloc (rtld-malloc.h:56)
==1115== by 0x40271FF: strdup (strdup.c:42)
==1115== by 0x4008594: decompose_rpath (dl-load.c:629)
==1115== by 0x400ABF5: cache_rpath (dl-load.c:696)
==1115== by 0x400ABF5: cache_rpath (dl-load.c:677)
==1115== by 0x400ABF5: _dl_map_object (dl-load.c:2165)
==1115== by 0x4003494: openaux (dl-deps.c:64)
==1115== by 0x5378C27: _dl_catch_exception (dl-error-skeleton.c:208)
==1115== by 0x4003C7B: _dl_map_object_deps (dl-deps.c:248)
==1115== by 0x400EA0E: dl_open_worker_begin (dl-open.c:592)
==1115== by 0x5378C27: _dl_catch_exception (dl-error-skeleton.c:208)
==1115== by 0x400DF99: dl_open_worker (dl-open.c:782)
==1115== by 0x5378C27: _dl_catch_exception (dl-error-skeleton.c:208)
==1115== by 0x400E34D: _dl_open (dl-open.c:883)
==1115==
{
<insert_a_suppression_name_here>
Memcheck:Addr8
fun:strncmp
fun:is_dst
fun:_dl_dst_substitute
fun:fillin_rpath.isra.0
fun:decompose_rpath
fun:cache_rpath
fun:cache_rpath
fun:_dl_map_object
fun:openaux
fun:_dl_catch_exception
fun:_dl_map_object_deps
fun:dl_open_worker_begin
fun:_dl_catch_exception
fun:dl_open_worker
}
==1115== Conditional jump or move depends on uninitialised value(s)
==1115== at 0x51130CD: std::ostreambuf_iterator<char, std::char_traits<char> > std::num_put<char, std::ostreambuf_iterator<char, std::char_traits<char> > >::_M_insert_int<long>(std::ostreambuf_iterator<char, std::char_traits<char> >, std::ios_base&, char, long) const (locale_facets.tcc:892)
==1115== by 0x511C17F: std::ostream& std::ostream::_M_insert<long>(long) (ostream.tcc:73)
==1115== by 0x4CDA738: std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > Ogre::StringConverter::_toString<int>(int, unsigned short, char, std::_Ios_Fmtflags) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libOgreMain.so.1.10.12)
==1115== by 0x4CDAA44: Ogre::StringConverter::toString[abi:cxx11](int, unsigned short, char, std::_Ios_Fmtflags) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libOgreMain.so.1.10.12)
==1115== by 0x4BE0FED: Ogre::RenderSystemCapabilities::log(Ogre::Log*) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libOgreMain.so.1.10.12)
==1115== by 0x9AA62839: Ogre::GLRenderSystem::initialiseFromRenderSystemCapabilities(Ogre::RenderSystemCapabilities*, Ogre::RenderTarget*) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/OGRE/RenderSystem_GL.so.1.10.12)
==1115== by 0x9AA647C0: Ogre::GLRenderSystem::_createRenderWindow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int, unsigned int, bool, std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > const*) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/OGRE/RenderSystem_GL.so.1.10.12)
==1115== by 0x4C1C291: Ogre::Root::createRenderWindow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int, unsigned int, bool, std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > const*) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libOgreMain.so.1.10.12)
==1115== by 0x5700943: gazebo::rendering::WindowManager::CreateWindow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int, unsigned int, double) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libgazebo_rendering.so.11.12.0)
==1115== by 0x5686F34: gazebo::rendering::RenderEngine::Load() (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libgazebo_rendering.so.11.12.0)
==1115== by 0x5688756: gazebo::rendering::load() (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libgazebo_rendering.so.11.12.0)
==1115== by 0x48B7E2D: gazebo::setupServer(int, char**) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libgazebo.so.11.12.0)
==1115==
{
<insert_a_suppression_name_here>
Memcheck:Cond
fun:_ZNKSt7num_putIcSt19ostreambuf_iteratorIcSt11char_traitsIcEEE13_M_insert_intIlEES3_S3_RSt8ios_basecT_
fun:_ZNSo9_M_insertIlEERSoT_
fun:_ZN4Ogre15StringConverter9_toStringIiEENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEET_tcSt13_Ios_Fmtflags
fun:_ZN4Ogre15StringConverter8toStringB5cxx11EitcSt13_Ios_Fmtflags
fun:_ZN4Ogre24RenderSystemCapabilities3logEPNS_3LogE
fun:_ZN4Ogre14GLRenderSystem38initialiseFromRenderSystemCapabilitiesEPNS_24RenderSystemCapabilitiesEPNS_12RenderTargetE
fun:_ZN4Ogre14GLRenderSystem19_createRenderWindowERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEjjbPKSt3mapIS6_S6_St4lessIS6_ESaISt4pairIS7_S6_EEE
fun:_ZN4Ogre4Root18createRenderWindowERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEjjbPKSt3mapIS6_S6_St4lessIS6_ESaISt4pairIS7_S6_EEE
fun:_ZN6gazebo9rendering13WindowManager12CreateWindowERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEjjd
fun:_ZN6gazebo9rendering12RenderEngine4LoadEv
fun:_ZN6gazebo9rendering4loadEv
fun:_ZN6gazebo11setupServerEiPPc
}
==1115== Use of uninitialised value of size 8
==1115== at 0x5112901: int std::__int_to_char<char, unsigned long>(char*, unsigned long, char const*, std::_Ios_Fmtflags, bool) (locale_facets.tcc:821)
==1115== by 0x51130E8: std::ostreambuf_iterator<char, std::char_traits<char> > std::num_put<char, std::ostreambuf_iterator<char, std::char_traits<char> > >::_M_insert_int<long>(std::ostreambuf_iterator<char, std::char_traits<char> >, std::ios_base&, char, long) const (locale_facets.tcc:894)
==1115== by 0x511C17F: std::ostream& std::ostream::_M_insert<long>(long) (ostream.tcc:73)
==1115== by 0x4CDA738: std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > Ogre::StringConverter::_toString<int>(int, unsigned short, char, std::_Ios_Fmtflags) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libOgreMain.so.1.10.12)
==1115== by 0x4CDAA44: Ogre::StringConverter::toString[abi:cxx11](int, unsigned short, char, std::_Ios_Fmtflags) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libOgreMain.so.1.10.12)
==1115== by 0x4BE0FED: Ogre::RenderSystemCapabilities::log(Ogre::Log*) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libOgreMain.so.1.10.12)
==1115== by 0x9AA62839: Ogre::GLRenderSystem::initialiseFromRenderSystemCapabilities(Ogre::RenderSystemCapabilities*, Ogre::RenderTarget*) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/OGRE/RenderSystem_GL.so.1.10.12)
==1115== by 0x9AA647C0: Ogre::GLRenderSystem::_createRenderWindow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int, unsigned int, bool, std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > const*) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/OGRE/RenderSystem_GL.so.1.10.12)
==1115== by 0x4C1C291: Ogre::Root::createRenderWindow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int, unsigned int, bool, std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > const*) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libOgreMain.so.1.10.12)
==1115== by 0x5700943: gazebo::rendering::WindowManager::CreateWindow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int, unsigned int, double) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libgazebo_rendering.so.11.12.0)
==1115== by 0x5686F34: gazebo::rendering::RenderEngine::Load() (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libgazebo_rendering.so.11.12.0)
==1115== by 0x5688756: gazebo::rendering::load() (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libgazebo_rendering.so.11.12.0)
==1115==
{
<insert_a_suppression_name_here>
Memcheck:Value8
fun:_ZSt13__int_to_charIcmEiPT_T0_PKS0_St13_Ios_Fmtflagsb
fun:_ZNKSt7num_putIcSt19ostreambuf_iteratorIcSt11char_traitsIcEEE13_M_insert_intIlEES3_S3_RSt8ios_basecT_
fun:_ZNSo9_M_insertIlEERSoT_
fun:_ZN4Ogre15StringConverter9_toStringIiEENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEET_tcSt13_Ios_Fmtflags
fun:_ZN4Ogre15StringConverter8toStringB5cxx11EitcSt13_Ios_Fmtflags
fun:_ZN4Ogre24RenderSystemCapabilities3logEPNS_3LogE
fun:_ZN4Ogre14GLRenderSystem38initialiseFromRenderSystemCapabilitiesEPNS_24RenderSystemCapabilitiesEPNS_12RenderTargetE
fun:_ZN4Ogre14GLRenderSystem19_createRenderWindowERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEjjbPKSt3mapIS6_S6_St4lessIS6_ESaISt4pairIS7_S6_EEE
fun:_ZN4Ogre4Root18createRenderWindowERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEjjbPKSt3mapIS6_S6_St4lessIS6_ESaISt4pairIS7_S6_EEE
fun:_ZN6gazebo9rendering13WindowManager12CreateWindowERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEjjd
fun:_ZN6gazebo9rendering12RenderEngine4LoadEv
fun:_ZN6gazebo9rendering4loadEv
}
==1115== Conditional jump or move depends on uninitialised value(s)
==1115== at 0x5112912: int std::__int_to_char<char, unsigned long>(char*, unsigned long, char const*, std::_Ios_Fmtflags, bool) (locale_facets.tcc:824)
==1115== by 0x51130E8: std::ostreambuf_iterator<char, std::char_traits<char> > std::num_put<char, std::ostreambuf_iterator<char, std::char_traits<char> > >::_M_insert_int<long>(std::ostreambuf_iterator<char, std::char_traits<char> >, std::ios_base&, char, long) const (locale_facets.tcc:894)
==1115== by 0x511C17F: std::ostream& std::ostream::_M_insert<long>(long) (ostream.tcc:73)
==1115== by 0x4CDA738: std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > Ogre::StringConverter::_toString<int>(int, unsigned short, char, std::_Ios_Fmtflags) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libOgreMain.so.1.10.12)
==1115== by 0x4CDAA44: Ogre::StringConverter::toString[abi:cxx11](int, unsigned short, char, std::_Ios_Fmtflags) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libOgreMain.so.1.10.12)
==1115== by 0x4BE0FED: Ogre::RenderSystemCapabilities::log(Ogre::Log*) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libOgreMain.so.1.10.12)
==1115== by 0x9AA62839: Ogre::GLRenderSystem::initialiseFromRenderSystemCapabilities(Ogre::RenderSystemCapabilities*, Ogre::RenderTarget*) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/OGRE/RenderSystem_GL.so.1.10.12)
==1115== by 0x9AA647C0: Ogre::GLRenderSystem::_createRenderWindow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int, unsigned int, bool, std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > const*) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/OGRE/RenderSystem_GL.so.1.10.12)
==1115== by 0x4C1C291: Ogre::Root::createRenderWindow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int, unsigned int, bool, std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > const*) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libOgreMain.so.1.10.12)
==1115== by 0x5700943: gazebo::rendering::WindowManager::CreateWindow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int, unsigned int, double) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libgazebo_rendering.so.11.12.0)
==1115== by 0x5686F34: gazebo::rendering::RenderEngine::Load() (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libgazebo_rendering.so.11.12.0)
==1115== by 0x5688756: gazebo::rendering::load() (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libgazebo_rendering.so.11.12.0)
==1115==
{
<insert_a_suppression_name_here>
Memcheck:Cond
fun:_ZSt13__int_to_charIcmEiPT_T0_PKS0_St13_Ios_Fmtflagsb
fun:_ZNKSt7num_putIcSt19ostreambuf_iteratorIcSt11char_traitsIcEEE13_M_insert_intIlEES3_S3_RSt8ios_basecT_
fun:_ZNSo9_M_insertIlEERSoT_
fun:_ZN4Ogre15StringConverter9_toStringIiEENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEET_tcSt13_Ios_Fmtflags
fun:_ZN4Ogre15StringConverter8toStringB5cxx11EitcSt13_Ios_Fmtflags
fun:_ZN4Ogre24RenderSystemCapabilities3logEPNS_3LogE
fun:_ZN4Ogre14GLRenderSystem38initialiseFromRenderSystemCapabilitiesEPNS_24RenderSystemCapabilitiesEPNS_12RenderTargetE
fun:_ZN4Ogre14GLRenderSystem19_createRenderWindowERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEjjbPKSt3mapIS6_S6_St4lessIS6_ESaISt4pairIS7_S6_EEE
fun:_ZN4Ogre4Root18createRenderWindowERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEjjbPKSt3mapIS6_S6_St4lessIS6_ESaISt4pairIS7_S6_EEE
fun:_ZN6gazebo9rendering13WindowManager12CreateWindowERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEjjd
fun:_ZN6gazebo9rendering12RenderEngine4LoadEv
fun:_ZN6gazebo9rendering4loadEv
}
==1115== Conditional jump or move depends on uninitialised value(s)
==1115== at 0x5113160: std::ostreambuf_iterator<char, std::char_traits<char> > std::num_put<char, std::ostreambuf_iterator<char, std::char_traits<char> > >::_M_insert_int<long>(std::ostreambuf_iterator<char, std::char_traits<char> >, std::ios_base&, char, long) const (locale_facets.tcc:914)
==1115== by 0x511C17F: std::ostream& std::ostream::_M_insert<long>(long) (ostream.tcc:73)
==1115== by 0x4CDA738: std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > Ogre::StringConverter::_toString<int>(int, unsigned short, char, std::_Ios_Fmtflags) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libOgreMain.so.1.10.12)
==1115== by 0x4CDAA44: Ogre::StringConverter::toString[abi:cxx11](int, unsigned short, char, std::_Ios_Fmtflags) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libOgreMain.so.1.10.12)
==1115== by 0x4BE0FED: Ogre::RenderSystemCapabilities::log(Ogre::Log*) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libOgreMain.so.1.10.12)
==1115== by 0x9AA62839: Ogre::GLRenderSystem::initialiseFromRenderSystemCapabilities(Ogre::RenderSystemCapabilities*, Ogre::RenderTarget*) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/OGRE/RenderSystem_GL.so.1.10.12)
==1115== by 0x9AA647C0: Ogre::GLRenderSystem::_createRenderWindow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int, unsigned int, bool, std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > const*) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/OGRE/RenderSystem_GL.so.1.10.12)
==1115== by 0x4C1C291: Ogre::Root::createRenderWindow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int, unsigned int, bool, std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > const*) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libOgreMain.so.1.10.12)
==1115== by 0x5700943: gazebo::rendering::WindowManager::CreateWindow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int, unsigned int, double) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libgazebo_rendering.so.11.12.0)
==1115== by 0x5686F34: gazebo::rendering::RenderEngine::Load() (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libgazebo_rendering.so.11.12.0)
==1115== by 0x5688756: gazebo::rendering::load() (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libgazebo_rendering.so.11.12.0)
==1115== by 0x48B7E2D: gazebo::setupServer(int, char**) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libgazebo.so.11.12.0)
==1115==
{
<insert_a_suppression_name_here>
Memcheck:Cond
fun:_ZNKSt7num_putIcSt19ostreambuf_iteratorIcSt11char_traitsIcEEE13_M_insert_intIlEES3_S3_RSt8ios_basecT_
fun:_ZNSo9_M_insertIlEERSoT_
fun:_ZN4Ogre15StringConverter9_toStringIiEENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEET_tcSt13_Ios_Fmtflags
fun:_ZN4Ogre15StringConverter8toStringB5cxx11EitcSt13_Ios_Fmtflags
fun:_ZN4Ogre24RenderSystemCapabilities3logEPNS_3LogE
fun:_ZN4Ogre14GLRenderSystem38initialiseFromRenderSystemCapabilitiesEPNS_24RenderSystemCapabilitiesEPNS_12RenderTargetE
fun:_ZN4Ogre14GLRenderSystem19_createRenderWindowERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEjjbPKSt3mapIS6_S6_St4lessIS6_ESaISt4pairIS7_S6_EEE
fun:_ZN4Ogre4Root18createRenderWindowERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEjjbPKSt3mapIS6_S6_St4lessIS6_ESaISt4pairIS7_S6_EEE
fun:_ZN6gazebo9rendering13WindowManager12CreateWindowERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEjjd
fun:_ZN6gazebo9rendering12RenderEngine4LoadEv
fun:_ZN6gazebo9rendering4loadEv
fun:_ZN6gazebo11setupServerEiPPc
}
==1115== Conditional jump or move depends on uninitialised value(s)
==1115== at 0xA07DB5E: Ogre::RTShader::ShaderGenerator::setTargetLanguage(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, float) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libOgreRTShaderSystem.so.1.10.12)
==1115== by 0x56921F7: gazebo::rendering::RTShaderSystem::Init() (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libgazebo_rendering.so.11.12.0)
==1115== by 0x5685569: gazebo::rendering::RenderEngine::Init() (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libgazebo_rendering.so.11.12.0)
==1115== by 0x5688816: gazebo::rendering::init() (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libgazebo_rendering.so.11.12.0)
==1115== by 0x54C971D: gazebo::sensors::init() (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libgazebo_sensors.so.11.12.0)
==1115== by 0x48B7E4B: gazebo::setupServer(int, char**) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libgazebo.so.11.12.0)
==1115== by 0x48AA3DF: gazebo::Server::ParseArgs(int, char**) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libgazebo.so.11.12.0)
==1115== by 0x113B91: ??? (in /home/traversaro/mambaforge/envs/gazebo1112/bin/gzserver-11.12.0)
==1115== by 0x522DD8F: (below main) (libc_start_call_main.h:58)
==1115==
{
<insert_a_suppression_name_here>
Memcheck:Cond
fun:_ZN4Ogre8RTShader15ShaderGenerator17setTargetLanguageERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEf
fun:_ZN6gazebo9rendering14RTShaderSystem4InitEv
fun:_ZN6gazebo9rendering12RenderEngine4InitEv
fun:_ZN6gazebo9rendering4initEv
fun:_ZN6gazebo7sensors4initEv
fun:_ZN6gazebo11setupServerEiPPc
fun:_ZN6gazebo6Server9ParseArgsEiPPc
obj:/home/traversaro/mambaforge/envs/gazebo1112/bin/gzserver-11.12.0
fun:(below main)
}
==1115== Conditional jump or move depends on uninitialised value(s)
==1115== at 0xA07DB6D: Ogre::RTShader::ShaderGenerator::setTargetLanguage(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, float) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libOgreRTShaderSystem.so.1.10.12)
==1115== by 0x56921F7: gazebo::rendering::RTShaderSystem::Init() (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libgazebo_rendering.so.11.12.0)
==1115== by 0x5685569: gazebo::rendering::RenderEngine::Init() (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libgazebo_rendering.so.11.12.0)
==1115== by 0x5688816: gazebo::rendering::init() (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libgazebo_rendering.so.11.12.0)
==1115== by 0x54C971D: gazebo::sensors::init() (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libgazebo_sensors.so.11.12.0)
==1115== by 0x48B7E4B: gazebo::setupServer(int, char**) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libgazebo.so.11.12.0)
==1115== by 0x48AA3DF: gazebo::Server::ParseArgs(int, char**) (in /home/traversaro/mambaforge/envs/gazebo1112/lib/libgazebo.so.11.12.0)
==1115== by 0x113B91: ??? (in /home/traversaro/mambaforge/envs/gazebo1112/bin/gzserver-11.12.0)
==1115== by 0x522DD8F: (below main) (libc_start_call_main.h:58)
==1115==
{
<insert_a_suppression_name_here>
Memcheck:Cond
fun:_ZN4Ogre8RTShader15ShaderGenerator17setTargetLanguageERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEf
fun:_ZN6gazebo9rendering14RTShaderSystem4InitEv
fun:_ZN6gazebo9rendering12RenderEngine4InitEv
fun:_ZN6gazebo9rendering4initEv
fun:_ZN6gazebo7sensors4initEv
fun:_ZN6gazebo11setupServerEiPPc
fun:_ZN6gazebo6Server9ParseArgsEiPPc
obj:/home/traversaro/mambaforge/envs/gazebo1112/bin/gzserver-11.12.0
fun:(below main)
}
[Msg] Loading world file [/home/traversaro/mambaforge/envs/gazebo1112/share/gazebo-11/worlds/empty.world]I also tried to re-compiled all Gazebo and ignition dependencies, both in Release and in Debug, and the problem is still there.
traversaro
commented
1 year ago I wondered if the problem was related to the clang version, but I tried with both clang 12 and clang 13 and the result was the same.
This was quite unlucky. After a week of trying different combination of the dependencies, I reached a point in which I reproduced almost exactly the environment that built the latest working binary (gazebo 11.9.1), and even in that case it was not working. At that point, I checked the info/hash_input.json file in the package, and I noticed that the compiler used in that case was clang 11 . After trying with clang 11 in several combination, gazebo was always working. So it seems there is some kind of problem in clang 12/13/13, or some problem in Gazebo that becames apparent only with clang 12/13/14 .
Tobias-Fischer
commented
1 year ago Oh no, that is unlucky! And not very satisfying either as those compiler differences are near impossible to debug. Thanks a lot for your efforts!
Solution to issue cannot be found in the documentation.
Issue
Even if a user starts
gazebofrom the terminal, the GUI gets launched, but apparently no simulation is running. This has been already reported in https://github.com/RoboStack/ros-noetic/issues/279, but with @nunoguedelha we reproduced it without any ROS involved.