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cwru-robotics / cwru_ariac

shared repo for TeamCase ARIAC competition
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Memory Issue on Sensor Manager #22

Closed TuZZiX closed 7 years ago

TuZZiX commented 7 years ago

With the new fix on Camera Estimator and Sensor Manager, the memory allocation issue is getting better.

Tested in ROS Kinetic Ubuntu 16.04 with Intel® Xeon(R) CPU E3-1271 v3 @ 3.60GHz × 8 and 32GB memory. Program crashes after running for about 25mins, here is the crash log:

*** Error in `/home/rockwell/ros_ws/devel/lib/cwru_ariac/sensor_manager_tester': malloc(): memory corruption: 0x0000000002119280 ***
======= Backtrace: =========
/lib/x86_64-linux-gnu/libc.so.6(+0x777e5)[0x7faaff5047e5]
/lib/x86_64-linux-gnu/libc.so.6(+0x8181e)[0x7faaff50e81e]
/lib/x86_64-linux-gnu/libc.so.6(__libc_malloc+0x54)[0x7faaff5105d4]
/usr/lib/x86_64-linux-gnu/libstdc++.so.6(_Znwm+0x18)[0x7faaffaf9e78]
/home/rockwell/ros_ws/devel/lib/libAriacLib.so(_ZN9__gnu_cxx13new_allocatorIN10cwru_ariac5Part_ISaIvEEEE8allocateEmPKv+0x50)[0x7faafffe5974]
/home/rockwell/ros_ws/devel/lib/libAriacLib.so(_ZNSt16allocator_traitsISaIN10cwru_ariac5Part_ISaIvEEEEE8allocateERS4_m+0x28)[0x7faafffe4378]
/home/rockwell/ros_ws/devel/lib/libAriacLib.so(_ZNSt12_Vector_baseIN10cwru_ariac5Part_ISaIvEEESaIS3_EE11_M_allocateEm+0x2a)[0x7faafffe2aa8]
/home/rockwell/ros_ws/devel/lib/libAriacLib.so(_ZNSt6vectorIN10cwru_ariac5Part_ISaIvEEESaIS3_EE19_M_emplace_back_auxIJRKS3_EEEvDpOT_+0x40)[0x7faafffe12c0]
/home/rockwell/ros_ws/devel/lib/libAriacLib.so(_ZNSt6vectorIN10cwru_ariac5Part_ISaIvEEESaIS3_EE9push_backERKS3_+0x6c)[0x7faafffe01a4]
/home/rockwell/ros_ws/devel/lib/libAriacLib.so(_ZN13SensorManager16combineLocationsEi+0x2fe)[0x7fab0005e0b2]
/home/rockwell/ros_ws/devel/lib/cwru_ariac/sensor_manager_tester(main+0x434)[0x41387a]
/lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xf0)[0x7faaff4ad830]
/home/rockwell/ros_ws/devel/lib/cwru_ariac/sensor_manager_tester(_start+0x29)[0x413379]
======= Memory map: ========
00400000-00420000 r-xp 00000000 08:12 7213964                            /home/rockwell/ros_ws/devel/lib/cwru_ariac/sensor_manager_tester
0061f000-00620000 r--p 0001f000 08:12 7213964                            /home/rockwell/ros_ws/devel/lib/cwru_ariac/sensor_manager_tester
00620000-00621000 rw-p 00020000 08:12 7213964                            /home/rockwell/ros_ws/devel/lib/cwru_ariac/sensor_manager_tester
02069000-02130000 rw-p 00000000 00:00 0                                  [heap]
7faa8c000000-7faa8c021000 rw-p 00000000 00:00 0 
7faa8c021000-7faa90000000 ---p 00000000 00:00 0 
7faa94000000-7faa94021000 rw-p 00000000 00:00 0 
7faa94021000-7faa98000000 ---p 00000000 00:00 0 
7faa98000000-7faa98021000 rw-p 00000000 00:00 0 
7faa98021000-7faa9c000000 ---p 00000000 00:00 0 
7faa9c000000-7faa9c0ea000 rw-p 00000000 00:00 0 
7faa9c0ea000-7faaa0000000 ---p 00000000 00:00 0 
7faaa0000000-7faaa00ea000 rw-p 00000000 00:00 0 
7faaa00ea000-7faaa4000000 ---p 00000000 00:00 0 
7faaa6ffe000-7faaa6fff000 ---p 00000000 00:00 0 
7faaa6fff000-7faaa77ff000 rwxp 00000000 00:00 0 
7faaa77ff000-7faaa7800000 ---p 00000000 00:00 0 
7faaa7800000-7faaa8000000 rwxp 00000000 00:00 0 
7faaa8000000-7faaa80eb000 rw-p 00000000 00:00 0 
7faaa80eb000-7faaac000000 ---p 00000000 00:00 0 
7faaac000000-7faaac021000 rw-p 00000000 00:00 0 
7faaac021000-7faab0000000 ---p 00000000 00:00 0 
7faab0000000-7faab0021000 rw-p 00000000 00:00 0 
7faab0021000-7faab4000000 ---p 00000000 00:00 0 
7faab4000000-7faab4021000 rw-p 00000000 00:00 0 
7faab4021000-7faab8000000 ---p 00000000 00:00 0 
7faab8000000-7faab80ed000 rw-p 00000000 00:00 0 
7faab80ed000-7faabc000000 ---p 00000000 00:00 0 
7faabc000000-7faabc0ec000 rw-p 00000000 00:00 0 
7faabc0ec000-7faac0000000 ---p 00000000 00:00 0 
7faac0000000-7faac0021000 rw-p 00000000 00:00 0 
7faac0021000-7faac4000000 ---p 00000000 00:00 0 
7faac4000000-7faac4021000 rw-p 00000000 00:00 0 
7faac4021000-7faac8000000 ---p 00000000 00:00 0 
7faac87f9000-7faac87fa000 ---p 00000000 00:00 0 
7faac87fa000-7faac8ffa000 rwxp 00000000 00:00 0 
7faac8ffa000-7faac8ffb000 ---p 00000000 00:00 0 
7faac8ffb000-7faac97fb000 rwxp 00000000 00:00 0 
7faac97fb000-7faac97fc000 ---p 00000000 00:00 0 
7faac97fc000-7faac9ffc000 rwxp 00000000 00:00 0 
7faac9ffc000-7faac9ffd000 ---p 00000000 00:00 0 
7faac9ffd000-7faaca7fd000 rwxp 00000000 00:00 0 
7faaca7fd000-7faaca7fe000 ---p 00000000 00:00 0 
7faaca7fe000-7faacaffe000 rwxp 00000000 00:00 0 
7faacaffe000-7faacafff000 ---p 00000000 00:00 0 
7faacafff000-7faacb7ff000 rwxp 00000000 00:00 0 
7faacb7ff000-7faacb800000 ---p 00000000 00:00 0 
7faacb800000-7faacc000000 rwxp 00000000 00:00 0 
7faacc000000-7faacc021000 rw-p 00000000 00:00 0 
7faacc021000-7faad0000000 ---p 00000000 00:00 0 
7faad0000000-7faad0021000 rw-p 00000000 00:00 0 
7faad0021000-7faad4000000 ---p 00000000 00:00 0 
7faad4000000-7faad40ea000 rw-p 00000000 00:00 0 
7faad40ea000-7faad8000000 ---p 00000000 00:00 0 
7faad8000000-7faad8021000 rw-p 00000000 00:00 0 
7faad8021000-7faadc000000 ---p 00000000 00:00 0 
7faadc000000-7faadc0f0000 rw-p 00000000 00:00 0 
7faadc0f0000-7faae0000000 ---p 00000000 00:00 0 
7faae07f9000-7faae07fa000 ---p 00000000 00:00 0 
7faae07fa000-7faae0ffa000 rwxp 00000000 00:00 0 
7faae0ffa000-7faae0ffb000 ---p 00000000 00:00 0 
7faae0ffb000-7faae17fb000 rwxp 00000000 00:00 0 
7faae17fb000-7faae17fc000 ---p 00000000 00:00 0 
7faae17fc000-7faae1ffc000 rwxp 00000000 00:00 0 
7faae1ffc000-7faae1ffd000 ---p 00000000 00:00 0 
7faae1ffd000-7faae27fd000 rwxp 00000000 00:00 0 
7faae27fd000-7faae27fe000 ---p 00000000 00:00 0 
7faae27fe000-7faae2ffe000 rwxp 00000000 00:00 0 
7faae2ffe000-7faae2fff000 ---p 00000000 00:00 0 
7faae2fff000-7faae37ff000 rwxp 00000000 00:00 0 
7faae37ff000-7faae3800000 ---p 00000000 00:00 0 
7faae3800000-7faae4000000 rwxp 00000000 00:00 0 
7faae4000000-7faae4021000 rw-p 00000000 00:00 0 
7faae4021000-7faae8000000 ---p 00000000 00:00 0 
7faae8000000-7faae8021000 rw-p 00000000 00:00 0 
7faae8021000-7faaec000000 ---p 00000000 00:00 0 
7faaec000000-7faaec021000 rw-p 00000000 00:00 0 
7faaec021000-7faaf0000000 ---p 00000000 00:00 0 
7faaf0718000-7faaf0719000 ---p 00000000 00:00 0 
7faaf0719000-7faaf0f19000 rwxp 00000000 00:00 0 
7faaf0f19000-7faaf0f1a000 ---p 00000000 00:00 0 
7faaf0f1a000-7faaf171a000 rwxp 00000000 00:00 0 
7faaf171a000-7faaf171b000 ---p 00000000 00:00 0 
7faaf171b000-7faaf1f1b000 rwxp 00000000 00:00 0 
7faaf1f1b000-7faaf1f1c000 ---p 00000000 00:00 0 
7faaf1f1c000-7faaf271c000 rwxp 00000000 00:00 0 
7faaf271c000-7faaf2727000 r-xp 00000000 08:12 3281515                    /lib/x86_64-linux-gnu/libnss_files-2.23.so
7faaf2727000-7faaf2926000 ---p 0000b000 08:12 3281515                    /lib/x86_64-linux-gnu/libnss_files-2.23.so
7faaf2926000-7faaf2927000 r--p 0000a000 08:12 3281515                    /lib/x86_64-linux-gnu/libnss_files-2.23.so
7faaf2927000-7faaf2928000 rw-p 0000b000 08:12 3281515                    /lib/x86_64-linux-gnu/libnss_files-2.23.so
7faaf2928000-7faaf292e000 rw-p 00000000 00:00 0 
7faaf292e000-7faaf293f000 r-xp 00000000 08:12 8921099                    /usr/lib/x86_64-linux-gnu/libXext.so.6.4.0
7faaf293f000-7faaf2b3e000 ---p 00011000 08:12 8921099                    /usr/lib/x86_64-linux-gnu/libXext.so.6.4.0
7faaf2b3e000-7faaf2b3f000 r--p 00010000 08:12 8921099                    /usr/lib/x86_64-linux-gnu/libXext.so.6.4.0
7faaf2b3f000-7faaf2b40000 rw-p 00011000 08:12 8921099                    /usr/lib/x86_64-linux-gnu/libXext.so.6.4.0
7faaf2b40000-7faaf2b45000 r-xp 00000000 08:12 8921097                    /usr/lib/x86_64-linux-gnu/libXdmcp.so.6.0.0
7faaf2b45000-7faaf2d44000 ---p 00005000 08:12 8921097                    /usr/lib/x86_64-linux-gnu/libXdmcp.so.6.0.0
7faaf2d44000-7faaf2d45000 r--p 00004000 08:12 8921097                    /usr/lib/x86_64-linux-gnu/libXdmcp.so.6.0.0
7faaf2d45000-7faaf2d46000 rw-p 00005000 08:12 8921097                    /usr/lib/x86_64-linux-gnu/libXdmcp.so.6.0.0
7faaf2d46000-7faaf2d48000 r-xp 00000000 08:12 8921086                    /usr/lib/x86_64-linux-gnu/libXau.so.6.0.0
7faaf2d48000-7faaf2f48000 ---p 00002000 08:12 8921086                    /usr/lib/x86_64-linux-gnu/libXau.so.6.0.0
7faaf2f48000-7faaf2f49000 r--p 00002000 08:12 8921086                    /usr/lib/x86_64-linux-gnu/libXau.so.6.0.0
7faaf2f49000-7faaf2f4a000 rw-p 00003000 08:12 8921086                    /usr/lib/x86_64-linux-gnu/libXau.so.6.0.0
7faaf2f4a000-7faaf2fd0000 r-xp 00000000 08:12 8939339                    /usr/lib/nvidia-375/libGLdispatch.so.0
7faaf2fd0000-7faaf31d0000 ---p 00086000 08:12 8939339                    /usr/lib/nvidia-375/libGLdispatch.so.0
7faaf31d0000-7faaf31f8000 rw-p 00086000 08:12 8939339                    /usr/lib/nvidia-375/libGLdispatch.so.0
7faaf31f8000-7faaf3218000 rw-p 00000000 00:00 0 
7faaf3218000-7faaf3227000 r-xp 00000000 08:12 8939341                    /usr/lib/nvidia-375/libGLX.so.0
7faaf3227000-7faaf3427000 ---p 0000f000 08:12 8939341                    /usr/lib/nvidia-375/libGLX.so.0
7faaf3427000-7faaf3428000 rw-p 0000f000 08:12 8939341                    /usr/lib/nvidia-375/libGLX.so.0
7faaf3428000-7faaf3448000 rw-p 00000000 00:00 0 
7faaf3448000-7faaf346b000 r-xp 00000000 08:12 8921646                    /usr/lib/x86_64-linux-gnu/libgraphite2.so.3.0.1
7faaf346b000-7faaf366a000 ---p 00023000 08:12 8921646                    /usr/lib/x86_64-linux-gnu/libgraphite2.so.3.0.1
7faaf366a000-7faaf366c000 r--p 00022000 08:12 8921646                    /usr/lib/x86_64-linux-gnu/libgraphite2.so.3.0.1
7faaf366c000-7faaf366d000 rw-p 00024000 08:12 8921646                    /usr/lib/x86_64-linux-gnu/libgraphite2.so.3.0.1
7faaf366d000-7faaf3711000 r-xp 00000000 08:12 8927576                    /usr/lib/x86_64-linux-gnu/libfreetype.so.6.12.1
7faaf3711000-7faaf3910000 ---p 000a4000 08:12 8927576                    /usr/lib/x86_64-linux-gnu/libfreetype.so.6.12.1
7faaf3910000-7faaf3916000 r--p 000a3000 08:12 8927576                    /usr/lib/x86_64-linux-gnu/libfreetype.so.6.12.1
7faaf3916000-7faaf3917000 rw-p 000a9000 08:12 8927576                    /usr/lib/x86_64-linux-gnu/libfreetype.so.6.12.1
7faaf3917000-7faaf3938000 r-xp 00000000 08:12 8922495                    /usr/lib/x86_64-linux-gnu/libxcb.so.1.1.0
7faaf3938000-7faaf3b37000 ---p 00021000 08:12 8922495                    /usr/lib/x86_64-linux-gnu/libxcb.so.1.1.0
7faaf3b37000-7faaf3b38000 r--p 00020000 08:12 8922495                    /usr/lib/x86_64-linux-gnu/libxcb.so.1.1.0
7faaf3b38000-7faaf3b39000 rw-p 00021000 08:12 8922495                    /usr/lib/x86_64-linux-gnu/libxcb.so.1.1.0
7faaf3b39000-7faaf3ba7000 r-xp 00000000 08:12 3281490                    /lib/x86_64-linux-gnu/libpcre.so.3.13.2
7faaf3ba7000-7faaf3da7000 ---p 0006e000 08:12 3281490                    /lib/x86_64-linux-gnu/libpcre.so.3.13.2
7faaf3da7000-7faaf3da8000 r--p 0006e000 08:12 3281490                    /lib/x86_64-linux-gnu/libpcre.so.3.13.2
7faaf3da8000-7faaf3da9000 rw-p 0006f000 08:12 3281490                    /lib/x86_64-linux-gnu/libpcre.so.3.13.2
7faaf3da9000-7faaf3db0000 r-xp 00000000 08:12 8921471                    /usr/lib/x86_64-linux-gnu/libffi.so.6.0.4
7faaf3db0000-7faaf3faf000 ---p 00007000 08:12 8921471                    /usr/lib/x86_64-linux-gnu/libffi.so.6.0.4
7faaf3faf000-7faaf3fb0000 r--p 00006000 08:12 8921471                    /usr/lib/x86_64-linux-gnu/libffi.so.6.0.4
7faaf3fb0000-7faaf3fb1000 rw-p 00007000 08:12 8921471                    /usr/lib/x86_64-linux-gnu/libffi.so.6.0.4
7faaf3fb1000-7faaf3fbc000 r-xp 00000000 08:12 8921829                    /usr/lib/x86_64-linux-gnu/libjbig.so.0
7faaf3fbc000-7faaf41bb000 ---p 0000b000 08:12 8921829                    /usr/lib/x86_64-linux-gnu/libjbig.so.0
7faaf41bb000-7faaf41bc000 r--p 0000a000 08:12 8921829                    /usr/lib/x86_64-linux-gnu/libjbig.so.0
7faaf41bc000-7faaf41bf000 rw-p 0000b000 08:12 8921829                    /usr/lib/x86_64-linux-gnu/libjbig.so.0
7faaf41bf000-7faaf41e0000 r-xp 00000000 08:12 3281428                    /lib/x86_64-linux-gnu/liblzma.so.5.0.0
7faaf41e0000-7faaf43df000 ---p 00021000 08:12 3281428                    /lib/x86_64-linux-gnu/liblzma.so.5.0.0
7faaf43df000-7faaf43e0000 r--p 00020000 08:12 3281428                    /lib/x86_64-linux-gnu/liblzma.so.5.0.0
7faaf43e0000-7faaf43e1000 rw-p 00021000 08:12 3281428                    /lib/x86_64-linux-gnu/liblzma.so.5.0.0
7faaf43e1000-7faaf4445000 r-xp 00000000 08:12 8922054                    /usr/lib/x86_64-linux-gnu/libpcre16.so.3.13.2
7faaf4445000-7faaf4645000 ---p 00064000 08:12 8922054                    /usr/lib/x86_64-linux-gnu/libpcre16.so.3.13.2
7faaf4645000-7faaf4646000 r--p 00064000 08:12 8922054                    /usr/lib/x86_64-linux-gnu/libpcre16.so.3.13.2
7faaf4646000-7faaf4647000 rw-p 00065000 08:12 8922054                    /usr/lib/x86_64-linux-gnu/libpcre16.so.3.13.2
7faaf4647000-7faaf46d0000 r-xp 00000000 08:12 8939352                    /usr/lib/nvidia-375/libGL.so.1.0.0
7faaf46d0000-7faaf48d0000 ---p 00089000 08:12 8939352                    /usr/lib/nvidia-375/libGL.so.1.0.0
7faaf48d0000-7faaf48ea000 rw-p 00089000 08:12 8939352                    /usr/lib/nvidia-375/libGL.so.1.0.0
7faaf48ea000-7faaf48eb000 rw-p 00000000 00:00 0 
7faaf48eb000-7faaf4947000 r-xp 00000000 08:12 8921734                    /usr/lib/x86_64-linux-gnu/libharfbuzz.so.0.10000.1
7faaf4947000-7faaf4b47000 ---p 0005c000 08:12 8921734                    /usr/lib/x86_64-linux-gnu/libharfbuzz.so.0.10000.1
7faaf4b47000-7faaf4b48000 r--p 0005c000 08:12 8921734                    /usr/lib/x86_64-linux-gnu/libharfbuzz.so.0.10000.1
7faaf4b48000-7faaf4b49000 rw-p 0005d000 08:12 8921734                    /usr/lib/x86_64-linux-gnu/libharfbuzz.so.0.10000.1
7faaf4b49000-7faaf4c7e000 r-xp 00000000 08:12 8921082                    /usr/lib/x86_64-linux-gnu/libX11.so.6.3.0
7faaf4c7e000-7faaf4e7e000 ---p 00135000 08:12 8921082                    /usr/lib/x86_64-linux-gnu/libX11.so.6.3.0
7faaf4e7e000-7faaf4e7f000 r--p 00135000 08:12 8921082                    /usr/lib/x86_64-linux-gnu/libX11.so.6.3.0
7faaf4e7f000-7faaf4e83000 rw-p 00136000 08:12 8921082                    /usr/lib/x86_64-linux-gnu/libX11.so.6.3.0
7faaf4e83000-7faaf4f92000 r-xp 00000000 08:12 3281403                    /lib/x86_64-linux-gnu/libglib-2.0.so.0.4800.2
7faaf4f92000-7faaf5191000 ---p 0010f000 08:12 3281403                    /lib/x86_64-linux-gnu/libglib-2.0.so.0.4800.2
7faaf5191000-7faaf5192000 r--p 0010e000 08:12 3281403                    /lib/x86_64-linux-gnu/libglib-2.0.so.0.4800.2
7faaf5192000-7faaf5193000 rw-p 0010f000 08:12 3281403                    /lib/x86_64-linux-gnu/libglib-2.0.so.0.4800.2
7faaf5193000-7faaf5194000 rw-p 00000000 00:00 0 
7faaf5194000-7faaf51e6000 r-xp 00000000 08:12 8921626                    /usr/lib/x86_64-linux-gnu/libgobject-2.0.so.0.4800.2
7faaf51e6000-7faaf53e5000 ---p 00052000 08:12 8921626                    /usr/lib/x86_64-linux-gnu/libgobject-2.0.so.0.4800.2
7faaf53e5000-7faaf53e6000 r--p 00051000 08:12 8921626                    /usr/lib/x86_64-linux-gnu/libgobject-2.0.so.0.4800.2
7faaf53e6000-7faaf53e7000 rw-p 00052000 08:12 8921626                    /usr/lib/x86_64-linux-gnu/libgobject-2.0.so.0.4800.2Aborted (core dumped)
TuZZiX commented 7 years ago

I think this problem have been fixed. I had sensor manager tester keep running for 16 hours without crash

wsnewman commented 7 years ago

yeah!!

On Fri, Jun 2, 2017 at 11:22 AM, Shipei Tian notifications@github.com wrote:

I think this problem have been fixed. I had sensor manager tester keep running for 16 hours without crash

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