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gazebosim / gazebo-classic

Gazebo classic. For the latest version, see https://github.com/gazebosim/gz-sim
http://classic.gazebosim.org/
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Simbody seg-faults with blank.world (no models) #1471

Closed osrf-migration closed 8 years ago

osrf-migration commented 9 years ago

Original report (archived issue) by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

Simbody will seg-fault when stepping a world with no models (such as worlds/blank.world).

The world can be loaded paused:

gazebo --verbose -e simbody worlds/blank.world -u

but it will fail if you take simulation step without inserting a model.

osrf-migration commented 9 years ago

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

Added a failing test in 58182782c60c1e645891a5f38a26d625193e2fcc (branch issue_1471 from gazebo_4.1).

osrf-migration commented 9 years ago

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

Thanks to @jacquelinekay for finding this!

osrf-migration commented 9 years ago

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

Looks like a case of accessing uninitialized / improperly initialized variables.

osrf-migration commented 8 years ago

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

Backtrace:

#0  0x00007ffff68bbcc9 in __GI_raise (sig=sig@entry=6) at ../nptl/sysdeps/unix/sysv/linux/raise.c:56
#1  0x00007ffff68bf0d8 in __GI_abort () at abort.c:89
#2  0x00007ffff71c6535 in __gnu_cxx::__verbose_terminate_handler() () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#3  0x00007ffff71c46d6 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#4  0x00007ffff71c4703 in std::terminate() () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#5  0x00007ffff71c4922 in __cxa_throw () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#6  0x00007fffef607b23 in SimTK::StateImpl::getDiscreteVarUpdateIndex(SimTK::SubsystemIndex, SimTK::DiscreteVariableIndex) const () from /usr/lib/x86_64-linux-gnu/libSimTKsimbody.so.3.5
#7  0x00007fffef608704 in SimTK::State::isDiscreteVarUpdateValueRealized(SimTK::SubsystemIndex, SimTK::DiscreteVariableIndex) const () from /usr/lib/x86_64-linux-gnu/libSimTKsimbody.so.3.5
#8  0x00007fffef610565 in SimTK::ContactTrackerSubsystemImpl::ensureActiveContactsUpdated(SimTK::State const&) const () from /usr/lib/x86_64-linux-gnu/libSimTKsimbody.so.3.5
#9  0x00007fffef606f34 in SimTK::ContactTrackerSubsystem::realizeActiveContacts(SimTK::State const&, bool, double&) const () from /usr/lib/x86_64-linux-gnu/libSimTKsimbody.so.3.5
#10 0x00007fffef606f61 in SimTK::ContactTrackerSubsystem::getActiveContacts(SimTK::State const&) const () from /usr/lib/x86_64-linux-gnu/libSimTKsimbody.so.3.5
#11 0x00007ffff62443b4 in gazebo::physics::SimbodyPhysics::UpdateCollision (this=0x1149220) at /home/louisep/gazebo_source/gazebo/gazebo/physics/simbody/SimbodyPhysics.cc:422
#12 0x00007ffff62f0232 in gazebo::physics::World::Update (this=this@entry=0xc25860) at /home/louisep/gazebo_source/gazebo/gazebo/physics/World.cc:732
#13 0x00007ffff62fd50b in gazebo::physics::World::Step (this=this@entry=0xc25860) at /home/louisep/gazebo_source/gazebo/gazebo/physics/World.cc:654
#14 0x00007ffff62fd93d in gazebo::physics::World::RunLoop (this=0xc25860) at /home/louisep/gazebo_source/gazebo/gazebo/physics/World.cc:463
#15 0x00007ffff42d7a4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#16 0x00007ffff55a4182 in start_thread (arg=0x7fff99ff8700) at pthread_create.c:312
#17 0x00007ffff697f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111
osrf-migration commented 8 years ago

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

pull request #2215 -> default (gazebo8)

osrf-migration commented 8 years ago

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

Pull request #2288 -> gazebo7

osrf-migration commented 8 years ago

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

osrf-migration commented 8 years ago

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

osrf-migration commented 8 years ago

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).