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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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Nested models not working with dart #1833

Open osrf-migration opened 8 years ago

osrf-migration commented 8 years ago

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

Nested models were added by pull request #1868 with an example world (worlds/nested_model.world) and a test (INTEGRATION_nested_model) that currently passes. The test with that world remains paused for the duration of the test, which hides the fact that DART will crash when running that world unpaused. The recent pull request #2085 added nested_model.world to the INTEGRATION_world_reset test, which is now failing for dart. We should probably disable that test for now.

$ gdb gzserver
...
(gdb) r worlds/nested_model.world -e dart --verbose
...
Gazebo multi-robot simulator, version 7.0.1
Copyright (C) 2012-2015 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: 172.23.2.91
...
The collision detector already has a collision node for body node [link_01].
[New Thread 0x7fff977fc700 (LWP 31762)]
[New Thread 0x7fff96ffb700 (LWP 31763)]
[New Thread 0x7fff967fa700 (LWP 31764)]
[New Thread 0x7fff95ff9700 (LWP 31765)]
***** Internal Program Error - assertion (dartLink2.get() != __null) failed in virtual void gazebo::physics::DARTPhysics::UpdateCollision():
/data_fast/scpeters/ws/tmp/gazebo_build/src/gazebo/gazebo/physics/dart/DARTPhysics.cc(156): dartLink2 in collision pare is NULL

Program received signal SIGABRT, Aborted.
[Switching to Thread 0x7fff967fa700 (LWP 31764)]
0x00007ffff68bbcc9 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)
(gdb) bt
#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  0x00007ffff61b4556 in boost::assertion::detail::assertion_failed_msg (expr=expr@entry=0x7ffff63338cb "dartLink2.get() != __null", 
    msg=msg@entry=0x7ffff6333810 "dartLink2 in collision pare is NULL", 
    function=function@entry=0x7ffff63350c0 <gazebo::physics::DARTPhysics::UpdateCollision()::__PRETTY_FUNCTION__> "virtual void gazebo::physics::DARTPhysics::UpdateCollision()", 
    file=file@entry=0x7ffff6333768 "/data_fast/scpeters/ws/tmp/gazebo_build/src/gazebo/gazebo/physics/dart/DARTPhysics.cc", 
    line=line@entry=156) at /usr/include/boost/assert.hpp:108
#3  0x00007ffff622b963 in gazebo::physics::DARTPhysics::UpdateCollision (this=0x17e6c20)
    at /data_fast/scpeters/ws/tmp/gazebo_build/src/gazebo/gazebo/physics/dart/DARTPhysics.cc:156
#4  0x00007ffff62f0ec2 in gazebo::physics::World::Update (this=this@entry=0xcedf30)
    at /data_fast/scpeters/ws/tmp/gazebo_build/src/gazebo/gazebo/physics/World.cc:750
#5  0x00007ffff62fda4b in gazebo::physics::World::Step (this=this@entry=0xcedf30)
    at /data_fast/scpeters/ws/tmp/gazebo_build/src/gazebo/gazebo/physics/World.cc:672
#6  0x00007ffff62fde7d in gazebo::physics::World::RunLoop (this=0xcedf30)
    at /data_fast/scpeters/ws/tmp/gazebo_build/src/gazebo/gazebo/physics/World.cc:481
#7  0x00007ffff42dca4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#8  0x00007ffff55a9182 in start_thread (arg=0x7fff967fa700) at pthread_create.c:312
#9  0x00007ffff697f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

This is with gazebo's default branch using dart 4.3.5 debian from the PPA.

osrf-migration commented 8 years ago

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

confirming test failure:

osrf-migration commented 8 years ago

Original comment by Ian Chen (Bitbucket: Ian Chen, GitHub: iche033).

changes in disable_nested (c93f8b0486c7ed08dda48531b140ca5d42f525f1) branch present gazebo from crashing with nested models - queued a jenkins dart gpu job

osrf-migration commented 8 years ago

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