Test regressions after pull request #2220

[osrf-migration]

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

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We recently merged pull request #2220, which caused some test regressions, most notably with dart, which is not tested by most of the gazebo jenkins jobs (though it is used in my overnight testing).

The following tests are failing on gazebo7:

INTEGRATION_world_reset

[ RUN      ] PhysicsEngines/WorldResetTest.ModelPose/22
[Dbg] [world_reset.cc:135] Physics engine [dart] world name [worlds/nested_model.world] reset count [1]
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 172.23.2.91
[Err] [DARTModel.cc:48] Nested models are not currently supported in DART. [model_00] will not be loaded. 
[Err] [Publisher.cc:100] Publishing an uninitialized message on topic[/gazebo/default/model/info]. Required field [visual[0].name] missing.
[Err] [Model.cc:208] LoadJoint Failed
[Dbg] [ServerFixture.cc:200] ServerFixture load in 0.9 seconds, timeout after 600 seconds
[Wrn] [DARTPhysics.cc:263] Not implemented yet in DART.
[Dbg] [ServerFixture.cc:126] ServerFixture::Unload
Segmentation fault (core dumped)

INTEGRATION_joint_test

223: [ RUN      ] PhysicsEngines/JointTest.DynamicJointVisualization/3
223: [Dbg] [joint_test.hh:64] Params: (0x45dbc9 pointing to "dart", 0x460380 pointing to "")
223: [Msg] Waiting for master.
223: [Msg] Connected to gazebo master @ http://127.0.0.1:11345
223: [Msg] Publicized address: 172.23.2.35
223: [Dbg] [ServerFixture.cc:200] ServerFixture load in 0.7 seconds, timeout after 600 seconds
223: [Wrn] [Model.cc:1435] Model [box1] already has a joint named [dynamic_joint_unique], skipping creating joint.
223: [Err] [DARTJoint.cc:178] DART does not support joint dettaching.
223: [Wrn] [Model.cc:1468] Joint [this_joint_doees_not_exist] does not exist in model [box1], not removed.
223: 
223: 
 45/140 Test #223: INTEGRATION_joint_test ................................***Exception: SegFault147.20 sec

INTEGRATION_nested_model

235: [ RUN      ] PhysicsEngines/PhysicsMsgsTest.LoadNestedModel/3
235: [Msg] Waiting for master.
235: [Msg] Connected to gazebo master @ http://127.0.0.1:11345
235: [Msg] Publicized address: 172.23.2.35
235: [Err] [DARTModel.cc:48] Nested models are not currently supported in DART. [model_00] will not be loaded. 
235: [Err] [Publisher.cc:100] Publishing an uninitialized message on topic[/gazebo/default/model/info]. Required field [visual[0].name] missing.
235: [Err] [Model.cc:208] LoadJoint Failed
235: [Dbg] [ServerFixture.cc:200] ServerFixture load in 0.7 seconds, timeout after 600 seconds
235: [Err] [nested_model.cc:71] Nested models are not working in dart yet, issue #1833
235: 
235: 
 57/140 Test #235: INTEGRATION_nested_model ..............................***Exception: SegFault 18.42 sec

The following tests are also failing but not every time. REGRESSION_1702_remove_model_scene_nodes

UNIT_Scene_TEST

[osrf-migration]

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

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There were also some regressions on default after merging gazebo7 forward, but some of these are addressed by pull request #2257

[osrf-migration]

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

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Some of these tests have always failed for DART because it doesn't support nested models (issue #1833). I'll make a PR disabling them.

[osrf-migration]

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

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Well, they weren't failing before. Maybe calling the destructors causes seg-faults in DART and we were just never calling them?

[osrf-migration]

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

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Here's a backtrace of INTEGRATION_nested_model. It's failing during teardown:

[ RUN      ] PhysicsEngines/PhysicsMsgsTest.LoadNestedModel/3
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 172.23.2.91
[Err] [DARTModel.cc:48] Nested models are not currently supported in DART. [model_00] will not be loaded. 
[Err] [Publisher.cc:100] Publishing an uninitialized message on topic[/gazebo/default/model/info]. Required field [visual[0].name] missing.
[Err] [Model.cc:208] LoadJoint Failed
[Dbg] [ServerFixture.cc:200] ServerFixture load in 2.1 seconds, timeout after 600 seconds
[Err] [nested_model.cc:71] Nested models are not working in dart yet, issue #1833
[Dbg] [ServerFixture.cc:126] ServerFixture::Unload

Program received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7fffd4138700 (LWP 20101)]
0x00007ffff6463b74 in gazebo::event::Event::GetSignaled (this=0x7fffcdb2ecc0) at gazebo/common/Event.cc:52
52    return this->dataPtr->signaled;
(gdb) bt
#0  0x00007ffff6463b74 in gazebo::event::Event::GetSignaled (this=0x7fffcdb2ecc0) at gazebo/common/Event.cc:52
#1  0x00007ffff6463cac in gazebo::event::Connection::~Connection (this=0x7fffcf93d950, __in_chrg=<optimized out>) at gazebo/common/Event.cc:85
#2  0x00007ffff724d942 in checked_delete<gazebo::event::Connection> (x=0x7fffcf93d950) at /usr/include/boost/checked_delete.hpp:34
#3  boost::detail::sp_counted_impl_p<gazebo::event::Connection>::dispose (this=<optimized out>) at /usr/include/boost/smart_ptr/detail/sp_counted_impl.hpp:78
#4  0x00007ffff723ae2e in boost::detail::sp_counted_base::release (this=0x7fffcc245470) at /usr/include/boost/smart_ptr/detail/sp_counted_base_gcc_x86.hpp:146
#5  0x00007ffff7313eeb in ~shared_count (this=0x7fffcdb2ebb8, __in_chrg=<optimized out>) at /usr/include/boost/smart_ptr/detail/shared_count.hpp:371
#6  ~shared_ptr (this=0x7fffcdb2ebb0, __in_chrg=<optimized out>) at /usr/include/boost/smart_ptr/shared_ptr.hpp:328
#7  gazebo::physics::Joint::~Joint (this=0x7fffcdb2ea10, __in_chrg=<optimized out>) at gazebo/physics/Joint.cc:80
#8  0x00007ffff72a20c9 in gazebo::physics::DARTHingeJoint::~DARTHingeJoint (this=0x7fffcdb2ea10, __in_chrg=<optimized out>) at gazebo/physics/dart/DARTHingeJoint.cc:40
#9  0x00007ffff723ae2e in boost::detail::sp_counted_base::release (this=0x7fffce498f30) at /usr/include/boost/smart_ptr/detail/sp_counted_base_gcc_x86.hpp:146
#10 0x00007ffff72ea654 in ~shared_count (this=0x7fffce322a88, __in_chrg=<optimized out>) at /usr/include/boost/smart_ptr/detail/shared_count.hpp:371
#11 ~shared_ptr (this=0x7fffce322a80, __in_chrg=<optimized out>) at /usr/include/boost/smart_ptr/shared_ptr.hpp:328
#12 _Destroy<boost::shared_ptr<gazebo::physics::Base> > (__pointer=0x7fffce322a80) at /usr/include/c++/4.8/bits/stl_construct.h:93
#13 __destroy<boost::shared_ptr<gazebo::physics::Base>*> (__last=<optimized out>, __first=0x7fffce322a80) at /usr/include/c++/4.8/bits/stl_construct.h:103
#14 _Destroy<boost::shared_ptr<gazebo::physics::Base>*> (__last=<optimized out>, __first=<optimized out>) at /usr/include/c++/4.8/bits/stl_construct.h:126
#15 _Destroy<boost::shared_ptr<gazebo::physics::Base>*, boost::shared_ptr<gazebo::physics::Base> > (__last=0x7fffce322a90, __first=0x7fffce322a80) at /usr/include/c++/4.8/bits/stl_construct.h:151
#16 _M_erase_at_end (this=<optimized out>, __pos=0x7fffce322a80) at /usr/include/c++/4.8/bits/stl_vector.h:1352
#17 clear (this=0x7fffce686b28) at /usr/include/c++/4.8/bits/stl_vector.h:1126
#18 gazebo::physics::Base::Fini (this=0x7fffce686af0) at gazebo/physics/Base.cc:115
#19 0x00007ffff72fe709 in gazebo::physics::Entity::Fini (this=0x7fffce686af0) at gazebo/physics/Entity.cc:596
#20 0x00007ffff737f52e in gazebo::physics::World::Fini (this=0x7fffcc523d30) at gazebo/physics/World.cc:856
#21 0x00007ffff7356481 in gazebo::physics::remove_worlds () at gazebo/physics/PhysicsIface.cc:155
#22 0x00007ffff7356519 in gazebo::physics::fini () at gazebo/physics/PhysicsIface.cc:49
#23 0x00007ffff79a73f7 in gazebo::shutdown () at gazebo/gazebo.cc:140
#24 0x00007ffff7993fbd in gazebo::Server::Run (this=0x7fffcc50eda0) at gazebo/Server.cc:567
#25 0x000000000044a836 in gazebo::ServerFixture::RunServer (this=0x73f4c0, _args=...) at gazebo/test/ServerFixture.cc:270
#26 0x00007ffff59d6a4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#27 0x00007ffff7bc4182 in start_thread (arg=0x7fffd4138700) at pthread_create.c:312
#28 0x00007ffff4ac647d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111
(gdb) 

[osrf-migration]

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

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Yup, ok, I thought they had been failing before. The problem with DART joints is that we're deleting pointers we don't own. They should be fixed in a branch, I'm testing them locally now.

[osrf-migration]

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

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They look like they're fixed on the branch. I'm waiting for Jenkins to finish running to confirm nothing else was broken before making a PR.

[osrf-migration]

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

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I'm testing that branch now; it's looking good so far

[osrf-migration]

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

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pull request #2263

[osrf-migration]

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

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Feel free to close this issue if you're not observing the failures any more. Thanks!

[osrf-migration]

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

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• changed state from "new" to "resolved"

thanks!

[osrf-migration]

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

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• set version to "all"

[osrf-migration]

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

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• changed state from "resolved" to "closed"