instability on startup in gazebo branch for groovy

[osrf-migration]

Original report (archived issue) by John Hsu (Bitbucket: hsu, GitHub: hsu).

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In catkin_groovy branch(effectively gazebo_1.5 branch + gpu sensor and minor parser fixes) compiled with O2 or O3 optimization, when starting PR2 simulation

roslaunch pr2_gazebo pr2_empty_world.launch

occasionally leads to segfault:

(gdb) bt
#0  0x00007fffed5321e3 in Ogre::TexturePtr::operator=(Ogre::TexturePtr const&) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#1  0x00007fffed75e3e5 in Ogre::TextureUnitState::ensurePrepared(unsigned long) const () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#2  0x00007fffed75e5d3 in Ogre::TextureUnitState::_prepare() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#3  0x00007fffed63c66c in Ogre::Pass::_prepare() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#4  0x00007fffed75099c in Ogre::Technique::_prepare() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#5  0x00007fffed5bcef4 in Ogre::Material::prepareImpl() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#6  0x00007fffed6815da in Ogre::Resource::load(bool) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#7  0x00007fffed54fb25 in Ogre::Entity::reevaluateVertexProcessing() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#8  0x00007fffed5534bd in Ogre::Entity::_initialise(bool) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#9  0x00007fffed554121 in Ogre::Entity::Entity(std::string const&, Ogre::MeshPtr const&) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#10 0x00007fffed55467d in Ogre::EntityFactory::createInstanceImpl(std::string const&, std::map<std::string, std::string, std::less<std::string>, Ogre::STLAllocator<std::pair<std::string const, std::string>, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0> > > const*) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#11 0x00007fffed610ba1 in Ogre::MovableObjectFactory::createInstance(std::string const&, Ogre::SceneManager*, std::map<std::string, std::string, std::less<std::string>, Ogre::STLAllocator<std::pair<std::string const, std::string>, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0> > > const*) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#12 0x00007fffed6c718d in Ogre::SceneManager::createMovableObject(std::string const&, std::string const&, std::map<std::string, std::string, std::less<std::string>, Ogre::STLAllocator<std::pair<std::string const, std::string>, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0> > > const*) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#13 0x00007fffed6c3c18 in Ogre::SceneManager::createEntity(std::string const&, std::string const&, std::string const&) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#14 0x00007ffff283c57c in gazebo::rendering::Light::CreateVisual (this=0x38cfb40) at /home/hsu/projects/groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/rendering/Light.cc:284
#15 0x00007ffff283f603 in gazebo::rendering::Light::Load (this=0x38cfb40) at /home/hsu/projects/groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/rendering/Light.cc:102
#16 0x00007ffff283f861 in gazebo::rendering::Light::LoadFromMsg (this=0x38cfb40, _msg=...) at /home/hsu/projects/groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/rendering/Light.cc:229
#17 0x00007ffff286f71f in gazebo::rendering::Scene::ProcessLightMsg (this=0x1ac3960, _msg=...)
    at /home/hsu/projects/groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/rendering/Scene.cc:2092
#18 0x00007ffff286fc02 in gazebo::rendering::Scene::PreRender (this=0x1ac3960) at /home/hsu/projects/groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/rendering/Scene.cc:1506
#19 0x00007ffff705056e in operator() (this=<optimized out>) at /usr/include/boost/function/function_template.hpp:1013
#20 Signal (this=<optimized out>) at /home/hsu/projects/groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/common/Event.hh:126
#21 operator() (this=<optimized out>) at /home/hsu/projects/groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/common/Event.hh:119
#22 gazebo::sensors::SensorManager::ImageSensorContainer::Update (this=0x1ac3cf0, _force=false)
    at /home/hsu/projects/groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/sensors/SensorManager.cc:608
#23 0x00007ffff7051d26 in gazebo::sensors::SensorManager::Update (this=0x7ffff75b8f60, _force=false)
    at /home/hsu/projects/groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/sensors/SensorManager.cc:127
#24 0x00000000004243cf in gazebo::Server::Run (this=0x68d400) at /home/hsu/projects/groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/Server.cc:416
#25 0x0000000000420dd3 in main (argc=9, argv=0x7fffffffda58) at /home/hsu/projects/groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/server_main.cc:43
(gdb) 

Failure occurs at

    // Create the selection object.
    Ogre::MovableObject *obj = static_cast<Ogre::MovableObject*>
      (visSceneNode->getCreator()->createEntity(this->GetName() +
                                                "_selection_sphere",
                                                "unit_sphere"));

Suspect due to pr2 actually using a Projector with a projector plugin.

[osrf-migration]

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

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Also reported in answers:

http://answers.gazebosim.org/question/1265/ros-gazebo-sometimes-crashing-at-launch-groovy/

same issue here: #420

[osrf-migration]

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

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• changed state from "new" to "on hold"

Until after June, 2013.

[osrf-migration]

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

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• changed state from "on hold" to "open"

[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).

---

• changed state from "open" to "new"