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gazebosim / gz-sim

Open source robotics simulator. The latest version of Gazebo.
https://gazebosim.org
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User command light test failure #634

Open chapulina opened 3 years ago

chapulina commented 3 years ago

Environment

Description

This was introduced on https://github.com/ignitionrobotics/ign-gazebo/pull/482, I was a bit too quick to press the merge button.

Steps to reproduce

Run INTEGRATION_user_commands test.

Output

Test failure message:

UserCommandsTest.Light ``` [ RUN ] UserCommandsTest.Light [Msg] Loading SDF world file[/github/workspace/test/worlds/lights_render.sdf]. [Dbg] [EntityComponentManager.cc:672] Using components of type [2251689575469537287] / [ign_gazebo_components.World]. [Dbg] [EntityComponentManager.cc:672] Using components of type [13994732549916512682] / [ign_gazebo_components.Name]. [Dbg] [EntityComponentManager.cc:672] Using components of type [12592746352568925681] / [ign_gazebo_components.Gravity]. [Dbg] [EntityComponentManager.cc:672] Using components of type [2188341333082264598] / [ign_gazebo_components.Physics]. [Dbg] [EntityComponentManager.cc:672] Using components of type [13224937992534617849] / [ign_gazebo_components.MagneticField]. [Dbg] [EntityComponentManager.cc:672] Using components of type [3630648173860223239] / [ign_gazebo_components.PhysicsEnginePlugin]. [Dbg] [EntityComponentManager.cc:672] Using components of type [17459188283658606303] / [ign_gazebo_components.RenderEngineServerPlugin]. [Dbg] [EntityComponentManager.cc:672] Using components of type [8705992680619689917] / [ign_gazebo_components.RenderEngineGuiPlugin]. [Dbg] [EntityComponentManager.cc:672] Using components of type [8753193699724811771] / [ign_gazebo_components.Wind]. [Dbg] [EntityComponentManager.cc:672] Using components of type [12173050716021724529] / [ign_gazebo_components.WorldLinearVelocity]. [Dbg] [EntityComponentManager.cc:672] Using components of type [15943768124495574352] / [ign_gazebo_components.WorldLinearVelocitySeed]. [Dbg] [EntityComponentManager.cc:672] Using components of type [3297509811873971798] / [ign_gazebo_components.ParentEntity]. [Dbg] [EntityComponentManager.cc:672] Using components of type [17100615127981600159] / [ign_gazebo_components.Scene]. [Dbg] [EntityComponentManager.cc:672] Using components of type [17605309075052480649] / [ign_gazebo_components.Atmosphere]. [Dbg] [EntityComponentManager.cc:672] Using components of type [8064491505919932473] / [ign_gazebo_components.Level]. [Dbg] [EntityComponentManager.cc:672] Using components of type [2668898242563798256] / [ign_gazebo_components.DefaultLevel]. [Dbg] [EntityComponentManager.cc:672] Using components of type [11371360182141354106] / [ign_gazebo_components.LevelEntityNames]. [Dbg] [SimulationRunner.cc:839] Loaded system [ignition::gazebo::systems::SceneBroadcaster] for entity [1] [Msg] Create service on [/world/lights_command/create] [Msg] Remove service on [/world/lights_command/remove] [Msg] Pose service on [/world/lights_command/set_pose] [Msg] Light configuration service on [/world/lights_command/light_config] [Msg] Physics service on [/world/lights_command/set_physics] [Dbg] [SimulationRunner.cc:839] Loaded system [ignition::gazebo::systems::UserCommands] for entity [1] Error while loading the library [/usr/local/lib/ign-gazebo-5/plugins/libignition-gazebo-sensors-system.so]: libignition-gazebo5-rendering.so.5: cannot open shared object file: No such file or directory [Err] [SystemLoader.cc:75] Failed to load system plugin [ignition-gazebo-sensors-system] : couldn't load library on path [/usr/local/lib/ign-gazebo-5/plugins/libignition-gazebo-sensors-system.so]. [Dbg] [EntityComponentManager.cc:672] Using components of type [4981278897826323946] / [ign_gazebo_components.WorldSdf]. [Dbg] [EntityComponentManager.cc:672] Using components of type [6687176221774458630] / [ign_gazebo_components.Model]. [Dbg] [EntityComponentManager.cc:672] Using components of type [6612894081701502240] / [ign_gazebo_components.Pose]. [Dbg] [EntityComponentManager.cc:672] Using components of type [8546580419506082455] / [ign_gazebo_components.Static]. [Dbg] [EntityComponentManager.cc:672] Using components of type [9712747055438129860] / [ign_gazebo_components.WindMode]. [Dbg] [EntityComponentManager.cc:672] Using components of type [5661073481138181711] / [ign_gazebo_components.SelfCollide]. [Dbg] [EntityComponentManager.cc:672] Using components of type [11683062252779233161] / [ign_gazebo_components.SourceFilePath]. [Dbg] [EntityComponentManager.cc:672] Using components of type [5081358965268446661] / [ign_gazebo_components.Link]. [Dbg] [EntityComponentManager.cc:672] Using components of type [8112400427272910195] / [ign_gazebo_components.Inertial]. [Dbg] [EntityComponentManager.cc:672] Using components of type [16454635107327670381] / [ign_gazebo_components.Visual]. [Dbg] [EntityComponentManager.cc:672] Using components of type [13011964647677164955] / [ign_gazebo_components.CastShadows]. [Dbg] [EntityComponentManager.cc:672] Using components of type [13440282432131634483] / [ign_gazebo_components.Transparency]. [Dbg] [EntityComponentManager.cc:672] Using components of type [5453622280849253520] / [ign_gazebo_components.VisibilityFlags]. [Dbg] [EntityComponentManager.cc:672] Using components of type [17121648710877364109] / [ign_gazebo_components.Geometry]. [Dbg] [EntityComponentManager.cc:672] Using components of type [9853217982010720764] / [ign_gazebo_components.Material]. [Dbg] [EntityComponentManager.cc:672] Using components of type [3866641186784191835] / [ign_gazebo_components.Light]. [Dbg] [EntityComponentManager.cc:672] Using components of type [273039548655896271] / [ign_gazebo_components.Sensor]. [Dbg] [EntityComponentManager.cc:672] Using components of type [14624144930658477562] / [ign_gazebo_components.Camera]. [Dbg] [EntityComponentManager.cc:672] Using components of type [10522242218202596205] / [ign_gazebo_components.CanonicalLink]. [Dbg] [EntityComponentManager.cc:672] Using components of type [11536476718181283925] / [ign_gazebo_components.ModelSdf]. [Msg] Loaded level [3] [Msg] Serving world controls on [/world/lights_command/control] and [/world/lights_command/playback/control] [Msg] Serving GUI information on [/world/lights_command/gui/info] [Msg] World [lights_command] initialized with [1ms] physics profile. [Msg] Serving world SDF generation service on [/world/lights_command/generate_world_sdf] [Msg] Serving world names on [/gazebo/worlds] [Msg] Resource path add service on [/gazebo/resource_paths/add]. [Msg] Resource path get service on [/gazebo/resource_paths/get]. [Msg] Resource paths published on [/gazebo/resource_paths]. [Msg] Found no publishers on /stats, adding root stats topic [Msg] Found no publishers on /clock, adding root clock topic [Dbg] [SimulationRunner.cc:470] Creating PostUpdate worker threads: 3 [Dbg] [SimulationRunner.cc:483] Creating postupdate worker thread (0) [Dbg] [SimulationRunner.cc:483] Creating postupdate worker thread (1) [Msg] Serving scene information on [/world/lights_command/scene/info] [Msg] Serving graph information on [/world/lights_command/scene/graph] [Msg] Serving full state on [/world/lights_command/state] [Msg] Serving full state (async) on [/world/lights_command/state_async] [Msg] Publishing scene information on [/world/lights_command/scene/info] [Msg] Publishing entity deletions on [/world/lights_command/scene/deletion] [Msg] Publishing state changes on [/world/lights_command/state] [Msg] Publishing pose messages on [/world/lights_command/pose/info] [Msg] Publishing dynamic pose messages on [/world/lights_command/dynamic_pose/info] [Dbg] [EntityComponentManager.cc:672] Using components of type [8418521521794632513] / [ign_gazebo_components.LightCmd]. /github/workspace/test/integration/user_commands.cc:775: Failure Expected equality of these values: math::Color(0, 1, 1, 0) Which is: 0 1 1 0 pointLightComp->Data().Diffuse() Which is: 1 0 0 1 /github/workspace/test/integration/user_commands.cc:777: Failure Expected equality of these values: math::Color(0.2, 0.2, 0.2, 0.2) Which is: 0.2 0.2 0.2 0.2 pointLightComp->Data().Specular() Which is: 0.1 0.1 0.1 1 /github/workspace/test/integration/user_commands.cc:778: Failure The difference between 2.6 and pointLightComp->Data().AttenuationRange() is 1.3999999999999999, which exceeds 0.1, where 2.6 evaluates to 2.6000000000000001, pointLightComp->Data().AttenuationRange() evaluates to 4, and 0.1 evaluates to 0.10000000000000001. /github/workspace/test/integration/user_commands.cc:779: Failure The difference between 0.7 and pointLightComp->Data().LinearAttenuationFactor() is 0.19999999999999996, which exceeds 0.1, where 0.7 evaluates to 0.69999999999999996, pointLightComp->Data().LinearAttenuationFactor() evaluates to 0.5, and 0.1 evaluates to 0.10000000000000001. /github/workspace/test/integration/user_commands.cc:780: Failure The difference between 0.6 and pointLightComp->Data().ConstantAttenuationFactor() is 0.39999999999999997, which exceeds 0.1, where 0.6 evaluates to 0.59999999999999998, pointLightComp->Data().ConstantAttenuationFactor() evaluates to 0.20000000000000001, and 0.1 evaluates to 0.10000000000000001. /github/workspace/test/integration/user_commands.cc:782: Failure Value of: pointLightComp->Data().CastShadows() Actual: false Expected: true /github/workspace/test/integration/user_commands.cc:839: Failure Expected equality of these values: math::Color(0, 1, 1, 0) Which is: 0 1 1 0 directionalLightComp->Data().Diffuse() Which is: 0.8 0.8 0.8 1 /github/workspace/test/integration/user_commands.cc:841: Failure Expected equality of these values: math::Color(0.3, 0.3, 0.3, 0.3) Which is: 0.3 0.3 0.3 0.3 directionalLightComp->Data().Specular() Which is: 0.2 0.2 0.2 1 /github/workspace/test/integration/user_commands.cc:842: Failure The difference between 2.6 and directionalLightComp->Data().AttenuationRange() is 97.400000000000006, which exceeds 0.1, where 2.6 evaluates to 2.6000000000000001, directionalLightComp->Data().AttenuationRange() evaluates to 100, and 0.1 evaluates to 0.10000000000000001. /github/workspace/test/integration/user_commands.cc:844: Failure The difference between 0.7 and directionalLightComp->Data().LinearAttenuationFactor() is 0.68999999999999995, which exceeds 0.1, where 0.7 evaluates to 0.69999999999999996, directionalLightComp->Data().LinearAttenuationFactor() evaluates to 0.01, and 0.1 evaluates to 0.10000000000000001. /github/workspace/test/integration/user_commands.cc:846: Failure The difference between 0.6 and directionalLightComp->Data().ConstantAttenuationFactor() is 0.30000000000000004, which exceeds 0.1, where 0.6 evaluates to 0.59999999999999998, directionalLightComp->Data().ConstantAttenuationFactor() evaluates to 0.90000000000000002, and 0.1 evaluates to 0.10000000000000001. /github/workspace/test/integration/user_commands.cc:848: Failure The difference between 1 and directionalLightComp->Data().QuadraticAttenuationFactor() is 0.999, which exceeds 0.1, where 1 evaluates to 1, directionalLightComp->Data().QuadraticAttenuationFactor() evaluates to 0.001, and 0.1 evaluates to 0.10000000000000001. /github/workspace/test/integration/user_commands.cc:849: Failure Expected equality of these values: math::Vector3d(1, 2, 3) Which is: 1 2 3 directionalLightComp->Data().Direction() Which is: 0.5 0.2 -0.9 /github/workspace/test/integration/user_commands.cc:850: Failure Value of: directionalLightComp->Data().CastShadows() Actual: true Expected: false /github/workspace/test/integration/user_commands.cc:909: Failure Expected equality of these values: math::Color(1, 0, 1, 0) Which is: 1 0 1 0 spotLightComp->Data().Diffuse() Which is: 0 1 0 1 /github/workspace/test/integration/user_commands.cc:911: Failure Expected equality of these values: math::Color(0.3, 0.3, 0.3, 0.3) Which is: 0.3 0.3 0.3 0.3 spotLightComp->Data().Specular() Which is: 0.2 0.2 0.2 1 /github/workspace/test/integration/user_commands.cc:912: Failure The difference between 2.6 and spotLightComp->Data().AttenuationRange() is 2.3999999999999999, which exceeds 0.1, where 2.6 evaluates to 2.6000000000000001, spotLightComp->Data().AttenuationRange() evaluates to 5, and 0.1 evaluates to 0.10000000000000001. /github/workspace/test/integration/user_commands.cc:913: Failure The difference between 0.7 and spotLightComp->Data().LinearAttenuationFactor() is 0.29999999999999993, which exceeds 0.1, where 0.7 evaluates to 0.69999999999999996, spotLightComp->Data().LinearAttenuationFactor() evaluates to 0.40000000000000002, and 0.1 evaluates to 0.10000000000000001. /github/workspace/test/integration/user_commands.cc:914: Failure The difference between 0.6 and spotLightComp->Data().ConstantAttenuationFactor() is 0.29999999999999999, which exceeds 0.1, where 0.6 evaluates to 0.59999999999999998, spotLightComp->Data().ConstantAttenuationFactor() evaluates to 0.29999999999999999, and 0.1 evaluates to 0.10000000000000001. /github/workspace/test/integration/user_commands.cc:915: Failure The difference between 1 and spotLightComp->Data().QuadraticAttenuationFactor() is 0.999, which exceeds 0.1, where 1 evaluates to 1, spotLightComp->Data().QuadraticAttenuationFactor() evaluates to 0.001, and 0.1 evaluates to 0.10000000000000001. /github/workspace/test/integration/user_commands.cc:916: Failure Expected equality of these values: math::Vector3d(1, 2, 3) Which is: 1 2 3 spotLightComp->Data().Direction() Which is: 0 0 -1 /github/workspace/test/integration/user_commands.cc:917: Failure Value of: spotLightComp->Data().CastShadows() Actual: false Expected: true /github/workspace/test/integration/user_commands.cc:919: Failure The difference between 1.5 and spotLightComp->Data().SpotInnerAngle().Radian() is 1.3999999999999999, which exceeds 0.1, where 1.5 evaluates to 1.5, spotLightComp->Data().SpotInnerAngle().Radian() evaluates to 0.10000000000000001, and 0.1 evaluates to 0.10000000000000001. /github/workspace/test/integration/user_commands.cc:920: Failure The difference between 0.3 and spotLightComp->Data().SpotOuterAngle().Radian() is 0.20000000000000001, which exceeds 0.1, where 0.3 evaluates to 0.29999999999999999, spotLightComp->Data().SpotOuterAngle().Radian() evaluates to 0.5, and 0.1 evaluates to 0.10000000000000001. [Dbg] [SimulationRunner.cc:499] Exiting postupdate worker thread (0) [Dbg] [SimulationRunner.cc:499] Exiting postupdate worker thread (1) [ FAILED ] UserCommandsTest.Light (447 ms) ```

This other test also has a fish message:

  Error [parser.cc:562] Error parsing XML from string: Error=XML_ERROR_MISMATCHED_ELEMENT ErrorID=16 (0x10) Line number=1: XMLElement name=sdf
  [Err] [UserCommands.cc:598] Error Code 28 Msg: Unable to read SDF string: <?xml version='1.0' ?><sdf version='1.6'></sdfo>

But passes :monocle_face: :

UserCommandsTest.Create ``` [ RUN ] UserCommandsTest.Create [Msg] Loading SDF world file[/github/workspace/examples/worlds/empty.sdf]. [Dbg] [EntityComponentManager.cc:672] Using components of type [2251689575469537287] / [ign_gazebo_components.World]. [Dbg] [EntityComponentManager.cc:672] Using components of type [13994732549916512682] / [ign_gazebo_components.Name]. [Dbg] [EntityComponentManager.cc:672] Using components of type [12592746352568925681] / [ign_gazebo_components.Gravity]. [Dbg] [EntityComponentManager.cc:672] Using components of type [2188341333082264598] / [ign_gazebo_components.Physics]. [Dbg] [EntityComponentManager.cc:672] Using components of type [13224937992534617849] / [ign_gazebo_components.MagneticField]. [Dbg] [EntityComponentManager.cc:672] Using components of type [3630648173860223239] / [ign_gazebo_components.PhysicsEnginePlugin]. [Dbg] [EntityComponentManager.cc:672] Using components of type [17459188283658606303] / [ign_gazebo_components.RenderEngineServerPlugin]. [Dbg] [EntityComponentManager.cc:672] Using components of type [8705992680619689917] / [ign_gazebo_components.RenderEngineGuiPlugin]. [Dbg] [EntityComponentManager.cc:672] Using components of type [8753193699724811771] / [ign_gazebo_components.Wind]. [Dbg] [EntityComponentManager.cc:672] Using components of type [12173050716021724529] / [ign_gazebo_components.WorldLinearVelocity]. [Dbg] [EntityComponentManager.cc:672] Using components of type [15943768124495574352] / [ign_gazebo_components.WorldLinearVelocitySeed]. [Dbg] [EntityComponentManager.cc:672] Using components of type [3297509811873971798] / [ign_gazebo_components.ParentEntity]. [Dbg] [EntityComponentManager.cc:672] Using components of type [17100615127981600159] / [ign_gazebo_components.Scene]. [Dbg] [EntityComponentManager.cc:672] Using components of type [17605309075052480649] / [ign_gazebo_components.Atmosphere]. [Dbg] [EntityComponentManager.cc:672] Using components of type [8064491505919932473] / [ign_gazebo_components.Level]. [Dbg] [EntityComponentManager.cc:672] Using components of type [2668898242563798256] / [ign_gazebo_components.DefaultLevel]. [Dbg] [EntityComponentManager.cc:672] Using components of type [11371360182141354106] / [ign_gazebo_components.LevelEntityNames]. [Dbg] [Physics.cc:601] Loaded [ignition::physics::dartsim::Plugin] from library [/usr/lib/x86_64-linux-gnu/ign-physics-4/engine-plugins/libignition-physics-dartsim-plugin.so] [Dbg] [SimulationRunner.cc:839] Loaded system [ignition::gazebo::systems::Physics] for entity [1] [Msg] Create service on [/world/empty/create] [Msg] Remove service on [/world/empty/remove] [Msg] Pose service on [/world/empty/set_pose] [Msg] Light configuration service on [/world/empty/light_config] [Msg] Physics service on [/world/empty/set_physics] [Dbg] [SimulationRunner.cc:839] Loaded system [ignition::gazebo::systems::UserCommands] for entity [1] [Dbg] [SimulationRunner.cc:839] Loaded system [ignition::gazebo::systems::SceneBroadcaster] for entity [1] [Dbg] [SimulationRunner.cc:839] Loaded system [ignition::gazebo::systems::Contact] for entity [1] [Dbg] [EntityComponentManager.cc:672] Using components of type [4981278897826323946] / [ign_gazebo_components.WorldSdf]. [Dbg] [EntityComponentManager.cc:672] Using components of type [6687176221774458630] / [ign_gazebo_components.Model]. [Dbg] [EntityComponentManager.cc:672] Using components of type [6612894081701502240] / [ign_gazebo_components.Pose]. [Dbg] [EntityComponentManager.cc:672] Using components of type [8546580419506082455] / [ign_gazebo_components.Static]. [Dbg] [EntityComponentManager.cc:672] Using components of type [9712747055438129860] / [ign_gazebo_components.WindMode]. [Dbg] [EntityComponentManager.cc:672] Using components of type [5661073481138181711] / [ign_gazebo_components.SelfCollide]. [Dbg] [EntityComponentManager.cc:672] Using components of type [11683062252779233161] / [ign_gazebo_components.SourceFilePath]. [Dbg] [EntityComponentManager.cc:672] Using components of type [5081358965268446661] / [ign_gazebo_components.Link]. [Dbg] [EntityComponentManager.cc:672] Using components of type [8112400427272910195] / [ign_gazebo_components.Inertial]. [Dbg] [EntityComponentManager.cc:672] Using components of type [16454635107327670381] / [ign_gazebo_components.Visual]. [Dbg] [EntityComponentManager.cc:672] Using components of type [13011964647677164955] / [ign_gazebo_components.CastShadows]. [Dbg] [EntityComponentManager.cc:672] Using components of type [13440282432131634483] / [ign_gazebo_components.Transparency]. [Dbg] [EntityComponentManager.cc:672] Using components of type [5453622280849253520] / [ign_gazebo_components.VisibilityFlags]. [Dbg] [EntityComponentManager.cc:672] Using components of type [17121648710877364109] / [ign_gazebo_components.Geometry]. [Dbg] [EntityComponentManager.cc:672] Using components of type [9853217982010720764] / [ign_gazebo_components.Material]. [Dbg] [EntityComponentManager.cc:672] Using components of type [17938588655714334139] / [ign_gazebo_components.Collision]. [Dbg] [EntityComponentManager.cc:672] Using components of type [9225962031573086509] / [ign_gazebo_components.CollisionElement]. [Dbg] [EntityComponentManager.cc:672] Using components of type [10522242218202596205[Wrn] [UserCommands.cc:668] Entity named [spawned_model] already exists and [allow_renaming] is false. Entity not spawned. ] / [ign_gazebo_components.CanonicalLink]. [Dbg] [EntityComponentManager.cc:672] Using components of type [11536476718181283925] / [ign_gazebo_components.ModelSdf]. [Dbg] [EntityComponentManager.cc:672] Using components of type [3866641186784191835] / [ign_gazebo_components.Light]. [Msg] Loaded level [3] [Msg] Serving world controls on [/world/empty/control] and [/world/empty/playback/control] [Msg] Serving GUI information on [/world/empty/gui/info] [Msg] World [empty] initialized with [1ms] physics profile. [Msg] Serving world SDF generation service on [/world/empty/generate_world_sdf] [Msg] Serving world names on [/gazebo/worlds] [Msg] Resource path add service on [/gazebo/resource_paths/add]. [Msg] Resource path get service on [/gazebo/resource_paths/get]. [Msg] Resource paths published on [/gazebo/resource_paths]. [Msg] Found no publishers on /stats, adding root stats topic [Msg] Found no publishers on /clock, adding root clock topic [Dbg] [SimulationRunner.cc:470] Creating PostUpdate worker threads: 4 [Dbg] [SimulationRunner.cc:483] Creating postupdate worker thread (0) [Dbg] [SimulationRunner.cc:483] Creating postupdate worker thread (1) [Dbg] [SimulationRunner.cc:483] Creating postupdate worker thread (2) [Msg] Serving scene information on [/world/empty/scene/info] [Msg] Serving graph information on [/world/empty/scene/graph] [Msg] Serving full state on [/world/empty/state] [Msg] Serving full state (async) on [/world/empty/state_async] [Msg] Publishing scene information on [/world/empty/scene/info] [Msg] Publishing entity deletions on [/world/empty/scene/deletion] [Msg] Publishing state changes on [/world/empty/state] [Msg] Publishing pose messages on [/world/empty/pose/info] [Msg] Publishing dynamic pose messages on [/world/empty/dynamic_pose/info] [Dbg] [UserCommands.cc:721] Created entity [9] named [spawned_model] [Dbg] [UserCommands.cc:721] Created entity [13] named [spawned_model_0] [Dbg] [UserCommands.cc:721] Created entity [17] named [banana] [Dbg] [UserCommands.cc:721] Created entity [21] named [spawned_light] [Dbg] [UserCommands.cc:721] Created entity [22] named [light_test] [Dbg] [UserCommands.cc:721] Created entity [23] named [acerola] [Dbg] [UserCommands.cc:721] Created entity [27] named [coconut] [Dbg] [UserCommands.cc:721] Created entity [31] named [accepted_light] Error [parser.cc:562] Error parsing XML from string: Error=XML_ERROR_MISMATCHED_ELEMENT ErrorID=16 (0x10) Line number=1: XMLElement name=sdf [Err] [UserCommands.cc:598] Error Code 28 Msg: Unable to read SDF string: [Dbg] [UserCommands.cc:721] Created entity [32] named [test_model] [Dbg] [SimulationRunner.cc:499] Exiting postupdate worker thread (1) [Dbg] [SimulationRunner.cc:499] Exiting postupdate worker thread (2) [Dbg] [SimulationRunner.cc:499] Exiting postupdate worker thread (0) [ OK ] UserCommandsTest.Create (1609 ms) ```
ahcorde commented 3 years ago

Backtrace

Backtrace ``` 0x00007fffd63247f4 in std::_Hashtable, std::__detail::_Identity, std::equal_to, std::hash, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits >::_M_erase(std::integral_constant, dart::dynamics::JacobianNode* const&) () from /usr/lib/x86_64-linux-gnu/libdart.so.6 (gdb) bt #0 0x00007fffd63247f4 in std::_Hashtable, std::__detail::_Identity, std::equal_to, std::hash, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits >::_M_erase(std::integral_constant, dart::dynamics::JacobianNode* const&) () from /usr/lib/x86_64-linux-gnu/libdart.so.6 #1 0x00007fffd63b44f1 in dart::dynamics::JacobianNode::~JacobianNode() () from /usr/lib/x86_64-linux-gnu/libdart.so.6 #2 0x00007fffd641fc75 in dart::dynamics::ShapeNode::~ShapeNode() () from /usr/lib/x86_64-linux-gnu/libdart.so.6 #3 0x00007fffd641fe6d in dart::dynamics::ShapeNode::~ShapeNode() () from /usr/lib/x86_64-linux-gnu/libdart.so.6 #4 0x00007fffd63208d6 in std::_Sp_counted_ptr::_M_dispose() () from /usr/lib/x86_64-linux-gnu/libdart.so.6 #5 0x00007fffd675f9d8 in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release (this=0x5555570d6860) at /usr/include/c++/9/bits/shared_ptr_base.h:148 #6 std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release (this=0x5555570d6860) at /usr/include/c++/9/bits/shared_ptr_base.h:148 #7 std::__shared_count<(__gnu_cxx::_Lock_policy)2>::~__shared_count (this=, __in_chrg=) at /usr/include/c++/9/bits/shared_ptr_base.h:730 #8 std::__shared_ptr::~__shared_ptr (this=, __in_chrg=) at /usr/include/c++/9/bits/shared_ptr_base.h:1169 #9 std::shared_ptr::~shared_ptr (this=, __in_chrg=) at /usr/include/c++/9/bits/shared_ptr.h:103 #10 dart::dynamics::TemplateNodePtr::~TemplateNodePtr (this=, __in_chrg=) at /usr/include/dart/dynamics/detail/NodePtr.hpp:49 #11 ignition::physics::dartsim::ShapeInfo::~ShapeInfo (this=, __in_chrg=) at /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/Base.hh:71 #12 __gnu_cxx::new_allocator::destroy (this=, __p=) at /usr/include/c++/9/ext/new_allocator.h:153 #13 std::allocator_traits >::destroy (__a=..., __p=) at /usr/include/c++/9/bits/alloc_traits.h:497 #14 std::_Sp_counted_ptr_inplace, (__gnu_cxx::_Lock_policy)2>::_M_dispose (this=) at /usr/include/c++/9/bits/shared_ptr_base.h:557 #15 0x00005555555a05e8 in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release (this=0x5555570f1710) at /usr/include/c++/9/bits/shared_ptr_base.h:148 #16 std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release (this=0x5555570f1710) at /usr/include/c++/9/bits/shared_ptr_base.h:148 #17 0x00007fffec6f65a4 in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::~__shared_count (this=0x5555570f4630, __in_chrg=) at /usr/include/c++/9/bits/shared_ptr_base.h:1169 #18 std::__shared_ptr::~__shared_ptr (this=0x5555570f4628, __in_chrg=) at /usr/include/c++/9/bits/shared_ptr_base.h:1169 #19 std::shared_ptr::~shared_ptr (this=0x5555570f4628, __in_chrg=) at /usr/include/c++/9/bits/shared_ptr.h:103 #20 ignition::physics::Identity::~Identity (this=0x5555570f4620, __in_chrg=) at /home/ahcorde/ignition_dome/install/include/ignition/physics3/ignition/physics/detail/Identity.hh:73 #21 ignition::physics::Entity, ignition::physics::FeatureList, ignition::physics::CollisionFilterMaskFeature> >::~Entity (this=0x5555570f4608, __in_chrg=) at /home/ahcorde/ignition_dome/install/include/ignition/physics3/ignition/physics/Entity.hh:294 #22 ignition::physics::Shape, ignition::physics::FeatureList, ignition::physics::CollisionFilterMaskFeature> >::~Shape (this=0x5555570f4600, __in_chrg=, __vtt_parm=) at /home/ahcorde/ignition_dome/install/include/ignition/physics3/ignition/physics/detail/FeatureList.hh:698 #23 std::_Optional_payload_base, ignition::physics::FeatureList, ignition::physics::CollisionFilterMaskFeature> > >::_M_destroy (this=0x5555570f4600) at /usr/include/c++/9/optional:257 #24 std::_Optional_payload_base, ignition::physics::FeatureList, ignition::physics::CollisionFilterMaskFeature> > >::_M_reset (this=0x5555570f4600) at /usr/include/c++/9/optional:277 #25 std::_Optional_payload, ignition::physics::FeatureList, ignition::physics::CollisionFilterMaskFeature> >, false, false, false>::~_Optional_payload ( this=0x5555570f4600, __in_chrg=) at /usr/include/c++/9/optional:398 #26 std::_Optional_base, ignition::physics::FeatureList, ignition::physics::CollisionFilterMaskFeature> >, false, false>::~_Optional_base ( this=0x5555570f4600, __in_chrg=) at /usr/include/c++/9/optional:471 #27 std::optional, ignition::physics::FeatureList, ignition::physics::CollisionFilterMaskFeature> > >::~optional (this=0x5555570f4600, __in_chrg=) at /usr/include/c++/9/optional:656 #28 ignition::physics::EntityPtr, ignition::physics::FeatureList, ignition::physics::CollisionFilterMaskFeature> > >::~EntityPtr (this=0x5555570f4600, __in_chrg=) at /home/ahcorde/ignition_dome/install/include/ignition/physics3/ignition/physics/Entity.hh:47 #29 std::pair, ignition::physics::FeatureList, ignition::physics::CollisionFilterMaskFeature> > > >::~pair (this=0x5555570f45f8, __in_chrg=) at /usr/include/c++/9/bits/stl_pair.h:208 #30 __gnu_cxx::new_allocator, ignition::physics::FeatureList, ignition::physics::CollisionFilterMaskFeature> > > >, false> >::destroy, ignition::physics::FeatureList, ignition::physics::CollisionFilterMaskFeature> > > > > (this=, __p=0x5555570f45f8) at /usr/include/c++/9/ext/new_allocator.h:153 --Type for more, q to quit, c to continue without paging-- #31 std::allocator_traits, ignition::physics::FeatureList, ignition::physics::CollisionFilterMaskFeature> > > >, false> > >::destroy, ignition::physics::FeatureList, ignition::physics::CollisionFilterMaskFeature> > > > > (__a=..., __p=0x5555570f45f8) at /usr/include/c++/9/bits/alloc_traits.h:497 #32 std::__detail::_Hashtable_alloc, ignition::physics::FeatureList, ignition::physics::CollisionFilterMaskFeature> > > >, false> > >::_M_deallocate_node (__n=0x5555570f45f0, this=) at /usr/include/c++/9/bits/hashtable_policy.h:2102 #33 0x00007fffec7258eb in std::__detail::_Hashtable_alloc, ignition::physics::FeatureList, ignition::physics::CollisionFilterMaskFeature> > > >, false> > >::_M_deallocate_nodes (this=, __n=0x5555570d2a70) at /usr/include/c++/9/bits/hashtable_policy.h:2120 #34 std::_Hashtable, ignition::physics::FeatureList, ignition::physics::CollisionFilterMaskFeature> > > >, std::allocator, ignition::physics::FeatureList, ignition::physics::CollisionFilterMaskFeature> > > > >, std::__detail::_Select1st, std::equal_to, std::hash, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits >::clear (this=0x55555705a1d0) at /usr/include/c++/9/bits/hashtable.h:2028 #35 std::_Hashtable, ignition::physics::FeatureList, ignition::physics::CollisionFilterMaskFeature> > > >, std::allocator, ignition::physics::FeatureList, ignition::physics::CollisionFilterMaskFeature> > > > >, std::__detail::_Select1st, std::equal_to, std::hash, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits >::~_Hashtable (this=0x55555705a1d0, __in_chrg=) at /usr/include/c++/9/bits/hashtable.h:1352 #36 std::unordered_map, ignition::physics::FeatureList, ignition::physics::CollisionFilterMaskFeature> > >, std::hash, std::equal_to, std::allocator, ignition::physics::FeatureList, ignition::physics::CollisionFilterMaskFeature> > > > > >::~unordered_map (this=0x55555705a1d0, __in_chrg=) at /usr/include/c++/9/bits/unordered_map.h:102 #37 ignition::gazebo::v4::systems::PhysicsPrivate::~PhysicsPrivate (this=0x555557059df0, __in_chrg=) at /home/ahcorde/ignition_dome/src/ign-gazebo/src/systems/physics/Physics.cc:106 #38 0x00007fffec6f6c5d in std::default_delete::operator() (this=0x555557054a98, __ptr=0x555557059df0) at /usr/include/c++/9/bits/unique_ptr.h:75 #39 std::unique_ptr >::~unique_ptr (this=0x555557054a98, __in_chrg=) at /usr/include/c++/9/bits/unique_ptr.h:292 #40 ignition::gazebo::v4::systems::Physics::~Physics (this=0x555557054a80, __in_chrg=) at /home/ahcorde/ignition_dome/src/ign-gazebo/src/systems/physics/Physics.hh:65 #41 0x00007fffec6f6c8d in ignition::gazebo::v4::systems::Physics::~Physics (this=0x555557054a80, __in_chrg=) at /home/ahcorde/ignition_dome/src/ign-gazebo/src/systems/physics/Physics.hh:65 #42 0x00007ffff7c5df96 in std::function::operator()(void*) const (__args#0=, this=0x555557058a38) at /usr/include/c++/9/bits/std_function.h:683 #43 ignition::plugin::PluginWithDlHandle::~PluginWithDlHandle (this=0x555557058a20, __in_chrg=) at /home/ahcorde/ignition_dome/src/ign-plugin/core/src/Plugin.cc:64 #44 0x00007ffff7c5cbe0 in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release (this=0x555557058a10) at /usr/include/c++/9/bits/shared_ptr_base.h:148 #45 std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release (this=0x555557058a10) at /usr/include/c++/9/bits/shared_ptr_base.h:148 #46 std::__shared_count<(__gnu_cxx::_Lock_policy)2>::~__shared_count (this=0x555557077238, __in_chrg=) at /usr/include/c++/9/bits/shared_ptr_base.h:730 #47 std::__shared_ptr::~__shared_ptr (this=0x555557077230, __in_chrg=) at /usr/include/c++/9/bits/shared_ptr_base.h:1169 #48 std::shared_ptr::~shared_ptr (this=0x555557077230, __in_chrg=) at /usr/include/c++/9/bits/shared_ptr.h:103 #49 ignition::plugin::Plugin::Implementation::~Implementation (this=0x555557077200, __in_chrg=) at /home/ahcorde/ignition_dome/src/ign-plugin/core/src/Plugin.cc:107 #50 std::default_delete::operator() (this=, __ptr=0x555557077200) at /usr/include/c++/9/bits/unique_ptr.h:81 #51 std::unique_ptr >::~unique_ptr (this=, __in_chrg=) at /usr/include/c++/9/bits/unique_ptr.h:292 #52 ignition::plugin::Plugin::~Plugin (this=, __in_chrg=) at /home/ahcorde/ignition_dome/src/ign-plugin/core/src/Plugin.cc:385 #53 0x00007ffff7f16cc3 in ignition::plugin::SpecializedPlugin::~SpecializedPlugin (this=0x555557077190, __in_chrg=, __vtt_parm=) at /home/ahcorde/ignition_dome/install/include/ignition/plugin1/ignition/plugin/detail/SpecializedPlugin.hh:307 #54 std::default_delete >::operator() (this=0x555557077080, __ptr=0x555557077190) at /usr/include/c++/9/bits/unique_ptr.h:81 #55 std::unique_ptr, std::default_delete > >::~unique_ptr (this=0x555557077080, __in_chrg=) at /usr/include/c++/9/bits/unique_ptr.h:292 #56 ignition::plugin::TemplatePluginPtr for more, q to quit, c to continue without paging-- stemUpdate, ignition::gazebo::v4::ISystemPostUpdate> >::~TemplatePluginPtr (this=0x555557077080, __in_chrg=) at /home/ahcorde/ignition_dome/install/include/ignition/plugin1/ignition/plugin/PluginPtr.hh:57 #57 ignition::gazebo::v4::SystemInternal::~SystemInternal (this=0x555557077080, __in_chrg=) at /home/ahcorde/ignition_dome/src/ign-gazebo/src/SimulationRunner.hh:92 #58 std::_Destroy (__pointer=0x555557077080) at /usr/include/c++/9/bits/stl_construct.h:98 #59 std::_Destroy_aux::__destroy (__last=, __first=0x555557077080) at /usr/include/c++/9/bits/stl_construct.h:108 #60 std::_Destroy (__last=, __first=) at /usr/include/c++/9/bits/stl_construct.h:137 #61 std::_Destroy (__last=0x555557077180, __first=) at /usr/include/c++/9/bits/stl_construct.h:206 #62 std::vector >::~vector (this=0x5555558624b0, __in_chrg=) at /usr/include/c++/9/bits/stl_vector.h:677 #63 ignition::gazebo::v4::SimulationRunner::~SimulationRunner (this=0x5555558624a0, __in_chrg=) at /home/ahcorde/ignition_dome/src/ign-gazebo/src/SimulationRunner.cc:230 #64 0x00007ffff7f16ead in ignition::gazebo::v4::SimulationRunner::~SimulationRunner (this=0x5555558624a0, __in_chrg=) at /home/ahcorde/ignition_dome/src/ign-gazebo/src/SimulationRunner.cc:230 #65 0x00007ffff7f0e007 in std::default_delete::operator() (this=0x555557061870, __ptr=) at /usr/include/c++/9/bits/unique_ptr.h:75 #66 std::unique_ptr >::~unique_ptr (this=0x555557061870, __in_chrg=) at /usr/include/c++/9/bits/unique_ptr.h:292 #67 std::_Destroy > > (__pointer=0x555557061870) at /usr/include/c++/9/bits/stl_construct.h:98 #68 std::_Destroy_aux::__destroy >*> (__last=, __first=0x555557061870) at /usr/include/c++/9/bits/stl_construct.h:108 #69 std::_Destroy >*> (__last=, __first=) at /usr/include/c++/9/bits/stl_construct.h:137 #70 std::_Destroy >*, std::unique_ptr > > (__last=0x555557061878, __first=) at /usr/include/c++/9/bits/stl_construct.h:206 #71 std::vector >, std::allocator > > >::~vector (this=0x5555558a6bd8, __in_chrg=) at /usr/include/c++/9/bits/stl_vector.h:677 #72 ignition::gazebo::v4::ServerPrivate::~ServerPrivate (this=0x5555558a6bd0, __in_chrg=) at /home/ahcorde/ignition_dome/src/ign-gazebo/src/ServerPrivate.cc:96 #73 0x00007ffff7f03e45 in std::default_delete::operator() (this=, __ptr=0x5555558a6bd0) at /usr/include/c++/9/bits/unique_ptr.h:75 #74 std::unique_ptr >::~unique_ptr (this=, __in_chrg=) at /usr/include/c++/9/bits/unique_ptr.h:292 #75 ignition::gazebo::v4::Server::~Server (this=, __in_chrg=) at /home/ahcorde/ignition_dome/src/ign-gazebo/include/ignition/gazebo/Server.hh:107 #76 0x0000555555595d96 in UserCommandsTest_Remove_Test::TestBody (this=) at /home/ahcorde/ignition_dome/install/include/ignition/plugin1/ignition/plugin/detail/SpecializedPlugin.hh:307 #77 0x00005555555fee41 in testing::internal::HandleSehExceptionsInMethodIfSupported (location=0x555555605de8 "the test body", method=, object=0x7fffcc0088e0) at /home/ahcorde/ignition_dome/src/ign-gazebo/test/gtest/src/gtest.cc:2418 #78 testing::internal::HandleExceptionsInMethodIfSupported (object=object@entry=0x7fffcc0088e0, method=, location=location@entry=0x555555605de8 "the test body") at /home/ahcorde/ignition_dome/src/ign-gazebo/test/gtest/src/gtest.cc:2473 #79 0x00005555555f1b96 in testing::Test::Run (this=this@entry=0x7fffcc0088e0) at /home/ahcorde/ignition_dome/src/ign-gazebo/test/gtest/src/gtest.cc:2512 #80 0x00005555555f1e32 in testing::Test::Run (this=0x7fffcc0088e0) at /home/ahcorde/ignition_dome/src/ign-gazebo/test/gtest/src/gtest.cc:2688 #81 testing::TestInfo::Run (this=0x555555841b90) at /home/ahcorde/ignition_dome/src/ign-gazebo/test/gtest/src/gtest.cc:2688 #82 0x00005555555f1fdc in testing::TestInfo::Run (this=) at /home/ahcorde/ignition_dome/src/ign-gazebo/test/gtest/src/gtest.cc:2662 #83 testing::TestSuite::Run (this=0x5555556c7e70) at /home/ahcorde/ignition_dome/src/ign-gazebo/test/gtest/src/gtest.cc:2820 #84 0x00005555555f27a3 in testing::TestSuite::Run (this=) at /home/ahcorde/ignition_dome/src/ign-gazebo/test/gtest/src/gtest.cc:2800 #85 testing::internal::UnitTestImpl::RunAllTests (this=0x55555565ed30) at /home/ahcorde/ignition_dome/src/ign-gazebo/test/gtest/src/gtest.cc:5342 #86 0x00005555555ff3b1 in testing::internal::HandleSehExceptionsInMethodIfSupported (location=0x555555607158 "auxiliary test code (environments or event listeners)", method=, object=0x55555565ed30) at /home/ahcorde/ignition_dome/src/ign-gazebo/test/gtest/src/gtest.cc:2418 #87 testing::internal::HandleExceptionsInMethodIfSupported (object=0x55555565ed30, method=, location=location@entry=0x555555607158 "auxiliary test code (environments or event listeners)") at /home/ahcorde/ignition_dome/src/ign-gazebo/test/gtest/src/gtest.cc:2473 #88 0x00005555555f2935 in testing::UnitTest::Run (this=0x555555629d20 ) at /home/ahcorde/ignition_dome/src/ign-gazebo/test/gtest/include/gtest/gtest.h:1412 #89 0x000055555558ce54 in RUN_ALL_TESTS () at /home/ahcorde/ignition_dome/src/ign-gazebo/test/gtest/include/gtest/gtest.h:2473 #90 main (argc=, argv=0x7fffffffdc18) at /home/ahcorde/ignition_dome/src/ign-gazebo/test/gtest/src/gtest_main.cc:45 ```
ahcorde commented 3 years ago

I simplified the backtrace

Server::~Server
ServerPrivate::~ServerPrivate
SimulationRunner::~SimulationRunner
SystemInternal::~SystemInternal
Plugin::~Plugin
PluginWithDlHandle::~PluginWithDlHandle 
gazebo::v4::systems::Physics::~Physics
gazebo::v4::systems::PhysicsPrivate::~PhysicsPrivate
ignition::physics::Identity::~Identity
ignition::physics::dartsim::ShapeInfo::~ShapeInfo
dart::dynamics::ShapeNode::~ShapeNode()

I have forced Ignition-Gazebo to use tpe instead of dartsim in this test. it seems that ign-physics is generating this problem, Destruction of the objects is wrong, I will digg in ign-physics. Most of these destructors are the default ones.

@scpeters any idea or thoughts ?

ahcorde commented 3 years ago

I runned the ign-physics3 with asan

INTEGRATION_DoublePendulum ``` 17: Test command: /home/ahcorde/ignition_dome/build/ignition-physics3/bin/INTEGRATION_DoublePendulum "--gtest_output=xml:/home/ahcorde/ignition_dome/build/ignition-physics3/test_results/INTEGRATION_DoublePendulum.xml" 17: Test timeout computed to be: 240 17: [==========] Running 1 test from 1 test case. 17: [----------] Global test environment set-up. 17: [----------] 1 test from DoublePendulum 17: [ RUN ] DoublePendulum.Step 17: DoublePendulum: testing plugin: mock::dart::DARTDoublePendulum 17: Warning: link 'link1' material 'black' undefined. 17: at line 84 in /build/urdfdom-VnCcob/urdfdom-1.0.4+ds/urdf_parser/src/model.cpp 17: Warning: link 'link1' material 'black' undefined. 17: at line 84 in /build/urdfdom-VnCcob/urdfdom-1.0.4+ds/urdf_parser/src/model.cpp 17: Warning: link 'link2' material 'orange' undefined. 17: at line 84 in /build/urdfdom-VnCcob/urdfdom-1.0.4+ds/urdf_parser/src/model.cpp 17: Warning: link 'link2' material 'orange' undefined. 17: at line 84 in /build/urdfdom-VnCcob/urdfdom-1.0.4+ds/urdf_parser/src/model.cpp 17: ================================================================= 17: ==280118==ERROR: AddressSanitizer: heap-buffer-overflow on address 0x60200040ef08 at pc 0x7ffaa3f89a55 bp 0x7ffdf9fe6940 sp 0x7ffdf9fe6930 17: READ of size 8 at 0x60200040ef08 thread T0 17: #0 0x7ffaa3f89a54 in Eigen::internal::handmade_aligned_free(void*) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:98 17: #1 0x7ffaa3f89a54 in Eigen::internal::aligned_free(void*) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:179 17: #2 0x7ffaa3f89a54 in void Eigen::internal::conditional_aligned_free(void*) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:230 17: #3 0x7ffaa3f89a54 in void Eigen::internal::conditional_aligned_delete_auto(double*, unsigned long) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:416 17: #4 0x7ffaa3f89a54 in Eigen::DenseStorage::~DenseStorage() /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:542 17: #5 0x7ffaa3f89a54 in Eigen::PlainObjectBase >::~PlainObjectBase() /usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:98 17: #6 0x7ffaa3f89a54 in Eigen::Matrix::~Matrix() /usr/include/eigen3/Eigen/src/Core/Matrix.h:178 17: #7 0x7ffaa3f89a54 in dart::dynamics::Skeleton::Configuration::~Configuration() /usr/include/dart/dynamics/Skeleton.hpp:94 17: #8 0x7ffaa3f89a54 in mock::dart::DARTDoublePendulum::Write(ignition::physics::JointPositions&) const /home/ahcorde/ignition_dome/src/ign-physics/test/plugins/DARTDoublePendulum.cc:276 17: #9 0x7ffaa3f89a54 in mock::dart::DARTDoublePendulum::WorldForwardStep(ignition::physics::Identity const&, ignition::physics::SpecifyData, ignition::physics::ExpectData >&, ignition::physics::CompositeData&, ignition::physics::ExpectData const&) /home/ahcorde/ignition_dome/src/ign-physics/test/plugins/DARTDoublePendulum.cc:268 17: #10 0x55ae4de10a58 in ignition::physics::ForwardStep::World, ignition::physics::FeatureList >::Step(ignition::physics::SpecifyData, ignition::physics::ExpectData >&, ignition::physics::CompositeData&, ignition::physics::ExpectData const&) /home/ahcorde/ignition_dome/src/ign-physics/include/ignition/physics/ForwardStep.hh:162 17: #11 0x55ae4de10a58 in DoublePendulum_TEST(ignition::plugin::TemplatePluginPtr) /home/ahcorde/ignition_dome/src/ign-physics/test/integration/DoublePendulum.cc:79 17: #12 0x55ae4de1752e in DoublePendulum_Step_Test::TestBody() /home/ahcorde/ignition_dome/src/ign-physics/test/integration/DoublePendulum.cc:49 17: #13 0x55ae4df22af9 in void testing::internal::HandleSehExceptionsInMethodIfSupported(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421 17: #14 0x55ae4df22af9 in void testing::internal::HandleExceptionsInMethodIfSupported(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457 17: #15 0x55ae4def6379 in testing::Test::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2495 17: #16 0x55ae4def6a39 in testing::Test::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2487 17: #17 0x55ae4def6a39 in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2671 17: #18 0x55ae4def6f22 in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2646 17: #19 0x55ae4def6f22 in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2789 17: #20 0x55ae4def855f in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2775 17: #21 0x55ae4def855f in testing::internal::UnitTestImpl::RunAllTests() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:5051 17: #22 0x55ae4df23be9 in bool testing::internal::HandleSehExceptionsInMethodIfSupported(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421 17: #23 0x55ae4df23be9 in bool testing::internal::HandleExceptionsInMethodIfSupported(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457 17: #24 0x55ae4def8d23 in testing::UnitTest::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:4667 17: #25 0x55ae4de0e0e8 in RUN_ALL_TESTS() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/include/gtest/gtest.h:2329 17: #26 0x55ae4de0e0e8 in main /home/ahcorde/ignition_dome/src/ign-physics/test/integration/DoublePendulum.cc:234 17: #27 0x7ffaa6d500b2 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x270b2) 17: #28 0x55ae4de0f7ad in _start (/home/ahcorde/ignition_dome/build/ignition-physics3/bin/INTEGRATION_DoublePendulum+0x377ad) 17: 17: 0x60200040ef08 is located 8 bytes to the left of 16-byte region [0x60200040ef10,0x60200040ef20) 17: allocated by thread T0 here: 17: #0 0x7ffaa7434bc8 in malloc (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10dbc8) 17: #1 0x7ffaa329bcf7 in dart::dynamics::MetaSkeleton::getPositions(std::vector > const&) const (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x3b7cf7) 17: #2 0x7ffaa330130b in dart::dynamics::Skeleton::getConfiguration(int) const (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x41d30b) 17: 17: SUMMARY: AddressSanitizer: heap-buffer-overflow /usr/include/eigen3/Eigen/src/Core/util/Memory.h:98 in Eigen::internal::handmade_aligned_free(void*) 17: Shadow bytes around the buggy address: 17: 0x0c0480079d90: fa fa 00 00 fa fa 04 fa fa fa 00 00 fa fa 00 00 17: 0x0c0480079da0: fa fa fd fa fa fa 00 00 fa fa fd fa fa fa 00 00 17: 0x0c0480079db0: fa fa fd fa fa fa fd fd fa fa 00 00 fa fa 00 00 17: 0x0c0480079dc0: fa fa 00 00 fa fa 00 00 fa fa 00 00 fa fa 00 00 17: 0x0c0480079dd0: fa fa fd fd fa fa fd fa fa fa fd fd fa fa 00 00 17: =>0x0c0480079de0: fa[fa]00 00 fa fa 00 00 fa fa 00 00 fa fa fa fa 17: 0x0c0480079df0: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa 17: 0x0c0480079e00: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa 17: 0x0c0480079e10: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa 17: 0x0c0480079e20: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa 17: 0x0c0480079e30: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa 17: Shadow byte legend (one shadow byte represents 8 application bytes): 17: Addressable: 00 17: Partially addressable: 01 02 03 04 05 06 07 17: Heap left redzone: fa 17: Freed heap region: fd 17: Stack left redzone: f1 17: Stack mid redzone: f2 17: Stack right redzone: f3 17: Stack after return: f5 17: Stack use after scope: f8 17: Global redzone: f9 17: Global init order: f6 17: Poisoned by user: f7 17: Container overflow: fc 17: Array cookie: ac 17: Intra object redzone: bb 17: ASan internal: fe 17: Left alloca redzone: ca 17: Right alloca redzone: cb 17: Shadow gap: cc 17: ==280118==ABORTING 17/87 Test #17: INTEGRATION_DoublePendulum ..................***Failed 0.27 sec ```
UNIT_Base_TEST ``` 46: Test command: /home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_Base_TEST "--gtest_output=xml:/home/ahcorde/ignition_dome/build/ignition-physics3/test_results/UNIT_Base_TEST.xml" 46: Test timeout computed to be: 240 46: [==========] Running 1 test from 1 test case. 46: [----------] Global test environment set-up. 46: [----------] 1 test from BaseClass 46: [ RUN ] BaseClass.RemoveModel 46: ================================================================= 46: ==280234==ERROR: AddressSanitizer: heap-buffer-overflow on address 0x60d000000448 at pc 0x55baf2d3880a bp 0x7ffde696fed0 sp 0x7ffde696fec0 46: READ of size 8 at 0x60d000000448 thread T0 46: #0 0x55baf2d38809 in dart::common::MakeCloneable::~MakeCloneable() /usr/include/eigen3/Eigen/src/Core/util/Memory.h:98 46: #1 0x7f59c30bc0de in dart::common::EmbeddedPropertiesAspect* dart::common::SpecializedForAspect >::_createAspect >(dart::common::SpecializedForAspect >::type >, dart::common::MakeCloneable&&) (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x3470de) 46: #2 0x7f59c30bb676 in dart::dynamics::FixedFrame::FixedFrame(dart::dynamics::Frame*, Eigen::Transform const&) (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x346676) 46: #3 0x7f59c317d707 in dart::dynamics::ShapeNode::ShapeNode(dart::dynamics::BodyNode*, dart::common::detail::ComposeData >, std::less, std::allocator > > > >, dart::common::detail::GetProperties>, dart::common::detail::GetProperties, dart::common::EmbeddedPropertiesAspect >, dart::dynamics::detail::EntityNodeProperties>, dart::dynamics::FixedFrame, dart::dynamics::ShapeFrame> const&) (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x408707) 46: #4 0x55baf2d618e9 in dart::dynamics::ShapeNode* dart::dynamics::BodyNode::createNode >, std::less, std::allocator > > > >, dart::common::detail::GetProperties>, dart::common::detail::GetProperties, dart::common::EmbeddedPropertiesAspect >, dart::dynamics::detail::EntityNodeProperties>, dart::dynamics::FixedFrame, dart::dynamics::ShapeFrame>&>(dart::common::detail::ComposeData >, std::less, std::allocator > > > >, dart::common::detail::GetProperties>, dart::common::detail::GetProperties, dart::common::EmbeddedPropertiesAspect >, dart::dynamics::detail::EntityNodeProperties>, dart::dynamics::FixedFrame, dart::dynamics::ShapeFrame>&) /usr/include/dart/dynamics/detail/BodyNode.hpp:136 46: #5 0x55baf2d618e9 in dart::dynamics::ShapeNode* dart::dynamics::BodyNode::createShapeNode >, std::less, std::allocator > > > >, dart::common::detail::GetProperties>, dart::common::detail::GetProperties, dart::common::EmbeddedPropertiesAspect >, dart::dynamics::detail::EntityNodeProperties>, dart::dynamics::FixedFrame, dart::dynamics::ShapeFrame> >(dart::common::detail::ComposeData >, std::less, std::allocator > > > >, dart::common::detail::GetProperties>, dart::common::detail::GetProperties, dart::common::EmbeddedPropertiesAspect >, dart::dynamics::detail::EntityNodeProperties>, dart::dynamics::FixedFrame, dart::dynamics::ShapeFrame>, bool) /usr/include/dart/dynamics/detail/BodyNode.hpp:153 46: #6 0x55baf2d6319c in dart::dynamics::ShapeNode* dart::dynamics::BodyNode::createShapeNode, std::allocator > const&>(std::shared_ptr const&, std::__cxx11::basic_string, std::allocator > const&) /usr/include/dart/dynamics/detail/BodyNode.hpp:176 46: #7 0x55baf2d66409 in dart::dynamics::ShapeNode* dart::dynamics::BodyNode::createShapeNodeWith(std::shared_ptr const&, std::__cxx11::basic_string, std::allocator > const&) /usr/include/dart/dynamics/detail/BodyNode.hpp:192 46: #8 0x55baf2d66409 in dart::dynamics::ShapeNode* dart::dynamics::BodyNode::createShapeNodeWith(std::shared_ptr const&) /usr/include/dart/dynamics/detail/BodyNode.hpp:184 46: #9 0x55baf2d2a118 in operator() /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/Base_TEST.cc:64 46: #10 0x55baf2d31342 in BaseClass_RemoveModel_Test::TestBody() /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/Base_TEST.cc:77 46: #11 0x55baf2e51839 in void testing::internal::HandleSehExceptionsInMethodIfSupported(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421 46: #12 0x55baf2e51839 in void testing::internal::HandleExceptionsInMethodIfSupported(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457 46: #13 0x55baf2e24a39 in testing::Test::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2495 46: #14 0x55baf2e250f9 in testing::Test::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2487 46: #15 0x55baf2e250f9 in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2671 46: #16 0x55baf2e255e2 in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2646 46: #17 0x55baf2e255e2 in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2789 46: #18 0x55baf2e26c1f in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2775 46: #19 0x55baf2e26c1f in testing::internal::UnitTestImpl::RunAllTests() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:5051 46: #20 0x55baf2e52929 in bool testing::internal::HandleSehExceptionsInMethodIfSupported(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421 46: #21 0x55baf2e52929 in bool testing::internal::HandleExceptionsInMethodIfSupported(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457 46: #22 0x55baf2e273e3 in testing::UnitTest::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:4667 46: #23 0x55baf2d207e8 in RUN_ALL_TESTS() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/include/gtest/gtest.h:2329 46: #24 0x55baf2d207e8 in main /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/Base_TEST.cc:139 46: #25 0x7f59c29980b2 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x270b2) 46: #26 0x55baf2d2209d in _start (/home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_Base_TEST+0x3709d) 46: 46: 0x60d000000448 is located 8 bytes to the left of 144-byte region [0x60d000000450,0x60d0000004e0) 46: allocated by thread T0 here: 46: #0 0x7f59c34c1bc8 in malloc (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10dbc8) 46: #1 0x7f59c30bc03b in dart::common::EmbeddedPropertiesAspect* dart::common::SpecializedForAspect >::_createAspect >(dart::common::SpecializedForAspect >::type >, dart::common::MakeCloneable&&) (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x34703b) 46: 46: SUMMARY: AddressSanitizer: heap-buffer-overflow /usr/include/eigen3/Eigen/src/Core/util/Memory.h:98 in dart::common::MakeCloneable::~MakeCloneable() 46: Shadow bytes around the buggy address: 46: 0x0c1a7fff8030: 00 00 00 fa fa fa fa fa fa fa fa fa 00 00 00 00 46: 0x0c1a7fff8040: 00 00 00 00 00 00 00 00 00 00 00 00 00 fa fa fa 46: 0x0c1a7fff8050: fa fa fa fa fa fa 00 00 00 00 00 00 00 00 00 00 46: 0x0c1a7fff8060: 00 00 00 00 00 00 00 fa fa fa fa fa fa fa fa fa 46: 0x0c1a7fff8070: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 46: =>0x0c1a7fff8080: 00 05 fa fa fa fa fa fa fa[fa]00 00 00 00 00 00 46: 0x0c1a7fff8090: 00 00 00 00 00 00 00 00 00 00 00 00 fa fa fa fa 46: 0x0c1a7fff80a0: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa 46: 0x0c1a7fff80b0: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa 46: 0x0c1a7fff80c0: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa 46: 0x0c1a7fff80d0: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa 46: Shadow byte legend (one shadow byte represents 8 application bytes): 46: Addressable: 00 46: Partially addressable: 01 02 03 04 05 06 07 46: Heap left redzone: fa 46: Freed heap region: fd 46: Stack left redzone: f1 46: Stack mid redzone: f2 46: Stack right redzone: f3 46: Stack after return: f5 46: Stack use after scope: f8 46: Global redzone: f9 46: Global init order: f6 46: Poisoned by user: f7 46: Container overflow: fc 46: Array cookie: ac 46: Intra object redzone: bb 46: ASan internal: fe 46: Left alloca redzone: ca 46: Right alloca redzone: cb 46: Shadow gap: cc 46: ==280234==ABORTING 46/87 Test #46: UNIT_Base_TEST ..............................***Failed 0.11 sec ```
UNIT_Collisions_TEST ``` 48: Test command: /home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_Collisions_TEST "--gtest_output=xml:/home/ahcorde/ignition_dome/build/ignition-physics3/test_results/UNIT_Collisions_TEST.xml" 48: Test timeout computed to be: 240 48: [==========] Running 3 tests from 1 test case. 48: [----------] Global test environment set-up. 48: [----------] 3 tests from PhysicsPlugins/Collisions_TEST 48: [ RUN ] PhysicsPlugins/Collisions_TEST.MeshAndPlane/0 48: Testing library /home/ahcorde/ignition_dome/build/ignition-physics3/lib/libignition-physics3-dartsim-plugin.so.3.1.0 48: -- Plugin name: ignition::physics::dartsim::Plugin 48: ================================================================= 48: ==280236==ERROR: AddressSanitizer: heap-buffer-overflow on address 0x60d000000ed8 at pc 0x7f4a6e2e289a bp 0x7ffd54c59260 sp 0x7ffd54c59250 48: READ of size 8 at 0x60d000000ed8 thread T0 48: #0 0x7f4a6e2e2899 in dart::common::MakeCloneable::~MakeCloneable() /usr/include/eigen3/Eigen/src/Core/util/Memory.h:98 48: #1 0x7f4a6ddbe0de in dart::common::EmbeddedPropertiesAspect* dart::common::SpecializedForAspect >::_createAspect >(dart::common::SpecializedForAspect >::type >, dart::common::MakeCloneable&&) (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x3470de) 48: #2 0x7f4a6ddbd676 in dart::dynamics::FixedFrame::FixedFrame(dart::dynamics::Frame*, Eigen::Transform const&) (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x346676) 48: #3 0x7f4a6de7f707 in dart::dynamics::ShapeNode::ShapeNode(dart::dynamics::BodyNode*, dart::common::detail::ComposeData >, std::less, std::allocator > > > >, dart::common::detail::GetProperties>, dart::common::detail::GetProperties, dart::common::EmbeddedPropertiesAspect >, dart::dynamics::detail::EntityNodeProperties>, dart::dynamics::FixedFrame, dart::dynamics::ShapeFrame> const&) (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x408707) 48: #4 0x7f4a6e2f5c4c in dart::dynamics::ShapeNode* dart::dynamics::BodyNode::createNode >, std::less, std::allocator > > > >, dart::common::detail::GetProperties>, dart::common::detail::GetProperties, dart::common::EmbeddedPropertiesAspect >, dart::dynamics::detail::EntityNodeProperties>, dart::dynamics::FixedFrame, dart::dynamics::ShapeFrame>&>(dart::common::detail::ComposeData >, std::less, std::allocator > > > >, dart::common::detail::GetProperties>, dart::common::detail::GetProperties, dart::common::EmbeddedPropertiesAspect >, dart::dynamics::detail::EntityNodeProperties>, dart::dynamics::FixedFrame, dart::dynamics::ShapeFrame>&) /usr/include/dart/dynamics/detail/BodyNode.hpp:136 48: #5 0x7f4a6e2f5c4c in dart::dynamics::ShapeNode* dart::dynamics::BodyNode::createShapeNode >, std::less, std::allocator > > > >, dart::common::detail::GetProperties>, dart::common::detail::GetProperties, dart::common::EmbeddedPropertiesAspect >, dart::dynamics::detail::EntityNodeProperties>, dart::dynamics::FixedFrame, dart::dynamics::ShapeFrame> >(dart::common::detail::ComposeData >, std::less, std::allocator > > > >, dart::common::detail::GetProperties>, dart::common::detail::GetProperties, dart::common::EmbeddedPropertiesAspect >, dart::dynamics::detail::EntityNodeProperties>, dart::dynamics::FixedFrame, dart::dynamics::ShapeFrame>, bool) /usr/include/dart/dynamics/detail/BodyNode.hpp:153 48: #6 0x7f4a6e2f752c in dart::dynamics::ShapeNode* dart::dynamics::BodyNode::createShapeNode, std::allocator > const&>(std::shared_ptr const&, std::__cxx11::basic_string, std::allocator > const&) /usr/include/dart/dynamics/detail/BodyNode.hpp:176 48: #7 0x7f4a6e3252af in dart::dynamics::ShapeNode* dart::dynamics::BodyNode::createShapeNodeWith(std::shared_ptr const&, std::__cxx11::basic_string, std::allocator > const&) /usr/include/dart/dynamics/detail/BodyNode.hpp:192 48: #8 0x7f4a6e321baf in ignition::physics::dartsim::ShapeFeatures::AttachMeshShape(ignition::physics::Identity const&, std::__cxx11::basic_string, std::allocator > const&, ignition::common::Mesh const&, Eigen::Transform const&, Eigen::Matrix const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/ShapeFeatures.cc:258 48: #9 0x55877bc65140 in ignition::physics::mesh::AttachMeshShapeFeature::Link, ignition::physics::FeatureList >::AttachMeshShape(std::__cxx11::basic_string, std::allocator > const&, ignition::common::Mesh const&, Eigen::Transform const&, Eigen::Matrix const&) /home/ahcorde/ignition_dome/src/ign-physics/mesh/include/ignition/physics/mesh/detail/MeshShape.hh:68 48: #10 0x55877bc65140 in ConstructMeshPlaneWorld(ignition::physics::EntityPtr, ignition::physics::FeatureList > > const&, ignition::common::Mesh const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/Collisions_TEST.cc:107 48: #11 0x55877bc6748b in operator() /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/Collisions_TEST.cc:131 48: #12 0x55877bc6748b in _M_invoke /usr/include/c++/9/bits/std_function.h:286 48: #13 0x55877bc67f3b in std::function, ignition::physics::FeatureList > > (ignition::physics::EntityPtr, ignition::physics::FeatureList > > const&)>::operator()(ignition::physics::EntityPtr, ignition::physics::FeatureList > > const&) const /usr/include/c++/9/bits/std_function.h:688 48: #14 0x55877bc67f3b in LoadWorlds(std::__cxx11::basic_string, std::allocator > const&, std::function, ignition::physics::FeatureList > > (ignition::physics::EntityPtr, ignition::physics::FeatureList > > const&)> const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/Collisions_TEST.cc:77 48: #15 0x55877bc69eb3 in Collisions_TEST_MeshAndPlane_Test::TestBody() /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/Collisions_TEST.cc:132 48: #16 0x55877bd84869 in void testing::internal::HandleSehExceptionsInMethodIfSupported(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421 48: #17 0x55877bd84869 in void testing::internal::HandleExceptionsInMethodIfSupported(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457 48: #18 0x55877bd58539 in testing::Test::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2495 48: #19 0x55877bd58bf9 in testing::Test::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2487 48: #20 0x55877bd58bf9 in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2671 48: #21 0x55877bd590e2 in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2646 48: #22 0x55877bd590e2 in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2789 48: #23 0x55877bd5a71f in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2775 48: #24 0x55877bd5a71f in testing::internal::UnitTestImpl::RunAllTests() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:5051 48: #25 0x55877bd85959 in bool testing::internal::HandleSehExceptionsInMethodIfSupported(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421 48: #26 0x55877bd85959 in bool testing::internal::HandleExceptionsInMethodIfSupported(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457 48: #27 0x55877bd5aee3 in testing::UnitTest::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:4667 48: #28 0x55877bc61f88 in RUN_ALL_TESTS() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/include/gtest/gtest.h:2329 48: #29 0x55877bc61f88 in main /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/Collisions_TEST.cc:162 48: #30 0x7f4a734b70b2 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x270b2) 48: #31 0x55877bc6389d in _start (/home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_Collisions_TEST+0x3b89d) 48: 48: 0x60d000000ed8 is located 8 bytes to the left of 144-byte region [0x60d000000ee0,0x60d000000f70) 48: allocated by thread T0 here: 48: #0 0x7f4a73ad0bc8 in malloc (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10dbc8) 48: #1 0x7f4a6ddbe03b in dart::common::EmbeddedPropertiesAspect* dart::common::SpecializedForAspect >::_createAspect >(dart::common::SpecializedForAspect >::type >, dart::common::MakeCloneable&&) (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x34703b) 48: 48: SUMMARY: AddressSanitizer: heap-buffer-overflow /usr/include/eigen3/Eigen/src/Core/util/Memory.h:98 in dart::common::MakeCloneable::~MakeCloneable() 48: Shadow bytes around the buggy address: 48: 0x0c1a7fff8180: 00 00 00 00 00 fa fa fa fa fa fa fa fa fa 00 00 48: 0x0c1a7fff8190: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 fa 48: 0x0c1a7fff81a0: fa fa fa fa fa fa fa fa 00 00 00 00 00 00 00 00 48: 0x0c1a7fff81b0: 00 00 00 00 00 00 00 00 00 fa fa fa fa fa fa fa 48: 0x0c1a7fff81c0: fa fa 00 00 00 00 00 00 00 00 00 00 00 00 00 00 48: =>0x0c1a7fff81d0: 00 00 00 fa fa fa fa fa fa fa fa[fa]00 00 00 00 48: 0x0c1a7fff81e0: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 fa fa 48: 0x0c1a7fff81f0: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa 48: 0x0c1a7fff8200: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa 48: 0x0c1a7fff8210: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa 48: 0x0c1a7fff8220: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa 48: Shadow byte legend (one shadow byte represents 8 application bytes): 48: Addressable: 00 48: Partially addressable: 01 02 03 04 05 06 07 48: Heap left redzone: fa 48: Freed heap region: fd 48: Stack left redzone: f1 48: Stack mid redzone: f2 48: Stack right redzone: f3 48: Stack after return: f5 48: Stack use after scope: f8 48: Global redzone: f9 48: Global init order: f6 48: Poisoned by user: f7 48: Container overflow: fc 48: Array cookie: ac 48: Intra object redzone: bb 48: ASan internal: fe 48: Left alloca redzone: ca 48: Right alloca redzone: cb 48: Shadow gap: cc 48: ==280236==ABORTING 48/87 Test #48: UNIT_Collisions_TEST ........................***Failed 0.49 sec ```
UNIT_EntityManagement_TEST ``` 50: Test command: /home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_EntityManagement_TEST "--gtest_output=xml:/home/ahcorde/ignition_dome/build/ignition-physics3/test_results/UNIT_EntityManagement_TEST.xml" 50: Test timeout computed to be: 240 50: [==========] Running 2 tests from 1 test case. 50: [----------] Global test environment set-up. 50: [----------] 2 tests from EntityManagement_TEST 50: [ RUN ] EntityManagement_TEST.ConstructEmptyWorld 50: ================================================================= 50: ==280238==ERROR: AddressSanitizer: attempting free on address which was not malloc()-ed: 0x620000000090 in thread T0 50: #0 0x7faef49607cf in __interceptor_free (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10d7cf) 50: #1 0x7faeeec9c4db in dart::dynamics::Skeleton::moveBodyNodeTree(dart::dynamics::Joint*, dart::dynamics::BodyNode*, std::shared_ptr, dart::dynamics::BodyNode*) (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x4254db) 50: #2 0x7faeef091c40 in dart::dynamics::RevoluteJoint* dart::dynamics::Skeleton::moveBodyNodeTree(dart::dynamics::BodyNode*, std::shared_ptr const&, dart::dynamics::BodyNode*, dart::dynamics::RevoluteJoint::Properties const&) /usr/include/dart/dynamics/detail/Skeleton.hpp:51 50: #3 0x7faeef09237d in dart::dynamics::RevoluteJoint* dart::dynamics::BodyNode::moveTo(dart::dynamics::BodyNode*, dart::dynamics::RevoluteJoint::Properties const&) /usr/include/dart/dynamics/detail/BodyNode.hpp:50 50: #4 0x7faeef07d7f5 in ignition::physics::dartsim::JointFeatures::AttachRevoluteJoint(ignition::physics::Identity const&, ignition::physics::EntityPtr, ignition::physics::FeatureList > > const&, std::__cxx11::basic_string, std::allocator > const&, Eigen::Matrix const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/JointFeatures.cc:415 50: #5 0x55c7766ec68b in ignition::physics::AttachRevoluteJointFeature::Link, TestFeatureList>::AttachRevoluteJoint(ignition::physics::EntityPtr, ignition::physics::FeatureList > > const&, std::__cxx11::basic_string, std::allocator > const&, Eigen::Matrix const&) /home/ahcorde/ignition_dome/src/ign-physics/include/ignition/physics/detail/RevoluteJoint.hh:57 50: #6 0x55c7766c0e05 in EntityManagement_TEST_ConstructEmptyWorld_Test::TestBody() /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/EntityManagement_TEST.cc:71 50: #7 0x55c77681b0a9 in void testing::internal::HandleSehExceptionsInMethodIfSupported(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421 50: #8 0x55c77681b0a9 in void testing::internal::HandleExceptionsInMethodIfSupported(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457 50: #9 0x55c7767f10b9 in testing::Test::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2495 50: #10 0x55c7767f1779 in testing::Test::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2487 50: #11 0x55c7767f1779 in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2671 50: #12 0x55c7767f1c62 in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2646 50: #13 0x55c7767f1c62 in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2789 50: #14 0x55c7767f329f in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2775 50: #15 0x55c7767f329f in testing::internal::UnitTestImpl::RunAllTests() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:5051 50: #16 0x55c77681c199 in bool testing::internal::HandleSehExceptionsInMethodIfSupported(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421 50: #17 0x55c77681c199 in bool testing::internal::HandleExceptionsInMethodIfSupported(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457 50: #18 0x55c7767f3a63 in testing::UnitTest::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:4667 50: #19 0x55c7766b64f8 in RUN_ALL_TESTS() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/include/gtest/gtest.h:2329 50: #20 0x55c7766b64f8 in main /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/EntityManagement_TEST.cc:227 50: #21 0x7faef43470b2 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x270b2) 50: #22 0x55c7766b815d in _start (/home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_EntityManagement_TEST+0x4515d) 50: 50: 0x620000000090 is located 16 bytes inside of 3776-byte region [0x620000000080,0x620000000f40) 50: allocated by thread T0 here: 50: #0 0x7faef4960bc8 in malloc (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10dbc8) 50: #1 0x7faeef032ead in Eigen::internal::handmade_aligned_malloc(unsigned long) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:88 50: #2 0x7faeef032ead in Eigen::internal::aligned_malloc(unsigned long) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:164 50: #3 0x7faeef032ead in void* Eigen::internal::conditional_aligned_malloc(unsigned long) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:214 50: #4 0x7faeef032ead in dart::dynamics::FreeJoint::operator new(unsigned long) /usr/include/dart/dynamics/FreeJoint.hpp:344 50: #5 0x7faeef032ead in std::pair dart::dynamics::Skeleton::createJointAndBodyNodePair(dart::dynamics::BodyNode*, dart::dynamics::FreeJoint::Properties const&, dart::dynamics::BodyNode::Properties const&) /usr/include/dart/dynamics/detail/Skeleton.hpp:82 50: #6 0x7faeef032ead in ignition::physics::dartsim::EntityManagementFeatures::ConstructEmptyLink(ignition::physics::Identity const&, std::__cxx11::basic_string, std::allocator > const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/EntityManagementFeatures.cc:654 50: #7 0x55c7766ea80a in ignition::physics::ConstructEmptyLinkFeature::Model, TestFeatureList>::ConstructEmptyLink(std::__cxx11::basic_string, std::allocator > const&) /home/ahcorde/ignition_dome/src/ign-physics/include/ignition/physics/detail/ConstructEmpty.hh:55 50: #8 0x55c776863a7f in vtable for ignition::physics::Model, TestFeatureList> (/home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_EntityManagement_TEST+0x1f0a7f) 50: 50: SUMMARY: AddressSanitizer: bad-free (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10d7cf) in __interceptor_free 50: ==280238==ABORTING 50/87 Test #50: UNIT_EntityManagement_TEST ..................***Failed 0.41 sec ```
UNIT_JointFeatures_TEST ``` 52: Test command: /home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_JointFeatures_TEST "--gtest_output=xml:/home/ahcorde/ignition_dome/build/ignition-physics3/test_results/UNIT_JointFeatures_TEST.xml" 52: Test timeout computed to be: 240 52: [==========] Running 5 tests from 1 test case. 52: [----------] Global test environment set-up. 52: [----------] 5 tests from JointFeaturesFixture 52: [ RUN ] JointFeaturesFixture.JointSetCommand 52: ================================================================= 52: ==280240==ERROR: AddressSanitizer: attempting free on address which was not malloc()-ed: 0x62000004a090 in thread T0 52: #0 0x7f33059097cf in __interceptor_free (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10d7cf) 52: #1 0x7f33055e24db in dart::dynamics::Skeleton::moveBodyNodeTree(dart::dynamics::Joint*, dart::dynamics::BodyNode*, std::shared_ptr, dart::dynamics::BodyNode*) (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x4254db) 52: #2 0x7f32fd691c40 in dart::dynamics::RevoluteJoint* dart::dynamics::Skeleton::moveBodyNodeTree(dart::dynamics::BodyNode*, std::shared_ptr const&, dart::dynamics::BodyNode*, dart::dynamics::RevoluteJoint::Properties const&) /usr/include/dart/dynamics/detail/Skeleton.hpp:51 52: #3 0x7f32fd69218f in dart::dynamics::RevoluteJoint* dart::dynamics::BodyNode::moveTo(dart::dynamics::BodyNode*, dart::dynamics::RevoluteJoint::Properties const&) /usr/include/dart/dynamics/detail/BodyNode.hpp:53 52: #4 0x7f32fd6d6d89 in ConstructSingleAxisJoint /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:205 52: #5 0x7f32fd6d6d89 in ignition::physics::dartsim::SDFFeatures::ConstructSdfJoint(ignition::physics::dartsim::ModelInfo const&, sdf::v10::Joint const&, dart::dynamics::BodyNode*, dart::dynamics::BodyNode*) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:798 52: #6 0x7f32fd6dd3af in ignition::physics::dartsim::SDFFeatures::ConstructSdfModel(ignition::physics::Identity const&, sdf::v10::Model const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:402 52: #7 0x7f32fd69e337 in ignition::physics::dartsim::SDFFeatures::ConstructSdfWorld(ignition::physics::Identity const&, sdf::v10::World const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:339 52: #8 0x56315dbb2c6a in ignition::physics::sdf::ConstructSdfWorld::Engine, ignition::physics::FeatureList >::ConstructWorld(sdf::v10::World const&) /home/ahcorde/ignition_dome/src/ign-physics/sdf/include/ignition/physics/sdf/ConstructWorld.hh:54 52: #9 0x56315db64a76 in JointFeaturesFixture_JointSetCommand_Test::TestBody() /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/JointFeatures_TEST.cc:98 52: #10 0x56315dcb20d9 in void testing::internal::HandleSehExceptionsInMethodIfSupported(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421 52: #11 0x56315dcb20d9 in void testing::internal::HandleExceptionsInMethodIfSupported(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457 52: #12 0x56315dc880e9 in testing::Test::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2495 52: #13 0x56315dc887a9 in testing::Test::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2487 52: #14 0x56315dc887a9 in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2671 52: #15 0x56315dc88c92 in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2646 52: #16 0x56315dc88c92 in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2789 52: #17 0x56315dc8a2cf in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2775 52: #18 0x56315dc8a2cf in testing::internal::UnitTestImpl::RunAllTests() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:5051 52: #19 0x56315dcb31c9 in bool testing::internal::HandleSehExceptionsInMethodIfSupported(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421 52: #20 0x56315dcb31c9 in bool testing::internal::HandleExceptionsInMethodIfSupported(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457 52: #21 0x56315dc8aa93 in testing::UnitTest::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:4667 52: #22 0x56315db60958 in RUN_ALL_TESTS() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/include/gtest/gtest.h:2329 52: #23 0x56315db60958 in main /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/JointFeatures_TEST.cc:594 52: #24 0x7f3304a710b2 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x270b2) 52: #25 0x56315db62dfd in _start (/home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_JointFeatures_TEST+0x44dfd) 52: 52: 0x62000004a090 is located 16 bytes inside of 3776-byte region [0x62000004a080,0x62000004af40) 52: allocated by thread T0 here: 52: #0 0x7f3305909bc8 in malloc (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10dbc8) 52: #1 0x7f32fd6adb85 in Eigen::internal::handmade_aligned_malloc(unsigned long) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:88 52: #2 0x7f32fd6adb85 in Eigen::internal::aligned_malloc(unsigned long) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:164 52: #3 0x7f32fd6adb85 in void* Eigen::internal::conditional_aligned_malloc(unsigned long) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:214 52: #4 0x7f32fd6adb85 in dart::dynamics::FreeJoint::operator new(unsigned long) /usr/include/dart/dynamics/FreeJoint.hpp:344 52: #5 0x7f32fd6adb85 in std::pair dart::dynamics::Skeleton::createJointAndBodyNodePair(dart::dynamics::BodyNode*, dart::dynamics::FreeJoint::Properties const&, dart::dynamics::BodyNode::Properties const&) /usr/include/dart/dynamics/detail/Skeleton.hpp:82 52: #6 0x7f32fd6adb85 in ignition::physics::dartsim::SDFFeatures::ConstructSdfLink(ignition::physics::Identity const&, sdf::v10::Link const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:446 52: #7 0x7f32fd69e943 in ignition::physics::dartsim::SDFFeatures::FindOrConstructLink(std::shared_ptr const&, ignition::physics::Identity const&, sdf::v10::Model const&, std::__cxx11::basic_string, std::allocator > const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:694 52: #8 0x7f32fd77fe3f (/home/ahcorde/ignition_dome/build/ignition-physics3/lib/libignition-physics3-dartsim-plugin.so.3.1.0+0x2ece3f) 52: 52: SUMMARY: AddressSanitizer: bad-free (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10d7cf) in __interceptor_free 52: ==280240==ABORTING 52/87 Test #52: UNIT_JointFeatures_TEST .....................***Failed 0.45 sec ```
UNIT_LinkFeatures_TEST ``` 54: Test command: /home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_LinkFeatures_TEST "--gtest_output=xml:/home/ahcorde/ignition_dome/build/ignition-physics3/test_results/UNIT_LinkFeatures_TEST.xml" 54: Test timeout computed to be: 240 54: [==========] Running 3 tests from 1 test case. 54: [----------] Global test environment set-up. 54: [----------] 3 tests from LinkFeaturesFixture 54: [ RUN ] LinkFeaturesFixture.LinkForceTorque 54: ================================================================= 54: ==280242==ERROR: AddressSanitizer: attempting free on address which was not malloc()-ed: 0x620000046090 in thread T0 54: #0 0x7f202abc27cf in __interceptor_free (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10d7cf) 54: #1 0x7f202637cf47 in dart::dynamics::BodyNode::~BodyNode() (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x305f47) 54: #2 0x7f202637d31c in dart::dynamics::BodyNode::~BodyNode() (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x30631c) 54: #3 0x7f20264979d6 in dart::dynamics::Skeleton::~Skeleton() (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x4209d6) 54: #4 0x7f20264982ac in dart::dynamics::Skeleton::~Skeleton() (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x4212ac) 54: #5 0x7f2026552c6a in dart::simulation::World::~World() (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x4dbc6a) 54: #6 0x7f20267be90a in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() /usr/include/c++/9/bits/shared_ptr_base.h:155 54: #7 0x7f20267be90a in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() /usr/include/c++/9/bits/shared_ptr_base.h:148 54: #8 0x7f20267be90a in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::~__shared_count() /usr/include/c++/9/bits/shared_ptr_base.h:730 54: #9 0x7f20267be90a in std::__shared_ptr::~__shared_ptr() /usr/include/c++/9/bits/shared_ptr_base.h:1169 54: #10 0x7f20267be90a in std::shared_ptr::~shared_ptr() /usr/include/c++/9/bits/shared_ptr.h:103 54: #11 0x7f20267be90a in std::pair >::~pair() /usr/include/c++/9/bits/stl_pair.h:208 54: #12 0x7f20267be90a in void __gnu_cxx::new_allocator >, false> >::destroy > >(std::pair >*) /usr/include/c++/9/ext/new_allocator.h:153 54: #13 0x7f20267be90a in void std::allocator_traits >, false> > >::destroy > >(std::allocator >, false> >&, std::pair >*) /usr/include/c++/9/bits/alloc_traits.h:497 54: #14 0x7f20267be90a in std::__detail::_Hashtable_alloc >, false> > >::_M_deallocate_node(std::__detail::_Hash_node >, false>*) /usr/include/c++/9/bits/hashtable_policy.h:2102 54: #15 0x7f20267be90a in std::__detail::_Hashtable_alloc >, false> > >::_M_deallocate_nodes(std::__detail::_Hash_node >, false>*) /usr/include/c++/9/bits/hashtable_policy.h:2124 54: #16 0x7f20267be90a in std::_Hashtable >, std::allocator > >, std::__detail::_Select1st, std::equal_to, std::hash, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits >::clear() /usr/include/c++/9/bits/hashtable.h:2028 54: #17 0x7f20267be90a in std::_Hashtable >, std::allocator > >, std::__detail::_Select1st, std::equal_to, std::hash, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits >::~_Hashtable() /usr/include/c++/9/bits/hashtable.h:1352 54: #18 0x7f20267be90a in std::unordered_map, std::hash, std::equal_to, std::allocator > > >::~unordered_map() /usr/include/c++/9/bits/unordered_map.h:102 54: #19 0x7f20267be90a in ignition::physics::dartsim::EntityStorage, std::__cxx11::basic_string, std::allocator > >::~EntityStorage() /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/Base.hh:89 54: #20 0x7f20267be90a in ignition::physics::dartsim::Base::~Base() /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/Base.hh:205 54: #21 0x7f202693d92c in ignition::physics::dartsim::Plugin::~Plugin() /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/plugin.cc:48 54: #22 0x7f202a862f95 in std::function::operator()(void*) const /usr/include/c++/9/bits/std_function.h:688 54: #23 0x7f202a862f95 in ignition::plugin::PluginWithDlHandle::~PluginWithDlHandle() /home/ahcorde/ignition_dome/src/ign-plugin/core/src/Plugin.cc:64 54: #24 0x7f202a861bdf in std::unique_ptr >::~unique_ptr() /usr/include/c++/9/bits/shared_ptr_base.h:155 54: #25 0x7f202a861bdf in ignition::plugin::Plugin::~Plugin() /home/ahcorde/ignition_dome/src/ign-plugin/core/src/Plugin.cc:385 54: #26 0x559740cb27c3 in ignition::physics::detail::DeterminePlugin, TestFeatureList>::Specializer::~Specializer() /home/ahcorde/ignition_dome/src/ign-physics/include/ignition/physics/detail/FeatureList.hh:127 54: #27 0x559740cb27c3 in ignition::physics::detail::DeterminePlugin, TestFeatureList>::Specializer::~Specializer() /home/ahcorde/ignition_dome/src/ign-physics/include/ignition/physics/detail/FeatureList.hh:127 54: #28 0x559740cbcb57 in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() /usr/include/c++/9/bits/shared_ptr_base.h:155 54: #29 0x559740cbcb57 in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() /usr/include/c++/9/bits/shared_ptr_base.h:148 54: #30 0x559740cbd94b in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::~__shared_count() /usr/include/c++/9/bits/shared_ptr_base.h:730 54: #31 0x559740cbd94b in std::__shared_ptr, TestFeatureList>::Specializer>, (__gnu_cxx::_Lock_policy)2>::~__shared_ptr() /usr/include/c++/9/bits/shared_ptr_base.h:1169 54: #32 0x559740cbd94b in std::shared_ptr, TestFeatureList>::Specializer> >::~shared_ptr() /usr/include/c++/9/bits/shared_ptr.h:103 54: #33 0x559740cbd94b in ignition::physics::Entity, TestFeatureList>::~Entity() /home/ahcorde/ignition_dome/src/ign-physics/include/ignition/physics/Entity.hh:295 54: #34 0x559740cbd94b in ignition::physics::Engine, TestFeatureList>::~Engine() /home/ahcorde/ignition_dome/src/ign-physics/include/ignition/physics/detail/FeatureList.hh:693 54: #35 0x559740cbd94b in std::_Optional_payload_base, TestFeatureList> >::_M_destroy() /usr/include/c++/9/optional:257 54: #36 0x559740cbd94b in std::_Optional_payload_base, TestFeatureList> >::_M_reset() /usr/include/c++/9/optional:277 54: #37 0x559740cbd94b in std::_Optional_payload, TestFeatureList>, false, false, false>::~_Optional_payload() /usr/include/c++/9/optional:398 54: #38 0x559740cbd94b in std::_Optional_base, TestFeatureList>, false, false>::~_Optional_base() /usr/include/c++/9/optional:471 54: #39 0x559740cbd94b in std::optional, TestFeatureList> >::~optional() /usr/include/c++/9/optional:656 54: #40 0x559740cbd94b in ignition::physics::EntityPtr, TestFeatureList> >::~EntityPtr() /home/ahcorde/ignition_dome/src/ign-physics/include/ignition/physics/Entity.hh:47 54: #41 0x559740cbd94b in LinkFeaturesFixture::~LinkFeaturesFixture() /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/LinkFeatures_TEST.cc:58 54: #42 0x559740cbd94b in LinkFeaturesFixture_LinkForceTorque_Test::~LinkFeaturesFixture_LinkForceTorque_Test() /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/LinkFeatures_TEST.cc:118 54: #43 0x559740cbd94b in LinkFeaturesFixture_LinkForceTorque_Test::~LinkFeaturesFixture_LinkForceTorque_Test() /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/LinkFeatures_TEST.cc:118 54: #44 0x559740ddf5a9 in void testing::internal::HandleSehExceptionsInMethodIfSupported(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421 54: #45 0x559740ddf5a9 in void testing::internal::HandleExceptionsInMethodIfSupported(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457 54: #46 0x559740db307e in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2676 54: #47 0x559740db36f2 in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2646 54: #48 0x559740db36f2 in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2789 54: #49 0x559740db4d2f in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2775 54: #50 0x559740db4d2f in testing::internal::UnitTestImpl::RunAllTests() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:5051 54: #51 0x559740de0699 in bool testing::internal::HandleSehExceptionsInMethodIfSupported(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421 54: #52 0x559740de0699 in bool testing::internal::HandleExceptionsInMethodIfSupported(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457 54: #53 0x559740db54f3 in testing::UnitTest::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:4667 54: #54 0x559740c96398 in RUN_ALL_TESTS() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/include/gtest/gtest.h:2329 54: #55 0x559740c96398 in main /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/LinkFeatures_TEST.cc:347 54: #56 0x7f202a3460b2 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x270b2) 54: #57 0x559740c9801d in _start (/home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_LinkFeatures_TEST+0x3d01d) 54: 54: 0x620000046090 is located 16 bytes inside of 3776-byte region [0x620000046080,0x620000046f40) 54: allocated by thread T0 here: 54: #0 0x7f202abc2bc8 in malloc (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10dbc8) 54: #1 0x7f20268adb85 in Eigen::internal::handmade_aligned_malloc(unsigned long) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:88 54: #2 0x7f20268adb85 in Eigen::internal::aligned_malloc(unsigned long) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:164 54: #3 0x7f20268adb85 in void* Eigen::internal::conditional_aligned_malloc(unsigned long) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:214 54: #4 0x7f20268adb85 in dart::dynamics::FreeJoint::operator new(unsigned long) /usr/include/dart/dynamics/FreeJoint.hpp:344 54: #5 0x7f20268adb85 in std::pair dart::dynamics::Skeleton::createJointAndBodyNodePair(dart::dynamics::BodyNode*, dart::dynamics::FreeJoint::Properties const&, dart::dynamics::BodyNode::Properties const&) /usr/include/dart/dynamics/detail/Skeleton.hpp:82 54: #6 0x7f20268adb85 in ignition::physics::dartsim::SDFFeatures::ConstructSdfLink(ignition::physics::Identity const&, sdf::v10::Link const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:446 54: #7 0x559740cc8ca5 in ignition::physics::sdf::ConstructSdfLink::Model, TestFeatureList>::ConstructLink(sdf::v10::Link const&) /home/ahcorde/ignition_dome/src/ign-physics/sdf/include/ignition/physics/sdf/ConstructLink.hh:54 54: #8 0x559740e23717 in vtable for ignition::physics::Model, TestFeatureList> (/home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_LinkFeatures_TEST+0x1c8717) 54: 54: SUMMARY: AddressSanitizer: bad-free (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10d7cf) in __interceptor_free 54: ==280242==ABORTING 54/87 Test #54: UNIT_LinkFeatures_TEST ......................***Failed 0.45 sec ```
UNIT_SDFFeatures_TEST ``` 56: Test command: /home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_SDFFeatures_TEST "--gtest_output=xml:/home/ahcorde/ignition_dome/build/ignition-physics3/test_results/UNIT_SDFFeatures_TEST.xml" 56: Test timeout computed to be: 240 56: [==========] Running 9 tests from 2 test cases. 56: [----------] Global test environment set-up. 56: [----------] 4 tests from SDFFeatures_TEST 56: [ RUN ] SDFFeatures_TEST.CheckDartsimData 56: ================================================================= 56: ==280244==ERROR: AddressSanitizer: attempting free on address which was not malloc()-ed: 0x62000004a090 in thread T0 56: #0 0x7f2c5ef247cf in __interceptor_free (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10d7cf) 56: #1 0x7f2c5ebfd4db in dart::dynamics::Skeleton::moveBodyNodeTree(dart::dynamics::Joint*, dart::dynamics::BodyNode*, std::shared_ptr, dart::dynamics::BodyNode*) (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x4254db) 56: #2 0x7f2c56c91c40 in dart::dynamics::RevoluteJoint* dart::dynamics::Skeleton::moveBodyNodeTree(dart::dynamics::BodyNode*, std::shared_ptr const&, dart::dynamics::BodyNode*, dart::dynamics::RevoluteJoint::Properties const&) /usr/include/dart/dynamics/detail/Skeleton.hpp:51 56: #3 0x7f2c56c9218f in dart::dynamics::RevoluteJoint* dart::dynamics::BodyNode::moveTo(dart::dynamics::BodyNode*, dart::dynamics::RevoluteJoint::Properties const&) /usr/include/dart/dynamics/detail/BodyNode.hpp:53 56: #4 0x7f2c56cd6d89 in ConstructSingleAxisJoint /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:205 56: #5 0x7f2c56cd6d89 in ignition::physics::dartsim::SDFFeatures::ConstructSdfJoint(ignition::physics::dartsim::ModelInfo const&, sdf::v10::Joint const&, dart::dynamics::BodyNode*, dart::dynamics::BodyNode*) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:798 56: #6 0x7f2c56cdd3af in ignition::physics::dartsim::SDFFeatures::ConstructSdfModel(ignition::physics::Identity const&, sdf::v10::Model const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:402 56: #7 0x7f2c56c9e337 in ignition::physics::dartsim::SDFFeatures::ConstructSdfWorld(ignition::physics::Identity const&, sdf::v10::World const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:339 56: #8 0x5558bc05d18a in ignition::physics::sdf::ConstructSdfWorld::Engine, TestFeatureList>::ConstructWorld(sdf::v10::World const&) /home/ahcorde/ignition_dome/src/ign-physics/sdf/include/ignition/physics/sdf/ConstructWorld.hh:54 56: #9 0x5558bc01f40e in LoadWorld(std::__cxx11::basic_string, std::allocator > const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures_TEST.cc:87 56: #10 0x5558bc02079f in SDFFeatures_TEST_CheckDartsimData_Test::TestBody() /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures_TEST.cc:96 56: #11 0x5558bc1557f9 in void testing::internal::HandleSehExceptionsInMethodIfSupported(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421 56: #12 0x5558bc1557f9 in void testing::internal::HandleExceptionsInMethodIfSupported(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457 56: #13 0x5558bc12a529 in testing::Test::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2495 56: #14 0x5558bc12abe9 in testing::Test::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2487 56: #15 0x5558bc12abe9 in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2671 56: #16 0x5558bc12b0d2 in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2646 56: #17 0x5558bc12b0d2 in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2789 56: #18 0x5558bc12c70f in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2775 56: #19 0x5558bc12c70f in testing::internal::UnitTestImpl::RunAllTests() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:5051 56: #20 0x5558bc1568e9 in bool testing::internal::HandleSehExceptionsInMethodIfSupported(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421 56: #21 0x5558bc1568e9 in bool testing::internal::HandleExceptionsInMethodIfSupported(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457 56: #22 0x5558bc12ced3 in testing::UnitTest::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:4667 56: #23 0x5558bc015398 in RUN_ALL_TESTS() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/include/gtest/gtest.h:2329 56: #24 0x5558bc015398 in main /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures_TEST.cc:519 56: #25 0x7f2c5e08c0b2 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x270b2) 56: #26 0x5558bc01843d in _start (/home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_SDFFeatures_TEST+0x4243d) 56: 56: 0x62000004a090 is located 16 bytes inside of 3776-byte region [0x62000004a080,0x62000004af40) 56: allocated by thread T0 here: 56: #0 0x7f2c5ef24bc8 in malloc (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10dbc8) 56: #1 0x7f2c56cadb85 in Eigen::internal::handmade_aligned_malloc(unsigned long) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:88 56: #2 0x7f2c56cadb85 in Eigen::internal::aligned_malloc(unsigned long) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:164 56: #3 0x7f2c56cadb85 in void* Eigen::internal::conditional_aligned_malloc(unsigned long) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:214 56: #4 0x7f2c56cadb85 in dart::dynamics::FreeJoint::operator new(unsigned long) /usr/include/dart/dynamics/FreeJoint.hpp:344 56: #5 0x7f2c56cadb85 in std::pair dart::dynamics::Skeleton::createJointAndBodyNodePair(dart::dynamics::BodyNode*, dart::dynamics::FreeJoint::Properties const&, dart::dynamics::BodyNode::Properties const&) /usr/include/dart/dynamics/detail/Skeleton.hpp:82 56: #6 0x7f2c56cadb85 in ignition::physics::dartsim::SDFFeatures::ConstructSdfLink(ignition::physics::Identity const&, sdf::v10::Link const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:446 56: #7 0x7f2c56c9e943 in ignition::physics::dartsim::SDFFeatures::FindOrConstructLink(std::shared_ptr const&, ignition::physics::Identity const&, sdf::v10::Model const&, std::__cxx11::basic_string, std::allocator > const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:694 56: #8 0x7f2c56d7fe3f (/home/ahcorde/ignition_dome/build/ignition-physics3/lib/libignition-physics3-dartsim-plugin.so.3.1.0+0x2ece3f) 56: 56: SUMMARY: AddressSanitizer: bad-free (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10d7cf) in __interceptor_free 56: ==280244==ABORTING 56/87 Test #56: UNIT_SDFFeatures_TEST .......................***Failed 0.45 sec ```
UNIT_SimulationFeatures_TEST ``` 60: Test command: /home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_SimulationFeatures_TEST "--gtest_output=xml:/home/ahcorde/ignition_dome/build/ignition-physics3/test_results/UNIT_SimulationFeatures_TEST.xml" 60: Test timeout computed to be: 240 60: [==========] Running 12 tests from 1 test case. 60: [----------] Global test environment set-up. 60: [----------] 12 tests from PhysicsPlugins/SimulationFeatures_TEST 60: [ RUN ] PhysicsPlugins/SimulationFeatures_TEST.Falling/0 60: Testing library /home/ahcorde/ignition_dome/build/ignition-physics3/lib/libignition-physics3-dartsim-plugin.so.3.1.0 60: -- Plugin name: ignition::physics::dartsim::Plugin 60: ================================================================= 60: ==280250==ERROR: AddressSanitizer: heap-buffer-overflow on address 0x60d00001d0f8 at pc 0x7fd93c7e289a bp 0x7fff3858fe30 sp 0x7fff3858fe20 60: READ of size 8 at 0x60d00001d0f8 thread T0 60: #0 0x7fd93c7e2899 in dart::common::MakeCloneable::~MakeCloneable() /usr/include/eigen3/Eigen/src/Core/util/Memory.h:98 60: #1 0x7fd93c2be0de in dart::common::EmbeddedPropertiesAspect* dart::common::SpecializedForAspect >::_createAspect >(dart::common::SpecializedForAspect >::type >, dart::common::MakeCloneable&&) (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x3470de) 60: #2 0x7fd93c2bd676 in dart::dynamics::FixedFrame::FixedFrame(dart::dynamics::Frame*, Eigen::Transform const&) (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x346676) 60: #3 0x7fd93c37f707 in dart::dynamics::ShapeNode::ShapeNode(dart::dynamics::BodyNode*, dart::common::detail::ComposeData >, std::less, std::allocator > > > >, dart::common::detail::GetProperties>, dart::common::detail::GetProperties, dart::common::EmbeddedPropertiesAspect >, dart::dynamics::detail::EntityNodeProperties>, dart::dynamics::FixedFrame, dart::dynamics::ShapeFrame> const&) (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x408707) 60: #4 0x7fd93c7f5c4c in dart::dynamics::ShapeNode* dart::dynamics::BodyNode::createNode >, std::less, std::allocator > > > >, dart::common::detail::GetProperties>, dart::common::detail::GetProperties, dart::common::EmbeddedPropertiesAspect >, dart::dynamics::detail::EntityNodeProperties>, dart::dynamics::FixedFrame, dart::dynamics::ShapeFrame>&>(dart::common::detail::ComposeData >, std::less, std::allocator > > > >, dart::common::detail::GetProperties>, dart::common::detail::GetProperties, dart::common::EmbeddedPropertiesAspect >, dart::dynamics::detail::EntityNodeProperties>, dart::dynamics::FixedFrame, dart::dynamics::ShapeFrame>&) /usr/include/dart/dynamics/detail/BodyNode.hpp:136 60: #5 0x7fd93c7f5c4c in dart::dynamics::ShapeNode* dart::dynamics::BodyNode::createShapeNode >, std::less, std::allocator > > > >, dart::common::detail::GetProperties>, dart::common::detail::GetProperties, dart::common::EmbeddedPropertiesAspect >, dart::dynamics::detail::EntityNodeProperties>, dart::dynamics::FixedFrame, dart::dynamics::ShapeFrame> >(dart::common::detail::ComposeData >, std::less, std::allocator > > > >, dart::common::detail::GetProperties>, dart::common::detail::GetProperties, dart::common::EmbeddedPropertiesAspect >, dart::dynamics::detail::EntityNodeProperties>, dart::dynamics::FixedFrame, dart::dynamics::ShapeFrame>, bool) /usr/include/dart/dynamics/detail/BodyNode.hpp:153 60: #6 0x7fd93c7f752c in dart::dynamics::ShapeNode* dart::dynamics::BodyNode::createShapeNode, std::allocator > const&>(std::shared_ptr const&, std::__cxx11::basic_string, std::allocator > const&) /usr/include/dart/dynamics/detail/BodyNode.hpp:176 60: #7 0x7fd93c7bb4c4 in dart::dynamics::ShapeNode* dart::dynamics::BodyNode::createShapeNodeWith(std::shared_ptr const&, std::__cxx11::basic_string, std::allocator > const&) /usr/include/dart/dynamics/detail/BodyNode.hpp:192 60: #8 0x7fd93c7bb4c4 in ignition::physics::dartsim::SDFFeatures::ConstructSdfCollision(ignition::physics::Identity const&, sdf::v10::Collision const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:541 60: #9 0x7fd93c7af61d in ignition::physics::dartsim::SDFFeatures::ConstructSdfLink(ignition::physics::Identity const&, sdf::v10::Link const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:478 60: #10 0x7fd93c79e943 in ignition::physics::dartsim::SDFFeatures::FindOrConstructLink(std::shared_ptr const&, ignition::physics::Identity const&, sdf::v10::Model const&, std::__cxx11::basic_string, std::allocator > const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:694 60: #11 0x7fd93c7dd239 in ignition::physics::dartsim::SDFFeatures::ConstructSdfModel(ignition::physics::Identity const&, sdf::v10::Model const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:380 60: #12 0x7fd93c79e337 in ignition::physics::dartsim::SDFFeatures::ConstructSdfWorld(ignition::physics::Identity const&, sdf::v10::World const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:339 60: #13 0x55df6bc2ee5a in ignition::physics::sdf::ConstructSdfWorld::Engine, TestFeatureList>::ConstructWorld(sdf::v10::World const&) /home/ahcorde/ignition_dome/src/ign-physics/sdf/include/ignition/physics/sdf/ConstructWorld.hh:54 60: #14 0x55df6bbfbd4f in LoadWorlds(std::__cxx11::basic_string, std::allocator > const&, std::__cxx11::basic_string, std::allocator > const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SimulationFeatures_TEST.cc:87 60: #15 0x55df6bbfdbaa in SimulationFeatures_TEST_Falling_Test::TestBody() /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SimulationFeatures_TEST.cc:120 60: #16 0x55df6bd58089 in void testing::internal::HandleSehExceptionsInMethodIfSupported(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421 60: #17 0x55df6bd58089 in void testing::internal::HandleExceptionsInMethodIfSupported(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457 60: #18 0x55df6bd2c339 in testing::Test::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2495 60: #19 0x55df6bd2c9f9 in testing::Test::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2487 60: #20 0x55df6bd2c9f9 in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2671 60: #21 0x55df6bd2cee2 in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2646 60: #22 0x55df6bd2cee2 in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2789 60: #23 0x55df6bd2e51f in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2775 60: #24 0x55df6bd2e51f in testing::internal::UnitTestImpl::RunAllTests() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:5051 60: #25 0x55df6bd59179 in bool testing::internal::HandleSehExceptionsInMethodIfSupported(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421 60: #26 0x55df6bd59179 in bool testing::internal::HandleExceptionsInMethodIfSupported(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457 60: #27 0x55df6bd2ece3 in testing::UnitTest::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:4667 60: #28 0x55df6bbf79a8 in RUN_ALL_TESTS() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/include/gtest/gtest.h:2329 60: #29 0x55df6bbf79a8 in main /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SimulationFeatures_TEST.cc:329 60: #30 0x7fd9401510b2 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x270b2) 60: #31 0x55df6bbf92ad in _start (/home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_SimulationFeatures_TEST+0x3f2ad) 60: 60: 0x60d00001d0f8 is located 8 bytes to the left of 144-byte region [0x60d00001d100,0x60d00001d190) 60: allocated by thread T0 here: 60: #0 0x7fd940a32bc8 in malloc (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10dbc8) 60: #1 0x7fd93c2be03b in dart::common::EmbeddedPropertiesAspect* dart::common::SpecializedForAspect >::_createAspect >(dart::common::SpecializedForAspect >::type >, dart::common::MakeCloneable&&) (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x34703b) 60: 60: SUMMARY: AddressSanitizer: heap-buffer-overflow /usr/include/eigen3/Eigen/src/Core/util/Memory.h:98 in dart::common::MakeCloneable::~MakeCloneable() 60: Shadow bytes around the buggy address: 60: 0x0c1a7fffb9c0: 00 00 00 00 00 00 00 00 00 03 fa fa fa fa fa fa 60: 0x0c1a7fffb9d0: fa fa fd fd fd fd fd fd fd fd fd fd fd fd fd fd 60: 0x0c1a7fffb9e0: fd fd fd fa fa fa fa fa fa fa fa fa 00 00 00 00 60: 0x0c1a7fffb9f0: 00 00 00 00 00 00 00 00 00 00 00 00 07 fa fa fa 60: 0x0c1a7fffba00: fa fa fa fa fa fa 00 00 00 00 00 00 00 00 00 00 60: =>0x0c1a7fffba10: 00 00 00 00 00 00 00 fa fa fa fa fa fa fa fa[fa] 60: 0x0c1a7fffba20: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 60: 0x0c1a7fffba30: 00 00 fa fa fa fa fa fa fa fa fa fa fa fa fa fa 60: 0x0c1a7fffba40: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa 60: 0x0c1a7fffba50: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa 60: 0x0c1a7fffba60: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa 60: Shadow byte legend (one shadow byte represents 8 application bytes): 60: Addressable: 00 60: Partially addressable: 01 02 03 04 05 06 07 60: Heap left redzone: fa 60: Freed heap region: fd 60: Stack left redzone: f1 60: Stack mid redzone: f2 60: Stack right redzone: f3 60: Stack after return: f5 60: Stack use after scope: f8 60: Global redzone: f9 60: Global init order: f6 60: Poisoned by user: f7 60: Container overflow: fc 60: Array cookie: ac 60: Intra object redzone: bb 60: ASan internal: fe 60: Left alloca redzone: ca 60: Right alloca redzone: cb 60: Shadow gap: cc 60: ==280250==ABORTING 60/87 Test #60: UNIT_SimulationFeatures_TEST ................***Failed 0.44 sec ```
azeey commented 3 years ago

I think this is related https://github.com/ignitionrobotics/ign-gazebo/pull/586

chapulina commented 3 years ago

I can't reproduce the failures locally on Ubuntu.

@ahcorde , how did you get that backtrace? It seems to be crashing on the Remove test for you, but that's not what is happening on CI.

On macOS on Jenkins, the Light test is segfaulting.

On GitHub actions, the Light test has lots of failing expectations, and I believe it's because of this:

Error while loading the library [/usr/local/lib/ign-gazebo-5/plugins/libignition-gazebo-sensors-system.so]: libignition-gazebo5-rendering.so.5: cannot open shared object file: No such file or directory
  [Err] [SystemLoader.cc:75] Failed to load system plugin [ignition-gazebo-sensors-system] : couldn't load library on path [/usr/local/lib/ign-gazebo-5/plugins/libignition-gazebo-sensors-system.so].

See #650 for a fix - it works on GitHub actions, I haven't checked macOS yet.

chapulina commented 3 years ago

macOS isn't fixed yet

chapulina commented 2 years ago

Disabling the test on macOS: https://github.com/ignitionrobotics/ign-gazebo/pull/1204

azeey commented 2 years ago

Just thought it might be related, but I've been able to get consistent segfaults when running the following if I build ign-gazebo using clang. 

bin/INTEGRATION_user_commands --gtest_filter=*Light:*Pose

The failure appears to be related to the unloading of a shared library from a previous test affecting the component storage map storagesById: https://github.com/ignitionrobotics/ign-gazebo/blob/f8942cd9b19cf0b61a1d5a7fb9f47d0c1d558e84/include/ignition/gazebo/components/Factory.hh#L310.

azeey commented 2 years ago

Just thought it might be related, but I've been able to get consistent segfaults when running the following if I build ign-gazebo using clang.

bin/INTEGRATION_user_commands --gtest_filter=*Light:*Pose

The failure appears to be related to the unloading of a shared library from a previous test affecting the component storage map storagesById:

https://github.com/ignitionrobotics/ign-gazebo/blob/f8942cd9b19cf0b61a1d5a7fb9f47d0c1d558e84/include/ignition/gazebo/components/Factory.hh#L310

.

I should have said using clang on Linux.