matlabbe
commented
3 years ago I tried with a minimal Dockerfile (from ros:foxy) with ros-foxy-desktop and ros-foxy-libg2o (had to update rtabmap library to find that g2o on foxy), gtsam binaries (like in your dockerfile), libpointmatcher from source. Using gdb:
~/ros2_ws/install/rtabmap_ros/lib/rtabmap_ros# gdb ex run --args rtabmap
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Reading symbols from rtabmap...
(No debugging symbols found in rtabmap)
(gdb) run
Starting program: /root/ros2_ws/install/rtabmap_ros/lib/rtabmap_ros/rtabmap
warning: Error disabling address space randomization: Operation not permitted
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
double free or corruption (out)
Program received signal SIGABRT, Aborted.
__GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50
50 ../sysdeps/unix/sysv/linux/raise.c: No such file or directory.
(gdb) bt
#0 __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50
#1 0x00007fa561e23859 in __GI_abort () at abort.c:79
#2 0x00007fa561e8e3ee in __libc_message (action=action@entry=do_abort, fmt=fmt@entry=0x7fa561fb8285 "%s\n") at ../sysdeps/posix/libc_fatal.c:155
#3 0x00007fa561e9647c in malloc_printerr (str=str@entry=0x7fa561fba670 "double free or corruption (out)") at malloc.c:5347
#4 0x00007fa561e98120 in _int_free (av=0x7fa561fe9b80 <main_arena>, p=0x5587f111efb0, have_lock=<optimized out>) at malloc.c:4314
#5 0x00007fa55ee968e1 in g2o::EdgeProjectP2MC_Intrinsics::~EdgeProjectP2MC_Intrinsics() () at /opt/ros/foxy/lib/libg2o_types_sba.so
#6 0x00007fa55965ec84 in g2o::Factory::registerType(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, g2o::AbstractHyperGraphElementCreator*) ()
at /opt/ros/foxy/lib/libg2o_core.so
#7 0x00007fa55ee8fb47 in () at /opt/ros/foxy/lib/libg2o_types_sba.so
#8 0x00007fa56ae23b8a in () at /lib64/ld-linux-x86-64.so.2
#9 0x00007fa56ae23c91 in () at /lib64/ld-linux-x86-64.so.2
#10 0x00007fa56ae1313a in () at /lib64/ld-linux-x86-64.so.2
#11 0x0000000000000001 in ()
#12 0x00007fffeca30665 in ()
#13 0x0000000000000000 in ()
(gdb) Looks like it is crashing in /opt/ros/foxy/lib/libg2o_types_sba.so. I'll try to uninstall those g2o binaries and build an older g2o version.
askokostic
Hello,
At the beginning of February, rtabmap was working without any issues, but around two weeks ago I started having problems. When trying to launch anything I started getting
double free or corruption (out). If I only launch rtabmap without the simulation it does not crash, but as soon as it tries to subscribe to an existing topic it crashes.Ubuntu 20.04 ROS2 Foxy Everything is running inside a Docker container. The same error occurred on another pc when doing the same steps (same Dockerfile).
I have tried the suggestion from #505, but it crashes even faster. Changing
-DBUILD_WITH_MARCH_NATIVEtoOFFhas the same effect. Installing Eigen and GTSAM from the source also didn't help. When launching the node with gdb I get a lot of Eigen callback errors.When executing:
I get this output:
Cmake output:
Dockerfile: