peci1
commented
9 months ago It fails in an AVX CPU instruction.
What CPU do you have?
Also, if you change the collisions to primitive shapes instead of a mesh, would that help?
Open advented0126 opened 9 months ago
peci1
commented
9 months ago It fails in an AVX CPU instruction.
What CPU do you have?
Also, if you change the collisions to primitive shapes instead of a mesh, would that help?
advented0126
commented
9 months ago Architecture: x86_64
CPU op-mode(s): 32-bit, 64-bit
Byte Order: Little Endian
Address sizes: 39 bits physical, 48 bits virtual
CPU(s): 16
On-line CPU(s) list: 0-15
Thread(s) per core: 2
Core(s) per socket: 8
Socket(s): 1
NUMA node(s): 1
Vendor ID: GenuineIntel
CPU family: 6
Model: 158
Model name: Intel(R) Core(TM) i9-9900K CPU @ 3.60GHz
Stepping: 12
CPU MHz: 3600.000
CPU max MHz: 5000.0000
CPU min MHz: 800.0000
BogoMIPS: 7200.00
Virtualization: VT-x
L1d cache: 256 KiB
L1i cache: 256 KiB
L2 cache: 2 MiB
L3 cache: 16 MiB
NUMA node0 CPU(s): 0-15
Vulnerability Gather data sampling: Mitigation; Microcode
Vulnerability Itlb multihit: KVM: Mitigation: VMX disabled
Vulnerability L1tf: Not affected
Vulnerability Mds: Mitigation; Clear CPU buffers; SMT vulnerabl
e
Vulnerability Meltdown: Not affected
Vulnerability Mmio stale data: Mitigation; Clear CPU buffers; SMT vulnerabl
e
Vulnerability Retbleed: Mitigation; IBRS
Vulnerability Spec rstack overflow: Not affected
Vulnerability Spec store bypass: Mitigation; Speculative Store Bypass disable
d via prctl and seccomp
Vulnerability Spectre v1: Mitigation; usercopy/swapgs barriers and __u
ser pointer sanitization
Vulnerability Spectre v2: Mitigation; IBRS, IBPB conditional, STIBP co
nditional, RSB filling, PBRSB-eIBRS Not affe
cted
Vulnerability Srbds: Mitigation; Microcode
Vulnerability Tsx async abort: Mitigation; TSX disabled
Flags: fpu vme de pse tsc msr pae mce cx8 apic sep
mtrr pge mca cmov pat pse36 clflush dts acpi
mmx fxsr sse sse2 ss ht tm pbe syscall nx p
dpe1gb rdtscp lm constant_tsc art arch_perfm
on pebs bts rep_good nopl xtopology nonstop_
tsc cpuid aperfmperf pni pclmulqdq dtes64 mo
nitor ds_cpl vmx smx est tm2 ssse3 sdbg fma
cx16 xtpr pdcm pcid sse4_1 sse4_2 x2apic mov
be popcnt tsc_deadline_timer aes xsave avx f
16c rdrand lahf_lm abm 3dnowprefetch cpuid_f
ault epb invpcid_single ssbd ibrs ibpb stibp
tpr_shadow vnmi flexpriority ept vpid ept_a
d fsgsbase tsc_adjust bmi1 avx2 smep bmi2 er
ms invpcid mpx rdseed adx smap clflushopt in
tel_pt xsaveopt xsavec xgetbv1 xsaves dtherm
ida arat pln pts hwp hwp_notify hwp_act_win
dow hwp_epp md_clear flush_l1d arch_capabili
ties
PARAMETERS
* /depth_camera_kinectv2/cloud_filter_chain: [{'name': 'robot_...
* /rosdistro: noetic
* /rosversion: 1.16.0
NODES
/
depth_camera_kinectv2 (sensor_filters/pointcloud2_filter_chain)
ROS_MASTER_URI=http://localhost:11311
process[depth_camera_kinectv2-1]: started with pid [8745]
[ INFO] [1705902007.123206196]: robot_body_filter_containment: Parameter sensor/point_by_point not defined, assigning default: False
[ INFO] [1705902007.123869936]: robot_body_filter_containment: Parameter transforms/buffer_length not defined, assigning default: 60.000000 s
[ INFO] [1705902007.126658273]: robot_body_filter_containment: Parameter frames/fixed not defined, assigning default: base_link
[ INFO] [1705902007.126689922]: robot_body_filter_containment: Parameter frames/sensor not defined, assigning default:
[ INFO] [1705902007.126716619]: robot_body_filter_containment: Found parameter: frames/filtering, value: base
[ INFO] [1705902007.126741852]: robot_body_filter_containment: Found parameter: sensor/min_distance, value: 0.150000 m
[ INFO] [1705902007.126763713]: robot_body_filter_containment: Found parameter: sensor/max_distance, value: 0.000000 m
[ INFO] [1705902007.126783556]: robot_body_filter_containment: Found parameter: body_model/robot_description_param, value: /robot_description
[ INFO] [1705902007.126804770]: robot_body_filter_containment: Parameter filter/keep_clouds_organized not defined, assigning default: True
[ INFO] [1705902007.126829368]: robot_body_filter_containment: Parameter filter/model_pose_update_interval not defined, assigning default: 0.000000 s
[ INFO] [1705902007.126851772]: robot_body_filter_containment: Found parameter: filter/do_clipping, value: True
[ INFO] [1705902007.126871117]: robot_body_filter_containment: Found parameter: filter/do_contains_test, value: True
[ INFO] [1705902007.126889835]: robot_body_filter_containment: Found parameter: filter/do_shadow_test, value: False
[ INFO] [1705902007.126910838]: robot_body_filter_containment: Parameter filter/max_shadow_distance not defined, assigning default: 0.000000 m
[ INFO] [1705902007.126932304]: robot_body_filter_containment: Parameter transforms/timeout/reachable not defined, assigning default: 0.100000 s
[ INFO] [1705902007.126953551]: robot_body_filter_containment: Parameter transforms/timeout/unreachable not defined, assigning default: 0.200000 s
[ INFO] [1705902007.126974228]: robot_body_filter_containment: Parameter transforms/require_all_reachable not defined, assigning default: False
[ INFO] [1705902007.126995177]: robot_body_filter_containment: Parameter bounding_sphere/publish_cut_out_pointcloud not defined, assigning default: False
[ INFO] [1705902007.127017750]: robot_body_filter_containment: Parameter bounding_box/publish_cut_out_pointcloud not defined, assigning default: False
[ INFO] [1705902007.127038932]: robot_body_filter_containment: Parameter oriented_bounding_box/publish_cut_out_pointcloud not defined, assigning default: False
[ INFO] [1705902007.127059508]: robot_body_filter_containment: Parameter local_bounding_box/publish_cut_out_pointcloud not defined, assigning default: False
[ INFO] [1705902007.127080052]: robot_body_filter_containment: Parameter bounding_sphere/compute not defined, assigning default: False
[ INFO] [1705902007.127099682]: robot_body_filter_containment: Parameter bounding_box/compute not defined, assigning default: False
[ INFO] [1705902007.127120050]: robot_body_filter_containment: Parameter oriented_bounding_box/compute not defined, assigning default: False
[ INFO] [1705902007.127140390]: robot_body_filter_containment: Parameter local_bounding_box/compute not defined, assigning default: False
[ INFO] [1705902007.127160579]: robot_body_filter_containment: Parameter bounding_sphere/debug not defined, assigning default: False
[ INFO] [1705902007.127179978]: robot_body_filter_containment: Parameter bounding_box/debug not defined, assigning default: False
[ INFO] [1705902007.127200436]: robot_body_filter_containment: Parameter oriented_bounding_box/debug not defined, assigning default: False
[ INFO] [1705902007.127221021]: robot_body_filter_containment: Parameter local_bounding_box/debug not defined, assigning default: False
[ INFO] [1705902007.127240931]: robot_body_filter_containment: Parameter bounding_sphere/marker not defined, assigning default: False
[ INFO] [1705902007.127260219]: robot_body_filter_containment: Parameter bounding_box/marker not defined, assigning default: False
[ INFO] [1705902007.127280551]: robot_body_filter_containment: Parameter oriented_bounding_box/marker not defined, assigning default: False
[ INFO] [1705902007.127300903]: robot_body_filter_containment: Parameter local_bounding_box/marker not defined, assigning default: False
[ INFO] [1705902007.127321649]: robot_body_filter_containment: Parameter local_bounding_box/frame_id not defined, assigning default: base_link
[ INFO] [1705902007.127341925]: robot_body_filter_containment: Parameter debug/pcl/inside not defined, assigning default: False
[ INFO] [1705902007.127360258]: robot_body_filter_containment: Found parameter: debug/pcl/clip, value: True
[ INFO] [1705902007.127386815]: robot_body_filter_containment: Parameter debug/pcl/shadow not defined, assigning default: False
[ INFO] [1705902007.127412609]: robot_body_filter_containment: Parameter debug/marker/contains not defined, assigning default: False
[ INFO] [1705902007.127432774]: robot_body_filter_containment: Parameter debug/marker/shadow not defined, assigning default: False
[ INFO] [1705902007.127452250]: robot_body_filter_containment: Parameter debug/marker/bounding_sphere not defined, assigning default: False
[ INFO] [1705902007.127471876]: robot_body_filter_containment: Parameter debug/marker/bounding_box not defined, assigning default: False
[ INFO] [1705902007.127492626]: robot_body_filter_containment: Found parameter: body_model/inflation/padding, value: 0.030000 m
[ INFO] [1705902007.127511912]: robot_body_filter_containment: Found parameter: body_model/inflation/scale, value: 1.000000
[ INFO] [1705902007.127533008]: robot_body_filter_containment: Parameter body_model/inflation/contains_test/padding not defined, assigning default: 0.030000 m
[ INFO] [1705902007.127553474]: robot_body_filter_containment: Parameter body_model/inflation/contains_test/scale not defined, assigning default: 1.000000
[ INFO] [1705902007.127574389]: robot_body_filter_containment: Parameter body_model/inflation/shadow_test/padding not defined, assigning default: 0.030000 m
[ INFO] [1705902007.127594939]: robot_body_filter_containment: Parameter body_model/inflation/shadow_test/scale not defined, assigning default: 1.000000
[ INFO] [1705902007.127616049]: robot_body_filter_containment: Parameter body_model/inflation/bounding_sphere/padding not defined, assigning default: 0.030000 m
[ INFO] [1705902007.127636817]: robot_body_filter_containment: Parameter body_model/inflation/bounding_sphere/scale not defined, assigning default: 1.000000
[ INFO] [1705902007.127658851]: robot_body_filter_containment: Parameter body_model/inflation/bounding_box/padding not defined, assigning default: 0.030000 m
[ INFO] [1705902007.127675465]: robot_body_filter_containment: Parameter body_model/inflation/bounding_box/scale not defined, assigning default: 1.000000
[ INFO] [1705902007.127724733]: robot_body_filter_containment: Parameter body_model/inflation/per_link/padding not defined, assigning default: {} m
[ INFO] [1705902007.127744331]: robot_body_filter_containment: Parameter body_model/inflation/per_link/scale not defined, assigning default: {}
[ INFO] [1705902007.127781772]: robot_body_filter_containment: Parameter ignored_links/bounding_sphere not defined, assigning default: []
[ INFO] [1705902007.127832479]: robot_body_filter_containment: Parameter ignored_links/bounding_box not defined, assigning default: []
[ INFO] [1705902007.127844091]: robot_body_filter_containment: Parameter ignored_links/contains_test not defined, assigning default: []
[ INFO] [1705902007.127884750]: robot_body_filter_containment: Parameter ignored_links/shadow_test not defined, assigning default: ["laser"]
[ INFO] [1705902007.127917295]: robot_body_filter_containment: Parameter ignored_links/everywhere not defined, assigning default: []
[ INFO] [1705902007.127927562]: robot_body_filter_containment: Parameter only_links not defined, assigning default: []
[ INFO] [1705902007.127937848]: robot_body_filter_containment: Parameter body_model/dynamic_robot_description/field_name not defined, assigning default: robot_model
[depth_camera_kinectv2-1] process has died [pid 8745, exit code -11, cmd /opt/ros/noetic/lib/sensor_filters/pointcloud2_filter_chain ~input:=/number_count ~output:=velodyne_points_filtered __name:=depth_camera_kinectv2 __log:=/home/ted/.ros/log/aad8109e-b8e8-11ee-95b4-41a4f7dc10d2/depth_camera_kinectv2-1.log].
log file: /home/ted/.ros/log/aad8109e-b8e8-11ee-95b4-41a4f7dc10d2/depth_camera_kinectv2-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done### gdb
#0 0x00007ffff20a2308 in double __vector(4) Eigen::internal::pload<double __vector(4)>(Eigen::internal::unpacket_traits<double __vector(4)>::type const*) ()
from /home/ted/catkin_ws/devel/lib//librobot_body_filter.so
#1 0x00007ffff2148fd6 in double __vector(4) Eigen::internal::evaluator<Eigen::PlainObjectBase<Eigen::Matrix<double, 4, 4, 0, 4, 4> > >::packet<32, double __vector(4)>(long, long) const ()
from /home/ted/catkin_ws/devel/lib//librobot_body_filter.so
#2 0x00007ffff2146067 in void Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<double, double>, 0>::assignPacket<32, 32, double __vector(4)>(long, long) () from /home/ted/catkin_ws/devel/lib//librobot_body_filter.so
#3 0x00007ffff2141941 in void Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<double, double>, 0>::assignPacketByOuterInner<32, 32, double __vector(4)>(long, long) () from /home/ted/catkin_ws/devel/lib//librobot_body_filter.so
#4 0x00007ffff213c3d6 in Eigen::internal::copy_using_evaluator_innervec_CompleteUnrolling<Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<double, double>, 0>, 0, 16>::run(Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eig--Type <RET> for more, q to quit, c to continue without paging--c
en::internal::assign_op<double, double>, 0>&) () from /home/ted/catkin_ws/devel/lib//librobot_body_filter.so
#5 0x00007ffff1d01e3e in bodies::ConvexMesh::updateInternalData() () from /home/ted/catkin_ws/devel/lib/libgeometric_shapes.so.0.7.5
#6 0x00007ffff129d5b9 in point_containment_filter::ShapeMask::addShape (this=0x555555bab770, shape=warning: RTTI symbol not found for class 'std::_Sp_counted_ptr<shapes::Mesh*, (__gnu_cxx::_Lock_policy)2>'
warning: RTTI symbol not found for class 'std::_Sp_counted_ptr<shapes::Mesh*, (__gnu_cxx::_Lock_policy)2>'
std::shared_ptr<const class shapes::Shape> (use count 1, weak count 0) = {...}, scale=1, padding=0.029999999999999999) at ./point_containment_filter/src/shape_mask.cpp:78
#7 0x00007ffff1d87b62 in robot_body_filter::RayCastingShapeMask::addShape(std::shared_ptr<shapes::Shape const> const&, double, double, double, double, double, double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) () from /home/ted/catkin_ws/devel/lib/libRayCastingShapeMask.so
#8 0x00007ffff20d8bf5 in robot_body_filter::RobotBodyFilter<sensor_msgs::PointCloud2_<std::allocator<void> > >::addRobotMaskFromUrdf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) () from /home/ted/catkin_ws/devel/lib//librobot_body_filter.so
#9 0x00007ffff20bc59a in robot_body_filter::RobotBodyFilter<sensor_msgs::PointCloud2_<std::allocator<void> > >::configure() () from /home/ted/catkin_ws/devel/lib//librobot_body_filter.so
#10 0x00007ffff209b678 in robot_body_filter::RobotBodyFilterPointCloud2::configure() () from /home/ted/catkin_ws/devel/lib//librobot_body_filter.so
#11 0x000055555558200a in ?? ()
#12 0x0000555555582b4a in ?? ()
#13 0x0000555555582ea2 in ?? ()
#14 0x000055555558d217 in ?? ()
#15 0x000055555558b54c in ?? ()
#16 0x0000555555568c31 in ?? ()
#17 0x00007ffff7834083 in __libc_start_main (main=0x555555568bf0, argc=5, argv=0x7fffffffd4f8, init=<optimized out>, fini=<optimized out>, rtld_fini=<optimized out>, stack_end=0x7fffffffd4e8) at ../csu/libc-start.c:308
#18 0x0000555555568dae in ?? ()Okay, this CPU has AVX instructions.
I still see in the gdb trace:
bodies::ConvexMesh::updateInternalData()So there probably still is some collision mesh left? Or an element with only a visual mesh and no collision (I'm not sure whether these are automatically used for collision or not).
Also, does the problem happen if you install robot_body_filter using APT?
The errors you see on the other computer mean you have too short TF timeout. But that definitely doesn't lead to the segfaults.
advented0126
commented
9 months ago i remake the whole ROS workspace by
catkin build --cmake-args -DCMAKE_CXX_FLAGS="-mno-avx"
and also i have used the pcl ,so recompile the pcl with the same flag.
now its work and publish the point cloud !!
i felt like it kind of problem between eigen and AUX instructions, thanks for the helps again.
peci1
commented
9 months ago Great it works now. It is very important to have the avx/sse flags identical for all used libraries.
Just to make it clear - did you specify any custom compiler flags in your unsuccessful cases?
advented0126
commented
9 months ago I only used
catkin build
to compile to code before.
oh and i have tried to change the gcc version from 7 to 9 and still not working before.
now i have to add the flag.
peci1
commented
9 months ago It definitely shouldn't be needed to add the flag.
oh and i have tried to change the gcc version from 7 to 9 and still not working before.
All you other debug info indicated you're on Ubuntu 20.04. This Ubuntu has default GCC 9 and GCC 7 should not even be available on this system. Do you have some unusual system configuration?
peci1
commented
9 months ago And what about the APT-installed package? Does it also have this problem?
advented0126
commented
9 months ago i have tried using the apt install but still not working(before adding the flag)
peci1
commented
9 months ago Please, checkout current master. I've added examples/full_example.launch. Try running that and see if it fails, too. This should need nothing else running and should provide you with an RViz window displaying results of a running LaserScan body filter.
advented0126
commented
9 months ago Thanks you ,I will try it later.
advented0126
commented
9 months ago Sorry, I don't understand what you mean.Should I remake my Ros workspace without cpp flag only using catkin build to test it?
peci1
commented
9 months ago You said you're building this package from source. Just update it from git (git pull). No rebuilding needed.
can you help me,please
SUMMARY
lsb_release -a
No LSB modules are available. Distributor ID: Ubuntu Description: Ubuntu 20.04.6 LTS Release: 20.04 Codename: focaluname -a
Linux ted 5.15.0-91-generic #101~20.04.1-Ubuntu SMP Thu Nov 16 14:22:28 UTC 2023 x86_64 x86_64 x86_64 GNU/Linuxgdb
(gdb) bt
launch file & yaml
my tf tree
and i compiled it from source
after rebuild the geometric_shapes from source still corrupt
(gdb) bt