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ros-controls / gz_ros2_control

Connect the latest version of Gazebo with ros2_control.
https://gazebosim.org
Apache License 2.0
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Crashes after loading the plugin #188

Open tmayoff opened 11 months ago

tmayoff commented 11 months ago

I've compiled it all from source, all using the correct environment variables, I don't believe it's the same issues as this https://github.com/ros-controls/gz_ros2_control/issues/39. Crash happens in the demos as well. Any help is appreciated

This is the output:

[ruby $(which ign) gazebo-1] Stack trace (most recent call last) in thread 32925:
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f4726fbf190>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f4726fbf190>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f47271d5d50>'
[ruby $(which ign) gazebo-1] #8    Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in 
[ruby $(which ign) gazebo-1] #7    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa338e0d61b, in 
[ruby $(which ign) gazebo-1] #6    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa338d8d043, in 
[ruby $(which ign) gazebo-1] #5    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7fa3350d44a2, in 
[ruby $(which ign) gazebo-1] #4    Object "/home/tyler/src/module-ROS2/ws_ignition/install/lib/libignition-gazebo6.so.6", at 0x7fa3342346ef, in 
[ruby $(which ign) gazebo-1] #3    Object "/home/tyler/src/module-ROS2/ws_humble/install/ign_ros2_control/lib/libign_ros2_control-system.so", at 0x7fa2807ac0bd, in ign_ros2_control::IgnitionROS2ControlPlugin::PostUpdate(ignition::gazebo::v6::UpdateInfo const&, ignition::gazebo::v6::EntityComponentManager const&)
[ruby $(which ign) gazebo-1] #2    Object "/home/tyler/src/module-ROS2/ws_humble/install/hardware_interface/lib/libhardware_interface.so", at 0x7fa2805df5a1, in hardware_interface::ResourceManager::read(rclcpp::Time const&, rclcpp::Duration const&)
[ruby $(which ign) gazebo-1] #1    Object "/home/tyler/src/module-ROS2/ws_humble/install/hardware_interface/lib/libhardware_interface.so", at 0x7fa28061cd2e, in hardware_interface::System::read(rclcpp::Time const&, rclcpp::Duration const&)
[ruby $(which ign) gazebo-1] #0    Object "/home/tyler/src/module-ROS2/ws_humble/install/ign_ros2_control/lib/libign_hardware_plugins.so", at 0x7fa2701ff365, in ign_ros2_control::IgnitionSystem::read(rclcpp::Time const&, rclcpp::Duration const&)
[ruby $(which ign) gazebo-1] Segmentation fault (Address not mapped to object [(nil)])
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f4726fbf450>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f4726fbf450>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f47271d5d50>'
[ruby $(which ign) gazebo-1] Stack trace (most recent call last) in thread 32867:
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f4726fbf150>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f4726fbf150>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f47271d5d50>'
[ruby $(which ign) gazebo-1] #15   Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in 
[ruby $(which ign) gazebo-1] #14   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa338e0d61b, in 
[ruby $(which ign) gazebo-1] #13   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa338d8d043, in 
[ruby $(which ign) gazebo-1] #12   Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7fa32f4cbd42, in 
[ruby $(which ign) gazebo-1] #11   Object "/lib/x86_64-linux-gnu/libQt5Quick.so.5", at 0x7fa331c0a4b0, in 
[ruby $(which ign) gazebo-1] #10   Object "/lib/x86_64-linux-gnu/libQt5Quick.so.5", at 0x7fa331c0802e, in 
[ruby $(which ign) gazebo-1] #9    Object "/lib/x86_64-linux-gnu/libQt5Quick.so.5", at 0x7fa331c0dce2, in 
[ruby $(which ign) gazebo-1] #8    Object "/lib/x86_64-linux-gnu/libQt5Quick.so.5", at 0x7fa331c08dd0, in 
[ruby $(which ign) gazebo-1] #7    Object "/lib/x86_64-linux-gnu/libQt5Quick.so.5", at 0x7fa331c6d00c, in QQuickWindowPrivate::cleanupNodesOnShutdown()
[ruby $(which ign) gazebo-1] #6    Object "/lib/x86_64-linux-gnu/libQt5Quick.so.5", at 0x7fa331c63f45, in QQuickWindowPrivate::cleanupNodes()
[ruby $(which ign) gazebo-1] #5    Object "/lib/x86_64-linux-gnu/libQt5Quick.so.5", at 0x7fa331b94788, in QSGTransformNode::~QSGTransformNode()
[ruby $(which ign) gazebo-1] #4    Object "/lib/x86_64-linux-gnu/libQt5Quick.so.5", at 0x7fa331b94616, in QSGNode::~QSGNode()
[ruby $(which ign) gazebo-1] #3    Object "/lib/x86_64-linux-gnu/libQt5Quick.so.5", at 0x7fa331b945f0, in QSGNode::destroy()
[ruby $(which ign) gazebo-1] #2    Object "/lib/x86_64-linux-gnu/libQt5Quick.so.5", at 0x7fa331b94878, in QSGRootNode::~QSGRootNode()
[ruby $(which ign) gazebo-1] #1    Object "/lib/x86_64-linux-gnu/libQt5Quick.so.5", at 0x7fa331b94834, in QSGRootNode::~QSGRootNode()
[ruby $(which ign) gazebo-1] #0    Object "/lib/x86_64-linux-gnu/libQt5Quick.so.5", at 0x7fa331b945ee, in QSGNode::destroy()
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
Jack-ReframeSystems commented 9 months ago

Does this happen in an example? If not, could you provide a URDF and configuration file to reproduce this issue?

tmayoff commented 9 months ago

I did happen with the examples, should be noted this was all built from source on debian bookworm rather than Ubuntu