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ros-controls / ros_control

Generic and simple controls framework for ROS
http://wiki.ros.org/ros_control
BSD 3-Clause "New" or "Revised" License
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Transport error and gazebo segmentation fault. #424

Closed johuber closed 4 years ago

johuber commented 4 years ago

I am getting an exception at this line, since upgrade my linux packages today. (using ros-melodic).

Immediately after a segmentation fault occurs. Is anyone else facing similar issues?

matthew-reynolds commented 4 years ago

Looks like this it may be the same problem mentioned in #418.

It seems the Gazebo segfault is a symptom and the transport error is the cause, in particular because in #418 the same issue occurs without Gazebo present. With that in mind, can you give any more information about the situation - What was going on/what you were doing when it crashed?

johuber commented 4 years ago

So the full error message is this:

[INFO] [1581065620.621149][/controller_spawner][/opt/ros/melodic/lib/controller_manager/spawner:184]: Loading controller: joint_state_controller
[INFO] [1581065620.647413][/controller_spawner][/opt/ros/melodic/lib/controller_manager/spawner:192]: Controller Spawner: Loaded controllers: blitz_one_tricycle_drive_controller, joint_state_controller
Traceback (most recent call last):
  File "/opt/ros/melodic/lib/controller_manager/spawner", line 207, in <module>
    if __name__ == '__main__': main()
  File "/opt/ros/melodic/lib/controller_manager/spawner", line 199, in main
    resp = switch_controller(loaded, [], 2, False, 0.0)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 439, in __call__
    return self.call(*args, **kwds)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 529, in call
    raise ServiceException("transport error completing service call: %s"%(str(e)))
rospy.service.ServiceException: transport error completing service call: unable to receive data from sender, check sender's logs for details
[INFO] [1581065676.594091][/controller_spawner][/opt/ros/melodic/lib/controller_manager/spawner:55]: Shutting down spawner. Stopping and unloading controllers...
[INFO] [1581065676.595180][/controller_spawner][/opt/ros/melodic/lib/controller_manager/spawner:64]: Stopping all controllers...
[WARN] [1581065676.611304][/controller_spawner][/opt/ros/melodic/lib/controller_manager/spawner:72]: Controller Spawner error while taking down controllers: unable to connect to service: [Errno 104] Connection reset by peer
Segmentation fault (core dumped)

Note that about 30s pass, before the exception is thrown. I will have to look deeper into it first myself, I realized we also may have some non-updated versions.

I will get back to you if I keep having the issue.

johuber commented 4 years ago

Apologize, it was an internal issue. I did not realize we had some outdated forks which lead to the issue. Interesting they only occurred now.

Thanks anyway!