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ros-visualization / rviz

ROS 3D Robot Visualizer
BSD 3-Clause "New" or "Revised" License
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Slow speed using ASan #1805

Closed captain-yoshi closed 9 months ago

captain-yoshi commented 9 months ago

I am trying to pinpoint a bug from a _rvizplugin that I created. I'm using the ASan sanitizer to try to locate it. But it is too slow to replicate the bug, because I need to save waypoints from an interactive marker. Built in Release mode with gcc and g++. Tested with a local build of RViz (d560273e15a518b31b30dcc4e6814511fd672a9b).

I currently add these flags -fno-omit-frame-pointer -fsanitize=address to the target_link_libraries of RViz and my plugin. I can see some outputs relatively fast when I click a QT button with a known bug. But using the interactive marker to move the robot is too slow.

Is there a way to only compile against ASan with my shared library (plugin) and not the rviz binary ? If I don't add the flags to RViz, I do not see any output from ASan. I know I can turn off some functions using special attributes, but I would prefer to not go this way. Obviously, I could store some waypoints in the code instead of relying of the interactive marker.

The binary is launched through roslaunch:

 <node name="rviz" pkg="rviz" type="rviz" respawn="false" args="$(arg my_rviz)" output="screen" launch-prefix=""/>

I have also tried exporting before launching the RViz binary (without the flags) but the program crashes instantly (maybe because it does that for all the nodes...)

export LD_PRELOAD=/usr/lib/gcc/x86_64-linux-gnu/9/libasan.so
rhaschke commented 9 months ago

I'm afraid, asan usage is slow due to the memory book-keeping overhead. You can't really avoid that. LD_PRELOAD, when applied to roslaunch, will sanitize all programs started - not a good idea.

captain-yoshi commented 9 months ago

Thanks! Cleaned up my workspace for the 9th time and now it is much better, e.g. I can move the robot. So I guess I had one or more packages still in Debug...