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ROS 3D Robot Visualizer
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rviz segfault when killing robot_state_publisher (ros-pkg ticket #4461) #355

Closed hershwg closed 11 years ago

hershwg commented 11 years ago

I'm using the ros-cturtle debs on Lucid Lynx. I have rviz displaying a robot model, and tf transforms are being published by robot_state_publisher. When I kill robot_state_publisher, rviz crashes with no error messages other than "Segmentation fault". The problem is not reproducible under gdb. Neither is it reproducible reliably under valgrind, but I got some interesting valgrind complaints just once when trying to reproduce it. (attached)

Let me know if you have further ideas on reproducing this problem, or any further information that might help.

trac data:

hershwg commented 11 years ago

[jfaust] Hmm -- is this reproducible 100% of the time for you? I've just tried it ~20 times or so with the latest cturtle debs with no luck.

The valgrind problems appear to be roscpp bugs, which may be causing the crash... those I can reproduce by kill -9ing the state publisher, and I can reproduce with just a talker/listener.

hershwg commented 11 years ago

[mrinal] Yes, it's reproducible 100% of the time when running without gdb or valgrind. I've been doing this all day since I'm debugging a robot urdf model, so I have to keep restarting the robot_state_publisher. Under gdb or valgrind however, I can never get it to crash at all.

Maybe this bug should be reassigned to roscpp to fix the TransportTCP problems?

hershwg commented 11 years ago

[jfaust] Depends if that's the actual cause of the crash. I've opened a separate ticket rather than moving this one: #ros3047

If the fix for that ends up fixing your crash (once I have a fix anyway), we can close this one.

hershwg commented 11 years ago

[jfaust] Ok, after tracking it down I doubt the it will fix any crash, but can you try this diff for roscpp? https://code.ros.org/trac/ros/changeset/11356?format=diff&new=11356

hershwg commented 11 years ago

[mrinal] Give me a moment, I'll have to install ros from source to test this. Oh, how the debs have spoilt us!

hershwg commented 11 years ago

[mrinal] No luck, I still get the crash. I also still get the valgrind messages when I kill -9 though. All I did was get ros from svn (only core ros, not the rest), apply the patch, compile, change ROS_ROOT to the new ros and also add that to the front of my ROS_PACKAGE_PATH, and re-run everything. Shouldn't that be enough?

hershwg commented 11 years ago

[jfaust] No, because of the use of rpath it's still going to be using the version of roscpp it was built against. You need to get the stacks through visualization and rebuild.

hershwg commented 11 years ago

[rusu] I got the same problem with PointCloud2 visualizers. To reproduce, try this:

{{{ $ roscore $ rosrun rviz rviz $ roslaunch }}}

where is: {{{

filter_field_name: z filter_limit_min: 0.01 filter_limit_max: 1.5

}}}

Then, Ctrl+C the roslaunch, and rviz will die. (or does on my machine - CTurtle deb install)

hershwg commented 11 years ago

[jfaust] what's your rviz configuration?

hershwg commented 11 years ago

[jfaust] well, subscribing with a PointCloud2 display to scene_pointcloud2 doesn't produce the crash for me with the latest cturtle debs. Kevin seems to be having a similar problem: #4463, which points to a driver problem. What nvidia drivers are you guys using?

hershwg commented 11 years ago

[mrinal] I'm using NVIDIA driver 260.19.06 on a GeForce 7300 GT. After reading the other thread, it's starting to look more and more like a driver issue. Although I don't see how killing a TCP connection affects the graphics driver...

hershwg commented 11 years ago

[rusu] 260.24 here -- I also had 256.35 and 256.53, and I remember having the same problems. I can try on another machine with a different card/driver.

hershwg commented 11 years ago

[jfaust] latest apt-gettable drivers (256.35) with latest cturtle debs work fine on my machine. Radu, if you can reproduce on the released drivers, I can take a look on your machine

hershwg commented 11 years ago

[rusu] Kai has the same issue on bie (stock NVidia driver install from Ubuntu 10.04). Nathan set up the machine so it's standard.

hershwg commented 11 years ago

[rusu] {{{ rusu@bie:~$ dmesg | grep NV [ 0.000000] BIOS-e820: 00000000bf79e000 - 00000000bf7d0000 (ACPI NVS) [ 0.000000] modified: 00000000bf79e000 - 00000000bf7d0000 (ACPI NVS) [ 10.153423] nvidia: module license 'NVIDIA' taints kernel. [ 10.700088] NVRM: loading NVIDIA UNIX x86_64 Kernel Module 256.35 Wed Jun 16 18:42:44 PDT 2010 }}}

hershwg commented 11 years ago

[rusu] Yey! I finally made it crash:

{{{

rviz: /opt/ros/cturtle/stacks/visualization_common/ogre/build/ogre_src_v1-7-1/OgreMain/src/OgreFileSystem.cpp:219: virtual Ogre::DataStreamPtr Ogre::FileSystemArchive::open(const Ogre::String&, bool) const: Assertion `ret == 0 && "Problem getting file size"' failed.

Program received signal SIGABRT, Aborted. 0x00007fffef235a75 in ___GI_raise (sig=) at ../nptl/sysdeps/unix/sysv/linux/raise.c:64 64 ../nptl/sysdeps/unix/sysv/linux/raise.c: No such file or directory. in ../nptl/sysdeps/unix/sysv/linux/raise.c (gdb) where

0 0x00007fffef235a75 in *__GI_raise (sig=) at ../nptl/sysdeps/unix/sysv/linux/raise.c:64

1 0x00007fffef2395c0 in *__GI_abort () at abort.c:92

2 0x00007fffef22e941 in *__GI___assert_fail (assertion=0x7ffff756f298 "ret == 0 && \"Problem getting file size\"", file=, line=219,

function=0x7ffff756f8c0 "virtual Ogre::DataStreamPtr Ogre::FileSystemArchive::open(const Ogre::String&, bool) const") at assert.c:81

3 0x00007ffff72dd222 in Ogre::FileSystemArchive::open (this=0x7fffda6f6a08, filename=..., readOnly=true)

at /opt/ros/cturtle/stacks/visualization_common/ogre/build/ogre_src_v1-7-1/OgreMain/src/OgreFileSystem.cpp:219

4 0x00007ffff7434e9c in Ogre::ResourceGroupManager::openResource (this=0x7ffff7e12b58, resourceName=..., groupName=..., searchGroupsIfNotFound=,

resourceBeingLoaded=<value optimized out>) at /opt/ros/cturtle/stacks/visualization_common/ogre/build/ogre_src_v1-7-1/OgreMain/src/OgreResourceGroupManager.cpp:696

5 0x00007ffff74352af in Ogre::ResourceGroupManager::openResource (this=0x7ffff7e12b58, resourceName=..., groupName=..., searchGroupsIfNotFound=,

resourceBeingLoaded=<value optimized out>) at /opt/ros/cturtle/stacks/visualization_common/ogre/build/ogre_src_v1-7-1/OgreMain/src/OgreResourceGroupManager.cpp:746

6 0x00007ffff738f813 in Ogre::Mesh::prepareImpl (this=0x7fffc4e947d0) at /opt/ros/cturtle/stacks/visualization_common/ogre/build/ogre_src_v1-7-1/OgreMain/src/OgreMesh.cpp:269

7 0x00007ffff742cfab in Ogre::Resource::load (this=0x7fffc4e947d0, background=false) at /opt/ros/cturtle/stacks/visualization_common/ogre/build/ogre_src_v1-7-1/OgreMain/src/OgreResource.cpp:225

8 0x00007ffff7397ef7 in Ogre::MeshManager::load (this=, filename=, groupName=, vertexBufferUsage=,

indexBufferUsage=<value optimized out>, vertexBufferShadowed=<value optimized out>, indexBufferShadowed=<value optimized out>)
at /opt/ros/cturtle/stacks/visualization_common/ogre/build/ogre_src_v1-7-1/OgreMain/src/OgreMeshManager.cpp:123

9 0x00007ffff72d41d6 in Ogre::EntityFactory::createInstanceImpl (this=, name=..., params=0x7fffffffbc60)

at /opt/ros/cturtle/stacks/visualization_common/ogre/build/ogre_src_v1-7-1/OgreMain/src/OgreEntity.cpp:2181

10 0x00007ffff73ab771 in Ogre::MovableObjectFactory::createInstance (this=0x1c6d, name=..., manager=0x7ffff7e4ef88, params=0xffffffffffffffff)

at /opt/ros/cturtle/stacks/visualization_common/ogre/build/ogre_src_v1-7-1/OgreMain/src/OgreMovableObject.cpp:471

11 0x00007ffff74698e5 in Ogre::SceneManager::createMovableObject (this=0x7ffff7e4ef88, name=..., typeName=..., params=0x7fffffffbc60)

at /opt/ros/cturtle/stacks/visualization_common/ogre/build/ogre_src_v1-7-1/OgreMain/src/OgreSceneManager.cpp:6487

12 0x00007ffff74656ed in Ogre::SceneManager::createEntity (this=, entityName=, meshName=, groupName=)

at /opt/ros/cturtle/stacks/visualization_common/ogre/build/ogre_src_v1-7-1/OgreMain/src/OgreSceneManager.cpp:536

13 0x00007ffff7bb8dfc in ogre_tools::Shape::createEntity (name=..., type=, scene_manager=0x7ffff7e4ef88)

at /opt/ros/cturtle/stacks/visualization_common/ogre_tools/src/ogre_tools/shape.cpp:70

14 0x00007ffff222b516 in rviz::RobotLink::createEntityForGeometryElement (this=0x7fffd119b0d0, root_element=, link=, geom=...,

origin=<value optimized out>, parent_node=<value optimized out>, entity=@0x7fffd119b158, scene_node=@0x7fffd119b168, offset_node=@0x7fffd119b170)
at /opt/ros/cturtle/stacks/visualization/rviz/src/rviz/robot/robot_link.cpp:311

15 0x00007ffff222ba4d in rviz::RobotLink::createVisual (this=0x1c6d, root_element=0x1c6d, link=...) at /opt/ros/cturtle/stacks/visualization/rviz/src/rviz/robot/robot_link.cpp:417

16 0x00007ffff222da4e in rviz::RobotLink::load (this=0x7fffd119b0d0, root_element=0x7fffb2dc5d20, descr=..., link=..., visual=true, collision=true)

at /opt/ros/cturtle/stacks/visualization/rviz/src/rviz/robot/robot_link.cpp:161

17 0x00007ffff223110a in rviz::Robot::load (this=0x1189b20, root_element=, descr=..., visual=, collision=)

at /opt/ros/cturtle/stacks/visualization/rviz/src/rviz/robot/robot.cpp:215

18 0x00007fffc844bec3 in rviz::RobotModelDisplay::load (this=0x1189590) at /opt/ros/cturtle/stacks/visualization/rviz/src/rviz/default_plugin/robot_model_display.cpp:194

19 0x00007fffc844cb49 in rviz::RobotModelDisplay::onEnable (this=0x1c6d) at /opt/ros/cturtle/stacks/visualization/rviz/src/rviz/default_plugin/robot_model_display.cpp:200

20 0x00007ffff2219bf3 in rviz::Display::enable (this=0x1189590, force=109) at /opt/ros/cturtle/stacks/visualization/rviz/src/rviz/display.cpp:74

21 0x00007ffff221bac7 in rviz::DisplayWrapper::setEnabled (this=0x11878c0, enabled=109) at /opt/ros/cturtle/stacks/visualization/rviz/src/rviz/display_wrapper.cpp:227

22 0x00007ffff21b7b72 in boost::detail::function::void_function_obj_invoker1<boost::function<void ()(bool)>, void, bool const&>::invoke(boost::detail::function::function_buffer&, bool const&) ()

from /opt/ros/cturtle/stacks/visualization/rviz/lib/librviz.so

23 0x00007ffff21ab310 in boost::function1<void, bool const&>::operator() (this=0x1188830) at /usr/include/boost/function/function_template.hpp:1013

24 rviz::Property::set (this=0x1188830) at /opt/ros/cturtle/stacks/visualization/rviz/src/rviz/properties/property.h:268

25 rviz::CategoryProperty::readFromGrid (this=0x1188830) at /opt/ros/cturtle/stacks/visualization/rviz/src/rviz/properties/property.cpp:1090

26 0x00007ffff0482ff0 in wxEvtHandler::ProcessEventIfMatches(wxEventTableEntryBase const&, wxEvtHandler_, wxEvent&) () from /usr/lib64/libwx_baseu-2.8.so.0

---Type to continue, or q to quit---

27 0x00007ffff048315f in wxEvtHandler::SearchDynamicEventTable(wxEvent&) () from /usr/lib64/libwx_baseu-2.8.so.0

28 0x00007ffff0484072 in wxEvtHandler::ProcessEvent(wxEvent&) () from /usr/lib64/libwx_baseu-2.8.so.0

29 0x00007ffff0484030 in wxEvtHandler::ProcessEvent(wxEvent&) () from /usr/lib64/libwx_baseu-2.8.so.0

30 0x00007ffff0e44925 in wxScrollHelperEvtHandler::ProcessEvent(wxEvent&) () from /usr/lib64/libwx_gtk2u_core-2.8.so.0

31 0x00007ffff606c6e2 in wxPropertyGrid::SendEvent (this=0xa84000, eventType=, p=0x1188e20, pValue=0x0, selFlags=8, column=1) at ./src/propgrid.cpp:7768

32 0x00007ffff6077a87 in wxPropertyGrid::DoPropertyChanged (this=0xa84000, p=, selFlags=) at ./src/propgrid.cpp:6603

33 0x00007ffff6076c85 in wxPropertyGrid::OnCustomEditorEvent (this=0xa84000, event=...) at ./src/propgrid.cpp:6823

34 0x00007ffff6053874 in wxSimpleCheckBox::SetValue (this=0x7fffc31f57f0, value=) at ./src/editors.cpp:1573

35 0x00007ffff6053a5a in wxSimpleCheckBox::ProcessEvent (this=0x7fffc31f57f0, event=...) at ./src/editors.cpp:1658

36 0x00007ffff0d21452 in ?? () from /usr/lib64/libwx_gtk2u_core-2.8.so.0

37 0x00007fffeed22178 in ?? () from /usr/lib64/libgtk-x11-2.0.so.0

38 0x00007fffed2495de in g_closure_invoke () from /usr/lib64/libgobject-2.0.so.0

39 0x00007fffed25d598 in ?? () from /usr/lib64/libgobject-2.0.so.0

40 0x00007fffed25e8b9 in g_signal_emit_valist () from /usr/lib64/libgobject-2.0.so.0

41 0x00007fffed25f033 in g_signal_emit () from /usr/lib64/libgobject-2.0.so.0

42 0x00007fffeee390bf in ?? () from /usr/lib64/libgtk-x11-2.0.so.0

43 0x00007fffeed1a643 in gtk_propagate_event () from /usr/lib64/libgtk-x11-2.0.so.0

44 0x00007fffeed1b71b in gtk_main_do_event () from /usr/lib64/libgtk-x11-2.0.so.0

45 0x00007fffee98f86c in ?? () from /usr/lib64/libgdk-x11-2.0.so.0

46 0x00007fffec98b8c2 in g_main_context_dispatch () from /lib/libglib-2.0.so.0

47 0x00007fffec98f748 in ?? () from /lib/libglib-2.0.so.0

48 0x00007fffec98fc55 in g_main_loop_run () from /lib/libglib-2.0.so.0

49 0x00007fffeed1bbb7 in gtk_main () from /usr/lib64/libgtk-x11-2.0.so.0

50 0x00007ffff0d0e558 in wxEventLoop::Run() () from /usr/lib64/libwx_gtk2u_core-2.8.so.0

51 0x00007ffff0d932eb in wxAppBase::MainLoop() () from /usr/lib64/libwx_gtk2u_core-2.8.so.0

52 0x00007ffff042947c in wxEntry(int&, wchar_t**) () from /usr/lib64/libwx_baseu-2.8.so.0

53 0x0000000000413b62 in main (argc=1, argv=0x1c6d) at /opt/ros/cturtle/stacks/visualization/rviz/src/rviz/visualizer_app.cpp:321

}}}

hershwg commented 11 years ago

[jfaust] That's what happens when you ctrl-c the publisher? That looks like it was triggered from enabling the robot model display.

hershwg commented 11 years ago

[rusu] Yeah, that was on Ctrl+C.

I got another one just by leaving RViz on for a few minutes (during lunch today). When I came back, I got this: {{{

* glibc detected * /opt/ros/cturtle/stacks/visualization/rviz/bin/rviz: malloc(): smallbin double linked list corrupted: 0x00007fffd7a63b90 *** ======= Backtrace: ========= /lib/libc.so.6(+0x775b6)[0x7fffef2795b6] /lib/libc.so.6(+0x7b8e9)[0x7fffef27d8e9] /lib/libc.so.6(libc_malloc+0x6e)[0x7fffef27e58e] /usr/lib64/libwx_baseu-2.8.so.0(_ZN12wxStringBase11AllocBufferEm+0x54)[0x7ffff0448454] /usr/lib64/libwx_baseu-2.8.so.0(_ZN12wxStringBase16AllocBeforeWriteEm+0x2e)[0x7ffff044981e] /usr/lib64/libwx_baseu-2.8.so.0(_ZN8wxString11GetWriteBufEm+0x9)[0x7ffff0449899] /usr/lib64/libwx_baseu-2.8.so.0(_ZN8wxString9FromAsciiEPKc+0xbb)[0x7ffff044af2b] /opt/ros/cturtle/stacks/visualization/rviz/lib/librviz.so(_ZN4rviz14StatusProperty9setStatusENS_13statuslevels11StatusLevelERKSsS4+0x236)[0x7ffff21a97b6] /opt/ros/cturtle/stacks/visualization/rviz/lib/librviz.so(_ZN4rviz7Display9setStatusENS_13statuslevels11StatusLevelERKSsS4+0x5d)[0x7ffff221996d] /opt/ros/cturtle/stacks/visualization/rviz/lib/libdefault_plugin.so(_ZN4rviz14PointCloudBase12updateStatusEv+0x20b)[0x7fffc84c5edb] /opt/ros/cturtle/stacks/visualization/rviz/lib/libdefault_plugin.so(_ZN4rviz14PointCloudBase6updateEff+0x4e6)[0x7fffc84c6466] /opt/ros/cturtle/stacks/visualization/rviz/lib/librviz.so(_ZN4rviz20VisualizationManager8onUpdateER12wxTimerEvent+0x204)[0x7ffff21f73d4] /usr/lib64/libwx_baseu-2.8.so.0(_ZN12wxEvtHandler21ProcessEventIfMatchesERK21wxEventTableEntryBasePS_R7wxEvent+0x50)[0x7ffff0482ff0] /usr/lib64/libwx_baseu-2.8.so.0(_ZN12wxEvtHandler23SearchDynamicEventTableER7wxEvent+0x4f)[0x7ffff048315f] /usr/lib64/libwx_baseu-2.8.so.0(_ZN12wxEvtHandler12ProcessEventER7wxEvent+0x92)[0x7ffff0484072] /usr/lib64/libwx_gtk2u_core-2.8.so.0(_ZN11wxTimerBase6NotifyEv+0x68)[0x7ffff0e0b3f8] /usr/lib64/libwx_gtk2u_core-2.8.so.0(+0x1ebe8b)[0x7ffff0d16e8b] /lib/libglib-2.0.so.0(+0x3f09b)[0x7fffec98c09b] /lib/libglib-2.0.so.0(g_main_context_dispatch+0x1f2)[0x7fffec98b8c2] /lib/libglib-2.0.so.0(+0x42748)[0x7fffec98f748] /lib/libglib-2.0.so.0(g_main_loop_run+0x195)[0x7fffec98fc55] /usr/lib64/libgtk-x11-2.0.so.0(gtk_main+0xa7)[0x7fffeed1bbb7] /usr/lib64/libwx_gtk2u_core-2.8.so.0(_ZN11wxEventLoop3RunEv+0x48)[0x7ffff0d0e558] /usr/lib64/libwx_gtk2u_core-2.8.so.0(_ZN9wxAppBase8MainLoopEv+0x4b)[0x7ffff0d932eb] /usr/lib64/libwx_baseu-2.8.so.0(_Z7wxEntryRiPPw+0x4c)[0x7ffff042947c] /opt/ros/cturtle/stacks/visualization/rviz/bin/rviz(main+0x12)[0x413b62] /lib/libc.so.6(__libc_start_main+0xfd)[0x7fffef220c4d] /opt/ros/cturtle/stacks/visualization/rviz/bin/rviz[0x413a39] ======= Memory map: ======== 00400000-00422000 r-xp 00000000 08:01 2662865 /opt/ros/cturtle/stacks/visualization/rviz/bin/rviz 00622000-00623000 r--p 00022000 08:01 2662865 /opt/ros/cturtle/stacks/visualization/rviz/bin/rviz 00623000-00624000 rw-p 00023000 08:01 2662865 /opt/ros/cturtle/stacks/visualization/rviz/bin/rviz 00624000-17194000 rw-p 00000000 00:00 0 [heap] 40000000-40066000 rw-p 00000000 00:05 1151 /dev/zero 40066000-40069000 r-xs 00000000 08:01 4219849 /tmp/gltkeFnd (deleted) 7fffa8000000-7fffa9069000 rw-p 00000000 00:00 0 7fffa9069000-7fffac000000 ---p 00000000 00:00 0 7fffac000000-7fffafd96000 rw-p 00000000 00:00 0 7fffafd96000-7fffb0000000 ---p 00000000 00:00 0 7fffb0000000-7fffb326e000 rw-p 00000000 00:00 0 7fffb326e000-7fffb4000000 ---p 00000000 00:00 0 7fffb7a60000-7fffb8000000 rw-s 0bee4000 00:05 5406 /dev/nvidia0 7fffb8000000-7fffbbfe4000 rw-p 00000000 00:00 0 7fffbbfe4000-7fffbc000000 ---p 00000000 00:00 0 7fffbd0cf000-7fffbd1cf000 rw-p 00000000 00:00 0 7fffbd1cf000-7fffbd76f000 rw-s 1355a000 00:05 5406 /dev/nvidia0 7fffbd76f000-7fffbd96f000 rw-s 0428b000 00:05 5406 /dev/nvidia0 7fffbd96f000-7fffbdf0f000 rw-s 8a94e000 00:05 5406 /dev/nvidia0 7fffbdf0f000-7fffbe4af000 rw-s aa728000 00:05 5406 /dev/nvidia0 7fffbe4af000-7fffbea4f000 rw-s c6d04000 00:05 5406 /dev/nvidia0 7fffbea4f000-7fffbec4f000 rw-s 3489e000 00:05 5406 /dev/nvidia0 7fffbec4f000-7fffbf627000 rw-s 8aab0000 00:05 5406 /dev/nvidia0 7fffbf627000-7fffc0000000 rw-p 00000000 00:00 0 7fffc0000000-7fffc3fb0000 rw-p 00000000 00:00 0 7fffc3fb0000-7fffc4000000 ---p 00000000 00:00 0 7fffc43f2000-7fffc45f2000 rw-s bbafd000 00:05 5406 /dev/nvidia0 7fffc45f2000-7fffc4fcb000 rw-p 00000000 00:00 0 7fffc5406000-7fffc5dde000 rw-s 7c9b1000 00:05 5406 /dev/nvidia0 7fffc6073000-7fffc6613000 rw-s 0808d000 00:05 5406 /dev/nvidia0 7fffc6613000-7fffc6614000 ---p 00000000 00:00 0 7fffc6614000-7fffc6e14000 rwxp 00000000 00:00 0 7fffc6e14000-7fffc6e21000 r-xp 00000000 08:01 559998 /usr/lib/libgomp.so.1.0.0 7fffc6e21000-7fffc7020000 ---p 0000d000 08:01 559998 /usr/lib/libgomp.so.1.0.0 7fffc7020000-7fffc7021000 r--p 0000c000 08:01 559998 /usr/lib/libgomp.so.1.0.0 7fffc7021000-7fffc7022000 rw-p 0000d000 08:01 559998 /usr/lib/libgomp.so.1.0.0 7fffc7022000-7fffc7039000 r-xp 00000000 08:01 2547758 /opt/ros/cturtle/stacks/common/actionlib/lib/libactionlib.so 7fffc7039000-7fffc7238000 ---p 00017000 08:01 2547758 /opt/ros/cturtle/stacks/common/actionlib/lib/libactionlib.so 7fffc7238000-7fffc7239000 r--p 00016000 08:01 2547758 /opt/ros/cturtle/stacks/common/actionlib/lib/libactionlib.so 7fffc7239000-7fffc723a000 rw-p 00017000 08:01 2547758 /opt/ros/cturtle/stacks/common/actionlib/lib/libactionlib.so 7fffc723a000-7fffc7356000 r-xp 00000000 08:01 2608430 /opt/ros/cturtle/stacks/physics_ode/opende/opende/lib/libode.so.1.1.1 7fffc7356000-7fffc7556000 ---p 0011c000 08:01 2608430 /opt/ros/cturtle/stacks/physics_ode/opende/opende/lib/libode.so.1.1.1 7fffc7556000-7fffc7559000 r--p 0011c000 08:01 2608430 /opt/ros/cturtle/stacks/physics_ode/opende/opende/lib/libode.so.1.1.1 7fffc7559000-7fffc755b000 rw-p 0011f000 08:01 2608430 /opt/ros/cturtle/stacks/physicsode/opende/opende/lib/libode.so.1.1.1 Program received signal SIGABRT, Aborted. 0x00007fffef235a75 in GI_raise (sig=) at ../nptl/sysdeps/unix/sysv/linux/raise.c:64 64 ../nptl/sysdeps/unix/sysv/linux/raise.c: No such file or directory. in ../nptl/sysdeps/unix/sysv/linux/raise.c (gdb) where

0 0x00007fffef235a75 in *__GI_raise (sig=) at ../nptl/sysdeps/unix/sysv/linux/raise.c:64

1 0x00007fffef2395c0 in *__GI_abort () at abort.c:92

2 0x00007fffef26f4fb in __libc_message (do_abort=, fmt=) at ../sysdeps/unix/sysv/linux/libc_fatal.c:189

3 0x00007fffef2795b6 in malloc_printerr (action=3, str=0x7fffef34ced8 "malloc(): smallbin double linked list corrupted", ptr=) at malloc.c:6266

4 0x00007fffef27d8e9 in _int_malloc (av=0x7fffd4000020, bytes=104) at malloc.c:4308

5 0x00007fffef27e58e in *__GI___libc_malloc (bytes=104) at malloc.c:3660

6 0x00007ffff0448454 in wxStringBase::AllocBuffer(unsigned long) () from /usr/lib64/libwx_baseu-2.8.so.0

7 0x00007ffff044981e in wxStringBase::AllocBeforeWrite(unsigned long) () from /usr/lib64/libwx_baseu-2.8.so.0

8 0x00007ffff0449899 in wxString::GetWriteBuf(unsigned long) () from /usr/lib64/libwx_baseu-2.8.so.0

9 0x00007ffff044af2b in wxString::FromAscii(char const_) () from /usr/lib64/libwx_baseu-2.8.so.0

10 0x00007ffff21a97b6 in rviz::StatusProperty::setStatus (this=0xec7bf0, level=rviz::status_levels::Ok, name=..., text=...)

at /opt/ros/cturtle/stacks/visualization/rviz/src/rviz/properties/property.cpp:251

11 0x00007ffff221996d in rviz::Display::setStatus (this=0xe78f90, level=15983, name=..., text=...) at /opt/ros/cturtle/stacks/visualization/rviz/src/rviz/display.cpp:173

12 0x00007fffc84c5edb in rviz::PointCloudBase::updateStatus (this=0xe78f90) at /opt/ros/cturtle/stacks/visualization/rviz/src/rviz/default_plugin/point_cloud_base.cpp:883

13 0x00007fffc84c6466 in rviz::PointCloudBase::update (this=0xe78f90, wall_dt=, ros_dt=)

at /opt/ros/cturtle/stacks/visualization/rviz/src/rviz/default_plugin/point_cloud_base.cpp:770

14 0x00007ffff21f73d4 in rviz::VisualizationManager::onUpdate (this=0xe1a560, event=) at /opt/ros/cturtle/stacks/visualization/rviz/src/rviz/visualization_manager.cpp:331

15 0x00007ffff0482ff0 in wxEvtHandler::ProcessEventIfMatches(wxEventTableEntryBase const&, wxEvtHandler_, wxEvent&) () from /usr/lib64/libwx_baseu-2.8.so.0

16 0x00007ffff048315f in wxEvtHandler::SearchDynamicEventTable(wxEvent&) () from /usr/lib64/libwx_baseu-2.8.so.0

17 0x00007ffff0484072 in wxEvtHandler::ProcessEvent(wxEvent&) () from /usr/lib64/libwx_baseu-2.8.so.0

18 0x00007ffff0e0b3f8 in wxTimerBase::Notify() () from /usr/lib64/libwx_gtk2u_core-2.8.so.0

19 0x00007ffff0d16e8b in ?? () from /usr/lib64/libwx_gtk2u_core-2.8.so.0

20 0x00007fffec98c09b in ?? () from /lib/libglib-2.0.so.0

21 0x00007fffec98b8c2 in g_main_context_dispatch () from /lib/libglib-2.0.so.0

22 0x00007fffec98f748 in ?? () from /lib/libglib-2.0.so.0

23 0x00007fffec98fc55 in g_main_loop_run () from /lib/libglib-2.0.so.0

24 0x00007fffeed1bbb7 in gtk_main () from /usr/lib64/libgtk-x11-2.0.so.0

25 0x00007ffff0d0e558 in wxEventLoop::Run() () from /usr/lib64/libwx_gtk2u_core-2.8.so.0

26 0x00007ffff0d932eb in wxAppBase::MainLoop() () from /usr/lib64/libwx_gtk2u_core-2.8.so.0

27 0x00007ffff042947c in wxEntry(int&, wchart*) () from /usr/lib64/libwx_baseu-2.8.so.0

28 0x0000000000413b62 in main (argc=1, argv=0x3e6f) at /opt/ros/cturtle/stacks/visualization/rviz/src/rviz/visualizer_app.cpp:321

(gdb) r }}}

hershwg commented 11 years ago

[jfaust] What was it doing when this happened? Were you connected to a robot? What was your config?

hershwg commented 11 years ago

[rusu] I attached the rviz vcg config. We were connected to pri, and it was just displaying point cloud data in the background (screen locked while I went to lunch).

I'll come grab you next time it happens, maybe we catch a live one.

hershwg commented 11 years ago

[watts] This looks related to #4463, which is probably a graphics driver problem. I was able to duplicate that on my machine pretty easily. If you want to try my desktop, feel free.

hershwg commented 11 years ago

[jfaust] This is definitely a driver problem. Installing the latest beta drivers (260.19.12) causes any subscriber that's has libGL.so loaded to crash when a publisher disconnects.

{{{ roscd roscpp_tutorials LD_PRELOAD=libGL.so bin/listener }}}

{{{ roscd roscpp_tutorials bin/talker

}}} will also cause this crash.
hershwg commented 11 years ago

[kartikmohta] Just to note, this problem is fixed in driver version 260.19.21.