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ros / urdfdom

URDF parser
http://ros.org/wiki/urdf
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Tests fail #118

Closed yurivict closed 2 years ago

yurivict commented 5 years ago 
ninja: no work to do.
[0/1] cd /usr/ports/misc/urdfdom/work/.build && /usr/local/bin/ctest --force-new-ctest-process
Test project /usr/ports/misc/urdfdom/work/.build
    Start 1: urdf_double_convert
1/4 Test #1: urdf_double_convert ..............   Passed    0.00 sec
    Start 2: urdf_double_convert_locale
2/4 Test #2: urdf_double_convert_locale .......   Passed    0.00 sec
    Start 3: urdf_unit_test
3/4 Test #3: urdf_unit_test ...................***Exception: SegFault  0.00 sec
    Start 4: urdf_unit_test_locale
4/4 Test #4: urdf_unit_test_locale ............***Exception: SegFault  0.01 sec

50% tests passed, 2 tests failed out of 4

Total Test time (real) =   0.02 sec

The following tests FAILED:
      3 - urdf_unit_test (SEGFAULT)
      4 - urdf_unit_test_locale (SEGFAULT)

FreeBSD 11.2 amd64

traversaro commented 5 years ago

Can you run ctest with the -VV option to obtain a more verbose output? Thanks!

yurivict commented 5 years ago 
$ ctest -VV
UpdateCTestConfiguration  from :/usr/ports/misc/urdfdom/work/.build/DartConfiguration.tcl
Parse Config file:/usr/ports/misc/urdfdom/work/.build/DartConfiguration.tcl
UpdateCTestConfiguration  from :/usr/ports/misc/urdfdom/work/.build/DartConfiguration.tcl
Parse Config file:/usr/ports/misc/urdfdom/work/.build/DartConfiguration.tcl
Test project /usr/ports/misc/urdfdom/work/.build
Constructing a list of tests
Done constructing a list of tests
Updating test list for fixtures
Added 0 tests to meet fixture requirements
Checking test dependency graph...
Checking test dependency graph end
test 1
    Start 1: urdf_double_convert

1: Test command: /usr/ports/misc/urdfdom/work/.build/bin/urdf_double_convert "--gtest_output=xml:/usr/ports/misc/urdfdom/work/.build/test_results/urdf_double_convert.xml"
1: Environment variables: 
1:  LC_ALL=C
1: Test timeout computed to be: 240
1: Running main() from gtest_main.cc
1: [==========] Running 2 tests from 1 test case.
1: [----------] Global test environment set-up.
1: [----------] 2 tests from URDF_DOUBLE_CONVERT
1: [ RUN      ] URDF_DOUBLE_CONVERT.test_successful_conversion
1: [       OK ] URDF_DOUBLE_CONVERT.test_successful_conversion (0 ms)
1: [ RUN      ] URDF_DOUBLE_CONVERT.test_failed_conversion
1: [       OK ] URDF_DOUBLE_CONVERT.test_failed_conversion (0 ms)
1: [----------] 2 tests from URDF_DOUBLE_CONVERT (0 ms total)
1: 
1: [----------] Global test environment tear-down
1: [==========] 2 tests from 1 test case ran. (0 ms total)
1: [  PASSED  ] 2 tests.
1/4 Test #1: urdf_double_convert ..............   Passed    0.00 sec
test 2
    Start 2: urdf_double_convert_locale

2: Test command: /usr/ports/misc/urdfdom/work/.build/bin/urdf_double_convert "--gtest_output=xml:/usr/ports/misc/urdfdom/work/.build/test_results/urdf_double_convert_locale.xml"
2: Environment variables: 
2:  LC_ALL=nl_NL.UTF-8
2: Test timeout computed to be: 240
2: Running main() from gtest_main.cc
2: [==========] Running 2 tests from 1 test case.
2: [----------] Global test environment set-up.
2: [----------] 2 tests from URDF_DOUBLE_CONVERT
2: [ RUN      ] URDF_DOUBLE_CONVERT.test_successful_conversion
2: [       OK ] URDF_DOUBLE_CONVERT.test_successful_conversion (0 ms)
2: [ RUN      ] URDF_DOUBLE_CONVERT.test_failed_conversion
2: [       OK ] URDF_DOUBLE_CONVERT.test_failed_conversion (1 ms)
2: [----------] 2 tests from URDF_DOUBLE_CONVERT (1 ms total)
2: 
2: [----------] Global test environment tear-down
2: [==========] 2 tests from 1 test case ran. (1 ms total)
2: [  PASSED  ] 2 tests.
2/4 Test #2: urdf_double_convert_locale .......   Passed    0.00 sec
test 3
    Start 3: urdf_unit_test

3: Test command: /usr/ports/misc/urdfdom/work/.build/bin/urdf_unit_test "--gtest_output=xml:/usr/ports/misc/urdfdom/work/.build/test_results/urdf_unit_test.xml"
3: Environment variables: 
3:  LC_ALL=C
3: Test timeout computed to be: 240
3: [==========] Running 9 tests from 1 test case.
3: [----------] Global test environment set-up.
3: [----------] 9 tests from URDF_UNIT_TEST
3: [ RUN      ] URDF_UNIT_TEST.test_rotation_get_set_rpy_idempotent
3: 
3: before  x: 0.5 y: -0.5 z: 0.5 w: 0.5  roll: 0 pitch: -1.57079633 yaw: 1.57079633
3: after   x: 0.5 y: -0.5 z: 0.5 w: 0.5  roll: 0 pitch: -1.57079633 yaw: 1.57079633
3: ok      1
3: 
3: before  x: 0.5 y: -0.5 z: 0.500000022 w: 0.499999978  roll: 0 pitch: -1.57079633 yaw: 1.57079633
3: after   x: 0.5 y: -0.5 z: 0.5 w: 0.5  roll: 0 pitch: -1.57079633 yaw: 1.57079633
3: ok      1
3: [       OK ] URDF_UNIT_TEST.test_rotation_get_set_rpy_idempotent (1 ms)
3: [ RUN      ] URDF_UNIT_TEST.test_vector3_simple
3: [       OK ] URDF_UNIT_TEST.test_vector3_simple (0 ms)
3: [ RUN      ] URDF_UNIT_TEST.test_vector3_bad_string
3: [       OK ] URDF_UNIT_TEST.test_vector3_bad_string (0 ms)
3: [ RUN      ] URDF_UNIT_TEST.test_vector3_invalid_number
3: [       OK ] URDF_UNIT_TEST.test_vector3_invalid_number (0 ms)
3: [ RUN      ] URDF_UNIT_TEST.test_vector3_not_enough_numbers
3: [       OK ] URDF_UNIT_TEST.test_vector3_not_enough_numbers (0 ms)
3: [ RUN      ] URDF_UNIT_TEST.test_vector3_too_many_numbers
3: [       OK ] URDF_UNIT_TEST.test_vector3_too_many_numbers (0 ms)
3: [ RUN      ] URDF_UNIT_TEST.parse_joint_doubles
3: [       OK ] URDF_UNIT_TEST.parse_joint_doubles (0 ms)
3: [ RUN      ] URDF_UNIT_TEST.parse_link_doubles
3/4 Test #3: urdf_unit_test ...................***Exception: SegFault  0.00 sec
test 4
    Start 4: urdf_unit_test_locale

4: Test command: /usr/ports/misc/urdfdom/work/.build/bin/urdf_unit_test "--gtest_output=xml:/usr/ports/misc/urdfdom/work/.build/test_results/urdf_unit_test_locale.xml"
4: Environment variables: 
4:  LC_ALL=nl_NL.UTF-8
4: Test timeout computed to be: 240
4: [==========] Running 9 tests from 1 test case.
4: [----------] Global test environment set-up.
4: [----------] 9 tests from URDF_UNIT_TEST
4: [ RUN      ] URDF_UNIT_TEST.test_rotation_get_set_rpy_idempotent
4: 
4: before  x: 0.5 y: -0.5 z: 0.5 w: 0.5  roll: 0 pitch: -1.57079633 yaw: 1.57079633
4: after   x: 0.5 y: -0.5 z: 0.5 w: 0.5  roll: 0 pitch: -1.57079633 yaw: 1.57079633
4: ok      1
4: 
4: before  x: 0.5 y: -0.5 z: 0.500000022 w: 0.499999978  roll: 0 pitch: -1.57079633 yaw: 1.57079633
4: after   x: 0.5 y: -0.5 z: 0.5 w: 0.5  roll: 0 pitch: -1.57079633 yaw: 1.57079633
4: ok      1
4: [       OK ] URDF_UNIT_TEST.test_rotation_get_set_rpy_idempotent (2 ms)
4: [ RUN      ] URDF_UNIT_TEST.test_vector3_simple
4: [       OK ] URDF_UNIT_TEST.test_vector3_simple (0 ms)
4: [ RUN      ] URDF_UNIT_TEST.test_vector3_bad_string
4: [       OK ] URDF_UNIT_TEST.test_vector3_bad_string (0 ms)
4: [ RUN      ] URDF_UNIT_TEST.test_vector3_invalid_number
4: [       OK ] URDF_UNIT_TEST.test_vector3_invalid_number (0 ms)
4: [ RUN      ] URDF_UNIT_TEST.test_vector3_not_enough_numbers
4: [       OK ] URDF_UNIT_TEST.test_vector3_not_enough_numbers (0 ms)
4: [ RUN      ] URDF_UNIT_TEST.test_vector3_too_many_numbers
4: [       OK ] URDF_UNIT_TEST.test_vector3_too_many_numbers (0 ms)
4: [ RUN      ] URDF_UNIT_TEST.parse_joint_doubles
4: [       OK ] URDF_UNIT_TEST.parse_joint_doubles (0 ms)
4: [ RUN      ] URDF_UNIT_TEST.parse_link_doubles
4/4 Test #4: urdf_unit_test_locale ............***Exception: SegFault  0.01 sec

50% tests passed, 2 tests failed out of 4

Total Test time (real) =   0.02 sec

The following tests FAILED:
      3 - urdf_unit_test (SEGFAULT)
      4 - urdf_unit_test_locale (SEGFAULT)
Errors while running CTest
traversaro commented 5 years ago

Which version TinyXML are you using? Is TIXML_USE_STL defined when you compiled TinyXML?

yurivict commented 5 years ago

It picks the older version tinyxml-2.6.2_2, and not the newer one: tinyxml2-6.2.0,1. TIXML_USE_STL isn't defined.

traversaro commented 5 years ago

Despite the names, tinyxml and tinyxml2 are libraries with different public APIs that can be installed side by side. Switching from one to another requires changing the code, and at the moment urdfdom is just compatibly with tinyxml (see https://github.com/ros/urdfdom/issues/113).

I was thinking that perhaps an ABI mismatch of some kind was causing the segfault, but if TIXML_USE_STL is not defined neither in compiling tinyxml, neither for compiling urdfdom and urdfdom_headers, then I am not sure what could be causing the segmentation fault.

clalancette commented 2 years ago

There's been no response here for years, so I'm going to close this out. Please feel free to reopen if you are still having problems.