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ros2 / ros1_bridge

ROS 2 package that provides bidirectional communication between ROS 1 and ROS 2
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realloc(): invalid pointer (Cyclone DDS) #244

Closed knickels closed 4 years ago

knickels commented 4 years ago

Operating System: Description: Ubuntu 18.04.4 LTS (same result in docker and native)

Installation type: melodic binaries, eloquent binaries, ros1_bridge source

Version or commit hash: On eloquent branch of ros1_bridge: ± git rev-parse HEAD 60f903c

DDS implementation: rmw_cyclonedds_cpp (works with Fast-RTPS)

Client library (if applicable): rclpy, rospy

Steps to reproduce issue

Shell A:

sudo apt install ros-eloquent-*cyclone*
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
mkdir -p ros1_bridge_ws/src
cd ros1_bridge_ws/src
git clone git@github.com:ros2/ros1_bridge.git
cd ros1_bridge
git checkout eloquent
cd ../..
colcon build --symlink-install --cmake-force-configure --cmake-args -DCMAKE_BUILD_TYPE=Debug
ros2 run ros1_bridge dynamic_bridge

Shell B:

. /opt/ros/melodic/setup.bash
roscore

Shell C:

. /opt/ros/melodic/setup.bash
rosrun rospy_tutorials talker

Shell D:

. /opt/ros/eloquent/setup.bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
ros2 run demo_nodes_py listener

Expected behavior

[INFO] [1583870956.099600]: hello world 1583870956.1 (on Shell C) [INFO] [listener]: I heard: [hello world 1583870955.1] (on Shell D)

Actual behavior

Shell A:

created 1to2 bridge for topic '/chatter' with ROS 1 type 'std_msgs/String' and ROS 2 type 'std_msgs/msg/String'
[INFO] [ros_bridge]: Passing message from ROS 1 std_msgs/String to ROS 2 std_msgs/msg/String (showing msg only once per type)
realloc(): invalid pointer

Shell D hears exactly one message.

Additional information

Backtrace:

created 2to1 bridge for topic '/rosout' with ROS 2 type 'rcl_interfaces/msg/Log' and ROS 1 type 'rosgraph_msgs/Log'
created 1to2 bridge for topic '/chatter' with ROS 1 type 'std_msgs/String' and ROS 2 type 'std_msgs/msg/String'
[INFO] [ros_bridge]: Passing message from ROS 1 std_msgs/String to ROS 2 std_msgs/msg/String (showing msg only once per type)
realloc(): invalid pointer

Thread 1 "dynamic_bridge" received signal SIGABRT, Aborted.
__GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:51
51  ../sysdeps/unix/sysv/linux/raise.c: No such file or directory.
(gdb) bt
#0  __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:51
#1  0x00007fffefbf4801 in __GI_abort () at abort.c:79
#2  0x00007fffefc3d897 in __libc_message (action=action@entry=do_abort, 
    fmt=fmt@entry=0x7fffefd6ab9a "%s\n") at ../sysdeps/posix/libc_fatal.c:181
#3  0x00007fffefc4490a in malloc_printerr (
    str=str@entry=0x7fffefd68efd "realloc(): invalid pointer") at malloc.c:5350
#4  0x00007fffefc4ceba in __GI___libc_realloc (oldmem=0x555555815070, bytes=9)
    at malloc.c:3174
#5  0x00007fffee7d4432 in rosidl_generator_c__String__assignn ()
   from /opt/ros/eloquent/lib/librosidl_generator_c.so
#6  0x00007fffe644cfa5 in rmw_cyclonedds_cpp::StringHelper<rosidl_typesupport_introspection_c__MessageMembers>::assign (field=0x555555815060, deser=...)
    at ./include/rmw_cyclonedds_cpp/TypeSupport.hpp:86
#7  rmw_cyclonedds_cpp::deserialize_field<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > (call_new=false, deser=..., field=0x555555815060, 
    member=0x7fffe44477e0) at ./include/rmw_cyclonedds_cpp/TypeSupport_impl.hpp:579
#8  rmw_cyclonedds_cpp::TypeSupport<rosidl_typesupport_introspection_c__MessageMembers>::deserializeROSmessage (this=0x5555557d3f50, deser=..., members=0x7fffe4446900, 
    ros_message=0x555555815050, call_new=false)
    at ./include/rmw_cyclonedds_cpp/TypeSupport_impl.hpp:732
#9  0x00007fffe6469bc1 in rmw_cyclonedds_cpp::TypeSupport<rosidl_typesupport_introspection_c__MessageMembers>::deserializeROSmessage(cycdeser&, void*, std::function<void (cycdeser&)>) (this=0x5555557d3f50, deser=..., ros_message=ros_message@entry=0x555555815050, 
    prefix=...) at ./include/rmw_cyclonedds_cpp/TypeSupport_impl.hpp:907
#10 0x00007fffe6467c28 in serdata_rmw_to_sample (dcmn=<optimized out>, 
    sample=0x555555815050, bufptr=<optimized out>, buflim=<optimized out>)
    at ./src/serdata.cpp:282
#11 0x00007fffe61c379b in ddsi_serdata_to_sample (buflim=0x0, bufptr=0x0, 
    sample=<optimized out>, d=<optimized out>)
---Type <return> to continue, or q <return> to quit---
   rdata.h:199
#12 dds_rhc_take_w_qminv (cond=0x0, handle=<optimized out>, qminv=0, max_samples=1, info_seq=0x7fffffffb370, values=0x7fffffffb368, lock=<optimized out>, rhc=0x5555558118b0)
    at ./src/core/ddsc/src/dds_rhc_default.c:2016
#13 dds_rhc_default_take (cond=0x0, handle=<optimized out>, mask=<optimized out>, max_samples=<optimized out>, info_seq=<optimized out>, values=<optimized out>, 
    lock=<optimized out>, rhc=0x5555558118b0) at ./src/core/ddsc/src/dds_rhc_default.c:2640
#14 dds_rhc_default_take_wrap (rhc=0x5555558118b0, lock=<optimized out>, values=0x7fffffffb368, info_seq=0x7fffffffb370, max_samples=1, mask=<optimized out>, 
    handle=<optimized out>, cond=0x0) at ./src/core/ddsc/src/dds_rhc_default.c:379
#15 0x00007fffe61cc87e in dds_rhc_take (cond=<optimized out>, handle=0, mask=128, max_samples=1, info_seq=0x7fffffffb370, values=0x7fffffffb368, lock=true, rhc=<optimized out>)
    at ./src/core/ddsc/include/dds/ddsc/dds_rhc.h:83
#16 dds_read_impl (take=take@entry=true, reader_or_condition=<optimized out>, buf=buf@entry=0x7fffffffb368, bufsz=<optimized out>, maxs=1, si=0x7fffffffb370, mask=128, hand=0, 
    lock=true, only_reader=false) at ./src/core/ddsc/src/dds_read.c:120
#17 0x00007fffe61cce80 in dds_take (rd_or_cnd=<optimized out>, buf=buf@entry=0x7fffffffb368, si=si@entry=0x7fffffffb370, bufsz=bufsz@entry=1, maxs=<optimized out>, maxs@entry=1)
    at ./src/core/ddsc/src/dds_read.c:331
#18 0x00007fffe6438013 in rmw_take_int (subscription=<optimized out>, ros_message=<optimized out>, taken=0x7fffffffb42f, message_info=0x7fffffffc8e0) at ./src/rmw_node.cpp:1610
#19 0x00007ffff7860748 in rcl_take () from /opt/ros/eloquent/lib/librcl.so
#20 0x00007ffff7b0fb1a in rclcpp::executor::Executor::execute_subscription(std::shared_ptr<rclcpp::SubscriptionBase>) () from /opt/ros/eloquent/lib/librclcpp.so
#21 0x00007ffff7b11045 in rclcpp::executor::Executor::execute_any_executable(rclcpp::executor::AnyExecutable&) () from /opt/ros/eloquent/lib/librclcpp.so
#22 0x00007ffff7b13d35 in rclcpp::executor::Executor::spin_once(std::chrono::duration<long, std::ratio<1l, 1000000000l> >) () from /opt/ros/eloquent/lib/librclcpp.so
#23 0x00007ffff7b0f351 in rclcpp::executor::Executor::spin_node_once_nanoseconds(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>, std::chrono::duration<long, std::ratio<1l, 1000000000l> >) () from /opt/ros/eloquent/lib/librclcpp.so
#24 0x000055555557c165 in rclcpp::executor::Executor::spin_node_once<rclcpp::Node, long, std::ratio<1l, 1000l> > (this=0x7fffffffdc60, 
    node=std::shared_ptr<rclcpp::Node> (use count 7, weak count 1) = {...}, timeout=...) at /opt/ros/eloquent/include/rclcpp/executor.hpp:178
#25 0x0000555555573e93 in main (argc=1, argv=0x7fffffffde68) at /home/knickels/code/ros1_bridge_ws/src/ros1_bridge/src/dynamic_bridge.cpp:784
(gdb)
dirk-thomas commented 4 years ago

This seems to be a duplicate of ros2/rmw_cyclonedds#72. You will need to build CycloneDDS from source until the fix is backported to Eloquent.