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strands-project / strands_perception_people

long-term detection, tracking and recognition of people
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upper_body_detector fills all the RAM in some cases #222

Open francescodelduchetto opened 5 years ago

francescodelduchetto commented 5 years ago

We noticed that when the robot camera is directed toward some specific area the upper_body_detector node continuously uses more memory until all the RAM is filled and the process crashes.

The solution to this problem was to change https://github.com/strands-project/strands_perception_people/blob/92ee683e0ffaa44b0e70483da5a2e8b579628eff/upper_body_detector/config/upper_body_detector.yaml#L26 and https://github.com/strands-project/strands_perception_people/blob/92ee683e0ffaa44b0e70483da5a2e8b579628eff/upper_body_detector/config/upper_body_detector.yaml#L28 to have a higher range (e.g. -20 and 20).

It may be worth investigating the cause, @scosar suggests it may be that the detections falls outside this map space if it is too small.

marc-hanheide commented 5 years ago

cool, open PR?

marc-hanheide commented 5 years ago

Also do we know the side effects of changing those parameters?

scosar commented 5 years ago

I think these parameters can be kept high enough (e.g. 20/-20) to avoid accessing outside the occupancy map. The only drawback is keeping a big occupancy map. For instance, if we set 20/-20, we will have a map of 400x400, which I think is not too big and should not create any high memory usage.

marc-hanheide commented 5 years ago

what are the units here?

scosar commented 5 years ago

It should be in meters

francescodelduchetto commented 5 years ago

Today I incurred in this error 

*** Error in `/opt/ros/kinetic/lib/upper_body_detector/upper_body_detector': double free or corruption (out): 0x00000000015f2810 ***
======= Backtrace: =========
/lib/x86_64-linux-gnu/libc.so.6(+0x777e5)[0x7f57adf7a7e5]
/lib/x86_64-linux-gnu/libc.so.6(+0x8037a)[0x7f57adf8337a]
/lib/x86_64-linux-gnu/libc.so.6(cfree+0x4c)[0x7f57adf8753c]
/opt/ros/kinetic/lib/upper_body_detector/upper_body_detector(_ZN5boost6detail18sp_counted_impl_pdIPN11sensor_msgs6Image_ISaIvEEENS0_13sp_ms_deleterIS5_EEE7disposeEv+0x25)[0x438b35]
/opt/ros/kinetic/lib/upper_body_detector/upper_body_detector[0x430fda]
/opt/ros/kinetic/lib/upper_body_detector/upper_body_detector(_ZN15message_filters13sync_policies15ApproximateTimeIN11sensor_msgs6Image_ISaIvEEES5_N23ground_plane_estimation12GroundPlane_IS4_EENS2_11CameraInfo_IS4_EENS_8NullTypeESB_SB_SB_SB_E16publishCandidateEv+0x400)[0x45c7b0]
/opt/ros/kinetic/lib/upper_body_detector/upper_body_detector(_ZN15message_filters13sync_policies15ApproximateTimeIN11sensor_msgs6Image_ISaIvEEES5_N23ground_plane_estimation12GroundPlane_IS4_EENS2_11CameraInfo_IS4_EENS_8NullTypeESB_SB_SB_SB_E7processEv+0x21c8)[0x45fc18]
/opt/ros/kinetic/lib/upper_body_detector/upper_body_detector(_ZN15message_filters13sync_policies15ApproximateTimeIN11sensor_msgs6Image_ISaIvEEES5_N23ground_plane_estimation12GroundPlane_IS4_EENS2_11CameraInfo_IS4_EENS_8NullTypeESB_SB_SB_SB_E3addILi0EEEvRKN5boost3mpl4at_cINSF_6vectorIN3ros12MessageEventIKS5_EESL_NSJ_IKS8_EENSJ_IKSA_EENSJ_IKSB_EESR_SR_SR_SR_N4mpl_2naEST_ST_ST_ST_ST_ST_ST_ST_ST_ST_EEXT_EE4typeE+0x190)[0x4626e0]
/opt/ros/kinetic/lib/upper_body_detector/upper_body_detector(_ZN15image_transport16SubscriberFilter2cbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE+0x368)[0x44b238]
/opt/ros/kinetic/lib//libimage_transport_plugins.so(_ZN15image_transport13RawSubscriber16internalCallbackERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEERKNS1_8functionIFvSA_EEE+0x29)[0x7f579a3dfcb9]
/opt/ros/kinetic/lib/libimage_transport.so(_ZN5boost6detail8function26void_function_obj_invoker1INS_8functionIFvRKNS_10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEEEEEvSA_E6invokeERNS1_15function_bufferESA_+0x2c)[0x7f57b08cb8ec]
/opt/ros/kinetic/lib//libimage_transport_plugins.so(_ZN3ros27SubscriptionCallbackHelperTIRKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEEvE4callERNS_36SubscriptionCallbackHelperCallParamsE+0x333)[0x7f579a3e7703]
/opt/ros/kinetic/lib/libroscpp.so(_ZN3ros17SubscriptionQueue4callEv+0xadd)[0x7f57b0429d8d]
/opt/ros/kinetic/lib/libroscpp.so(_ZN3ros13CallbackQueue9callOneCBEPNS0_3TLSE+0x4b8)[0x7f57b03cf838]
/opt/ros/kinetic/lib/libroscpp.so(_ZN3ros13CallbackQueue13callAvailableENS_12WallDurationE+0x54b)[0x7f57b03d123b]
/opt/ros/kinetic/lib/libroscpp.so(_ZN3ros21SingleThreadedSpinner4spinEPNS_13CallbackQueueE+0x2a9)[0x7f57b042de39]
/opt/ros/kinetic/lib/libroscpp.so(_ZN3ros4spinEv+0x2b)[0x7f57b0412e9b]
/opt/ros/kinetic/lib/upper_body_detector/upper_body_detector(main+0x2868)[0x42eee8]
/lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xf0)[0x7f57adf23830]
/opt/ros/kinetic/lib/upper_body_detector/upper_body_detector(_start+0x29)[0x430c99]
======= Memory map: ========
00400000-0049d000 r-xp 00000000 08:01 1969943                            /opt/ros/kinetic/lib/upper_body_detector/upper_body_detector
0069c000-0069d000 r--p 0009c000 08:01 1969943                            /opt/ros/kinetic/lib/upper_body_detector/upper_body_detector
0069d000-0069e000 rw-p 0009d000 08:01 1969943                            /opt/ros/kinetic/lib/upper_body_detector/upper_body_detector
0069e000-0069f000 rw-p 00000000 00:00 0
00c5e000-01ba4000 rw-p 00000000 00:00 0                                  [heap]
7f578c000000-7f578c021000 rw-p 00000000 00:00 0
7f578c021000-7f5790000000 ---p 00000000 00:00 0
7f5790000000-7f5790021000 rw-p 00000000 00:00 0
7f5790021000-7f5794000000 ---p 00000000 00:00 0
7f5794000000-7f5794021000 rw-p 00000000 00:00 0
7f5794021000-7f5798000000 ---p 00000000 00:00 0
7f57994a1000-7f57994a8000 r-xp 00000000 08:01 1190007                    /usr/lib/x86_64-linux-gnu/libogg.so.0.8.2
7f57994a8000-7f57996a8000 ---p 00007000 08:01 1190007                    /usr/lib/x86_64-linux-gnu/libogg.so.0.8.2
7f57996a8000-7f57996a9000 r--p 00007000 08:01 1190007                    /usr/lib/x86_64-linux-gnu/libogg.so.0.8.2
7f57996a9000-7f57996aa000 rw-p 00008000 08:01 1190007                    /usr/lib/x86_64-linux-gnu/libogg.so.0.8.2
7f57996aa000-7f57996c3000 r-xp 00000000 08:01 1205404                    /usr/lib/x86_64-linux-gnu/libtheoradec.so.1.1.4
7f57996c3000-7f57998c2000 ---p 00019000 08:01 1205404                    /usr/lib/x86_64-linux-gnu/libtheoradec.so.1.1.4
7f57998c2000-7f57998c3000 r--p 00018000 08:01 1205404                    /usr/lib/x86_64-linux-gnu/libtheoradec.so.1.1.4
7f57998c3000-7f57998c4000 rw-p 00019000 08:01 1205404                    /usr/lib/x86_64-linux-gnu/libtheoradec.so.1.1.4
7f57998c4000-7f5799902000 r-xp 00000000 08:01 1205202                    /usr/lib/x86_64-linux-gnu/libtheoraenc.so.1.1.2
7f5799902000-7f5799b01000 ---p 0003e000 08:01 1205202                    /usr/lib/x86_64-linux-gnu/libtheoraenc.so.1.1.2
7f5799b01000-7f5799b02000 r--p 0003d000 08:01 1205202                    /usr/lib/x86_64-linux-gnu/libtheoraenc.so.1.1.2
7f5799b02000-7f5799b03000 rw-p 0003e000 08:01 1205202                    /usr/lib/x86_64-linux-gnu/libtheoraenc.so.1.1.2
7f5799b03000-7f5799b45000 r-xp 00000000 08:01 1970263                    /opt/ros/kinetic/lib/libtheora_image_transport.so
7f5799b45000-7f5799d44000 ---p 00042000 08:01 1970263                    /opt/ros/kinetic/lib/libtheora_image_transport.so
7f5799d44000-7f5799d46000 r--p 00041000 08:01 1970263                    /opt/ros/kinetic/lib/libtheora_image_transport.so
7f5799d46000-7f5799d47000 rw-p 00043000 08:01 1970263                    /opt/ros/kinetic/lib/libtheora_image_transport.so
7f5799d47000-7f5799d49000 rw-p 00000000 00:00 0
7f5799d49000-7f5799d88000 r-xp 00000000 08:01 1973489                    /opt/ros/kinetic/lib/libcompressed_image_transport.so
7f5799d88000-7f5799f88000 ---p 0003f000 08:01 1973489                    /opt/ros/kinetic/lib/libcompressed_image_transport.so
7f5799f88000-7f5799f8a000 r--p 0003f000 08:01 1973489                    /opt/ros/kinetic/lib/libcompressed_image_transport.so
7f5799f8a000-7f5799f8b000 rw-p 00041000 08:01 1973489                    /opt/ros/kinetic/lib/libcompressed_image_transport.so
7f5799f8b000-7f5799f8c000 rw-p 00000000 00:00 0
7f5799f8c000-7f5799f91000 r-xp 00000000 08:01 1967515                    /opt/ros/kinetic/lib/libdynamic_reconfigure_config_init_mutex.so
7f5799f91000-7f579a190000 ---p 00005000 08:01 1967515                    /opt/ros/kinetic/lib/libdynamic_reconfigure_config_init_mutex.so
7f579a190000-7f579a191000 r--p 00004000 08:01 1967515                    /opt/ros/kinetic/lib/libdynamic_reconfigure_config_init_mutex.so
7f579a191000-7f579a192000 rw-p 00005000 08:01 1967515                    /opt/ros/kinetic/lib/libdynamic_reconfigure_config_init_mutex.so
7f579a192000-7f579a1ca000 r-xp 00000000 08:01 1973486                    /opt/ros/kinetic/lib/libcompressed_depth_image_transport.so
7f579a1ca000-7f579a3ca000 ---p 00038000 08:01 1973486                    /opt/ros/kinetic/lib/libcompressed_depth_image_transport.so
7f579a3ca000-7f579a3cc000 r--p 00038000 08:01 1973486                    /opt/ros/kinetic/lib/libcompressed_depth_image_transport.so
7f579a3cc000-7f579a3cd000 rw-p 0003a000 08:01 1973486                    /opt/ros/kinetic/lib/libcompressed_depth_image_transport.so
7f579a3cd000-7f579a3ce000 rw-p 00000000 00:00 0
7f579a3ce000-7f579a3ef000 r-xp 00000000 08:01 1969844                    /opt/ros/kinetic/lib/libimage_transport_plugins.so
7f579a3ef000-7f579a5ef000 ---p 00021000 08:01 1969844                    /opt/ros/kinetic/lib/libimage_transport_plugins.so
7f579a5ef000-7f579a5f0000 r--p 00021000 08:01 1969844                    /opt/ros/kinetic/lib/libimage_transport_plugins.so
7f579a5f0000-7f579a5f1000 rw-p 00022000 08:01 1969844                    /opt/ros/kinetic/lib/libimage_transport_plugins.so
7f579a5f1000-7f579a5fc000 r-xp 00000000 08:01 1583518                    /lib/x86_64-linux-gnu/libnss_nis-2.23.so
7f579a5fc000-7f579a7fb000 ---p 0000b000 08:01 1583518                    /lib/x86_64-linux-gnu/libnss_nis-2.23.so
7f579a7fb000-7f579a7fc000 r--p 0000a000 08:01 1583518                    /lib/x86_64-linux-gnu/libnss_nis-2.23.so
7f579a7fc000-7f579a7fd000 rw-p 0000b000 08:01 1583518                    /lib/x86_64-linux-gnu/libnss_nis-2.23.so
7f579a7fd000-7f579a7fe000 ---p 00000000 00:00 0
7f579a7fe000-7f579affe000 rwxp 00000000 00:00 0
7f579affe000-7f579afff000 ---p 00000000 00:00 0
7f579afff000-7f579b7ff000 rwxp 00000000 00:00 0
7f579b7ff000-7f579b800000 ---p 00000000 00:00 0
7f579b800000-7f579c000000 rwxp 00000000 00:00 0
7f579c000000-7f579c348000 rw-p 00000000 00:00 0
7f579c348000-7f57a0000000 ---p 00000000 00:00 0
7f57a01de000-7f57a01f4000 r-xp 00000000 08:01 1573356                    /lib/x86_64-linux-gnu/libnsl-2.23.so
7f57a01f4000-7f57a03f3000 ---p 00016000 08:01 1573356                    /lib/x86_64-linux-gnu/libnsl-2.23.so
7f57a03f3000-7f57a03f4000 r--p 00015000 08:01 1573356                    /lib/x86_64-linux-gnu/libnsl-2.23.so
7f57a03f4000-7f57a03f5000 rw-p 00016000 08:01 1573356                    /lib/x86_64-linux-gnu/libnsl-2.23.so
7f57a03f5000-7f57a03f7000 rw-p 00000000 00:00 0
7f57a03f7000-7f57a03ff000 r-xp 00000000 08:01 1581082                    /lib/x86_64-linux-gnu/libnss_compat-2.23.so
7f57a03ff000-7f57a05fe000 ---p 00008000 08:01 1581082                    /lib/x86_64-linux-gnu/libnss_compat-2.23.so
7f57a05fe000-7f57a05ff000 r--p 00007000 08:01 1581082                    /lib/x86_64-linux-gnu/libnss_compat-2.23.so
7f57a05ff000-7f57a0600000 rw-p 00008000 08:01 1581082                    /lib/x86_64-linux-gnu/libnss_compat-2.23.so
7f57a0600000-7f57a06fc000 rw-p 00000000 00:00 0
7f57a06fc000-7f57a06fd000 ---p 00000000 00:00 0
7f57a06fd000-7f57a0efd000 rwxp 00000000 00:00 0
7f57a0efd000-7f57a0f08000 r-xp 00000000 08:01 1583510                    /lib/x86_64-linux-gnu/libnss_files-2.23.so
7f57a0f08000-7f57a1107000 ---p 0000b000 08:01 1583510                    /lib/x86_64-linux-gnu/libnss_files-2.23.so
7f57a1107000-7f57a1108000 r--p 0000a000 08:01 1583510                    /lib/x86_64-linux-gnu/libnss_files-2.23.so
7f57a1108000-7f57a1109000 rw-p 0000b000 08:01 1583510                    /lib/x86_64-linux-gnu/libnss_files-2.23.so
7f57a1109000-7f57a110f000 rw-p 00000000 00:00 0
7f57a110f000-7f57a1111000 r-xp 00000000 08:01 1581081                    /lib/x86_64-linux-gnu/libutil-2.23.so
7f57a1111000-7f57a1310000 ---p 00002000 08:01 1581081                    /lib/x86_64-linux-gnu/libutil-2.23.so
7f57a1310000-7f57a1311000 r--p 00001000 08:01 1581081                    /lib/x86_64-linux-gnu/libutil-2.23.so
7f57a1311000-7f57a1312000 rw-p 00002000 08:01 1581081                    /lib/x86_64-linux-gnu/libutil-2.23.so
7f57a1312000-7f57a1317000 r-xp 00000000 08:01 1181587                    /usr/lib/x86_64-linux-gnu/libXdmcp.so.6.0.0
7f57a1317000-7f57a1516000 ---p 00005000 08:01 1181587                    /usr/lib/x86_64-linux-gnu/libXdmcp.so.6.0.0
7f57a1516000-7f57a1517000 r--p 00004000 08:01 1181587                    /usr/lib/x86_64-linux-gnu/libXdmcp.so.6.0.0
7f57a1517000-7f57a1518000 rw-p 00005000 08:01 1181587                    /usr/lib/x86_64-linux-gnu/libXdmcp.so.6.0.0
7f57a1518000-7f57a1521000 r-xp 00000000 08:01 1583522                    /lib/x86_64-linux-gnu/libcrypt-2.23.so
7f57a1521000-7f57a1720000 ---p 00009000 08:01 1583522                    /lib/x86_64-linux-gnu/libcrypt-2.23.so
7f57a1720000-7f57a1721000 r--p 00008000 08:01 1583522                    /lib/x86_64-linux-gnu/libcrypt-2.23.so
7f57a1721000-7f57a1722000 rw-p 00009000 08:01 1583522                    /lib/x86_64-linux-gnu/libcrypt-2.23.so
7f57a1722000-7f57a1750000 rw-p 00000000 00:00 0
7f57a1750000-7f57a1a42000 r-xp 00000000 08:01 1181963                    /usr/lib/x86_64-linux-gnu/libpython2.7.so.1.0
7f57a1a42000-7f57a1c42000 ---p 002f2000 08:01 1181963                    /usr/lib/x86_64-linux-gnu/libpython2.7.so.1.0
7f57a1c42000-7f57a1c44000 r--p 002f2000 08:01 1181963                    /usr/lib/x86_64-linux-gnu/libpython2.7.so.1.0
7f57a1c44000-7f57a1cbb000 rw-p 002f4000 08:01 1181963                    /usr/lib/x86_64-linux-gnu/libpython2.7.so.1.0
7f57a1cbb000-7f57a1cde000 rw-p 00000000 00:00 0
7f57a1cde000-7f57a1d58000 r-xp 00000000 08:01 1188045                    /usr/lib/x86_64-linux-gnu/libboost_program_options.so.1.58.0
7f57a1d58000-7f57a1f58000 ---p 0007a000 08:01 1188045                    /usr/lib/x86_64-linux-gnu/libboost_program_options.so.1.58.0
7f57a1f58000-7f57a1f5b000 r--p 0007a000 08:01 1188045                    /usr/lib/x86_64-linux-gnu/libboost_program_options.so.1.58.0
7f57a1f5b000-7f57a1f5c000 rw-p 0007d000 08:01 1188045                    /usr/lib/x86_64-linux-gnu/libboost_program_options.so.1.58.0
7f57a1f5c000-7f57a1f70000 r-xp 00000000 08:01 1196308                    /usr/lib/x86_64-linux-gnu/libtinyxml.so.2.6.2
7f57a1f70000-7f57a2170000 ---p 00014000 08:01 1196308                    /usr/lib/x86_64-linux-gnu/libtinyxml.so.2.6.2
7f57a2170000-7f57a2171000 r--p 00014000 08:01 1196308                    /usr/lib/x86_64-linux-gnu/libtinyxml.so.2.6.2
7f57a2171000-7f57a2172000 rw-p 00015000 08:01 1196308                    /usr/lib/x86_64-linux-gnu/libtinyxml.so.2.6.2
7f57a2172000-7f57a3a28000 r-xp 00000000 08:01 1190191                    /usr/lib/x86_64-linux-gnu/libicudata.so.55.1
7f57a3a28000-7f57a3c27000 ---p 018b6000 08:01 1190191                    /usr/lib/x86_64-linux-gnu/libicudata.so.55.1
7f57a3c27000-7f57a3c28000 r--p 018b5000 08:01 1190191                    /usr/lib/x86_64-linux-gnu/libicudata.so.55.1
7f57a3c28000-7f57a3c29000 rw-p 018b6000 08:01 1190191                    /usr/lib/x86_64-linux-gnu/libicudata.so.55.1
7f57a3c29000-7f57a3c34000 r-xp 00000000 08:01 1186865                    /usr/lib/x86_64-linux-gnu/libjbig.so.0
7f57a3c34000-7f57a3e33000 ---p 0000b000 08:01 1186865                    /usr/lib/x86_64-linux-gnu/libjbig.so.0
7f57a3e33000-7f57a3e34000 r--p 0000a000 08:01 1186865                    /usr/lib/x86_64-linux-gnu/libjbig.so.0
7f57a3e34000-7f57a3e37000 rw-p 0000b000 08:01 1186865                    /usr/lib/x86_64-linux-gnu/libjbig.so.0
7f57a3e37000-7f57a3e58000 r-xp 00000000 08:01 1577280                    /lib/x86_64-linux-gnu/liblzma.so.5.0.0
7f57a3e58000-7f57a4057000 ---p 00021000 08:01 1577280                    /lib/x86_64-linux-gnu/liblzma.so.5.0.0
7f57a4057000-7f57a4058000 r--p 00020000 08:01 1577280                    /lib/x86_64-linux-gnu/liblzma.so.5.0.0
7f57a4058000-7f57a4059000 rw-p 00021000 08:01 1577280                    /lib/x86_64-linux-gnu/liblzma.so.5.0.0
7f57a4059000-7f57a407a000 r-xp 00000000 08:01 1189047                    /usr/lib/x86_64-linux-gnu/libxcb.so.1.1.0
7f57a407a000-7f57a4279000 ---p 00021000 08:01 1189047                    /usr/lib/x86_64-linux-gnu/libxcb.so.1.1.0
7f57a4279000-7f57a427a000 r--p 00020000 08:01 1189047                    /usr/lib/x86_64-linux-gnu/libxcb.so.1.1.0
7f57a427a000-7f57a427b000 rw-p 00021000 08:01 1189047                    /usr/lib/x86_64-linux-gnu/libxcb.so.1.1.0
7f57a427b000-7f57a427f000 r-xp 00000000 08:01 1573108                    /lib/x86_64-linux-gnu/libuuid.so.1.3.0
7f57a427f000-7f57a447e000 ---p 00004000 08:01 1573108                    /lib/x86_64-linux-gnu/libuuid.so.1.3.0
7f57a447e000-7f57a447f000 r--p 00003000 08:01 1573108                    /lib/x86_64-linux-gnu/libuuid.so.1.3.0
7f57a447f000-7f57a4480000 rw-p 00004000 08:01 1573108                    /lib/x86_64-linux-gnu/libuuid.so.1.3.0
7f57a4480000-7f57a4487000 r-xp 00000000 08:01 1188927                    /usr/lib/x86_64-linux-gnu/libffi.so.6.0.4
7f57a4487000-7f57a4686000 ---p 00007000 08:01 1188927                    /usr/lib/x86_64-linux-gnu/libffi.so.6.0.4
7f57a4686000-7f57a4687000 r--p 00006000 08:01 1188927                    /usr/lib/x86_64-linux-gnu/libffi.so.6.0.4
7f57a4687000-7f57a4688000 rw-p 00007000 08:01 1188927                    /usr/lib/x86_64-linux-gnu/libffi.so.6.0.4
7f57a4688000-7f57a46f6000 r-xp 00000000 08:01 1575149                    /lib/x86_64-linux-gnu/libpcre.so.3.13.2
7f57a46f6000-7f57a48f6000 ---p 0006e000 08:01 1575149                    /lib/x86_64-linux-gnu/libpcre.so.3.13.2
7f57a48f6000-7f57a48f7000 r--p 0006e000 08:01 1575149                    /lib/x86_64-linux-gnu/libpcre.so.3.13.2
7f57a48f7000-7f57a48f8000 rw-p 0006f000 08:01 1575149                    /lib/x86_64-linux-gnu/libpcre.so.3.13.2
7f57a48f8000-7f57a48fa000 r-xp 00000000 08:01 1189725                    /usr/lib/x86_64-linux-gnu/libXau.so.6.0.0
7f57a48fa000-7f57a4afa000 ---p 00002000 08:01 1189725                    /usr/lib/x86_64-linux-gnu/libXau.so.6.0.0
7f57a4afa000-7f57a4afb000 r--p 00002000 08:01 1189725                    /usr/lib/x86_64-linux-gnu/libXau.so.6.0.0
7f57a4afb000-7f57a4afc000 rw-p 00003000 08:01 1189725                    /usr/lib/x86_64-linux-gnu/libXau.so.6.0.0
7f57a4afc000-7f57a4b5e000 r-xp 00000000 08:01 1205628                    /usr/lib/x86_64-linux-gnu/libXt.so.6.0.0
7f57a4b5e000-7f57a4d5e000 ---p 00062000 08:01 1205628                    /usr/lib/x86_64-linux-gnu/libXt.so.6.0.0
7f57a4d5e000-7f57a4d5f000 r--p 00062000 08:01 1205628                    /usr/lib/x86_64-linux-gnu/libXt.so.6.0.0
7f57a4d5f000-7f57a4d64000 rw-p 00063000 08:01 1205628                    /usr/lib/x86_64-linux-gnu/libXt.so.6.0.0
7f57a4d64000-7f57a4d65000 rw-p 00000000 00:00 0
7f57a4d65000-7f57a4d8b000 r-xp 00000000 08:01 1573694                    /lib/x86_64-linux-gnu/libexpat.so.1.6.0
7f57a4d8b000-7f57a4f8b000 ---p 00026000 08:01 1573694                    /lib/x86_64-linux-gnu/libexpat.so.1.6.0
7f57a4f8b000-7f57a4f8d000 r--p 00026000 08:01 1573694                    /lib/x86_64-linux-gnu/libexpat.so.1.6.0
7f57a4f8d000-7f57a4f8e000 rw-p 00028000 08:01 1573694                    /lib/x86_64-linux-gnu/libexpat.so.1.6.0
7f57a4f8e000-7f57a4fb4000 r-xp 00000000 08:01 1203598                    /usr/lib/x86_64-linux-gnu/libaprutil-1.so.0.5.4
7f57a4fb4000-7f57a51b3000 ---p 00026000 08:01 1203598                    /usr/lib/x86_64-linux-gnu/libaprutil-1.so.0.5.4
7f57a51b3000-7f57a51b4000 r--p 00025000 08:01 1203598                    /usr/lib/x86_64-linux-gnu/libaprutil-1.so.0.5.4
7f57a51b4000-7f57a51b5000 rw-p 00026000 08:01 1203598                    /usr/lib/x86_64-linux-gnu/libaprutil-1.so.0.5.4
7f57a51b5000-7f57a51e6000 r-xp 00000000 08:01 1183285                    /usr/lib/x86_64-linux-gnu/libapr-1.so.0.5.2
7f57a51e6000-7f57a53e5000 ---p 00031000 08:01 1183285                    /usr/lib/x86_64-linux-gnu/libapr-1.so.0.5.2
7f57a53e5000-7f57a53e6000 r--p 00030000 08:01 1183285                    /usr/lib/x86_64-linux-gnu/libapr-1.so.0.5.2
7f57a53e6000-7f57a53e7000 rw-p 00031000 08:01 1183285                    /usr/lib/x86_64-linux-gnu/libapr-1.so.0.5.2
7f57a53e7000-7f57a5428000 r-xp 00000000 08:01 1969528                    /opt/ros/kinetic/lib/librospack.so
7f57a5428000-7f57a5627000 ---p 00041000 08:01 1969528                    /opt/ros/kinetic/lib/librospack.so
7f57a5627000-7f57a5628000 r--p 00040000 08:01 1969528                    /opt/ros/kinetic/lib/librospack.so
7f57a5628000-7f57a5629000 rw-p 00041000 08:01 1969528                    /opt/ros/kinetic/lib/librospack.so
7f57a5629000-7f57a5778000 r-xp 00000000 08:01 1194898                    /usr/lib/libPocoFoundation.so.9
7f57a5778000-7f57a5978000 ---p 0014f000 08:01 1194898                    /usr/lib/libPocoFoundation.so.9
7f57a5978000-7f57a5981000 r--p 0014f000 08:01 1194898                    /usr/lib/libPocoFoundation.so.9
7f57a5981000-7f57a5984000 rw-p 00158000 08:01 1194898                    /usr/lib/libPocoFoundation.so.9
7f57a5984000-7f57a5985000 rw-p 00000000 00:00 0
7f57a5985000-7f57a5b04000 r-xp 00000000 08:01 1190216                    /usr/lib/x86_64-linux-gnu/libicuuc.so.55.1
7f57a5b04000-7f57a5d04000 ---p 0017f000 08:01 1190216                    /usr/lib/x86_64-linux-gnu/libicuuc.so.55.1
7f57a5d04000-7f57a5d14000 r--p 0017f000 08:01 1190216                    /usr/lib/x86_64-linux-gnu/libicuuc.so.55.1
7f57a5d14000-7f57a5d15000 rw-p 0018f000 08:01 1190216                    /usr/lib/x86_64-linux-gnu/libicuuc.so.55.1
7f57a5d15000-7f57a5d19000 rw-p 00000000 00:00 0
7f57a5d19000-7f57a5f6b000 r-xp 00000000 08:01 1190203                    /usr/lib/x86_64-linux-gnu/libicui18n.so.55.1
7f57a5f6b000-7f57a616b000 ---p 00252000 08:01 1190203                    /usr/lib/x86_64-linux-gnu/libicui18n.so.55.1
7f57a616b000-7f57a617a000 r--p 00252000 08:01 1190203                    /usr/lib/x86_64-linux-gnu/libicui18n.so.55.1
7f57a617a000-7f57a617b000 rw-p 00261000 08:01 1190203                    /usr/lib/x86_64-linux-gnu/libicui18n.so.55.1
7f57a617b000-7f57a61c5000 r-xp 00000000 08:01 1181798                    /usr/lib/x86_64-linux-gnu/libjasper.so.1.0.0
7f57a61c5000-7f57a63c4000 ---p 0004a000 08:01 1181798                    /usr/lib/x86_64-linux-gnu/libjasper.so.1.0.0
7f57a63c4000-7f57a63c5000 r--p 00049000 08:01 1181798                    /usr/lib/x86_64-linux-gnu/libjasper.so.1.0.0
7f57a63c5000-7f57a63c9000 rw-p 0004a000 08:01 1181798                    /usr/lib/x86_64-linux-gnu/libjasper.so.1.0.0
7f57a63c9000-7f57a63d0000 rw-p 00000000 00:00 0
7f57a63d0000-7f57a6441000 r-xp 00000000 08:01 1185202                    /usr/lib/x86_64-linux-gnu/libtiff.so.5.2.4
7f57a6441000-7f57a6640000 ---p 00071000 08:01 1185202                    /usr/lib/x86_64-linux-gnu/libtiff.so.5.2.4
7f57a6640000-7f57a6641000 r--p 00070000 08:01 1185202                    /usr/lib/x86_64-linux-gnu/libtiff.so.5.2.4
7f57a6641000-7f57a6644000 rw-p 00071000 08:01 1185202                    /usr/lib/x86_64-linux-gnu/libtiff.so.5.2.4
7f57a6644000-7f57a669d000 r-xp 00000000 08:01 1215059                    /usr/lib/x86_64-linux-gnu/libwebp.so.5.0.4
7f57a669d000-7f57a689d000 ---p 00059000 08:01 1215059                    /usr/lib/x86_64-linux-gnu/libwebp.so.5.0.4
7f57a689d000-7f57a689e000 r--p 00059000 08:01 1215059                    /usr/lib/x86_64-linux-gnu/libwebp.so.5.0.4
7f57a689e000-7f57a68a0000 rw-p 0005a000 08:01 1215059                    /usr/lib/x86_64-linux-gnu/libwebp.so.5.0.4
7f57a68a0000-7f57a68f7000 r-xp 00000000 08:01 1184781                    /usr/lib/x86_64-linux-gnu/libjpeg.so.8.0.2
7f57a68f7000-7f57a6af7000 ---p 00057000 08:01 1184781                    /usr/lib/x86_64-linux-gnu/libjpeg.so.8.0.2
7f57a6af7000-7f57a6af8000 r--p 00057000 08:01 1184781                    /usr/lib/x86_64-linux-gnu/libjpeg.so.8.0.2
7f57a6af8000-7f57a6af9000 rw-p 00058000 08:01 1184781                    /usr/lib/x86_64-linux-gnu/libjpeg.so.8.0.2
7f57a6af9000-7f57a6c2e000 r-xp 00000000 08:01 1189049                    /usr/lib/x86_64-linux-gnu/libX11.so.6.3.0
7f57a6c2e000-7f57a6e2e000 ---p 00135000 08:01 1189049                    /usr/lib/x86_64-linux-gnu/libX11.so.6.3.0
7f57a6e2e000-7f57a6e2f000 r--p 00135000 08:01 1189049                    /usr/lib/x86_64-linux-gnu/libX11.so.6.3.0
7f57a6e2f000-7f57a6e33000 rw-p 00136000 08:01 1189049                    /usr/lib/x86_64-linux-gnu/libX11.so.6.3.0
7f57a6e33000-7f57a6e44000 r-xp 00000000 08:01 1189065                    /usr/lib/x86_64-linux-gnu/libXext.so.6.4.0
7f57a6e44000-7f57a7043000 ---p 00011000 08:01 1189065                    /usr/lib/x86_64-linux-gnu/libXext.so.6.4.0
7f57a7043000-7f57a7044000 r--p 00010000 08:01 1189065                    /usr/lib/x86_64-linux-gnu/libXext.so.6.4.0
7f57a7044000-7f57a7045000 rw-p 00011000 08:01 1189065                    /usr/lib/x86_64-linux-gnu/libXext.so.6.4.0
7f57a7045000-7f57a704e000 r-xp 00000000 08:01 1189034                    /usr/lib/x86_64-linux-gnu/libXrender.so.1.3.0
7f57a704e000-7f57a724d000 ---p 00009000 08:01 1189034                    /usr/lib/x86_64-linux-gnu/libXrender.so.1.3.0
7f57a724d000-7f57a724e000 r--p 00008000 08:01 1189034                    /usr/lib/x86_64-linux-gnu/libXrender.so.1.3.0
7f57a724e000-7f57a724f000 rw-p 00009000 08:01 1189034                    /usr/lib/x86_64-linux-gnu/libXrender.so.1.3.0
7f57a724f000-7f57a725e000 r-xp 00000000 08:01 1182077                    /usr/lib/x86_64-linux-gnu/libXi.so.6.1.0
7f57a725e000-7f57a745d000 ---p 0000f000 08:01 1182077                    /usr/lib/x86_64-linux-gnu/libXi.so.6.1.0
7f57a745d000-7f57a745e000 r--p 0000e000 08:01 1182077                    /usr/lib/x86_64-linux-gnu/libXi.so.6.1.0
7f57a745e000-7f57a745f000 rw-p 0000f000 08:01 1182077                    /usr/lib/x86_64-linux-gnu/libXi.so.6.1.0
7f57a745f000-7f57a7475000 r-xp 00000000 08:01 1179863                    /usr/lib/x86_64-linux-gnu/libICE.so.6.3.0
7f57a7475000-7f57a7674000 ---p 00016000 08:01 1179863                    /usr/lib/x86_64-linux-gnu/libICE.so.6.3.0
7f57a7674000-7f57a7675000 r--p 00015000 08:01 1179863                    /usr/lib/x86_64-linux-gnu/libICE.so.6.3.0
7f57a7675000-7f57a7676000 rw-p 00016000 08:01 1179863                    /usr/lib/x86_64-linux-gnu/libICE.so.6.3.0
7f57a7676000-7f57a7679000 rw-p 00000000 00:00 0
7f57a7679000-7f57a7680000 r-xp 00000000 08:01 1189157                    /usr/lib/x86_64-linux-gnu/libSM.so.6.0.1
7f57a7680000-7f57a787f000 ---p 00007000 08:01 1189157                    /usr/lib/x86_64-linux-gnu/libSM.so.6.0.1
7f57a787f000-7f57a7880000 r--p 00006000 08:01 1189157                    /usr/lib/x86_64-linux-gnu/libSM.so.6.0.1
7f57a7880000-7f57a7881000 rw-p 00007000 08:01 1189157                    /usr/lib/x86_64-linux-gnu/libSM.so.6.0.1
7f57a7881000-7f57a78d3000 r-xp 00000000 08:01 1180798                    /usr/lib/x86_64-linux-gnu/libgobject-2.0.so.0.4800.2
7f57a78d3000-7f57a7ad2000 ---p 00052000 08:01 1180798                    /usr/lib/x86_64-linux-gnu/libgobject-2.0.so.0.4800.2
7f57a7ad2000-7f57a7ad3000 r--p 00051000 08:01 1180798                    /usr/lib/x86_64-linux-gnu/libgobject-2.0.so.0.4800.2
7f57a7ad3000-7f57a7ad4000 rw-p 00052000 08:01 1180798                    /usr/lib/x86_64-linux-gnu/libgobject-2.0.so.0.4800.2
7f57a7ad4000-7f57a7b78000 r-xp 00000000 08:01 1186290                    /usr/lib/x86_64-linux-gnu/libfreetype.so.6.12.1
7f57a7b78000-7f57a7d77000 ---p 000a4000 08:01 1186290                    /usr/lib/x86_64-linux-gnu/libfreetype.so.6.12.1
7f57a7d77000-7f57a7d7d000 r--p 000a3000 08:01 1186290                    /usr/lib/x86_64-linux-gnu/libfreetype.so.6.12.1
7f57a7d7d000-7f57a7d7e000 rw-p 000a9000 08:01 1186290                    /usr/lib/x86_64-linux-gnu/libfreetype.so.6.12.1
7f57a7d7e000-7f57a7da2000 r-xp 00000000 08:01 1575240                    /lib/x86_64-linux-gnu/libpng12.so.0.54.0
7f57a7da2000-7f57a7fa1000 ---p 00024000 08:01 1575240                    /lib/x86_64-linux-gnu/libpng12.so.0.54.0
7f57a7fa1000-7f57a7fa2000 r--p 00023000 08:01 1575240                    /lib/x86_64-linux-gnu/libpng12.so.0.54.0
7f57a7fa2000-7f57a7fa3000 rw-p 00024000 08:01 1575240                    /lib/x86_64-linux-gnu/libpng12.so.0.54.0
7f57a7fa3000-7f57a80b2000 r-xp 00000000 08:01 1577014                    /lib/x86_64-linux-gnu/libglib-2.0.so.0.4800.2
7f57a80b2000-7f57a82b1000 ---p 0010f000 08:01 1577014                    /lib/x86_64-linux-gnu/libglib-2.0.so.0.4800.2
7f57a82b1000-7f57a82b2000 r--p 0010e000 08:01 1577014                    /lib/x86_64-linux-gnu/libglib-2.0.so.0.4800.2
7f57a82b2000-7f57a82b3000 rw-p 0010f000 08:01 1577014                    /lib/x86_64-linux-gnu/libglib-2.0.so.0.4800.2
7f57a82b3000-7f57a82b4000 rw-p 00000000 00:00 0
7f57a82b4000-7f57a82cb000 r-xp 00000000 08:01 1189695                    /usr/lib/x86_64-linux-gnu/libaudio.so.2.4
7f57a82cb000-7f57a84cb000 ---p 00017000 08:01 1189695                    /usr/lib/x86_64-linux-gnu/libaudio.so.2.4
7f57a84cb000-7f57a84cc000 r--p 00017000 08:01 1189695                    /usr/lib/x86_64-linux-gnu/libaudio.so.2.4
7f57a84cc000-7f57a84cd000 rw-p 00018000 08:01 1189695                    /usr/lib/x86_64-linux-gnu/libaudio.so.2.4
7f57a84cd000-7f57a850a000 r-xp 00000000 08:01 1180109                    /usr/lib/x86_64-linux-gnu/libfontconfig.so.1.9.0
7f57a850a000-7f57a8709000 ---p 0003d000 08:01 1180109                    /usr/lib/x86_64-linux-gnu/libfontconfig.so.1.9.0
7f57a8709000-7f57a870b000 r--p 0003c000 08:01 1180109                    /usr/lib/x86_64-linux-gnu/libfontconfig.so.1.9.0
7f57a870b000-7f57a8710000 rw-p 0003e000 08:01 1180109                    /usr/lib/x86_64-linux-gnu/libfontconfig.so.1.9.0
7f57a8710000-7f57a89f7000 r-xp 00000000 08:01 1189704                    /usr/lib/x86_64-linux-gnu/libQtCore.so.4.8.7
7f57a89f7000-7f57a8bf7000 ---p 002e7000 08:01 1189704                    /usr/lib/x86_64-linux-gnu/libQtCore.so.4.8.7
7f57a8bf7000-7f57a8c01000 r--p 002e7000 08:01 1189704                    /usr/lib/x86_64-linux-gnu/libQtCore.so.4.8.7
7f57a8c01000-7f57a8c02000 rw-p 002f1000 08:01 1189704                    /usr/lib/x86_64-linux-gnu/libQtCore.so.4.8.7
7f57a8c02000-7f57a8c03000 rw-p 00000000 00:00 0
7f57a8c03000-7f57a8db2000 r-xp 00000000 08:01 1194875                    /usr/lib/x86_64-linux-gnu/liblog4cxx.so.10.0.0
7f57a8db2000-7f57a8fb1000 ---p 001af000 08:01 1194875                    /usr/lib/x86_64-linux-gnu/liblog4cxx.so.10.0.0
7f57a8fb1000-7f57a8fd7000 r--p 001ae000 08:01 1194875                    /usr/lib/x86_64-linux-gnu/liblog4cxx.so.10.0.0
7f57a8fd7000-7f57a8fd8000 rw-p 001d4000 08:01 1194875                    /usr/lib/x86_64-linux-gnu/liblog4cxx.so.10.0.0
7f57a8fd8000-7f57a8fda000 rw-p 00000000 00:00 0
7f57a8fda000-7f57a8fdb000 r-xp 00000000 08:01 1969459                    /opt/ros/kinetic/lib/librosconsole_backend_interface.so
7f57a8fdb000-7f57a91da000 ---p 00001000 08:01 1969459                    /opt/ros/kinetic/lib/librosconsole_backend_interface.so
7f57a91da000-7f57a91db000 r--p 00000000 08:01 1969459                    /opt/ros/kinetic/lib/librosconsole_backend_interface.so
7f57a91db000-7f57a91dc000 rw-p 00001000 08:01 1969459                    /opt/ros/kinetic/lib/librosconsole_backend_interface.so
7f57a91dc000-7f57a91f2000 r-xp 00000000 08:01 1969462                    /opt/ros/kinetic/lib/librosconsole_log4cxx.so
7f57a91f2000-7f57a93f2000 ---p 00016000 08:01 1969462                    /opt/ros/kinetic/lib/librosconsole_log4cxx.so
7f57a93f2000-7f57a93f4000 r--p 00016000 08:01 1969462                    /opt/ros/kinetic/lib/librosconsole_log4cxx.so
7f57a93f4000-7f57a93f5000 rw-p 00018000 08:01 1969462                    /opt/ros/kinetic/lib/librosconsole_log4cxx.so
7f57a93f5000-7f57a93fb000 r-xp 00000000 08:01 1222806                    /usr/lib/x86_64-linux-gnu/libboost_chrono.so.1.58.0
7f57a93fb000-7f57a95fb000 ---p 00006000 08:01 1222806                    /usr/lib/x86_64-linux-gnu/libboost_chrono.so.1.58.0
7f57a95fb000-7f57a95fc000 r--p 00006000 08:01 1222806                    /usr/lib/x86_64-linux-gnu/libboost_chrono.so.1.58.0
7f57a95fc000-7f57a95fd000 rw-p 00007000 08:01 1222806                    /usr/lib/x86_64-linux-gnu/libboost_chrono.so.1.58.0
7f57a95fd000-7f57a9621000 r-xp 00000000 08:01 1181900                    /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.58.0
7f57a9621000-7f57a9820000 ---p 00024000 08:01 1181900                    /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.58.0
7f57a9820000-7f57a9822000 r--p 00023000 08:01 1181900                    /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.58.0
7f57a9822000-7f57a9823000 rw-p 00025000 08:01 1181900                    /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.58.0
7f57a9823000-7f57a982a000 r-xp 00000000 08:01 1969387                    /opt/ros/kinetic/lib/libcpp_common.so
7f57a982a000-7f57a9a29000 ---p 00007000 08:01 1969387                    /opt/ros/kinetic/lib/libcpp_common.so
7f57a9a29000-7f57a9a2a000 r--p 00006000 08:01 1969387                    /opt/ros/kinetic/lib/libcpp_common.so
7f57a9a2a000-7f57a9a2b000 rw-p 00007000 08:01 1969387                    /opt/ros/kinetic/lib/libcpp_common.so
7f57a9a2b000-7f57a9a49000 r-xp 00000000 08:01 1969468                    /opt/ros/kinetic/lib/libxmlrpcpp.so
7f57a9a49000-7f57a9c48000 ---p 0001e000 08:01 1969468                    /opt/ros/kinetic/lib/libxmlrpcpp.so
7f57a9c48000-7f57a9c49000 r--p 0001d000 08:01 1969468                    /opt/ros/kinetic/lib/libxmlrpcpp.so
7f57a9c49000-7f57a9c4a000 rw-p 0001e000 08:01 1969468                    /opt/ros/kinetic/lib/libxmlrpcpp.so
7f57a9c4a000-7f57a9c4e000 r-xp 00000000 08:01 1196313                    /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.2
7f57a9c4e000-7f57a9e4d000 ---p 00004000 08:01 1196313                    /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.2
7f57a9e4d000-7f57a9e4e000 r--p 00003000 08:01 1196313                    /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.2
7f57a9e4e000-7f57a9e4f000 rw-p 00004000 08:01 1196313                    /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.2
7f57a9e4f000-7f57a9e66000 r-xp 00000000 08:01 1214981                    /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.58.0
7f57a9e66000-7f57aa065000 ---p 00017000 08:01 1214981                    /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.58.0
7f57aa065000-7f57aa066000 r--p 00016000 08:01 1214981                    /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.58.0
7f57aa066000-7f57aa067000 rw-p 00017000 08:01 1214981                    /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.58.0
7f57aa067000-7f57aa077000 r-xp 00000000 08:01 1969530                    /opt/ros/kinetic/lib/libroslib.so
7f57aa077000-7f57aa277000 ---p 00010000 08:01 1969530                    /opt/ros/kinetic/lib/libroslib.so
7f57aa277000-7f57aa278000 r--p 00010000 08:01 1969530                    /opt/ros/kinetic/lib/libroslib.so
7f57aa278000-7f57aa279000 rw-p 00011000 08:01 1969530                    /opt/ros/kinetic/lib/libroslib.so
7f57aa279000-7f57aa29b000 r-xp 00000000 08:01 1969733                    /opt/ros/kinetic/lib/libclass_loader.so
7f57aa29b000-7f57aa49b000 ---p 00022000 08:01 1969733                    /opt/ros/kinetic/lib/libclass_loader.so
7f57aa49b000-7f57aa49c000 r--p 00022000 08:01 1969733                    /opt/ros/kinetic/lib/libclass_loader.so
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7f57aa49d000-7f57aa4ae000 r-xp 00000000 08:01 1180186                    /usr/lib/x86_64-linux-gnu/libtinyxml2.so.2.2.0
7f57aa4ae000-7f57aa6ae000 ---p 00011000 08:01 1180186                    /usr/lib/x86_64-linux-gnu/libtinyxml2.so.2.2.0
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7f57ad2f5000-7f57ad4f5000 ---p 0261f000 08:01 138762                     /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgproc3.so.3.3.1
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7f57ad52d000-7f57ad5cc000 rw-p 00000000 00:00 0
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7f57ad6cf000-7f57ad8cf000 ---p 00103000 08:01 1222797                    /usr/lib/x86_64-linux-gnu/libboost_regex.so.1.58.0
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7f57ad8d4000-7f57adcf1000 r-xp 00000000 08:01 138744                     /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1
7f57adcf1000-7f57adef1000 ---p 0041d000 08:01 138744                     /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1
7f57adef1000-7f57adef7000 r--p 0041d000 08:01 138744                     /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1
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7f57adf02000-7f57adf03000 rw-p 00000000 00:00 0
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7f57ae0c3000-7f57ae2c3000 ---p 001c0000 08:01 1581074                    /lib/x86_64-linux-gnu/libc-2.23.so
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7f57ae2c9000-7f57ae2cd000 rw-p 00000000 00:00 0
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7f57ae4e3000-7f57ae5eb000 r-xp 00000000 08:01 1573355                    /lib/x86_64-linux-gnu/libm-2.23.so
7f57ae5eb000-7f57ae7ea000 ---p 00108000 08:01 1573355                    /lib/x86_64-linux-gnu/libm-2.23.so
7f57ae7ea000-7f57ae7eb000 r--p 00107000 08:01 1573355                    /lib/x86_64-linux-gnu/libm-2.23.so
7f57ae7eb000-7f57ae7ec000 rw-p 00108000 08:01 1573355                    /lib/x86_64-linux-gnu/libm-2.23.so
7f57ae7ec000-7f57ae95e000 r-xp 00000000 08:01 1184657                    /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21
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7f57aeb5e000-7f57aeb68000 r--p 00172000 08:01 1184657                    /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21
7f57aeb68000-7f57aeb6a000 rw-p 0017c000 08:01 1184657                    /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21
7f57aeb6a000-7f57aeb6e000 rw-p 00000000 00:00 0
7f57aeb6e000-7f57af61a000 r-xp 00000000 08:01 1180669                    /usr/lib/x86_64-linux-gnu/libQtGui.so.4.8.7
7f57af61a000-7f57af819000 ---p 00aac000 08:01 1180669                    /usr/lib/x86_64-linux-gnu/libQtGui.so.4.8.7
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7f57af857000-7f57af85e000 rw-p 00ae9000 08:01 1180669                    /usr/lib/x86_64-linux-gnu/libQtGui.so.4.8.7
7f57af85e000-7f57af862000 rw-p 00000000 00:00 0
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7f57af87a000-7f57afa79000 ---p 00018000 08:01 1578689                    /lib/x86_64-linux-gnu/libpthread-2.23.so
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7f57afa7a000-7f57afa7b000 rw-p 00018000 08:01 1578689                    /lib/x86_64-linux-gnu/libpthread-2.23.so
7f57afa7b000-7f57afa7f000 rw-p 00000000 00:00 0
7f57afa7f000-7f57afa82000 r-xp 00000000 08:01 1190116                    /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0
7f57afa82000-7f57afc81000 ---p 00003000 08:01 1190116                    /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0
7f57afc81000-7f57afc82000 r--p 00002000 08:01 1190116                    /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0
7f57afc82000-7f57afc83000 rw-p 00003000 08:01 1190116                    /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0
7f57afc83000-7f57afcae000 r-xp 00000000 08:01 1969400                    /opt/ros/kinetic/lib/librostime.so
7f57afcae000-7f57afead000 ---p 0002b000 08:01 1969400                    /opt/ros/kinetic/lib/librostime.so
7f57afead000-7f57afeaf000 r--p 0002a000 08:01 1969400                    /opt/ros/kinetic/lib/librostime.so
7f57afeaf000-7f57afeb0000 rw-p 0002c000 08:01 1969400                    /opt/ros/kinetic/lib/librostime.so
7f57afeb0000-7f57afeb2000 r-xp 00000000 08:01 1969427                    /opt/ros/kinetic/lib/libroscpp_serialization.so
7f57afeb2000-7f57b00b1000 ---p 00002000 08:01 1969427                    /opt/ros/kinetic/lib/libroscpp_serialization.so
7f57b00b1000-7f57b00b2000 r--p 00001000 08:01 1969427                    /opt/ros/kinetic/lib/libroscpp_serialization.so
7f57b00b2000-7f57b00b3000 rw-p 00002000 08:01 1969427                    /opt/ros/kinetic/lib/libroscpp_serialization.so
7f57b00b3000-7f57b00e2000 r-xp 00000000 08:01 1969460                    /opt/ros/kinetic/lib/librosconsole.so
7f57b00e2000-7f57b02e2000 ---p 0002f000 08:01 1969460                    /opt/ros/kinetic/lib/librosconsole.so
7f57b02e2000-7f57b02e4000 r--p 0002f000 08:01 1969460                    /opt/ros/kinetic/lib/librosconsole.so
7f57b02e4000-7f57b02e5000 rw-p 00031000 08:01 1969460                    /opt/ros/kinetic/lib/librosconsole.so
7f57b02e5000-7f57b0477000 r-xp 00000000 08:01 1978972                    /opt/ros/kinetic/lib/libroscpp.so
7f57b0477000-7f57b0676000 ---p 00192000 08:01 1978972                    /opt/ros/kinetic/lib/libroscpp.so
7f57b0676000-7f57b067d000 r--p 00191000 08:01 1978972                    /opt/ros/kinetic/lib/libroscpp.so
7f57b067d000-7f57b0681000 rw-p 00198000 08:01 1978972                    /opt/ros/kinetic/lib/libroscpp.so
7f57b0681000-7f57b0685000 r-xp 00000000 08:01 1969495                    /opt/ros/kinetic/lib/libmessage_filters.so
7f57b0685000-7f57b0884000 ---p 00004000 08:01 1969495                    /opt/ros/kinetic/lib/libmessage_filters.so
7f57b0884000-7f57b0885000 r--p 00003000 08:01 1969495                    /opt/ros/kinetic/lib/libmessage_filters.so
7f57b0885000-7f57b0886000 rw-p 00004000 08:01 1969495                    /opt/ros/kinetic/lib/libmessage_filters.so
7f57b0886000-7f57b0905000 r-xp 00000000 08:01 1969881                    /opt/ros/kinetic/lib/libimage_transport.so
7f57b0905000-7f57b0b04000 ---p 0007f000 08:01 1969881                    /opt/ros/kinetic/lib/libimage_transport.so
7f57b0b04000-7f57b0b07000 r--p 0007e000 08:01 1969881                    /opt/ros/kinetic/lib/libimage_transport.so
7f57b0b07000-7f57b0b08000 rw-p 00081000 08:01 1969881                    /opt/ros/kinetic/lib/libimage_transport.so
7f57b0b08000-7f57b180b000 r-xp 00000000 08:01 138737                     /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_core3.so.3.3.1
7f57b180b000-7f57b1a0b000 ---p 00d03000 08:01 138737                     /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_core3.so.3.3.1
7f57b1a0b000-7f57b1a17000 r--p 00d03000 08:01 138737                     /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_core3.so.3.3.1
7f57b1a17000-7f57b1a3d000 rw-p 00d0f000 08:01 138737                     /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_core3.so.3.3.1
7f57b1a3d000-7f57b1a42000 rw-p 00000000 00:00 0
7f57b1a42000-7f57b1a6a000 r-xp 00000000 08:01 1969792                    /opt/ros/kinetic/lib/libcv_bridge.so
7f57b1a6a000-7f57b1c69000 ---p 00028000 08:01 1969792                    /opt/ros/kinetic/lib/libcv_bridge.so
7f57b1c69000-7f57b1c6b000 r--p 00027000 08:01 1969792                    /opt/ros/kinetic/lib/libcv_bridge.so
7f57b1c6b000-7f57b1c6c000 rw-p 00029000 08:01 1969792                    /opt/ros/kinetic/lib/libcv_bridge.so
7f57b1c6c000-7f57b1c92000 r-xp 00000000 08:01 1573361                    /lib/x86_64-linux-gnu/ld-2.23.so
7f57b1e1a000-7f57b1e48000 rw-p 00000000 00:00 0
7f57b1e7d000-7f57b1e91000 rw-p 00000000 00:00 0
7f57b1e91000-7f57b1e92000 r--p 00025000 08:01 1573361                    /lib/x86_64-linux-gnu/ld-2.23.so
7f57b1e92000-7f57b1e93000 rw-p 00026000 08:01 1573361                    /lib/x86_64-linux-gnu/ld-2.23.so
7f57b1e93000-7f57b1e94000 rw-p 00000000 00:00 0
7ffd03c59000-7ffd03c79000 rwxp 00000000 00:00 0                          [stack]
7ffd03c79000-7ffd03c7b000 rw-p 00000000 00:00 0
7ffd03d95000-7ffd03d98000 r--p 00000000 00:00 0                          [vvar]
7ffd03d98000-7ffd03d9a000 r-xp 00000000 00:00 0                          [vdso]
ffffffffff600000-ffffffffff601000 r-xp 00000000 00:00 0                  [vsyscall]
[upper_body_detector-2] process has died [pid 14658, exit code -6, cmd /opt/ros/kinetic/lib/upper_body_detector/upper_body_detector __name:=upper_body_detector __log:=/localhome/lcas/.ros/log/217e2650-f875-11e8-a80e-901b0ebe0a0e/upper_body_detector-2.log].
log file: /localhome/lcas/.ros/log/217e2650-f875-11e8-a80e-901b0ebe0a0e/upper_body_detector-2*.log
[upper_body_detector-2] restarting process
process[upper_body_detector-2]: started with pid [22093]
[ WARN] [1544369656.091835429]: Cell out of bounds
[ WARN] [1544369656.144079009]: Cell out of bounds
[ WARN] [1544369656.207933598]: Cell out of bounds
[ WARN] [1544369656.235344347]: Cell out of bounds
[ WARN] [1544369656.299535279]: Cell out of bounds
[ WARN] [1544369656.360189070]: Cell out of bounds
[ WARN] [1544369656.421256792]: Cell out of bounds
[ WARN] [1544369656.463873102]: Cell out of bounds
[ WARN] [1544369656.485018643]: Cell out of bounds
[ WARN] [1544369656.549546290]: Cell out of bounds
[ WARN] [1544370608.171932732]: Cell out of bounds
[ WARN] [1544370608.232543914]: Cell out of bounds
[ WARN] [1544370608.293118976]: Cell out of bounds
[ WARN] [1544370608.331812653]: Cell out of bounds
[ WARN] [1544370608.388249021]: Cell out of bounds
[ WARN] [1544370608.427930717]: Cell out of bounds
[ WARN] [1544370608.479469173]: Cell out of bounds
[ WARN] [1544370608.515848922]: Cell out of bounds
[ WARN] [1544370614.177796086]: Cell out of bounds
[ WARN] [1544370614.238178803]: Cell out of bounds
[ WARN] [1544370614.275790106]: Cell out of bounds
[ WARN] [1544370614.329239636]: Cell out of bounds
[ WARN] [1544370614.389855418]: Cell out of bounds
[ WARN] [1544370614.427775279]: Cell out of bounds
[ WARN] [1544370614.480882520]: Cell out of bounds
[ WARN] [1544447861.229326079]: Failed transform: Lookup would require extrapolation into the past.  Requested time 1544447844.954614610 but the earliest data is at time 1544447851.249572038, when looking up transform from frame [head_xtion_rgb_optical_frame] to frame [map]
[ WARN] [1544447864.240006910]: Failed transform: Lookup would require extrapolation into the past.  Requested time 1544447844.954614610 but the earliest data is at time 1544447854.249593973, when looking up transform from frame [head_xtion_rgb_optical_frame] to frame [map]
[ WARN] [1544447867.245516228]: Failed transform: Lookup would require extrapolation into the past.  Requested time 1544447844.954614610 but the earliest data is at time 1544447857.149614095, when looking up transform from frame [head_xtion_rgb_optical_frame] to frame [map]

@scosar May it be related to the previous error, or caused by changing the freespace size?

I think the Cell out of bounds log comes from here: https://github.com/strands-project/strands_perception_people/blob/92ee683e0ffaa44b0e70483da5a2e8b579628eff/people_tracker_filter/src/filter.cpp#L117

scosar commented 5 years ago

Could it more about ROS image filters or sync policy stuff? Does it happen all the time?

I am not sure, but it might still be related to (possible) memory leak coming from upper_body_detector.

I did not use the people_tracker_filter. But I guess, it is expected as the upper_body_detector failed.

francescodelduchetto commented 5 years ago

I checked if it was caused by the change in the freespace size, and it is not. Because the error happens also when resetting that to the previous values.

Alex-Beh commented 4 years ago

Hello, I faced some issues when run upper_body_detector. The process has died error keep raised up and restart the process.

Below is the errors I saw from the terminal:

corrupted double-linked list
double free or corruption (out)
malloc_consolidate(): invalid chunk size
double free or corruption (fasttop)
malloc(): memory corruption
malloc(): smallbin double linked list corrupted
corrupted size vs. prev_size

The process die with different errors (as shown above) every time. I tried change freespace_minX and freespace_maxX but didn't work. May I know anyone have any idea on this?

marc-hanheide commented 4 years ago

@Alex-Beh apologies, this code hasn't been updated in a long while, maybe @lucasb-eyer or @Pandoro can still point you in some direction, but I'm not sure.