[Playerstage-developers] [ playerstage-Patches-2800395 ] player segfault with gazebo

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Patches item #2800395, was opened at 2009-06-03 09:21
Message generated for change (Tracker Item Submitted) made by akr
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Category: Gazebo
Group: None
Status: Open
Resolution: None
Priority: 5
Private: No
Submitted By: Tanaka Akira (akr)
Assigned to: Nathan Koenig (natepak)
Summary: player segfault with gazebo

Initial Comment:
player segfault with gazebo.

I used svn latest version of player and gazebo.

gazebo is run as follows.

% gazebo gazebo/worlds/pioneer2dx.world
Gazebo multi-robot simulator, version 0.9.0

Part of the Player/Stage Project [http://playerstage.sourceforge.net].
Copyright (C) 2003 Nate Koenig, Andrew Howard, and contributors.
Released under the GNU General Public License.

[/home/src/playerstage/gazebo/server/GazeboConfig.cc:102]
  Gazebo Path[/usr/local/share/gazebo]
[/home/src/playerstage/gazebo/server/GazeboConfig.cc:114]
  Ogre Path[/usr/local/lib/OGRE]
creating /tmp/gazebo-akr-0
creating /tmp/gazebo-akr-0/simulation.default 112 151696
creating /tmp/gazebo-akr-0/graphics3d.default 112 1629744
creating /tmp/gazebo-akr-0/graphics3d.plane1_model 112 1629744
creating /tmp/gazebo-akr-0/graphics3d.sphere1_model 112 1629744
creating /tmp/gazebo-akr-0/position.position_iface_0 112 156
creating /tmp/gazebo-akr-0/graphics3d.pioneer2dx_model1 112 1629744
creating /tmp/gazebo-akr-0/laser.laser_iface_0 112 8352
creating /tmp/gazebo-akr-0/fiducial.fiducial_iface_0 112 11308
creating /tmp/gazebo-akr-0/graphics3d.laser 112 1629744
creating /tmp/gazebo-akr-0/graphics3d.box1_model 112 1629744
creating /tmp/gazebo-akr-0/graphics3d.point_white 112 1629744

player is run as follows.

% player gazebo/player_cfgs/gazebo.cfg
Registering driver
Player v.2.2.0

* Part of the Player/Stage/Gazebo Project [http://playerstage.sourceforge.net].
* Copyright (C) 2000 - 2009 Brian Gerkey, Richard Vaughan, Andrew Howard,
* Nate Koenig, and contributors. Released under the GNU General Public License.
* Player comes with ABSOLUTELY NO WARRANTY.  This is free software, and you
* are welcome to redistribute it under certain conditions; see COPYING
* for details.

invoking player_driver_init()...

 * Part of the Player/Stage Project [http://playerstage.sourceforge.net]
 * Copyright 2000-2006 Richard Vaughan, Andrew Howard, Brian Gerkey, Nathan Koenig
 * and contributors. Released under the GNU General Public License v2.
success
  Gazebo Plugin driver creating 1 device
    6665.31.0 is  a simulation interface.
opening /tmp/gazebo-akr-0
opening /tmp/gazebo-akr-0/simulation.default 112 151696
  Gazebo Plugin driver creating 1 device
    6665.4.0 is  a position2d interface.
  Gazebo Plugin driver creating 1 device
    6665.6.0 is  a laser interface.
zsh: segmentation fault (core dumped)  player gazebo/player_cfgs/gazebo.cfg

It seems GlobalTime is broken.

% gdb player core.22465 
GNU gdb 6.8-debian
Copyright (C) 2008 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law.  Type "show copying"
and "show warranty" for details.
This GDB was configured as "i486-linux-gnu"...

warning: Can't read pathname for load map: Input/output error.
Reading symbols from /usr/local/lib/libplayerdrivers.so.2.2...done.
Loaded symbols for /usr/local/lib/libplayerdrivers.so.2.2
Reading symbols from /usr/local/lib/libplayertcp.so.2.2...done.
Loaded symbols for /usr/local/lib/libplayertcp.so.2.2
Reading symbols from /usr/local/lib/libplayerudp.so.2.2...done.
Loaded symbols for /usr/local/lib/libplayerudp.so.2.2
Reading symbols from /usr/local/lib/libplayercore.so.2.2...done.
Loaded symbols for /usr/local/lib/libplayercore.so.2.2
Reading symbols from /usr/local/lib/libplayerutils.so.2.2...done.
Loaded symbols for /usr/local/lib/libplayerutils.so.2.2
Reading symbols from /usr/local/lib/libplayererror.so.2.2...done.
Loaded symbols for /usr/local/lib/libplayererror.so.2.2
Reading symbols from /usr/local/lib/libplayerxdr.so.2.2...done.
Loaded symbols for /usr/local/lib/libplayerxdr.so.2.2
Reading symbols from /lib/i686/cmov/librt.so.1...Reading symbols from /usr/lib/debug/lib/i686/cmov/librt-2.7.so...done.
done.
Loaded symbols for /lib/i686/cmov/librt.so.1
Reading symbols from /lib/i686/cmov/libpthread.so.0...Reading symbols from /usr/lib/debug/lib/i686/cmov/libpthread-2.7.so...done.
done.
Loaded symbols for /lib/i686/cmov/libpthread.so.0
Reading symbols from /usr/lib/libltdl.so.3...done.
Loaded symbols for /usr/lib/libltdl.so.3
Reading symbols from /usr/lib/libgdk_pixbuf-2.0.so.0...Reading symbols from /usr/lib/debug/usr/lib/libgdk_pixbuf-2.0.so.0.1200.12...done.
done.
Loaded symbols for /usr/lib/libgdk_pixbuf-2.0.so.0
Reading symbols from /usr/lib/libgobject-2.0.so.0...Reading symbols from /usr/lib/debug/usr/lib/libgobject-2.0.so.0.1600.6...done.
done.
Loaded symbols for /usr/lib/libgobject-2.0.so.0
Reading symbols from /usr/lib/libgmodule-2.0.so.0...Reading symbols from /usr/lib/debug/usr/lib/libgmodule-2.0.so.0.1600.6...done.
done.
Loaded symbols for /usr/lib/libgmodule-2.0.so.0
Reading symbols from /lib/i686/cmov/libdl.so.2...Reading symbols from /usr/lib/debug/lib/i686/cmov/libdl-2.7.so...done.
done.
Loaded symbols for /lib/i686/cmov/libdl.so.2
Reading symbols from /usr/lib/libasound.so.2...done.
Loaded symbols for /usr/lib/libasound.so.2
Reading symbols from /usr/lib/libjpeg.so.62...done.
Loaded symbols for /usr/lib/libjpeg.so.62
Reading symbols from /lib/libusb-0.1.so.4...done.
Loaded symbols for /lib/libusb-0.1.so.4
Reading symbols from /lib/i686/cmov/libm.so.6...Reading symbols from /usr/lib/debug/lib/i686/cmov/libm-2.7.so...done.
done.
Loaded symbols for /lib/i686/cmov/libm.so.6
Reading symbols from /usr/lib/libglib-2.0.so.0...Reading symbols from /usr/lib/debug/usr/lib/libglib-2.0.so.0.1600.6...done.
done.
Loaded symbols for /usr/lib/libglib-2.0.so.0
Reading symbols from /usr/lib/libgtk-x11-2.0.so.0...Reading symbols from /usr/lib/debug/usr/lib/libgtk-x11-2.0.so.0.1200.12...done.
done.
Loaded symbols for /usr/lib/libgtk-x11-2.0.so.0
Reading symbols from /usr/lib/libgdk-x11-2.0.so.0...Reading symbols from /usr/lib/debug/usr/lib/libgdk-x11-2.0.so.0.1200.12...done.
done.
Loaded symbols for /usr/lib/libgdk-x11-2.0.so.0
Reading symbols from /usr/lib/libatk-1.0.so.0...Reading symbols from /usr/lib/debug/usr/lib/libatk-1.0.so.0.2209.1...done.
done.
Loaded symbols for /usr/lib/libatk-1.0.so.0
Reading symbols from /usr/lib/libpangocairo-1.0.so.0...Reading symbols from /usr/lib/debug/usr/lib/libpangocairo-1.0.so.0.2002.3...done.
done.
Loaded symbols for /usr/lib/libpangocairo-1.0.so.0
Reading symbols from /usr/lib/libpango-1.0.so.0...Reading symbols from /usr/lib/debug/usr/lib/libpango-1.0.so.0.2002.3...done.
done.
Loaded symbols for /usr/lib/libpango-1.0.so.0
Reading symbols from /usr/lib/libcairo.so.2...done.
Loaded symbols for /usr/lib/libcairo.so.2
Reading symbols from /usr/lib/libz.so.1...done.
Loaded symbols for /usr/lib/libz.so.1
Reading symbols from /usr/lib/libgeos-3.0.0.so...done.
Loaded symbols for /usr/lib/libgeos-3.0.0.so
Reading symbols from /usr/lib/libgeos_c.so.1...done.
Loaded symbols for /usr/lib/libgeos_c.so.1
Reading symbols from /usr/local/lib/libplayerjpeg.so.2.2...done.
Loaded symbols for /usr/local/lib/libplayerjpeg.so.2.2
Reading symbols from /usr/lib/libstdc++.so.6...done.
Loaded symbols for /usr/lib/libstdc++.so.6
Reading symbols from /lib/libgcc_s.so.1...done.
Loaded symbols for /lib/libgcc_s.so.1
Reading symbols from /lib/i686/cmov/libc.so.6...Reading symbols from /usr/lib/debug/lib/i686/cmov/libc-2.7.so...done.
done.
Loaded symbols for /lib/i686/cmov/libc.so.6
Reading symbols from /lib/ld-linux.so.2...Reading symbols from /usr/lib/debug/lib/ld-2.7.so...done.
done.
Loaded symbols for /lib/ld-linux.so.2
Reading symbols from /usr/lib/libpcre.so.3...done.
Loaded symbols for /usr/lib/libpcre.so.3
Reading symbols from /usr/lib/libX11.so.6...done.
Loaded symbols for /usr/lib/libX11.so.6
Reading symbols from /usr/lib/libXcomposite.so.1...done.
Loaded symbols for /usr/lib/libXcomposite.so.1
Reading symbols from /usr/lib/libXdamage.so.1...done.
Loaded symbols for /usr/lib/libXdamage.so.1
Reading symbols from /usr/lib/libXfixes.so.3...done.
Loaded symbols for /usr/lib/libXfixes.so.3
Reading symbols from /usr/lib/libfontconfig.so.1...Reading symbols from /usr/lib/debug/usr/lib/libfontconfig.so.1.3.0...done.
done.
Loaded symbols for /usr/lib/libfontconfig.so.1
Reading symbols from /usr/lib/libXext.so.6...done.
Loaded symbols for /usr/lib/libXext.so.6
Reading symbols from /usr/lib/libXrender.so.1...done.
Loaded symbols for /usr/lib/libXrender.so.1
Reading symbols from /usr/lib/libXinerama.so.1...done.
Loaded symbols for /usr/lib/libXinerama.so.1
Reading symbols from /usr/lib/libXi.so.6...done.
Loaded symbols for /usr/lib/libXi.so.6
Reading symbols from /usr/lib/libXrandr.so.2...done.
Loaded symbols for /usr/lib/libXrandr.so.2
Reading symbols from /usr/lib/libXcursor.so.1...done.
Loaded symbols for /usr/lib/libXcursor.so.1
Reading symbols from /usr/lib/libpangoft2-1.0.so.0...Reading symbols from /usr/lib/debug/usr/lib/libpangoft2-1.0.so.0.2002.3...done.
done.
Loaded symbols for /usr/lib/libpangoft2-1.0.so.0
Reading symbols from /usr/lib/libfreetype.so.6...done.
Loaded symbols for /usr/lib/libfreetype.so.6
Reading symbols from /usr/lib/libdirectfb-1.0.so.0...done.
Loaded symbols for /usr/lib/libdirectfb-1.0.so.0
Reading symbols from /usr/lib/libfusion-1.0.so.0...done.
Loaded symbols for /usr/lib/libfusion-1.0.so.0
Reading symbols from /usr/lib/libdirect-1.0.so.0...done.
Loaded symbols for /usr/lib/libdirect-1.0.so.0
Reading symbols from /usr/lib/libpng12.so.0...done.
Loaded symbols for /usr/lib/libpng12.so.0
Reading symbols from /usr/lib/libxcb-render-util.so.0...done.
Loaded symbols for /usr/lib/libxcb-render-util.so.0
Reading symbols from /usr/lib/libxcb-render.so.0...done.
Loaded symbols for /usr/lib/libxcb-render.so.0
Reading symbols from /usr/lib/libxcb.so.1...done.
Loaded symbols for /usr/lib/libxcb.so.1
Reading symbols from /usr/lib/libpixman-1.so.0...done.
Loaded symbols for /usr/lib/libpixman-1.so.0
Reading symbols from /usr/lib/libxcb-xlib.so.0...done.
Loaded symbols for /usr/lib/libxcb-xlib.so.0
Reading symbols from /usr/lib/libexpat.so.1...done.
Loaded symbols for /usr/lib/libexpat.so.1
Reading symbols from /usr/lib/libXau.so.6...done.
Loaded symbols for /usr/lib/libXau.so.6
Reading symbols from /usr/lib/libXdmcp.so.6...done.
Loaded symbols for /usr/lib/libXdmcp.so.6
Reading symbols from /lib/i686/cmov/libnss_files.so.2...Reading symbols from /usr/lib/debug/lib/i686/cmov/libnss_files-2.7.so...done.
done.
Loaded symbols for /lib/i686/cmov/libnss_files.so.2
Reading symbols from /usr/local/lib/libgazeboplugin.so...done.
Loaded symbols for /usr/local/lib/libgazeboplugin.so
Reading symbols from /usr/local/lib/libplayerc++.so.2.2...done.
Loaded symbols for /usr/local/lib/libplayerc++.so.2.2
Reading symbols from /usr/lib/libboost_thread-mt.so.1.35.0...done.
Loaded symbols for /usr/lib/libboost_thread-mt.so.1.35.0
Reading symbols from /usr/lib/libboost_signals-mt.so.1.35.0...done.
Loaded symbols for /usr/lib/libboost_signals-mt.so.1.35.0
Reading symbols from /usr/local/lib/libplayerc.so.2.2...done.
Loaded symbols for /usr/local/lib/libplayerc.so.2.2
Reading symbols from /usr/local/lib/libgazebo.so...done.
Loaded symbols for /usr/local/lib/libgazebo.so
Core was generated by `player gazebo/player_cfgs/gazebo.cfg'.
Program terminated with signal 11, Segmentation fault.
[New process 22465]
[New process 22466]
#0  0xb7e60cb9 in VFH_Algorithm::Init (this=0x96b5cf8)
    at /home/src/playerstage/player/server/drivers/position/vfh/vfh_algorithm.cc:355
355       assert( GlobalTime->GetTime( &last_update_time ) == 0 );
(gdb) p GlobalTime
$1 = (PlayerTime *) 0x96a68d0
(gdb) p *GlobalTime
$2 = {_vptr.PlayerTime = 0x2}
(gdb) 

I think the problem is caused by the following line in 
gazebo/player/GazeboClient.cc.

   assert((GlobalTime = new GazeboTime()));

If NDEBUG is defined, GlobalTime is not assigned.

So GlobalTime should be assigned before assert as:

  GlobalTime = new GazeboTime();
  assert(GlobalTime);

A patch attached.

----------------------------------------------------------------------

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