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Gazebo crashes on model deletion

asked 2017-01-23 12:16:27 -0500

JLiviero gravatar image

I am attempting to delete (and subsequently re-spawn, with a different 3D mesh) a static model in Gazebo. When I do, Gazebo is crashing consistently.

Here is an excerpt from the gazebo log:

gzserver: /usr/include/boost/smart_ptr/shared_ptr.hpp:653: typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = gazebo::physics::Inertial; typename boost::detail::sp_member_access<T>::type = gazebo::physics::Inertial*]: Assertion `px != 0' failed.

(truncated some plugin output here, which looks sane)

Aborted (core dumped)
================================================================================REQUIRED process [gazebo-2] has died!
process has died [pid 23768, exit code 134, cmd /opt/simulation/lib/gazebo_ros/gzserver -u -r -e ode /var/tmp/ros/temp.world __name:=gazebo __log:=/home/administrator/.ros/log/eb76bd24-e192-11e6-a6dd-005056b4a883/gazebo-2.log].
log file: /home/administrator/.ros/log/eb76bd24-e192-11e6-a6dd-005056b4a883/gazebo-2*.log
Initiating shutdown!
================================================================================

I'm calling the delete service from Python, as follows:

self._delete_env_cli = rospy.ServiceProxy('/gazebo/delete_model', DeleteModel)
try:
        rospy.wait_for_service('/gazebo/delete_model')
        resp = self._delete_env_cli(model_name='barrier')
except rospy.ServiceException as e:
        rospy.logerr("Service did not process request: {}".format(e))

I see this behaviour with or without rospy.wait_for_service().

Gazebo 7.5.0, ROS Indigo. I'm also running GzWeb (head of gzweb_1.3.0) which is connected to this instance - not sure if that would impact anything.

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chapulina gravatar imagechapulina ( 2017-01-23 22:25:44 -0500 )edit

Wilco. Is there a method for getting debug symbols *without* building Gazebo from source? Just setting `debug=true` indicates: `Reading symbols from gzserver...(no debugging symbols found)...done.`

JLiviero gravatar imageJLiviero ( 2017-01-24 10:05:36 -0500 )edit

humm I think Gazebo needs to have been compiled in debug mode..

chapulina gravatar imagechapulina ( 2017-01-25 10:20:49 -0500 )edit

Output has been posted below - let me know if you need anything else.

JLiviero gravatar imageJLiviero ( 2017-02-23 11:51:48 -0500 )edit

Hi @JLiviero, thanks for the backtrace. It looks like `physics::Link` is trying to access a null `physics::Inertial` pointer. I was planning on trying to reproduce the issue using Gazebo without ROS when I have some time, so it's easier to investigate.

chapulina gravatar imagechapulina ( 2017-02-23 12:06:39 -0500 )edit

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answered 2017-02-13 14:19:41 -0500

JLiviero gravatar image

Responding to @chapulina 's request here so I can attach the file. The full backtrace is attached. The model that caused this particular crash was a simple static cylinder primitive with a blink_visual plugin (but no custom plugins), though I have seen similar (not backtraced) crashes occur on a variety of models.

The attachment is just a text file, but has a .msg extension since this board only allows certain file types.

C:\fakepath\gz_backtrace.msg

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Asked: 2017-01-23 12:16:27 -0500

Seen: 67 times

Last updated: Feb 13