gzserver segfaults when spawning DiffDriveController

asked 2018-06-06 09:14:57 -0500

Kurtoid gravatar image

I'm following the URDF tutorial here and modified it to fit some stl models exported from Inventor. Whenever I run the launch file, I find Thread 15 "gzserver" received signal SIGSEGV, Segmentation fault. and a gdb prompt. I commented out the controller spawner in the launch file, and everything starts, except the controllers. When I start them manually from rqt_controller_manager, gzserver segfaults.

I'm using ROS kinetic and gazebo 7 What's happening?

gazerver GDB backtrace

#0  0x00007fff2949aeff in std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, boost::shared_ptr<urdf::Link> >, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, boost::shared_ptr<urdf::Link> > >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, boost::shared_ptr<urdf::Link> > >
>::find(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const () from /opt/ros/kinetic/lib//libdiff_drive_controller.so
#1  0x00007fff2948adeb in diff_drive_controller::DiffDriveController::setOdomParamsFromUrdf(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, bool) ()    from /opt/ros/kinetic/lib//libdiff_drive_controller.so
#2  0x00007fff2949049b in diff_drive_controller::DiffDriveController::init(hardware_interface::VelocityJointInterface*, ros::NodeHandle&, ros::NodeHandle&) () from /opt/ros/kinetic/lib//libdiff_drive_controller.so
#3  0x00007fff294b0dec in controller_interface::Controller<hardware_interface::VelocityJointInterface>::initRequest(hardware_interface::RobotHW*, ros::NodeHandle&, ros::NodeHandle&, std::vector<hardware_interface::InterfaceResources, std::allocator<hardware_interface::InterfaceResources>
>&) ()    from /opt/ros/kinetic/lib//libdiff_drive_controller.so
---Type <return> to continue, or q <return> to quit---
#4  0x00007fff2b5c8a8b in controller_manager::ControllerManager::loadController(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) () from /opt/ros/kinetic/lib/libcontroller_manager.so
#5  0x00007fff2b5ca084 in controller_manager::ControllerManager::loadControllerSrv(controller_manager_msgs::LoadControllerRequest_<std::allocator<void>
>&, controller_manager_msgs::LoadControllerResponse_<std::allocator<void>
>&) ()    from /opt/ros/kinetic/lib/libcontroller_manager.so
#6  0x00007fff2b5dd2b9 in ros::ServiceCallbackHelperT<ros::ServiceSpec<controller_manager_msgs::LoadControllerRequest_<std::allocator<void>
>, controller_manager_msgs::LoadControllerResponse_<std::allocator<void>
> > >::call(ros::ServiceCallbackHelperCallParams&) () from /opt/ros/kinetic/lib/libcontroller_manager.so
#7  0x00007fffcb3b7351 in ros::ServiceCallback::call() ()    from /opt/ros/kinetic/lib/libroscpp.so
#8  0x00007fffcb40b6f8 in ros::CallbackQueue::callOneCB(ros::CallbackQueue::TLS*) () from /opt/ros/kinetic/lib/libroscpp.so
#9  0x00007fffcb40bf34 in ros::CallbackQueue::callOne(ros::WallDuration) ()    from /opt/ros/kinetic/lib/libroscpp.so
#10 0x00007fffcb469325 in ros::AsyncSpinnerImpl::threadFunc() () from /opt/ros/kinetic/lib/libroscpp.so
#11 0x00007ffff3d295d5 in ?? ()    from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.58.0
#12 0x00007ffff65c06ba in start_thread (arg=0x7fffc6edc700)
    at pthread_create.c:333
---Type <return> to continue, or q <return> to quit---
#13 0x00007ffff6bca41d in clone ()
    at ../sysdeps/unix/sysv/linux/x86_64/clone.S:109 `
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Comments

Since It could be a bug I think that we might have more luck reporting this in the gazebo_ros_pkgs issue tracker https://github.com/ros-simulation/gazebo_ros_pkgs/issues. Please attach the code and the commands you are using. Thanks.

Jose Luis Rivero gravatar imageJose Luis Rivero ( 2018-06-12 08:13:28 -0500 )edit