Segmentation fault on spawning pr2 with its controllers using pr2_controller_manager

asked 2019-09-03 04:33:00 -0500

Rishabh6900 gravatar image

updated 2019-09-03 07:36:58 -0500

kumpakri gravatar image

I am using gazebo 7 with ros-kinetic on ubuntu xenial .I am trying to spawn pr2 urdf xacro model in gazebo along with its controllers using pr2_controller_manager. I am facing segmentation fault at :-

**Thread 28 "gzserver" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7fff63ffd700 (LWP 17825)]
0x00007fffc96ac0ed in ros::NodeHandle::destruct() () from /opt/ros/kinetic/lib/libroscpp.so**

And it's backtrace is

** #0  0x00007fffc96ac0ed in ros::NodeHandle::destruct() () from /opt/ros/kinetic/lib/libroscpp.so
#1  0x00007fffc96ac269 in ros::NodeHandle::~NodeHandle() () from /opt/ros/kinetic/lib/libroscpp.so
#2  0x00007fff184b44b4 in pr2_controller_manager::ControllerManager::~ControllerManager() ()
   from /home/deadmanlogan/i_am_from_source/catkin_ws/devel_isolated/pr2_controller_manager/lib/libpr2_controller_manager.so
#3  0x00007fff184b4ed9 in pr2_controller_manager::ControllerManager::~ControllerManager() ()
   from /home/deadmanlogan/i_am_from_source/catkin_ws/devel_isolated/pr2_controller_manager/lib/libpr2_controller_manager.so
#4  0x00007fff105a580a in gazebo::GazeboRosControllerManager::~GazeboRosControllerManager() ()
   from /home/deadmanlogan/i_am_from_source/catkin_ws/devel_isolated/pr2_gazebo_plugins/lib/libgazebo_ros_controller_manager.so
#5  0x00007fff105a5996 in gazebo::GazeboRosControllerManager::~GazeboRosControllerManager() ()
   from /home/deadmanlogan/i_am_from_source/catkin_ws/devel_isolated/pr2_gazebo_plugins/lib/libgazebo_ros_controller_manager.so
#6  0x00007ffff5ba80c9 in boost::checked_delete<gazebo::ModelPlugin> (x=0x7fff0d794610) at /usr/include/boost/core/checked_delete.hpp:34
#7  0x00007ffff5baadd6 in boost::detail::sp_counted_impl_p<gazebo::ModelPlugin>::dispose (this=0x7fff0d793db0)
    at /usr/include/boost/smart_ptr/detail/sp_counted_impl.hpp:78
#8  0x00007ffff59b4efe in boost::detail::sp_counted_base::release (this=0x7fff0d793db0)
    at /usr/include/boost/smart_ptr/detail/sp_counted_base_gcc_x86.hpp:146
#9  0x00007ffff59b4f91 in boost::detail::shared_count::~shared_count (this=0x7fff63ffb3d8, __in_chrg=<optimized out>)
    at /usr/include/boost/smart_ptr/detail/shared_count.hpp:443
#10 0x00007ffff5b9f086 in boost::shared_ptr<gazebo::ModelPlugin>::~shared_ptr (this=0x7fff63ffb3d0, __in_chrg=<optimized out>)
    at /usr/include/boost/smart_ptr/shared_ptr.hpp:323
#11 0x00007ffff5b9a392 in gazebo::physics::Model::LoadPlugin (this=0x7fff3c1794c0, _sdf=std::shared_ptr (count 3, weak 5) 0x7fff368df950)
    at /home/deadmanlogan/i_am_from_source/Gazebo-7/gazebo/physics/Model.cc:1002
#12 0x00007ffff5b999e2 in gazebo::physics::Model::LoadPlugins (this=0x7fff3c1794c0)
---Type <return> to continue, or q <return> to quit---
    at /home/deadmanlogan/i_am_from_source/Gazebo-7/gazebo/physics/Model.cc:915
#13 0x00007ffff5c08bd9 in gazebo::physics::World::ProcessFactoryMsgs (this=0x1654280)
    at /home/deadmanlogan/i_am_from_source/Gazebo-7/gazebo/physics/World.cc:1958
#14 0x00007ffff5c0b9de in gazebo::physics::World::ProcessMessages (this=0x1654280)
    at /home/deadmanlogan/i_am_from_source/Gazebo-7/gazebo/physics/World.cc:2282
#15 0x00007ffff5c0069f in gazebo::physics::World::Step (this=0x1654280) at /home/deadmanlogan/i_am_from_source/Gazebo-7/gazebo/physics/World.cc:688
#16 0x00007ffff5bff06c in gazebo::physics::World::RunLoop (this=0x1654280) at /home/deadmanlogan/i_am_from_source/Gazebo-7/gazebo/physics/World.cc:481
#17 0x00007ffff5c2e413 in boost::_mfi::mf0<void, gazebo::physics::World>::operator() (this=0x12ac178, p=0x1654280)
    at /usr/include/boost/bind/mem_fn_template.hpp:49
#18 0x00007ffff5c2d4be in boost::_bi::list1<boost::_bi::value<gazebo::physics::World*> >::operator()<boost::_mfi::mf0<void, gazebo::physics::World>, boost::_bi::list0> (this=0x12ac188, f=..., a=...) at /usr/include/boost/bind/bind.hpp:253
#19 0x00007ffff5c2b74a in boost::_bi::bind_t<void, boost::_mfi::mf0<void, gazebo::physics::World>, boost::_bi::list1<boost::_bi::value<gazebo::physics::World*> > >::operator() (this=0x12ac178) at /usr/include/boost/bind/bind.hpp:893
#20 0x00007ffff5c3070a in boost::detail::thread_data<boost::_bi::bind_t<void, boost::_mfi::mf0<void, gazebo::physics::World>, boost::_bi::list1<boost::_bi::value<gazebo::physics::World ...
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