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ROS gazebo sometimes crashing at launch (Groovy)

asked 2013-02-06 20:49:18 -0500

jys gravatar image

Two out of three times, it crashes at launch. So eventually I can launch gazebo after few tries but still not a desirable experience. Can someone take a look and check there is some bug/race condition? Or, is this known problem?

Program received signal SIGSEGV, Segmentation fault.
0x00007fffef2141e3 in Ogre::TexturePtr::operator=(Ogre::TexturePtr const&) ()
   from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4

(gdb) bt
#0  0x00007fffef2141e3 in Ogre::TexturePtr::operator=(Ogre::TexturePtr const&) ()
   from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#1  0x00007fffef4403e5 in Ogre::TextureUnitState::ensurePrepared(unsigned long) const ()
   from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#2  0x00007fffef4405d3 in Ogre::TextureUnitState::_prepare() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#3  0x00007fffef31e66c in Ogre::Pass::_prepare() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#4  0x00007fffef43299c in Ogre::Technique::_prepare() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#5  0x00007fffef29eef4 in Ogre::Material::prepareImpl() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#6  0x00007fffef3635da in Ogre::Resource::load(bool) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#7  0x00007fffef231b25 in Ogre::Entity::reevaluateVertexProcessing() ()
   from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#8  0x00007fffef2354bd in Ogre::Entity::_initialise(bool) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#9  0x00007fffef236121 in Ogre::Entity::Entity(std::string const&, Ogre::MeshPtr const&) ()
   from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#10 0x00007fffef23667d in Ogre::EntityFactory::createInstanceImpl(std::string const&, std::map<std::string, std::string, std::less<std::string>, Ogre::STLAllocator<std::pair<std::string const, std::string>, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0> > > const*) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#11 0x00007fffef2f2ba1 in Ogre::MovableObjectFactory::createInstance(std::string const&, Ogre::SceneManager*, std::map<std::string, std::string, std::less<std::string>, Ogre::STLAllocator<std::pair<std::string const, std::string>, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0> > > const*) ()
   from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#12 0x00007fffef3a918d in Ogre::SceneManager::createMovableObject(std::string const&, std::string const&, std::map<std::string, std::string, std::less<std::string>, Ogre::STLAllocator<std::pair<std::string const, std::string>, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0> > > const*) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#13 0x00007fffef3a5c18 in Ogre::SceneManager::createEntity(std::string const&, std::string const&, std::string const&) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#14 0x00007ffff3223519 in gazebo::rendering::Light::CreateVisual() ()
   from /opt/ros/groovy/stacks/simulator_gazebo/gazebo/gazebo/lib/libgazebo_rendering.so.1
#15 0x00007ffff322688e in gazebo::rendering::Light::Load() ()
   from /opt/ros/groovy/stacks/simulator_gazebo/gazebo/gazebo/lib/libgazebo_rendering.so.1
#16 0x00007ffff3226ab9 in gazebo::rendering::Light::LoadFromMsg(boost::shared_ptr<gazebo::msgs::Light const> const&) () from /opt/ros/groovy/stacks/simulator_gazebo/gazebo/gazebo/lib/libgazebo_rendering.so.1
#17 0x00007ffff325be42 in gazebo::rendering::Scene::ProcessLightMsg(boost::shared_ptr<gazebo::msgs::Light const> const&) () from /opt/ros/groovy/stacks/simulator_gazebo/gazebo/gazebo/lib/libgazebo_rendering.so.1
#18 0x00007ffff325c2a0 in gazebo::rendering::Scene::PreRender() ()
   from /opt/ros/groovy/stacks/simulator_gazebo/gazebo/gazebo/lib/libgazebo_rendering.so.1
#19 0x00007ffff708ea8e ...
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But if I want to use Gazebo with ROS, I need to use one in Groovy not standalone.. correct? (until the H-version of ROS)

jys gravatar imagejys ( 2013-02-07 11:49:33 -0500 )edit

We have been using stand-alone Gazebo with ROS since Gazebo 1.2 (last october).

nkoenig gravatar imagenkoenig ( 2013-02-07 12:18:43 -0500 )edit

Ok.. could you point me to how I can launch Gazebo standalone version and then connect it to ROS? Do I just launch "roslaunch pr2gazebo pr2empty_world.launch" after I launch Gazebo standalone?

jys gravatar imagejys ( 2013-02-07 13:18:52 -0500 )edit

I think it's worthwhile trying to resolve this issue before I point you in a completely new direction. I've tried to reproduce this error, and so far I've been unsuccessful. Have you done anything special on your system?

nkoenig gravatar imagenkoenig ( 2013-02-07 13:47:30 -0500 )edit

I think this issue: https://bitbucket.org/osrf/gazebo/issue/420/gazebo-segfaults-during-startup is the same. We should take this conversation to that issue, and then post an answer here when the issue is resolved.

nkoenig gravatar imagenkoenig ( 2013-02-07 14:27:03 -0500 )edit

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answered 2013-02-07 09:41:12 -0500

nkoenig gravatar image

Thanks for the backtrace. The problem is known, and the best solution is to use the stand-alone version of Gazebo. The version shipped in Groovy is out of date.

You can install Gazebo with these instructions: http://gazebosim.org/wiki/1.4/install

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answered 2013-02-07 13:59:53 -0500

hsu gravatar image

updated 2013-02-07 17:19:32 -0500

Looks like a potential conflict of Ogre libraries. Given gazebo in groovy has switched to system install of Ogre and is no longer using the ros wrapped one inside visualization_common, can you uninstall it and see if the error goes away?

sudo apt-get remove --purge ros-groovy-visualization-common

Also, check to make sure you are using the latest version of simulator_gazebo 1.7.11.

Just want to repeat Nate's comment here, we should move this conversation to issue #420.

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Asked: 2013-02-06 20:49:18 -0500

Seen: 604 times

Last updated: Feb 07 '13