Segmentation fault in the SystemSimpleJoystickTiagoNavigation Test

[alex-lotz]

The new SystemSimpleJoystickTiagoNavigation is provided here:

https://github.com/seronet-project/SystemRepository/tree/seronet-backend-tests/SystemSimpleJoystickTiagoNavigation

This system is configured to use the ISW OPC UA Backend for both, the Joystick service (push) and the NavigationVelocity service(send). When I only configure send, everything seems to work. When I configure both connections to use OPC UA then the two Joystick components run 100% CPU and the two terminals prints out millions of messages. The third component SmartGazeboBaseServer crashes with a segmentation fault. See Screenshot:

The seg-fault in SmartGazeboBaseServer seems to be related to the preceding components, because if I configure the Joystick service to use ACE/SmartSoft, then the communication of NavigationVelocity works.

@Kantiran91 please debug this Szenario. If it works, then the next Szenario is the full navigation stack (the SystemTiagoNavigation) that is also configured for OPC UA.

[Kantiran91]

Do you have an error log ?

[alex-lotz]

The error code is not very helpful. I cannot debug further, just try to execute it yourself, maybe you will see more.

alexej@NB-ALotz:/tmp/SystemSimpleJoystickTiagoNavigation.deployment$ gdb --args ./SmartGazeboBaseServer --filename=SmartGazeboBaseServer.ini

(gdb) r

Starting program: /tmp/SystemSimpleJoystickTiagoNavigation.deployment/SmartGazeboBaseServer --filename=SmartGazeboBaseServer.ini
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7fffc91b7700 (LWP 2255)]
constructor SmartGazeboBaseServerCore
constructor of SmartGazeboBaseServer
main...
parameter file is loaded from an argv argument
Ini-parameter not found: string [component] initialcomponentmode
Ini-parameter not found: string [pollforgazeboconnection] triggertype
<ACE_SmartSoft>

<ACE_SmartSoft>

<40.0>
<10.0>
<20.0>

<SmartGazeboBaseServer.ini>


<ACE_SmartSoft>

<ACE_SmartSoft>

<OpcUa_SeRoNet>

<0.0>
<0.0>
</robot/basePose>
</robot::robot::base_footprint>
</robot/robot/base_footprint/base_laser/scan>
</robot/vel_cmd>

ComponentDefinition Initial-Parameters:
Settings(basePoseTopic = ~/robot/basePose, baseVelTopic = ~/robot::robot::base_footprint, laserTopic = ~/robot/robot/base_footprint/base_laser/scan, sendVelTopic = ~/robot/vel_cmd, )

Used ACE Version 6.0.2

initialized successfully!
[New Thread 0x7fffc87a4700 (LWP 2256)]
[New Thread 0x7fffc7fa3700 (LWP 2257)]

Component SmartGazeboBaseServer started (compiled on Jan 22 2019 15:27:12)

ComponentDefinition SmartGazeboBaseServer is named SmartGazeboBaseServer
- CommBasicObjects::CommVoidCommBasicObjects::CommBaseState is ready and running on address: <0.0.0.0:40397>
- CommBasicObjects::CommBaseState is ready and running on address: <0.0.0.0:41389>
- CommBasicObjects::CommMobileLaserScan is ready and running on address: <0.0.0.0:36505>
- CommBasicObjects::CommBasePositionUpdate is ready and running on address: <0.0.0.0:41985>

Thread 1 "SmartGazeboBase" received signal SIGSEGV, Segmentation fault.
0x00000000004e5c21 in SmartGazeboBaseServer::init(int, char**) ()
(gdb) bt
#0 0x00000000004e5c21 in SmartGazeboBaseServer::init(int, char**) ()
#1 0x00000000004e294a in main ()

(gdb)


[mathias-luedtke]

baseVelTopic = ~/robot::robot::base_footprint

This syntax differs from all other settings..

[Kantiran91]

@alex-lotz Is this the same fault?

We have also a error on Gaszebo:

Do you have an idea?

[alex-lotz]

This seems to be the same error. I do not have an idea of its cause, but it has to be somewhere in the SeRoNet SDK, because if I run the same example with ACE/SmartSoft, everything works fine.

[Kantiran91]

And the error in the gazebo? Is it related or a different error?

[alex-lotz]

It is probably related to the former error as the component that crashes directly interacts with the gazebo simulation. You can easily check if the gazebo is working in general using this command:

bash startGazebo.sh worlds/tiagoOffice_nav.world

You have to execute this command in the folder ~/SOFTWARE/smartsoft/repos/DataRepository.

[Kantiran91]

thank you. I have test it. If i start it manually, I got the same error. So it seems to be an general gazebo issues. How can I debug this?

[alex-lotz]

thank you. I have test it. If i start it manually, I got the same error. So it seems to be an general gazebo issues. How can I debug this?

Uff, if you use the virtual image, Gazebo should work without any changes. Other than that, I am afraid, I cannot help much, because Gazebo is the standard installation from ROS and we use it unchanged, so if you have any problems there then you should go to the official ROS Gazebo pages and search there. Basically, I am using Gazebo as I mentioned above and always keep my fingers crossed that it works, because if it does not, I am similarly helpless as you are.

[mathias-luedtke]

I doubt that it as an error in Gazebo itself, because the backtrace indicates that it is a problem in the SmartSoft compoment.
It might be a problem with the ABI (most segmentation faults relate to ABI changes..).
Do you use the same version of Gazebo everywhere?

[alex-lotz]

Do you use the same version of Gazebo everywhere?

Yes