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Bad runtime generation of navmesh #6

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nsubiron opened this issue Oct 30, 2017 · 1 comment
Closed

Bad runtime generation of navmesh #6

nsubiron opened this issue Oct 30, 2017 · 1 comment
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@nsubiron
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bug ue4 Requires changing code or blueprints in the Unreal Engine project
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carla-simulator/carla

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@nsubiron
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Navmesh fails to recalculate well at runtime.

  • Cars leave a trace of "holes" in the navmesh, pedestrians cannot enter this holes and follow weird paths to cross the road.
  • Navmesh fails to update a tile even though half of the vehicle lies inside the tile. Pedestrians see this part as walkable, when they try to cross they crash against the car and die.
@nsubiron nsubiron added the bug label Oct 31, 2017
@nsubiron nsubiron mentioned this issue Oct 31, 2017
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@nsubiron nsubiron mentioned this issue Jan 29, 2018
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@nsubiron nsubiron mentioned this issue Mar 2, 2018
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@nsubiron nsubiron added the ue4 Requires changing code or blueprints in the Unreal Engine project label Mar 14, 2018
@bigsheep2018 bigsheep2018 mentioned this issue Dec 3, 2018
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@nsubiron
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nsubiron commented Apr 5, 2019

No longer relevant as pedestrians no longer use the navmesh.

@nsubiron nsubiron closed this as completed Apr 5, 2019
@ghost ghost removed the backlog label Apr 5, 2019
@sebamateja sebamateja mentioned this issue Sep 6, 2019
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@man-csl man-csl mentioned this issue Aug 31, 2020
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@hellojql hellojql mentioned this issue Nov 2, 2020
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@harmeeksinghbedi harmeeksinghbedi mentioned this issue Nov 11, 2020
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@RehabHsn RehabHsn mentioned this issue Feb 3, 2022
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@SampsonM8 SampsonM8 mentioned this issue Apr 23, 2023
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wentasah added a commit to wentasah/carla that referenced this issue Aug 16, 2023
@wentasah
PythonAPI: Fix segfault in GetAvailableMaps
b998e1f 
When using CARLA with Python 3.10, I'm getting a segfault in
GetAvailableMaps. The problem disappears when PyList manipulation does
not happen with GIL unlocked, as done in this commit.

The initial part of crash backtrace (from GDB) is below:

    Program terminated with signal SIGSEGV, Segmentation fault.

    warning: Section `.reg-xstate/49253' in core file too small.
    #0  _PyInterpreterState_GET () at ./Include/internal/pycore_pystate.h:117
    117	   return tstate->interp;
    [Current thread is 1 (Thread 0x7fe6fe48f740 (LWP 49253))]
    (gdb) bt
    #0  _PyInterpreterState_GET () at ./Include/internal/pycore_pystate.h:117
    matejm42#1  get_list_state () at Objects/listobject.c:26
    carla-simulator#2  PyList_New (size=0) at Objects/listobject.c:159
    carla-simulator#3  0x00007fe6fdc0dab0 in boost::python::detail::list_base::list_base() () from /nix/store/c95f3nrkz3sflvycihyw1c8q4nk47p4m-boost-1.79.0/lib/libboost_python310.so.1.79.0
    carla-simulator#4  0x00007fe6ef9ecfc4 in boost::python::list::list (this=0x7ffd8a8aae28) at include/boost/python/list.hpp:61
    carla-simulator#5  GetAvailableMaps (self=...) at source/libcarla/Client.cpp:26
    carla-simulator#6  0x00007fe6efb6a8fe in boost::python::detail::invoke<boost::python::to_python_value<boost::python::list const&>, boost::python::list (*)(carla::client::Client const&), boost::python::arg_from_python<carla::client::Client const&> > (rc=..., f=<optimized out>, ac0=...)
        at include/boost/python/detail/invoke.hpp:73
    carla-simulator#7  boost::python::detail::caller_arity<1u>::impl<boost::python::list (*)(carla::client::Client const&), boost::python::default_call_policies, boost::mpl::vector2<boost::python::list, carla::client::Client const&> >::operator() (args_=<optimized out>, this=<optimized out>)
        at include/boost/python/detail/caller.hpp:233
    carla-simulator#8  boost::python::objects::caller_py_function_impl<boost::python::detail::caller<boost::python::list (*)(carla::client::Client const&), boost::python::default_call_policies, boost::mpl::vector2<boost::python::list, carla::client::Client const&> > >::operator() (
        this=<optimized out>, args=<optimized out>, kw=<optimized out>) at include/boost/python/object/py_function.hpp:38
    carla-simulator#9  0x00007fe6fdc1b4dd in boost::python::objects::function::call(_object*, _object*) const () from /nix/store/c95f3nrkz3sflvycihyw1c8q4nk47p4m-boost-1.79.0/lib/libboost_python310.so.1.79.0
    carla-simulator#10 0x00007fe6fdc1b6a8 in boost::detail::function::void_function_ref_invoker0<boost::python::objects::(anonymous namespace)::bind_return, void>::invoke(boost::detail::function::function_buffer&) ()
       from /nix/store/c95f3nrkz3sflvycihyw1c8q4nk47p4m-boost-1.79.0/lib/libboost_python310.so.1.79.0
    ...
wentasah added a commit to wentasah/carla that referenced this issue Sep 3, 2023
@wentasah
PythonAPI: Fix segfault in GetAvailableMaps
38cd925 
When using CARLA with Python 3.10, I'm getting a segfault in
GetAvailableMaps. The problem disappears when PyList manipulation does
not happen with GIL unlocked, as done in this commit.

The initial part of crash backtrace (from GDB) is below:

    Program terminated with signal SIGSEGV, Segmentation fault.

    warning: Section `.reg-xstate/49253' in core file too small.
    #0  _PyInterpreterState_GET () at ./Include/internal/pycore_pystate.h:117
    117	   return tstate->interp;
    [Current thread is 1 (Thread 0x7fe6fe48f740 (LWP 49253))]
    (gdb) bt
    #0  _PyInterpreterState_GET () at ./Include/internal/pycore_pystate.h:117
    matejm42#1  get_list_state () at Objects/listobject.c:26
    carla-simulator#2  PyList_New (size=0) at Objects/listobject.c:159
    carla-simulator#3  0x00007fe6fdc0dab0 in boost::python::detail::list_base::list_base() () from /nix/store/c95f3nrkz3sflvycihyw1c8q4nk47p4m-boost-1.79.0/lib/libboost_python310.so.1.79.0
    carla-simulator#4  0x00007fe6ef9ecfc4 in boost::python::list::list (this=0x7ffd8a8aae28) at include/boost/python/list.hpp:61
    carla-simulator#5  GetAvailableMaps (self=...) at source/libcarla/Client.cpp:26
    carla-simulator#6  0x00007fe6efb6a8fe in boost::python::detail::invoke<boost::python::to_python_value<boost::python::list const&>, boost::python::list (*)(carla::client::Client const&), boost::python::arg_from_python<carla::client::Client const&> > (rc=..., f=<optimized out>, ac0=...)
        at include/boost/python/detail/invoke.hpp:73
    carla-simulator#7  boost::python::detail::caller_arity<1u>::impl<boost::python::list (*)(carla::client::Client const&), boost::python::default_call_policies, boost::mpl::vector2<boost::python::list, carla::client::Client const&> >::operator() (args_=<optimized out>, this=<optimized out>)
        at include/boost/python/detail/caller.hpp:233
    carla-simulator#8  boost::python::objects::caller_py_function_impl<boost::python::detail::caller<boost::python::list (*)(carla::client::Client const&), boost::python::default_call_policies, boost::mpl::vector2<boost::python::list, carla::client::Client const&> > >::operator() (
        this=<optimized out>, args=<optimized out>, kw=<optimized out>) at include/boost/python/object/py_function.hpp:38
    carla-simulator#9  0x00007fe6fdc1b4dd in boost::python::objects::function::call(_object*, _object*) const () from /nix/store/c95f3nrkz3sflvycihyw1c8q4nk47p4m-boost-1.79.0/lib/libboost_python310.so.1.79.0
    carla-simulator#10 0x00007fe6fdc1b6a8 in boost::detail::function::void_function_ref_invoker0<boost::python::objects::(anonymous namespace)::bind_return, void>::invoke(boost::detail::function::function_buffer&) ()
       from /nix/store/c95f3nrkz3sflvycihyw1c8q4nk47p4m-boost-1.79.0/lib/libboost_python310.so.1.79.0
    ...
wentasah added a commit to wentasah/carla that referenced this issue Sep 25, 2023
@wentasah
PythonAPI: Fix segfault in get_random_location_from_navigation()
fdd186e 
When I run generate_traffic.py under Python 3.10, I get a segfault at
line:

    loc = world.get_random_location_from_navigation()

The backtrace from gdb looks like this:

    #0  0x00007f04552ad7e7 in new_threadstate () from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/libpython3.10.so.1.0
    matejm42#1  0x00007f04552adaa1 in PyGILState_Ensure () from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/libpython3.10.so.1.0
    carla-simulator#2  0x00007f040afd4f32 in std::_Function_handler<void (carla::client::WorldSnapshot), MakeCallback(boost::python::api::object)::{lambda(auto:1)matejm42#1}>::_M_invoke(std::_Any_data const&, carla::client::WorldSnapshot&&) ()
       from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    carla-simulator#3  0x00007f040b1d4ab1 in carla::client::detail::CallbackList<carla::client::WorldSnapshot>::Call(carla::client::WorldSnapshot) const () from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    carla-simulator#4  0x00007f040b1d424a in std::_Function_handler<void (carla::Buffer), carla::client::detail::Episode::Listen()::{lambda(auto:1)matejm42#1}>::_M_invoke(std::_Any_data const&, carla::Buffer&&) ()
       from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    carla-simulator#5  0x00007f040b23fc41 in boost::asio::detail::completion_handler<boost::asio::detail::binder0<carla::streaming::detail::tcp::Client::ReadData()::{lambda()matejm42#1}::operator()() const::{lambda(boost::system::error_code, unsigned long)matejm42#1}::operator()(boost::system::error_code, unsigned long) const::{lambda()matejm42#1}>, boost::asio::io_context::basic_executor_type<std::allocator<void>, 0ul> >::do_complete(void*, boost::asio::detail::scheduler_operation*, boost::system::error_code const&, unsigned long) ()
       from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    carla-simulator#6  0x00007f040b24ae85 in boost::asio::detail::strand_service::do_complete(void*, boost::asio::detail::scheduler_operation*, boost::system::error_code const&, unsigned long) ()
       from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    carla-simulator#7  0x00007f040b1a94f5 in boost::asio::detail::scheduler::do_run_one(boost::asio::detail::conditionally_enabled_mutex::scoped_lock&, boost::asio::detail::scheduler_thread_info&, boost::system::error_code const&) ()
       from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    carla-simulator#8  0x00007f040b199351 in boost::asio::detail::scheduler::run(boost::system::error_code&) [clone .isra.0] () from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    carla-simulator#9  0x00007f040b1ac1cb in std::thread::_State_impl<std::thread::_Invoker<std::tuple<carla::ThreadPool::AsyncRun(unsigned long)::{lambda()matejm42#1}> > >::_M_run() ()
       from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    carla-simulator#10 0x00007f040bce05c3 in execute_native_thread_routine () from /nix/store/2fpmbk0g0ggm9zq89af7phvvvv8dnm7n-gcc-12.3.0-lib/lib/libstdc++.so.6
    carla-simulator#11 0x00007f045509fdd4 in start_thread () from /nix/store/1x4ijm9r1a88qk7zcmbbfza324gx1aac-glibc-2.37-8/lib/libc.so.6
    carla-simulator#12 0x00007f04551219b0 in clone3 () from /nix/store/1x4ijm9r1a88qk7zcmbbfza324gx1aac-glibc-2.37-8/lib/libc.so.6

It turns out that its caused by releasing GIL for too long. We fix it
by releasing the GIL only for the actual libcarla call and
constructing Python objects with GIL locked.
@Andrey949101 Andrey949101 mentioned this issue Oct 20, 2023
Open
bernatx added a commit that referenced this issue Oct 27, 2023
@wentasah @bernatx
PythonAPI: Fix segfaults due to incorrect GIL locking (#6718)
2de8ad0 
* PythonAPI: Fix segfault in GetAvailableMaps

When using CARLA with Python 3.10, I'm getting a segfault in
GetAvailableMaps. The problem disappears when PyList manipulation does
not happen with GIL unlocked, as done in this commit.

The initial part of crash backtrace (from GDB) is below:

    Program terminated with signal SIGSEGV, Segmentation fault.

    warning: Section `.reg-xstate/49253' in core file too small.
    #0  _PyInterpreterState_GET () at ./Include/internal/pycore_pystate.h:117
    117	   return tstate->interp;
    [Current thread is 1 (Thread 0x7fe6fe48f740 (LWP 49253))]
    (gdb) bt
    #0  _PyInterpreterState_GET () at ./Include/internal/pycore_pystate.h:117
    #1  get_list_state () at Objects/listobject.c:26
    #2  PyList_New (size=0) at Objects/listobject.c:159
    #3  0x00007fe6fdc0dab0 in boost::python::detail::list_base::list_base() () from /nix/store/c95f3nrkz3sflvycihyw1c8q4nk47p4m-boost-1.79.0/lib/libboost_python310.so.1.79.0
    #4  0x00007fe6ef9ecfc4 in boost::python::list::list (this=0x7ffd8a8aae28) at include/boost/python/list.hpp:61
    #5  GetAvailableMaps (self=...) at source/libcarla/Client.cpp:26
    #6  0x00007fe6efb6a8fe in boost::python::detail::invoke<boost::python::to_python_value<boost::python::list const&>, boost::python::list (*)(carla::client::Client const&), boost::python::arg_from_python<carla::client::Client const&> > (rc=..., f=<optimized out>, ac0=...)
        at include/boost/python/detail/invoke.hpp:73
    #7  boost::python::detail::caller_arity<1u>::impl<boost::python::list (*)(carla::client::Client const&), boost::python::default_call_policies, boost::mpl::vector2<boost::python::list, carla::client::Client const&> >::operator() (args_=<optimized out>, this=<optimized out>)
        at include/boost/python/detail/caller.hpp:233
    #8  boost::python::objects::caller_py_function_impl<boost::python::detail::caller<boost::python::list (*)(carla::client::Client const&), boost::python::default_call_policies, boost::mpl::vector2<boost::python::list, carla::client::Client const&> > >::operator() (
        this=<optimized out>, args=<optimized out>, kw=<optimized out>) at include/boost/python/object/py_function.hpp:38
    #9  0x00007fe6fdc1b4dd in boost::python::objects::function::call(_object*, _object*) const () from /nix/store/c95f3nrkz3sflvycihyw1c8q4nk47p4m-boost-1.79.0/lib/libboost_python310.so.1.79.0
    #10 0x00007fe6fdc1b6a8 in boost::detail::function::void_function_ref_invoker0<boost::python::objects::(anonymous namespace)::bind_return, void>::invoke(boost::detail::function::function_buffer&) ()
       from /nix/store/c95f3nrkz3sflvycihyw1c8q4nk47p4m-boost-1.79.0/lib/libboost_python310.so.1.79.0
    ...

* PythonAPI: Fix segfault in get_random_location_from_navigation()

When I run generate_traffic.py under Python 3.10, I get a segfault at
line:

    loc = world.get_random_location_from_navigation()

The backtrace from gdb looks like this:

    #0  0x00007f04552ad7e7 in new_threadstate () from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/libpython3.10.so.1.0
    #1  0x00007f04552adaa1 in PyGILState_Ensure () from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/libpython3.10.so.1.0
    #2  0x00007f040afd4f32 in std::_Function_handler<void (carla::client::WorldSnapshot), MakeCallback(boost::python::api::object)::{lambda(auto:1)#1}>::_M_invoke(std::_Any_data const&, carla::client::WorldSnapshot&&) ()
       from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    #3  0x00007f040b1d4ab1 in carla::client::detail::CallbackList<carla::client::WorldSnapshot>::Call(carla::client::WorldSnapshot) const () from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    #4  0x00007f040b1d424a in std::_Function_handler<void (carla::Buffer), carla::client::detail::Episode::Listen()::{lambda(auto:1)#1}>::_M_invoke(std::_Any_data const&, carla::Buffer&&) ()
       from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    #5  0x00007f040b23fc41 in boost::asio::detail::completion_handler<boost::asio::detail::binder0<carla::streaming::detail::tcp::Client::ReadData()::{lambda()#1}::operator()() const::{lambda(boost::system::error_code, unsigned long)#1}::operator()(boost::system::error_code, unsigned long) const::{lambda()#1}>, boost::asio::io_context::basic_executor_type<std::allocator<void>, 0ul> >::do_complete(void*, boost::asio::detail::scheduler_operation*, boost::system::error_code const&, unsigned long) ()
       from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    #6  0x00007f040b24ae85 in boost::asio::detail::strand_service::do_complete(void*, boost::asio::detail::scheduler_operation*, boost::system::error_code const&, unsigned long) ()
       from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    #7  0x00007f040b1a94f5 in boost::asio::detail::scheduler::do_run_one(boost::asio::detail::conditionally_enabled_mutex::scoped_lock&, boost::asio::detail::scheduler_thread_info&, boost::system::error_code const&) ()
       from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    #8  0x00007f040b199351 in boost::asio::detail::scheduler::run(boost::system::error_code&) [clone .isra.0] () from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    #9  0x00007f040b1ac1cb in std::thread::_State_impl<std::thread::_Invoker<std::tuple<carla::ThreadPool::AsyncRun(unsigned long)::{lambda()#1}> > >::_M_run() ()
       from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    #10 0x00007f040bce05c3 in execute_native_thread_routine () from /nix/store/2fpmbk0g0ggm9zq89af7phvvvv8dnm7n-gcc-12.3.0-lib/lib/libstdc++.so.6
    #11 0x00007f045509fdd4 in start_thread () from /nix/store/1x4ijm9r1a88qk7zcmbbfza324gx1aac-glibc-2.37-8/lib/libc.so.6
    #12 0x00007f04551219b0 in clone3 () from /nix/store/1x4ijm9r1a88qk7zcmbbfza324gx1aac-glibc-2.37-8/lib/libc.so.6

It turns out that its caused by releasing GIL for too long. We fix it
by releasing the GIL only for the actual libcarla call and
constructing Python objects with GIL locked.

---------

Co-authored-by: bernat <bernatx@gmail.com>
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@nsubiron nsubiron

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bug ue4 Requires changing code or blueprints in the Unreal Engine project
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