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I come across a assertion when I start mavros_node on odroid(32 bit) #1110

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GaoGeolone opened this issue Oct 31, 2018 · 8 comments
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I come across a assertion when I start mavros_node on odroid(32 bit) #1110

GaoGeolone opened this issue Oct 31, 2018 · 8 comments
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@GaoGeolone
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GaoGeolone commented Oct 31, 2018 •
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mavros/mavros/src/plugins/hil.cpp

Line 337 in 1e19a1b

PLUGINLIB_EXPORT_CLASS(mavros::std_plugins::HilPlugin, mavros::plugin::PluginBase)

When I try to make a project on my odroid installed with ubuntu18.04 mate and ROS melodic, all the compiling work complete with some note, but nothing serious. but when I try to start my mavros_node, is will turn out nearly one time per three times .
here is my gdb result
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/arm-linux-gnueabihf/libthread_db.so.1".
[New Thread 0xb3815410 (LWP 3607)]
[New Thread 0xb2eff410 (LWP 3608)]
[New Thread 0xb26fe410 (LWP 3609)]
[New Thread 0xb1efd410 (LWP 3610)]
[New Thread 0xb12ff410 (LWP 3611)]
[ INFO] [1540970733.905790065]: FCU URL: /dev/ttyACM0:921600
[ INFO] [1540970733.916779873]: serial0: device: /dev/ttyACM0 @ 921600 bps
[New Thread 0xb08ff410 (LWP 3612)]
[ INFO] [1540970733.919662736]: GCS URL: udp://@192.168.1.100
[ INFO] [1540970733.921169030]: udp1: Bind address: 0.0.0.0:14555
[ INFO] [1540970733.921625110]: udp1: Remote address: 192.168.1.100:14550
[New Thread 0xafeff410 (LWP 3613)]
[ INFO] [1540970735.703958816]: Plugin 3dr_radio loaded
[ INFO] [1540970735.707693869]: Plugin 3dr_radio initialized
[ INFO] [1540970735.708110999]: Plugin actuator_control loaded
[ INFO] [1540970735.718174870]: Plugin actuator_control initialized
[ INFO] [1540970736.437021835]: Plugin adsb loaded
[ INFO] [1540970736.446367697]: Plugin adsb initialized
[ INFO] [1540970736.446893601]: Plugin altitude loaded
[ INFO] [1540970736.449977283]: Plugin altitude initialized
[ INFO] [1540970736.450483273]: Plugin cam_imu_sync loaded
[ INFO] [1540970736.452685867]: Plugin cam_imu_sync initialized
[ INFO] [1540970736.453156905]: Plugin command loaded
[ INFO] [1540970736.465834737]: Plugin command initialized
[ INFO] [1540970736.466359890]: Plugin debug_value loaded
[ INFO] [1540970736.478458287]: Plugin debug_value initialized
[ INFO] [1540970736.478997105]: Plugin distance_sensor loaded
[ WARN] [1540970736.481226028]: DS: plugin not configured!
[ INFO] [1540970736.481357295]: Plugin distance_sensor initialized
[ INFO] [1540970736.482017465]: Plugin fake_gps loaded
[ INFO] [1540970736.498935266]: Plugin fake_gps initialized
[ INFO] [1540970736.499485831]: Plugin ftp loaded
[ INFO] [1540970736.519692485]: Plugin ftp initialized
[ INFO] [1540970736.520261880]: Plugin global_position loaded
[ INFO] [1540970736.549514784]: Plugin global_position initialized
[ INFO] [1540970736.550125755]: Plugin gps_rtk loaded
[ INFO] [1540970736.555932602]: Plugin gps_rtk initialized

mavros_node: /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:109: Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 16>::plain_array() [with T = double; int Size = 4; int MatrixOrArrayOptions = 0]: Assertion (internal::UIntPtr(eigen_unaligned_array_assert_workaround_gcc47(array)) & (15)) == 0 && "this assertion is explained here: " "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html" " **** READ THIS WEB PAGE !!! ****"' failed.
Thread 1 "mavros_node" received signal SIGABRT, Aborted.
__libc_do_syscall () at ../sysdeps/unix/sysv/linux/arm/libc-do-syscall.S:47
47 ../sysdeps/unix/sysv/linux/arm/libc-do-syscall.S: No such file or directory.

(gdb) bt
#0 __libc_do_syscall () at ../sysdeps/unix/sysv/linux/arm/libc-do-syscall.S:47
#1 0xb6841b32 in __libc_signal_restore_set (set=0xbeffd514) at ../sysdeps/unix/sysv/linux/nptl-signals.h:80
#2 __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:48
#3 0xb684282e in __GI_abort () at abort.c:79
#4 0xb683cd22 in __assert_fail_base (fmt=0xb68f2a78 "%s%s%s:%u: %s%sAssertion `%s' failed.\n%n",
assertion=0xb6f8cbf0 "(internal::UIntPtr(eigen_unaligned_array_assert_workaround_gcc47(array)) & (15)) == 0 && "this assertion is explained here: " "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.htm"..., assertion@entry=0x0,
file=0xb6f8cbbc "/usr/include/eigen3/Eigen/src/Core/DenseStorage.h", file@entry=0xb4021010 "\001", line=109, line@entry=3069758396,
function=function@entry=0xb6f8d870 <Eigen::internal::plain_array<double, 4, 0, 16>::plain_array()::PRETTY_FUNCTION> "Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 16>::plain_array() [with T = double; int Size = 4; int MatrixOrArrayOptions = 0]") at assert.c:92
#5 0xb683cdaa in __GI___assert_fail (assertion=0x0, file=0xb4021010 "\001", line=3069758396,
function=0xb6f8d870 <Eigen::internal::plain_array<double, 4, 0, 16>::plain_array()::PRETTY_FUNCTION> "Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 16>::plain_array() [with T = double; int Size = 4; int MatrixOrArrayOptions = 0]") at assert.c:101
#6 0xb6f25050 in Eigen::internal::plain_array<double, 4, 0, 16>::plain_array() ()
from /home/odroid/Odroid_Scout_ROS/devel_isolated/mavros/lib/libmavros.so
#7 0xb6f24eda in Eigen::DenseStorage<double, 4, 4, 1, 0>::DenseStorage() ()
from /home/odroid/Odroid_Scout_ROS/devel_isolated/mavros/lib/libmavros.so
#8 0xb6f24cd8 in Eigen::PlainObjectBase<Eigen::Matrix<double, 4, 1, 0, 4, 1> >::PlainObjectBase() ()
from /home/odroid/Odroid_Scout_ROS/devel_isolated/mavros/lib/libmavros.so
#9 0xb6f2840e in Eigen::Matrix<double, 4, 1, 0, 4, 1>::Matrix() () from /home/odroid/Odroid_Scout_ROS/devel_isolated/mavros/lib/libmavros.so
#10 0xaf250820 in Eigen::Quaternion<double, 0>::Quaternion() ()
from /home/odroid/Odroid_Scout_ROS/devel_isolated/mavros/lib//libmavros_plugins.so
#11 0xaf35c114 in mavros::std_plugins::HilPlugin::HilPlugin() ()
from /home/odroid/Odroid_Scout_ROS/devel_isolated/mavros/lib//libmavros_plugins.so
#12 0xaf36e1c8 in class_loader::impl::MetaObject<mavros::std_plugins::HilPlugin, mavros::plugin::PluginBase>::create() const ()
from /home/odroid/Odroid_Scout_ROS/devel_isolated/mavros/lib//libmavros_plugins.so
#13 0xb6f5ec14 in mavros::plugin::PluginBase* class_loader::impl::createInstancemavros::plugin::PluginBase(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, class_loader::ClassLoader*) ()
from /home/odroid/Odroid_Scout_ROS/devel_isolated/mavros/lib/libmavros.so
#14 0xb6f5c04c in mavros::plugin::PluginBase* class_loader::ClassLoader::createRawInstancemavros::plugin::PluginBase(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, bool) ()
from /home/odroid/Odroid_Scout_ROS/devel_isolated/mavros/lib/libmavros.so
#15 0xb6f5895e in boost::shared_ptrmavros::plugin::PluginBase class_loader::ClassLoader::createInstancemavros::plugin::PluginBase(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&) ()
from /home/odroid/Odroid_Scout_ROS/devel_isolated/mavros/lib/libmavros.so
---Type to continue, or q to quit---
#16 0xb6f53822 in boost::shared_ptrmavros::plugin::PluginBase class_loader::MultiLibraryClassLoader::createInstancemavros::plugin::PluginBase(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&) ()
from /home/odroid/Odroid_Scout_ROS/devel_isolated/mavros/lib/libmavros.so
#17 0xb6f4f9d4 in pluginlib::ClassLoadermavros::plugin::PluginBase::createInstance(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&) () from /home/odroid/Odroid_Scout_ROS/devel_isolated/mavros/lib/libmavros.so
#18 0xb6f4786c in mavros::MavRos::add_plugin(std::__cxx11::basic_string<char, std::char_traits, std::allocator >&, std::vector<std::__cxx11::basic_string<char, std::char_traits, std::allocator >, std::allocator<std::__cxx11::basic_string<char, std::char_traits, std::allocator > > >&, std::vector<std::__cxx11::basic_string<char, std::char_traits, std::allocator >, std::allocator<std::__cxx11::basic_string<char, std::char_traits, std::allocator > > >&) ()
from /home/odroid/Odroid_Scout_ROS/devel_isolated/mavros/lib/libmavros.so
#19 0xb6f45eac in mavros::MavRos::MavRos() () from /home/odroid/Odroid_Scout_ROS/devel_isolated/mavros/lib/libmavros.so
#20 0x004438b8 in main ()

and as what I have learned from the http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.htm
I think this may caused by my 32bits odroid
@GaoGeolone GaoGeolone changed the title I come across a assertion here I come across a assertion when I start mavros_node on odroid Oct 31, 2018
@GaoGeolone
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class HilPlugin : public plugin::PluginBase {
public:
HilPlugin() : PluginBase(),
hil_nh("~hil")
{ }
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
void initialize(UAS &uas_)

@TSC21
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TSC21 commented Oct 31, 2018

Can you please check if with that fix it also builds and runs as it should on a normal computer (x86/x64)?

@GaoGeolone
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Can you please check if with that fix it also builds and runs as it should on a normal computer (x86/x64)?

OK,I will check.Thank you for your reply

@GaoGeolone
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@TSC21
My test turns out to be normal,and as the reference from http://eigen.tuxfamily.org/dox-devel/group__TopicStructHavingEigenMembers.html
this will be disposed automatically.

@TSC21
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TSC21 commented Oct 31, 2018

Ok cool. Can you issue a PR with that fix? Thanks!

@GaoGeolone
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Ok cool. Can you issue a PR with that fix? Thanks!

Excuse me, maybe I need some time to figure out how to use 'rosinstall_generator' to PR

@GaoGeolone
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#1111 I made a PR, may it will help

@GaoGeolone GaoGeolone changed the title I come across a assertion when I start mavros_node on odroid I come across a assertion when I start mavros_node on odroid(32 bit) Oct 31, 2018
@GaoGeolone
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@TSC21 Excuse me ,I don't know why the Continuous Integration failed ,maybe it is the version issue?

vooon added a commit that referenced this issue Nov 6, 2018
@vooon
plugins #1110 #1111: add eigen aligment to plugins with eigen-typed m…
38f195b 
…embers
vooon added a commit that referenced this issue Nov 6, 2018
@vooon
extras #1110 #1111: add eigen aligment to plugins with eigen-typed me…
324a8a6 
…mbers
@GaoGeolone GaoGeolone mentioned this issue Nov 6, 2018
Merged
@vooon vooon closed this as completed Nov 6, 2018
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@vooon @TSC21 @GaoGeolone