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gazebo_yarp_controlboard crashes on Ubuntu 12.04 when activating callback #71

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traversaro opened this issue Mar 11, 2014 · 37 comments
Closed

gazebo_yarp_controlboard crashes on Ubuntu 12.04 when activating callback #71

traversaro opened this issue Mar 11, 2014 · 37 comments
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Component: ControlBoard Type: Bug

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@traversaro
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A user running gazebo_yarp_plugins master, Gazebo 2.2 on Ubuntu 12.04 reported a crash on loading of gazebo_yarp_controlboard, both on the iCub model and on the toy double_pendulum model.
The output before the crash is:

Calling GazeboYarpPluginHandler ConstructorGazeboYarpPluginHandler: Inserting Robot : double_pendulum
Singleton: Added a new robot double_pendulum.

 Initting Wrapper

GazeboYarpControlBoard: Found yarpConfigurationFile: loading from /home/icub/.gazebo/models/double_pendulum/conf/gazebo_controlboard.ini
running with verbose output
Using YARP ControlBoardWrapper2
yarp: Port /doublePendulumGazebo/body/rpc:i active at tcp://10.10.1.53:10141
yarp: Port /doublePendulumGazebo/body/command:i active at tcp://10.10.1.53:10142
yarp: Port /doublePendulumGazebo/body/state:o active at tcp://10.10.1.53:10143
yarp: created wrapper <controlboardwrapper2>. See C++ class ControlBoardWrapper2 for documentation.
GazeboYarpControlBoard: wrapper opened correctly
GazeboYarpControlBoard: setting robotScopedName double_pendulum
DeviceDriver is looking for robot double_pendulum...
Looking for robot : double_pendulum
Robot double_pendulum was happily found!
Robot Name: double_pendulum
# Joints: 2
# Links: 3
.ini file found, using joint names in ini file
Joint Limits
double_pendulum::upper_joint max_pos: 5.72958e+17 min_pos: -5.72958e+17
double_pendulum::lower_joint max_pos: 5.72958e+17 min_pos: -5.72958e+17
Found PID information in plugin parameters group GAZEBO_PIDS
  P: 1000 I: 0.1 D: 2 maxInt: 9999 maxOut: 9999
  P: 3000 I: 0.1 D: 2 maxInt: 9999 maxOut: 9999
OK!
Found PID information in plugin parameters group GAZEBO_VELOCITY_PIDS
  P: 500 I: 0.1 D: 0 maxInt: 9999 maxOut: 9999
  P: 500 I: 0.1 D: 0 maxInt: 9999 maxOut: 9999
OK!
gazebo_init set pid done!

From the output, I guess the crash is related in someway to the callback of the driver from gazebo, in particular this code:

this->updateConnection = gazebo::event::Events::ConnectWorldUpdateBegin (
                                 boost::bind ( &GazeboYarpControlBoardDriver::onUpdate, this, _1 ) );

gazebo_node_ptr = gazebo::transport::NodePtr ( new gazebo::transport::Node );
gazebo_node_ptr->Init ( this->_robot->GetWorld()->GetName() );
jointCmdPub = gazebo_node_ptr->Advertise<gazebo::msgs::JointCmd>
                  ( std::string ( "~/" ) + this->_robot->GetName() + "/joint_cmd" );

Some of the walkman guys @EnricoMingo @MirkoFerrati @arocchi already experienced this issue or something similar?
@arocchi
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arocchi commented Mar 11, 2014

yep, on Alex's laptop, but didn't investigate it. Could it have anything to do with setting the initial position also?

EDIT: now that I think about it, the crash happened in a situation that looked like waiting for an event that never got fired. The simulation got stuck for a few seconds before the actual crash happened

@MirkoFerrati
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gdb output? valgrind output? call stack before segfault? from your output
it seems everything is fine... maybe it's just a stupid file_open which
returns an error that is ignored by our code ...

On Wed, Mar 12, 2014 at 12:18 AM, arocchi notifications@github.com wrote:

yep, on Alex's laptop, but didn't investigate it. Could it have anything
to do with setting the initial position also?

Reply to this email directly or view it on GitHubhttps://github.com//issues/71#issuecomment-37358554
.

@arocchi
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arocchi commented Mar 12, 2014

@MirkoFerrati do you have experience in debugging shared libraries? Should gazebo also be compiled with debug symbols or just the shared library is fine?

@MirkoFerrati
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The shared library should be enough. We really have to learn how to debug
that code. I think launching gazebo under valgrind will be slow like hell
but should work. Still, not urgent.

On Wed, Mar 12, 2014 at 7:58 AM, arocchi notifications@github.com wrote:

@MirkoFerrati https://github.com/MirkoFerrati do you have experience in
debugging shared libraries? Should gazebo also be compiled with debug
symbols or just the shared library is fine?

Reply to this email directly or view it on GitHubhttps://github.com//issues/71#issuecomment-37380534
.

@lorejam
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lorejam commented Mar 14, 2014

gdb output (even if I have no cue what does it mean...):

[Thread 0x7fffe0d17700 (LWP 5079) exited]
[Inferior 1 (process 4977) exited normally]

@barbalberto
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ehm... yes, those lines give no big clues.
When the program crashes, can you please type
'bt full' in the gdb console and post its output?

Thanks

@lorejam
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lorejam commented Mar 14, 2014

no stack...
I installed gazebo_yarp_plugins in Debug mode, but I guess the rest (i.e. gazebo) has no Debug symbols... is that the case?

@traversaro
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For installing the gazebo with debug symbols you have to install the package gazebo-current-dbg .
However I guess @jeljaik has a similar issue, we can investigate on his laptop monday.

@jeljaik
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jeljaik commented Mar 15, 2014

Yes @traversaro I have actually a similar log to the one you originally posted here. In fact installing gazebo_current-dbg gives you the debugging symbols. Heeeeeeelp!!! :D I will post my log as soon as I get the chance, but I remember the exact same methods you highlight in your original post.

@MirkoFerrati
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Guys please try also valgrind with gazebo-dgb and the plugin installed in
debug mode. I am so curious about knowing where the error is!

On Sat, Mar 15, 2014 at 3:28 PM, jeljaik notifications@github.com wrote:

Yes @traversaro https://github.com/traversaro I have actually a similar
log to the one you originally posted here. In fact installing
gazebo_current-dbg gives you the debugging symbols. Heeeeeeelp!!! :D I will
post my log as soon as I get the chance, but I remember the exact same
methods you highlight in your original post.

Reply to this email directly or view it on GitHubhttps://github.com//issues/71#issuecomment-37727040
.

@lorejam
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lorejam commented Mar 17, 2014

Ok, this is the backtrace from gazebo-current-dbg (gzserver):

Program received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7fffc9bfa700 (LWP 12942)]
0x00007ffff4f1e5ae in ?? () from /lib/x86_64-linux-gnu/libc.so.6
(gdb) bt full
#0 0x00007ffff4f1e5ae in ?? () from /lib/x86_64-linux-gnu/libc.so.6
No symbol table info available.
#1 0x00007ffff4f20f95 in malloc () from /lib/x86_64-linux-gnu/libc.so.6
No symbol table info available.
#2 0x00007ffff5529ded in operator new(unsigned long) ()
from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
No symbol table info available.
#3 0x00007ffff5512a89 in std::string::Rep::S_create(unsigned long, unsigned long, std::allocator const&) ()
from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
No symbol table info available.
#4 0x00007ffff55137fb in std::string::Rep::M_clone(std::allocator const&, unsigned long) () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
No symbol table info available.
#5 0x00007ffff55138e0 in std::string::reserve(unsigned long) ()
from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
No symbol table info available.
#6 0x00007ffff5513a3f in std::string::append(unsigned long, char) ()
from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
No symbol table info available.
#7 0x00007ffff6780e00 in google::protobuf::MessageLite::AppendPartialToString(std::string) const () from /usr/lib/libprotobuf.so.7
No symbol table info available.
#8 0x00007ffff6780ea1 in google::protobuf::MessageLite::AppendToString(std::string) const () from /usr/lib/libprotobuf.so.7
No symbol table info available.
#9 0x00007ffff6d599af in gazebo::msgs::Package (type=..., message=...)
at /tmp/buildd/gazebo-current-2.2.2/gazebo/msgs/msgs.cc:116
data = {static npos = ,
M_dataplus = {std::allocator = {<gnu_cxx::new_allocator> = {}, }, M_p = 0x7ffff57614d8 ""}}
pkg = {google::protobuf::Message = {},
static kStampFieldNumber = 1, static kTypeFieldNumber = 2,
static kSerializedDataFieldNumber = 3, unknown_fields = {
fields = 0x0}, stamp = 0x7fffadf51580, type = 0x7fffad9df960,
serialized_data = 0x7fffad9e2da0, cached_size = 51, has_bits = {
7}, static default_instance = 0x68b960}
serialized_data = 0x7fffad9e2da0
#10 0x00007ffff766700b in gazebo::transport::ConnectionManager::RegisterTopicNamespace (this=0x653420, name=...)
at /tmp/buildd/gazebo-current-2.2.2/gazebo/transport/ConnectionManager.cc:517
msg = {google::protobuf::Message = {},
static kDataFieldNumber = 1, unknown_fields = {fields = 0x0},
data = 0x7fffad81ab90, cached_size = 9, has_bits = {1},
static default_instance_ = 0x685990}
#11 0x00007ffff7673b32 in gazebo::transport::Node::Init (this=0x7fffadf467a0,
_space=...) at /tmp/buildd/gazebo-current-2.2.2/gazebo/transport/Node.cc:93
No locals.
#12 0x00007fffa845bddf in yarp::dev::GazeboYarpControlBoardDriver::gazebo_init
(this=0x7fffadeb0a40)
at /usr/local/src/robot/gazebo_yarp_plugins/src/yarp_drivers/ControlBoardDriver.cpp:90
PRETTY_FUNCTION = "bool yarp::dev::GazeboYarpControlBoardDriver::gazebo_init()"
ss =
#13 0x00007fffa846a57e in yarp::dev::GazeboYarpControlBoardDriver::open (
this=0x7fffadeb0a40, config=...)
at /usr/local/src/robot/gazebo_yarp_plugins/src/yarp_drivers/ControlBoardDriverDeviceDriver.cpp:31
robotName = {static npos = ,
_M_dataplus = {std::allocator = {<__gnu_cxx::new_allocator> = {}, }, _M_p = 0x7fffadf46a78 "iCub"}}
#14 0x00007fffabd82590 in yarp::dev::PolyDriver::coreOpen(yarp::os::Searchable&) () from /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.1
No symbol table info available.
#15 0x00007fffabd83cff in yarp::dev::PolyDriver::open(yarp::os::Searchable&) ()
from /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.1
No symbol table info available.
#16 0x00007fffa84523a8 in gazebo::GazeboYarpControlBoard::Load (
this=0x7fffad7182b0, _parent=..., _sdf=...)
at /usr/local/src/robot/gazebo_yarp_plugins/src/gazebo_plugins/ControlBoard.cc:135
driverName = {static npos = 18446744073709551615, s = {
static npos = ,
_M_dataplus = {std::allocator = {<__gnu_cxx::new_allocator> = {}, }, _M_p = 0x7fffadc92458 "torso"}}}
n = 0
configuration_loaded = true
wrapper_group =
driver_group =
netList = 0x7fffad8d2e50
p = {aceVector = 0x7fffadc928c0}
#17 0x00007ffff7363bef in gazebo::physics::Model::LoadPlugin (
this=0x7fffac08c810, sdf=...)
at /tmp/buildd/gazebo-current-2.2.2/gazebo/physics/Model.cc:753
myself = {px = 0x7fffac08c810, pn = {pi = 0x7fffac08c740}}
pluginName = {static npos = ,
_M_dataplus = {std::allocator = {<__gnu_cxx::new_allocator> = {}, },
_M_p = 0x7fffad7ab1b8 "controlboard_torso"}}
filename = {static npos = ,
_M_dataplus = {std::allocator = {<gnu_cxx::new_allocator> = {}, },
M_p = 0x7fffad7baa98 "libgazebo_yarp_controlboard.so"}}
plugin = {px = 0x7fffad7182b0, pn = {pi = 0x7fffad80f450}}
#18 0x00007ffff7363fc5 in gazebo::physics::Model::LoadPlugins (
this=0x7fffac08c810)
at /tmp/buildd/gazebo-current-2.2.2/gazebo/physics/Model.cc:687
pluginElem = {px = 0x7fffad5a6820, pn = {pi = 0x7fffad5a68d0}}
iterations =
#19 0x00007ffff7392d3e in gazebo::physics::World::ProcessFactoryMsgs (
this=0xfa9060)
at /tmp/buildd/gazebo-current-2.2.2/gazebo/physics/World.cc:1668
model = {px = 0x7fffac08c810, pn = {pi = 0x7fffac08c740}}
iter2 = {_M_node = 0x7fffacb36680}
modelsToLoad = {std::_List_base<boost::shared_ptr<sdf::Element, std::allocatorboost::shared_ptr<sdf::Element > >> = {
_M_impl = {std::allocator<std::_List_node<boost::shared_ptr<sdf::Element > >> = {<__gnu_cxx::new_allocatorstd::_List_node<boost::shared_ptr<sdf::Element > >> = {}, }, _M_node = {
_M_next = 0x7fffacb36680,
_M_prev = 0x7fffacb36680}}}, }
iter = {_M_node = 0xfa9400}
#20 0x00007ffff7394e5a in gazebo::physics::World::ProcessMessages (
this=0xfa9060)
at /tmp/buildd/gazebo-current-2.2.2/gazebo/physics/World.cc:1909
No locals.
#21 0x00007ffff73954de in gazebo::physics::World::Step (this=0xfa9060)
at /tmp/buildd/gazebo-current-2.2.2/gazebo/physics/World.cc:577
updatePeriod = 0.001
tmpTime = {_vptr.Time = 0x7ffff7dd5e30, static Zero = {
_vptr.Time = 0x7ffff7dd5e30,
static Zero = ,
sec = 0, nsec = 0, static wallTime = {_vptr.Time = 0x7ffff7dd5e30,
static Zero = ,
sec = 1395054127, nsec = 337172407,
static wallTime = , static wallTimeISO = {static npos = ,
_M_dataplus = {std::allocator = {<__gnu_cxx::new_allocator> = {}, },
_M_p = 0x101c068 "2014-03-17T11:01:09.042121"}},
static clockResolution = {tv_sec = 0, tv_nsec = 1}},
static wallTimeISO = {static npos = ,
_M_dataplus = {std::allocator = {<__gnu_cxx::new_allocator> = {}, },
_M_p = 0x101c068 "2014-03-17T11:01:09.042121"}},
static clockResolution = }, sec = 1395054120, nsec = 728587518,
static wallTime = ,
static wallTimeISO = {static npos = ,
_M_dataplus = {std::allocator = {<__gnu_cxx::new_allocator> = {}, },
_M_p = 0x101c068 "2014-03-17T11:01:09.042121"}},
static clockResolution = }
sleepTime = {_vptr.Time = 0x7ffff7dd5e30, static Zero = {
_vptr.Time = 0x7ffff7dd5e30,
static Zero = ,
sec = 0, nsec = 0, static wallTime = {_vptr.Time = 0x7ffff7dd5e30,
static Zero = ,
sec = 1395054127, nsec = 337172407,
static wallTime = , static wallTimeISO = {static npos = ,
_M_dataplus = {std::allocator = {<__gnu_cxx::new_allocator> = {}, },
_M_p = 0x101c068 "2014-03-17T11:01:09.042121"}},
static clockResolution = {tv_sec = 0, tv_nsec = 1}},
static wallTimeISO = {static npos = ,
_M_dataplus = {std::allocator = {<__gnu_cxx::new_allocator> = {}, },
_M_p = 0x101c068 "2014-03-17T11:01:09.042121"}},
static clockResolution = }, sec = 0, nsec = 915051,
static wallTime = ,
static wallTimeISO = {static npos = ,
_M_dataplus = {std::allocator = {<__gnu_cxx::new_allocator> = {}, },
_M_p = 0x101c068 "2014-03-17T11:01:09.042121"}},
static clockResolution = }
actualSleep = {_vptr.Time = 0x7ffff7dd5e30, static Zero = {
_vptr.Time = 0x7ffff7dd5e30,
static Zero = ,
sec = 0, nsec = 0, static wallTime = {_vptr.Time = 0x7ffff7dd5e30,
static Zero = ,
sec = 1395054127, nsec = 337172407,
static wallTime = , static wallTimeISO = {static npos = ,
_M_dataplus = {std::allocator = {<__gnu_cxx::new_allocator> = {}, },
_M_p = 0x101c068 "2014-03-17T11:01:09.042121"}},
static clockResolution = {tv_sec = 0, tv_nsec = 1}},
static wallTimeISO = {static npos = ,
_M_dataplus = {std::allocator = {<__gnu_cxx::new_allocator> = {}, },
_M_p = 0x101c068 "2014-03-17T11:01:09.042121"}},
static clockResolution = }, sec = 0, nsec = 982781,
static wallTime = ,
static wallTimeISO = {static npos = ,
_M_dataplus = {std::allocator = {<__gnu_cxx::new_allocator> = {}, },
_M_p = 0x101c068 "2014-03-17T11:01:09.042121"}},
static clockResolution = }
#22 0x00007ffff7397604 in gazebo::physics::World::RunLoop (this=0xfa9060)
at /tmp/buildd/gazebo-current-2.2.2/gazebo/physics/World.cc:410
No locals.
#23 0x00007ffff5be9ce9 in thread_proxy ()
from /usr/lib/libboost_thread.so.1.46.1
No symbol table info available.
#24 0x00007ffff6a26e9a in start_thread ()
from /lib/x86_64-linux-gnu/libpthread.so.0
No symbol table info available.
#25 0x00007ffff4f923fd in clone () from /lib/x86_64-linux-gnu/libc.so.6
No symbol table info available.
#26 0x0000000000000000 in ?? ()
No symbol table info available.
(gdb) quit

@MirkoFerrati
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Can you try to run this version of the plugin and post here the new output? (also if you have patience, I am still curious about valgrind output).
https://github.com/robotology/gazebo_yarp_plugins/tree/issue71

@lorejam
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lorejam commented Mar 17, 2014

Here is the gdb output of the gzserver with the "issue71" branch of gazebo_yarp_plugins:

(gdb) run
Starting program: /usr/bin/gzserver 
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7fffe0d17700 (LWP 13622)]
[New Thread 0x7fffdbfff700 (LWP 13623)]
[New Thread 0x7fffdb7fe700 (LWP 13624)]

[New Thread 0x7fffdaffd700 (LWP 13625)]
[New Thread 0x7fffcbfff700 (LWP 13626)]
[New Thread 0x7fffcb7fe700 (LWP 13627)]
[New Thread 0x7fffcaffd700 (LWP 13628)]
[New Thread 0x7fffcabfc700 (LWP 13629)]
[New Thread 0x7fffca3fb700 (LWP 13630)]
[New Thread 0x7fffc9bfa700 (LWP 13631)]
[New Thread 0x7fffc93f9700 (LWP 13632)]
Found yarpConfigurationFile: loading from /home/icub/.gazebo/models/icub/conf/gazebo_icub_inertial.ini
Calling GazeboYarpPluginHandler ConstructorGazeboYarpPluginHandler: Inserting Sensor : default::iCub::head::imu_sensor
Singleton: Added a new sensor default::iCub::head::imu_sensor.
Subdevice gazebo_imu
GazeboYarpIMUDriver is looking for sensor default::iCub::head::imu_sensor...
Looking for sensor : default::iCub::head::imu_sensor
Sensor default::iCub::head::imu_sensor was happily found!
Server Inertial starting
Writing an Inertial measurement.
Loaded GazeboYarpIMU Plugin correctly
GazeboYarpIMU original parameters
(period 0.01) (sensorScopedName "default::iCub::head::imu_sensor") (name "/icubGazeboSim/inertial") (device inertial) (subdevice gazebo_imu)
GazeboYarpIMU getOptions
device wrapped period subdevice subdevice.device subdevice.wrapped subdevice.sensorScopedName name
*** GazeboYarpIMU plugin started ***
YARP Server found!
[New Thread 0x7fffaa693700 (LWP 13655)]
[New Thread 0x7fffa9e92700 (LWP 13656)]
Found yarpConfigurationFile: loading from /home/icub/.gazebo/models/icub/conf/FT/gazebo_icub_left_leg_ft.ini
GazeboYarpPluginHandler: Inserting Sensor : default::iCub::l_leg_ft_sensor::left_leg_ft
Singleton: Added a new sensor default::iCub::l_leg_ft_sensor::left_leg_ft.
AnalogWrapper Debugleft_legopening port /icubGazeboSim/left_leg/analog:oGazeboYarpForceTorque Plugin: correcly opened GazeboYarpForceTorqueDriver wrapper
GazeboYarpForceTorqueDriver::open() called
GazeboYarpForceTorqueDriver::open( is looking for sensor default::iCub::l_leg_ft_sensor::left_leg_ft...
Looking for sensor : default::iCub::l_leg_ft_sensor::left_leg_ft
Sensor default::iCub::l_leg_ft_sensor::left_leg_ft was happily found!
GazeboYarpForceTorqueDriver::open() returning true
GazeboYarpForceTorque Plugin: correcly opened GazeboYarpForceTorqueDriver
*** GazeboYarpForceTorque plugin started ***
YARP Server found!
Found yarpConfigurationFile: loading from /home/icub/.gazebo/models/icub/conf/FT/gazebo_icub_right_leg_ft.ini
GazeboYarpPluginHandler: Inserting Sensor : default::iCub::r_leg_ft_sensor::right_leg_ft
Singleton: Added a new sensor default::iCub::r_leg_ft_sensor::right_leg_ft.
AnalogWrapper Debugright_legopening port /icubGazeboSim/right_leg/analog:oGazeboYarpForceTorque Plugin: correcly opened GazeboYarpForceTorqueDriver wrapper
GazeboYarpForceTorqueDriver::open() called
GazeboYarpForceTorqueDriver::open( is looking for sensor default::iCub::r_leg_ft_sensor::right_leg_ft...
Looking for sensor : default::iCub::r_leg_ft_sensor::right_leg_ft
Sensor default::iCub::r_leg_ft_sensor::right_leg_ft was happily found!
GazeboYarpForceTorqueDriver::open() returning true
GazeboYarpForceTorque Plugin: correcly opened GazeboYarpForceTorqueDriver
*** GazeboYarpForceTorque plugin started ***
YARP Server found!
Found yarpConfigurationFile: loading from /home/icub/.gazebo/models/icub/conf/FT/gazebo_icub_left_arm_ft.ini
GazeboYarpPluginHandler: Inserting Sensor : default::iCub::l_arm_ft_sensor::left_arm_ft
Singleton: Added a new sensor default::iCub::l_arm_ft_sensor::left_arm_ft.
AnalogWrapper Debugleft_armopening port /icubGazeboSim/left_arm/analog:oGazeboYarpForceTorque Plugin: correcly opened GazeboYarpForceTorqueDriver wrapper
GazeboYarpForceTorqueDriver::open() called
GazeboYarpForceTorqueDriver::open( is looking for sensor default::iCub::l_arm_ft_sensor::left_arm_ft...
Looking for sensor : default::iCub::l_arm_ft_sensor::left_arm_ft
Sensor default::iCub::l_arm_ft_sensor::left_arm_ft was happily found!
GazeboYarpForceTorqueDriver::open() returning true
GazeboYarpForceTorque Plugin: correcly opened GazeboYarpForceTorqueDriver
*** GazeboYarpForceTorque plugin started ***
YARP Server found!
Found yarpConfigurationFile: loading from /home/icub/.gazebo/models/icub/conf/FT/gazebo_icub_right_arm_ft.ini
GazeboYarpPluginHandler: Inserting Sensor : default::iCub::r_arm_ft_sensor::right_arm_ft
Singleton: Added a new sensor default::iCub::r_arm_ft_sensor::right_arm_ft.
AnalogWrapper Debugright_armopening port /icubGazeboSim/right_arm/analog:oGazeboYarpForceTorque Plugin: correcly opened GazeboYarpForceTorqueDriver wrapper
GazeboYarpForceTorqueDriver::open() called
GazeboYarpForceTorqueDriver::open( is looking for sensor default::iCub::r_arm_ft_sensor::right_arm_ft...
Looking for sensor : default::iCub::r_arm_ft_sensor::right_arm_ft
Sensor default::iCub::r_arm_ft_sensor::right_arm_ft was happily found!
GazeboYarpForceTorqueDriver::open() returning true
GazeboYarpForceTorque Plugin: correcly opened GazeboYarpForceTorqueDriver
*** GazeboYarpForceTorque plugin started ***
YARP Server found!
[New Thread 0x7fffa9691700 (LWP 13662)]
[New Thread 0x7fffa8e90700 (LWP 13663)]
[New Thread 0x7fffa3dc1700 (LWP 13668)]
[New Thread 0x7fffa35c0700 (LWP 13674)]
[New Thread 0x7fffa2dbf700 (LWP 13675)]
[New Thread 0x7fffa25be700 (LWP 13680)]
[New Thread 0x7fffa1dbd700 (LWP 13686)]
[New Thread 0x7fffa15bc700 (LWP 13687)]
[New Thread 0x7fffa0dbb700 (LWP 13692)]
[New Thread 0x7fff97fff700 (LWP 13698)]
[New Thread 0x7fff977fe700 (LWP 13699)]
[New Thread 0x7fff96ffd700 (LWP 13704)]
GazeboYarpPluginHandler: Inserting Robot : iCub
Singleton: Added a new robot iCub.

 Initting Wrapper

GazeboYarpControlBoard: Found yarpConfigurationFile: loading from /home/icub/.gazebo/models/icub/conf/gazebo_icub_torso.ini
running with verbose output
Using YARP ControlBoardWrapper2
GazeboYarpControlBoard: setting robotScopedName iCub
DeviceDriver is looking for robot iCub...
Looking for robot : iCub
Robot iCub was happily found!
Robot Name: iCub
# Joints: 36
# Links: 37
.ini file found, using joint names in ini file
Joint Limits
torso_yaw max_pos: 58.9998 min_pos: -58.9998
torso_roll max_pos: 39 min_pos: -39
torso_pitch max_pos: 84.0002 min_pos: -22
Found PID information in plugin parameters group GAZEBO_PIDS
  P: 1000 I: 0.1 D: 2 maxInt: 9999 maxOut: 9999
  P: 3000 I: 0.1 D: 2 maxInt: 9999 maxOut: 9999
  P: 3000 I: 0.1 D: 2 maxInt: 9999 maxOut: 9999
OK!
Found PID information in plugin parameters group GAZEBO_VELOCITY_PIDS
  P: 500 I: 0.1 D: 0 maxInt: 9999 maxOut: 9999
  P: 500 I: 0.1 D: 0 maxInt: 9999 maxOut: 9999
  P: 500 I: 0.1 D: 0 maxInt: 9999 maxOut: 9999
OK!
gazebo_init set pid done!
ControlBoardDriver: world name is: default
[New Thread 0x7fff967fc700 (LWP 13707)]
[New Thread 0x7fff95ffb700 (LWP 13708)]
[New Thread 0x7fff957fa700 (LWP 13713)]
[New Thread 0x7fff94ff9700 (LWP 13719)]
[New Thread 0x7fff8ffff700 (LWP 13724)]

Program received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7fffc9bfa700 (LWP 13631)]
0x00007ffff4f1e5ae in ?? () from /lib/x86_64-linux-gnu/libc.so.6
(gdb) bt full
#0  0x00007ffff4f1e5ae in ?? () from /lib/x86_64-linux-gnu/libc.so.6
No symbol table info available.
#1  0x00007ffff4f20f95 in malloc () from /lib/x86_64-linux-gnu/libc.so.6
No symbol table info available.
#2  0x00007ffff5529ded in operator new(unsigned long) ()
   from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
No symbol table info available.
#3  0x00007ffff5512a89 in std::string::_Rep::_S_create(unsigned long, unsigned long, std::allocator<char> const&) ()
   from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
No symbol table info available.
#4  0x00007ffff55137fb in std::string::_Rep::_M_clone(std::allocator<char> const&, unsigned long) () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
No symbol table info available.
#5  0x00007ffff55138e0 in std::string::reserve(unsigned long) ()
   from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
No symbol table info available.
#6  0x00007ffff5513e0d in std::string::append(std::string const&) ()
   from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
No symbol table info available.
#7  0x00000000004342e4 in std::operator+<char, std::char_traits<char>, std::allocator<char> > (__lhs=..., __rhs=...)
    at /usr/include/c++/4.6/bits/basic_string.h:2310
        __str = {static npos = <optimized out>, 
          _M_dataplus = {<std::allocator<char>> = {<__gnu_cxx::new_allocator<char>> = {<No data fields>}, <No data fields>}, _M_p = 0x7fffadf516d8 "00000033"}}
#8  0x00007ffff76530c8 in gazebo::transport::Connection::EnqueueMsg(std::string const&, boost::function<void (unsigned int)>, unsigned int, bool) (
    this=0x6b32d0, _buffer=..., _cb=..., _id=0, _force=false)
    at /tmp/buildd/gazebo-current-2.2.2/gazebo/transport/Connection.cc:290
        lock = {m = 0x6b33c0, is_locked = true}
#9  0x00007ffff7653651 in gazebo::transport::Connection::EnqueueMsg (
    this=0x6b32d0, _buffer=..., _force=false)
    at /tmp/buildd/gazebo-current-2.2.2/gazebo/transport/Connection.cc:268
No locals.
#10 0x00007ffff7667023 in gazebo::transport::ConnectionManager::RegisterTopicNamespace (this=0x653420, _name=...)
    at /tmp/buildd/gazebo-current-2.2.2/gazebo/transport/ConnectionManager.cc:517
        msg = {<google::protobuf::Message> = {<No data fields>}, 
          static kDataFieldNumber = 1, _unknown_fields_ = {fields_ = 0x0}, 
          data_ = 0x7fffad8d2f20, _cached_size_ = 9, _has_bits_ = {1}, 
          static default_instance_ = 0x685990}
#11 0x00007ffff7673b32 in gazebo::transport::Node::Init (this=0x7fffadf45de0, 
    _space=...) at /tmp/buildd/gazebo-current-2.2.2/gazebo/transport/Node.cc:93
No locals.
#12 0x00007fffa845b25e in yarp::dev::GazeboYarpControlBoardDriver::gazebo_init
    (this=0x7fffadeb0b80)
    at /usr/local/src/robot/gazebo_yarp_plugins/src/yarp_drivers/ControlBoardDriver.cpp:100
        __PRETTY_FUNCTION__ = "bool yarp::dev::GazeboYarpControlBoardDriver::gazebo_init()"
        temp_world = {px = 0xe35b40, pn = {pi_ = 0x11c1a50}}
        temp_world_name = {static npos = <optimized out>, 
          _M_dataplus = {<std::allocator<char>> = {<__gnu_cxx::new_allocator<char>> = {<No data fields>}, <No data fields>}, _M_p = 0xa6e848 "default"}}
        ss = <incomplete type>
#13 0x00007fffa8469c4e in yarp::dev::GazeboYarpControlBoardDriver::open (
    this=0x7fffadeb0b80, config=...)
    at /usr/local/src/robot/gazebo_yarp_plugins/src/yarp_drivers/ControlBoardDriverDeviceDriver.cpp:31
        robotName = {static npos = <optimized out>, 
          _M_dataplus = {<std::allocator<char>> = {<__gnu_cxx::new_allocator<char>> = {<No data fields>}, <No data fields>}, _M_p = 0x7fffadf46bb8 "iCub"}}
#14 0x00007fffabd82590 in yarp::dev::PolyDriver::coreOpen(yarp::os::Searchable&) () from /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.1
No symbol table info available.
#15 0x00007fffabd83cff in yarp::dev::PolyDriver::open(yarp::os::Searchable&) ()
   from /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.1
No symbol table info available.
#16 0x00007fffa8451748 in gazebo::GazeboYarpControlBoard::Load (
    this=0x7fffad803d40, _parent=..., _sdf=...)
    at /usr/local/src/robot/gazebo_yarp_plugins/src/gazebo_plugins/ControlBoard.cc:135
        driverName = {static npos = 18446744073709551615, s = {
            static npos = <optimized out>, 
            _M_dataplus = {<std::allocator<char>> = {<__gnu_cxx::new_allocator<char>> = {<No data fields>}, <No data fields>}, _M_p = 0x7fffadc91f48 "torso"}}}
        n = 0
        configuration_loaded = true
        wrapper_group = <incomplete type>
        driver_group = <incomplete type>
        netList = 0x7fffad8d2a80
        p = {aceVector = 0x7fffadc923f0}
#17 0x00007ffff7363bef in gazebo::physics::Model::LoadPlugin (
    this=0x7fffac05e840, _sdf=...)
    at /tmp/buildd/gazebo-current-2.2.2/gazebo/physics/Model.cc:753
        myself = {px = 0x7fffac05e840, pn = {pi_ = 0x7fffacad1c00}}
        pluginName = {static npos = <optimized out>, 
          _M_dataplus = {<std::allocator<char>> = {<__gnu_cxx::new_allocator<char>> = {<No data fields>}, <No data fields>}, 
            _M_p = 0x7fffad838508 "controlboard_torso"}}
        filename = {static npos = <optimized out>, 
          _M_dataplus = {<std::allocator<char>> = {<__gnu_cxx::new_allocator<char>> = {<No data fields>}, <No data fields>}, 
            _M_p = 0x7fffad838488 "libgazebo_yarp_controlboard.so"}}
        plugin = {px = 0x7fffad803d40, pn = {pi_ = 0x7fffad705c00}}
#18 0x00007ffff7363fc5 in gazebo::physics::Model::LoadPlugins (
    this=0x7fffac05e840)
    at /tmp/buildd/gazebo-current-2.2.2/gazebo/physics/Model.cc:687
        pluginElem = {px = 0x7fffad5a6820, pn = {pi_ = 0x7fffad5a68d0}}
        iterations = <optimized out>
#19 0x00007ffff7392d3e in gazebo::physics::World::ProcessFactoryMsgs (
    this=0xe35b40)
    at /tmp/buildd/gazebo-current-2.2.2/gazebo/physics/World.cc:1668
        model = {px = 0x7fffac05e840, pn = {pi_ = 0x7fffacad1c00}}
        iter2 = {_M_node = 0x7fffacb36690}
        modelsToLoad = {<std::_List_base<boost::shared_ptr<sdf::Element>, std::allocator<boost::shared_ptr<sdf::Element> > >> = {
            _M_impl = {<std::allocator<std::_List_node<boost::shared_ptr<sdf::Element> > >> = {<__gnu_cxx::new_allocator<std::_List_node<boost::shared_ptr<sdf::Element> > >> = {<No data fields>}, <No data fields>}, _M_node = {
                _M_next = 0x7fffacb36690, 
                _M_prev = 0x7fffacb36690}}}, <No data fields>}
        iter = {_M_node = 0xe35ee0}
#20 0x00007ffff7394e5a in gazebo::physics::World::ProcessMessages (
    this=0xe35b40)
    at /tmp/buildd/gazebo-current-2.2.2/gazebo/physics/World.cc:1909
No locals.
#21 0x00007ffff73954de in gazebo::physics::World::Step (this=0xe35b40)
    at /tmp/buildd/gazebo-current-2.2.2/gazebo/physics/World.cc:577
        updatePeriod = 0.001
        tmpTime = {_vptr.Time = 0x7ffff7dd5e30, static Zero = {
            _vptr.Time = 0x7ffff7dd5e30, 
            static Zero = <same as static member of an already seen type>, 
            sec = 0, nsec = 0, static wallTime = {_vptr.Time = 0x7ffff7dd5e30, 
              static Zero = <same as static member of an already seen type>, 
              sec = 1395070435, nsec = 754250399, 
              static wallTime = <same as static member of an already seen type>, static wallTimeISO = {static npos = <optimized out>, 
                _M_dataplus = {<std::allocator<char>> = {<__gnu_cxx::new_allocator<char>> = {<No data fields>}, <No data fields>}, 
                  _M_p = 0x101ba58 "2014-03-17T15:33:00.730030"}}, 
              static clockResolution = {tv_sec = 0, tv_nsec = 1}}, 
            static wallTimeISO = {static npos = <optimized out>, 
              _M_dataplus = {<std::allocator<char>> = {<__gnu_cxx::new_allocator<char>> = {<No data fields>}, <No data fields>}, 
                _M_p = 0x101ba58 "2014-03-17T15:33:00.730030"}}, 
            static clockResolution = <same as static member of an already seen type>}, sec = 1395070429, nsec = 557158371, 
          static wallTime = <same as static member of an already seen type>, 
          static wallTimeISO = {static npos = <optimized out>, 
            _M_dataplus = {<std::allocator<char>> = {<__gnu_cxx::new_allocator<char>> = {<No data fields>}, <No data fields>}, 
              _M_p = 0x101ba58 "2014-03-17T15:33:00.730030"}}, 
          static clockResolution = <same as static member of an already seen type>}
        sleepTime = {_vptr.Time = 0x7ffff7dd5e30, static Zero = {
            _vptr.Time = 0x7ffff7dd5e30, 
            static Zero = <same as static member of an already seen type>, 
            sec = 0, nsec = 0, static wallTime = {_vptr.Time = 0x7ffff7dd5e30, 
              static Zero = <same as static member of an already seen type>, 
              sec = 1395070435, nsec = 754250399, 
              static wallTime = <same as static member of an already seen type>, static wallTimeISO = {static npos = <optimized out>, 
                _M_dataplus = {<std::allocator<char>> = {<__gnu_cxx::new_allocator<char>> = {<No data fields>}, <No data fields>}, 
                  _M_p = 0x101ba58 "2014-03-17T15:33:00.730030"}}, 
              static clockResolution = {tv_sec = 0, tv_nsec = 1}}, 
            static wallTimeISO = {static npos = <optimized out>, 
              _M_dataplus = {<std::allocator<char>> = {<__gnu_cxx::new_allocator<char>> = {<No data fields>}, <No data fields>}, 
                _M_p = 0x101ba58 "2014-03-17T15:33:00.730030"}}, 
            static clockResolution = <same as static member of an already seen type>}, sec = 0, nsec = 731291, 
          static wallTime = <same as static member of an already seen type>, 
          static wallTimeISO = {static npos = <optimized out>, 
            _M_dataplus = {<std::allocator<char>> = {<__gnu_cxx::new_allocator<char>> = {<No data fields>}, <No data fields>}, 
              _M_p = 0x101ba58 "2014-03-17T15:33:00.730030"}}, 
          static clockResolution = <same as static member of an already seen type>}
        actualSleep = {_vptr.Time = 0x7ffff7dd5e30, static Zero = {
            _vptr.Time = 0x7ffff7dd5e30, 
            static Zero = <same as static member of an already seen type>, 
            sec = 0, nsec = 0, static wallTime = {_vptr.Time = 0x7ffff7dd5e30, 
              static Zero = <same as static member of an already seen type>, 
              sec = 1395070435, nsec = 754250399, 
              static wallTime = <same as static member of an already seen type>, static wallTimeISO = {static npos = <optimized out>, 
                _M_dataplus = {<std::allocator<char>> = {<__gnu_cxx::new_allocator<char>> = {<No data fields>}, <No data fields>}, 
                  _M_p = 0x101ba58 "2014-03-17T15:33:00.730030"}}, 
              static clockResolution = {tv_sec = 0, tv_nsec = 1}}, 
            static wallTimeISO = {static npos = <optimized out>, 
              _M_dataplus = {<std::allocator<char>> = {<__gnu_cxx::new_allocator<char>> = {<No data fields>}, <No data fields>}, 
                _M_p = 0x101ba58 "2014-03-17T15:33:00.730030"}}, 
            static clockResolution = <same as static member of an already seen type>}, sec = 0, nsec = 818240, 
          static wallTime = <same as static member of an already seen type>, 
          static wallTimeISO = {static npos = <optimized out>, 
            _M_dataplus = {<std::allocator<char>> = {<__gnu_cxx::new_allocator<char>> = {<No data fields>}, <No data fields>}, 
              _M_p = 0x101ba58 "2014-03-17T15:33:00.730030"}}, 
          static clockResolution = <same as static member of an already seen type>}
#22 0x00007ffff7397604 in gazebo::physics::World::RunLoop (this=0xe35b40)
    at /tmp/buildd/gazebo-current-2.2.2/gazebo/physics/World.cc:410
No locals.
#23 0x00007ffff5be9ce9 in thread_proxy ()
   from /usr/lib/libboost_thread.so.1.46.1
No symbol table info available.
#24 0x00007ffff6a26e9a in start_thread ()
   from /lib/x86_64-linux-gnu/libpthread.so.0
No symbol table info available.
#25 0x00007ffff4f923fd in clone () from /lib/x86_64-linux-gnu/libc.so.6
No symbol table info available.
#26 0x0000000000000000 in ?? ()
No symbol table info available.
(gdb) quit

@arocchi
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arocchi commented Mar 18, 2014

also YARP should be compiled with debug symbols :P

@MirkoFerrati
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I really really need valgrind output now... I know it's slow but please just once!

@MirkoFerrati
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Wait, before that, can you please tell me what's inside /etc/apt/sources.list.d/gazebo-latest.list ?

@lorejam
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lorejam commented Mar 18, 2014

This is what's inside /etc/apt/sources.list.d/gazebo-latest.list :

deb http://packages.osrfoundation.org/gazebo/ubuntu precise main

This is the valgrind output (memcheck):

==23080== Memcheck, a memory error detector
==23080== Copyright (C) 2002-2011, and GNU GPL'd, by Julian Seward et al.
==23080== Using Valgrind-3.7.0 and LibVEX; rerun with -h for copyright info
==23080== Command: gzserver
==23080== 
Gazebo multi-robot simulator, version 2.2.2
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

�[1;32mMsg�[0m Waiting for master
�[1;32mMsg�[0m Connected to gazebo master @ http://127.0.0.1:11345
�[1;32mMsg�[0m Publicized address: 10.10.1.53
==23080== Syscall param rt_sigaction(act->sa_mask) points to uninitialised byte(s)
==23080==    at 0x5FDFDB5: __libc_sigaction (sigaction.c:67)
==23080==    by 0x426550: gazebo::Server::Run() (Server.cc:437)
==23080==    by 0x422FA2: main (server_main.cc:43)
==23080==  Address 0x7fefff9c0 is on thread 1's stack
==23080== 
==23080== Syscall param rt_sigaction(act->sa_flags) points to uninitialised byte(s)
==23080==    at 0x5FDFDB5: __libc_sigaction (sigaction.c:67)
==23080==    by 0x426550: gazebo::Server::Run() (Server.cc:437)
==23080==    by 0x422FA2: main (server_main.cc:43)
==23080==  Address 0x7fefff9b0 is on thread 1's stack
==23080== 
==23080== Thread 5:
==23080== Syscall param socketcall.sendmsg(msg.msg_iov[i]) points to uninitialised byte(s)
==23080==    at 0x5FDF33D: ??? (syscall-template.S:82)
==23080==    by 0x53AC9DE: boost::asio::detail::reactive_socket_send_op_base<boost::asio::const_buffers_1>::do_perform(boost::asio::detail::reactor_op*) (socket_ops.ipp:892)
==23080==    by 0x43A927: boost::asio::detail::epoll_reactor::start_op(int, int, boost::asio::detail::epoll_reactor::descriptor_state*&, boost::asio::detail::reactor_op*, bool) (reactor_op.hpp:40)
==23080==    by 0x53B8AC3: void boost::asio::detail::reactive_socket_service_base::async_send<boost::asio::const_buffers_1, boost::asio::detail::write_op<boost::asio::basic_stream_socket<boost::asio::ip::tcp, boost::asio::stream_socket_service<boost::asio::ip::tcp> >, boost::asio::const_buffers_1, boost::asio::detail::transfer_all_t, boost::_bi::bind_t<void, boost::_mfi::mf1<void, gazebo::transport::Connection, boost::system::error_code const&>, boost::_bi::list2<boost::_bi::value<boost::shared_ptr<gazebo::transport::Connection> >, boost::arg<1> (*)()> > > >(boost::asio::detail::reactive_socket_service_base::base_implementation_type&, boost::asio::const_buffers_1 const&, int, boost::asio::detail::write_op<boost::asio::basic_stream_socket<boost::asio::ip::tcp, boost::asio::stream_socket_service<boost::asio::ip::tcp> >, boost::asio::const_buffers_1, boost::asio::detail::transfer_all_t, boost::_bi::bind_t<void, boost::_mfi::mf1<void, gazebo::transport::Connection, boost::system::error_code const&>, boost::_bi::list2<boost::_bi::value<boost::shared_ptr<gazebo::transport::Connection> >, boost::arg<1> (*)()> > >) (reactive_socket_service_base.ipp:161)
==23080==    by 0x53B8CCD: boost::asio::detail::write_op<boost::asio::basic_stream_socket<boost::asio::ip::tcp, boost::asio::stream_socket_service<boost::asio::ip::tcp> >, boost::asio::const_buffers_1, boost::asio::detail::transfer_all_t, boost::_bi::bind_t<void, boost::_mfi::mf1<void, gazebo::transport::Connection, boost::system::error_code const&>, boost::_bi::list2<boost::_bi::value<boost::shared_ptr<gazebo::transport::Connection> >, boost::arg<1> (*)()> > >::operator()(boost::system::error_code const&, unsigned long, int) (stream_socket_service.hpp:245)
==23080==    by 0x53B8E77: void boost::asio::async_write<boost::asio::basic_stream_socket<boost::asio::ip::tcp, boost::asio::stream_socket_service<boost::asio::ip::tcp> >, boost::asio::const_buffers_1, boost::asio::detail::transfer_all_t, boost::_bi::bind_t<void, boost::_mfi::mf1<void, gazebo::transport::Connection, boost::system::error_code const&>, boost::_bi::list2<boost::_bi::value<boost::shared_ptr<gazebo::transport::Connection> >, boost::arg<1> (*)()> > >(boost::asio::basic_stream_socket<boost::asio::ip::tcp, boost::asio::stream_socket_service<boost::asio::ip::tcp> >&, boost::asio::const_buffers_1 const&, boost::asio::detail::transfer_all_t, boost::_bi::bind_t<void, boost::_mfi::mf1<void, gazebo::transport::Connection, boost::system::error_code const&>, boost::_bi::list2<boost::_bi::value<boost::shared_ptr<gazebo::transport::Connection> >, boost::arg<1> (*)()> >) (write.hpp:300)
==23080==    by 0x53A5CED: gazebo::transport::Connection::ProcessWriteQueue(bool) (write.hpp:311)
==23080==    by 0x53BC003: gazebo::transport::ConnectionManager::RunUpdate() (ConnectionManager.cc:290)
==23080==    by 0x53BD1A9: gazebo::transport::ConnectionManager::Run() (ConnectionManager.cc:310)
==23080==    by 0x6E22CE8: thread_proxy (in /usr/lib/libboost_thread.so.1.46.1)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)
==23080==  Address 0x28167373 is 787 bytes inside a block of size 1,777 alloc'd
==23080==    at 0x4C2B1C7: operator new(unsigned long) (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==23080==    by 0x7536A88: std::string::_Rep::_S_create(unsigned long, unsigned long, std::allocator<char> const&) (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.16)
==23080==    by 0x75377FA: std::string::_Rep::_M_clone(std::allocator<char> const&, unsigned long) (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.16)
==23080==    by 0x75378DF: std::string::reserve(unsigned long) (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.16)
==23080==    by 0x7537E0C: std::string::append(std::string const&) (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.16)
==23080==    by 0x4342E3: std::basic_string<char, std::char_traits<char>, std::allocator<char> > std::operator+<char, std::char_traits<char>, std::allocator<char> >(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) (basic_string.h:2310)
==23080==    by 0x53A60C7: gazebo::transport::Connection::EnqueueMsg(std::string const&, boost::function<void ()(unsigned int)>, unsigned int, bool) (Connection.cc:290)
==23080==    by 0x53D1E87: gazebo::transport::SubscriptionTransport::HandleData(std::string const&, boost::function<void ()(unsigned int)>, unsigned int) (SubscriptionTransport.cc:59)
==23080==    by 0x53CB708: gazebo::transport::Publication::Publish(boost::shared_ptr<google::protobuf::Message>, boost::function<void ()(unsigned int)>, unsigned int) (Publication.cc:307)
==23080==    by 0x53D072C: gazebo::transport::Publisher::SendMessage() (Publisher.cc:190)
==23080==    by 0x53C6835: gazebo::transport::Node::ProcessPublishers() (Node.cc:144)
==23080==    by 0x53D2DF1: gazebo::transport::TopicManager::ProcessNodes(bool) (TopicManager.cc:155)
==23080== 
�[1;33mWarning [Publisher.cc:134]�[0m Queue limit reached for topic /gazebo/default/physics/contacts, deleting message. This warning is printed only once.
Found yarpConfigurationFile: loading from /home/icub/.gazebo/models/icub/conf/gazebo_icub_inertial.ini
Calling GazeboYarpPluginHandler ConstructorGazeboYarpPluginHandler: Inserting Sensor : default::iCub::head::imu_sensor
Singleton: Added a new sensor default::iCub::head::imu_sensor.
Subdevice gazebo_imu
GazeboYarpIMUDriver is looking for sensor default::iCub::head::imu_sensor...
Looking for sensor : default::iCub::head::imu_sensor
yarp: created device <gazebo_imu>. See C++ class GazeboYarpIMUDriver for documentation.
yarp: Port /icubGazeboSim/inertial active at tcp://10.10.1.53:10002
yarp: created wrapper <inertial>. See C++ class ServerInertial for documentation.
Sensor default::iCub::head::imu_sensor was happily found!
Loaded GazeboYarpIMU Plugin correctly
Server Inertial starting
GazeboYarpIMU original parameters
(period 0.01) (sensorScopedName "default::iCub::head::imu_sensor") (name "/icubGazeboSim/inertial") (device inertial) (subdevice gazebo_imu)
GazeboYarpIMU getOptions
device wrapped period subdevice subdevice.device subdevice.wrapped subdevice.sensorScopedName name
*** GazeboYarpIMU plugin started ***
YARP Server found!
Writing an Inertial measurement.
Found yarpConfigurationFile: loading from /home/icub/.gazebo/models/icub/conf/FT/gazebo_icub_left_leg_ft.ini
GazeboYarpPluginHandler: Inserting Sensor : default::iCub::l_leg_ft_sensor::left_leg_ft
yarp: Port /icubGazeboSim/left_leg/analog:o/rpc:i active at tcp://10.10.1.53:10003
yarp: created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
Singleton: Added a new sensor default::iCub::l_leg_ft_sensor::left_leg_ft.
AnalogWrapper Debugleft_legopening port /icubGazeboSim/left_leg/analog:oGazeboYarpForceTorque Plugin: correcly opened GazeboYarpForceTorqueDriver wrapper
GazeboYarpForceTorqueDriver::open() called
GazeboYarpForceTorqueDriver::open( is looking for sensor default::iCub::l_leg_ft_sensor::left_leg_ft...
Looking for sensor : default::iCub::l_leg_ft_sensor::left_leg_ft
Sensor default::iCub::l_leg_ft_sensor::left_leg_ft was happily found!
GazeboYarpForceTorqueDriver::open() returning true
yarp: created device <gazebo_forcetorque>. See C++ class GazeboYarpForceTorqueDriver for documentation.
GazeboYarpForceTorque Plugin: correcly opened GazeboYarpForceTorqueDriver
yarp: Port /icubGazeboSim/left_leg/analog:o active at tcp://10.10.1.53:10004
GazeboYarpForceTorque : wrapper was connected with driver 
*** GazeboYarpForceTorque plugin started ***
YARP Server found!
Found yarpConfigurationFile: loading from /home/icub/.gazebo/models/icub/conf/FT/gazebo_icub_right_leg_ft.ini
GazeboYarpPluginHandler: Inserting Sensor : default::iCub::r_leg_ft_sensor::right_leg_ft
yarp: Port /icubGazeboSim/right_leg/analog:o/rpc:i active at tcp://10.10.1.53:10005
yarp: created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
Singleton: Added a new sensor default::iCub::r_leg_ft_sensor::right_leg_ft.
AnalogWrapper Debugright_legopening port /icubGazeboSim/right_leg/analog:oGazeboYarpForceTorque Plugin: correcly opened GazeboYarpForceTorqueDriver wrapper
GazeboYarpForceTorqueDriver::open() called
GazeboYarpForceTorqueDriver::open( is looking for sensor default::iCub::r_leg_ft_sensor::right_leg_ft...
Looking for sensor : default::iCub::r_leg_ft_sensor::right_leg_ft
Sensor default::iCub::r_leg_ft_sensor::right_leg_ft was happily found!
GazeboYarpForceTorqueDriver::open() returning true
yarp: created device <gazebo_forcetorque>. See C++ class GazeboYarpForceTorqueDriver for documentation.
GazeboYarpForceTorque Plugin: correcly opened GazeboYarpForceTorqueDriver
yarp: Port /icubGazeboSim/right_leg/analog:o active at tcp://10.10.1.53:10006
GazeboYarpForceTorque : wrapper was connected with driver 
*** GazeboYarpForceTorque plugin started ***
YARP Server found!
Found yarpConfigurationFile: loading from /home/icub/.gazebo/models/icub/conf/FT/gazebo_icub_left_arm_ft.ini
GazeboYarpPluginHandler: Inserting Sensor : default::iCub::l_arm_ft_sensor::left_arm_ft
yarp: Port /icubGazeboSim/left_arm/analog:o/rpc:i active at tcp://10.10.1.53:10007
yarp: created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
Singleton: Added a new sensor default::iCub::l_arm_ft_sensor::left_arm_ft.
AnalogWrapper Debugleft_armopening port /icubGazeboSim/left_arm/analog:oGazeboYarpForceTorque Plugin: correcly opened GazeboYarpForceTorqueDriver wrapper
GazeboYarpForceTorqueDriver::open() called
GazeboYarpForceTorqueDriver::open( is looking for sensor default::iCub::l_arm_ft_sensor::left_arm_ft...
Looking for sensor : default::iCub::l_arm_ft_sensor::left_arm_ft
Sensor default::iCub::l_arm_ft_sensor::left_arm_ft was happily found!
GazeboYarpForceTorqueDriver::open() returning true
yarp: created device <gazebo_forcetorque>. See C++ class GazeboYarpForceTorqueDriver for documentation.
GazeboYarpForceTorque Plugin: correcly opened GazeboYarpForceTorqueDriver
yarp: Port /icubGazeboSim/left_arm/analog:o active at tcp://10.10.1.53:10008
GazeboYarpForceTorque : wrapper was connected with driver 
*** GazeboYarpForceTorque plugin started ***
YARP Server found!
Found yarpConfigurationFile: loading from /home/icub/.gazebo/models/icub/conf/FT/gazebo_icub_right_arm_ft.ini
GazeboYarpPluginHandler: Inserting Sensor : default::iCub::r_arm_ft_sensor::right_arm_ft
yarp: Port /icubGazeboSim/right_arm/analog:o/rpc:i active at tcp://10.10.1.53:10009
yarp: created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
Singleton: Added a new sensor default::iCub::r_arm_ft_sensor::right_arm_ft.
AnalogWrapper Debugright_armopening port /icubGazeboSim/right_arm/analog:oGazeboYarpForceTorque Plugin: correcly opened GazeboYarpForceTorqueDriver wrapper
GazeboYarpForceTorqueDriver::open() called
GazeboYarpForceTorqueDriver::open( is looking for sensor default::iCub::r_arm_ft_sensor::right_arm_ft...
Looking for sensor : default::iCub::r_arm_ft_sensor::right_arm_ft
Sensor default::iCub::r_arm_ft_sensor::right_arm_ft was happily found!
GazeboYarpForceTorqueDriver::open() returning true
yarp: created device <gazebo_forcetorque>. See C++ class GazeboYarpForceTorqueDriver for documentation.
GazeboYarpForceTorque Plugin: correcly opened GazeboYarpForceTorqueDriver
yarp: Port /icubGazeboSim/right_arm/analog:o active at tcp://10.10.1.53:10010
GazeboYarpForceTorque : wrapper was connected with driver 
*** GazeboYarpForceTorque plugin started ***
YARP Server found!
GazeboYarpPluginHandler: Inserting Robot : iCub
Singleton: Added a new robot iCub.

 Initting Wrapper

GazeboYarpControlBoard: Found yarpConfigurationFile: loading from /home/icub/.gazebo/models/icub/conf/gazebo_icub_torso.ini
yarp: Port /icubGazeboSim/torso/rpc:i active at tcp://10.10.1.53:10011
yarp: Port /icubGazeboSim/torso/command:i active at tcp://10.10.1.53:10012
yarp: Port /icubGazeboSim/torso/state:o active at tcp://10.10.1.53:10013
yarp: created wrapper <controlboardwrapper2>. See C++ class ControlBoardWrapper2 for documentation.
GazeboYarpControlBoard: wrapper opened correctly
running with verbose output
Using YARP ControlBoardWrapper2
GazeboYarpControlBoard: setting robotScopedName iCub
DeviceDriver is looking for robot iCub...
Looking for robot : iCub
Robot iCub was happily found!
Robot Name: iCub
# Joints: 36
# Links: 37
.ini file found, using joint names in ini file
Joint Limits
torso_yaw max_pos: 58.9998 min_pos: -58.9998
torso_roll max_pos: 39 min_pos: -39
torso_pitch max_pos: 84.0002 min_pos: -22
Found PID information in plugin parameters group GAZEBO_PIDS
  P: 1000 I: 0.1 D: 2 maxInt: 9999 maxOut: 9999
  P: 3000 I: 0.1 D: 2 maxInt: 9999 maxOut: 9999
  P: 3000 I: 0.1 D: 2 maxInt: 9999 maxOut: 9999
OK!
Found PID information in plugin parameters group GAZEBO_VELOCITY_PIDS
  P: 500 I: 0.1 D: 0 maxInt: 9999 maxOut: 9999
  P: 500 I: 0.1 D: 0 maxInt: 9999 maxOut: 9999
  P: 500 I: 0.1 D: 0 maxInt: 9999 maxOut: 9999
OK!
gazebo_init set pid done!
==23080== Thread 11:
==23080== Invalid write of size 1
==23080==    at 0x53C79DC: gazebo::transport::Node::Node() (recursive_mutex.hpp:86)
==23080==    by 0x357010F4: yarp::dev::GazeboYarpControlBoardDriver::gazebo_init() (ControlBoardDriver.cpp:89)
==23080==    by 0x3570FC4D: yarp::dev::GazeboYarpControlBoardDriver::open(yarp::os::Searchable&) (ControlBoardDriverDeviceDriver.cpp:31)
==23080==    by 0x2A36F58F: yarp::dev::PolyDriver::coreOpen(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x2A370CFE: yarp::dev::PolyDriver::open(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x356F7747: gazebo::GazeboYarpControlBoard::Load(boost::shared_ptr<gazebo::physics::Model>, boost::shared_ptr<sdf::Element>) (ControlBoard.cc:135)
==23080==    by 0x56E7BEE: gazebo::physics::Model::LoadPlugin(boost::shared_ptr<sdf::Element>) (Model.cc:753)
==23080==    by 0x56E7FC4: gazebo::physics::Model::LoadPlugins() (Model.cc:687)
==23080==    by 0x5716D3D: gazebo::physics::World::ProcessFactoryMsgs() (World.cc:1668)
==23080==    by 0x5718E59: gazebo::physics::World::ProcessMessages() (World.cc:1909)
==23080==    by 0x57194DD: gazebo::physics::World::Step() (World.cc:577)
==23080==    by 0x571B603: gazebo::physics::World::RunLoop() (World.cc:410)
==23080==  Address 0x2299b3a0 is 0 bytes after a block of size 384 alloc'd
==23080==    at 0x4C2B1C7: operator new(unsigned long) (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==23080==    by 0x357010E9: yarp::dev::GazeboYarpControlBoardDriver::gazebo_init() (ControlBoardDriver.cpp:89)
==23080==    by 0x3570FC4D: yarp::dev::GazeboYarpControlBoardDriver::open(yarp::os::Searchable&) (ControlBoardDriverDeviceDriver.cpp:31)
==23080==    by 0x2A36F58F: yarp::dev::PolyDriver::coreOpen(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x2A370CFE: yarp::dev::PolyDriver::open(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x356F7747: gazebo::GazeboYarpControlBoard::Load(boost::shared_ptr<gazebo::physics::Model>, boost::shared_ptr<sdf::Element>) (ControlBoard.cc:135)
==23080==    by 0x56E7BEE: gazebo::physics::Model::LoadPlugin(boost::shared_ptr<sdf::Element>) (Model.cc:753)
==23080==    by 0x56E7FC4: gazebo::physics::Model::LoadPlugins() (Model.cc:687)
==23080==    by 0x5716D3D: gazebo::physics::World::ProcessFactoryMsgs() (World.cc:1668)
==23080==    by 0x5718E59: gazebo::physics::World::ProcessMessages() (World.cc:1909)
==23080==    by 0x57194DD: gazebo::physics::World::Step() (World.cc:577)
==23080==    by 0x571B603: gazebo::physics::World::RunLoop() (World.cc:410)
==23080== 
==23080== Invalid write of size 4
==23080==    at 0x53C79E3: gazebo::transport::Node::Node() (recursive_mutex.hpp:87)
==23080==    by 0x357010F4: yarp::dev::GazeboYarpControlBoardDriver::gazebo_init() (ControlBoardDriver.cpp:89)
==23080==    by 0x3570FC4D: yarp::dev::GazeboYarpControlBoardDriver::open(yarp::os::Searchable&) (ControlBoardDriverDeviceDriver.cpp:31)
==23080==    by 0x2A36F58F: yarp::dev::PolyDriver::coreOpen(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x2A370CFE: yarp::dev::PolyDriver::open(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x356F7747: gazebo::GazeboYarpControlBoard::Load(boost::shared_ptr<gazebo::physics::Model>, boost::shared_ptr<sdf::Element>) (ControlBoard.cc:135)
==23080==    by 0x56E7BEE: gazebo::physics::Model::LoadPlugin(boost::shared_ptr<sdf::Element>) (Model.cc:753)
==23080==    by 0x56E7FC4: gazebo::physics::Model::LoadPlugins() (Model.cc:687)
==23080==    by 0x5716D3D: gazebo::physics::World::ProcessFactoryMsgs() (World.cc:1668)
==23080==    by 0x5718E59: gazebo::physics::World::ProcessMessages() (World.cc:1909)
==23080==    by 0x57194DD: gazebo::physics::World::Step() (World.cc:577)
==23080==    by 0x571B603: gazebo::physics::World::RunLoop() (World.cc:410)
==23080==  Address 0x2299b3b0 is not stack'd, malloc'd or (recently) free'd
==23080== 
==23080== Invalid write of size 8
==23080==    at 0x5FD9D70: pthread_mutex_init (pthread_mutex_init.c:83)
==23080==    by 0x53C79F4: gazebo::transport::Node::Node() (recursive_mutex.hpp:75)
==23080==    by 0x357010F4: yarp::dev::GazeboYarpControlBoardDriver::gazebo_init() (ControlBoardDriver.cpp:89)
==23080==    by 0x3570FC4D: yarp::dev::GazeboYarpControlBoardDriver::open(yarp::os::Searchable&) (ControlBoardDriverDeviceDriver.cpp:31)
==23080==    by 0x2A36F58F: yarp::dev::PolyDriver::coreOpen(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x2A370CFE: yarp::dev::PolyDriver::open(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x356F7747: gazebo::GazeboYarpControlBoard::Load(boost::shared_ptr<gazebo::physics::Model>, boost::shared_ptr<sdf::Element>) (ControlBoard.cc:135)
==23080==    by 0x56E7BEE: gazebo::physics::Model::LoadPlugin(boost::shared_ptr<sdf::Element>) (Model.cc:753)
==23080==    by 0x56E7FC4: gazebo::physics::Model::LoadPlugins() (Model.cc:687)
==23080==    by 0x5716D3D: gazebo::physics::World::ProcessFactoryMsgs() (World.cc:1668)
==23080==    by 0x5718E59: gazebo::physics::World::ProcessMessages() (World.cc:1909)
==23080==    by 0x57194DD: gazebo::physics::World::Step() (World.cc:577)
==23080==  Address 0x2299b3c8 is not stack'd, malloc'd or (recently) free'd
==23080== 
==23080== Invalid write of size 8
==23080==    at 0x5FD9D78: pthread_mutex_init (pthread_mutex_init.c:83)
==23080==    by 0x53C79F4: gazebo::transport::Node::Node() (recursive_mutex.hpp:75)
==23080==    by 0x357010F4: yarp::dev::GazeboYarpControlBoardDriver::gazebo_init() (ControlBoardDriver.cpp:89)
==23080==    by 0x3570FC4D: yarp::dev::GazeboYarpControlBoardDriver::open(yarp::os::Searchable&) (ControlBoardDriverDeviceDriver.cpp:31)
==23080==    by 0x2A36F58F: yarp::dev::PolyDriver::coreOpen(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x2A370CFE: yarp::dev::PolyDriver::open(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x356F7747: gazebo::GazeboYarpControlBoard::Load(boost::shared_ptr<gazebo::physics::Model>, boost::shared_ptr<sdf::Element>) (ControlBoard.cc:135)
==23080==    by 0x56E7BEE: gazebo::physics::Model::LoadPlugin(boost::shared_ptr<sdf::Element>) (Model.cc:753)
==23080==    by 0x56E7FC4: gazebo::physics::Model::LoadPlugins() (Model.cc:687)
==23080==    by 0x5716D3D: gazebo::physics::World::ProcessFactoryMsgs() (World.cc:1668)
==23080==    by 0x5718E59: gazebo::physics::World::ProcessMessages() (World.cc:1909)
==23080==    by 0x57194DD: gazebo::physics::World::Step() (World.cc:577)
==23080==  Address 0x2299b3b8 is not stack'd, malloc'd or (recently) free'd
==23080== 
==23080== Invalid write of size 8
==23080==    at 0x5FD9D7F: pthread_mutex_init (pthread_mutex_init.c:83)
==23080==    by 0x53C79F4: gazebo::transport::Node::Node() (recursive_mutex.hpp:75)
==23080==    by 0x357010F4: yarp::dev::GazeboYarpControlBoardDriver::gazebo_init() (ControlBoardDriver.cpp:89)
==23080==    by 0x3570FC4D: yarp::dev::GazeboYarpControlBoardDriver::open(yarp::os::Searchable&) (ControlBoardDriverDeviceDriver.cpp:31)
==23080==    by 0x2A36F58F: yarp::dev::PolyDriver::coreOpen(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x2A370CFE: yarp::dev::PolyDriver::open(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x356F7747: gazebo::GazeboYarpControlBoard::Load(boost::shared_ptr<gazebo::physics::Model>, boost::shared_ptr<sdf::Element>) (ControlBoard.cc:135)
==23080==    by 0x56E7BEE: gazebo::physics::Model::LoadPlugin(boost::shared_ptr<sdf::Element>) (Model.cc:753)
==23080==    by 0x56E7FC4: gazebo::physics::Model::LoadPlugins() (Model.cc:687)
==23080==    by 0x5716D3D: gazebo::physics::World::ProcessFactoryMsgs() (World.cc:1668)
==23080==    by 0x5718E59: gazebo::physics::World::ProcessMessages() (World.cc:1909)
==23080==    by 0x57194DD: gazebo::physics::World::Step() (World.cc:577)
==23080==  Address 0x2299b3c0 is not stack'd, malloc'd or (recently) free'd
==23080== 
==23080== Invalid write of size 8
==23080==    at 0x5FD9D87: pthread_mutex_init (pthread_mutex_init.c:83)
==23080==    by 0x53C79F4: gazebo::transport::Node::Node() (recursive_mutex.hpp:75)
==23080==    by 0x357010F4: yarp::dev::GazeboYarpControlBoardDriver::gazebo_init() (ControlBoardDriver.cpp:89)
==23080==    by 0x3570FC4D: yarp::dev::GazeboYarpControlBoardDriver::open(yarp::os::Searchable&) (ControlBoardDriverDeviceDriver.cpp:31)
==23080==    by 0x2A36F58F: yarp::dev::PolyDriver::coreOpen(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x2A370CFE: yarp::dev::PolyDriver::open(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x356F7747: gazebo::GazeboYarpControlBoard::Load(boost::shared_ptr<gazebo::physics::Model>, boost::shared_ptr<sdf::Element>) (ControlBoard.cc:135)
==23080==    by 0x56E7BEE: gazebo::physics::Model::LoadPlugin(boost::shared_ptr<sdf::Element>) (Model.cc:753)
==23080==    by 0x56E7FC4: gazebo::physics::Model::LoadPlugins() (Model.cc:687)
==23080==    by 0x5716D3D: gazebo::physics::World::ProcessFactoryMsgs() (World.cc:1668)
==23080==    by 0x5718E59: gazebo::physics::World::ProcessMessages() (World.cc:1909)
==23080==    by 0x57194DD: gazebo::physics::World::Step() (World.cc:577)
==23080==  Address 0x2299b3d0 is 16 bytes before a block of size 147 alloc'd
==23080==    at 0x4C2B1C7: operator new(unsigned long) (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==23080==    by 0x7536A88: std::string::_Rep::_S_create(unsigned long, unsigned long, std::allocator<char> const&) (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.16)
==23080==    by 0x7536C79: std::string::_M_mutate(unsigned long, unsigned long, unsigned long) (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.16)
==23080==    by 0x7536E1B: std::string::_M_replace_safe(unsigned long, unsigned long, char const*, unsigned long) (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.16)
==23080==    by 0x6B86769: sdf::initXml(TiXmlElement*, boost::shared_ptr<sdf::Element>) (in /usr/lib/x86_64-linux-gnu/libsdformat.so.1.4.11)
==23080==    by 0x6B86F30: sdf::initXml(TiXmlElement*, boost::shared_ptr<sdf::Element>) (in /usr/lib/x86_64-linux-gnu/libsdformat.so.1.4.11)
==23080==    by 0x6B87B68: sdf::initDoc(TiXmlDocument*, boost::shared_ptr<sdf::Element>) (in /usr/lib/x86_64-linux-gnu/libsdformat.so.1.4.11)
==23080==    by 0x6B87D9C: sdf::initFile(std::string const&, boost::shared_ptr<sdf::Element>) (in /usr/lib/x86_64-linux-gnu/libsdformat.so.1.4.11)
==23080==    by 0x6B870D9: sdf::initXml(TiXmlElement*, boost::shared_ptr<sdf::Element>) (in /usr/lib/x86_64-linux-gnu/libsdformat.so.1.4.11)
==23080==    by 0x6B87B68: sdf::initDoc(TiXmlDocument*, boost::shared_ptr<sdf::Element>) (in /usr/lib/x86_64-linux-gnu/libsdformat.so.1.4.11)
==23080==    by 0x6B87D9C: sdf::initFile(std::string const&, boost::shared_ptr<sdf::Element>) (in /usr/lib/x86_64-linux-gnu/libsdformat.so.1.4.11)
==23080==    by 0x6B870D9: sdf::initXml(TiXmlElement*, boost::shared_ptr<sdf::Element>) (in /usr/lib/x86_64-linux-gnu/libsdformat.so.1.4.11)
==23080== 
==23080== Invalid write of size 8
==23080==    at 0x5FD9D8F: pthread_mutex_init (pthread_mutex_init.c:83)
==23080==    by 0x53C79F4: gazebo::transport::Node::Node() (recursive_mutex.hpp:75)
==23080==    by 0x357010F4: yarp::dev::GazeboYarpControlBoardDriver::gazebo_init() (ControlBoardDriver.cpp:89)
==23080==    by 0x3570FC4D: yarp::dev::GazeboYarpControlBoardDriver::open(yarp::os::Searchable&) (ControlBoardDriverDeviceDriver.cpp:31)
==23080==    by 0x2A36F58F: yarp::dev::PolyDriver::coreOpen(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x2A370CFE: yarp::dev::PolyDriver::open(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x356F7747: gazebo::GazeboYarpControlBoard::Load(boost::shared_ptr<gazebo::physics::Model>, boost::shared_ptr<sdf::Element>) (ControlBoard.cc:135)
==23080==    by 0x56E7BEE: gazebo::physics::Model::LoadPlugin(boost::shared_ptr<sdf::Element>) (Model.cc:753)
==23080==    by 0x56E7FC4: gazebo::physics::Model::LoadPlugins() (Model.cc:687)
==23080==    by 0x5716D3D: gazebo::physics::World::ProcessFactoryMsgs() (World.cc:1668)
==23080==    by 0x5718E59: gazebo::physics::World::ProcessMessages() (World.cc:1909)
==23080==    by 0x57194DD: gazebo::physics::World::Step() (World.cc:577)
==23080==  Address 0x2299b3d8 is 8 bytes before a block of size 147 alloc'd
==23080==    at 0x4C2B1C7: operator new(unsigned long) (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==23080==    by 0x7536A88: std::string::_Rep::_S_create(unsigned long, unsigned long, std::allocator<char> const&) (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.16)
==23080==    by 0x7536C79: std::string::_M_mutate(unsigned long, unsigned long, unsigned long) (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.16)
==23080==    by 0x7536E1B: std::string::_M_replace_safe(unsigned long, unsigned long, char const*, unsigned long) (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.16)
==23080==    by 0x6B86769: sdf::initXml(TiXmlElement*, boost::shared_ptr<sdf::Element>) (in /usr/lib/x86_64-linux-gnu/libsdformat.so.1.4.11)
==23080==    by 0x6B86F30: sdf::initXml(TiXmlElement*, boost::shared_ptr<sdf::Element>) (in /usr/lib/x86_64-linux-gnu/libsdformat.so.1.4.11)
==23080==    by 0x6B87B68: sdf::initDoc(TiXmlDocument*, boost::shared_ptr<sdf::Element>) (in /usr/lib/x86_64-linux-gnu/libsdformat.so.1.4.11)
==23080==    by 0x6B87D9C: sdf::initFile(std::string const&, boost::shared_ptr<sdf::Element>) (in /usr/lib/x86_64-linux-gnu/libsdformat.so.1.4.11)
==23080==    by 0x6B870D9: sdf::initXml(TiXmlElement*, boost::shared_ptr<sdf::Element>) (in /usr/lib/x86_64-linux-gnu/libsdformat.so.1.4.11)
==23080==    by 0x6B87B68: sdf::initDoc(TiXmlDocument*, boost::shared_ptr<sdf::Element>) (in /usr/lib/x86_64-linux-gnu/libsdformat.so.1.4.11)
==23080==    by 0x6B87D9C: sdf::initFile(std::string const&, boost::shared_ptr<sdf::Element>) (in /usr/lib/x86_64-linux-gnu/libsdformat.so.1.4.11)
==23080==    by 0x6B870D9: sdf::initXml(TiXmlElement*, boost::shared_ptr<sdf::Element>) (in /usr/lib/x86_64-linux-gnu/libsdformat.so.1.4.11)
==23080== 
==23080== Invalid write of size 4
==23080==    at 0x5FD9D9E: pthread_mutex_init (pthread_mutex_init.c:86)
==23080==    by 0x53C79F4: gazebo::transport::Node::Node() (recursive_mutex.hpp:75)
==23080==    by 0x357010F4: yarp::dev::GazeboYarpControlBoardDriver::gazebo_init() (ControlBoardDriver.cpp:89)
==23080==    by 0x3570FC4D: yarp::dev::GazeboYarpControlBoardDriver::open(yarp::os::Searchable&) (ControlBoardDriverDeviceDriver.cpp:31)
==23080==    by 0x2A36F58F: yarp::dev::PolyDriver::coreOpen(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x2A370CFE: yarp::dev::PolyDriver::open(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x356F7747: gazebo::GazeboYarpControlBoard::Load(boost::shared_ptr<gazebo::physics::Model>, boost::shared_ptr<sdf::Element>) (ControlBoard.cc:135)
==23080==    by 0x56E7BEE: gazebo::physics::Model::LoadPlugin(boost::shared_ptr<sdf::Element>) (Model.cc:753)
==23080==    by 0x56E7FC4: gazebo::physics::Model::LoadPlugins() (Model.cc:687)
==23080==    by 0x5716D3D: gazebo::physics::World::ProcessFactoryMsgs() (World.cc:1668)
==23080==    by 0x5718E59: gazebo::physics::World::ProcessMessages() (World.cc:1909)
==23080==    by 0x57194DD: gazebo::physics::World::Step() (World.cc:577)
==23080==  Address 0x2299b3c8 is not stack'd, malloc'd or (recently) free'd
==23080== 
ControlBoardDriver: world name is: default
==23080== Thread 5:
==23080== Invalid read of size 4
==23080==    at 0x5FD9E84: pthread_mutex_lock (pthread_mutex_lock.c:50)
==23080==    by 0x42F98F: boost::unique_lock<boost::recursive_mutex>::lock() (pthread_mutex_scoped_lock.hpp:26)
==23080==    by 0x53C7CF2: gazebo::transport::Node::ProcessIncoming() (locks.hpp:290)
==23080==    by 0x53D2F3E: gazebo::transport::TopicManager::ProcessNodes(bool) (TopicManager.cc:191)
==23080==    by 0x53BBFA8: gazebo::transport::ConnectionManager::RunUpdate() (ConnectionManager.cc:279)
==23080==    by 0x53BD1A9: gazebo::transport::ConnectionManager::Run() (ConnectionManager.cc:310)
==23080==    by 0x6E22CE8: thread_proxy (in /usr/lib/libboost_thread.so.1.46.1)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)
==23080==  Address 0x2299b3c8 is not stack'd, malloc'd or (recently) free'd
==23080== 
==23080== Invalid read of size 4
==23080==    at 0x5FD9EAF: pthread_mutex_lock (pthread_mutex_lock.c:61)
==23080==    by 0x42F98F: boost::unique_lock<boost::recursive_mutex>::lock() (pthread_mutex_scoped_lock.hpp:26)
==23080==    by 0x53C7CF2: gazebo::transport::Node::ProcessIncoming() (locks.hpp:290)
==23080==    by 0x53D2F3E: gazebo::transport::TopicManager::ProcessNodes(bool) (TopicManager.cc:191)
==23080==    by 0x53BBFA8: gazebo::transport::ConnectionManager::RunUpdate() (ConnectionManager.cc:279)
==23080==    by 0x53BD1A9: gazebo::transport::ConnectionManager::Run() (ConnectionManager.cc:310)
==23080==    by 0x6E22CE8: thread_proxy (in /usr/lib/libboost_thread.so.1.46.1)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)
==23080==  Address 0x2299b3b8 is not stack'd, malloc'd or (recently) free'd
==23080== 
==23080== Invalid read of size 4
==23080==    at 0x5FD9EBA: pthread_mutex_lock (pthread_mutex_lock.c:62)
==23080==    by 0x42F98F: boost::unique_lock<boost::recursive_mutex>::lock() (pthread_mutex_scoped_lock.hpp:26)
==23080==    by 0x53C7CF2: gazebo::transport::Node::ProcessIncoming() (locks.hpp:290)
==23080==    by 0x53D2F3E: gazebo::transport::TopicManager::ProcessNodes(bool) (TopicManager.cc:191)
==23080==    by 0x53BBFA8: gazebo::transport::ConnectionManager::RunUpdate() (ConnectionManager.cc:279)
==23080==    by 0x53BD1A9: gazebo::transport::ConnectionManager::Run() (ConnectionManager.cc:310)
==23080==    by 0x6E22CE8: thread_proxy (in /usr/lib/libboost_thread.so.1.46.1)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)
==23080==  Address 0x2299b3c0 is not stack'd, malloc'd or (recently) free'd
==23080== 
==23080== Invalid read of size 4
==23080==    at 0x5FD9EC2: pthread_mutex_lock (pthread_mutex_lock.c:127)
==23080==    by 0x42F98F: boost::unique_lock<boost::recursive_mutex>::lock() (pthread_mutex_scoped_lock.hpp:26)
==23080==    by 0x53C7CF2: gazebo::transport::Node::ProcessIncoming() (locks.hpp:290)
==23080==    by 0x53D2F3E: gazebo::transport::TopicManager::ProcessNodes(bool) (TopicManager.cc:191)
==23080==    by 0x53BBFA8: gazebo::transport::ConnectionManager::RunUpdate() (ConnectionManager.cc:279)
==23080==    by 0x53BD1A9: gazebo::transport::ConnectionManager::Run() (ConnectionManager.cc:310)
==23080==    by 0x6E22CE8: thread_proxy (in /usr/lib/libboost_thread.so.1.46.1)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)
==23080==  Address 0x2299b3c4 is not stack'd, malloc'd or (recently) free'd
==23080== 
==23080== Invalid write of size 4
==23080==    at 0x5FD9EC7: pthread_mutex_lock (pthread_mutex_lock.c:125)
==23080==    by 0x42F98F: boost::unique_lock<boost::recursive_mutex>::lock() (pthread_mutex_scoped_lock.hpp:26)
==23080==    by 0x53C7CF2: gazebo::transport::Node::ProcessIncoming() (locks.hpp:290)
==23080==    by 0x53D2F3E: gazebo::transport::TopicManager::ProcessNodes(bool) (TopicManager.cc:191)
==23080==    by 0x53BBFA8: gazebo::transport::ConnectionManager::RunUpdate() (ConnectionManager.cc:279)
==23080==    by 0x53BD1A9: gazebo::transport::ConnectionManager::Run() (ConnectionManager.cc:310)
==23080==    by 0x6E22CE8: thread_proxy (in /usr/lib/libboost_thread.so.1.46.1)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)
==23080==  Address 0x2299b3c0 is not stack'd, malloc'd or (recently) free'd
==23080== 
==23080== Invalid read of size 4
==23080==    at 0x5FDB034: pthread_mutex_unlock (pthread_mutex_unlock.c:37)
==23080==    by 0x42F9EF: boost::unique_lock<boost::recursive_mutex>::lock() (pthread_mutex_scoped_lock.hpp:30)
==23080==    by 0x53C7CF2: gazebo::transport::Node::ProcessIncoming() (locks.hpp:290)
==23080==    by 0x53D2F3E: gazebo::transport::TopicManager::ProcessNodes(bool) (TopicManager.cc:191)
==23080==    by 0x53BBFA8: gazebo::transport::ConnectionManager::RunUpdate() (ConnectionManager.cc:279)
==23080==    by 0x53BD1A9: gazebo::transport::ConnectionManager::Run() (ConnectionManager.cc:310)
==23080==    by 0x6E22CE8: thread_proxy (in /usr/lib/libboost_thread.so.1.46.1)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)
==23080==  Address 0x2299b3c8 is not stack'd, malloc'd or (recently) free'd
==23080== 
==23080== Invalid write of size 4
==23080==    at 0x5FDB049: pthread_mutex_unlock (pthread_mutex_unlock.c:46)
==23080==    by 0x42F9EF: boost::unique_lock<boost::recursive_mutex>::lock() (pthread_mutex_scoped_lock.hpp:30)
==23080==    by 0x53C7CF2: gazebo::transport::Node::ProcessIncoming() (locks.hpp:290)
==23080==    by 0x53D2F3E: gazebo::transport::TopicManager::ProcessNodes(bool) (TopicManager.cc:191)
==23080==    by 0x53BBFA8: gazebo::transport::ConnectionManager::RunUpdate() (ConnectionManager.cc:279)
==23080==    by 0x53BD1A9: gazebo::transport::ConnectionManager::Run() (ConnectionManager.cc:310)
==23080==    by 0x6E22CE8: thread_proxy (in /usr/lib/libboost_thread.so.1.46.1)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)
==23080==  Address 0x2299b3c0 is not stack'd, malloc'd or (recently) free'd
==23080== 
==23080== Invalid read of size 4
==23080==    at 0x5FDB050: pthread_mutex_unlock (pthread_mutex_unlock.c:49)
==23080==    by 0x42F9EF: boost::unique_lock<boost::recursive_mutex>::lock() (pthread_mutex_scoped_lock.hpp:30)
==23080==    by 0x53C7CF2: gazebo::transport::Node::ProcessIncoming() (locks.hpp:290)
==23080==    by 0x53D2F3E: gazebo::transport::TopicManager::ProcessNodes(bool) (TopicManager.cc:191)
==23080==    by 0x53BBFA8: gazebo::transport::ConnectionManager::RunUpdate() (ConnectionManager.cc:279)
==23080==    by 0x53BD1A9: gazebo::transport::ConnectionManager::Run() (ConnectionManager.cc:310)
==23080==    by 0x6E22CE8: thread_proxy (in /usr/lib/libboost_thread.so.1.46.1)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)
==23080==  Address 0x2299b3c4 is not stack'd, malloc'd or (recently) free'd
==23080== 
==23080== Invalid read of size 4
==23080==    at 0x5FDB05A: pthread_mutex_unlock (pthread_mutex_unlock.c:52)
==23080==    by 0x42F9EF: boost::unique_lock<boost::recursive_mutex>::lock() (pthread_mutex_scoped_lock.hpp:30)
==23080==    by 0x53C7CF2: gazebo::transport::Node::ProcessIncoming() (locks.hpp:290)
==23080==    by 0x53D2F3E: gazebo::transport::TopicManager::ProcessNodes(bool) (TopicManager.cc:191)
==23080==    by 0x53BBFA8: gazebo::transport::ConnectionManager::RunUpdate() (ConnectionManager.cc:279)
==23080==    by 0x53BD1A9: gazebo::transport::ConnectionManager::Run() (ConnectionManager.cc:310)
==23080==    by 0x6E22CE8: thread_proxy (in /usr/lib/libboost_thread.so.1.46.1)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)
==23080==  Address 0x2299b3b8 is not stack'd, malloc'd or (recently) free'd
==23080== 
==23080== Invalid read of size 4
==23080==    at 0x5FD9E84: pthread_mutex_lock (pthread_mutex_lock.c:50)
==23080==    by 0x42EE8A: boost::unique_lock<boost::recursive_mutex>::~unique_lock() (pthread_mutex_scoped_lock.hpp:26)
==23080==    by 0x53C7D0A: gazebo::transport::Node::ProcessIncoming() (Node.cc:251)
==23080==    by 0x53D2F3E: gazebo::transport::TopicManager::ProcessNodes(bool) (TopicManager.cc:191)
==23080==    by 0x53BBFA8: gazebo::transport::ConnectionManager::RunUpdate() (ConnectionManager.cc:279)
==23080==    by 0x53BD1A9: gazebo::transport::ConnectionManager::Run() (ConnectionManager.cc:310)
==23080==    by 0x6E22CE8: thread_proxy (in /usr/lib/libboost_thread.so.1.46.1)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)
==23080==  Address 0x2299b3c8 is not stack'd, malloc'd or (recently) free'd
==23080== 
==23080== Invalid read of size 4
==23080==    at 0x5FD9EAF: pthread_mutex_lock (pthread_mutex_lock.c:61)
==23080==    by 0x42EE8A: boost::unique_lock<boost::recursive_mutex>::~unique_lock() (pthread_mutex_scoped_lock.hpp:26)
==23080==    by 0x53C7D0A: gazebo::transport::Node::ProcessIncoming() (Node.cc:251)
==23080==    by 0x53D2F3E: gazebo::transport::TopicManager::ProcessNodes(bool) (TopicManager.cc:191)
==23080==    by 0x53BBFA8: gazebo::transport::ConnectionManager::RunUpdate() (ConnectionManager.cc:279)
==23080==    by 0x53BD1A9: gazebo::transport::ConnectionManager::Run() (ConnectionManager.cc:310)
==23080==    by 0x6E22CE8: thread_proxy (in /usr/lib/libboost_thread.so.1.46.1)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)
==23080==  Address 0x2299b3b8 is not stack'd, malloc'd or (recently) free'd
==23080== 
==23080== Invalid read of size 4
==23080==    at 0x5FD9EBA: pthread_mutex_lock (pthread_mutex_lock.c:62)
==23080==    by 0x42EE8A: boost::unique_lock<boost::recursive_mutex>::~unique_lock() (pthread_mutex_scoped_lock.hpp:26)
==23080==    by 0x53C7D0A: gazebo::transport::Node::ProcessIncoming() (Node.cc:251)
==23080==    by 0x53D2F3E: gazebo::transport::TopicManager::ProcessNodes(bool) (TopicManager.cc:191)
==23080==    by 0x53BBFA8: gazebo::transport::ConnectionManager::RunUpdate() (ConnectionManager.cc:279)
==23080==    by 0x53BD1A9: gazebo::transport::ConnectionManager::Run() (ConnectionManager.cc:310)
==23080==    by 0x6E22CE8: thread_proxy (in /usr/lib/libboost_thread.so.1.46.1)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)
==23080==  Address 0x2299b3c0 is not stack'd, malloc'd or (recently) free'd
==23080== 
==23080== Invalid read of size 4
==23080==    at 0x5FD9EC2: pthread_mutex_lock (pthread_mutex_lock.c:127)
==23080==    by 0x42EE8A: boost::unique_lock<boost::recursive_mutex>::~unique_lock() (pthread_mutex_scoped_lock.hpp:26)
==23080==    by 0x53C7D0A: gazebo::transport::Node::ProcessIncoming() (Node.cc:251)
==23080==    by 0x53D2F3E: gazebo::transport::TopicManager::ProcessNodes(bool) (TopicManager.cc:191)
==23080==    by 0x53BBFA8: gazebo::transport::ConnectionManager::RunUpdate() (ConnectionManager.cc:279)
==23080==    by 0x53BD1A9: gazebo::transport::ConnectionManager::Run() (ConnectionManager.cc:310)
==23080==    by 0x6E22CE8: thread_proxy (in /usr/lib/libboost_thread.so.1.46.1)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)
==23080==  Address 0x2299b3c4 is not stack'd, malloc'd or (recently) free'd
==23080== 
==23080== Invalid write of size 4
==23080==    at 0x5FD9EC7: pthread_mutex_lock (pthread_mutex_lock.c:125)
==23080==    by 0x42EE8A: boost::unique_lock<boost::recursive_mutex>::~unique_lock() (pthread_mutex_scoped_lock.hpp:26)
==23080==    by 0x53C7D0A: gazebo::transport::Node::ProcessIncoming() (Node.cc:251)
==23080==    by 0x53D2F3E: gazebo::transport::TopicManager::ProcessNodes(bool) (TopicManager.cc:191)
==23080==    by 0x53BBFA8: gazebo::transport::ConnectionManager::RunUpdate() (ConnectionManager.cc:279)
==23080==    by 0x53BD1A9: gazebo::transport::ConnectionManager::Run() (ConnectionManager.cc:310)
==23080==    by 0x6E22CE8: thread_proxy (in /usr/lib/libboost_thread.so.1.46.1)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)
==23080==  Address 0x2299b3c0 is not stack'd, malloc'd or (recently) free'd
==23080== 
==23080== Invalid read of size 4
==23080==    at 0x5FDB034: pthread_mutex_unlock (pthread_mutex_unlock.c:37)
==23080==    by 0x42EEB0: boost::unique_lock<boost::recursive_mutex>::~unique_lock() (pthread_mutex_scoped_lock.hpp:30)
==23080==    by 0x53C7D0A: gazebo::transport::Node::ProcessIncoming() (Node.cc:251)
==23080==    by 0x53D2F3E: gazebo::transport::TopicManager::ProcessNodes(bool) (TopicManager.cc:191)
==23080==    by 0x53BBFA8: gazebo::transport::ConnectionManager::RunUpdate() (ConnectionManager.cc:279)
==23080==    by 0x53BD1A9: gazebo::transport::ConnectionManager::Run() (ConnectionManager.cc:310)
==23080==    by 0x6E22CE8: thread_proxy (in /usr/lib/libboost_thread.so.1.46.1)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)
==23080==  Address 0x2299b3c8 is not stack'd, malloc'd or (recently) free'd
==23080== 
==23080== Invalid write of size 4
==23080==    at 0x5FDB049: pthread_mutex_unlock (pthread_mutex_unlock.c:46)
==23080==    by 0x42EEB0: boost::unique_lock<boost::recursive_mutex>::~unique_lock() (pthread_mutex_scoped_lock.hpp:30)
==23080==    by 0x53C7D0A: gazebo::transport::Node::ProcessIncoming() (Node.cc:251)
==23080==    by 0x53D2F3E: gazebo::transport::TopicManager::ProcessNodes(bool) (TopicManager.cc:191)
==23080==    by 0x53BBFA8: gazebo::transport::ConnectionManager::RunUpdate() (ConnectionManager.cc:279)
==23080==    by 0x53BD1A9: gazebo::transport::ConnectionManager::Run() (ConnectionManager.cc:310)
==23080==    by 0x6E22CE8: thread_proxy (in /usr/lib/libboost_thread.so.1.46.1)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)
==23080==  Address 0x2299b3c0 is not stack'd, malloc'd or (recently) free'd
==23080== 
==23080== Invalid read of size 4
==23080==    at 0x5FDB050: pthread_mutex_unlock (pthread_mutex_unlock.c:49)
==23080==    by 0x42EEB0: boost::unique_lock<boost::recursive_mutex>::~unique_lock() (pthread_mutex_scoped_lock.hpp:30)
==23080==    by 0x53C7D0A: gazebo::transport::Node::ProcessIncoming() (Node.cc:251)
==23080==    by 0x53D2F3E: gazebo::transport::TopicManager::ProcessNodes(bool) (TopicManager.cc:191)
==23080==    by 0x53BBFA8: gazebo::transport::ConnectionManager::RunUpdate() (ConnectionManager.cc:279)
==23080==    by 0x53BD1A9: gazebo::transport::ConnectionManager::Run() (ConnectionManager.cc:310)
==23080==    by 0x6E22CE8: thread_proxy (in /usr/lib/libboost_thread.so.1.46.1)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)
==23080==  Address 0x2299b3c4 is not stack'd, malloc'd or (recently) free'd
==23080== 
==23080== Invalid read of size 4
==23080==    at 0x5FDB05A: pthread_mutex_unlock (pthread_mutex_unlock.c:52)
==23080==    by 0x42EEB0: boost::unique_lock<boost::recursive_mutex>::~unique_lock() (pthread_mutex_scoped_lock.hpp:30)
==23080==    by 0x53C7D0A: gazebo::transport::Node::ProcessIncoming() (Node.cc:251)
==23080==    by 0x53D2F3E: gazebo::transport::TopicManager::ProcessNodes(bool) (TopicManager.cc:191)
==23080==    by 0x53BBFA8: gazebo::transport::ConnectionManager::RunUpdate() (ConnectionManager.cc:279)
==23080==    by 0x53BD1A9: gazebo::transport::ConnectionManager::Run() (ConnectionManager.cc:310)
==23080==    by 0x6E22CE8: thread_proxy (in /usr/lib/libboost_thread.so.1.46.1)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)
==23080==  Address 0x2299b3b8 is not stack'd, malloc'd or (recently) free'd
==23080== 
yarp: Port /icubGazeboSim/torso/analog:o/torques active at tcp://10.10.1.53:10335
yarp: Port /icubGazeboSim/torso/analog:o/torques/rpc:i active at tcp://10.10.1.53:10336
yarp: Port /icubGazeboSim/torso/analog:o/speed active at tcp://10.10.1.53:10337
yarp: Port /icubGazeboSim/torso/analog:o/speed/rpc:i active at tcp://10.10.1.53:10338
yarp: created device <gazebo_controlboard>. See C++ class GazeboYarpControlBoardDriver for documentation.
TorqueAndSpeedPublisher started successfully
controlBoard opened correctly
--> Warning iImpedance not valid interface
--> Warning iOpenLoop not valid interface
Device initialized correctly, now sitting and waiting cause I am just the main of the yarp device, and the robot is linked to the onUpdate event of gazebo
Loaded GazeboYarpControlBoard Plugin
GazeboYarpControlBoard::Init() called
YARP Server found!
GazeboYarpPluginHandler: Inserting Robot : iCub
Robot already registered, pointers match.

 Initting Wrapper

GazeboYarpControlBoard: Found yarpConfigurationFile: loading from /home/icub/.gazebo/models/icub/conf/gazebo_icub_head.ini
yarp: Port /icubGazeboSim/head/rpc:i active at tcp://10.10.1.53:10339
yarp: Port /icubGazeboSim/head/command:i active at tcp://10.10.1.53:10340
yarp: Port /icubGazeboSim/head/state:o active at tcp://10.10.1.53:10341
yarp: created wrapper <controlboardwrapper2>. See C++ class ControlBoardWrapper2 for documentation.
GazeboYarpControlBoard: wrapper opened correctly
running with verbose output
Using YARP ControlBoardWrapper2
GazeboYarpControlBoard: setting robotScopedName iCub
DeviceDriver is looking for robot iCub...
Looking for robot : iCub
Robot iCub was happily found!
Robot Name: iCub
# Joints: 36
# Links: 37
.ini file found, using joint names in ini file
Joint Limits
neck_pitch max_pos: 30 min_pos: -40
neck_roll max_pos: 60.0001 min_pos: -70
neck_yaw max_pos: 55 min_pos: -55
Found PID information in plugin parameters group GAZEBO_PIDS
  P: 500 I: 0.1 D: 2 maxInt: 9999 maxOut: 9999
  P: 500 I: 0.1 D: 2 maxInt: 9999 maxOut: 9999
  P: 500 I: 0.1 D: 2 maxInt: 9999 maxOut: 9999
OK!
Found PID information in plugin parameters group GAZEBO_VELOCITY_PIDS
  P: 500 I: 0.1 D: 0 maxInt: 9999 maxOut: 9999
  P: 500 I: 0.1 D: 0 maxInt: 9999 maxOut: 9999
  P: 500 I: 0.1 D: 0 maxInt: 9999 maxOut: 9999
OK!
gazebo_init set pid done!
==23080== Thread 11:
==23080== Invalid write of size 4
==23080==    at 0x5FDB9B3: pthread_cond_init@@GLIBC_2.3.2 (pthread_cond_init.c:32)
==23080==    by 0x53C7A0A: gazebo::transport::Node::Node() (recursive_mutex.hpp:80)
==23080==    by 0x357010F4: yarp::dev::GazeboYarpControlBoardDriver::gazebo_init() (ControlBoardDriver.cpp:89)
==23080==    by 0x3570FC4D: yarp::dev::GazeboYarpControlBoardDriver::open(yarp::os::Searchable&) (ControlBoardDriverDeviceDriver.cpp:31)
==23080==    by 0x2A36F58F: yarp::dev::PolyDriver::coreOpen(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x2A370CFE: yarp::dev::PolyDriver::open(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x356F7747: gazebo::GazeboYarpControlBoard::Load(boost::shared_ptr<gazebo::physics::Model>, boost::shared_ptr<sdf::Element>) (ControlBoard.cc:135)
==23080==    by 0x56E7BEE: gazebo::physics::Model::LoadPlugin(boost::shared_ptr<sdf::Element>) (Model.cc:753)
==23080==    by 0x56E7FC4: gazebo::physics::Model::LoadPlugins() (Model.cc:687)
==23080==    by 0x5716D3D: gazebo::physics::World::ProcessFactoryMsgs() (World.cc:1668)
==23080==    by 0x5718E59: gazebo::physics::World::ProcessMessages() (World.cc:1909)
==23080==    by 0x57194DD: gazebo::physics::World::Step() (World.cc:577)
==23080==  Address 0x2eb7c8d0 is not stack'd, malloc'd or (recently) free'd
==23080== 
==23080== Invalid write of size 4
==23080==    at 0x5FDB9B9: pthread_cond_init@@GLIBC_2.3.2 (pthread_cond_init.c:33)
==23080==    by 0x53C7A0A: gazebo::transport::Node::Node() (recursive_mutex.hpp:80)
==23080==    by 0x357010F4: yarp::dev::GazeboYarpControlBoardDriver::gazebo_init() (ControlBoardDriver.cpp:89)
==23080==    by 0x3570FC4D: yarp::dev::GazeboYarpControlBoardDriver::open(yarp::os::Searchable&) (ControlBoardDriverDeviceDriver.cpp:31)
==23080==    by 0x2A36F58F: yarp::dev::PolyDriver::coreOpen(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x2A370CFE: yarp::dev::PolyDriver::open(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x356F7747: gazebo::GazeboYarpControlBoard::Load(boost::shared_ptr<gazebo::physics::Model>, boost::shared_ptr<sdf::Element>) (ControlBoard.cc:135)
==23080==    by 0x56E7BEE: gazebo::physics::Model::LoadPlugin(boost::shared_ptr<sdf::Element>) (Model.cc:753)
==23080==    by 0x56E7FC4: gazebo::physics::Model::LoadPlugins() (Model.cc:687)
==23080==    by 0x5716D3D: gazebo::physics::World::ProcessFactoryMsgs() (World.cc:1668)
==23080==    by 0x5718E59: gazebo::physics::World::ProcessMessages() (World.cc:1909)
==23080==    by 0x57194DD: gazebo::physics::World::Step() (World.cc:577)
==23080==  Address 0x2eb7c8d4 is not stack'd, malloc'd or (recently) free'd
==23080== 
==23080== Invalid write of size 4
==23080==    at 0x5FDBA02: pthread_cond_init@@GLIBC_2.3.2 (pthread_cond_init.c:34)
==23080==    by 0x53C7A0A: gazebo::transport::Node::Node() (recursive_mutex.hpp:80)
==23080==    by 0x357010F4: yarp::dev::GazeboYarpControlBoardDriver::gazebo_init() (ControlBoardDriver.cpp:89)
==23080==    by 0x3570FC4D: yarp::dev::GazeboYarpControlBoardDriver::open(yarp::os::Searchable&) (ControlBoardDriverDeviceDriver.cpp:31)
==23080==    by 0x2A36F58F: yarp::dev::PolyDriver::coreOpen(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x2A370CFE: yarp::dev::PolyDriver::open(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x356F7747: gazebo::GazeboYarpControlBoard::Load(boost::shared_ptr<gazebo::physics::Model>, boost::shared_ptr<sdf::Element>) (ControlBoard.cc:135)
==23080==    by 0x56E7BEE: gazebo::physics::Model::LoadPlugin(boost::shared_ptr<sdf::Element>) (Model.cc:753)
==23080==    by 0x56E7FC4: gazebo::physics::Model::LoadPlugins() (Model.cc:687)
==23080==    by 0x5716D3D: gazebo::physics::World::ProcessFactoryMsgs() (World.cc:1668)
==23080==    by 0x5718E59: gazebo::physics::World::ProcessMessages() (World.cc:1909)
==23080==    by 0x57194DD: gazebo::physics::World::Step() (World.cc:577)
==23080==  Address 0x2eb7c8f8 is not stack'd, malloc'd or (recently) free'd
==23080== 
==23080== Invalid write of size 8
==23080==    at 0x5FDBA09: pthread_cond_init@@GLIBC_2.3.2 (pthread_cond_init.c:38)
==23080==    by 0x53C7A0A: gazebo::transport::Node::Node() (recursive_mutex.hpp:80)
==23080==    by 0x357010F4: yarp::dev::GazeboYarpControlBoardDriver::gazebo_init() (ControlBoardDriver.cpp:89)
==23080==    by 0x3570FC4D: yarp::dev::GazeboYarpControlBoardDriver::open(yarp::os::Searchable&) (ControlBoardDriverDeviceDriver.cpp:31)
==23080==    by 0x2A36F58F: yarp::dev::PolyDriver::coreOpen(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x2A370CFE: yarp::dev::PolyDriver::open(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x356F7747: gazebo::GazeboYarpControlBoard::Load(boost::shared_ptr<gazebo::physics::Model>, boost::shared_ptr<sdf::Element>) (ControlBoard.cc:135)
==23080==    by 0x56E7BEE: gazebo::physics::Model::LoadPlugin(boost::shared_ptr<sdf::Element>) (Model.cc:753)
==23080==    by 0x56E7FC4: gazebo::physics::Model::LoadPlugins() (Model.cc:687)
==23080==    by 0x5716D3D: gazebo::physics::World::ProcessFactoryMsgs() (World.cc:1668)
==23080==    by 0x5718E59: gazebo::physics::World::ProcessMessages() (World.cc:1909)
==23080==    by 0x57194DD: gazebo::physics::World::Step() (World.cc:577)
==23080==  Address 0x2eb7c8d8 is not stack'd, malloc'd or (recently) free'd
==23080== 
==23080== Invalid write of size 8
==23080==    at 0x5FDBA11: pthread_cond_init@@GLIBC_2.3.2 (pthread_cond_init.c:41)
==23080==    by 0x53C7A0A: gazebo::transport::Node::Node() (recursive_mutex.hpp:80)
==23080==    by 0x357010F4: yarp::dev::GazeboYarpControlBoardDriver::gazebo_init() (ControlBoardDriver.cpp:89)
==23080==    by 0x3570FC4D: yarp::dev::GazeboYarpControlBoardDriver::open(yarp::os::Searchable&) (ControlBoardDriverDeviceDriver.cpp:31)
==23080==    by 0x2A36F58F: yarp::dev::PolyDriver::coreOpen(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x2A370CFE: yarp::dev::PolyDriver::open(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x356F7747: gazebo::GazeboYarpControlBoard::Load(boost::shared_ptr<gazebo::physics::Model>, boost::shared_ptr<sdf::Element>) (ControlBoard.cc:135)
==23080==    by 0x56E7BEE: gazebo::physics::Model::LoadPlugin(boost::shared_ptr<sdf::Element>) (Model.cc:753)
==23080==    by 0x56E7FC4: gazebo::physics::Model::LoadPlugins() (Model.cc:687)
==23080==    by 0x5716D3D: gazebo::physics::World::ProcessFactoryMsgs() (World.cc:1668)
==23080==    by 0x5718E59: gazebo::physics::World::ProcessMessages() (World.cc:1909)
==23080==    by 0x57194DD: gazebo::physics::World::Step() (World.cc:577)
==23080==  Address 0x2eb7c8f0 is not stack'd, malloc'd or (recently) free'd
==23080== 
==23080== Invalid write of size 8
==23080==    at 0x5FDBA15: pthread_cond_init@@GLIBC_2.3.2 (pthread_cond_init.c:39)
==23080==    by 0x53C7A0A: gazebo::transport::Node::Node() (recursive_mutex.hpp:80)
==23080==    by 0x357010F4: yarp::dev::GazeboYarpControlBoardDriver::gazebo_init() (ControlBoardDriver.cpp:89)
==23080==    by 0x3570FC4D: yarp::dev::GazeboYarpControlBoardDriver::open(yarp::os::Searchable&) (ControlBoardDriverDeviceDriver.cpp:31)
==23080==    by 0x2A36F58F: yarp::dev::PolyDriver::coreOpen(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x2A370CFE: yarp::dev::PolyDriver::open(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x356F7747: gazebo::GazeboYarpControlBoard::Load(boost::shared_ptr<gazebo::physics::Model>, boost::shared_ptr<sdf::Element>) (ControlBoard.cc:135)
==23080==    by 0x56E7BEE: gazebo::physics::Model::LoadPlugin(boost::shared_ptr<sdf::Element>) (Model.cc:753)
==23080==    by 0x56E7FC4: gazebo::physics::Model::LoadPlugins() (Model.cc:687)
==23080==    by 0x5716D3D: gazebo::physics::World::ProcessFactoryMsgs() (World.cc:1668)
==23080==    by 0x5718E59: gazebo::physics::World::ProcessMessages() (World.cc:1909)
==23080==    by 0x57194DD: gazebo::physics::World::Step() (World.cc:577)
==23080==  Address 0x2eb7c8e0 is not stack'd, malloc'd or (recently) free'd
==23080== 
==23080== Invalid write of size 8
==23080==    at 0x5FDBA1F: pthread_cond_init@@GLIBC_2.3.2 (pthread_cond_init.c:40)
==23080==    by 0x53C7A0A: gazebo::transport::Node::Node() (recursive_mutex.hpp:80)
==23080==    by 0x357010F4: yarp::dev::GazeboYarpControlBoardDriver::gazebo_init() (ControlBoardDriver.cpp:89)
==23080==    by 0x3570FC4D: yarp::dev::GazeboYarpControlBoardDriver::open(yarp::os::Searchable&) (ControlBoardDriverDeviceDriver.cpp:31)
==23080==    by 0x2A36F58F: yarp::dev::PolyDriver::coreOpen(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x2A370CFE: yarp::dev::PolyDriver::open(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x356F7747: gazebo::GazeboYarpControlBoard::Load(boost::shared_ptr<gazebo::physics::Model>, boost::shared_ptr<sdf::Element>) (ControlBoard.cc:135)
==23080==    by 0x56E7BEE: gazebo::physics::Model::LoadPlugin(boost::shared_ptr<sdf::Element>) (Model.cc:753)
==23080==    by 0x56E7FC4: gazebo::physics::Model::LoadPlugins() (Model.cc:687)
==23080==    by 0x5716D3D: gazebo::physics::World::ProcessFactoryMsgs() (World.cc:1668)
==23080==    by 0x5718E59: gazebo::physics::World::ProcessMessages() (World.cc:1909)
==23080==    by 0x57194DD: gazebo::physics::World::Step() (World.cc:577)
==23080==  Address 0x2eb7c8e8 is not stack'd, malloc'd or (recently) free'd
==23080== 
==23080== Invalid write of size 4
==23080==    at 0x5FDBA27: pthread_cond_init@@GLIBC_2.3.2 (pthread_cond_init.c:43)
==23080==    by 0x53C7A0A: gazebo::transport::Node::Node() (recursive_mutex.hpp:80)
==23080==    by 0x357010F4: yarp::dev::GazeboYarpControlBoardDriver::gazebo_init() (ControlBoardDriver.cpp:89)
==23080==    by 0x3570FC4D: yarp::dev::GazeboYarpControlBoardDriver::open(yarp::os::Searchable&) (ControlBoardDriverDeviceDriver.cpp:31)
==23080==    by 0x2A36F58F: yarp::dev::PolyDriver::coreOpen(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x2A370CFE: yarp::dev::PolyDriver::open(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x356F7747: gazebo::GazeboYarpControlBoard::Load(boost::shared_ptr<gazebo::physics::Model>, boost::shared_ptr<sdf::Element>) (ControlBoard.cc:135)
==23080==    by 0x56E7BEE: gazebo::physics::Model::LoadPlugin(boost::shared_ptr<sdf::Element>) (Model.cc:753)
==23080==    by 0x56E7FC4: gazebo::physics::Model::LoadPlugins() (Model.cc:687)
==23080==    by 0x5716D3D: gazebo::physics::World::ProcessFactoryMsgs() (World.cc:1668)
==23080==    by 0x5718E59: gazebo::physics::World::ProcessMessages() (World.cc:1909)
==23080==    by 0x57194DD: gazebo::physics::World::Step() (World.cc:577)
==23080==  Address 0x2eb7c8fc is not stack'd, malloc'd or (recently) free'd
==23080== 
==23080== Invalid write of size 1
==23080==    at 0x53C7A21: gazebo::transport::Node::Node() (recursive_mutex.hpp:86)
==23080==    by 0x357010F4: yarp::dev::GazeboYarpControlBoardDriver::gazebo_init() (ControlBoardDriver.cpp:89)
==23080==    by 0x3570FC4D: yarp::dev::GazeboYarpControlBoardDriver::open(yarp::os::Searchable&) (ControlBoardDriverDeviceDriver.cpp:31)
==23080==    by 0x2A36F58F: yarp::dev::PolyDriver::coreOpen(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x2A370CFE: yarp::dev::PolyDriver::open(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x356F7747: gazebo::GazeboYarpControlBoard::Load(boost::shared_ptr<gazebo::physics::Model>, boost::shared_ptr<sdf::Element>) (ControlBoard.cc:135)
==23080==    by 0x56E7BEE: gazebo::physics::Model::LoadPlugin(boost::shared_ptr<sdf::Element>) (Model.cc:753)
==23080==    by 0x56E7FC4: gazebo::physics::Model::LoadPlugins() (Model.cc:687)
==23080==    by 0x5716D3D: gazebo::physics::World::ProcessFactoryMsgs() (World.cc:1668)
==23080==    by 0x5718E59: gazebo::physics::World::ProcessMessages() (World.cc:1909)
==23080==    by 0x57194DD: gazebo::physics::World::Step() (World.cc:577)
==23080==    by 0x571B603: gazebo::physics::World::RunLoop() (World.cc:410)
==23080==  Address 0x2eb7c900 is 16 bytes before a block of size 1,024 free'd
==23080==    at 0x4C2A09C: operator delete[](void*) (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==23080==    by 0x29DCF5FE: yarp::os::ManagedBytes::clear() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29DCF772: yarp::os::ManagedBytes::~ManagedBytes() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29DCF7F8: yarp::os::ManagedBytes::~ManagedBytes() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29D9D62A: yarp::os::impl::BufferedConnectionWriter::~BufferedConnectionWriter() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E10037: yarp::os::impl::PortCore::setEnvelope(yarp::os::PortWriter&) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2A39A8F9: yarp::dev::AnalogWrapper::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x29E420B2: RateThreadCallbackAdapter::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)
==23080== 
==23080== Invalid write of size 4
==23080==    at 0x53C7A28: gazebo::transport::Node::Node() (recursive_mutex.hpp:87)
==23080==    by 0x357010F4: yarp::dev::GazeboYarpControlBoardDriver::gazebo_init() (ControlBoardDriver.cpp:89)
==23080==    by 0x3570FC4D: yarp::dev::GazeboYarpControlBoardDriver::open(yarp::os::Searchable&) (ControlBoardDriverDeviceDriver.cpp:31)
==23080==    by 0x2A36F58F: yarp::dev::PolyDriver::coreOpen(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x2A370CFE: yarp::dev::PolyDriver::open(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x356F7747: gazebo::GazeboYarpControlBoard::Load(boost::shared_ptr<gazebo::physics::Model>, boost::shared_ptr<sdf::Element>) (ControlBoard.cc:135)
==23080==    by 0x56E7BEE: gazebo::physics::Model::LoadPlugin(boost::shared_ptr<sdf::Element>) (Model.cc:753)
==23080==    by 0x56E7FC4: gazebo::physics::Model::LoadPlugins() (Model.cc:687)
==23080==    by 0x5716D3D: gazebo::physics::World::ProcessFactoryMsgs() (World.cc:1668)
==23080==    by 0x5718E59: gazebo::physics::World::ProcessMessages() (World.cc:1909)
==23080==    by 0x57194DD: gazebo::physics::World::Step() (World.cc:577)
==23080==    by 0x571B603: gazebo::physics::World::RunLoop() (World.cc:410)
==23080==  Address 0x2eb7c910 is 0 bytes inside a block of size 1,024 free'd
==23080==    at 0x4C2A09C: operator delete[](void*) (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==23080==    by 0x29DCF5FE: yarp::os::ManagedBytes::clear() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29DCF772: yarp::os::ManagedBytes::~ManagedBytes() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29DCF7F8: yarp::os::ManagedBytes::~ManagedBytes() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29D9D62A: yarp::os::impl::BufferedConnectionWriter::~BufferedConnectionWriter() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E10037: yarp::os::impl::PortCore::setEnvelope(yarp::os::PortWriter&) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2A39A8F9: yarp::dev::AnalogWrapper::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x29E420B2: RateThreadCallbackAdapter::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)
==23080== 
==23080== Invalid write of size 1
==23080==    at 0x53C7A46: gazebo::transport::Node::Node() (Node.cc:34)
==23080==    by 0x357010F4: yarp::dev::GazeboYarpControlBoardDriver::gazebo_init() (ControlBoardDriver.cpp:89)
==23080==    by 0x3570FC4D: yarp::dev::GazeboYarpControlBoardDriver::open(yarp::os::Searchable&) (ControlBoardDriverDeviceDriver.cpp:31)
==23080==    by 0x2A36F58F: yarp::dev::PolyDriver::coreOpen(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x2A370CFE: yarp::dev::PolyDriver::open(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x356F7747: gazebo::GazeboYarpControlBoard::Load(boost::shared_ptr<gazebo::physics::Model>, boost::shared_ptr<sdf::Element>) (ControlBoard.cc:135)
==23080==    by 0x56E7BEE: gazebo::physics::Model::LoadPlugin(boost::shared_ptr<sdf::Element>) (Model.cc:753)
==23080==    by 0x56E7FC4: gazebo::physics::Model::LoadPlugins() (Model.cc:687)
==23080==    by 0x5716D3D: gazebo::physics::World::ProcessFactoryMsgs() (World.cc:1668)
==23080==    by 0x5718E59: gazebo::physics::World::ProcessMessages() (World.cc:1909)
==23080==    by 0x57194DD: gazebo::physics::World::Step() (World.cc:577)
==23080==    by 0x571B603: gazebo::physics::World::RunLoop() (World.cc:410)
==23080==  Address 0x2eb7c918 is 8 bytes inside a block of size 1,024 free'd
==23080==    at 0x4C2A09C: operator delete[](void*) (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==23080==    by 0x29DCF5FE: yarp::os::ManagedBytes::clear() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29DCF772: yarp::os::ManagedBytes::~ManagedBytes() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29DCF7F8: yarp::os::ManagedBytes::~ManagedBytes() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29D9D62A: yarp::os::impl::BufferedConnectionWriter::~BufferedConnectionWriter() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E10037: yarp::os::impl::PortCore::setEnvelope(yarp::os::PortWriter&) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2A39A8F9: yarp::dev::AnalogWrapper::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x29E420B2: RateThreadCallbackAdapter::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)
==23080== 

valgrind: m_mallocfree.c:288 (get_bszB_as_is): Assertion 'bszB_lo == bszB_hi' failed.
valgrind: Heap block lo/hi size mismatch: lo = 448, hi = 0.
This is probably caused by your program erroneously writing past the
end of a heap block and corrupting heap metadata.  If you fix any
invalid writes reported by Memcheck, this assertion failure will
probably go away.  Please try that before reporting this as a bug.

==23080==    at 0x3804CA36: ??? (in /usr/lib/valgrind/memcheck-amd64-linux)
==23080==    by 0x3804CBDC: ??? (in /usr/lib/valgrind/memcheck-amd64-linux)
==23080==    by 0x38058FC6: ??? (in /usr/lib/valgrind/memcheck-amd64-linux)
==23080==    by 0x3802144C: ??? (in /usr/lib/valgrind/memcheck-amd64-linux)
==23080==    by 0x38021A80: ??? (in /usr/lib/valgrind/memcheck-amd64-linux)
==23080==    by 0x38021CCD: ??? (in /usr/lib/valgrind/memcheck-amd64-linux)
==23080==    by 0x380902A7: ??? (in /usr/lib/valgrind/memcheck-amd64-linux)
==23080==    by 0x3809F7D5: ??? (in /usr/lib/valgrind/memcheck-amd64-linux)
==23080==    by 0x3809FA5A: ??? (in /usr/lib/valgrind/memcheck-amd64-linux)
==23080==    by 0x380BBEAD: ??? (in /usr/lib/valgrind/memcheck-amd64-linux)
==23080==    by 0xDEADBEEFDEADBEEE: ???
==23080==    by 0xDEADBEEFDEADBEEE: ???
==23080==    by 0xDEADBEEFDEADBEEE: ???

sched status:
  running_tid=37

Thread 1: status = VgTs_WaitSys
==23080==    at 0x9E77284: clock_nanosleep (clock_nanosleep.c:51)
==23080==    by 0x4EC1A00: gazebo::common::Time::Sleep(gazebo::common::Time const&) (Time.cc:195)
==23080==    by 0x4EC1F32: gazebo::common::Time::MSleep(unsigned int) (Time.cc:214)
==23080==    by 0x4266E9: gazebo::Server::Run() (Server.cc:476)
==23080==    by 0x422FA2: main (server_main.cc:43)

Thread 2: status = VgTs_WaitSys
==23080==    at 0x5FDBD84: pthread_cond_wait@@GLIBC_2.3.2 (pthread_cond_wait.S:162)
==23080==    by 0x4EAD092: boost::condition_variable::wait(boost::unique_lock<boost::mutex>&) (condition_variable.hpp:53)
==23080==    by 0x4EA7A36: gazebo::common::ModelDatabase::UpdateModelCache(bool) (ModelDatabase.cc:277)
==23080==    by 0x6E22CE8: thread_proxy (in /usr/lib/libboost_thread.so.1.46.1)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 3: status = VgTs_WaitSys
==23080==    at 0x7AA2A93: ??? (syscall-template.S:82)
==23080==    by 0x53C5583: boost::asio::detail::epoll_reactor::run(bool, boost::asio::detail::op_queue<boost::asio::detail::task_io_service_operation>&) (epoll_reactor.ipp:240)
==23080==    by 0x53C5BA5: boost::asio::detail::task_io_service::run(boost::system::error_code&) (task_io_service.ipp:264)
==23080==    by 0x53C6154: boost::asio::io_service::run() (io_service.ipp:57)
==23080==    by 0x6E22CE8: thread_proxy (in /usr/lib/libboost_thread.so.1.46.1)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 4: status = VgTs_WaitSys
==23080==    at 0x9E77284: clock_nanosleep (clock_nanosleep.c:51)
==23080==    by 0x4EC1A00: gazebo::common::Time::Sleep(gazebo::common::Time const&) (Time.cc:195)
==23080==    by 0x4EC1F32: gazebo::common::Time::MSleep(unsigned int) (Time.cc:214)
==23080==    by 0x438CFC: gazebo::Master::Run() (Master.cc:299)
==23080==    by 0x6E22CE8: thread_proxy (in /usr/lib/libboost_thread.so.1.46.1)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 5: status = VgTs_WaitSys
==23080==    at 0x5FDC0FE: pthread_cond_timedwait@@GLIBC_2.3.2 (pthread_cond_timedwait.S:215)
==23080==    by 0x53BD0DF: gazebo::transport::ConnectionManager::Run() (condition_variable.hpp:64)
==23080==    by 0x6E22CE8: thread_proxy (in /usr/lib/libboost_thread.so.1.46.1)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 6: status = VgTs_WaitSys
==23080==    at 0x5FDBD84: pthread_cond_wait@@GLIBC_2.3.2 (pthread_cond_wait.S:162)
==23080==    by 0x105943B2: void boost::condition_variable_any::wait<boost::unique_lock<boost::recursive_mutex> >(boost::unique_lock<boost::recursive_mutex>&) (in /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4)
==23080==    by 0x1059213E: Ogre::DefaultWorkQueue::waitForNextRequest() (in /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4)
==23080==    by 0x1059347B: Ogre::DefaultWorkQueue::_threadMain() (in /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4)
==23080==    by 0x6E22CE8: thread_proxy (in /usr/lib/libboost_thread.so.1.46.1)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 7: status = VgTs_WaitSys
==23080==    at 0x5FDBD84: pthread_cond_wait@@GLIBC_2.3.2 (pthread_cond_wait.S:162)
==23080==    by 0x105943B2: void boost::condition_variable_any::wait<boost::unique_lock<boost::recursive_mutex> >(boost::unique_lock<boost::recursive_mutex>&) (in /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4)
==23080==    by 0x1059213E: Ogre::DefaultWorkQueue::waitForNextRequest() (in /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4)
==23080==    by 0x1059347B: Ogre::DefaultWorkQueue::_threadMain() (in /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4)
==23080==    by 0x6E22CE8: thread_proxy (in /usr/lib/libboost_thread.so.1.46.1)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 8: status = VgTs_WaitSys
==23080==    at 0x7A9E619: syscall (syscall.S:39)
==23080==    by 0x692E292: ??? (in /usr/lib/libtbb.so.2)
==23080==    by 0x692E2C8: ??? (in /usr/lib/libtbb.so.2)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 9: status = VgTs_WaitSys
==23080==    at 0x5FDBD84: pthread_cond_wait@@GLIBC_2.3.2 (pthread_cond_wait.S:162)
==23080==    by 0x4EAD092: boost::condition_variable::wait(boost::unique_lock<boost::mutex>&) (condition_variable.hpp:53)
==23080==    by 0x5A1807E: gazebo::sensors::SensorManager::SensorContainer::RunLoop() (SensorManager.cc:466)
==23080==    by 0x6E22CE8: thread_proxy (in /usr/lib/libboost_thread.so.1.46.1)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 10: status = VgTs_WaitSys
==23080==    at 0x5FDBD84: pthread_cond_wait@@GLIBC_2.3.2 (pthread_cond_wait.S:162)
==23080==    by 0x5A17B5B: gazebo::sensors::SensorManager::SensorContainer::RunLoop() (condition_variable.hpp:53)
==23080==    by 0x6E22CE8: thread_proxy (in /usr/lib/libboost_thread.so.1.46.1)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 11: status = VgTs_WaitSys
==23080==    at 0x7A9505D: ??? (syscall-template.S:82)
==23080==    by 0x7A27882: _IO_file_write@@GLIBC_2.2.5 (fileops.c:1289)
==23080==    by 0x7A27749: new_do_write (fileops.c:543)
==23080==    by 0x7A28EB4: _IO_do_write@@GLIBC_2.2.5 (fileops.c:516)
==23080==    by 0x7A27DBF: _IO_file_sync@@GLIBC_2.2.5 (fileops.c:918)
==23080==    by 0x7A1CCFA: fflush (iofflush.c:43)
==23080==    by 0x752B32D: std::ostream::flush() (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.16)
==23080==    by 0x35701203: yarp::dev::GazeboYarpControlBoardDriver::gazebo_init() (ControlBoardDriver.cpp:97)
==23080==    by 0x3570FC4D: yarp::dev::GazeboYarpControlBoardDriver::open(yarp::os::Searchable&) (ControlBoardDriverDeviceDriver.cpp:31)
==23080==    by 0x2A36F58F: yarp::dev::PolyDriver::coreOpen(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x2A370CFE: yarp::dev::PolyDriver::open(yarp::os::Searchable&) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x356F7747: gazebo::GazeboYarpControlBoard::Load(boost::shared_ptr<gazebo::physics::Model>, boost::shared_ptr<sdf::Element>) (ControlBoard.cc:135)
==23080==    by 0x56E7BEE: gazebo::physics::Model::LoadPlugin(boost::shared_ptr<sdf::Element>) (Model.cc:753)
==23080==    by 0x56E7FC4: gazebo::physics::Model::LoadPlugins() (Model.cc:687)
==23080==    by 0x5716D3D: gazebo::physics::World::ProcessFactoryMsgs() (World.cc:1668)
==23080==    by 0x5718E59: gazebo::physics::World::ProcessMessages() (World.cc:1909)
==23080==    by 0x57194DD: gazebo::physics::World::Step() (World.cc:577)
==23080==    by 0x571B603: gazebo::physics::World::RunLoop() (World.cc:410)
==23080==    by 0x6E22CE8: thread_proxy (in /usr/lib/libboost_thread.so.1.46.1)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 12: status = VgTs_WaitSys
==23080==    at 0x5FDBD84: pthread_cond_wait@@GLIBC_2.3.2 (pthread_cond_wait.S:162)
==23080==    by 0x5719F0A: gazebo::physics::World::LogWorker() (condition_variable.hpp:53)
==23080==    by 0x6E22CE8: thread_proxy (in /usr/lib/libboost_thread.so.1.46.1)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 13: status = VgTs_WaitSys
==23080==    at 0x5FDF04D: ??? (syscall-template.S:82)
==23080==    by 0x2AAF776E: ACE_SOCK_Acceptor::accept(ACE_SOCK_Stream&, ACE_Addr*, ACE_Time_Value*, bool, bool) const (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x29E73869: yarp::os::impl::SocketTwoWayStream::open(ACE_SOCK_Acceptor&) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7848F: yarp::os::impl::TcpFace::read() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E15D0C: yarp::os::impl::PortCore::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 14: status = VgTs_WaitSys
==23080==    at 0x5FDF52D: ??? (syscall-template.S:82)
==23080==    by 0x29E74D78: yarp::os::SystemClock::delaySystem(double) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2A375C11: yarp::dev::ServerInertial::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 15: status = VgTs_WaitSys
==23080==    at 0x5FDF04D: ??? (syscall-template.S:82)
==23080==    by 0x2AAF776E: ACE_SOCK_Acceptor::accept(ACE_SOCK_Stream&, ACE_Addr*, ACE_Time_Value*, bool, bool) const (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x29E73869: yarp::os::impl::SocketTwoWayStream::open(ACE_SOCK_Acceptor&) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7848F: yarp::os::impl::TcpFace::read() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E15D0C: yarp::os::impl::PortCore::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 16: status = VgTs_WaitSys
==23080==    at 0x5FDF52D: ??? (syscall-template.S:82)
==23080==    by 0x29E511DB: yarp::os::impl::sleepThread(ACE_Time_Value&) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E42168: RateThreadCallbackAdapter::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 17: status = VgTs_WaitSys
==23080==    at 0x5FDF04D: ??? (syscall-template.S:82)
==23080==    by 0x2AAF776E: ACE_SOCK_Acceptor::accept(ACE_SOCK_Stream&, ACE_Addr*, ACE_Time_Value*, bool, bool) const (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x29E73869: yarp::os::impl::SocketTwoWayStream::open(ACE_SOCK_Acceptor&) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7848F: yarp::os::impl::TcpFace::read() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E15D0C: yarp::os::impl::PortCore::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 18: status = VgTs_WaitSys
==23080==    at 0x5FDF04D: ??? (syscall-template.S:82)
==23080==    by 0x2AAF776E: ACE_SOCK_Acceptor::accept(ACE_SOCK_Stream&, ACE_Addr*, ACE_Time_Value*, bool, bool) const (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x29E73869: yarp::os::impl::SocketTwoWayStream::open(ACE_SOCK_Acceptor&) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7848F: yarp::os::impl::TcpFace::read() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E15D0C: yarp::os::impl::PortCore::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 19: status = VgTs_WaitSys
==23080==    at 0x5FDF52D: ??? (syscall-template.S:82)
==23080==    by 0x29E511DB: yarp::os::impl::sleepThread(ACE_Time_Value&) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E42168: RateThreadCallbackAdapter::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 20: status = VgTs_WaitSys
==23080==    at 0x5FDF04D: ??? (syscall-template.S:82)
==23080==    by 0x2AAF776E: ACE_SOCK_Acceptor::accept(ACE_SOCK_Stream&, ACE_Addr*, ACE_Time_Value*, bool, bool) const (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x29E73869: yarp::os::impl::SocketTwoWayStream::open(ACE_SOCK_Acceptor&) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7848F: yarp::os::impl::TcpFace::read() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E15D0C: yarp::os::impl::PortCore::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 21: status = VgTs_WaitSys
==23080==    at 0x5FDF04D: ??? (syscall-template.S:82)
==23080==    by 0x2AAF776E: ACE_SOCK_Acceptor::accept(ACE_SOCK_Stream&, ACE_Addr*, ACE_Time_Value*, bool, bool) const (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x29E73869: yarp::os::impl::SocketTwoWayStream::open(ACE_SOCK_Acceptor&) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7848F: yarp::os::impl::TcpFace::read() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E15D0C: yarp::os::impl::PortCore::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 22: status = VgTs_WaitSys
==23080==    at 0x5FDF52D: ??? (syscall-template.S:82)
==23080==    by 0x29E511DB: yarp::os::impl::sleepThread(ACE_Time_Value&) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E42168: RateThreadCallbackAdapter::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 23: status = VgTs_WaitSys
==23080==    at 0x5FDF04D: ??? (syscall-template.S:82)
==23080==    by 0x2AAF776E: ACE_SOCK_Acceptor::accept(ACE_SOCK_Stream&, ACE_Addr*, ACE_Time_Value*, bool, bool) const (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x29E73869: yarp::os::impl::SocketTwoWayStream::open(ACE_SOCK_Acceptor&) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7848F: yarp::os::impl::TcpFace::read() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E15D0C: yarp::os::impl::PortCore::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 24: status = VgTs_WaitSys
==23080==    at 0x5FDF04D: ??? (syscall-template.S:82)
==23080==    by 0x2AAF776E: ACE_SOCK_Acceptor::accept(ACE_SOCK_Stream&, ACE_Addr*, ACE_Time_Value*, bool, bool) const (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x29E73869: yarp::os::impl::SocketTwoWayStream::open(ACE_SOCK_Acceptor&) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7848F: yarp::os::impl::TcpFace::read() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E15D0C: yarp::os::impl::PortCore::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 25: status = VgTs_WaitSys
==23080==    at 0x5FDF52D: ??? (syscall-template.S:82)
==23080==    by 0x29E511DB: yarp::os::impl::sleepThread(ACE_Time_Value&) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E42168: RateThreadCallbackAdapter::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 26: status = VgTs_WaitSys
==23080==    at 0x5FDF04D: ??? (syscall-template.S:82)
==23080==    by 0x2AAF776E: ACE_SOCK_Acceptor::accept(ACE_SOCK_Stream&, ACE_Addr*, ACE_Time_Value*, bool, bool) const (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x29E73869: yarp::os::impl::SocketTwoWayStream::open(ACE_SOCK_Acceptor&) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7848F: yarp::os::impl::TcpFace::read() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E15D0C: yarp::os::impl::PortCore::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 27: status = VgTs_WaitSys
==23080==    at 0x5FDDFD0: sem_wait (sem_wait.S:86)
==23080==    by 0x29E2EF60: yarp::os::impl::PortReaderBufferBase::readBase(bool&, bool) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29DB19EB: yarp::os::PortReaderBuffer<yarp::os::Bottle>::read(bool) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29DB192C: yarp::os::TypedReaderThread<yarp::os::Bottle>::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 28: status = VgTs_WaitSys
==23080==    at 0x5FDDFD0: sem_wait (sem_wait.S:86)
==23080==    by 0x29E2EF60: yarp::os::impl::PortReaderBufferBase::readBase(bool&, bool) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2A38F740: yarp::os::PortReaderBuffer<yarp::os::PortablePair<yarp::os::Bottle, yarp::sig::Vector> >::read(bool) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x2A38E54C: yarp::os::TypedReaderThread<yarp::os::PortablePair<yarp::os::Bottle, yarp::sig::Vector> >::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 29: status = VgTs_WaitSys
==23080==    at 0x5FDF04D: ??? (syscall-template.S:82)
==23080==    by 0x2AAF776E: ACE_SOCK_Acceptor::accept(ACE_SOCK_Stream&, ACE_Addr*, ACE_Time_Value*, bool, bool) const (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x29E73869: yarp::os::impl::SocketTwoWayStream::open(ACE_SOCK_Acceptor&) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7848F: yarp::os::impl::TcpFace::read() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E15D0C: yarp::os::impl::PortCore::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 30: status = VgTs_WaitSys
==23080==    at 0x5FDF04D: ??? (syscall-template.S:82)
==23080==    by 0x2AAF776E: ACE_SOCK_Acceptor::accept(ACE_SOCK_Stream&, ACE_Addr*, ACE_Time_Value*, bool, bool) const (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x29E73869: yarp::os::impl::SocketTwoWayStream::open(ACE_SOCK_Acceptor&) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7848F: yarp::os::impl::TcpFace::read() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E15D0C: yarp::os::impl::PortCore::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 31: status = VgTs_WaitSys
==23080==    at 0x5FDF04D: ??? (syscall-template.S:82)
==23080==    by 0x2AAF776E: ACE_SOCK_Acceptor::accept(ACE_SOCK_Stream&, ACE_Addr*, ACE_Time_Value*, bool, bool) const (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x29E73869: yarp::os::impl::SocketTwoWayStream::open(ACE_SOCK_Acceptor&) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7848F: yarp::os::impl::TcpFace::read() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E15D0C: yarp::os::impl::PortCore::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 32: status = VgTs_WaitSys
==23080==    at 0x5FDF52D: ??? (syscall-template.S:82)
==23080==    by 0x29E511DB: yarp::os::impl::sleepThread(ACE_Time_Value&) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E42168: RateThreadCallbackAdapter::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 33: status = VgTs_WaitSys
==23080==    at 0x5FDF04D: ??? (syscall-template.S:82)
==23080==    by 0x2AAF776E: ACE_SOCK_Acceptor::accept(ACE_SOCK_Stream&, ACE_Addr*, ACE_Time_Value*, bool, bool) const (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x29E73869: yarp::os::impl::SocketTwoWayStream::open(ACE_SOCK_Acceptor&) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7848F: yarp::os::impl::TcpFace::read() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E15D0C: yarp::os::impl::PortCore::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 34: status = VgTs_WaitSys
==23080==    at 0x5FDF04D: ??? (syscall-template.S:82)
==23080==    by 0x2AAF776E: ACE_SOCK_Acceptor::accept(ACE_SOCK_Stream&, ACE_Addr*, ACE_Time_Value*, bool, bool) const (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x29E73869: yarp::os::impl::SocketTwoWayStream::open(ACE_SOCK_Acceptor&) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7848F: yarp::os::impl::TcpFace::read() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E15D0C: yarp::os::impl::PortCore::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 35: status = VgTs_WaitSys
==23080==    at 0x5FDF04D: ??? (syscall-template.S:82)
==23080==    by 0x2AAF776E: ACE_SOCK_Acceptor::accept(ACE_SOCK_Stream&, ACE_Addr*, ACE_Time_Value*, bool, bool) const (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x29E73869: yarp::os::impl::SocketTwoWayStream::open(ACE_SOCK_Acceptor&) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7848F: yarp::os::impl::TcpFace::read() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E15D0C: yarp::os::impl::PortCore::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 36: status = VgTs_WaitSys
==23080==    at 0x5FDF04D: ??? (syscall-template.S:82)
==23080==    by 0x2AAF776E: ACE_SOCK_Acceptor::accept(ACE_SOCK_Stream&, ACE_Addr*, ACE_Time_Value*, bool, bool) const (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x29E73869: yarp::os::impl::SocketTwoWayStream::open(ACE_SOCK_Acceptor&) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7848F: yarp::os::impl::TcpFace::read() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E15D0C: yarp::os::impl::PortCore::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 37: status = VgTs_Runnable
==23080==    at 0x4C2B1C7: operator new(unsigned long) (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==23080==    by 0x7536A88: std::string::_Rep::_S_create(unsigned long, unsigned long, std::allocator<char> const&) (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.16)
==23080==    by 0x7538494: char* std::string::_S_construct<char const*>(char const*, char const*, std::allocator<char> const&, std::forward_iterator_tag) (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.16)
==23080==    by 0x753861C: std::basic_string<char, std::char_traits<char>, std::allocator<char> >::basic_string(char const*, unsigned long, std::allocator<char> const&) (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.16)
==23080==    by 0x29D97C4E: yarp::os::impl::BottleImpl::fromBinary(char const*, int) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29D9DC10: yarp::os::impl::BufferedConnectionWriter::applyConvertTextMode() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E0FF96: yarp::os::impl::PortCore::setEnvelope(yarp::os::PortWriter&) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2A3A1EFD: yarp::dev::ControlBoardWrapper::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x29E420B2: RateThreadCallbackAdapter::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 38: status = VgTs_WaitSys
==23080==    at 0x5FDDFD0: sem_wait (sem_wait.S:86)
==23080==    by 0x29E2EF60: yarp::os::impl::PortReaderBufferBase::readBase(bool&, bool) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29DB19EB: yarp::os::PortReaderBuffer<yarp::os::Bottle>::read(bool) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29DB192C: yarp::os::TypedReaderThread<yarp::os::Bottle>::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 39: status = VgTs_WaitSys
==23080==    at 0x5FDDFD0: sem_wait (sem_wait.S:86)
==23080==    by 0x29E2EF60: yarp::os::impl::PortReaderBufferBase::readBase(bool&, bool) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2A38F740: yarp::os::PortReaderBuffer<yarp::os::PortablePair<yarp::os::Bottle, yarp::sig::Vector> >::read(bool) (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x2A38E54C: yarp::os::TypedReaderThread<yarp::os::PortablePair<yarp::os::Bottle, yarp::sig::Vector> >::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_dev.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 40: status = VgTs_WaitSys
==23080==    at 0x5FDF04D: ??? (syscall-template.S:82)
==23080==    by 0x2AAF776E: ACE_SOCK_Acceptor::accept(ACE_SOCK_Stream&, ACE_Addr*, ACE_Time_Value*, bool, bool) const (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x29E73869: yarp::os::impl::SocketTwoWayStream::open(ACE_SOCK_Acceptor&) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7848F: yarp::os::impl::TcpFace::read() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E15D0C: yarp::os::impl::PortCore::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 41: status = VgTs_WaitSys
==23080==    at 0x5FDF04D: ??? (syscall-template.S:82)
==23080==    by 0x2AAF776E: ACE_SOCK_Acceptor::accept(ACE_SOCK_Stream&, ACE_Addr*, ACE_Time_Value*, bool, bool) const (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x29E73869: yarp::os::impl::SocketTwoWayStream::open(ACE_SOCK_Acceptor&) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7848F: yarp::os::impl::TcpFace::read() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E15D0C: yarp::os::impl::PortCore::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)

Thread 42: status = VgTs_WaitSys
==23080==    at 0x5FDF04D: ??? (syscall-template.S:82)
==23080==    by 0x2AAF776E: ACE_SOCK_Acceptor::accept(ACE_SOCK_Stream&, ACE_Addr*, ACE_Time_Value*, bool, bool) const (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x29E73869: yarp::os::impl::SocketTwoWayStream::open(ACE_SOCK_Acceptor&) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7848F: yarp::os::impl::TcpFace::read() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E15D0C: yarp::os::impl::PortCore::run() (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x29E7B22B: theExecutiveBranch(void*) (in /usr/local/src/robot/yarp/build/lib/libYARP_OS.so.2.3.62)
==23080==    by 0x2AADA874: ACE_OS_Thread_Adapter::invoke() (in /usr/lib/libACE-6.0.1.so)
==23080==    by 0x5FD7E99: start_thread (pthread_create.c:308)
==23080==    by 0x7AA23FC: clone (clone.S:112)


Note: see also the FAQ in the source distribution.
It contains workarounds to several common problems.
In particular, if Valgrind aborted or crashed after
identifying problems in your program, there's a good chance
that fixing those problems will prevent Valgrind aborting or
crashing, especially if it happened in m_mallocfree.c.

If that doesn't help, please report this bug to: www.valgrind.org

In the bug report, send all the above text, the valgrind
version, and what OS and version you are using.  Thanks.

@traversaro
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Just for getting more insight on the problem: @lorejam @arocchi are the operating systems where you have the problems working at 32bit ?

@arocchi
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arocchi commented Mar 18, 2014

in my case it was a 64bit machine

EDIT: I was imprecise too :) 64 bit OS

@traversaro
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I was imprecise: I was not asking if the machine is 32bit or 64bit, but if the operating system is 32bit or 64bit.

@lorejam
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lorejam commented Mar 18, 2014

Processor: Intel® Core™2 Duo CPU P8600 @ 2.40GHz × 2
OS: Ubuntu Precise (12.04) 64-bit

@francesco-romano
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We managed to solve the issue on the laptop of @jeljaik .
In our case there were two different versions of boost installed: the system default one and an ''apt-get'' version.
Gazebo (installed with binaries) linked to the system boost. The plugins linked at compile time to the apt-get version and at runtime to the system one. Solving this inconsistency solved also our crash.

@arocchi
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arocchi commented Mar 19, 2014

scary, I will try this on Alex's laptop and get back to you

@lorejam
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lorejam commented Mar 19, 2014

I have no access to my Ubuntu machine right now... I will try that on
Friday and let you know ;)

On Wed, Mar 19, 2014 at 10:36 PM, arocchi notifications@github.com wrote:

scary, I will try this on Alex's laptop and get back to you

Reply to this email directly or view it on GitHubhttps://github.com//issues/71#issuecomment-38110104
.

@traversaro
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Ok, we are still trying to investigate the details of the issue, if all the people still having this issue could post the output of the command: dpkg -l | grep libboost-system it could help, thanks.

@lorejam
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lorejam commented Mar 21, 2014

On my system:

ii libboost-system-dev 1.48.0.2 Operating system (e.g. diagnostics support) library (default version)
ii libboost-system1.46-dev 1.46.1-7ubuntu3 Operating system (e.g. diagnostics support) library
ii libboost-system1.46.1 1.46.1-7ubuntu3 Operating system (e.g. diagnostics support) library

@francesco-romano
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Ok.. I think this can be the problem.. at least with your configuration

On 21/mar/2014, at 17:20, lorejam notifications@github.com wrote:

On my system:

ii libboost-system-dev 1.48.0.2 Operating system (e.g. diagnostics support) library (default version)
ii libboost-system1.46-dev 1.46.1-7ubuntu3 Operating system (e.g. diagnostics support) library
ii libboost-system1.46.1 1.46.1-7ubuntu3 Operating system (e.g. diagnostics support) library

—
Reply to this email directly or view it on GitHub.

@lorejam
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lorejam commented Mar 21, 2014

So, do you think I have to install gazebo from sources?

@traversaro
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I accidentally deleted the comment: this is the same configuration of our desktop running 12.04 and on which gazebo_yarp_plugins works.
If the issue is wrong library linking source installation should solve it, but at this point I am not 100% sure that the linking is the issue in your case.

@francesco-romano
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@traversaro are you sure about the libboost on the lab pc?
I remember I saw only boost 1.46

On 21 Mar 2014, at 18:41, Silvio Traversaro notifications@github.com wrote:

I accidentally deleted the comment: this is the same configuration of our desktop running 12.04 and on which gazebo_yarp_plugins works.
If the issue is wrong library linking source installation should solve it, but at this point I am not 100% sure that the linking is the issue in your case.

—
Reply to this email directly or view it on GitHub.

@francesco-romano
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I checked better our lab pc.
It is true that is has both boost 1.46 and boost 1.48, but when we compile gazebo_yarp_plugins headers and libs used are the 1.46 version.

So I think you can start by checking this thing (you have to switch in advanced mode in ccmake, t key). @arocchi @lorejam

@arocchi
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arocchi commented Mar 25, 2014

Hi, I checked on Alex's computer, it has only 1.46 installed (Ubuntu 12.04)....

@traversaro
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Just a ping: gazebo 3 was released today with a lot of fixes, possibly this bug could be related to some of them.
If you are able to replicate it also with gazebo 3 please report, thanks.

@traversaro traversaro mentioned this issue Apr 16, 2014
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@traversaro
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For related issue #90 the solution was to this one: #90 (comment) .

@lorejam
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lorejam commented May 2, 2014

Ok, so finally it is working :)
icubgazebocrawl

I have these Boost installed:
ii libboost-system-dev 1.48.0.2 Operating system (e.g. diagnostics support) library (default version)
ii libboost-system1.46-dev 1.46.1-7ubuntu3 Operating system (e.g. diagnostics support) library
ii libboost-system1.46.1 1.46.1-7ubuntu3 Operating system (e.g. diagnostics support) library

they are automatically installed when you install gazebo3 (or with the -dev package...).
The problem was most likely that gazebo_yarp_plugin was linking different boost libraries (manually installed...), as you guys suggested.
Thanks everybody for the help :)

@traversaro
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Perfect, we have to mention in the README that is possible to encounter this problem, and how to fix it. Then we can close the issue.

@traversaro
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Fix in 4bf92a5 .

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@MirkoFerrati @traversaro @francesco-romano @barbalberto @lorejam @jeljaik @arocchi