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"cartographer_node" received signal SIGILL, Illegal instruction. #10

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cschuet opened this issue Jun 6, 2018 · 16 comments · Fixed by cartographer-project/cartographer_ros#893
Closed

"cartographer_node" received signal SIGILL, Illegal instruction. #10

cschuet opened this issue Jun 6, 2018 · 16 comments · Fixed by cartographer-project/cartographer_ros#893

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@cschuet
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cschuet commented Jun 6, 2018

We installed the ros-melodic-cartographer-ros package from the ros-shadow-fixed repository and it seems none of the binaries can be run as they crash with an "Illegal instruction" error.

Reproduced on two systems:

uname -a
Linux lenovo-Y50 4.15.0-22-generic #24-Ubuntu SMP Wed May 16 12:15:17 UTC 2018 x86_64 x86_64 x86_64 GNU/Linux

and

uname -a
Linux ubuntu 4.15.0-22-generic #24-Ubuntu SMP Wed May 16 12:15:17 UTC 
2018 x86_64 x86_64 x86_64 GNU/Linux

lsb_release -a
No LSB modules are available.
Distributor ID:	Ubuntu
Description:	Ubuntu 18.04 LTS
Release:	18.04
Codename:	bionic

Observation: file produces different signatures for the cartographer and the other ROS melodic binaries

file /opt/ros/melodic/bin/cartographer_occupancy_grid_node 
/opt/ros/melodic/bin/cartographer_occupancy_grid_node: ELF 64-bit LSB shared object, x86-64, version 1 (GNU/Linux), dynamically linked, interpreter /lib64/ld-linux-x86-64.so.2, for GNU/Linux 3.2.0, BuildID[sha1]=b46d61360a0b88eda46f3dd4e9526899e769f18c, stripped

file /opt/ros/melodic/bin/rviz
/opt/ros/melodic/bin/rviz: ELF 64-bit LSB shared object, x86-64, version 1 (SYSV), dynamically linked, interpreter /lib64/ld-linux-x86-64.so.2, for GNU/Linux 3.2.0, BuildID[sha1]=586128baac0a81db175b2968490a8c9bc8538944, stripped

cartographer_node

Starting program: /opt/ros/melodic/lib/cartographer_ros/cartographer_node -configuration_directory /opt/ros/melodic/share/cartographer_ros/configuration_files -configuration_basename backpack_2d.lua
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7fffe9dc0700 (LWP 18715)]
[New Thread 0x7fffe95bf700 (LWP 18716)]
[New Thread 0x7fffe8dbe700 (LWP 18717)]
[New Thread 0x7fffe3fff700 (LWP 18718)]

Thread 1 "cartographer_no" received signal SIGILL, Illegal instruction.
0x0000555555666598 in std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > std::operator+<char, std::char_traits<char>, std::allocator<char> >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, char const*) ()
(gdb) bt
#0  0x0000555555666598 in std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > std::operator+<char, std::char_traits<char>, std::allocator<char> >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, char const*) ()
#1  0x00007ffff5b315a1 in ros::start() () from /opt/ros/melodic/lib/libroscpp.so
#2  0x000055555564e167 in main ()

cartographer_rosbag_validate

Starting program: /opt/ros/melodic/lib/cartographer_ros/cartographer_rosbag_validate -bag_filename /home/gaschler/Downloads/b2-2016-04-05-14-44-52.bag
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".

Program received signal SIGILL, Illegal instruction.
cartographer_ros::(anonymous namespace)::LaserScanToPointCloudWithIntensities<sensor_msgs::MultiEchoLaserScan_<std::allocator<void> > > (msg=...)
    at ./cartographer_ros/msg_conversion.cc:104
104	./cartographer_ros/msg_conversion.cc: No such file or directory.
(gdb) bt
#0  cartographer_ros::(anonymous namespace)::LaserScanToPointCloudWithIntensities<sensor_msgs::MultiEchoLaserScan_<std::allocator<void> > > (msg=...)
    at ./cartographer_ros/msg_conversion.cc:104
#1  0x0000555555588a7d in cartographer_ros::ToPointCloudWithIntensities (msg=...) at ./cartographer_ros/msg_conversion.cc:181
#2  0x000055555556e94f in cartographer_ros::(anonymous namespace)::RangeDataChecker::ReadRangeMessage<sensor_msgs::MultiEchoLaserScan_<std::allocator<void> > > (
    to=<synthetic pointer>, from=<synthetic pointer>, range_checksum=0x7fffffffd460, message=...) at ./cartographer_ros/rosbag_validate_main.cc:218
#3  cartographer_ros::(anonymous namespace)::RangeDataChecker::CheckMessage<sensor_msgs::MultiEchoLaserScan_<std::allocator<void> > > (message=..., this=0x7fffffffd370)
    at ./cartographer_ros/rosbag_validate_main.cc:155
#4  cartographer_ros::(anonymous namespace)::Run (bag_filename=..., dump_timing=<optimized out>) at ./cartographer_ros/rosbag_validate_main.cc:275
#5  0x000055555556c7b2 in main (argc=<optimized out>, argv=<optimized out>) at ./cartographer_ros/rosbag_validate_main.cc:423
@cschuet
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cschuet commented Jun 6, 2018

@mikaelarguedas Let us know how we can help to debug this.

@cschuet
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cschuet commented Jun 6, 2018

Illegal instruction seems to be vmovdqu64

Dump of assembler code for function 
_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EEOS8_PKS5_:
    0x0000555555695cb0 <+0>:     push   %r12
    0x0000555555695cb2 <+2>:     push   %rbp
    0x0000555555695cb3 <+3>:     mov    %rsi,%rbp
    0x0000555555695cb6 <+6>:     push   %rbx
    0x0000555555695cb7 <+7>:     mov    %rdi,%rbx
    0x0000555555695cba <+10>:    mov    %rdx,%rdi
    0x0000555555695cbd <+13>:    mov    %rdx,%r12
    0x0000555555695cc0 <+16>:    callq  0x555555658ec0 <strlen@plt>
    0x0000555555695cc5 <+21>:    movabs $0x7fffffffffffffff,%rcx
    0x0000555555695ccf <+31>:    sub    0x8(%rbp),%rcx
    0x0000555555695cd3 <+35>:    cmp    %rcx,%rax
    0x0000555555695cd6 <+38>:    ja     0x555555695d36 
<_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EEOS8_PKS5_+134>
    0x0000555555695cd8 <+40>:    mov    %rax,%rdx
    0x0000555555695cdb <+43>:    mov    %r12,%rsi
    0x0000555555695cde <+46>:    mov    %rbp,%rdi
    0x0000555555695ce1 <+49>:    callq  0x555555659ef0 
<_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE9_M_appendEPKcm@plt>
    0x0000555555695ce6 <+54>:    lea    0x10(%rbx),%rdx
    0x0000555555695cea <+58>:    mov    %rdx,(%rbx)
    0x0000555555695ced <+61>:    mov    (%rax),%rcx
    0x0000555555695cf0 <+64>:    lea    0x10(%rax),%rdx
    0x0000555555695cf4 <+68>:    cmp    %rdx,%rcx
    0x0000555555695cf7 <+71>:    je     0x555555695d28 
<_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EEOS8_PKS5_+120>
    0x0000555555695cf9 <+73>:    mov    %rcx,(%rbx)
    0x0000555555695cfc <+76>:    mov    0x10(%rax),%rcx
    0x0000555555695d00 <+80>:    mov    %rcx,0x10(%rbx)
    0x0000555555695d04 <+84>:    mov    0x8(%rax),%rcx
    0x0000555555695d08 <+88>:    mov    %rcx,0x8(%rbx)
    0x0000555555695d0c <+92>:    mov    %rdx,(%rax)
    0x0000555555695d0f <+95>:    movq   $0x0,0x8(%rax)
    0x0000555555695d17 <+103>:   movb   $0x0,0x10(%rax)
    0x0000555555695d1b <+107>:   mov    %rbx,%rax
    0x0000555555695d1e <+110>:   pop    %rbx
    0x0000555555695d1f <+111>:   pop    %rbp
    0x0000555555695d20 <+112>:   pop    %r12
    0x0000555555695d22 <+114>:   retq
    0x0000555555695d23 <+115>:   nopl   0x0(%rax,%rax,1)
=> 0x0000555555695d28 <+120>:   vmovdqu64 0x10(%rax),%xmm0
    0x0000555555695d2f <+127>:   vmovups %xmm0,0x10(%rbx)
    0x0000555555695d34 <+132>:   jmp    0x555555695d04 
<_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EEOS8_PKS5_+84>
    0x0000555555695d36 <+134>:   lea    0x15a2dc(%rip),%rdi        # 
0x5555557f0019
    0x0000555555695d3d <+141>:   callq  0x5555556591a0 
<_ZSt20__throw_length_errorPKc@plt>
End of assembler dump.

@cschuet
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cschuet commented Jun 6, 2018 •
edited
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@mikaelarguedas vmovdqu64 is part of AVX-512 which is only supported by a range of server CPUs (see here).

Could it be possible that your build servers have one of those CPUs and you had

-march=native

as a flag in the compilation call which would cause it to generate code for the host machines instruction code? Just a wild guess.

@cschuet
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cschuet commented Jun 6, 2018 •
edited
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The cartographer binary was compiled for CPUs only supporting the following instruction sets

MODE64 (call)
CMOV (cmovg)
SSE1 (movss)
SSE2 (movsd)
AVX (vzeroupper)
AVX512 (vmovdqu64)
VLX (vmovdqu64)
FMA (vfmsub231sd)

@mikaelarguedas
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@cschuet thanks for reporting it and investigating!

I'll have a look tomorrow.

If you get a chance can you compare the assembly instructions and signature of the same executables on 0.3.0 (currently on the ros main repository) ?

If it helps, the build log of the cartographer_ros 0.3.0 is here, and the one of 1.0.0 is here. We dont invoke make in verbos mode so we may not gain much from it

@cschuet
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cschuet commented Jun 7, 2018

@mikaelarguedas Thanks.

I could not really find the 0.3.0 package deb, but 0.2.0 only requires

MODE64 (call)
CMOV (cmovg)
SSE1 (movss)
SSE2 (movsd)

@cschuet
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cschuet commented Jun 7, 2018

@mikaelarguedas Just checked the logs. Indeed for 1.0.0

-march=native -msse4.2

but actually also for 0.3.0

-march=native -msse4.2

Could it be that 0.3.0 suffers from the same problem? Can you send me link to a deb?

@cschuet cschuet closed this as completed Jun 7, 2018
@cschuet cschuet reopened this Jun 7, 2018
@mikaelarguedas
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mikaelarguedas commented Jun 7, 2018 •
edited
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@cschuet the cartographer_ros 0.3.0 debs can be found here: http://packages.ros.org/ros/ubuntu/pool/main/r/ros-melodic-cartographer-ros/

@gaschler
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gaschler commented Jun 7, 2018

@mikaelarguedas I installed ros-melodic-cartographer-ros deb 0.3.0 from the stable packages (in a bionic docker container) and observed the same illegal instruction in cartographer executables, but not in rviz.

@gaschler
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gaschler commented Jun 7, 2018

Seeing the build log http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__cartographer_ros__ubuntu_bionic_amd64__binary/11/consoleFull
-g -O2 -fdebug-prefix-map=/tmp/binarydeb/ros-melodic-cartographer-ros-1.0.0=. -fstack-protector-strong -Wformat -Werror=format-security -DNDEBUG -Wdate-time -D_FORTIFY_SOURCE=2 -march=native -msse4.2 -mfpmath=sse -pthread -std=c++11 -fPIC -Wall -Wpedantic -Werror=format-security -Werror=missing-braces -Werror=reorder -Werror=return-type -Werror=switch -Werror=uninitialized -o CMakeFiles/cartographer_ros.dir/cartographer_ros/assets_writer.cc

It seems like -march=native -msse4.2 -mfpmath=sse is added before cartographer's build flags -pthread -std=c++11 ....

One possibility is, we add ${TARGET_COMPILE_FLAGS} in front of our flags in
https://github.com/googlecartographer/cartographer/blob/master/cmake/functions.cmake#L26
(which is empty in my local setup), do you set that somewhere?

@mikaelarguedas
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So it looks like the same problem happens with 0.3.0 as well.
If I compile cartographer_ros with catkin_make_isolated I can also see the -march=native -msse4.2 flags being passed.
Instruction set of the cartographer_node executable (on my machine)

MODE64 (call)
SSE2 (movq)
SSE1 (movhps)
CMOV (cmovg)
AVX (vzeroupper)
FMA (vfmadd231sd)
AVX2 (vbroadcastsd)
BMI2 (shlx)

If I explicitly set the CMake build type None:

MODE64 (call)
SSE1 (movss)
SSE2 (pxor)
AVX (vmovsd)
CMOV (cmovne)

I don't see these flags in any of the ROS packages I have around.
My guess is that there is something in the cartographer cmake functions that is introducing these flags.
Looking into it..

@gaschler gaschler mentioned this issue Jun 7, 2018
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@gaschler
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gaschler commented Jun 7, 2018

@mikaelarguedas Interesting, on my Lunar on Debian stretch the compile flags are only -O3 -DNDEBUG -pthread -std=c++11 -fPIC -Wall -Wpedantic...
I tested both with catkin_make_isolated --use-ninja and catkin_make_isolated --install (with make).

To track this down, could you add

  message(warning "${NAME} TARGET_COMPILE_FLAGS ${TARGET_COMPILE_FLAGS}")
  message(warning "${NAME} GOOG_CXX_FLAGS ${GOOG_CXX_FLAGS}")

to the beginning of cartographer/cmake/functions.cmake:_common_compile_stuff?

@mikaelarguedas
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To track this down, could you add

👍 Great minds think alike :), and the TARGET_COMPILE_FLAGS are empty on my side as well..
I'm testing in a bionic container.
I build using: VERBOSE=1 catkin_make_isolated --install --cmake-args -DCMAKE_BUILD_TYPE=None

cmake diff applied:

diff --git a/cmake/functions.cmake b/cmake/functions.cmake
index 3bfd343..5693dd4 100644
--- a/cmake/functions.cmake
+++ b/cmake/functions.cmake
@@ -23,6 +23,8 @@ macro(_parse_arguments ARGS)
 endmacro(_parse_arguments)
 
 macro(_common_compile_stuff VISIBILITY)
+  message(WARNING "TARGET_COMPILE_FLAGS: ${TARGET_COMPILE_FLAGS}")
+  message(WARNING "GOOG_CXX_FLAGS: ${GOOG_CXX_FLAGS}")
   set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
 
   set_target_properties(${NAME} PROPERTIES
@@ -49,6 +51,7 @@ function(google_binary NAME)
 
   add_executable(${NAME} ${ARG_SRCS})
 
+  message(WARNING "NAME: ${NAME}")
   _common_compile_stuff("PRIVATE")
 
   install(TARGETS "${NAME}" RUNTIME DESTINATION bin)

assets_writer compile line (that does contain -march=native -msse4.2 -mfpmath=sse):

[  2%] Building CXX object CMakeFiles/cartographer_ros.dir/cartographer_ros/assets_writer.cc.o
/usr/bin/c++  -DGFLAGS_IS_A_DLL=0 -DROSCONSOLE_BACKEND_LOG4CXX -DROS_PACKAGE_NAME=\"cartographer_ros\" -DURDFDOM_HEADERS_HAS_SHARED_PTR_DEFS -isystem /usr/include/lua5.2 -isystem /usr/include/pcl-1.8 -isystem /usr/include/eigen3 -isystem /root/catkin_ws/install_isolated/include -isystem /opt/ros/melodic/include -isystem /opt/ros/melodic/share/orocos_kdl/cmake/../../../include -isystem /opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp -isystem /usr/include/ni -isystem /usr/include/openni2 -isystem /usr/include/vtk-6.3 -isystem /usr/include/freetype2 -isystem /usr/lib/x86_64-linux-gnu/openmpi/include/openmpi -isystem /usr/lib/x86_64-linux-gnu/openmpi/include/openmpi/opal/mca/event/libevent2022/libevent -isystem /usr/lib/x86_64-linux-gnu/openmpi/include/openmpi/opal/mca/event/libevent2022/libevent/include -isystem /usr/lib/x86_64-linux-gnu/openmpi/include -isystem /usr/include/python2.7 -isystem /usr/include/x86_64-linux-gnu -isystem /usr/include/hdf5/openmpi -isystem /usr/include/libxml2 -isystem /usr/include/jsoncpp -isystem /usr/include/tcl -I/root/catkin_ws/build_isolated/cartographer_ros -I/root/catkin_ws/src/cartographer_ros/cartographer_ros -I/usr/src/googletest/googlemock/gtest/include -isystem /usr/include/cairo -isystem /usr/include/glib-2.0 -isystem /usr/lib/x86_64-linux-gnu/glib-2.0/include -isystem /usr/include/pixman-1 -isystem /usr/include/libpng16  -march=native -msse4.2 -mfpmath=sse  -pthread -std=c++11 -fPIC  -Wall -Wpedantic -Werror=format-security -Werror=missing-braces -Werror=reorder -Werror=return-type -Werror=switch -Werror=uninitialized -o CMakeFiles/cartographer_ros.dir/cartographer_ros/assets_writer.cc.o -c /root/catkin_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/assets_writer.cc

CMake variables values for the target cartographer_assets_writer:

CMake Warning at /root/catkin_ws/install_isolated/share/cartographer/cmake/functions.cmake:54 (message):
  NAME: cartographer_assets_writer
Call Stack (most recent call first):
  cartographer_ros/CMakeLists.txt:15 (google_binary)


CMake Warning at /root/catkin_ws/install_isolated/share/cartographer/cmake/functions.cmake:26 (message):
  TARGET_COMPILE_FLAGS:
Call Stack (most recent call first):
  /root/catkin_ws/install_isolated/share/cartographer/cmake/functions.cmake:55 (_common_compile_stuff)
  cartographer_ros/CMakeLists.txt:15 (google_binary)


CMake Warning at /root/catkin_ws/install_isolated/share/cartographer/cmake/functions.cmake:27 (message):
  GOOG_CXX_FLAGS: -pthread -std=c++11 -fPIC -Wall -Wpedantic
  -Werror=format-security -Werror=missing-braces -Werror=reorder
  -Werror=return-type -Werror=switch -Werror=uninitialized
Call Stack (most recent call first):
  /root/catkin_ws/install_isolated/share/cartographer/cmake/functions.cmake:55 (_common_compile_stuff)
  cartographer_ros/CMakeLists.txt:15 (google_binary)

@mikaelarguedas
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Looking at other platforms, this flag doesnt show up on Debian Stretch but is present on Ubuntu Artful and Bionic. (I'm looking at the "msg_conversion.cc.o" compiler line)

So it may be a gcc 7 thing. That still doesn't explain why it doesnt show up on the other packages built for that platform though..

@gaschler
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gaschler commented Jun 7, 2018

Perhaps this is related to PointCloudLibrary/pcl#2239?
Does the string "-march=native -msse4.2 -mfpmath=sse" appear in your PCLConfig.cmake?

@mikaelarguedas
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mikaelarguedas commented Jun 7, 2018 •
edited
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Good point.
I didn't find any cmake Config file containing "march=native".

Edit: @gaschler well that's embarrassing.. I was in the stretch container...
Indeed PCLConfig.cmake is the culprit:

root@98f7eafd9eaa:/usr# cat `find -name PCLConfig.cmake` | grep msse4
list(APPEND PCL_DEFINITIONS " -march=native -msse4.2 -mfpmath=sse ")

mikaelarguedas added a commit to mikaelarguedas/cartographer_ros that referenced this issue Jun 7, 2018
@mikaelarguedas
remove architecture specific definitions exported by PCL
273b61b 
This is an issue on PCL 1.8.X causing SIGILL, Illegal instruction crashes: ros-gbp/cartographer_ros-release#10
Should be fixed in future PCL version with PointCloudLibrary/pcl#2100
mikaelarguedas added a commit to mikaelarguedas/cartographer_ros that referenced this issue Jun 7, 2018
@mikaelarguedas
remove architecture specific definitions exported by PCL
4829f47 
This is an issue on PCL 1.8.X causing SIGILL, Illegal instruction crashes: ros-gbp/cartographer_ros-release#10
Should be fixed in future PCL version with PointCloudLibrary/pcl#2100
mikaelarguedas added a commit to mikaelarguedas/cartographer_ros that referenced this issue Jun 7, 2018
@mikaelarguedas
remove architecture specific definitions exported by PCL
1d60c1a 
This is an issue on PCL 1.8.X causing SIGILL, Illegal instruction crashes: ros-gbp/cartographer_ros-release#10
Should be fixed in future PCL version with PointCloudLibrary/pcl#2100
mikaelarguedas added a commit to mikaelarguedas/cartographer_ros that referenced this issue Jun 7, 2018
@mikaelarguedas
remove architecture specific definitions exported by PCL
1e153d7 
This is an issue on PCL 1.8.X causing SIGILL, Illegal instruction crashes: ros-gbp/cartographer_ros-release#10
Should be fixed in future PCL version with PointCloudLibrary/pcl#2100
@mikaelarguedas mikaelarguedas mentioned this issue Jun 7, 2018
Merged
cschuet pushed a commit to cartographer-project/cartographer_ros that referenced this issue Jun 7, 2018
@mikaelarguedas
remove architecture specific definitions exported by PCL (#893)
4fd904d 
* remove architecture specific definitions exported by PCL

This is an issue on PCL 1.8.X causing SIGILL, Illegal instruction crashes: ros-gbp/cartographer_ros-release#10
Should be fixed in future PCL version with PointCloudLibrary/pcl#2100
gaschler pushed a commit to cartographer-project/cartographer_ros that referenced this issue Jun 8, 2018
@mikaelarguedas @gaschler
remove architecture specific definitions exported by PCL (#893)
3ee1db8 
* remove architecture specific definitions exported by PCL

This is an issue on PCL 1.8.X causing SIGILL, Illegal instruction crashes: ros-gbp/cartographer_ros-release#10
Should be fixed in future PCL version with PointCloudLibrary/pcl#2100
ojura pushed a commit to larics/cartographer_combined that referenced this issue Jun 12, 2018
@mikaelarguedas
[cartographer_ros] remove architecture specific definitions exported …
c5ccfaa 
…by PCL (#893)

* remove architecture specific definitions exported by PCL

This is an issue on PCL 1.8.X causing SIGILL, Illegal instruction crashes: ros-gbp/cartographer_ros-release#10
Should be fixed in future PCL version with PointCloudLibrary/pcl#2100

Original commit:
cartographer-project/cartographer_ros@4fd904d
ojura pushed a commit to larics/cartographer_combined that referenced this issue Aug 11, 2018
@mikaelarguedas
[cartographer_ros] remove architecture specific definitions exported …
868d033 
…by PCL (#893)

* remove architecture specific definitions exported by PCL

This is an issue on PCL 1.8.X causing SIGILL, Illegal instruction crashes: ros-gbp/cartographer_ros-release#10
Should be fixed in future PCL version with PointCloudLibrary/pcl#2100

Original commit:
cartographer-project/cartographer_ros@4fd904d
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remove architecture specific definitions exported by PCL mikaelarguedas/cartographer_ros
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@gaschler @mikaelarguedas @cschuet