Setup assistant crashed after trying to zoom/pan, rotate the robot model and pressing any keyboard key.

[sshaizkhan]

Description

Failed zoom or rotate the robot model in the Rviz view right pane. Also, once the rviz view pane is activated by hovering cursor or pressing lef/right button on the mouse and if any of the key on the keyboard is pressed, setup assistant will crash.

Your environment

• ROS Distro: Humble
• OS Version: Ubuntu 22.04.2 LTS on Docker v23.0.1 build a5ee5b1, Docker image: humble:ci-testing
• Source or Binary build? -> Source
• If source, which branch? -> humble
• Which RMW (Fast DDS or Cyclone DDS)? -> Cyclone DDS

Steps to reproduce

1. Launch moveit setup assistant ros2 launch moveit_setup_assistant setup_assistant.launch.py .
2. You can try to create new moveit config package or edit an existing one. To check it quickly, press edit existing moveit config and upload the panda_moveit_config. If you don't have the repo, clone it from here.
3. Once the package is uploaded, the robot model will appear on the right. Click anywhere inside the Rviz pane and try to Zoom/Pan, rotate and it will fail to do so.
4. Now if any of the button is pressed on keyboard, the setup assistant will crash with Segmentation fault (Address not mapped to object [(nil)]).

Expected behaviour

Should be able to Zoom/Pan, Rotate the robot model.

Actual behaviour

Setup Assistant crashed with Segmentation fault (Address not mapped to object [(nil)])

Backtrace or Console output

[moveit_setup_assistant-1] Stack trace (most recent call last):
[moveit_setup_assistant-1] #21   Object "", at 0xffffffffffffffff, in 
[moveit_setup_assistant-1] #20   Object "/home/bot/moveit2_ws/install/moveit_setup_assistant/lib/moveit_setup_assistant/moveit_setup_assistant", at 0x5616e64dc194, in _start
[moveit_setup_assistant-1] #19   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f579c3f9e3f, in __libc_start_main
[moveit_setup_assistant-1] #18   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f579c3f9d8f, in 
[moveit_setup_assistant-1] #17   Object "/home/bot/moveit2_ws/install/moveit_setup_assistant/lib/moveit_setup_assistant/moveit_setup_assistant", at 0x5616e64dbda4, in main
[moveit_setup_assistant-1] #16   Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7f579cb68cf3, in QCoreApplication::exec()
[moveit_setup_assistant-1] #15   Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7f579cb6075a, in QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>)
[moveit_setup_assistant-1] #14   Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7f579cbbb0b7, in QEventDispatcherGlib::processEvents(QFlags<QEventLoop::ProcessEventsFlag>)
[moveit_setup_assistant-1] #13   Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0.7200.4", at 0x7f579b1873e2, in g_main_context_iteration
[moveit_setup_assistant-1] #12   Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0.7200.4", at 0x7f579b1de6c7, in 
[moveit_setup_assistant-1] #11   Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0.7200.4", at 0x7f579b189d3a, in g_main_context_dispatch
[moveit_setup_assistant-1] #10   Object "/usr/lib/x86_64-linux-gnu/libQt5XcbQpa.so.5.15.3", at 0x7f5790791d6d, in 
[moveit_setup_assistant-1] #9    Object "/usr/lib/x86_64-linux-gnu/libQt5Gui.so.5.15.3", at 0x7f579cf1da2b, in QWindowSystemInterface::sendWindowSystemEvents(QFlags<QEventLoop::ProcessEventsFlag>)
[moveit_setup_assistant-1] #8    Object "/usr/lib/x86_64-linux-gnu/libQt5Gui.so.5.15.3", at 0x7f579cf444b9, in QGuiApplicationPrivate::processKeyEvent(QWindowSystemInterfacePrivate::KeyEvent*)
[moveit_setup_assistant-1] #7    Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7f579cb61e39, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
[moveit_setup_assistant-1] #6    Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7f579d651712, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
[moveit_setup_assistant-1] #5    Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7f579d6b102e, in 
[moveit_setup_assistant-1] #4    Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7f579cb61e39, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
[moveit_setup_assistant-1] #3    Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7f579d65949d, in QApplication::notify(QObject*, QEvent*)
[moveit_setup_assistant-1] #2    Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7f579d651712, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
[moveit_setup_assistant-1] #1    Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7f579d695377, in QWidget::event(QEvent*)
[moveit_setup_assistant-1] #0    Object "/opt/ros/humble/lib/librviz_common.so", at 0x7f579dea194f, in rviz_common::ToolManager::handleChar(QKeyEvent*, rviz_common::RenderPanel*)
[moveit_setup_assistant-1] Segmentation fault (Address not mapped to object [(nil)])
[ERROR] [moveit_setup_assistant-1]: process has died [pid 2467, exit code -11, cmd '/home/bot/moveit2_ws/install/moveit_setup_assistant/lib/moveit_setup_assistant/moveit_setup_assistant --ros-args'].

@DLu I'm tagging you assuming you were the last person to made changes. Let me know if you need any more information.

[github-actions]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[vidalperezbohoyo]

I have the same problem...

[github-actions]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[UgurYakut]

same issue on local