tf2 causes SIGABRT errors in rivz if the tf buffer is cleared

[meyerj]

Whenever the tf cache is cleared in rviz (e.g. by clicking the Reset button in the bottom-left corner or if a negative time step is detected using an external clock source), rviz aborts with the following error:

rviz: /usr/include/boost/smart_ptr/shared_ptr.hpp:418: T* boost::shared_ptr<T>::operator->() const [with T = tf2::TimeCacheInterface]: Assertion `px != 0' failed.

Program received signal SIGABRT, Aborted.

Here is a stack trace (no debug build):

#0  0x00007ffff6475425 in __GI_raise (sig=<optimized out>)
    at ../nptl/sysdeps/unix/sysv/linux/raise.c:64
#1  0x00007ffff6478b8b in __GI_abort () at abort.c:91
#2  0x00007ffff646e0ee in __assert_fail_base (fmt=<optimized out>, 
    assertion=0x7fffeefd0e1a "px != 0", 
    file=0x7fffeefd10a8 "/usr/include/boost/smart_ptr/shared_ptr.hpp", 
    line=<optimized out>, function=<optimized out>) at assert.c:94
#3  0x00007ffff646e192 in __GI___assert_fail (
    assertion=0x7fffeefd0e1a "px != 0", 
    file=0x7fffeefd10a8 "/usr/include/boost/smart_ptr/shared_ptr.hpp", 
    line=418, 
    function=0x7fffeefd20e0 "T* boost::shared_ptr<T>::operator->() const [with T = tf2::TimeCacheInterface]") at assert.c:103
#4  0x00007fffeefbfd80 in ?? () from /opt/ros/hydro/lib/libtf2.so
#5  0x00007fffeefc4edd in tf2::BufferCore::clear() ()
   from /opt/ros/hydro/lib/libtf2.so
#6  0x00007ffff7b58071 in rviz::VisualizationManager::resetTime() ()
   from /opt/ros/hydro/lib/librviz.so
#7  0x00007ffff2b71281 in QMetaObject::activate(QObject*, QMetaObject const*, int, void**) () from /usr/lib/x86_64-linux-gnu/libQtCore.so.4
#8  0x00007ffff756fc72 in QAbstractButton::clicked(bool) ()
   from /usr/lib/x86_64-linux-gnu/libQtGui.so.4
#9  0x00007ffff72ada4e in ?? () from /usr/lib/x86_64-linux-gnu/libQtGui.so.4
#10 0x00007ffff72aed8b in ?? () from /usr/lib/x86_64-linux-gnu/libQtGui.so.4
#11 0x00007ffff72aeffc in QAbstractButton::mouseReleaseEvent(QMouseEvent*) ()
   from /usr/lib/x86_64-linux-gnu/libQtGui.so.4
#12 0x00007ffff736c5da in QToolButton::mouseReleaseEvent(QMouseEvent*) ()
   from /usr/lib/x86_64-linux-gnu/libQtGui.so.4
#13 0x00007ffff6f30144 in QWidget::event(QEvent*) ()
   from /usr/lib/x86_64-linux-gnu/libQtGui.so.4
#14 0x00007ffff6edf894 in QApplicationPrivate::notify_helper(QObject*, QEvent*)
    () from /usr/lib/x86_64-linux-gnu/libQtGui.so.4
#15 0x00007ffff6ee50bf in QApplication::notify(QObject*, QEvent*) ()
   from /usr/lib/x86_64-linux-gnu/libQtGui.so.4
#16 0x00007ffff2b5ce9c in QCoreApplication::notifyInternal(QObject*, QEvent*)
    () from /usr/lib/x86_64-linux-gnu/libQtCore.so.4
#17 0x00007ffff6ee0862 in QApplicationPrivate::sendMouseEvent(QWidget*, QMouseEvent*, QWidget*, QWidget*, QWidget**, QPointer<QWidget>&, bool) ()
   from /usr/lib/x86_64-linux-gnu/libQtGui.so.4
#18 0x00007ffff6f5fbf5 in ?? () from /usr/lib/x86_64-linux-gnu/libQtGui.so.4
#19 0x00007ffff6f5ebae in QApplication::x11ProcessEvent(_XEvent*) ()
   from /usr/lib/x86_64-linux-gnu/libQtGui.so.4
#20 0x00007ffff6f880d2 in ?? () from /usr/lib/x86_64-linux-gnu/libQtGui.so.4
#21 0x00007ffff18e1d53 in g_main_context_dispatch ()
   from /lib/x86_64-linux-gnu/libglib-2.0.so.0
#22 0x00007ffff18e20a0 in ?? () from /lib/x86_64-linux-gnu/libglib-2.0.so.0
#23 0x00007ffff18e2164 in g_main_context_iteration ()
   from /lib/x86_64-linux-gnu/libglib-2.0.so.0
#24 0x00007ffff2b8c3bf in QEventDispatcherGlib::processEvents(QFlags<QEventLoop::ProcessEventsFlag>) () from /usr/lib/x86_64-linux-gnu/libQtCore.so.4
#25 0x00007ffff6f87d5e in ?? () from /usr/lib/x86_64-linux-gnu/libQtGui.so.4
#26 0x00007ffff2b5bc82 in QEventLoop::processEvents(QFlags<QEventLoop::ProcessEventsFlag>) () from /usr/lib/x86_64-linux-gnu/libQtCore.so.4
#27 0x00007ffff2b5bed7 in QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>) () from /usr/lib/x86_64-linux-gnu/libQtCore.so.4
#28 0x00007ffff2b60f67 in QCoreApplication::exec() ()
   from /usr/lib/x86_64-linux-gnu/libQtCore.so.4
#29 0x0000000000400b0c in main ()

I am using the following binary packages from the official ROS hydro package repository:

Desired=Unknown/Install/Remove/Purge/Hold
| Status=Not/Inst/Conf-files/Unpacked/halF-conf/Half-inst/trig-aWait/Trig-pend
|/ Err?=(none)/Reinst-required (Status,Err: uppercase=bad)
||/ Name                                         Version                                      Description
+++-============================================-============================================-========================================================================================================
ii  ros-hydro-geometry                           1.10.5-0precise-20130721-0540-+0000          Geometry Library
ii  ros-hydro-rviz                               1.10.1-0precise-20130722-0059-+0000          3D visualization tool for ROS.
ii  ros-hydro-tf2                                0.4.5-0precise-20130721-0218-+0000           tf2 is the second generation of the transform libraray, which lets the user keep track of multiple coord

[tfoote]

I can confirm I can reproduce on my machine. I'll look into it shortly.