URDF release 1.11.7 causes segfault on RVIZ #110

donataskozlovskis · 2015-06-02T10:07:21Z

Hello!

I recently faced segfault running RVIZ in Ubuntu arm with ROS Indigo on jetson tk1.
Isssu is caused by release 1.11.7, because downgrading URDF back to 1.11.6 solves the issue.
As well, latest commit #108 did not resolve the issue.

GDB backtrace:

[ INFO] [1433239574.583682161]: OpenGl version: 4.4 (GLSL 4.4).
[New Thread 0xa8e363b0 (LWP 3071)]
[New Thread 0xa86363b0 (LWP 3072)]

Program received signal SIGSEGV, Segmentation fault.
is_anchored (code=code@entry=0x685460 "}", bracket_map=bracket_map@entry=0, 
    backref_map=backref_map@entry=0) at pcre_compile.c:7339
7339    pcre_compile.c: No such file or directory.

#0  is_anchored (code=code@entry=0x4e9858 "}", 
    bracket_map=bracket_map@entry=0, backref_map=backref_map@entry=0)
    at pcre_compile.c:7339
#1  0xb37c80de in pcre_compile2 (pattern=, 
    options=, errorcodeptr=errorcodeptr@entry=0x0, 
    errorptr=errorptr@entry=0xbeffde44, erroroffset=0xbeffde48, 
    tables=0xb37eda70 <_pcre_default_tables> "", tables@entry=0x0)
    at pcre_compile.c:8076
#2  0xb37c8240 in pcre_compile (pattern=, 
    options=, errorptr=0xbeffde44, 
    erroroffset=, tables=0x0) at pcre_compile.c:7616
#3  0xac27da72 in pcrecpp::RE::Compile(pcrecpp::RE::Anchor) ()
   from /usr/lib/arm-linux-gnueabihf/libpcrecpp.so.0
#4  0xac27db7a in pcrecpp::RE::Init(std::string const&, pcrecpp::RE_Options const*) () from /usr/lib/arm-linux-gnueabihf/libpcrecpp.so.0
#5  0xac27dbc4 in pcrecpp::RE::Init(char const*, pcrecpp::RE_Options const*)
    () from /usr/lib/arm-linux-gnueabihf/libpcrecpp.so.0
#6  0xa7ab998e in pcrecpp::RE::RE(char const*) ()
   from /home/chili/catkin_ws/devel/lib/liburdf.so
#7  0xa7ab8096 in __static_initialization_and_destruction_0(int, int) ()
   from /home/chili/catkin_ws/devel/lib/liburdf.so
#8  0xa7ab8132 in _GLOBAL__sub_I_model.cpp ()
   from /home/chili/catkin_ws/devel/lib/liburdf.so
---Type  to continue, or q  to quit---
#9  0xb6fea20e in call_init (l=, argc=1, argv=0xbeffec44, 
    env=0xbeffec4c) at dl-init.c:78
#10 0xb6fea2a0 in _dl_init (main_map=main_map@entry=0x4f1500, argc=1, 
    argv=0xbeffec44, env=0xbeffec4c) at dl-init.c:126
#11 0xb6fed076 in dl_open_worker (a=) at dl-open.c:577
#12 0xb6fea140 in _dl_catch_error (objname=objname@entry=0xbeffe164, 
    errstring=errstring@entry=0xbeffe168, 
    mallocedp=mallocedp@entry=0xbeffe163, 
    operate=0xb6fece41 , args=args@entry=0xbeffe16c)
    at dl-error.c:187
#13 0xb6feca8e in _dl_open (
    file=0x5ce864 "/opt/ros/indigo/lib/libdefault_plugin.so", 
    mode=-2147483391, 
    caller_dlopen=0xb5508e67 , nsid=, argc=1, argv=0xbeffec44, env=0xbeffec4c)
    at dl-open.c:661
#14 0xb5094af8 in dlopen_doit (a=0xbeffe3c0) at dlopen.c:66
#15 0xb6fea140 in _dl_catch_error (objname=0x2cd74, errstring=0x2cd78, 
    mallocedp=0x2cd70, operate=0xb5094aa5 , args=0xbeffe3c0)
    at dl-error.c:187
#16 0xb5094f48 in _dlerror_run (operate=0xb5094aa5 , 
    args=args@entry=0xbeffe3c0) at dlerror.c:163
#17 0xb5094b82 in __dlopen (
---Type  to continue, or q  to quit---
    file=0x5ce864 "/opt/ros/indigo/lib/libdefault_plugin.so", 
    mode=) at dlopen.c:87
#18 0xb5508e66 in Poco::SharedLibraryImpl::loadImpl(std::string const&) ()
   from /usr/lib/libPocoFoundation.so.9
#19 0xb55091ce in Poco::SharedLibrary::SharedLibrary(std::string const&) ()
   from /usr/lib/libPocoFoundation.so.9
#20 0xb64f5556 in class_loader::class_loader_private::loadLibrary(std::string const&, class_loader::ClassLoader*) ()
   from /opt/ros/indigo/lib/libclass_loader.so
#21 0xb64f181c in class_loader::ClassLoader::loadLibrary() ()
   from /opt/ros/indigo/lib/libclass_loader.so
#22 0xb64f199a in class_loader::ClassLoader::ClassLoader(std::string const&, bool) () from /opt/ros/indigo/lib/libclass_loader.so
#23 0xb64f79ec in class_loader::MultiLibraryClassLoader::loadLibrary(std::string const&) () from /opt/ros/indigo/lib/libclass_loader.so
#24 0xb6f83162 in pluginlib::ClassLoader::loadLibraryForClass(std::string const&) () from /opt/ros/indigo/lib/librviz.so

Please let me know if I can provide more information.

esteve · 2015-06-02T17:44:20Z

We found the same bug running rviz on the Jetson, we found out that installing libpcre 1:8.35 from Ubuntu Utopic solved the segmentation fault. This may have been fixed in (http://www.pcre.org/original/changelog.txt):

Version 8.35 04-April-2014:
...
24. Experimental support for ARM-64 and MIPS-64 has been added to the JIT compiler.

jonbinney · 2015-09-13T05:28:49Z

I had this same crash (well, the backtrace was pretty much the same from frame 0 up to frame 6) using robot_state_publisher on an odroid. I still had the issue when using version 1.11.7 from source, but the issue was gone when i used version 1.11.8 from source. Hopefully this issue will be gone once the arm buildfarm finishes building 1.11.8

wjwwood · 2015-09-14T17:39:35Z

I just released 1.11.8, which did something with the link order of libpcre, but I'm not sure how that impacts this. I'm just doing the releases for @isucan.

jonbinney · 2015-09-14T17:40:39Z

Somehow 1.11.8 fixed it for me (at least from source); hopefully that wasn't just a fluke.

k-okada · 2015-10-03T10:20:10Z

FYI: we have updated collada-dom which does not requires link order hack for libpcre, see
http://lists.ros.org/lurker/message/20151003.101659.374d7c34.en.html

dchang0 · 2015-12-24T05:06:07Z

@k-okada:

Thanks for the updated collada-dom 2.4.4. Is there a .deb package for armhf? I did not see one at the links in the thread you linked to and am assuming I will need to build from source...

BTW, to anyone else who is encountering this bug, here is a direct link to the armhf package for libpcre3 8.35-7. I confirm that installing this package fixed the segfault problem with RVIZ that I was encountering on the ODROID C1+.

http://ports.ubuntu.com/pool/main/p/pcre3/libpcre3_8.35-7.1ubuntu1_armhf.deb

It is probably not as preferable as getting the new collada-dom 2.4.4, but no building is necessary.

k-okada · 2015-12-24T11:23:53Z

currently no, we're using ppa and currently it is not gen armhf file, if
you know how to enable this, we can try.
https://launchpad.net/~openrave/+archive/ubuntu/release

◉ Kei Okada

On Thu, Dec 24, 2015 at 2:06 PM, dchang0 notifications@github.com wrote:

@k-okada https://github.com/k-okada:

Thanks for the updated collada-dom 2.4.4. Is there a .deb package for
armhf? I did not see one at the links in the thread you linked to and am
assuming I will need to build from source...

—
Reply to this email directly or view it on GitHub
#110 (comment).

dchang0 · 2015-12-24T16:48:28Z

I don't know how (yet). Just curious: how are the i386 and amd64 .deb packages being built now? Is it fully-automated or only semi-automated?

k-okada · 2015-12-25T01:11:34Z

We use ppa platform
https://launchpad.net/~openrave/+archive/ubuntu/release
, which is configured through this cmake setting
https://github.com/rdiankov/collada-dom/blob/master/cmake-modules/DebSourcePPA.cmake

2015年12月25日金曜日、dchang0notifications@github.comさんは書きました:

I don't know how (yet). Just curious: how are the i386 and amd64 .deb
packages being built now? Is it fully-automated or only semi-automated?

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#110 (comment).

◉ Kei Okada

dchang0 · 2015-12-25T01:25:22Z

Apparently you can request that Launchpad do ARM builds for you in addition to i386 and amd64:

https://dev.launchpad.net/CommunityARMBuilds

k-okada · 2015-12-25T01:30:24Z

thanks, I sent a request.

◉ Kei Okada

On Fri, Dec 25, 2015 at 10:25 AM, dchang0 notifications@github.com wrote:

Apparently you can request that Launchpad do ARM builds for you in
addition to i386 and amd64:

https://dev.launchpad.net/CommunityARMBuilds

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#110 (comment).

jacquelinekay · 2016-01-28T20:49:00Z

It doesn't seem like we need to take action in this repository, since the issue appears to be resolved by a new release of pcre. I'm closing this issue until advised otherwise.

k-okada · 2016-03-10T03:13:21Z

I am able to build arm deb, could someone can copy this to ros package repository?
https://launchpad.net/~openrave/+archive/ubuntu/testing/+build/9325420
https://launchpad.net/~openrave/+archive/ubuntu/testing/+build/9325596

scpeters · 2016-03-14T17:26:22Z

@tfoote there's an arm deb sync request here

tfoote · 2016-03-14T19:10:10Z

Thanks @scpeters they should be there already: ros-infrastructure/reprepro-updater#26

nuodong · 2016-07-23T07:02:25Z

The error happens again on Kinetic arm64 (Dragonboard 410c running debian). Can anyone have a look? Thank!

k-okada · 2016-07-23T10:33:30Z

Can you check version of collada-dom?

On Saturday, 23 July 2016, Peijun Zhao notifications@github.com wrote:

The error happens again on Kinetic arm64 (Dragonboard 410c running
debian). Can anyone have a look? Thank!

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◉ Kei Okada

nuodong · 2016-07-26T03:20:02Z

collada-dom is at version 2.4.0.

k-okada · 2016-07-26T03:36:13Z

you need to use collada-dom 2.4.4, and I havent tested but it seems xenial
provide that version
http://packages.ubuntu.com/xenial/libcollada-dom2.4-dp-dev

◉ Kei Okada

On Tue, Jul 26, 2016 at 12:20 PM, Peijun Zhao notifications@github.com
wrote:

collada-dom is at version 2.4.0.

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nuodong · 2016-07-26T06:17:43Z

@k-okada there is no package for arm64 from the url you provided above.
Could you give me a guide how to build and install it on DragonBoard 410c (running Debian Jessie)? Thanks.

k-okada · 2016-07-28T07:17:06Z

how about
http://packages.ubuntu.com/xenial/arm64/libcollada-dom2.4-dp-dev/download

◉ Kei Okada

On Tue, Jul 26, 2016 at 3:17 PM, Peijun Zhao notifications@github.com
wrote:

@k-okada https://github.com/k-okada there is no package for arm64 from
the url you provided above.
Could you give me a guide how to build and install it on DragonBoard 410c
(running Debian Jessie)? Thanks.

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jonbinney mentioned this issue Sep 13, 2015

Node crashes on Indigo ros/robot_state_publisher#24

Closed

Jorge-C mentioned this issue Oct 23, 2015

Cannot run RViz on the Tegra correll/advancedrobotics#51

Closed

wjwwood mentioned this issue Dec 24, 2015

rviz Segmentation Fault on Ubuntu ARM due to OpenSSL ros-visualization/rviz#955

Closed

jacquelinekay closed this as completed Jan 28, 2016

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URDF release 1.11.7 causes segfault on RVIZ #110

URDF release 1.11.7 causes segfault on RVIZ #110

donataskozlovskis commented Jun 2, 2015

esteve commented Jun 2, 2015

jonbinney commented Sep 13, 2015

wjwwood commented Sep 14, 2015

jonbinney commented Sep 14, 2015

k-okada commented Oct 3, 2015

dchang0 commented Dec 24, 2015

k-okada commented Dec 24, 2015

dchang0 commented Dec 24, 2015

k-okada commented Dec 25, 2015

dchang0 commented Dec 25, 2015

k-okada commented Dec 25, 2015

jacquelinekay commented Jan 28, 2016

k-okada commented Mar 10, 2016

scpeters commented Mar 14, 2016

tfoote commented Mar 14, 2016

nuodong commented Jul 23, 2016

k-okada commented Jul 23, 2016

nuodong commented Jul 26, 2016

k-okada commented Jul 26, 2016

nuodong commented Jul 26, 2016

k-okada commented Jul 28, 2016

URDF release 1.11.7 causes segfault on RVIZ #110

URDF release 1.11.7 causes segfault on RVIZ #110

Comments

donataskozlovskis commented Jun 2, 2015

esteve commented Jun 2, 2015

jonbinney commented Sep 13, 2015

wjwwood commented Sep 14, 2015

jonbinney commented Sep 14, 2015

k-okada commented Oct 3, 2015

dchang0 commented Dec 24, 2015

k-okada commented Dec 24, 2015

dchang0 commented Dec 24, 2015

k-okada commented Dec 25, 2015

dchang0 commented Dec 25, 2015

k-okada commented Dec 25, 2015

jacquelinekay commented Jan 28, 2016

k-okada commented Mar 10, 2016

scpeters commented Mar 14, 2016

tfoote commented Mar 14, 2016

nuodong commented Jul 23, 2016

k-okada commented Jul 23, 2016

nuodong commented Jul 26, 2016

k-okada commented Jul 26, 2016

nuodong commented Jul 26, 2016

k-okada commented Jul 28, 2016