RViz crashes when mouse intersects with the image plugin panel

[jacobhuesman]

RViz crashes with the following error when my mouse intersects the portion of the screen that the image plugin displays images:

rviz2: /tmp/binarydeb/ros-eloquent-rviz-ogre-vendor-7.0.3/obj-x86_64-linux-gnu/ogre-v1.12.1-prefix/src/ogre-v1.12.1/OgreMain/src/OgreSceneManager.cpp:1384: virtual void Ogre::SceneManager::_renderScene(Ogre::Camera*, Ogre::Viewport*, bool): Assertion `camVisObjIt != mCamVisibleObjectsMap.end() && "Should never fail to find a visible object bound for a camera, " "did you override SceneManager::createCamera or something?"' failed.

Otherwise the plugin appears to function normally. I checked for a similar bug with the camera plugin, but it doesn't have that issue.

I'm running ROS2 Eloquent on Ubuntu 18.04 inside a docker container.

Let me know if you need additional info.

[jacobperron]

Thanks for reporting. I can reproduce the issue with the Eloquent binaries as well as building the latest source.

[jacobperron]

I build with debug and get the following assertion failure within Ogre:

build/rviz_ogre_vendor/ogre-v1.12.1-prefix/src/ogre-v1.12.1/OgreMain/src/OgreSceneManager.cpp:1384: virtual void Ogre::SceneManager::_renderScene(Ogre::Camera*, Ogre::Viewport*, bool): Assertion `camVisObjIt != mCamVisibleObjectsMap.end() && "Should never fail to find a visible object bound for a camera, " "did you override SceneManager::createCamera or something?"' failed.

Backtrace

#0  0x00007ffff54cfe97 in __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:51
#1  0x00007ffff54d1801 in __GI_abort () at abort.c:79
#2  0x00007ffff54c139a in __assert_fail_base (fmt=0x7ffff56487d8 "%s%s%s:%u: %s%sAssertion `%s' failed.\n%n", assertion=assertion@entry=0x7ffff5098358 "camVisObjIt != mCamVisibleObjectsMap.end() && \"Should never fail to find a visible object bound for a camera, \" \"did you override SceneManager::createCamera or something?\"", file=file@entry=0x7ffff5097f28 "/home/jacob/ws/ros2_rviz_486_ws/build/rviz_ogre_vendor/ogre-v1.12.1-prefix/src/ogre-v1.12.1/OgreMain/src/OgreSceneManager.cpp", line=line@entry=1384, function=function@entry=0x7ffff5098b00  "virtual void Ogre::SceneManager::_renderScene(Ogre::Camera*, Ogre::Viewport*, bool)") at assert.c:92
#3  0x00007ffff54c1412 in __GI___assert_fail (assertion=0x7ffff5098358 "camVisObjIt != mCamVisibleObjectsMap.end() && \"Should never fail to find a visible object bound for a camera, \" \"did you override SceneManager::createCamera or something?\"", file=0x7ffff5097f28 "/home/jacob/ws/ros2_rviz_486_ws/build/rviz_ogre_vendor/ogre-v1.12.1-prefix/src/ogre-v1.12.1/OgreMain/src/OgreSceneManager.cpp", line=1384, function=0x7ffff5098b00  "virtual void Ogre::SceneManager::_renderScene(Ogre::Camera*, Ogre::Viewport*, bool)") at assert.c:101
#4  0x00007ffff4f326b1 in Ogre::SceneManager::_renderScene(Ogre::Camera*, Ogre::Viewport*, bool) (this=0x555555fc1300, camera=0x555556173090, vp=0x5555561903e0, includeOverlays=false)
    at /home/jacob/ws/ros2_rviz_486_ws/build/rviz_ogre_vendor/ogre-v1.12.1-prefix/src/ogre-v1.12.1/OgreMain/src/OgreSceneManager.cpp:1382
#5  0x00007ffff7a8a3fc in rviz_common::interaction::SelectionRenderer::renderToTexture(Ogre::RenderTexture*, Ogre::Viewport*) (this=0x555556003550, render_texture=0x55555602ff40, window_viewport=0x5555561903e0)
    at /home/jacob/ws/ros2_rviz_486_ws/src/rviz/rviz_common/src/rviz_common/interaction/selection_renderer.cpp:264
#6  0x00007ffff7a89879 in rviz_common::interaction::SelectionRenderer::render(rviz_rendering::RenderWindow*, rviz_common::interaction::SelectionRectangle, rviz_common::interaction::RenderTexture, rviz_common::interaction::HandlerRange, Ogre::PixelBox&) (this=0x555556003550, window=0x5555560463e0, rectangle=..., texture=..., handlers=..., dst_box=...) at /home/jacob/ws/ros2_rviz_486_ws/src/rviz/rviz_common/src/rviz_common/interaction/selection_renderer.cpp:111
#7  0x00007ffff7a7c8ff in rviz_common::interaction::SelectionManager::render(rviz_rendering::RenderWindow*, rviz_common::interaction::SelectionRectangle const&, rviz_common::interaction::RenderTexture const&, Ogre::PixelBox&) (this=
    0x55555600e8d0, window=0x5555560463e0, selection_rectangle=..., render_texture=..., dst_box=...) at /home/jacob/ws/ros2_rviz_486_ws/src/rviz/rviz_common/src/rviz_common/interaction/selection_manager.cpp:309
#8  0x00007ffff7a7c74d in rviz_common::interaction::SelectionManager::renderAndUnpack(rviz_rendering::RenderWindow*, rviz_common::interaction::SelectionRectangle const&, unsigned int) (this=0x55555600e8d0, window=0x5555560463e0, selection_rectangle=..., pass=0)
    at /home/jacob/ws/ros2_rviz_486_ws/src/rviz/rviz_common/src/rviz_common/interaction/selection_manager.cpp:298
#9  0x00007ffff7a7e380 in rviz_common::interaction::SelectionManager::pick(rviz_rendering::RenderWindow*, int, int, int, int, std::unordered_map, std::equal_to, std::allocator > >&) (this=0x55555600e8d0, window=0x5555560463e0, x1=277, y1=76, x2=278, y2=77, results=std::unordered_map with 0 elements)
    at /home/jacob/ws/ros2_rviz_486_ws/src/rviz/rviz_common/src/rviz_common/interaction/selection_manager.cpp:605
#10 0x00007fffaba3ce03 in rviz_default_plugins::tools::InteractionTool::updateFocus(rviz_common::ViewportMouseEvent const&) (this=0x5555560228d0, event=...)
    at /home/jacob/ws/ros2_rviz_486_ws/src/rviz/rviz_default_plugins/src/rviz_default_plugins/tools/interaction/interaction_tool.cpp:94
#11 0x00007fffaba3d329 in rviz_default_plugins::tools::InteractionTool::processMouseEvent(rviz_common::ViewportMouseEvent&) (this=0x5555560228d0, event=...)
    at /home/jacob/ws/ros2_rviz_486_ws/src/rviz/rviz_default_plugins/src/rviz_default_plugins/tools/interaction/interaction_tool.cpp:159
#12 0x00007ffff7ad97fa in rviz_common::VisualizationManager::handleMouseEvent(rviz_common::ViewportMouseEvent const&) (this=0x55555589ae70, vme=...) at /home/jacob/ws/ros2_rviz_486_ws/src/rviz/rviz_common/src/rviz_common/visualization_manager.cpp:648
#13 0x00007ffff7a674b6 in rviz_common::RenderPanel::onRenderWindowMouseEvents(QMouseEvent*) (this=0x55555606d760, event=0x7fffffff1d80) at /home/jacob/ws/ros2_rviz_486_ws/src/rviz/rviz_common/src/rviz_common/render_panel.cpp:195
#14 0x00007ffff7a694c5 in std::__invoke_impl(std::__invoke_memfun_deref, void (rviz_common::RenderPanel::*&)(QMouseEvent*), rviz_common::RenderPanel*&, QMouseEvent*&&) (__f=
    @0x555555fcd240: (void (rviz_common::RenderPanel::*)(rviz_common::RenderPanel * const, QMouseEvent *)) 0x7ffff7a673f6 , __t=@0x555555fcd250: 0x55555606d760, __args#0=@0x7fffffff1a40: 0x7fffffff1d80)
    at /usr/include/c++/7/bits/invoke.h:73
#15 0x00007ffff7a69296 in std::__invoke(void (rviz_common::RenderPanel::*&)(QMouseEvent*), rviz_common::RenderPanel*&, QMouseEvent*&&) (__fn=
    @0x555555fcd240: (void (rviz_common::RenderPanel::*)(rviz_common::RenderPanel * const, QMouseEvent *)) 0x7ffff7a673f6 , __args#0=@0x555555fcd250: 0x55555606d760, __args#1=@0x7fffffff1a40: 0x7fffffff1d80)
    at /usr/include/c++/7/bits/invoke.h:95
#16 0x00007ffff7a69050 in std::_Bind))(QMouseEvent*)>::__call(std::tuple&&, std::_Index_tuple<0ul, 1ul>) (this=0x555555fcd240, __args=...)
    at /usr/include/c++/7/functional:467
#17 0x00007ffff7a68c06 in std::_Bind))(QMouseEvent*)>::operator()(QMouseEvent*&&) (this=0x555555fcd240, __args#0=@0x7fffffff1a40: 0x7fffffff1d80)
    at /usr/include/c++/7/functional:551
#18 0x00007ffff7a68672 in std::_Function_handler))(QMouseEvent*)> >::_M_invoke(std::_Any_data const&, QMouseEvent*&&) (__functor=..., __args#0=@0x7fffffff1a40: 0x7fffffff1d80) at /usr/include/c++/7/bits/std_function.h:316
#19 0x00007ffff3ea87e7 in std::function::operator()(QMouseEvent*) const (this=0x555556046410, __args#0=0x7fffffff1d80) at /usr/include/c++/7/bits/std_function.h:706

This is the call to Ogre that is failing:

rviz/rviz_common/src/rviz_common/interaction/selection_renderer.cpp

Line 264 in 5595a69

scene_manager_->_renderScene(window_viewport->getCamera(), window_viewport, false);

Still investigating.

[jacobperron]

Possible fix #490
Though there's probably a better solution.

[alsora]

Any updates on this?

I am having the same issue
https://answers.ros.org/question/342816/ros2-rviz-crash-when-visualizing-camera-image/

[jacobperron]

@alsora If you can, please try #490 for a fix. I still can't explain why the crash is happening though..

[ruffsl]

Thanks @jacobperron !
Looking forward to the next sync, this killing me whenever I'd need to adjust image windows in rviz2.

[ros-discourse]

This issue has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/ros-2-packages-using-ml/13137/8