segfault running gazebo

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segfault running gazebo

zhangqun
Hi all,

after attempting to run gazebo0.9/0.10/svn with no luck(segmentation fault,
will try test that again later), i turn to seemed stable version
combinations:

gazebo0.8pre3+ogre1.4.9 under ubuntu8.04

now i can successfully run some of the sample worlds: pioneer2at.world,
pioneer2dx.world, pioneer2dx_gripper, simpleshapers.world, factory.world,
lights.world, map.world, however for others, it got stuck with different
causes. (look like that most are related to OGRE) but quite a few got stuck
with the segmentation fault. I list some of them below for your reference.

btw: i am intending to work with the stereo camera simultaion, so what i am
most concerning about is the sample world : bandit and stereocamera which
got the segfaults. (The error when running bandit.world is more or less the
same as stereocamera.world, but what strange that i remember the first time
i ran it yesteday there is something wrong with  /usr/lib/dri/i915_dri.so,
but it dissappeared this morning. ??)

anyone who has thoughts about the error would be greatly appreciated.

____________________________________________________________
~/player/gazebo-0.8-pre3/worlds$ gdb gazebo
(gdb) run stereocamera.world
Starting program: /usr/local/bin/gazebo stereocamera.world
[Thread debugging using libthread_db enabled]
Gazebo multi-robot simulator, version 0.8-pre3

Part of the Player/Stage Project [http://playerstage.sourceforge.net].
Copyright (C) 2003 Nate Koenig, Andrew Howard, and contributors.
Released under the GNU General Public License.

[server/GazeboConfig.cc:84]
  Gazebo Path[/usr/local/share/gazebo]
[server/GazeboConfig.cc:92]
  Ogre Path[/usr/local/lib/OGRE]
[New Thread 0xb65be6c0 (LWP 18504)]
creating /tmp/gazebo-zhangqun-0
found a pid file: pid=18496
The gazebo process is not alive.
creating /tmp/gazebo-zhangqun-0/simulation.default 112 144496
creating /tmp/gazebo-zhangqun-0/stereo.stereo_iface_0 112 2457716
creating /tmp/gazebo-zhangqun-0/camera.camera_iface_0 112 921752
creating /tmp/gazebo-zhangqun-0/camera.camera_iface_1 112 921752
Unable to read value with key[imageSize]
Unable to read value with key[imageSize]

Program received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0xb65be6c0 (LWP 18504)]
Ogre::Technique::getPass (this=0x0, index=0)
    at /usr/include/c++/4.2/bits/stl_vector.h:397
397          { return size_type(this->_M_impl._M_finish -
this->_M_impl._M_start); }
(gdb) bt
#0  Ogre::Technique::getPass (this=0x0, index=0)
    at /usr/include/c++/4.2/bits/stl_vector.h:397
#1  0x08112f7c in gazebo::StereoCameraSensor::UpdateChild (this=0x8abf9f8)
    at server/sensors/camera/StereoCameraSensor.cc:225
#2  0x0811a546 in gazebo::Sensor::Update (this=0x8abf9f8)
    at server/sensors/Sensor.cc:107
#3  0x080c5f55 in gazebo::Body::Update (this=0x8ac0610)
    at server/physics/Body.cc:233
#4  0x08151d8d in gazebo::Model::Update (this=0x8a96a08) at
server/Model.cc:319
#5  0x081441b4 in gazebo::World::Update (this=0x8747f30) at
server/World.cc:193
#6  0x08159988 in gazebo::Simulator::MainLoop (this=0x82238f0)
    at server/Simulator.cc:313
#7  0x0813dda7 in main (argc=Cannot access memory at address 0x0
) at server/main.cc:293
________________________________________________________________________
(gdb) run test.world
Starting program: /usr/local/bin/gazebo test.world
[Thread debugging using libthread_db enabled]
Gazebo multi-robot simulator, version 0.8-pre3

Part of the Player/Stage Project [http://playerstage.sourceforge.net].
Copyright (C) 2003 Nate Koenig, Andrew Howard, and contributors.
Released under the GNU General Public License.

[server/GazeboConfig.cc:84]
  Gazebo Path[/usr/local/share/gazebo]
[server/GazeboConfig.cc:92]
  Ogre Path[/usr/local/lib/OGRE]
[New Thread 0xb661e6c0 (LWP 18522)]
creating /tmp/gazebo-zhangqun-0
found a pid file: pid=18514
The gazebo process is not alive.
creating /tmp/gazebo-zhangqun-0/simulation.default 112 144496
creating /tmp/gazebo-zhangqun-0/position.position_iface_0 112 228
creating /tmp/gazebo-zhangqun-0/laser.laser_iface_0 112 12444
creating /tmp/gazebo-zhangqun-0/fiducial.fiducial_iface_0 112 20932

Program received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0xb661e6c0 (LWP 18522)]
0xb76b39bc in memcpy () from /lib/tls/i686/cmov/libc.so.6
(gdb) bt
#0  0xb76b39bc in memcpy () from /lib/tls/i686/cmov/libc.so.6
#1  0xb6337cc7 in ?? () from /usr/lib/dri/i915_dri.so
#2  0xb633847e in vbo_split_copy () from /usr/lib/dri/i915_dri.so
#3  0xb63379cf in vbo_split_prims () from /usr/lib/dri/i915_dri.so
#4  0xb627e669 in _tnl_draw_prims () from /usr/lib/dri/i915_dri.so
#5  0xb6276e14 in ?? () from /usr/lib/dri/i915_dri.so
#6  0xb6277052 in ?? () from /usr/lib/dri/i915_dri.so
#7  0xb6549f74 in Ogre::GLRenderSystem::_render (this=0x8247ac8,
    op=@0xb7f26964) at OgreGLRenderSystem.cpp:2416
#8  0xb7daa8c1 in Ogre::SceneManager::renderSingleObject (this=0x8553a20,
    rend=0x94a7ec8, pass=0x94a82f0, doLightIteration=false,
    manualLightList=0xbf98d60c) at OgreSceneManager.cpp:2864
#9  0xb7da2041 in Ogre::SceneManager::SceneMgrQueuedRenderableVisitor::visit
(
    this=0x855c444, r=0x94a7ec8) at OgreSceneManager.cpp:2382
#10 0xb7d6baae in Ogre::QueuedRenderableCollection::acceptVisitorGrouped (
    this=0x8544510, visitor=0x855c444)
    at OgreRenderQueueSortingGrouping.cpp:411
---Type <return> to continue, or q <return> to quit---
#11 0xb7d6c231 in Ogre::QueuedRenderableCollection::acceptVisitor (this=0x3,

    visitor=0x855c444, om=<value optimized out>)
    at OgreRenderQueueSortingGrouping.cpp:379
#12 0xb7da3651 in Ogre::SceneManager::renderObjects (this=0x8553a20,
    objs=@0x8544510, om=Ogre::QueuedRenderableCollection::OM_PASS_GROUP,
    doLightIteration=false, manualLightList=0xbf98d60c)
    at OgreSceneManager.cpp:2470
#13 0xb7da80fd in
Ogre::SceneManager::renderAdditiveStencilShadowedQueueGroupObjects
(this=0x8553a20, pGroup=0x95b47d8,
    om=Ogre::QueuedRenderableCollection::OM_PASS_GROUP)
    at OgreSceneManager.cpp:1899
#14 0xb7da2fea in Ogre::SceneManager::_renderQueueGroupObjects (
    this=0x8553a20, pGroup=0x95b47d8,
    om=Ogre::QueuedRenderableCollection::OM_PASS_GROUP)
    at OgreSceneManager.cpp:2484
#15 0xb7da3732 in Ogre::SceneManager::renderVisibleObjectsDefaultSequence (
    this=0x8553a20) at OgreSceneManager.cpp:1860
---Type <return> to continue, or q <return> to quit---
#16 0xb7da37d8 in Ogre::SceneManager::_renderVisibleObjects (this=0x8553a20)
    at OgreSceneManager.cpp:1782
#17 0xb7da475f in Ogre::SceneManager::_renderScene (this=0x8553a20,
    camera=0x8da4d50, vp=0x8a79cb0, includeOverlays=true)
    at OgreSceneManager.cpp:1277
#18 0xb7bdc14e in Ogre::Camera::_renderScene (this=0x8da4d50, vp=0x8a79cb0,
    includeOverlays=<value optimized out>) at OgreCamera.cpp:397
#19 0xb7e2aa20 in Ogre::Viewport::update (this=0xbf98c878)
    at OgreViewport.cpp:195
#20 0xb7d76fbd in Ogre::RenderTarget::update (this=0x8755bb8)
    at OgreRenderTarget.cpp:111
#21 0xb7d7afe9 in Ogre::RenderWindow::update (this=0x8755bb8, swap=true)
    at OgreRenderWindow.cpp:73
#22 0xb7d7af1c in Ogre::RenderWindow::update (this=0x8755bb8)
    at OgreRenderWindow.cpp:67
#23 0x080f1c76 in gazebo::OgreAdaptor::UpdateWindow (this=0x823cca8,
    window=0x8755bb8, camera=0x8755b00) at
server/rendering/OgreAdaptor.cc:459
---Type <return> to continue, or q <return> to quit---
#24 0x0810f7ae in gazebo::UserCamera::Update (this=0x8755b00)
    at server/rendering/UserCamera.cc:86
#25 0x08134144 in gazebo::GLWindow::Update (this=0x853f428)
    at server/gui/GLWindow.cc:143
#26 0x0813a4e5 in gazebo::GLFrame::Update (this=0x853f0b8)
    at server/gui/GLFrame.cc:134
#27 0x0813811e in gazebo::GLFrameManager::Update (this=0x825f4c0)
    at server/gui/GLFrameManager.cc:188
#28 0x08131673 in gazebo::Gui::Update (this=0x82564b0) at
server/gui/Gui.cc:145
#29 0x081599bb in gazebo::Simulator::MainLoop (this=0x82238f0)
    at server/Simulator.cc:329
#30 0x0813dda7 in main (argc=Cannot access memory at address 0x3
) at server/main.cc:293
------------------------------------------------------------------------------
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world's best and brightest in the field, creating opportunities for Conference
attendees to learn about information security's most important issues through
interactions with peers, luminaries and emerging and established companies.
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Re: segfault running gazebo

zhangqun
Hi i did some test about the errors i posted last time and i found most of them were related to the graphics card or drivers. i set up a nvidia card instead and re-test the world samples. Surprisingly, almost all the worlds that did not previously run correct can run now. But some like pioneer2dx.world can not run under this graphics card while work well previously on the integrated intel card and the errors listed below.

i also attached a file which record all the running results of the worlds with this nv card. Hope that can help us solve the problem. anyone has any insight?
___________________________________________________
~/gazebo/worlds$ gazebo pioneer2dx.world
Gazebo multi-robot simulator, version 0.8-pre3

Part of the Player/Stage Project [http://playerstage.sourceforge.net].
Copyright (C) 2003 Nate Koenig, Andrew Howard, and contributors.
Released under the GNU General Public License.

[server/GazeboConfig.cc:84]
  Gazebo Path[/usr/local/share/gazebo]
[server/GazeboConfig.cc:92]
  Ogre Path[/usr/local/lib/OGRE]
Loading Gazebo
server/Simulator.cc:178 : Exception: Failed to Initialize the Rendering engine subsystem
server/rendering/OgreAdaptor.cc:242 : Exception: Unsupported shadow technique: stencilModulative
____________________________________________________________________________________

zhangqun wrote
Hi all,

after attempting to run gazebo0.9/0.10/svn with no luck(segmentation fault,
will try test that again later), i turn to seemed stable version
combinations:

gazebo0.8pre3+ogre1.4.9 under ubuntu8.04

now i can successfully run some of the sample worlds: pioneer2at.world,
pioneer2dx.world, pioneer2dx_gripper, simpleshapers.world, factory.world,
lights.world, map.world, however for others, it got stuck with different
causes. (look like that most are related to OGRE) but quite a few got stuck
with the segmentation fault. I list some of them below for your reference.

btw: i am intending to work with the stereo camera simultaion, so what i am
most concerning about is the sample world : bandit and stereocamera which
got the segfaults. (The error when running bandit.world is more or less the
same as stereocamera.world, but what strange that i remember the first time
i ran it yesteday there is something wrong with  /usr/lib/dri/i915_dri.so,
but it dissappeared this morning. ??)

anyone who has thoughts about the error would be greatly appreciated.

____________________________________________________________
~/player/gazebo-0.8-pre3/worlds$ gdb gazebo
(gdb) run stereocamera.world
Starting program: /usr/local/bin/gazebo stereocamera.world
[Thread debugging using libthread_db enabled]
Gazebo multi-robot simulator, version 0.8-pre3

Part of the Player/Stage Project [http://playerstage.sourceforge.net].
Copyright (C) 2003 Nate Koenig, Andrew Howard, and contributors.
Released under the GNU General Public License.

[server/GazeboConfig.cc:84]
  Gazebo Path[/usr/local/share/gazebo]
[server/GazeboConfig.cc:92]
  Ogre Path[/usr/local/lib/OGRE]
[New Thread 0xb65be6c0 (LWP 18504)]
creating /tmp/gazebo-zhangqun-0
found a pid file: pid=18496
The gazebo process is not alive.
creating /tmp/gazebo-zhangqun-0/simulation.default 112 144496
creating /tmp/gazebo-zhangqun-0/stereo.stereo_iface_0 112 2457716
creating /tmp/gazebo-zhangqun-0/camera.camera_iface_0 112 921752
creating /tmp/gazebo-zhangqun-0/camera.camera_iface_1 112 921752
Unable to read value with key[imageSize]
Unable to read value with key[imageSize]

Program received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0xb65be6c0 (LWP 18504)]
Ogre::Technique::getPass (this=0x0, index=0)
    at /usr/include/c++/4.2/bits/stl_vector.h:397
397          { return size_type(this->_M_impl._M_finish -
this->_M_impl._M_start); }
(gdb) bt
#0  Ogre::Technique::getPass (this=0x0, index=0)
    at /usr/include/c++/4.2/bits/stl_vector.h:397
#1  0x08112f7c in gazebo::StereoCameraSensor::UpdateChild (this=0x8abf9f8)
    at server/sensors/camera/StereoCameraSensor.cc:225
#2  0x0811a546 in gazebo::Sensor::Update (this=0x8abf9f8)
    at server/sensors/Sensor.cc:107
#3  0x080c5f55 in gazebo::Body::Update (this=0x8ac0610)
    at server/physics/Body.cc:233
#4  0x08151d8d in gazebo::Model::Update (this=0x8a96a08) at
server/Model.cc:319
#5  0x081441b4 in gazebo::World::Update (this=0x8747f30) at
server/World.cc:193
#6  0x08159988 in gazebo::Simulator::MainLoop (this=0x82238f0)
    at server/Simulator.cc:313
#7  0x0813dda7 in main (argc=Cannot access memory at address 0x0
) at server/main.cc:293
________________________________________________________________________
(gdb) run test.world
Starting program: /usr/local/bin/gazebo test.world
[Thread debugging using libthread_db enabled]
Gazebo multi-robot simulator, version 0.8-pre3

Part of the Player/Stage Project [http://playerstage.sourceforge.net].
Copyright (C) 2003 Nate Koenig, Andrew Howard, and contributors.
Released under the GNU General Public License.

[server/GazeboConfig.cc:84]
  Gazebo Path[/usr/local/share/gazebo]
[server/GazeboConfig.cc:92]
  Ogre Path[/usr/local/lib/OGRE]
[New Thread 0xb661e6c0 (LWP 18522)]
creating /tmp/gazebo-zhangqun-0
found a pid file: pid=18514
The gazebo process is not alive.
creating /tmp/gazebo-zhangqun-0/simulation.default 112 144496
creating /tmp/gazebo-zhangqun-0/position.position_iface_0 112 228
creating /tmp/gazebo-zhangqun-0/laser.laser_iface_0 112 12444
creating /tmp/gazebo-zhangqun-0/fiducial.fiducial_iface_0 112 20932

Program received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0xb661e6c0 (LWP 18522)]
0xb76b39bc in memcpy () from /lib/tls/i686/cmov/libc.so.6
(gdb) bt
#0  0xb76b39bc in memcpy () from /lib/tls/i686/cmov/libc.so.6
#1  0xb6337cc7 in ?? () from /usr/lib/dri/i915_dri.so
#2  0xb633847e in vbo_split_copy () from /usr/lib/dri/i915_dri.so
#3  0xb63379cf in vbo_split_prims () from /usr/lib/dri/i915_dri.so
#4  0xb627e669 in _tnl_draw_prims () from /usr/lib/dri/i915_dri.so
#5  0xb6276e14 in ?? () from /usr/lib/dri/i915_dri.so
#6  0xb6277052 in ?? () from /usr/lib/dri/i915_dri.so
#7  0xb6549f74 in Ogre::GLRenderSystem::_render (this=0x8247ac8,
    op=@0xb7f26964) at OgreGLRenderSystem.cpp:2416
#8  0xb7daa8c1 in Ogre::SceneManager::renderSingleObject (this=0x8553a20,
    rend=0x94a7ec8, pass=0x94a82f0, doLightIteration=false,
    manualLightList=0xbf98d60c) at OgreSceneManager.cpp:2864
#9  0xb7da2041 in Ogre::SceneManager::SceneMgrQueuedRenderableVisitor::visit
(
    this=0x855c444, r=0x94a7ec8) at OgreSceneManager.cpp:2382
#10 0xb7d6baae in Ogre::QueuedRenderableCollection::acceptVisitorGrouped (
    this=0x8544510, visitor=0x855c444)
    at OgreRenderQueueSortingGrouping.cpp:411
---Type <return> to continue, or q <return> to quit---
#11 0xb7d6c231 in Ogre::QueuedRenderableCollection::acceptVisitor (this=0x3,

    visitor=0x855c444, om=<value optimized out>)
    at OgreRenderQueueSortingGrouping.cpp:379
#12 0xb7da3651 in Ogre::SceneManager::renderObjects (this=0x8553a20,
    objs=@0x8544510, om=Ogre::QueuedRenderableCollection::OM_PASS_GROUP,
    doLightIteration=false, manualLightList=0xbf98d60c)
    at OgreSceneManager.cpp:2470
#13 0xb7da80fd in
Ogre::SceneManager::renderAdditiveStencilShadowedQueueGroupObjects
(this=0x8553a20, pGroup=0x95b47d8,
    om=Ogre::QueuedRenderableCollection::OM_PASS_GROUP)
    at OgreSceneManager.cpp:1899
#14 0xb7da2fea in Ogre::SceneManager::_renderQueueGroupObjects (
    this=0x8553a20, pGroup=0x95b47d8,
    om=Ogre::QueuedRenderableCollection::OM_PASS_GROUP)
    at OgreSceneManager.cpp:2484
#15 0xb7da3732 in Ogre::SceneManager::renderVisibleObjectsDefaultSequence (
    this=0x8553a20) at OgreSceneManager.cpp:1860
---Type <return> to continue, or q <return> to quit---
#16 0xb7da37d8 in Ogre::SceneManager::_renderVisibleObjects (this=0x8553a20)
    at OgreSceneManager.cpp:1782
#17 0xb7da475f in Ogre::SceneManager::_renderScene (this=0x8553a20,
    camera=0x8da4d50, vp=0x8a79cb0, includeOverlays=true)
    at OgreSceneManager.cpp:1277
#18 0xb7bdc14e in Ogre::Camera::_renderScene (this=0x8da4d50, vp=0x8a79cb0,
    includeOverlays=<value optimized out>) at OgreCamera.cpp:397
#19 0xb7e2aa20 in Ogre::Viewport::update (this=0xbf98c878)
    at OgreViewport.cpp:195
#20 0xb7d76fbd in Ogre::RenderTarget::update (this=0x8755bb8)
    at OgreRenderTarget.cpp:111
#21 0xb7d7afe9 in Ogre::RenderWindow::update (this=0x8755bb8, swap=true)
    at OgreRenderWindow.cpp:73
#22 0xb7d7af1c in Ogre::RenderWindow::update (this=0x8755bb8)
    at OgreRenderWindow.cpp:67
#23 0x080f1c76 in gazebo::OgreAdaptor::UpdateWindow (this=0x823cca8,
    window=0x8755bb8, camera=0x8755b00) at
server/rendering/OgreAdaptor.cc:459
---Type <return> to continue, or q <return> to quit---
#24 0x0810f7ae in gazebo::UserCamera::Update (this=0x8755b00)
    at server/rendering/UserCamera.cc:86
#25 0x08134144 in gazebo::GLWindow::Update (this=0x853f428)
    at server/gui/GLWindow.cc:143
#26 0x0813a4e5 in gazebo::GLFrame::Update (this=0x853f0b8)
    at server/gui/GLFrame.cc:134
#27 0x0813811e in gazebo::GLFrameManager::Update (this=0x825f4c0)
    at server/gui/GLFrameManager.cc:188
#28 0x08131673 in gazebo::Gui::Update (this=0x82564b0) at
server/gui/Gui.cc:145
#29 0x081599bb in gazebo::Simulator::MainLoop (this=0x82238f0)
    at server/Simulator.cc:329
#30 0x0813dda7 in main (argc=Cannot access memory at address 0x3
) at server/main.cc:293
------------------------------------------------------------------------------
Throughout its 18-year history, RSA Conference consistently attracts the
world's best and brightest in the field, creating opportunities for Conference
attendees to learn about information security's most important issues through
interactions with peers, luminaries and emerging and established companies.
http://p.sf.net/sfu/rsaconf-dev2dev
_______________________________________________
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gazebo0.8pre3_test+log