Error :IA__gtk_widget_set_events: assertion

edit

When I run my program I get this error, a the problems runing my subscriber must be in one way connect with this problems.

I'am using Gtk 2.0 and Indigo.

Can i get some help finding the problem.

Thank's in advance.

My source code goes here.

#include "ros/ros.h"
#include "std_msgs/Int16.h"
#include "std_msgs/Float64.h"
#include "std_msgs/Float32.h"
#include "pubsub/RaposaWheels.h"
#include "pubsub/main.h"
#include <geometry_msgs/Quaternion.h>
#include <std_msgs/Header.h>
#include <iostream>
#include <sstream>
#include <cairo.h>
#include <gtk/gtk.h>
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <ros/rate.h>
#include <time.h>

#define  pi  3.14159
#define draw_Wigth   180
#define draw_height  180

typedef struct orien_ang{
    float oldx;
    float oldy;
    float x;
    float y;
    float Nang;
    float Oang;
}ang;

double body_roll;

ang* Gorien;
GtkWidget *darea1;
GtkWidget *darea2;
GtkWidget *GlobalTable;
GtkWidget *window;

static void do_drawing(GtkWidget *widget, GdkEventExpose *event, gpointer user_data);
static void do_drawing2(GtkWidget *widget, GdkEventExpose *event, gpointer user_data);

static void do_drawing(GtkWidget *widget, GdkEventExpose *event, gpointer user_data)
{

    double int_x, int_y;
    double radius;
    double inset;
    double aux_ang1, aux_ang2, aux_ang3, aux_ang4;
    int i;
    cairo_t *cr;

    cr = gdk_cairo_create(widget->window);


    int_x = draw_Wigth/2;
    int_y = draw_height/2;

    radius = draw_Wigth/3 - 5;

    cairo_set_source_rgb(cr, 0, 0, 0); 
    cairo_stroke(cr);

    i = 0;
    while (i < 36){
        cairo_save(cr);
        inset = (1.0/18)*radius;
        cairo_set_line_width(cr, 0.5 * cairo_get_line_width(cr));
        cairo_move_to(cr, int_x + (radius - inset)* cos(i * pi /18.0), int_y + (radius - inset)* sin(i * pi /18.0));
        cairo_line_to(cr, int_x + radius* cos(i * pi/18.0), int_y + radius* sin(i * pi/18.0));
        cairo_stroke(cr);
        cairo_restore(cr);
        i = i + 1;
    }

    i = 1;
    while ( i < 9)
    {
        cairo_save(cr);

        inset = 0.15 * radius;
        cairo_move_to(cr, int_x + (radius - inset) * cos(i * pi/4.0), int_y + (radius-inset)*sin(i * pi / 4.0));
        cairo_line_to(cr, int_x + radius * cos(i * pi/4.0), int_y + radius*sin(i * pi / 4.0));
        cairo_stroke(cr);
        cairo_restore(cr);
        i = i + 1;
    }

    cairo_save(cr);
    cairo_set_line_width(cr, 4 * cairo_get_line_width(cr));
    cairo_set_source_rgb(cr,0, 1, 0); //Green
    cairo_move_to(cr, int_x + radius*0.6*( -1* cos((*Gorien).x)), int_y + radius*0.6*sin((*Gorien).x));
    cairo_line_to(cr, int_x + radius*0.6*cos((*Gorien).x), int_y + radius*0.6*(-1*sin((*Gorien).x)));
    cairo_close_path(cr);
    cairo_stroke(cr);
    cairo_restore(cr);

    cairo_save(cr);
    cairo_set_line_width(cr, 4 * cairo_get_line_width(cr));
    cairo_set_source_rgb(cr, 0, 1, 0); //Green 

    aux_ang1 = (int_x + radius*0.6*cos((*Gorien).x)); 
    aux_ang2 = (aux_ang1 + 0.2*radius*sin((*Gorien).x));
    aux_ang3 = (int_y - radius*0.6*sin((*Gorien).x));
    aux_ang4 = (aux_ang3 + 0.2*radius*cos((*Gorien).x));
    cairo_move_to(cr, aux_ang2, aux_ang4);

    aux_ang1 = (int_x + radius*0.6*cos((*Gorien).x)); 
    aux_ang2 = (aux_ang1 - 0.2*radius*sin((*Gorien).x));
    aux_ang3 = (int_y - radius*0.6*sin((*Gorien).x));
    aux_ang4 = (aux_ang3 - 0.2*radius*cos((*Gorien).x));
    cairo_line_to(cr, aux_ang2, aux_ang4);

    cairo_close_path(cr);
    cairo_stroke(cr);
    cairo_restore(cr);  

    cairo_save(cr);
    cairo_set_line_width(cr, 4 * cairo_get_line_width(cr));
    cairo_set_source_rgb(cr, 0, 1, 0); //Green 

    aux_ang1 = (int_x - radius*0.6*cos((*Gorien).x)); 
    aux_ang2 = (aux_ang1 + 0.2*radius*sin((*Gorien).x));
    aux_ang3 = (int_y + radius*0 ...