Gazebo thread died with error code -6 [closed]

edit

Hello ROS community !

I just started working with ROS electric pr2 simulator this week in the idea of testing different algorithms for navigation. I installed it successfully and followed the very first tutorials about launching the simulator and loading a model, plus using keyboard control and rviz. In using Linux/Ubuntu 10.04 on Dell Precision T3400 with Intel Core 2 Duo 3.16GHz, nVidia Corporation G84 [Quadro FX 1700] G-card,

Everything's working quite well, but when I stop using the simulator, it crashes after a random (?) period of time.

I tried launch the simulation in two different ways : these commands in separate terminals :

roslaunch gazebo_worlds empty_world.launch

roslaunch pr2_gazebo pr2.launch

roslaunch pr2_teleop teleop_keyboard.launch

rosrun rviz rviz

This usually result in a crash with mutex error :

gazebo: /usr/include/boost/thread/pthread/recursive_mutex.hpp:62: boost::recursive_mutex::~recursive_mutex(): Assertion!pthread_mutex_destroy(&m)' failed.

[gazebo-2] process has died [pid 16499, exit code -6]. log files: /home/renaudo/.ros/log/c4610322-857e-11e1-9c53-002219119be4/gazebo-2*.log`

The second is in my opinion equivalent but let's share that : I replace the two first commands by :

roslaunch pr2_gazebo pr2_empty_world.launch

And :

terminate called after throwing an instance of 'char const*'

[gazebo-2] process has died [pid 20172, exit code -6]. log files: /home/renaudo/.ros/log/2ed25e52-8581-11e1-a4c3-002219119be4/gazebo-2*.log

In both cases the process died with error code -6 and considering other posts of this forum, I think it's a segfault or something like that. I sometimes happens when minimizing windows. Could somebody confirm a Graphical card issue or have any idea of the problem source ?

EDIT : Adding backtrace for info :

(gdb) backtrace 
#0  0x00007fa2f07b5a75 in raise ()
from /lib/libc.so.6
#1  0x00007fa2f07b95c0 in abort ()
from /lib/libc.so.6
#2  0x00007fa2f106b8c5 in __gnu_cxx::__verbose_terminate_handler() ()
from /usr/lib/libstdc++.so.6
#3  0x00007fa2f1069cf6 in ?? ()
from /usr/lib/libstdc++.so.6
#4  0x00007fa2f1069d23 in std::terminate() ()
from /usr/lib/libstdc++.so.6
#5  0x00007fa2f1069e1e in __cxa_throw ()
from /usr/lib/libstdc++.so.6
#6  0x00007fa2f85865bd in libgazebo::Iface::Close (this=0x1bfee20)
at /tmp/buildd/ros-electric-simulator-gazebo-1.4.13/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/libgazebo/Iface.cc:337
#7  0x00007fa2f8864a26 in ~Factory (this=0x1c2b8a0, __in_chrg=<value optimized out>)
at /tmp/buildd/ros-electric-simulator-gazebo-1.4.13/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/Factory.cc:74
#8  0x00007fa2f882941a in gazebo::World::Fini (this=0x1965560)
at /tmp/buildd/ros-electric-simulator-gazebo-1.4.13/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/World.cc:409
#9  0x00007fa2f885e073 in gazebo::Simulator::Fini (this=0x175e0d0)
at /tmp/buildd/ros-electric-simulator-gazebo-1.4.13/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/Simulator.cc:433
#10 0x0000000000460725 in main (argc=5, argv=<value optimized out>)
at /tmp/buildd/ros-electric-simulatorgazebo-1.4.13/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/src/gazeboros.cpp:2630

(gdb) continue
Continuing.
[Thread 0x7fa2e19cd700 (LWP 28191) exited]
[Thread 0x7fa2e0798700 (LWP 28265) exited]
...
[Thread 0x7fa2b078e700 (LWP 29973) exited]
[Thread 0x7fa29c4fe700 (LWP 30398) exited]
[Thread 0x7fa2de794700 (LWP 28288) exited]

Program terminated ...