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Nodelets: pure virtual method called, process died (-6)

asked 2012-07-27 02:59:10 -0600

ipso gravatar image

updated 2012-07-27 03:48:35 -0600

I get the error in the question title everytime one of my Nodelet classes calls ros::requestShutdown(). I've tried debugging it in gdb, but besides the fact that the stacktrace is 5 pages (!) long, it doesn't tell me much, apart from a lot of references to boost::shared_ptr and checked_delete.

Is calling ros::requestShutdown() from a Nodelet unsupported or is this a bug somewhere?

Problem is the crash is causing my Nodelet destructors to not be called, which makes it hard to do proper cleanup of resources.

Breaking using ctrl+c does cleanly shutdown everything and calls destructors.

Edit: @Lorenz, you're right, I should've included more info.

System: Ubuntu Lucid (10.04.3), ROS Electric from debs.

The class that calls ros::requestShutdown() does so in a callback, whether that callback is called by a subscription or as a service doesn't matter.

On second thought it seems like the Bond dtor (frame 10) tries to stop/delete some timer (frame 9) which seems to try to use the ros::TimerManager (frame 7) which might have already been stopped/destructed.


pure virtual method called
terminate called without an active exception

Program received signal SIGABRT, Aborted.
0xb7fe2424 in __kernel_vsyscall ()
(gdb) bt
#0  0xb7fe2424 in __kernel_vsyscall ()
#1  0xb785d651 in *__GI_raise (sig=6)
    at ../nptl/sysdeps/unix/sysv/linux/raise.c:64
#2  0xb7860a82 in *__GI_abort () at abort.c:92
#3  0xb7aaa52f in __gnu_cxx::__verbose_terminate_handler() ()
   from /usr/lib/
#4  0xb7aa8465 in ?? () from /usr/lib/
#5  0xb7aa84a2 in std::terminate() () from /usr/lib/
#6  0xb7aa9155 in __cxa_pure_virtual () from /usr/lib/
#7  0xb7e883fa in ros::TimerManager<ros::WallTime, ros::WallDuration, ros::WallTimerEvent>::remove(int) ()
   from /opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp/lib/
#8  0xb7ed9779 in ros::WallTimer::Impl::stop (this=0x8076730)
    at /tmp/buildd/ros-electric-ros-comm-1.6.7/debian/ros-electric-ros-comm/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp/src/libros/wall_timer.cpp:64
#9  0xb7ed9813 in ros::WallTimer::stop (this=0x806f690)
    at /tmp/buildd/ros-electric-ros-comm-1.6.7/debian/ros-electric-ros-comm/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp/src/libros/wall_timer.cpp:123
#10 0xb7f30cc3 in ~Bond (this=0x806f420, __in_chrg=<value optimised out>)
    at /tmp/buildd/ros-electric-bond-core-1.6.1/debian/ros-electric-bond-core/opt/ros/electric/stacks/bond_core/bondcpp/src/bond.cpp:91
#11 0x0804f019 in checked_delete<bond::Bond> (this=0x0)
    at /usr/include/boost/checked_delete.hpp:34
#12 boost::detail::sp_counted_impl_p<bond::Bond>::dispose (this=0x0)
    at /usr/include/boost/smart_ptr/detail/sp_counted_impl.hpp:78
#13 0xb7b17779 in boost::detail::sp_counted_base::release (this=0x80791d0, 
    __in_chrg=<value optimised out>)
    at /usr/include/boost/smart_ptr/detail/sp_counted_base_gcc_x86.hpp:145
#14 ~shared_count (this=0x80791d0, __in_chrg=<value optimised out>)
    at /usr/include/boost/smart_ptr/detail/shared_count.hpp:217
#15 ~shared_ptr (this=0x80791d0, __in_chrg=<value optimised out>)
    at /usr/include/boost/smart_ptr/shared_ptr.hpp:169
#16 boost::shared_ptr<bond::Bond>::reset (this=0x80791d0, 
    __in_chrg=<value optimised out>)
    at /usr/include/boost/smart_ptr/shared_ptr.hpp:386
#17 ~Nodelet (this=0x80791d0, __in_chrg=<value optimised ...
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Without seeing the backtrace, it's hard to say what's going wrong. Although it might not tell you much, we might be able to infer something.

Lorenz gravatar image Lorenz  ( 2012-07-27 03:11:27 -0600 )edit

1 Answer

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answered 2012-07-27 04:35:32 -0600

joq gravatar image

updated 2012-07-27 04:36:57 -0600

Nodelets are probably not supposed to call ros::requestShutdown(), but this is still a bug of some sort. Please open a defect ticket with a pointer back to this question.

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Done. ticket/4431 seems to be related.

ipso gravatar image ipso  ( 2012-07-27 05:05:15 -0600 )edit

Yes. I knew about that ticket and the lack of a clean way for a nodelet to shut itself down. Trying ros::requestShutdown() was a reasonable idea, but I think it shuts down the entire nodelet manager process (and not cleanly).

joq gravatar image joq  ( 2012-07-27 08:29:49 -0600 )edit

@joq: well in my particular case I want to take the manager with me, but it should be done cleanly (or at least: not die in a horrible crash). Seeing the other tickets it'll probably be a while before this one is picked up.

ipso gravatar image ipso  ( 2012-07-27 08:40:40 -0600 )edit

Oh, I forgot: 'this one' got ticket/5506.

ipso gravatar image ipso  ( 2012-07-27 08:42:54 -0600 )edit

You use case can probably be fixed, although well-behaved nodelets should probably avoid doing that, because they don't know what other nodelets are running in that manager process.

joq gravatar image joq  ( 2012-07-27 08:49:20 -0600 )edit

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Asked: 2012-07-27 02:59:10 -0600

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Last updated: Jul 27 '12