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gazebo crash after running plugin

Hi, I experienced crashes on gazebo while launching a world file. I will try to be as detailed as I can in describing my question, so bear with me.

I recently tried the updated gazebo plugin tutorial on fuerte. The intro plugin (simpleworldplugin) work well. Encouraged by that, I decided to try to adapt the plugins on gazebo website and run it on ROS.

What I first did was to roscreate a new package (gazeboplugin2) for the new plugin (model manipulation). The plugin file is exactly the same as the one on the website. Then I added "rosbuildaddlibrary(gazeboplugin2 src/ model_push.cc)" to my CMakeLists, and also the lags as described on the Ros gazebo plugin intro tutorial to the manifest.xml. I managed to rosmake the package successfully.

I then proceeded on to creating the world file, I used the world file on gazebo website and make the relevant changes to the . I used "", libgazebo_plugin2.so is what is presented in my lib folder.

In the launch file, I modified the original one by changing the first to ""

After that, I roslaunched the world file, gazebo worked and show me a box being push away. However, if i try to do something to gazebo now, like inserting a new model, gazebo will suddenly crash. Sometime it crash a few minute after running.

The following error are given

Msg Waiting for master.Msg Waiting for master
Msg Connected to gazebo master @ http://localhost:11345
[ INFO] [1347341607.591098338]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...

Msg Connected to gazebo master @ http://localhost:11345
[ INFO] [1347341610.090086163, 0.190000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1347341610.205054482, 3.170000000]: Starting to spin physics dynamic reconfigure node...
LightListWidget::OnLightMsg
/opt/ros/fuerte/stacks/simulator_gazebo/gazebo/scripts/gui: line 2:  4780 Segmentation fault      (core dumped) `rospack find gazebo`/gazebo/bin/gzclient -g `rospack find gazebo`/lib/libgazebo_ros_paths_plugin.so
[gazebo_gui-3] process has died [pid 4777, exit code 139, cmd /opt/ros/fuerte/stacks/simulator_gazebo/gazebo/scripts/gui __name:=gazebo_gui __log:=/home/chengxiang/.ros/log/34d253d0-fbd2-11e1-a984-0017c4794a79/gazebo_gui-3.log].
log file: /home/chengxiang/.ros/log/34d253d0-fbd2-11e1-a984-0017c4794a79/gazebo_gui-3*.log

Please let me know if further information is needed.Thanks in advance.

1st update:

Hi Hsu, hope the following information suffice

  1. OS: Ubuntu 12.04 LTS 64 bit
  2. Kernel version: Linux ubuntu 3.2.0-30-generic #48-Ubuntu SMP Fri Aug 24 16:52:48 UTC 2012 x8664 x8664 x86_64 GNU/Linux
  3. Graphic card : GeForce 9300M GS/PCIe/SSE2
  4. Graphic card driver : GeForce 9300M GS/PCIe/SSE2 ( same as graphic card) Experience : fallback
  5. Gazebo version: 1.6.16
  6. Backtrace (I copy the gdb launch file and roslaunch it, this is the way to get backtrace right?) 
SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion
 * /use_sim_time

NODES
  /
    gazebo (gazebo/debug)
    gazebo_gui (gazebo/gui)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[gazebo-1]: started with pid [3643]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[gazebo_gui-2]: started with pid [3646]
Gazebo multi-robot simulator, version 1.0.2
Copyright (C) 2011 Nate Koenig, John Hsu, Andrew Howard, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master
Msg Connected to gazebo master @ http://localhost:11345
GNU gdb (Ubuntu/Linaro 7.4-2012.04-0ubuntu2) 7.4-2012.04
Copyright (C) 2012 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law.  Type "show copying"
and "show warranty" for details.
This GDB was configured as "x86_64-linux-gnu".
For bug reporting instructions, please see:
<http://bugs.launchpad.net/gdb-linaro/>...
Reading symbols from /opt/ros/fuerte/stacks/simulator_gazebo/gazebo/gazebo/bin/gzserver...(no debugging symbols found)...done.
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
LightListWidget::OnLightMsg
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
Gazebo multi-robot simulator, version 1.0.2
Copyright (C) 2011 Nate Koenig, John Hsu, Andrew Howard, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffe5b73700 (LWP 3701)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
Exception [Master.cc:69] Unable to start server[Address already in use]


terminate called after throwing an instance of 'gazebo::common::Exception'

Program received signal SIGABRT, Aborted.
0x00007ffff5822445 in raise () from /lib/x86_64-linux-gnu/libc.so.6
(gdb)

2nd update

After entering thread apply all bt, it returned

Thread 2 (Thread 0x7fffe5b73700 (LWP 3701)):
#0  0x00007ffff58deb53 in epoll_wait () from /lib/x86_64-linux-gnu/libc.so.6
#1  0x00007ffff76c8564 in boost::asio::detail::epoll_reactor::run(bool, 
boost::asio::detail::op_queue<boost::asio::detail::task_io_service_operation>&) ()
   from /opt/ros/fuerte/stacks/simulator_gazebo/gazebo/gazebo
/lib/libgazebo_transport.so.1
#2  0x00007ffff76c8cee in 
boost::asio::detail::task_io_service::run(boost::system::error_code&) ()
   from /opt/ros/fuerte/stacks/simulator_gazebo/gazebo/gazebo
/lib/libgazebo_transport.so.1
#3  0x00007ffff76c92e5 in boost::asio::io_service::run() ()
   from /opt/ros/fuerte/stacks/simulator_gazebo/gazebo/gazebo
/lib/libgazebo_transport.so.1
#4  0x00007ffff6a32ce9 in thread_proxy ()
   from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff6c46e9a in start_thread ()
   from /lib/x86_64-linux-gnu/libpthread.so.0
#6  0x00007ffff58de4bd in clone () from /lib/x86_64-linux-gnu/libc.so.6
#7  0x0000000000000000 in ?? ()

---Type <return> to continue, or q <return> to quit---

3rd update

chengxiang@ubuntu:~$ roslaunch gazebo_tutorials gdb.launch
... logging to /home/chengxiang/.ros/log/f0a32d26-fcc9-11e1-ae67-0017c4794a79
/roslaunch-ubuntu-3826.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:59541/

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion
 * /use_sim_time

NODES
  /
gazebo (gazebo/debug)
gazebo_gui (gazebo/gui)

auto-starting new master
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute 
'_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7 
/threading.pyc'> ignored
process[master]: started with pid [3842]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to f0a32d26-fcc9-11e1-ae67-0017c4794a79
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute 
'_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7 
/threading.pyc'> ignored
process[rosout-1]: started with pid [3855]
started core service [/rosout]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute 
'_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7 
/threading.pyc'> ignored
process[gazebo-2]: started with pid [3869]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute 
'_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7
/threading.pyc'> ignored
process[gazebo_gui-3]: started with pid [3876]
GNU gdb (Ubuntu/Linaro 7.4-2012.04-0ubuntu2) 7.4-2012.04
Copyright (C) 2012 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law.  Type "show copying"
and "show warranty" for details.
This GDB was configured as "x86_64-linux-gnu".
For bug reporting instructions, please see:
<http://bugs.launchpad.net/gdb-linaro/>...
Reading symbols from /opt/ros/fuerte/stacks/simulator_gazebo/gazebo/gazebo
/bin/gzserver...(no debugging symbols found)...done.
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
Gazebo multi-robot simulator, version 1.0.2
Copyright (C) 2011 Nate Koenig, John Hsu, Andrew Howard, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
Msg Waiting for master.......[tcsetpgrp failed in terminal_inferior: 
Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
Gazebo multi-robot simulator, version 1.0.2
Copyright (C) 2011 Nate Koenig, John Hsu, Andrew Howard, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
.[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffe5b73700 (LWP 3927)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffe5372700 (LWP 3928)]
[New Thread 0x7fffe4b71700 (LWP 3930)]
[New Thread 0x7fffdffff700 (LWP 3931)]
[New Thread 0x7fffdf7fe700 (LWP 3932)]
[New Thread 0x7fffdeffd700 (LWP 3939)]
[New Thread 0x7fffde7fc700 (LWP 3940)]
[New Thread 0x7fffddffb700 (LWP 3941)]
Msg Waiting for master
Msg Connected to gazebo master @ http://localhost:11345
[ INFO] [1347448016.029925344]: waitForService: Service [/gazebo
/set_physics_properties] has not been advertised, waiting...
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]

[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
Msg Connected to gazebo master @ http://localhost:11345
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffc256f700 (LWP 3944)]
[New Thread 0x7fffc1d6e700 (LWP 3945)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[ INFO] [1347448018.836060187]: joint trajectory plugin missing <updateRate>, 
defaults to 0.0 (as fast as possible)
[New Thread 0x7fffc1344700 (LWP 3949)]
[New Thread 0x7fffc0b43700 (LWP 3980)]
[New Thread 0x7fffaffff700 (LWP 3981)]
[New Thread 0x7fffaf6fe700 (LWP 3984)]
[ INFO] [1347448020.603100184, 0.025000000]: waitForService: Service [/gazebo
/set_physics_properties] is now available.
[ INFO] [1347448020.745959974, 1.594000000]: Starting to spin physics dynamic 
reconfigure node...
LightListWidget::OnLightMsg

Update 4

Launch file I used with model.push plugin

<launch>
  <!-- set use_sim_time flag -->
  <param name="/use_sim_time" value="true" />
  <node name="gazebo" pkg="gazebo" type="gazebo" args="$(find 
gazebo_plugin2)/worlds/model_push.world" respawn="false" output="screen"/>
  <node name="gazebo_gui" pkg="gazebo" type="gui" respawn="false" 
output="screen"/>
</launch>

This is what i get after runnning killall and then gdb again

chengxiang@ubuntu:~$ killall -9 gzserver gzclient
gzserver: no process found
gzclient: no process found
chengxiang@ubuntu:~$ roslaunch gazebo_tutorials gdb.launch
... logging to /home/chengxiang/.ros/log/2b6d0d5a-fd8d-11e1-82f9-0017c4794a79 
/roslaunch-ubuntu-4207.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:41546/

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion
 * /use_sim_time

NODES
  /
gazebo (gazebo/debug)
gazebo_gui (gazebo/gui)

auto-starting new master
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute 
'_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7
/threading.pyc'> ignored
process[master]: started with pid [4232]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 2b6d0d5a-fd8d-11e1-82f9-0017c4794a79
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute 
'_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7
/threading.pyc'> ignored
process[rosout-1]: started with pid [4245]
started core service [/rosout]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute 
'_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7
/threading.pyc'> ignored
process[gazebo-2]: started with pid [4259]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute 
'_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7
/threading.pyc'> ignored
process[gazebo_gui-3]: started with pid [4262]
GNU gdb (Ubuntu/Linaro 7.4-2012.04-0ubuntu2) 7.4-2012.04
Copyright (C) 2012 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law.  Type "show copying"
and "show warranty" for details.
This GDB was configured as "x86_64-linux-gnu".
For bug reporting instructions, please see:
<http://bugs.launchpad.net/gdb-linaro/>...
Reading symbols from /opt/ros/fuerte/stacks/simulator_gazebo/gazebo/gazebo
/bin/gzserver...(no debugging symbols found)...done.
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
Gazebo multi-robot simulator, version 1.0.2
Copyright (C) 2011 Nate Koenig, John Hsu, Andrew Howard, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master......[tcsetpgrp failed in terminal_inferior: Inappropriate 
ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
Gazebo multi-robot simulator, version 1.0.2
Copyright (C) 2011 Nate Koenig, John Hsu, Andrew Howard, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
...[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffe5b73700 (LWP 4308)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffe5372700 (LWP 4309)]
[New Thread 0x7fffe4b71700 (LWP 4311)]
[New Thread 0x7fffdffff700 (LWP 4312)]
[New Thread 0x7fffdf7fe700 (LWP 4313)]
[New Thread 0x7fffdeffd700 (LWP 4320)]
[New Thread 0x7fffde7fc700 (LWP 4321)]
[New Thread 0x7fffddffb700 (LWP 4322)]
Msg Waiting for master
Msg Connected to gazebo master @ http://localhost:11345
[ INFO] [1347531889.470690741]: waitForService: Service [/gazebo
/set_physics_properties] has not been advertised, waiting...
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]

Msg Connected to gazebo master @ http://localhost:11345
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffc256f700 (LWP 4325)]
[New Thread 0x7fffc1d6e700 (LWP 4326)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[ INFO] [1347531897.656111737]: joint trajectory plugin missing <updateRate>, 
defaults to 0.0 (as fast as possible)
[New Thread 0x7fffc1344700 (LWP 4330)]
[New Thread 0x7fffc0b43700 (LWP 4361)]
[New Thread 0x7fffaffff700 (LWP 4362)]
[New Thread 0x7fffaf6fe700 (LWP 4365)]
[ INFO] [1347531899.784180954, 0.025000000]: waitForService: Service [/gazebo
/set_physics_properties] is now available.
[ INFO] [1347531899.879054963, 2.006000000]: Starting to spin physics dynamic  
reconfigure node...
LightListWidget::OnLightMsg

Asked by ChengXiang on 2012-09-10 20:22:02 UTC

Comments

Hi, can you provide some more information about this crash? Please see http://ros.org/wiki/simulator_gazebo/Troubleshooting, thanks.

Asked by hsu on 2012-09-11 05:37:48 UTC

at the (gdb) prompt, pleast type thread apply all bt, then hit enter. thanks!

Asked by hsu on 2012-09-11 06:45:15 UTC

Sure. May I also ask how did you format the traceback in my question to the more readable form? I don't want to trouble others to edit for me every time.

Asked by ChengXiang on 2012-09-11 06:53:17 UTC

if you try to edit your question, you should be able to see. all I did was add 4 spaces before things that should be quoted. (used vi to add the spaces).

Asked by hsu on 2012-09-11 07:01:34 UTC

Please look at the second update for what happened after I enter thread apply all bt. In addition, when i tried to roslaunch the gdb. launch again, a different outcome occurred with no gdb prompt. It is shown in the 3rd update.

Asked by ChengXiang on 2012-09-12 01:39:24 UTC

Looking back, I missed the part that says "Exception [Master.cc:69] Unable to start server[Address already in use]", this usually means another instance of gazebo is running. Try this, "killall -9 gzserver gzclient", then relaunch. Also, plz post your launch file. thanks.

Asked by hsu on 2012-09-12 05:27:18 UTC

For the 3rd update, I shut down and on my PC again before I roslaunched gdb.launch, so i don't think there is another instance of gazebo running. The gdb.launch file is the example gdb launch file on http://ros.org/wiki/simulator_gazebo/Troubleshooting.

Asked by ChengXiang on 2012-09-13 00:38:13 UTC

For the launch file i used in my plugin, please see update 4.

Asked by ChengXiang on 2012-09-13 00:38:56 UTC

Answers

Hi

I have similar issue. I believe this happens when you purposefully shutdown the load up sequence using ctrl-c. Or, while loading you close the terminal window.

Here is the debug info:

roslaunch simBotUnicycle simBotEmptyWorld.launch 
... logging to /home/sid-ros/.ros/log/fa892870-22a5-11e2-b62b-e0b9a546c315/roslaunch-sidros-G53SW-28253.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://sidros-G53SW:39098/

SUMMARY
========

PARAMETERS
 * /robot_description
 * /robot_pose_ekf/freq
 * /robot_pose_ekf/imu_used
 * /robot_pose_ekf/odom_used
 * /robot_pose_ekf/publish_tf
 * /robot_pose_ekf/sensor_timeout
 * /robot_pose_ekf/vo_used
 * /robot_state_publisher/publish_frequency
 * /robot_state_publisher/tf_prefix
 * /rosdistro
 * /rosversion
 * /use_sim_time

NODES
  /
    gazebo (gazebo/debug)
    gazebo_gui (gazebo/gui)
    robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)
    robot_state_publisher (robot_state_publisher/state_publisher)
    spawn_robot (gazebo/spawn_model)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[gazebo-1]: started with pid [28276]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[gazebo_gui-2]: started with pid [28287]
GNU gdb (Ubuntu/Linaro 7.4-2012.04-0ubuntu2) 7.4-2012.04
Copyright (C) 2012 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law.  Type "show copying"
and "show warranty" for details.
This GDB was configured as "x86_64-linux-gnu".
For bug reporting instructions, please see:
<http://bugs.launchpad.net/gdb-linaro/>...
Reading symbols from /opt/ros/fuerte/stacks/simulator_gazebo/gazebo/gazebo/bin/gzserver...Gazebo multi-robot simulator, version 1.0.2
Copyright (C) 2011 Nate Koenig, John Hsu, Andrew Howard, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

(no debugging symbols found)...done.
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[spawn_robot-3]: started with pid [28292]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[robot_state_publisher-4]: started with pid [28296]
[ WARN] [1351611279.372161513]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[robot_pose_ekf-5]: started with pid [28323]
Msg Waiting for master
Msg Connected to gazebo master @ http://localhost:11345
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[ INFO] [1351611279.675777569, 1419.993000000]: Initializing Odom sensor
[ INFO] [1351611279.675847860, 1419.993000000]: Odom sensor activated
[ INFO] [1351611279.685996360, 1420.015000000]: Initializing Imu sensor
[ INFO] [1351611279.686059671, 1420.015000000]: Imu sensor activated
[ INFO] [1351611279.690917444, 1420.027000000]: Kalman filter initialized with odom measurement
loading model xml from ros parameter
[INFO] [WallTime: 1351611279.742841] [0.000000] waiting for service /gazebo/spawn_urdf_model
Service call failed: transport error completing service call: unable to receive data from sender, check sender's logs for details
[spawn_robot-3] process has finished cleanly
log file: /home/sid-ros/.ros/log/fa892870-22a5-11e2-b62b-e0b9a546c315/spawn_robot-3*.log
LightListWidget::OnLightMsg
LightListWidget::OnLightMsg
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
Gazebo multi-robot simulator, version 1.0.2
Copyright (C) 2011 Nate Koenig, John Hsu, Andrew Howard, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffe6e67700 (LWP 28446)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
Exception [Master.cc:69] Unable to start server[Address already in use]


terminate called after throwing an instance of 'gazebo::common::Exception'

Program received signal SIGABRT, Aborted.
0x00007ffff5820425 in raise () from /lib/x86_64-linux-gnu/libc.so.6
(gdb) thread apply all bt

Thread 2 (Thread 0x7fffe6e67700 (LWP 28446)):
#0  0x00007ffff58de353 in epoll_wait () from /lib/x86_64-linux-gnu/libc.so.6
#1  0x00007ffff76c8564 in boost::asio::detail::epoll_reactor::run(bool, boost::asio::detail::op_queue<boost::asio::detail::task_io_service_operation>&) ()
   from /opt/ros/fuerte/stacks/simulator_gazebo/gazebo/gazebo/lib/libgazebo_transport.so.1
#2  0x00007ffff76c8cee in boost::asio::detail::task_io_service::run(boost::system::error_code&) ()
   from /opt/ros/fuerte/stacks/simulator_gazebo/gazebo/gazebo/lib/libgazebo_transport.so.1
#3  0x00007ffff76c92e5 in boost::asio::io_service::run() ()
   from /opt/ros/fuerte/stacks/simulator_gazebo/gazebo/gazebo/lib/libgazebo_transport.so.1
#4  0x00007ffff6a32ce9 in thread_proxy ()
   from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff6c46e9a in start_thread ()
   from /lib/x86_64-linux-gnu/libpthread.so.0
#6  0x00007ffff58ddcbd in clone () from /lib/x86_64-linux-gnu/libc.so.6
#7  0x0000000000000000 in ?? ()

Thread 1 (Thread 0x7ffff7fbd800 (LWP 28291)):
#0  0x00007ffff5820425 in raise () from /lib/x86_64-linux-gnu/libc.so.6
---Type <return> to continue, or q <return> to quit---
#1  0x00007ffff5823b8b in abort () from /lib/x86_64-linux-gnu/libc.so.6
#2  0x00007ffff5e7669d in __gnu_cxx::__verbose_terminate_handler() ()
   from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#3  0x00007ffff5e74846 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#4  0x00007ffff5e74873 in std::terminate() ()
   from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#5  0x00007ffff5e7496e in __cxa_throw ()
   from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#6  0x000000000042b79e in gazebo::Master::Init(unsigned short) ()
#7  0x0000000000420f27 in gazebo::Server::Load(std::string const&) ()
#8  0x00000000004228e0 in gazebo::Server::ParseArgs(int, char**) ()
#9  0x000000000041d79d in main ()
(gdb)

Asked by siddahuja on 2012-10-30 05:37:56 UTC

Comments

Hi.But in my case gazebo crashes while running.

Asked by ChengXiang on 2012-10-30 05:54:39 UTC