Comments (7)
roncapat
commented on June 24, 2024
1
It may be curious to understand where the message gets created by rclcpp during conversion (stack or heap) and if the issue happens on different machines or architectures at the same size boundary. Another thing is: has anyone tried to do a dycotomic research between 1Mb & 2Mb to find the exact spot things start to break?
from rclcpp.
thomasmoore-torc
commented on June 24, 2024
1
This is likely being caused because the ROSMessageType is being allocated on the stack in the Publisher::publish() methods:
rclcpp/rclcpp/include/rclcpp/publisher.hpp
Lines 324 to 326 in c500695
rclcpp/rclcpp/include/rclcpp/publisher.hpp
Lines 374 to 377 in c500695
The safe thing would be to allocate the message on the heap:
auto ros_msg = create_ros_message_unique_ptr();
rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(*msg, *ros_msg);
return this->do_inter_process_publish(*ros_msg);
However, it would probably be good to have a similar TODO as in AnySubscriptionCallback::dispatch() to allow small messages to be allocated on the stack:
rclcpp/rclcpp/include/rclcpp/any_subscription_callback.hpp
Lines 535 to 539 in c500695
Even better would be for the option to create on the stack or heap to be configurable.
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Zard-C
commented on June 24, 2024
Hi, imo
- the version of ROS2(rolling? iron?)
- if possible, use gdb to located where it crashed.
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allbluelai
commented on June 24, 2024
Hello, @Zard-C
Hi, imo
- the version of ROS2(rolling? iron?)
Apologies for not mentioning the version. I run the code in ROS2 Humble.
- if possible, use gdb to located where it crashed.
It crashes when it calls publish().
some gdb info:
$ ros2 run --prefix 'gdb -ex run --args' topics pub
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Reading symbols from /home/john/Documents/test_share/install/topics/lib/topics/pub...
Starting program: /home/john/Documents/test_share/install/topics/lib/topics/pub
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7ffff57ff640 (LWP 8092)]
[New Thread 0x7ffff4ffe640 (LWP 8093)]
[New Thread 0x7ffff47fd640 (LWP 8094)]
[New Thread 0x7ffff3ffc640 (LWP 8095)]
[New Thread 0x7ffff37fb640 (LWP 8096)]
[New Thread 0x7ffff2ffa640 (LWP 8097)]
[New Thread 0x7ffff27f9640 (LWP 8098)]
[New Thread 0x7ffff1f38640 (LWP 8099)]
[New Thread 0x7ffff1737640 (LWP 8100)]
Thread 1 "pub" received signal SIGSEGV, Segmentation fault.
0x00005555555b8908 in rclcpp::Publisher<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<void> >::publish<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > (this=<error reading variable: Cannot access memory at address 0x7fffff7f13b8>, msg=<error reading variable: Cannot access memory at address 0x7fffff7f13b0>) at /home/john/ros2_humble/install/rclcpp/include/rclcpp/rclcpp/publisher.hpp:364
364 publish(const T & msg)
(gdb) bt
#0 0x00005555555b8908 in rclcpp::Publisher<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<void> >::publish<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >
(
this=<error reading variable: Cannot access memory at address 0x7fffff7f13b8>,
msg=<error reading variable: Cannot access memory at address 0x7fffff7f13b0>)
at /home/john/ros2_humble/install/rclcpp/include/rclcpp/rclcpp/publisher.hpp:364
#1 0x00005555555b5f77 in MinimalPublisher::MinimalPublisher()::{lambda()#1}::operator()() const (__closure=0x5555558ece80)
at /home/john/Documents/test_share/src/topics/src/pub.cpp:20
#2 0x00005555555db20a in rclcpp::GenericTimer<MinimalPublisher::MinimalPublisher()::{lambda()#1}, (void*)0>::execute_callback_delegate<MinimalPublisher::MinimalPublisher()::{lambda()#1}, (void*)0>() (this=0x5555558ece50)
at /home/john/ros2_humble/install/rclcpp/include/rclcpp/rclcpp/timer.hpp:244
#3 0x00005555555da5bd in rclcpp::GenericTimer<MinimalPublisher::MinimalPublisher()::{lambda()#1}, (void*)0>::execute_callback() (this=0x5555558ece50)
at /home/john/ros2_humble/install/rclcpp/include/rclcpp/rclcpp/timer.hpp:230
#4 0x00007ffff7be33e7 in rclcpp::Executor::execute_timer(std::shared_ptr<rclcpp::TimerBase>) () from /home/john/ros2_humble/install/rclcpp/lib/librclcpp.so
--Type <RET> for more, q to quit, c to continue without paging--
#5 0x00007ffff7be1e19 in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&) () from /home/john/ros2_humble/install/rclcpp/lib/librclcpp.so
#6 0x00007ffff7bf2e81 in rclcpp::executors::SingleThreadedExecutor::spin() ()
from /home/john/ros2_humble/install/rclcpp/lib/librclcpp.so
#7 0x00007ffff7bf0355 in rclcpp::spin(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>) ()
from /home/john/ros2_humble/install/rclcpp/lib/librclcpp.so
#8 0x00007ffff7bf0482 in rclcpp::spin(std::shared_ptr<rclcpp::Node>) ()
from /home/john/ros2_humble/install/rclcpp/lib/librclcpp.so
#9 0x00005555555b2748 in main (argc=1, argv=0x7fffffff1ba8)
at /home/john/Documents/test_share/src/topics/src/pub.cpp:36from rclcpp.
fujitatomoya
commented on June 24, 2024
this can be reproducible with mainline rolling branch. as reported, with 1MB data, this works okay but 2MB.
[Current thread is 1 (Thread 0x7f4736c2e680 (LWP 423640))]
(gdb) bt
#0 0x000055b12dd539b8 in rclcpp::Publisher<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<void> >::publish<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > (
this=<error reading variable: Cannot access memory at address 0x7ffddbdcbbc8>,
msg=<error reading variable: Cannot access memory at address 0x7ffddbdcbbc0>)
at /root/ros2_ws/colcon_ws/install/rclcpp/include/rclcpp/rclcpp/publisher.hpp:340
#1 0x000055b12dd512f9 in MinimalPublisher::MinimalPublisher()::{lambda()#1}::operator()() const (__closure=0x55b12f9b9348)
at /root/ros2_ws/colcon_ws/src/ros2/ros2_test_prover/prover_rclcpp/src/rclcpp_2417_pub.cpp:20
...
(gdb) frame 1
#1 0x000055b12dd512f9 in MinimalPublisher::MinimalPublisher()::{lambda()#1}::operator()() const (__closure=0x55b12f9b9348)
at /root/ros2_ws/colcon_ws/src/ros2/ros2_test_prover/prover_rclcpp/src/rclcpp_2417_pub.cpp:20
20 this->publisher_->publish(name);
(gdb) print name
$1 = "myName"
(gdb) whatis this
type = MinimalPublisher * const
(gdb) whatis publisher_
type = rclcpp::Publisher<std::string, std::allocator<void> >::SharedPtrit seems to be okay before calling rclcpp::Publisher, right after the function call, memory is corrupted?
from rclcpp.
roncapat
commented on June 24, 2024
Spotted then ;) It is something that needs to be avoided IMHO.
from rclcpp.
audrow
commented on June 24, 2024
Perhaps this could be fixed by using a shared or unique pointer, like is done in other locations?
rclcpp/rclcpp/include/rclcpp/publisher.hpp
Lines 333 to 339 in 091f29f
from rclcpp.
Related Issues (20)
- TimersManager doesn't follow ROS time HOT 2
- rclcpp_action: Provide enum class return ClientGoalHandle::get_status
- Callback works on Galactic but fails on Rolling - handle_message is not implemented for GenericSubscription HOT 1
- Clang warning: ordered comparison of function pointers (Rolling) HOT 1
- `-fanalyzer` warning: possible null dereference when using TypeAdapters HOT 4
- leak due to std::shared_ptr circular reference between Context and GuardCondition HOT 3
- :farmer: `rclcpp.test_executors` failing in Rolling and Jammy CycloneDDS HOT 1
- rclcpp::Time(int64_t nanoseconds, ...) should check for negative time
- Regression : Executor::spin_some_impl is active waiting HOT 5
- Parameter service behavior is inconsistent with the documentation of rcl_interfaces HOT 9
- Lifecycle destructor calls shutdown while in shuttingdown intermediate state HOT 45
- Backport PR2063 to Humble for Windows HOT 2
- Executor callbacks are no longer in a predictable order HOT 25
- '/clock' Topic cannot change each loop step time from simulation time HOT 10
- Program exits with code -11 when using async_send_request to set parameters in ROS 2 C++ client HOT 1
- Timer callbacks can be delayed when using simulation time HOT 2
- Possible regression in rcl preshutdown callbacks - context invalid? HOT 10
- Shutdown transition on base lifecycle node dtor may lead to segaults on subclass-registered shutdown callback HOT 6
- `on_shutdown` callback not called when `shutdown` transition is triggered on dtor HOT 2
- ABI/API Compliance Checker in github workflow HOT 2
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