Comments (6)
dirk-thomas
commented on July 23, 2024
In the issue template you mention OpenSplice but the stacktrace indicates the problem happens in the package rmw_zoro_cpp. Can you please clarify.
from rclpy.
reed-lau
commented on July 23, 2024
sorry, it's our extension.
I test it on fastrtps, the same segmentfault occurs.
useful bt as follow,
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
Core was generated by `python3 talker.py'.
Program terminated with signal SIGSEGV, Segmentation fault.
#0 0x00007fa9496f96e7 in rmw_trigger_guard_condition () from /home/tusimple/ros2_bb/install/rmw_fastrtps_cpp/lib/librmw_fastrtps_cpp.so
[Current thread is 1 (Thread 0x7fa94d478700 (LWP 115401))]
(gdb) bt
#0 0x00007fa9496f96e7 in rmw_trigger_guard_condition () from /home/tusimple/ros2_bb/install/rmw_fastrtps_cpp/lib/librmw_fastrtps_cpp.so
#1 0x00007fa94b043c1a in rmw_trigger_guard_condition () from /home/tusimple/ros2_bb/install/rmw_implementation/lib/librmw_implementation.so
#2 0x00007fa94b255010 in rcl_trigger_guard_condition (guard_condition=0x2e36730) at /home/tusimple/ros2_bb/src/ros2/rcl/rcl/src/rcl/guard_condition.c:152
#3 0x00007fa94bb2aac6 in catch_function (signo=2) at /home/tusimple/ros2_bb/src/ros2/rclpy/rclpy/src/rclpy/_rclpy.c:47
#4
#5 0x00000000005228f5 in PyErr_Restore () at ../Python/errors.c:51
#6 0x000000000054a33c in builtin_hasattr_impl.isra.8 (name=, obj=) at ../Python/bltinmodule.c:1064
#7 builtin_hasattr.lto_priv () at ../Python/clinic/bltinmodule.c.h:327
#8 0x00000000004e9b7f in PyCFunction_Call () at ../Objects/methodobject.c:109
#9 0x00000000005372f4 in call_function (oparg=, pp_stack=0x7ffce7695970) at ../Python/ceval.c:4705
#10 PyEval_EvalFrameEx () at ../Python/ceval.c:3236
#11 0x0000000000540199 in _PyEval_EvalCodeWithName () at ../Python/ceval.c:4018
#12 0x000000000053bd92 in fast_function (nk=, na=, n=, pp_stack=0x7ffce7695b80, func=) at ../Python/ceval.c:4813
#13 call_function (oparg=, pp_stack=0x7ffce7695b80) at ../Python/ceval.c:4730
#14 PyEval_EvalFrameEx () at ../Python/ceval.c:3236
from rclpy.
reed-lau
commented on July 23, 2024
here opensplice version, runtime error may occur
[INFO] [talker]: Publishing: "Hello World: 0"
[INFO] [talker]: Publishing: "Hello World: 1"
[INFO] [talker]: Publishing: "Hello World: 2"
[INFO] [talker]: Publishing: "Hello World: 3"
[INFO] [talker]: Publishing: "Hello World: 4"
[INFO] [talker]: Publishing: "Hello World: 5"
[INFO] [talker]: Publishing: "Hello World: 6"
^C[rcutils|error_handling.c:89] provided allocator is invalid, error state not updated
RuntimeError: Failed to trigger guard_condition: guard condition handle is null, at /home/tusimple/ros2_bb/src/ros2/rmw_opensplice/rmw_opensplice_cpp/src/rmw_trigger_guard_condition.cpp:33
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/home/tusimple/ros2_bb/install/rclpy/lib/python3.5/site-packages/rclpy/task.py", line 206, in call
self._handler.send(None)
File "/home/tusimple/ros2_bb/install/rclpy/lib/python3.5/site-packages/rclpy/executors.py", line 297, in handler
with work_tracker:
File "/home/tusimple/ros2_bb/install/rclpy/lib/python3.5/site-packages/rclpy/executors.py", line 57, in enter
self._num_work_executing += 1
File "/usr/lib/python3.5/threading.py", line 241, in exit
return self._lock.exit(*args)
SystemError: <built-in method exit of _thread.RLock object at 0x7f6cd22865a0> returned a result with an error set
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "talker.py", line 55, in
main()
File "talker.py", line 48, in main
rclpy.spin(node)
File "/home/tusimple/ros2_bb/install/rclpy/lib/python3.5/site-packages/rclpy/init.py", line 108, in spin
executor.spin_once()
File "/home/tusimple/ros2_bb/install/rclpy/lib/python3.5/site-packages/rclpy/executors.py", line 523, in spin_once
handler()
File "/home/tusimple/ros2_bb/install/rclpy/lib/python3.5/site-packages/rclpy/task.py", line 206, in call
self._handler.send(None)
KeyboardInterrupt
from rclpy.
reed-lau
commented on July 23, 2024
opensplice version, sometime
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
Core was generated by `python3 talker.py'.
Program terminated with signal SIGSEGV, Segmentation fault.
#0 0x0000000000fb7dc0 in ?? ()
[Current thread is 1 (Thread 0x7f419d903700 (LWP 125294))]
(gdb) bt
#0 0x0000000000fb7dc0 in ?? ()
#1 0x00007f419fbe10dc in rcutils_set_error_state () from /home/tusimple/ros2_bb/install/rcutils/lib/librcutils.so
#2 0x00007f41a0209046 in rcl_trigger_guard_condition (guard_condition=0xfb7dd0) at /home/tusimple/ros2_bb/src/ros2/rcl/rcl/src/rcl/guard_condition.c:153
#3 0x00007f41a0adeac6 in catch_function (signo=2) at /home/tusimple/ros2_bb/src/ros2/rclpy/rclpy/src/rclpy/_rclpy.c:47
#4 0x00007f419e2d2c7b in ?? () from /usr/lib/libddskernel.so
#5 0x00007f419e310542 in ?? () from /usr/lib/libddskernel.so
#6 0x00007f41a20276ba in start_thread (arg=0x7f419d903700) at pthread_create.c:333
#7 0x00007f41a1d5d41d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:109
from rclpy.
dirk-thomas
commented on July 23, 2024
I can reproduce the problem on the default platform Bionic wit FastRTPS.
from rclpy.
joncppl
commented on July 23, 2024
(Built from source, bouncy bolson release (rclpy==0.5.4), on Arch Linux w/ fastrtps)
I am experiencing the same behaviour with my rclpy nodes. They segfault when I ctrl-c them. My stacktrace looks a bit different than yours though.
This also sometimes happens even to ros2 topic echo ...
PID: 3634 (ros2)
UID: 1000 (jonathan)
GID: 1000 (jonathan)
Signal: 11 (SEGV)
Timestamp: Tue 2018-10-02 01:31:54 PDT (11s ago)
Command Line: /usr/bin/python /opt/ros/ws/install/bin/ros2 topic echo /camera
Executable: /usr/bin/python3.7
Control Group: /user.slice/user-1000.slice/[email protected]/gnome-terminal-server.service
Unit: [email protected]
User Unit: gnome-terminal-server.service
Slice: user-1000.slice
Owner UID: 1000 (jonathan)
Boot ID: 6104f9e80f1d4aa4afd2f605783659eb
Machine ID: 7b0b77548ea94cefaad990e1d7fe7e1e
Hostname: MakiseLinux
Storage: /var/lib/systemd/coredump/core.ros2.1000.6104f9e80f1d4aa4afd2f605783659eb.3634.1538469114000000.lz4
Message: Process 3634 (ros2) of user 1000 dumped core.
Stack trace of thread 3634:
#0 0x00007fac3d2b21a0 n/a (_yaml.cpython-37m-x86_64-linux-gnu.so)
#1 0x00007fac3e36c5ec rcl_trigger_guard_condition (librcl.so)
#2 0x00007fac3e9289af catch_function (_rclpy.cpython-37m-x86_64-linux-gnu.so)
#3 0x00007fac40159e00 __restore_rt (libc.so.6)
#4 0x00007fac3ff717d0 _PyEval_EvalFrameDefault (libpython3.7m.so.1.0)
#5 0x00007fac3ff2ac93 n/a (libpython3.7m.so.1.0)
#6 0x00007fac3ff2b150 n/a (libpython3.7m.so.1.0)
#7 0x00007fac3fefe9d8 _PyMethodDef_RawFastCallKeywords (libpython3.7m.so.1.0)
#8 0x00007fac3fefed21 _PyCFunction_FastCallKeywords (libpython3.7m.so.1.0)
#9 0x00007fac3ff76112 _PyEval_EvalFrameDefault (libpython3.7m.so.1.0)
#10 0x00007fac3feb7f3b _PyFunction_FastCallDict (libpython3.7m.so.1.0)
#11 0x00007fac3fec7108 n/a (libpython3.7m.so.1.0)
#12 0x00007fac3fec72e9 PyObject_CallFunctionObjArgs (libpython3.7m.so.1.0)
#13 0x00007fac3fec7330 n/a (libpython3.7m.so.1.0)
#14 0x00007fac3ff6a94b _PyObject_GenericSetAttrWithDict (libpython3.7m.so.1.0)
#15 0x00007fac3ff6acd6 PyObject_SetAttr (libpython3.7m.so.1.0)
#16 0x00007fac3ff6f7f3 PyObject_SetAttrString (libpython3.7m.so.1.0)
#17 0x00007fac3ce9a613 n/a (/home/jonathan/code/ros2ws/install/lib/python3.7/site-packages/image_msg/image_msg_s__rosidl_typesupport_c.cpython-37m-x86_64-linux-gnu.so)
#18 0x00007fac3e92ef15 rclpy_take (_rclpy.cpython-37m-x86_64-linux-gnu.so)
#19 0x00007fac3fefea88 _PyMethodDef_RawFastCallKeywords (libpython3.7m.so.1.0)
#20 0x00007fac3fefed21 _PyCFunction_FastCallKeywords (libpython3.7m.so.1.0)
#21 0x00007fac3ff7689c _PyEval_EvalFrameDefault (libpython3.7m.so.1.0)
#22 0x00007fac3fefe2fb _PyFunction_FastCallKeywords (libpython3.7m.so.1.0)
#23 0x00007fac3ff71d3d _PyEval_EvalFrameDefault (libpython3.7m.so.1.0)
#24 0x00007fac3ff2b85e _PyGen_Send (libpython3.7m.so.1.0)
#25 0x00007fac3fefe9d8 _PyMethodDef_RawFastCallKeywords (libpython3.7m.so.1.0)
#26 0x00007fac3ff2a31f _PyMethodDescr_FastCallKeywords (libpython3.7m.so.1.0)
#27 0x00007fac3ff7644d _PyEval_EvalFrameDefault (libpython3.7m.so.1.0)
#28 0x00007fac3feb7f3b _PyFunction_FastCallDict (libpython3.7m.so.1.0)
#29 0x00007fac3fec6dd8 _PyObject_Call_Prepend (libpython3.7m.so.1.0)
#30 0x00007fac3ff1730f n/a (libpython3.7m.so.1.0)
#31 0x00007fac3ff2a85c _PyObject_FastCallKeywords (libpython3.7m.so.1.0)
#32 0x00007fac3ff765ba _PyEval_EvalFrameDefault (libpython3.7m.so.1.0)
#33 0x00007fac3feb6ee9 _PyEval_EvalCodeWithName (libpython3.7m.so.1.0)
#34 0x00007fac3fefe4a2 _PyFunction_FastCallKeywords (libpython3.7m.so.1.0)
#35 0x00007fac3ff72abc _PyEval_EvalFrameDefault (libpython3.7m.so.1.0)
and
PID: 23295 (python)
UID: 1000 (jonathan)
GID: 1000 (jonathan)
Signal: 11 (SEGV)
Timestamp: Tue 2018-10-02 01:23:06 PDT (14min ago)
Command Line: python ./image_sender.py
Executable: /usr/bin/python3.7
Control Group: /user.slice/user-1000.slice/[email protected]/gnome-terminal-server.service
Unit: [email protected]
User Unit: gnome-terminal-server.service
Slice: user-1000.slice
Owner UID: 1000 (jonathan)
Boot ID: 6104f9e80f1d4aa4afd2f605783659eb
Machine ID: 7b0b77548ea94cefaad990e1d7fe7e1e
Hostname: MakiseLinux
Storage: /var/lib/systemd/coredump/core.python.1000.6104f9e80f1d4aa4afd2f605783659eb.23295.1538468586000000.lz4
Message: Process 23295 (python) of user 1000 dumped core.
Stack trace of thread 23295:
#0 0x00007f5901f3325f raise (libpthread.so.0)
#1 0x00007f5901f333c0 __restore_rt (libpthread.so.0)
#2 0x00007f59012d6ab0 n/a (n/a)
#3 0x00007f590107c5ec rcl_trigger_guard_condition (librcl.so)
#4 0x00007f590109f9af catch_function (_rclpy.cpython-37m-x86_64-linux-gnu.so)
#5 0x00007f5901d94e00 __restore_rt (libc.so.6)
#6 0x00007f5901e5340b syscall (libc.so.6)
#7 0x00007f58f7ee2461 g_cond_wait (libglib-2.0.so.0)
#8 0x00007f58f7d7ea65 gst_app_sink_try_pull_sample (libgstapp-1.0.so.0)
#9 0x00007f58fc7f56c3 n/a (libopencv_videoio.so.3.4)
#10 0x00007f58fc7e499d _ZN2cv12VideoCapture4grabEv (libopencv_videoio.so.3.4)
#11 0x00007f58fc7e4a3c _ZN2cv12VideoCapture4readERKNS_12_OutputArrayE (libopencv_videoio.so.3.4)
#12 0x00007f58ffe13e9e n/a (cv2.cpython-37m-x86_64-linux-gnu.so)
#13 0x00007f5901b39bc4 _PyMethodDef_RawFastCallKeywords (libpython3.7m.so.1.0)
#14 0x00007f5901b6531f _PyMethodDescr_FastCallKeywords (libpython3.7m.so.1.0)
#15 0x00007f5901bb144d _PyEval_EvalFrameDefault (libpython3.7m.so.1.0)
#16 0x00007f5901af2f3b _PyFunction_FastCallDict (libpython3.7m.so.1.0)
#17 0x00007f5901b01dd8 _PyObject_Call_Prepend (libpython3.7m.so.1.0)
#18 0x00007f5901af366b PyObject_Call (libpython3.7m.so.1.0)
#19 0x00007f5901bae3f1 _PyEval_EvalFrameDefault (libpython3.7m.so.1.0)
#20 0x00007f5901b6685e _PyGen_Send (libpython3.7m.so.1.0)
#21 0x00007f5901badf77 _PyEval_EvalFrameDefault (libpython3.7m.so.1.0)
#22 0x00007f5901b6685e _PyGen_Send (libpython3.7m.so.1.0)
#23 0x00007f5901badf77 _PyEval_EvalFrameDefault (libpython3.7m.so.1.0)
#24 0x00007f5901b6685e _PyGen_Send (libpython3.7m.so.1.0)
#25 0x00007f5901b399d8 _PyMethodDef_RawFastCallKeywords (libpython3.7m.so.1.0)
#26 0x00007f5901b6531f _PyMethodDescr_FastCallKeywords (libpython3.7m.so.1.0)
#27 0x00007f5901bb144d _PyEval_EvalFrameDefault (libpython3.7m.so.1.0)
#28 0x00007f5901af2f3b _PyFunction_FastCallDict (libpython3.7m.so.1.0)
#29 0x00007f5901b01dd8 _PyObject_Call_Prepend (libpython3.7m.so.1.0)
#30 0x00007f5901b5230f n/a (libpython3.7m.so.1.0)
#31 0x00007f5901b6585c _PyObject_FastCallKeywords (libpython3.7m.so.1.0)
#32 0x00007f5901bb15ba _PyEval_EvalFrameDefault (libpython3.7m.so.1.0)
#33 0x00007f5901af1ee9 _PyEval_EvalCodeWithName (libpython3.7m.so.1.0)
#34 0x00007f5901b394a2 _PyFunction_FastCallKeywords (libpython3.7m.so.1.0)
#35 0x00007f5901bacb92 _PyEval_EvalFrameDefault (libpython3.7m.so.1.0)
A quick look at where it died...
#4 <signal handler called>
(gdb) down 1
#3 0x00007fac3e9289af in catch_function (signo=2) at /opt/ros/ws/src/ros2/rclpy/rclpy/src/rclpy/_rclpy.c:47
47 rcl_ret_t ret = rcl_trigger_guard_condition(g_sigint_gc_handle);
(gdb) list 47
42 /// Catch signals
43 static void catch_function(int signo)
44 {
45 (void) signo;
46 if (NULL != g_sigint_gc_handle) {
47 rcl_ret_t ret = rcl_trigger_guard_condition(g_sigint_gc_handle);
48 if (ret != RCL_RET_OK) {
49 PyErr_Format(PyExc_RuntimeError,
50 "Failed to trigger guard_condition: %s", rcl_get_error_string_safe());
51 rcl_reset_error();
from rclpy.
Related Issues (20)
- Feature Request for MultiProcessExecutor HOT 2
- async wait/sleep implementation HOT 4
- KeyError in ActionServer._execute_goal HOT 5
- [Feature] Static Type Checking With ament_mypy HOT 1
- Added optional TimerInfo to timer callback
- :farmer: `test_guard_condition` failing consisntent in CycloneDDS HOT 1
- Add utility function to get datetime.datetime from Time HOT 1
- Decode ROS2 raw byte data using rclpy.serialization.deserialize_message HOT 3
- Rate object's destroy() does not destroy the underlying Timer object, leading to CPU usage explosion HOT 6
- Update the executor to not throw ExternalShutdownException
- Make nodes, publishers, subscriptions, services, clients, action servers, action clients Python context managers
- aarch64 cross compiling HOT 9
- Executors mishandle invalid waitables HOT 4
- context.on_shutdown is never called HOT 7
- Bad interaction between `torch.compile` and `MultiThreadedExecutor` HOT 1
- First Time Contributors Documentation (CONTRIBUTING.md) HOT 2
- Python message with uint32 Assertion `PyLong_Check(field)' failed HOT 2
- Memory leak in ActionServer. ```taken_data = self._handle.take_goal_request``` HOT 4
- [Bug] error when node created with rclpy.node.Node HOT 1
- Async tasks are processed in LIFO not FIFO HOT 4
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from rclpy.