Hello,
I am using the warehouse.sdf model within the [turltebot4 simulator](TurtleBot 4 Simulator · User Manual) in designing a navigation mission. However, after moving the simulated robot around a bit, I am constantly facing this segmentation fault. The stack trace is shown below.
Will really appreciate a solution or mitigation strategy to this problem which is breaking my workflow a lot.
My system is as follows
- Ryzen 3600X
- RAM: 32GB
- GPU: RTX 3080
- ROS 2 Jazzy
- Gazebo Harmonic (or Jetty, I recall installing Jetty): v 8.10.0
[INFO] [spawner-46]: process has finished cleanly [pid 177852]
[gazebo-1] [Dbg] [Lidar.cc:139] Laser scans for [turtlebot4::ir_intensity_left::ir_intensity_left] advertised on [world/warehouse/model/turtlebot4/link/ir_intensity_left/sensor/ir_intensity_left/scan]
[gazebo-1] [Dbg] [GpuLidarSensor.cc:164] Lidar points for [turtlebot4::ir_intensity_left::ir_intensity_left] advertised on [world/warehouse/model/turtlebot4/link/ir_intensity_left/sensor/ir_intensity_left/scan/points]
[gazebo-1] [Dbg] [Lidar.cc:139] Laser scans for [turtlebot4::ir_intensity_right::ir_intensity_right] advertised on [world/warehouse/model/turtlebot4/link/ir_intensity_right/sensor/ir_intensity_right/scan]
[gazebo-1] [Dbg] [GpuLidarSensor.cc:164] Lidar points for [turtlebot4::ir_intensity_right::ir_intensity_right] advertised on [world/warehouse/model/turtlebot4/link/ir_intensity_right/sensor/ir_intensity_right/scan/points]
[gazebo-1] [Dbg] [Lidar.cc:139] Laser scans for [turtlebot4::ir_intensity_side_left::ir_intensity_side_left] advertised on [world/warehouse/model/turtlebot4/link/ir_intensity_side_left/sensor/ir_intensity_side_left/scan]
[gazebo-1] [Dbg] [GpuLidarSensor.cc:164] Lidar points for [turtlebot4::ir_intensity_side_left::ir_intensity_side_left] advertised on [world/warehouse/model/turtlebot4/link/ir_intensity_side_left/sensor/ir_intensity_side_left/scan/points]
[gazebo-1] [Dbg] [Lidar.cc:139] Laser scans for [turtlebot4::rplidar_link::rplidar] advertised on [world/warehouse/model/turtlebot4/link/rplidar_link/sensor/rplidar/scan]
[gazebo-1] [Dbg] [GpuLidarSensor.cc:164] Lidar points for [turtlebot4::rplidar_link::rplidar] advertised on [world/warehouse/model/turtlebot4/link/rplidar_link/sensor/rplidar/scan/points]
[turtlebot4_node-30] [INFO] [1774281817.639876858] [turtlebot4_node]: Undocking
[turtlebot4_node-30] [INFO] [1774281817.639912526] [turtlebot4_node]: Waiting for undock action server
[turtlebot4_node-30] [INFO] [1774281818.640242023] [turtlebot4_node]: undock action server available, sending goal
[motion_control-35] [INFO] [1774281818.640479997] [motion_control]: Received new undock goal
[turtlebot4_node-30] [INFO] [1774281818.640686220] [turtlebot4_node]: undock goal accepted by server, waiting for result
[turtlebot4_node-30] [INFO] [1774281818.910212038] [turtlebot4_node]: OAKD started
[turtlebot4_node-30] [INFO] [1774281818.910258938] [turtlebot4_node]: RPLIDAR started
[motion_control-35] [INFO] [1774281828.155454296] [motion_control]: Undock Goal Succeeded
[turtlebot4_node-30] [INFO] [1774281828.155735091] [turtlebot4_node]: undock goal succeeded
[turtlebot4_node-30] [ERROR] [1774281842.940644214] [turtlebot4_node]: Service stop_motor unavailable.
[turtlebot4_node-30] [ERROR] [1774281842.950826545] [turtlebot4_node]: Service oakd/stop_camera unavailable.
[turtlebot4_node-30] [ERROR] [1774281848.920387531] [turtlebot4_node]: Service oakd/start_camera unavailable.
[turtlebot4_node-30] [ERROR] [1774281848.930531640] [turtlebot4_node]: Service start_motor unavailable.
[gazebo-1] Stack trace (most recent call last) in thread 177822:
[gazebo-1] #18 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in
[gazebo-1] #17 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x74a29ef29c6b, in
[gazebo-1] #16 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x74a29ee9caa3, in
[gazebo-1] #15 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x74a297cdb673, in
[gazebo-1] #14 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x74a297cda36a, in QThread::exec()
[gazebo-1] #13 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x74a297ed6a7a, in QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>)
[gazebo-1] #12 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x74a297f35278, in QEventDispatcherGlib::processEvents(QFlags<QEventLoop::ProcessEventsFlag>)
[gazebo-1] #11 Object "/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x74a296d13a22, in g_main_context_iteration
[gazebo-1] #10 Object "/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x74a296d73976, in
[gazebo-1] #9 Object "/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x74a296d14584, in
[gazebo-1] #8 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x74a297f35c0e, in
[gazebo-1] #7 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x74a297edb94a, in QCoreApplicationPrivate::sendPostedEvents(QObject*, int, QThreadData*)
[gazebo-1] #6 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x74a297ed8117, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
[gazebo-1] #5 Object "/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x74a29756bd44, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
[gazebo-1] #4 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x74a297f06342, in QObject::event(QEvent*)
[gazebo-1] #3 Object "/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libMinimalScene.so", at 0x74a260683d4b, in gz::gui::plugins::RenderThread::RenderNext(gz::gui::plugins::RenderSync*)
[gazebo-1] #2 Object "/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libMinimalScene.so", at 0x74a260697506, in gz::gui::plugins::RenderThreadRhiOpenGL::RenderNext(gz::gui::plugins::RenderSync*)
[gazebo-1] #1 Object "/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libMinimalScene.so", at 0x74a260687ae2, in gz::gui::plugins::GzRenderer::Render(gz::gui::plugins::RenderSync*, gz::gui::plugins::RenderThreadRhi&)
[gazebo-1] #0 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x74a297ed8088, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
[gazebo-1] Segmentation fault (Address not mapped to object [0x8])
[INFO] [gazebo-1]: process has finished cleanly [pid 177003]
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[static_transform_publisher-45] [INFO] [1774282002.486575380] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[INFO] [parameter_bridge-25]: process has finished cleanly [pid 177028]
[INFO] [parameter_bridge-16]: process has finished cleanly [pid 177019]
[INFO] [parameter_bridge-24]: process has finished cleanly [pid 177027]
[INFO] [parameter_bridge-12]: process has finished cleanly [pid 177015]
[INFO] [parameter_bridge-22]: process has finished cleanly [pid 177025]
[INFO] [parameter_bridge-28]: process has finished cleanly [pid 177031]
[INFO] [parameter_bridge-14]: process has finished cleanly [pid 177017]
[INFO] [parameter_bridge-15]: process has finished cleanly [pid 177018]
[INFO] [parameter_bridge-27]: process has finished cleanly [pid 177030]
[INFO] [parameter_bridge-10]: process has finished cleanly [pid 177013]
[INFO] [parameter_bridge-13]: process has finished cleanly [pid 177016]
[wheel_status_publisher-36] [INFO] [1774282002.486579097] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[INFO] [parameter_bridge-23]: process has finished cleanly [pid 177026]
[INFO] [parameter_bridge-11]: process has finished cleanly [pid 177014]
[INFO] [parameter_bridge-2]: process has finished cleanly [pid 177004]
[sensors_node-42] [INFO] [1774282002.486575420] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[INFO] [parameter_bridge-26]: process has finished cleanly [pid 177029]
[INFO] [parameter_bridge-21]: process has finished cleanly [pid 177024]
[INFO] [parameter_bridge-18]: process has finished cleanly [pid 177021]
[INFO] [parameter_bridge-20]: process has finished cleanly [pid 177023]
[INFO] [parameter_bridge-19]: process has finished cleanly [pid 177022]
[INFO] [parameter_bridge-29]: process has finished cleanly [pid 177034]
[INFO] [parameter_bridge-9]: process has finished cleanly [pid 177012]
[pose_republisher_node-41] [INFO] [1774282002.486575380] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[motion_control-35] [INFO] [1774282002.486591651] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[parameter_bridge-28] [INFO] [1774282002.486605617] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[parameter_bridge-29] [INFO] [1774282002.486603223] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[parameter_bridge-12] [INFO] [1774282002.486657306] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[parameter_bridge-18] [INFO] [1774282002.486660903] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[static_transform_publisher-44] [INFO] [1774282002.486843801] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[turtlebot4_node-30] [INFO] [1774282002.486870232] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[parameter_bridge-22] [INFO] [1774282002.486960885] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[turtlebot4_gz_hmi_node-31] [INFO] [1774282002.486993437] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[mock_publisher-37] [INFO] [1774282002.487003616] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[interface_buttons_node-43] [INFO] [1774282002.487074832] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[parameter_bridge-2] [INFO] [1774282002.487169593] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[kidnap_estimator_publisher-39] [INFO] [1774282002.487181615] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[parameter_bridge-10] [INFO] [1774282002.487184912] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[parameter_bridge-9] [INFO] [1774282002.487419148] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[static_transform_publisher-6] [INFO] [1774282002.487500193] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[robot_state-38] [INFO] [1774282002.487564265] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[ui_mgr-40] [INFO] [1774282002.487569555] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[parameter_bridge-23] [INFO] [1774282002.487690145] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[parameter_bridge-19] [INFO] [1774282002.487707889] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[robot_state_publisher-5] [INFO] [1774282002.487915505] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[parameter_bridge-25] [INFO] [1774282002.488017439] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[robot_state_publisher-3] [INFO] [1774282002.488148809] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[parameter_bridge-15] [INFO] [1774282002.488193675] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[parameter_bridge-20] [INFO] [1774282002.488318403] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[parameter_bridge-24] [INFO] [1774282002.488339283] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[parameter_bridge-17] [INFO] [1774282002.488412021] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[parameter_bridge-17] corrupted double-linked list
[ir_intensity_vector_publisher-34] [INFO] [1774282002.488762529] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[parameter_bridge-14] [INFO] [1774282002.488793519] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[parameter_bridge-27] [INFO] [1774282002.489423399] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[hazards_vector_publisher-33] [INFO] [1774282002.489520364] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[parameter_bridge-16] [INFO] [1774282002.489999107] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[parameter_bridge-26] [INFO] [1774282002.490320399] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[parameter_bridge-13] [INFO] [1774282002.490720552] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[parameter_bridge-21] [INFO] [1774282002.490827476] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[parameter_bridge-11] [INFO] [1774282002.491773960] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[INFO] [static_transform_publisher-45]: process has finished cleanly [pid 177107]
[INFO] [robot_state_publisher-3]: process has finished cleanly [pid 177006]
[INFO] [static_transform_publisher-44]: process has finished cleanly [pid 177106]
[INFO] [kidnap_estimator_publisher-39]: process has finished cleanly [pid 177065]
[INFO] [mock_publisher-37]: process has finished cleanly [pid 177050]
[INFO] [robot_state-38]: process has finished cleanly [pid 177051]
[INFO] [static_transform_publisher-6]: process has finished cleanly [pid 177009]
[INFO] [ui_mgr-40]: process has finished cleanly [pid 177066]
[INFO] [wheel_status_publisher-36]: process has finished cleanly [pid 177047]
[INFO] [interface_buttons_node-43]: process has finished cleanly [pid 177103]
[INFO] [turtlebot4_gz_hmi_node-31]: process has finished cleanly [pid 177038]
[INFO] [pose_republisher_node-41]: process has finished cleanly [pid 177073]
[INFO] [robot_state_publisher-5]: process has finished cleanly [pid 177008]
[INFO] [ir_intensity_vector_publisher-34]: process has finished cleanly [pid 177042]
[INFO] [hazards_vector_publisher-33]: process has finished cleanly [pid 177041]
[ERROR] [parameter_bridge-17]: process has died [pid 177020, exit code -6, cmd '/opt/ros/jazzy/lib/ros_gz_bridge/parameter_bridge /world/warehouse/model/turtlebot4/link/ir_intensity_front_center_left/sensor/ir_intensity_front_center_left/scan@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan --ros-args -r __node:=ir_intensity_front_center_left_bridge -r __ns:=/ --params-file /tmp/launch_params_nwjtfm56 -r /world/warehouse/model/turtlebot4/link/ir_intensity_front_center_left/sensor/ir_intensity_front_center_left/scan:=_internal/ir_intensity_front_center_left/scan'].
[INFO] [sensors_node-42]: process has finished cleanly [pid 177088]
[INFO] [joint_state_publisher-4]: process has finished cleanly [pid 177007]
[INFO] [motion_control-35]: process has finished cleanly [pid 177043]
[ERROR] [turtlebot4_node-30]: process[turtlebot4_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [turtlebot4_node-30]: sending signal 'SIGTERM' to process[turtlebot4_node-30]
[ERROR] [turtlebot4_node-30]: process has died [pid 177037, exit code -15, cmd '/opt/ros/jazzy/lib/turtlebot4_node/turtlebot4_node --ros-args -r __node:=turtlebot4_node -r __ns:=/ --params-file /home/az-dev/inl_dev_sim_ws/install/turtlebot4_gz_bringup/share/turtlebot4_gz_bringup/config/turtlebot4_node.yaml --params-file /tmp/launch_params_q9eeckdv'].