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Multiple Lidar Instances Crash when spawned #370

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retinfai opened this issue Jul 31, 2023 · 2 comments
Closed

Multiple Lidar Instances Crash when spawned #370

retinfai opened this issue Jul 31, 2023 · 2 comments
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@azeey
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@retinfai
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Environment

  • OS Version: Ubuntu Jammy
  • Source build: commit 28089ab

Description

Expected behavior:

The simulation doesn't crash

A key thing to note here, is that the simulation crashes when trying to spawn two lidar instances (robots with lidar).

When the two lidar instances are a part of the world being launched - there is no problem here.
This situation is very similar to an issue I brought up about the gazebo reset: gazebosim/gz-sim#1904

Same situation where the crash happens when spawning the robot in but works fine when a part of the world sdf; I think this points to some sort of difference in handling the systems/sensors when it's being dynamically produced.

Actual Behaviour

The simulation Crashed

Steps to reproduce

Here is the car.sdf

<?xml version="1.0" ?>

<sdf version="1.6">
	<model name='vehicle_blue'>
	<pose>0 2 0.325 0 -0 0</pose>
        <link name="link">
        <pose>0.05 0.05 0.05 0 0 0</pose>
        <inertial>
          <mass>0.1</mass>
          <inertia>
            <ixx>0.000166667</ixx>
            <iyy>0.000166667</iyy>
            <izz>0.000166667</izz>
          </inertia>
        </inertial>
        <collision name="collision">
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </visual>

        <sensor name='gpu_lidar' type='gpu_lidar'>
          <topic>/lidar</topic>
          <update_rate>10</update_rate>
          <lidar>
            <scan>
              <horizontal>
                <samples>640</samples>
                <resolution>1</resolution>
                <min_angle>-1.396263</min_angle>
                <max_angle>1.396263</max_angle>
              </horizontal>
              <vertical>
                <samples>16</samples>
                <resolution>1</resolution>
                <min_angle>-0.261799</min_angle>
                <max_angle>0.261799</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.08</min>
              <max>10.0</max>
              <resolution>0.01</resolution>
            </range>
          </lidar>
          <alwaysOn>1</alwaysOn>
          <visualize>true</visualize>
          
        </sensor>
      </link>
      <link name='chassis'>
        <pose>-0.151427 -0 0.175 0 -0 0</pose>
        <inertial>
          <mass>1.14395</mass>
          <inertia>
            <ixx>0.126164</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.416519</iyy>
            <iyz>0</iyz>
            <izz>0.481014</izz>
          </inertia>
        </inertial>
        <visual name='visual'>
          <geometry>
            <box>
              <size>2.01142 1 0.568726</size>
            </box>
          </geometry>
          <material>
            <ambient>0.5 0.5 1.0 1</ambient>
            <diffuse>0.5 0.5 1.0 1</diffuse>
            <specular>0.0 0.0 1.0 1</specular>
          </material>
        </visual>
        <collision name='collision'>
          <geometry>
            <box>
              <size>2.01142 1 0.568726</size>
            </box>
          </geometry>
        </collision>
      </link>

      <link name='front_left_wheel'>
        <pose>0.554283 0.625029 -0.025 -1.5707 0 0</pose>
        <inertial>
          <mass>2</mass>
          <inertia>
            <ixx>0.145833</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.145833</iyy>
            <iyz>0</iyz>
            <izz>0.125</izz>
          </inertia>
        </inertial>
        <visual name='visual'>
          <geometry>
            <cylinder>
              <length>0.15</length>
              <radius>0.3</radius>
            </cylinder>
          </geometry>
          <material>
            <ambient>0.2 0.2 0.2 1</ambient>
            <diffuse>0.2 0.2 0.2 1</diffuse>
            <specular>0.2 0.2 0.2 1</specular>
          </material>
        </visual>
        <collision name='collision'>
          <geometry>
            <cylinder>
              <length>0.15</length>
              <radius>0.3</radius>
            </cylinder>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.5</mu>
                <mu2>1.0</mu2>
                <fdir1>0 0 1</fdir1>
              </ode>
              <bullet>
                <friction>0.5</friction>
                <friction2>1</friction2>
                <rolling_friction>0.1</rolling_friction>
              </bullet>
            </friction>
          </surface>
        </collision>
      </link>

      <link name='rear_left_wheel'>
        <pose>-0.957138 0.625029 -0.025 -1.5707 0 0</pose>
        <inertial>
          <mass>2</mass>
          <inertia>
            <ixx>0.145833</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.145833</iyy>
            <iyz>0</iyz>
            <izz>0.125</izz>
          </inertia>
        </inertial>
        <visual name='visual'>
          <geometry>
            <cylinder>
              <length>0.15</length>
              <radius>0.3</radius>
            </cylinder>
          </geometry>
          <material>
            <ambient>0.2 0.2 0.2 1</ambient>
            <diffuse>0.2 0.2 0.2 1</diffuse>
            <specular>0.2 0.2 0.2 1</specular>
          </material>
        </visual>
        <collision name='collision'>
          <geometry>
            <cylinder>
              <length>0.15</length>
              <radius>0.3</radius>
            </cylinder>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.5</mu>
                <mu2>1.0</mu2>
                <fdir1>0 0 1</fdir1>
              </ode>
              <bullet>
                <friction>0.5</friction>
                <friction2>1</friction2>
                <rolling_friction>0.5</rolling_friction>
              </bullet>
            </friction>
          </surface>
        </collision>
      </link>

      <link name='front_right_wheel'>
        <pose>0.554282 -0.625029 -0.025 -1.5707 0 0</pose>
        <inertial>
          <mass>2</mass>
          <inertia>
            <ixx>0.145833</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.145833</iyy>
            <iyz>0</iyz>
           <izz>0.125</izz>
          </inertia>
        </inertial>
        <visual name='visual'>
          <geometry>
            <cylinder>
              <length>0.15</length>
              <radius>0.3</radius>
            </cylinder>
          </geometry>
          <material>
            <ambient>0.2 0.2 0.2 1</ambient>
            <diffuse>0.2 0.2 0.2 1</diffuse>
            <specular>0.2 0.2 0.2 1</specular>
          </material>
        </visual>
        <collision name='collision'>
          <geometry>
            <cylinder>
              <length>0.15</length>
              <radius>0.3</radius>
            </cylinder>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.5</mu>
                <mu2>1.0</mu2>
                <fdir1>0 0 1</fdir1>
              </ode>
              <bullet>
                <friction>0.5</friction>
                <friction2>1</friction2>
                <rolling_friction>0.1</rolling_friction>
              </bullet>
            </friction>
          </surface>
        </collision>
      </link>

      <link name='rear_right_wheel'>
        <pose>-0.957138 -0.625029 -0.025 -1.5707 0 0</pose>
        <inertial>
          <mass>2</mass>
          <inertia>
            <ixx>0.145833</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.145833</iyy>
            <iyz>0</iyz>
            <izz>0.125</izz>
          </inertia>
        </inertial>
        <visual name='visual'>
          <geometry>
            <cylinder>
              <length>0.15</length>
              <radius>0.3</radius>
            </cylinder>
          </geometry>
          <material>
            <ambient>0.2 0.2 0.2 1</ambient>
            <diffuse>0.2 0.2 0.2 1</diffuse>
            <specular>0.2 0.2 0.2 1</specular>
          </material>
        </visual>
        <collision name='collision'>
          <geometry>
            <cylinder>
              <length>0.15</length>
              <radius>0.3</radius>
            </cylinder>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.5</mu>
                <mu2>1.0</mu2>
                <fdir1>0 0 1</fdir1>
              </ode>
              <bullet>
                <friction>0.5</friction>
                <friction2>1</friction2>
                <rolling_friction>0.5</rolling_friction>
              </bullet>
            </friction>
          </surface>
        </collision>
      </link>

      <link name="front_left_wheel_steering_link">
        <pose>0.554283 0.5 0.02 0 0 0</pose>
        <inertial>
          <mass>0.5</mass>
          <inertia>
            <ixx>0.0153</ixx>
            <iyy>0.025</iyy>
            <izz>0.0153</izz>
          </inertia>
        </inertial>
        <visual name="steering_link_visual">
          <pose>0 0 0 0 0 0</pose>
          <geometry>
            <cylinder>
              <length>0.1</length>
              <radius>0.03</radius>
            </cylinder>
          </geometry>
          <material>
            <ambient>1 1 1</ambient>
            <diffuse>1 1 1</diffuse>
          </material>
        </visual>
      </link>

      <link name="front_right_wheel_steering_link">
        <pose>0.554283 -0.5 0.02 0 0 0</pose>
        <inertial>
          <mass>0.5</mass>
          <inertia>
            <ixx>0.0153</ixx>
            <iyy>0.025</iyy>
            <izz>0.0153</izz>
          </inertia>
        </inertial>
        <visual name="steering_link_visual">
          <pose>0 0 0 0 0 0</pose>
          <geometry>
            <cylinder>
              <length>0.1</length>
              <radius>0.03</radius>
            </cylinder>
          </geometry>
          <material>
            <ambient>1 1 1</ambient>
            <diffuse>1 1 1</diffuse>
          </material>
        </visual>
      </link>

      <joint name="front_left_wheel_steering_joint" type="revolute">
        <child>front_left_wheel_steering_link</child>
        <parent>chassis</parent>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>-0.6</lower>
            <upper>+0.6</upper>
            <velocity>1.0</velocity>
            <effort>25</effort>
          </limit>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>

      <joint name="front_right_wheel_steering_joint" type="revolute">
        <parent>chassis</parent>
        <child>front_right_wheel_steering_link</child>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>-0.6</lower>
            <upper>+0.6</upper>
            <velocity>1.0</velocity>
            <effort>25</effort>
          </limit>
        </axis>
      </joint>

      <joint name='front_left_wheel_joint' type='revolute'>
        <parent>front_left_wheel_steering_link</parent>
        <child>front_left_wheel</child>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>-1.79769e+308</lower>
            <upper>1.79769e+308</upper>
          </limit>
        </axis>
      </joint>

      <joint name='front_right_wheel_joint' type='revolute'>
        <parent>front_right_wheel_steering_link</parent>
        <child>front_right_wheel</child>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>-1.79769e+308</lower>
            <upper>1.79769e+308</upper>
          </limit>
        </axis>
      </joint>

      <joint name='rear_left_wheel_joint' type='revolute'>
        <parent>chassis</parent>
        <child>rear_left_wheel</child>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>-1.79769e+308</lower>
            <upper>1.79769e+308</upper>
          </limit>
        </axis>
      </joint>

      <joint name='rear_right_wheel_joint' type='revolute'>
        <parent>chassis</parent>
        <child>rear_right_wheel</child>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>-1.79769e+308</lower>
            <upper>1.79769e+308</upper>
          </limit>
        </axis>
      </joint>

      <plugin
        filename="gz-sim-ackermann-steering-system"
        name="gz::sim::systems::AckermannSteering">
        <left_joint>front_left_wheel_joint</left_joint>
        <left_joint>rear_left_wheel_joint</left_joint>
        <right_joint>front_right_wheel_joint</right_joint>
        <right_joint>rear_right_wheel_joint</right_joint>
        <left_steering_joint>front_left_wheel_steering_joint</left_steering_joint>
        <right_steering_joint>front_right_wheel_steering_joint</right_steering_joint>
        <kingpin_width>1.0</kingpin_width>
        <steering_limit>0.5</steering_limit>
        <wheel_base>1.0</wheel_base>
        <wheel_separation>1.25</wheel_separation>
        <wheel_radius>0.3</wheel_radius>
        <min_velocity>-1</min_velocity>
        <max_velocity>3</max_velocity>
        <min_acceleration>-3</min_acceleration>
        <max_acceleration>3</max_acceleration>
      </plugin>
      
      <plugin
        filename="gz-sim-pose-publisher-system"
        name="gz::sim::systems::PosePublisher">
        <publish_link_pose>false</publish_link_pose>
        <publish_collision_pose>false</publish_collision_pose>
        <publish_visual_pose>false</publish_visual_pose>
        <publish_nested_model_pose>true</publish_nested_model_pose>
      </plugin>
        <plugin
        filename="gz-sim-sensors-system"
        name="gz::sim::systems::Sensors">
        <render_engine>ogre2</render_engine>
      </plugin>
    </model> 
</sdf>
  1. gz sim empty.sdf
  2. gz service -s /world/empty/create --reqtype gz.msgs.EntityFactory --reptype gz.msgs.Boolean --timeout 1000 --req 'sdf_filename: "./car.sdf", name: "car_1", pose: {position: {x: 0}}'
  3. gz service -s /world/empty/create --reqtype gz.msgs.EntityFactory --reptype gz.msgs.Boolean --timeout 1000 --req 'sdf_filename: "./car.sdf", name: "car_2", pose: {position: {x: 10}}'

Output

Stack Trace

anyone@bob-the-not-so-plumber:~/hello$ gz sim empty.sdf
\libEGL warning: DRI2: failed to create dri screen
libEGL warning: DRI2: failed to create dri screen
libEGL warning: DRI2: failed to create dri screen
libEGL warning: DRI2: failed to create dri screen
Warning [Utils.cc:130] [/sdf/model[@name="vehicle_blue"]/link[@name="link"]/sensor[@name="gpu_lidar"]/alwaysOn:./car.sdf:L55]: XML Element[alwaysOn], child of element[sensor], not defined in SDF. Copying[alwaysOn] as children of [sensor].
libEGL warning: DRI2: failed to create dri screen
libEGL warning: DRI2: failed to create dri screen
libEGL warning: DRI2: failed to create dri screen
libEGL warning: DRI2: failed to create dri screen
Warning [Utils.cc:130] [/sdf/model[@name="vehicle_blue"]/link[@name="link"]/sensor[@name="gpu_lidar"]/alwaysOn:./car.sdf:L55]: XML Element[alwaysOn], child of element[sensor], not defined in SDF. Copying[alwaysOn] as children of [sensor].
[Err] [SceneManager.cc:223] Visual: [ground_plane] already exists
[Err] [SceneManager.cc:223] Visual: [cool_lidar] already exists
[Err] [SceneManager.cc:223] Visual: [cool_car] already exists
[Err] [BaseStorage.hh:927] Another item already exists with name: sun
Stack trace (most recent call last) in thread 1098722:
#7    Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in 
#6    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb9619269ff, in 
#5    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb961894b42, in 
#4    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7fb95d0dc252, in 
#3    Object "/home/anyone/gz-sim-fork/install/lib/gz-sim-7/plugins/libgz-sim-sensors-system.so", at 0x7fb8ccd300b7, in gz::sim::v7::systems::SensorsPrivate::RenderThread()
#2    Object "/home/anyone/gz-sim-fork/install/lib/gz-sim-7/plugins/libgz-sim-sensors-system.so", at 0x7fb8ccd2f9eb, in gz::sim::v7::systems::SensorsPrivate::RunOnce()
#1    Object "/home/anyone/gz-sim-fork/install/lib/libgz-sim7-rendering.so.7", at 0x7fb8ccc565c4, in gz::sim::v7::RenderUtil::Update()
#0    Object "/home/anyone/gz-sim-fork/install/lib/libgz-sim7-rendering.so.7", at 0x7fb8cccb39b8, in gz::sim::v7::SceneManager::CreateLight(unsigned long, sdf::v13::Light const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned long)
Segmentation fault (Address not mapped to object [(nil)])
@retinfai retinfai added the bug Something isn't working label Jul 31, 2023
@retinfai retinfai changed the title Multiple Lidar Instances Multiple Lidar Instances Crash when spawned Jul 31, 2023
@azeey
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azeey commented Aug 1, 2023

I noticed that you're including the Sensor system in your model. That system is meant to be used in the <world> tag, just like the Physics system. Does it crash if you remove it from your models and put just one Sensor system in the world?

@azeey azeey self-assigned this Aug 1, 2023
@retinfai
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retinfai commented Aug 2, 2023

Ahh yes, that was the issue thank you. This may also be the cause of the issue that I linked previously with the Reset – we're using a similar approach. I'll check and update that issue too

@retinfai retinfai closed this as completed Aug 2, 2023
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@azeey @retinfai