core dumped when launching example.launch gpu:=true in velodyne_description

Hi guys,

I am trying to launch example.launch with gpu support in velodyne_description, but I get always a cored dump. The error:

roslaunch velodyne_description example.launch gpu:=true
... logging to /home/mrk/.ros/log/351c2d6e-46a4-11ea-aa4d-f4ec38ab733f/roslaunch-mrk-desktop-17201.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.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
Deprecated: xacro tag 'VLP-16' w/o 'xacro:' xml namespace prefix (will be forbidden in Noetic)
when processing file: /home/mrk/catkin_ws/src/velodyne_simulator/velodyne_description/urdf/example.urdf.xacro
Use the following command to fix incorrect tag usage:
find . -iname "*.xacro" | xargs sed -i 's#<\([/]\?\)\(if\|unless\|include\|arg\|property\|macro\|insert_block\)#<\1xacro:\2#g'

started roslaunch server http://mrk-desktop:34205/

SUMMARY
========

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 30.0
 * /rosdistro: melodic
 * /rosversion: 1.14.3
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz_mrk_desktop_17201_256729996292535892 (rviz/rviz)
    spawn_model (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [17241]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 351c2d6e-46a4-11ea-aa4d-f4ec38ab733f
process[rosout-1]: started with pid [17258]
started core service [/rosout]
process[gazebo-2]: started with pid [17261]
process[gazebo_gui-3]: started with pid [17270]
process[spawn_model-4]: started with pid [17275]
process[robot_state_publisher-5]: started with pid [17276]
process[rviz_mrk_desktop_17201_256729996292535892-6]: started with pid [17277]
[ INFO] [1580748167.970948773]: rviz version 1.13.7
[ INFO] [1580748167.971012796]: compiled against Qt version 5.9.5
[ INFO] [1580748167.971032260]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1580748167.982012464]: Forcing OpenGl version 0.
[ INFO] [1580748168.276421446]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1580748168.277911753]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1580748168.364714817]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1580748168.366543578]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1580748169.785272665]: Stereo is NOT SUPPORTED
[ INFO] [1580748169.785368613]: OpenGl version: 4.6 (GLSL 4.6).
[ INFO] [1580748171.635635316, 0.025000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1580748171.674045337, 0.062000000]: Physics dynamic reconfigure ready.
[ INFO] [1580748172.079302166, 0.196000000]: Velodyne laser plugin missing <min_intensity>, defaults to no clipping
[ INFO] [1580748172.080808194, 0.196000000]: Velodyne GPU laser plugin ready, 32 lasers
[ INFO] [1580748172.088908019, 0.204000000]: Velodyne laser plugin missing <min_intensity>, defaults to no clipping
[ INFO] [1580748172.090222435, 0.205000000]: Velodyne GPU laser plugin ready, 16 lasers
malloc(): memory corruption
[spawn_model-4] process has finished cleanly
log file: /home/mrk/.ros/log/351c2d6e-46a4-11ea-aa4d-f4ec38ab733f/spawn_model-4*.log
Aborted (core dumped)
[gazebo-2] process has died [pid 17261, exit code 134, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -e ode /home/mrk/catkin_ws/src/velodyne_simulator/velodyne_description/world/example.world __name:=gazebo __log:=/home/mrk/.ros/log/351c2d6e-46a4-11ea-aa4d-f4ec38ab733f/gazebo-2.log].
log file: /home/mrk/.ros/log/351c2d6e-46a4-11ea-aa4d-f4ec38ab733f/gazebo-2*.log

When I launch it on the cpu it works fine. Here are my setup specifications:

Ubuntu 18.04.4 LTS

ROS Melodic 1.14.3

Gazebo version 9.0.0

Mermory: 7.8 GiB

CPU: Intel® Core™ i7-2600K CPU @ 3.40GHz × 8

GPU: GeForce GTX 970/PCIe/SSE2

Nvidia-smi shortly after starting the launch file:

‌

+-----------------------------------------------------------------------------+
| NVIDIA-SMI 440.48.02    Driver Version: 440.48.02    CUDA Version: 10.2     |
|-------------------------------+----------------------+----------------------+
| GPU  Name        Persistence-M| Bus-Id        Disp.A | Volatile Uncorr. ECC |
| Fan  Temp  Perf  Pwr:Usage/Cap|         Memory-Usage | GPU-Util  Compute M. |
|===============================+======================+======================|
|   0  GeForce GTX 970     Off  | 00000000:01:00.0  On |                  N/A |
| 46%   36C    P0    52W / 250W |    466MiB /  4041MiB |      5%      Default |
+-------------------------------+----------------------+----------------------+

+-----------------------------------------------------------------------------+
| Processes:                                                       GPU Memory |
|  GPU       PID   Type   Process name                             Usage      |
|=============================================================================|
|    0      1279      G   /usr/lib/xorg/Xorg                           168MiB |
|    0      1463      G   /usr/bin/gnome-shell                          96MiB |
|    0      2799      G   /opt/ros/melodic/lib/rviz/rviz                 8MiB |
|    0      2835      G   gzclient                                      63MiB |
|    0      2870      G   gzserver                                      72MiB |
|    0      5124      G   /usr/lib/firefox/firefox                       2MiB |
|    0     19974      G   ...uest-channel-token=11342124639564753761    41MiB |
|    0     29791      G   gnome-control-center                           2MiB |
+-----------------------------------------------------------------------------+

‌

Kind regards

‌

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