Issue #1723 new
John Hsu created an issue

during PR #1859 test for issue #1702, following error is encountered for DART when running the regression test:

hg up -r 983aadc
test/regression/REGRESSION_1702_remove_model_scene_nodes

With backtrace:

ff88b3f700 (LWP 32363)]
[New Thread 0x7fff88f40700 (LWP 32365)]
[New Thread 0x7fff8873e700 (LWP 32366)]
[New Thread 0x7fff8833d700 (LWP 32367)]
[New Thread 0x7fff87f3c700 (LWP 32369)]
[New Thread 0x7fff8630b700 (LWP 32370)]
[New Thread 0x7fff85709700 (LWP 32371)]
[New Thread 0x7fff84f08700 (LWP 32372)]
[New Thread 0x7fff677fd700 (LWP 32373)]
[Dbg] [ServerFixture.cc:169] ServerFixture load in 0.8 seconds, timeout after 600 seconds
***** Internal Program Error - assertion (dartLink2.get() != __null) failed in virtual void gazebo::physics::DARTPhysics::UpdateCollision():
/home/hsu/projects/gazebo_default/gazebo/physics/dart/DARTPhysics.cc(156): dartLink2 in collision pare is NULL

Program received signal SIGABRT, Aborted.
[Switching to Thread 0x7fff84f08700 (LWP 32372)]
0x00007ffff4a6bcc9 in __GI_raise (sig=sig@entry=6) at ../nptl/sysdeps/unix/sysv/linux/raise.c:56
56  ../nptl/sysdeps/unix/sysv/linux/raise.c: No such file or directory.
(gdb) bt
#0  0x00007ffff4a6bcc9 in __GI_raise (sig=sig@entry=6) at ../nptl/sysdeps/unix/sysv/linux/raise.c:56
#1  0x00007ffff4a6f0d8 in __GI_abort () at abort.c:89
#2  0x00007ffff7981856 in boost::assertion::detail::assertion_failed_msg (
    expr=expr@entry=0x7ffff7af3f7b "dartLink2.get() != __null", 
    msg=msg@entry=0x7ffff7af3ec0 "dartLink2 in collision pare is NULL", 
    function=function@entry=0x7ffff7af5ec0 <gazebo::physics::DARTPhysics::UpdateCollision()::__PRETTY_FUNCTION__> "virtual void gazebo::physics::DARTPhysics::UpdateCollision()", 
    file=file@entry=0x7ffff7af3e28 "/home/hsu/projects/gazebo_default/gazebo/physics/dart/DARTPhysics.cc", line=line@entry=156)
    at /usr/include/boost/assert.hpp:108
#3  0x00007ffff79f8d13 in gazebo::physics::DARTPhysics::UpdateCollision (this=0x7fff39326520)
    at /home/hsu/projects/gazebo_default/gazebo/physics/dart/DARTPhysics.cc:156
#4  0x00007ffff7ab1502 in gazebo::physics::World::Update (this=this@entry=0x7fff3994e350)
    at /home/hsu/projects/gazebo_default/gazebo/physics/World.cc:776
#5  0x00007ffff7abc6db in gazebo::physics::World::Step (this=this@entry=0x7fff3994e350)
    at /home/hsu/projects/gazebo_default/gazebo/physics/World.cc:698
#6  0x00007ffff7abcb85 in gazebo::physics::World::RunLoop (this=0x7fff3994e350)
    at /home/hsu/projects/gazebo_default/gazebo/physics/World.cc:467
#7  0x00007ffff5a3fa4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#8  0x00007ffff7174182 in start_thread (arg=0x7fff84f08700) at pthread_create.c:312
#9  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111
(gdb) thread apply all bt

Thread 138 (Thread 0x7fff677fd700 (LWP 32373)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
#1  0x00007ffff7abf3fb in boost::condition_variable::wait (this=0x7fff39624c80, m=...)
    at /usr/include/boost/thread/pthread/condition_variable.hpp:73
#2  0x00007ffff7ab8a8f in gazebo::physics::World::LogWorker (this=0x7fff3994e350)
    at /home/hsu/projects/gazebo_default/gazebo/physics/World.cc:2152
#3  0x00007ffff5a3fa4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#4  0x00007ffff7174182 in start_thread (arg=0x7fff677fd700) at pthread_create.c:312
#5  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 137 (Thread 0x7fff84f08700 (LWP 32372)):
#0  0x00007ffff4a6bcc9 in __GI_raise (sig=sig@entry=6) at ../nptl/sysdeps/unix/sysv/linux/raise.c:56
#1  0x00007ffff4a6f0d8 in __GI_abort () at abort.c:89
#2  0x00007ffff7981856 in boost::assertion::detail::assertion_failed_msg (
    expr=expr@entry=0x7ffff7af3f7b "dartLink2.get() != __null", 
    msg=msg@entry=0x7ffff7af3ec0 "dartLink2 in collision pare is NULL", 
    function=function@entry=0x7ffff7af5ec0 <gazebo::physics::DARTPhysics::UpdateCollision()::__PRETTY_FUNCTION__> "virtual void gazebo::physics::DARTPhysics::UpdateCollision()", 
    file=file@entry=0x7ffff7af3e28 "/home/hsu/projects/gazebo_default/gazebo/physics/dart/DARTPhysics.cc", line=line@entry=156)
    at /usr/include/boost/assert.hpp:108
#3  0x00007ffff79f8d13 in gazebo::physics::DARTPhysics::UpdateCollision (this=0x7fff39326520)
    at /home/hsu/projects/gazebo_default/gazebo/physics/dart/DARTPhysics.cc:156
#4  0x00007ffff7ab1502 in gazebo::physics::World::Update (this=this@entry=0x7fff3994e350)
    at /home/hsu/projects/gazebo_default/gazebo/physics/World.cc:776
#5  0x00007ffff7abc6db in gazebo::physics::World::Step (this=this@entry=0x7fff3994e350)
    at /home/hsu/projects/gazebo_default/gazebo/physics/World.cc:698
#6  0x00007ffff7abcb85 in gazebo::physics::World::RunLoop (this=0x7fff3994e350)
    at /home/hsu/projects/gazebo_default/gazebo/physics/World.cc:467
#7  0x00007ffff5a3fa4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#8  0x00007ffff7174182 in start_thread (arg=0x7fff84f08700) at pthread_create.c:312
#9  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 136 (Thread 0x7fff85709700 (LWP 32371)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
#1  0x00007ffff764a3ab in boost::condition_variable::wait (this=this@entry=0x7fffcc61e368, m=...)
    at /usr/include/boost/thread/pthread/condition_variable.hpp:73
#2  0x00007ffff7648c3b in gazebo::sensors::SensorManager::SensorContainer::RunLoop (this=0x7fffcc61e310)
    at /home/hsu/projects/gazebo_default/gazebo/sensors/SensorManager.cc:458
#3  0x00007ffff5a3fa4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#4  0x00007ffff7174182 in start_thread (arg=0x7fff85709700) at pthread_create.c:312
#5  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 135 (Thread 0x7fff8630b700 (LWP 32370)):
---Type <return> to continue, or q <return> to quit---
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
#1  0x00007ffff764a3ab in boost::condition_variable::wait (this=this@entry=0x7fffcc640938, m=...)
    at /usr/include/boost/thread/pthread/condition_variable.hpp:73
#2  0x00007ffff7648c3b in gazebo::sensors::SensorManager::SensorContainer::RunLoop (this=0x7fffcc6408e0)
    at /home/hsu/projects/gazebo_default/gazebo/sensors/SensorManager.cc:458
#3  0x00007ffff5a3fa4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#4  0x00007ffff7174182 in start_thread (arg=0x7fff8630b700) at pthread_create.c:312
#5  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 134 (Thread 0x7fff87f3c700 (LWP 32369)):
#0  syscall () at ../sysdeps/unix/sysv/linux/x86_64/syscall.S:38
#1  0x00007ffff0a892db in ?? () from /usr/lib/libtbb.so.2
#2  0x00007ffff0a892f9 in ?? () from /usr/lib/libtbb.so.2
#3  0x00007ffff7174182 in start_thread (arg=0x7fff87f3c700) at pthread_create.c:312
#4  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 133 (Thread 0x7fff8833d700 (LWP 32367)):
#0  syscall () at ../sysdeps/unix/sysv/linux/x86_64/syscall.S:38
#1  0x00007ffff0a892db in ?? () from /usr/lib/libtbb.so.2
#2  0x00007ffff0a892f9 in ?? () from /usr/lib/libtbb.so.2
#3  0x00007ffff7174182 in start_thread (arg=0x7fff8833d700) at pthread_create.c:312
#4  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 132 (Thread 0x7fff8873e700 (LWP 32366)):
#0  syscall () at ../sysdeps/unix/sysv/linux/x86_64/syscall.S:38
#1  0x00007ffff0a892db in ?? () from /usr/lib/libtbb.so.2
#2  0x00007ffff0a892f9 in ?? () from /usr/lib/libtbb.so.2
#3  0x00007ffff7174182 in start_thread (arg=0x7fff8873e700) at pthread_create.c:312
#4  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 131 (Thread 0x7fff88f40700 (LWP 32365)):
#0  syscall () at ../sysdeps/unix/sysv/linux/x86_64/syscall.S:38
#1  0x00007ffff0a892db in ?? () from /usr/lib/libtbb.so.2
#2  0x00007ffff0a892f9 in ?? () from /usr/lib/libtbb.so.2
#3  0x00007ffff7174182 in start_thread (arg=0x7fff88f40700) at pthread_create.c:312
#4  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 130 (Thread 0x7fff88b3f700 (LWP 32363)):
#0  syscall () at ../sysdeps/unix/sysv/linux/x86_64/syscall.S:38
#1  0x00007ffff0a892db in ?? () from /usr/lib/libtbb.so.2
#2  0x00007ffff0a892f9 in ?? () from /usr/lib/libtbb.so.2
#3  0x00007ffff7174182 in start_thread (arg=0x7fff88b3f700) at pthread_create.c:312
#4  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

---Type <return> to continue, or q <return> to quit---
Thread 129 (Thread 0x7fff89742700 (LWP 32362)):
#0  0x00007ffff4b003f7 in sched_yield () at ../sysdeps/unix/syscall-template.S:81
#1  0x00007ffff0a91567 in ?? () from /usr/lib/libtbb.so.2
#2  0x00007ffff0a8d7f3 in ?? () from /usr/lib/libtbb.so.2
#3  0x00007ffff0a8cf4b in ?? () from /usr/lib/libtbb.so.2
#4  0x00007ffff0a890ff in ?? () from /usr/lib/libtbb.so.2
#5  0x00007ffff0a892f9 in ?? () from /usr/lib/libtbb.so.2
#6  0x00007ffff7174182 in start_thread (arg=0x7fff89742700) at pthread_create.c:312
#7  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 128 (Thread 0x7fff89341700 (LWP 32361)):
#0  0x00007ffff6b1e7fc in gazebo::transport::Connection::IsOpen (this=0x7fffcd8a6bf0)
    at /home/hsu/projects/gazebo_default/gazebo/transport/Connection.cc:440
#1  0x00007ffff6b34a0f in gazebo::transport::ConnectionManager::OnMasterRead (
    this=0x676080 <SingletonT<gazebo::transport::ConnectionManager>::GetInstance()::t>, _data=...)
    at /home/hsu/projects/gazebo_default/gazebo/transport/ConnectionManager.cc:333
#2  0x00007ffff73b51de in operator() (a0=..., this=<optimized out>) at /usr/include/boost/function/function_template.hpp:767
#3  gazebo::transport::ConnectionReadTask::execute (this=<optimized out>)
    at /home/hsu/projects/gazebo_default/gazebo/transport/Connection.hh:74
#4  0x00007ffff0a91b3a in ?? () from /usr/lib/libtbb.so.2
#5  0x00007ffff0a8d816 in ?? () from /usr/lib/libtbb.so.2
#6  0x00007ffff0a8cf4b in ?? () from /usr/lib/libtbb.so.2
#7  0x00007ffff0a890ff in ?? () from /usr/lib/libtbb.so.2
#8  0x00007ffff0a892f9 in ?? () from /usr/lib/libtbb.so.2
#9  0x00007ffff7174182 in start_thread (arg=0x7fff89341700) at pthread_create.c:312
#10 0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 127 (Thread 0x7fffc0ed1700 (LWP 32360)):
#0  syscall () at ../sysdeps/unix/sysv/linux/x86_64/syscall.S:38
#1  0x00007ffff0a892db in ?? () from /usr/lib/libtbb.so.2
#2  0x00007ffff0a892f9 in ?? () from /usr/lib/libtbb.so.2
#3  0x00007ffff7174182 in start_thread (arg=0x7fffc0ed1700) at pthread_create.c:312
#4  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 126 (Thread 0x7fff67bfe700 (LWP 32359)):
#0  syscall () at ../sysdeps/unix/sysv/linux/x86_64/syscall.S:38
#1  0x00007ffff0a892db in ?? () from /usr/lib/libtbb.so.2
#2  0x00007ffff0a892f9 in ?? () from /usr/lib/libtbb.so.2
#3  0x00007ffff7174182 in start_thread (arg=0x7fff67bfe700) at pthread_create.c:312
#4  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 125 (Thread 0x7fff85b0a700 (LWP 32358)):
#0  syscall () at ../sysdeps/unix/sysv/linux/x86_64/syscall.S:38
#1  0x00007ffff0a892db in ?? () from /usr/lib/libtbb.so.2
---Type <return> to continue, or q <return> to quit---
#2  0x00007ffff0a892f9 in ?? () from /usr/lib/libtbb.so.2
#3  0x00007ffff7174182 in start_thread (arg=0x7fff85b0a700) at pthread_create.c:312
#4  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 124 (Thread 0x7fffc0a25700 (LWP 32357)):
#0  0x00007ffff0a91462 in ?? () from /usr/lib/libtbb.so.2
#1  0x00007ffff0a8d7f3 in ?? () from /usr/lib/libtbb.so.2
#2  0x00007ffff0a8cf4b in ?? () from /usr/lib/libtbb.so.2
#3  0x00007ffff0a890ff in ?? () from /usr/lib/libtbb.so.2
#4  0x00007ffff0a892f9 in ?? () from /usr/lib/libtbb.so.2
#5  0x00007ffff7174182 in start_thread (arg=0x7fffc0a25700) at pthread_create.c:312
#6  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 123 (Thread 0x7fff89f43700 (LWP 32356)):
#0  0x00007ffff717bb9d in nanosleep () at ../sysdeps/unix/syscall-template.S:81
#1  0x00007fffece5554a in ?? () from /usr/lib/x86_64-linux-gnu/libopenal.so.1
#2  0x00007fffece625eb in ?? () from /usr/lib/x86_64-linux-gnu/libopenal.so.1
#3  0x00007fffece54e6a in ?? () from /usr/lib/x86_64-linux-gnu/libopenal.so.1
#4  0x00007ffff7174182 in start_thread (arg=0x7fff89f43700) at pthread_create.c:312
#5  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 122 (Thread 0x7fff8a744700 (LWP 32355)):
#0  0x00007ffff4b2212d in poll () at ../sysdeps/unix/syscall-template.S:81
#1  0x00007fffa8ae1031 in ?? () from /usr/lib/x86_64-linux-gnu/libpulse.so.0
#2  0x00007fffa8ad283c in pa_mainloop_poll () from /usr/lib/x86_64-linux-gnu/libpulse.so.0
#3  0x00007fffa8ad2ece in pa_mainloop_iterate () from /usr/lib/x86_64-linux-gnu/libpulse.so.0
#4  0x00007fffa8ad2f80 in pa_mainloop_run () from /usr/lib/x86_64-linux-gnu/libpulse.so.0
#5  0x00007fffa8ae0fe3 in ?? () from /usr/lib/x86_64-linux-gnu/libpulse.so.0
#6  0x00007fffa8684f08 in ?? () from /usr/lib/x86_64-linux-gnu/pulseaudio/libpulsecommon-4.0.so
#7  0x00007ffff7174182 in start_thread (arg=0x7fff8a744700) at pthread_create.c:312
#8  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 121 (Thread 0x7fff8af45700 (LWP 32354)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
#1  0x00007ffff1039690 in ?? () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#2  0x00007ffff10386af in Ogre::DefaultWorkQueue::waitForNextRequest() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#3  0x00007ffff1038b24 in Ogre::DefaultWorkQueue::_threadMain() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#4  0x00007ffff5a3fa4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#5  0x00007ffff7174182 in start_thread (arg=0x7fff8af45700) at pthread_create.c:312
#6  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 120 (Thread 0x7fff8b746700 (LWP 32353)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
#1  0x00007ffff1039690 in ?? () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
---Type <return> to continue, or q <return> to quit---
#2  0x00007ffff10386af in Ogre::DefaultWorkQueue::waitForNextRequest() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#3  0x00007ffff1038b24 in Ogre::DefaultWorkQueue::_threadMain() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#4  0x00007ffff5a3fa4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#5  0x00007ffff7174182 in start_thread (arg=0x7fff8b746700) at pthread_create.c:312
#6  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 119 (Thread 0x7fffa97fa700 (LWP 32352)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
#1  0x00007ffff1039690 in ?? () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#2  0x00007ffff10386af in Ogre::DefaultWorkQueue::waitForNextRequest() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#3  0x00007ffff1038b24 in Ogre::DefaultWorkQueue::_threadMain() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#4  0x00007ffff5a3fa4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#5  0x00007ffff7174182 in start_thread (arg=0x7fffa97fa700) at pthread_create.c:312
#6  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 118 (Thread 0x7fffa9ffb700 (LWP 32351)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
#1  0x00007ffff1039690 in ?? () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#2  0x00007ffff10386af in Ogre::DefaultWorkQueue::waitForNextRequest() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#3  0x00007ffff1038b24 in Ogre::DefaultWorkQueue::_threadMain() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#4  0x00007ffff5a3fa4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#5  0x00007ffff7174182 in start_thread (arg=0x7fffa9ffb700) at pthread_create.c:312
#6  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 117 (Thread 0x7fffaa7fc700 (LWP 32350)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
#1  0x00007ffff1039690 in ?? () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#2  0x00007ffff10386af in Ogre::DefaultWorkQueue::waitForNextRequest() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#3  0x00007ffff1038b24 in Ogre::DefaultWorkQueue::_threadMain() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#4  0x00007ffff5a3fa4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#5  0x00007ffff7174182 in start_thread (arg=0x7fffaa7fc700) at pthread_create.c:312
#6  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 116 (Thread 0x7fffaaffd700 (LWP 32349)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
#1  0x00007ffff1039690 in ?? () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#2  0x00007ffff10386af in Ogre::DefaultWorkQueue::waitForNextRequest() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#3  0x00007ffff1038b24 in Ogre::DefaultWorkQueue::_threadMain() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#4  0x00007ffff5a3fa4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#5  0x00007ffff7174182 in start_thread (arg=0x7fffaaffd700) at pthread_create.c:312
#6  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 115 (Thread 0x7fffab7fe700 (LWP 32348)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
---Type <return> to continue, or q <return> to quit---
#1  0x00007ffff1039690 in ?? () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#2  0x00007ffff10386af in Ogre::DefaultWorkQueue::waitForNextRequest() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#3  0x00007ffff1038b24 in Ogre::DefaultWorkQueue::_threadMain() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#4  0x00007ffff5a3fa4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#5  0x00007ffff7174182 in start_thread (arg=0x7fffab7fe700) at pthread_create.c:312
#6  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 114 (Thread 0x7fffabfff700 (LWP 32347)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
#1  0x00007ffff1039690 in ?? () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#2  0x00007ffff10386af in Ogre::DefaultWorkQueue::waitForNextRequest() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#3  0x00007ffff1038b24 in Ogre::DefaultWorkQueue::_threadMain() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#4  0x00007ffff5a3fa4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#5  0x00007ffff7174182 in start_thread (arg=0x7fffabfff700) at pthread_create.c:312
#6  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 113 (Thread 0x7fffc17d2700 (LWP 32346)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
#1  0x00007ffff1039690 in ?? () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#2  0x00007ffff10386af in Ogre::DefaultWorkQueue::waitForNextRequest() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#3  0x00007ffff1038b24 in Ogre::DefaultWorkQueue::_threadMain() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#4  0x00007ffff5a3fa4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#5  0x00007ffff7174182 in start_thread (arg=0x7fffc17d2700) at pthread_create.c:312
#6  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 112 (Thread 0x7fffc1fd3700 (LWP 32345)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
#1  0x00007ffff1039690 in ?? () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#2  0x00007ffff10386af in Ogre::DefaultWorkQueue::waitForNextRequest() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#3  0x00007ffff1038b24 in Ogre::DefaultWorkQueue::_threadMain() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#4  0x00007ffff5a3fa4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#5  0x00007ffff7174182 in start_thread (arg=0x7fffc1fd3700) at pthread_create.c:312
#6  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 111 (Thread 0x7fffc27d4700 (LWP 32344)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
#1  0x00007ffff1039690 in ?? () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#2  0x00007ffff10386af in Ogre::DefaultWorkQueue::waitForNextRequest() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#3  0x00007ffff1038b24 in Ogre::DefaultWorkQueue::_threadMain() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#4  0x00007ffff5a3fa4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#5  0x00007ffff7174182 in start_thread (arg=0x7fffc27d4700) at pthread_create.c:312
#6  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 110 (Thread 0x7fffc2fd5700 (LWP 32343)):
---Type <return> to continue, or q <return> to quit---
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
#1  0x00007ffff1039690 in ?? () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#2  0x00007ffff10386af in Ogre::DefaultWorkQueue::waitForNextRequest() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#3  0x00007ffff1038b24 in Ogre::DefaultWorkQueue::_threadMain() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1
#4  0x00007ffff5a3fa4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#5  0x00007ffff7174182 in start_thread (arg=0x7fffc2fd5700) at pthread_create.c:312
#6  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 109 (Thread 0x7fffd229b700 (LWP 32342)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:238
#1  0x00007ffff6b37730 in do_wait_until (timeout=..., m=..., 
    this=0x676088 <SingletonT<gazebo::transport::ConnectionManager>::GetInstance()::t+8>)
    at /usr/include/boost/thread/pthread/condition_variable.hpp:108
#2  timed_wait (wait_until=..., m=..., this=0x676088 <SingletonT<gazebo::transport::ConnectionManager>::GetInstance()::t+8>)
    at /usr/include/boost/thread/pthread/condition_variable_fwd.hpp:108
#3  timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l> > (wait_duration=..., m=..., 
    this=0x676088 <SingletonT<gazebo::transport::ConnectionManager>::GetInstance()::t+8>)
    at /usr/include/boost/thread/pthread/condition_variable_fwd.hpp:123
#4  gazebo::transport::ConnectionManager::Run (
    this=0x676080 <SingletonT<gazebo::transport::ConnectionManager>::GetInstance()::t>)
    at /home/hsu/projects/gazebo_default/gazebo/transport/ConnectionManager.cc:315
#5  0x00007ffff5a3fa4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#6  0x00007ffff7174182 in start_thread (arg=0x7fffd229b700) at pthread_create.c:312
#7  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 108 (Thread 0x7fffd4b8f700 (LWP 32341)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
#1  0x00007ffff64cd75b in boost::condition_variable::wait (this=0x6eb528, m=...)
    at /usr/include/boost/thread/pthread/condition_variable.hpp:73
#2  0x00007ffff64c803f in gazebo::common::ModelDatabase::UpdateModelCache (
    this=0x7ffff7dd9820 <SingletonT<gazebo::common::ModelDatabase>::GetInstance()::t>, _fetchImmediately=false)
    at /home/hsu/projects/gazebo_default/gazebo/common/ModelDatabase.cc:281
#3  0x00007ffff5a3fa4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#4  0x00007ffff7174182 in start_thread (arg=0x7fffd4b8f700) at pthread_create.c:312
#5  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 107 (Thread 0x7fffd2ca8700 (LWP 32340)):
#0  __clock_nanosleep (clock_id=0, flags=0, req=0x7fffd2ca7d00, rem=0xffffffffffffffff)
    at ../sysdeps/unix/sysv/linux/clock_nanosleep.c:49
#1  0x00007ffff64eac43 in gazebo::common::Time::Sleep (_time=...)
    at /home/hsu/projects/gazebo_default/gazebo/common/Time.cc:427
#2  0x00007ffff64eae07 in gazebo::common::Time::MSleep (_ms=_ms@entry=10)
    at /home/hsu/projects/gazebo_default/gazebo/common/Time.cc:446
#3  0x00007ffff73b3ffd in gazebo::Master::Run (this=0x7fffcf2229f0) at /home/hsu/projects/gazebo_default/gazebo/Master.cc:335
---Type <return> to continue, or q <return> to quit---
#4  0x00007ffff5a3fa4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#5  0x00007ffff7174182 in start_thread (arg=0x7fffd2ca8700) at pthread_create.c:312
#6  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 106 (Thread 0x7fffd34a9700 (LWP 32339)):
#0  0x00007ffff4b2fb13 in epoll_wait () at ../sysdeps/unix/syscall-template.S:81
#1  0x00007ffff6b28af8 in boost::asio::detail::epoll_reactor::run (this=0x7fffcdc7a120, block=<optimized out>, ops=...)
    at /usr/include/boost/asio/detail/impl/epoll_reactor.ipp:392
#2  0x00007ffff6b2e288 in do_run_one (ec=..., this_thread=..., lock=..., this=<optimized out>)
    at /usr/include/boost/asio/detail/impl/task_io_service.ipp:368
#3  boost::asio::detail::task_io_service::run (this=0x7fff38c2fc70, ec=...)
    at /usr/include/boost/asio/detail/impl/task_io_service.ipp:153
#4  0x00007ffff6b3cf06 in boost::asio::io_service::run (this=0x7fff38a6d3e0) at /usr/include/boost/asio/impl/io_service.ipp:59
#5  0x00007ffff5a3fa4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#6  0x00007ffff7174182 in start_thread (arg=0x7fffd34a9700) at pthread_create.c:312
#7  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 105 (Thread 0x7fffd3caa700 (LWP 32338)):
#0  __clock_nanosleep (clock_id=0, flags=0, req=0x7fffd3ca9b60, rem=0xffffffffffffffff)
    at ../sysdeps/unix/sysv/linux/clock_nanosleep.c:49
#1  0x00007ffff64eac43 in gazebo::common::Time::Sleep (_time=...)
    at /home/hsu/projects/gazebo_default/gazebo/common/Time.cc:427
#2  0x00007ffff64eae07 in gazebo::common::Time::MSleep (_ms=_ms@entry=1)
    at /home/hsu/projects/gazebo_default/gazebo/common/Time.cc:446

#3  0x00007ffff73a3e54 in gazebo::Server::Run (this=0x7fffcf263920) at /home/hsu/projects/gazebo_default/gazebo/Server.cc:514
#4  0x0000000000417a15 in gazebo::ServerFixture::RunServer (this=0x758e80, _worldFilename=..., _paused=<optimized out>, 
    _physics=..., _systemPlugins=...) at /home/hsu/projects/gazebo_default/gazebo/test/ServerFixture.cc:242
#5  0x00007ffff5a3fa4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#6  0x00007ffff7174182 in start_thread (arg=0x7fffd3caa700) at pthread_create.c:312
#7  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 1 (Thread 0x7ffff7f6b880 (LWP 32227)):
#0  __lll_lock_wait () at ../nptl/sysdeps/unix/sysv/linux/x86_64/lowlevellock.S:135
#1  0x00007ffff7176672 in _L_lock_953 () from /lib/x86_64-linux-gnu/libpthread.so.0
#2  0x00007ffff71764da in __GI___pthread_mutex_lock (mutex=0x7fff392c7e10) at ../nptl/pthread_mutex_lock.c:114
#3  0x00007ffff79af570 in lock (this=<optimized out>) at /usr/include/boost/thread/pthread/recursive_mutex.hpp:110
#4  boost::unique_lock<boost::recursive_mutex>::lock (this=this@entry=0x7fffffffce10)
    at /usr/include/boost/thread/lock_types.hpp:346
#5  0x00007ffff7ab1269 in unique_lock (m_=..., this=0x7fffffffce10) at /usr/include/boost/thread/lock_types.hpp:124
#6  gazebo::physics::World::Step (this=0x7fff3994e350, _steps=_steps@entry=1)
    at /home/hsu/projects/gazebo_default/gazebo/physics/World.cc:741
#7  0x00000000004119f1 in Issue1702Test::SpawnDeleteSpawnAgain (this=this@entry=0x758e80, _physicsEngine=...)
    at /home/hsu/projects/gazebo_default/test/regression/1702_remove_model_scene_nodes.cc:94
#8  0x0000000000412d29 in Issue1702Test_SpawnDeleteSpawnAgain_Test::TestBody (this=0x758e80)
---Type <return> to continue, or q <return> to quit---
    at /home/hsu/projects/gazebo_default/test/regression/1702_remove_model_scene_nodes.cc:141
#9  0x0000000000451463 in HandleSehExceptionsInMethodIfSupported<testing::Test, void> (location=0x45a727 "the test body", 
    method=<optimized out>, object=<optimized out>) at /home/hsu/projects/gazebo_default/test/gtest/src/gtest.cc:2079
#10 testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void> (object=object@entry=0x758e80, 
    method=<optimized out>, location=location@entry=0x45a727 "the test body")
    at /home/hsu/projects/gazebo_default/test/gtest/src/gtest.cc:2115
#11 0x00000000004440c7 in testing::Test::Run (this=this@entry=0x758e80)
    at /home/hsu/projects/gazebo_default/test/gtest/src/gtest.cc:2152
#12 0x0000000000444166 in testing::TestInfo::Run (this=0x759e10)
    at /home/hsu/projects/gazebo_default/test/gtest/src/gtest.cc:2327
#13 0x000000000044426d in testing::TestCase::Run (this=0x759930)
    at /home/hsu/projects/gazebo_default/test/gtest/src/gtest.cc:2445
#14 0x00000000004444fd in testing::internal::UnitTestImpl::RunAllTests (this=0x7581d0)
    at /home/hsu/projects/gazebo_default/test/gtest/src/gtest.cc:4316
#15 0x00000000004447fe in HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool> (
    location=<optimized out>, method=<optimized out>, object=<optimized out>)
    at /home/hsu/projects/gazebo_default/test/gtest/src/gtest.cc:2079
#16 HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool> (
    location=0x45bb90 "auxiliary test code (environments or event listeners)", 
    method=(bool (testing::internal::UnitTestImpl::*)(testing::internal::UnitTestImpl * const)) 0x4442e0 <testing::internal::UnitTestImpl::RunAllTests()>, object=0x7581d0) at /home/hsu/projects/gazebo_default/test/gtest/src/gtest.cc:2115
#17 testing::UnitTest::Run (this=<optimized out>) at /home/hsu/projects/gazebo_default/test/gtest/src/gtest.cc:3930
#18 0x000000000040f69f in RUN_ALL_TESTS () at /home/hsu/projects/gazebo_default/test/gtest/include/gtest/gtest.h:2288
#19 main (argc=1, argv=<optimized out>)
    at /home/hsu/projects/gazebo_default/test/regression/1702_remove_model_scene_nodes.cc:151
(gdb) 

Comments (8)

  1. John Hsu reporter

    looking at relevant threads, this happens when removing a model from running simulation:

    [Dbg] [ServerFixture.cc:169] ServerFixture load in 0.8 seconds, timeout after 600 seconds
    ***** Internal Program Error - assertion (dartLink2.get() != __null) failed in virtual void gazebo::physics::DARTPhysics::UpdateCollision():
    /home/hsu/projects/gazebo_default/gazebo/physics/dart/DARTPhysics.cc(156): dartLink2 in collision pare is NULL
    
    Program received signal SIGABRT, Aborted.
    [Switching to Thread 0x7fff84f08700 (LWP 32372)]
    0x00007ffff4a6bcc9 in __GI_raise (sig=sig@entry=6) at ../nptl/sysdeps/unix/sysv/linux/raise.c:56
    56  ../nptl/sysdeps/unix/sysv/linux/raise.c: No such file or directory.
    (gdb) thread apply all bt
    
    
    Thread 137 (Thread 0x7fff84f08700 (LWP 32372)):
    #0  0x00007ffff4a6bcc9 in __GI_raise (sig=sig@entry=6) at ../nptl/sysdeps/unix/sysv/linux/raise.c:56
    #1  0x00007ffff4a6f0d8 in __GI_abort () at abort.c:89
    #2  0x00007ffff7981856 in boost::assertion::detail::assertion_failed_msg (
        expr=expr@entry=0x7ffff7af3f7b "dartLink2.get() != __null", 
        msg=msg@entry=0x7ffff7af3ec0 "dartLink2 in collision pare is NULL", 
        function=function@entry=0x7ffff7af5ec0 <gazebo::physics::DARTPhysics::UpdateCollision()::__PRETTY_FUNCTION__> "virtual void gazebo::physics::DARTPhysics::UpdateCollision()", 
        file=file@entry=0x7ffff7af3e28 "/home/hsu/projects/gazebo_default/gazebo/physics/dart/DARTPhysics.cc", line=line@entry=156)
        at /usr/include/boost/assert.hpp:108
    #3  0x00007ffff79f8d13 in gazebo::physics::DARTPhysics::UpdateCollision (this=0x7fff39326520)
        at /home/hsu/projects/gazebo_default/gazebo/physics/dart/DARTPhysics.cc:156
    #4  0x00007ffff7ab1502 in gazebo::physics::World::Update (this=this@entry=0x7fff3994e350)
        at /home/hsu/projects/gazebo_default/gazebo/physics/World.cc:776
    #5  0x00007ffff7abc6db in gazebo::physics::World::Step (this=this@entry=0x7fff3994e350)
        at /home/hsu/projects/gazebo_default/gazebo/physics/World.cc:698
    #6  0x00007ffff7abcb85 in gazebo::physics::World::RunLoop (this=0x7fff3994e350)
        at /home/hsu/projects/gazebo_default/gazebo/physics/World.cc:467
    #7  0x00007ffff5a3fa4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
    #8  0x00007ffff7174182 in start_thread (arg=0x7fff84f08700) at pthread_create.c:312
    #9  0x00007ffff4b2f47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111
    
    
    
    Thread 1 (Thread 0x7ffff7f6b880 (LWP 32227)):
    #0  __lll_lock_wait () at ../nptl/sysdeps/unix/sysv/linux/x86_64/lowlevellock.S:135
    #1  0x00007ffff7176672 in _L_lock_953 () from /lib/x86_64-linux-gnu/libpthread.so.0
    #2  0x00007ffff71764da in __GI___pthread_mutex_lock (mutex=0x7fff392c7e10) at ../nptl/pthread_mutex_lock.c:114
    #3  0x00007ffff79af570 in lock (this=<optimized out>) at /usr/include/boost/thread/pthread/recursive_mutex.hpp:110
    #4  boost::unique_lock<boost::recursive_mutex>::lock (this=this@entry=0x7fffffffce10)
        at /usr/include/boost/thread/lock_types.hpp:346
    #5  0x00007ffff7ab1269 in unique_lock (m_=..., this=0x7fffffffce10) at /usr/include/boost/thread/lock_types.hpp:124
    #6  gazebo::physics::World::Step (this=0x7fff3994e350, _steps=_steps@entry=1)
        at /home/hsu/projects/gazebo_default/gazebo/physics/World.cc:741
    #7  0x00000000004119f1 in Issue1702Test::SpawnDeleteSpawnAgain (this=this@entry=0x758e80, _physicsEngine=...)
        at /home/hsu/projects/gazebo_default/test/regression/1702_remove_model_scene_nodes.cc:94
    #8  0x0000000000412d29 in Issue1702Test_SpawnDeleteSpawnAgain_Test::TestBody (this=0x758e80)
    ---Type <return> to continue, or q <return> to quit---
        at /home/hsu/projects/gazebo_default/test/regression/1702_remove_model_scene_nodes.cc:141
    #9  0x0000000000451463 in HandleSehExceptionsInMethodIfSupported<testing::Test, void> (location=0x45a727 "the test body", 
        method=<optimized out>, object=<optimized out>) at /home/hsu/projects/gazebo_default/test/gtest/src/gtest.cc:2079
    #10 testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void> (object=object@entry=0x758e80, 
        method=<optimized out>, location=location@entry=0x45a727 "the test body")
        at /home/hsu/projects/gazebo_default/test/gtest/src/gtest.cc:2115
    #11 0x00000000004440c7 in testing::Test::Run (this=this@entry=0x758e80)
        at /home/hsu/projects/gazebo_default/test/gtest/src/gtest.cc:2152
    #12 0x0000000000444166 in testing::TestInfo::Run (this=0x759e10)
        at /home/hsu/projects/gazebo_default/test/gtest/src/gtest.cc:2327
    #13 0x000000000044426d in testing::TestCase::Run (this=0x759930)
        at /home/hsu/projects/gazebo_default/test/gtest/src/gtest.cc:2445
    #14 0x00000000004444fd in testing::internal::UnitTestImpl::RunAllTests (this=0x7581d0)
        at /home/hsu/projects/gazebo_default/test/gtest/src/gtest.cc:4316
    #15 0x00000000004447fe in HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool> (
        location=<optimized out>, method=<optimized out>, object=<optimized out>)
        at /home/hsu/projects/gazebo_default/test/gtest/src/gtest.cc:2079
    #16 HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool> (
        location=0x45bb90 "auxiliary test code (environments or event listeners)", 
        method=(bool (testing::internal::UnitTestImpl::*)(testing::internal::UnitTestImpl * const)) 0x4442e0 <testing::internal::UnitTestImpl::RunAllTests()>, object=0x7581d0) at /home/hsu/projects/gazebo_default/test/gtest/src/gtest.cc:2115
    #17 testing::UnitTest::Run (this=<optimized out>) at /home/hsu/projects/gazebo_default/test/gtest/src/gtest.cc:3930
    #18 0x000000000040f69f in RUN_ALL_TESTS () at /home/hsu/projects/gazebo_default/test/gtest/include/gtest/gtest.h:2288
    #19 main (argc=1, argv=<optimized out>)
        at /home/hsu/projects/gazebo_default/test/regression/1702_remove_model_scene_nodes.cc:151
    (gdb) 
    
  2. Adam Conkey

    When I spawn an object using DART, I get a warning saying:

    Warning [BodyNode.cpp:468] [BodyNode::addCollisionShape] Attempting to add a nullptr as a collision shape
    

    So something is already amiss before deleting the object is attempted. Do you have any guidance on what may be at issue here? I would be interested in attempting to fix it (or hack it on my branch).

  3. Adam Conkey

    I want to provide a little more information, as this bug is a blocker for our lab right now and we would really appreciate some guidance on how it could be fixed. Here is the best description we can give of the issue:

    1. A simulation is running in Gazebo 7 using the DART 5.1 physics engine.
    2. An object is spawned into the running simulation.
    3. The object is deleted in the Gazebo GUI by right clicking the object and selecting "Delete".
    4. Gazebo crashes with the error.

    The error we get is

    gzserver: /home/adam/gazebo_dart_ws/src/gazebo/gazebo/physics/dart/DARTPhysics.cc:150: 
    virtual void gazebo::physics::DARTPhysics::UpdateCollision(): Assertion `(dartLink2.get() != 
    nullptr)&&("dartLink2 in collision pair is null")' failed.
    Aborted (core dumped)
    

    I'll note also that when we spawn our robot in Gazebo with DART, we see warnings like

    Warning [BodyNode.cpp:468] [BodyNode::addCollisionShape] Attempting to add a nullptr as a collision shape
    

    Additionally, the problem occurs even when spawning into a paused simulation, or deleting on a paused simulation. In fact, if you spawn into a paused simulation, immediately delete it, and then unpause the simulation, the error occurs exactly when the simulation is unpaused.

    Any idea what can be going wrong here, or the best place to start debugging? We are interested in providing a fix for this, but would like some expert input on what might be the root cause before we burn time unnecessarily trying to hunt it down ourselves.

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