SonarSensor_TEST.CreateSonar failures with dart

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Issue #2669 new
Steve Peters created an issue

The SonarSensor_TEST.CreateSonar test cases in UNIT_SonarSensor_TEST occasionally fail for dart during teardown. I've uploaded a backtrace to the following gist:

Here is the console output:

[ RUN      ] SonarTests/SonarSensor_TEST.CreateSonar/7
[Dbg] [SonarSensor_TEST.cc:195] Physics dart paused 1
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 172.23.2.90
[Dbg] [DARTModel.cc:72] Initializing DART model ground_plane
[Dbg] [DARTModel.cc:128] Building DART BodyNode for link 'link' with a free joint.
Warning [BodyNode.cpp:498] [BodyNode] A negative or zero mass [0] is set to BodyNode [link], which can cause invalid physical behavior or segfault. Consider setting positive value instead.
[Dbg] [ServerFixture.cc:209] ServerFixture load in 0.7 seconds, timeout after 600 seconds
Warning [parser.cc:540] Converting a deprecated SDF source[data-string].
[Err] [Publisher.cc:101] Publishing an uninitialized message on topic[/gazebo/default/ground_plane/link/sonar/sonar]. Required field [sonar.geometry] missing.
[Err] [Publisher.cc:101] Publishing an uninitialized message on topic[/gazebo/default/ground_plane/link/sonar/sonar]. Required field [sonar.geometry] missing.
[Dbg] [ServerFixture.cc:135] ServerFixture::Unload
Warning [World.cpp:355] [World::removeSkeleton] Skeleton [ground_plane] is not in the world.

Here is an excerpt of the backtrace showing a dart failure in the ~SonarSensor destructor.

#0  0x00007f7c06594574 in  () at /usr/lib/x86_64-linux-gnu/libdart.so.6.10
#1  0x00007f7c06594bca in dart::dynamics::JacobianNode::~JacobianNode() () at /usr/lib/x86_64-linux-gnu/libdart.so.6.10
#2  0x00007f7c06505ee7 in dart::dynamics::FixedJacobianNode::~FixedJacobianNode() () at /usr/lib/x86_64-linux-gnu/libdart.so.6.10
#3  0x00007f7c06601b64 in dart::dynamics::CompositeNode<dart::common::CompositeJoiner<dart::dynamics::FixedJacobianNode, dart::dynamics::ShapeFrame> >::~CompositeNode() () at /usr/lib/x86_64-linux-gnu/libdart.so.6.10
#4  0x00007f7c066024d3 in dart::dynamics::ShapeNode::~ShapeNode() () at /usr/lib/x86_64-linux-gnu/libdart.so.6.10
#5  0x00007f7c066026c1 in dart::dynamics::ShapeNode::~ShapeNode() () at /usr/lib/x86_64-linux-gnu/libdart.so.6.10
#6  0x00007f7c065c4bc2 in dart::dynamics::NodeDestructor::~NodeDestructor() () at /usr/lib/x86_64-linux-gnu/libdart.so.6.10
#7  0x00007f7c064e961a in std::_Sp_counted_ptr<dart::dynamics::NodeDestructor*, (__gnu_cxx::_Lock_policy)2>::_M_dispose() () at /usr/lib/x86_64-linux-gnu/libdart.so.6.10
#8  0x00007f7c0e1ade0c in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() (this=0x558e21ebdc60) at /usr/include/c++/8/bits/shared_ptr_base.h:148
#9  0x00007f7c0e1ade0c in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() (this=0x558e21ebdc60) at /usr/include/c++/8/bits/shared_ptr_base.h:148
#10 0x00007f7c0e1ade0c in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::~__shared_count() (this=0x558e21bf29a0, __in_chrg=<optimized out>) at /usr/include/c++/8/bits/shared_ptr_base.h:728
#11 0x00007f7c0e1ade0c in std::__shared_ptr<dart::dynamics::NodeDestructor, (__gnu_cxx::_Lock_policy)2>::~__shared_ptr() (this=0x558e21bf2998, __in_chrg=<optimized out>) at /usr/include/c++/8/bits/shared_ptr_base.h:1167
#12 0x00007f7c0e1ade0c in std::shared_ptr<dart::dynamics::NodeDestructor>::~shared_ptr() (this=0x558e21bf2998, __in_chrg=<optimized out>) at /usr/include/c++/8/bits/shared_ptr.h:103
#13 0x00007f7c0e1ade0c in dart::dynamics::TemplateNodePtr<dart::dynamics::ShapeNode, dart::dynamics::BodyNode>::~TemplateNodePtr() (this=0x558e21bf2990, __in_chrg=<optimized out>) at /usr/include/dart/dynamics/detail/NodePtr.hpp:49
#14 0x00007f7c0e1ade0c in gazebo::physics::DARTCollisionPrivate::~DARTCollisionPrivate() (this=0x558e21bf2990, __in_chrg=<optimized out>) at /data_fast/scpeters/ws/gazebo8/src/gazebo/gazebo/physics/dart/DARTCollisionPrivate.hh:40
#15 0x00007f7c0e1ade0c in gazebo::physics::DARTCollision::~DARTCollision() (this=0x558e21d17030, __in_chrg=<optimized out>) at /data_fast/scpeters/ws/gazebo8/src/gazebo/gazebo/physics/dart/DARTCollision.cc:47
#16 0x00007f7c0e1ade99 in gazebo::physics::DARTCollision::~DARTCollision() (this=0x558e21d17030, __in_chrg=<optimized out>) at /data_fast/scpeters/ws/gazebo8/src/gazebo/gazebo/physics/dart/DARTCollision.cc:45
#17 0x00007f7c0e2b187a in boost::detail::sp_counted_base::release() (this=0x558e21bf2b10) at /usr/include/boost/smart_ptr/detail/sp_counted_base_std_atomic.hpp:110
#18 0x00007f7c0e2b187a in boost::detail::sp_counted_base::release() (this=0x558e21bf2b10) at /usr/include/boost/smart_ptr/detail/sp_counted_base_std_atomic.hpp:106
#19 0x00007f7c0e2b187a in boost::detail::shared_count::~shared_count() (this=0x558e21bf2c28, __in_chrg=<optimized out>) at /usr/include/boost/smart_ptr/detail/shared_count.hpp:426
#20 0x00007f7c0e2b187a in boost::shared_ptr<gazebo::physics::Collision>::~shared_ptr() (this=0x558e21bf2c20, __in_chrg=<optimized out>) at /usr/include/boost/smart_ptr/shared_ptr.hpp:341
#21 0x00007f7c0e2b187a in gazebo::physics::Shape::~Shape() (this=0x558e21bf2b30, __in_chrg=<optimized out>) at /data_fast/scpeters/ws/gazebo8/src/gazebo/gazebo/physics/Shape.cc:43
#22 0x00007f7c0e1cc179 in gazebo::physics::DARTMeshShape::~DARTMeshShape() (this=0x558e21bf2b30, __in_chrg=<optimized out>) at /data_fast/scpeters/ws/gazebo8/src/gazebo/gazebo/physics/dart/DARTMeshShape.cc:41
#23 0x00007f7c0eafb5da in boost::detail::sp_counted_base::release() (this=0x558e21bf4230) at /usr/include/boost/smart_ptr/detail/sp_counted_base_std_atomic.hpp:110
#24 0x00007f7c0eafb5da in boost::detail::sp_counted_base::release() (this=0x558e21bf4230) at /usr/include/boost/smart_ptr/detail/sp_counted_base_std_atomic.hpp:106
#25 0x00007f7c0eb417cd in boost::detail::shared_count::~shared_count() (this=<optimized out>, __in_chrg=<optimized out>) at /usr/include/boost/smart_ptr/detail/shared_count.hpp:426
#26 0x00007f7c0eb417cd in boost::shared_ptr<gazebo::physics::MeshShape>::~shared_ptr() (this=<optimized out>, __in_chrg=<optimized out>) at /usr/include/boost/smart_ptr/shared_ptr.hpp:341
#27 0x00007f7c0eb417cd in boost::shared_ptr<gazebo::physics::MeshShape>::reset() (this=0x558e21c33710) at /usr/include/boost/smart_ptr/shared_ptr.hpp:693
#28 0x00007f7c0eb417cd in gazebo::sensors::SonarSensor::~SonarSensor() (this=0x558e21ca6160, __in_chrg=<optimized out>) at /data_fast/scpeters/ws/gazebo8/src/gazebo/gazebo/sensors/SonarSensor.cc:63
...

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