rviz crashes from laser scan/point cloud errors (ros-pkg ticket #3422)

[hershwg]

laser scan is arriving in a separate thread, and setting the status there -- and one of the connections in its signal is not safe to be called from a thread other than the wx one:

{{{
#0 0xb7fd6410 in __kernel_vsyscall ()
#1 0xb6616085 in raise () from /lib/tls/i686/cmov/libc.so.6
#2 0xb6617a01 in abort () from /lib/tls/i686/cmov/libc.so.6
#3 0xb664eb7c in ?? () from /lib/tls/i686/cmov/libc.so.6
#4 0xb6656a85 in ?? () from /lib/tls/i686/cmov/libc.so.6
#5 0xb665a4f0 in free () from /lib/tls/i686/cmov/libc.so.6
#6 0xb5f32b81 in g_free () from /usr/lib/libglib-2.0.so.0
#7 0xb60e87a9 in ?? () from /usr/lib/libgdk-x11-2.0.so.0
#8 0xb60e9dd1 in gdk_region_union () from /usr/lib/libgdk-x11-2.0.so.0
#9 0xb60eda9d in gdk_window_invalidate_maybe_recurse () from

/usr/lib/libgdk-x11-2.0.so.0
#10 0xb60edc70 in gdk_window_invalidate_region () from

/usr/lib/libgdk-x11-2.0.so.0
#11 0xb60edd02 in gdk_window_invalidate_rect () from

/usr/lib/libgdk-x11-2.0.so.0
#12 0xb6bb44cb in wxWindow::Refresh () from /usr/lib/libwx_gtk2u_core-2.8.so.0
#13 0xb796d160 in wxPropertyGrid::DrawItems (this=0x8890f00,

p1=0xb1265910, p2=0xb1265910) at /usr/include/wx-2.8/wx/window.h:729
#14 0xb796d661 in wxPropertyGridInterface::SetPropertyLabel

(this=0x88910b8, id=@0xaef6f68c, newproplabel=@0xaef6f694)
at ./include/wx/propgrid/propgrid.h:7551
#15 0xb71fa3fc in rviz::CategoryProperty::setLabel (this=0xb1265528,

label=@0xaef6f6e0)
at /wg/adm/wim/ros/pkgs/visualization/rviz/src/rviz/properties/property.cpp:1005
#16 0xb723f941 in rviz::DisplaysPanel::setDisplayCategoryLabel

(this=0x885d7f0, wrapper=0xb1264c38, index=7)
at /wg/adm/wim/ros/pkgs/visualization/rviz/src/rviz/displays_panel.cpp:256
#17 0xb7240c17 in rviz::DisplaysPanel::onDisplayStateChanged

(this=0x885d7f0, display=0xb1265cf8)
at /wg/adm/wim/ros/pkgs/visualization/rviz/src/rviz/displays_panel.cpp:390
#18 0xb724259d in

boost::detail::function::void_function_obj_invoker1<boost::_bi::bind_t<void,
boost::_mfi::mf1<void, rviz::DisplaysPanel, rviz::Display*>,
boost::_bi::list2boost::_bi::value<rviz::DisplaysPanel*,
boost::arg<1> > >, void, rviz::Display*>::invoke
(function_obj_ptr=@0xae6a0a20,
a0=0xb1265cf8) at
/opt/ros/include/boost-1_37/boost/bind/mem_fn_template.hpp:162
#19 0xb728c660 in boost::function1<void, rviz::Display*>::operator()

(this=0xae6a0a1c, a0=0xb1265cf8)
at /opt/ros/include/boost-1_37/boost/function/function_template.hpp:989
#20 0xb728cc5c in boost::signal1<void, rviz::Display*,

boost::last_value, int, std::less, boost::function<void
()(rviz::Display*)> >::operator() (this=0xb1265de8, a1=0xb1265cf8) at
/opt/ros/include/boost-1_37/boost/signals/signal_template.hpp:119
#21 0xb72897a6 in rviz::Display::setStatus (this=0xb1265cf8,

level=rviz::status_levels::Ok, name=@0xaef6fce0, text=@0xaef6fcdc)
at /wg/adm/wim/ros/pkgs/visualization/rviz/src/rviz/display.cpp:179
#22 0xb72550d6 in rviz::FrameManager::messageArrived (this=0x8d50278,

header=@0xa558b270, caller_id=@0xaef6fd50, display=0xb1265cf8)
at /wg/adm/wim/ros/pkgs/visualization/rviz/src/rviz/frame_manager.cpp:227
#23 0xad2cd0bb in

rviz::FrameManager::messageCallback<sensor_msgs::LaserScan>
(this=0x8d50278, msg=@0xa70de358, display=0xb1265cf8)
at /wg/adm/wim/ros/pkgs/visualization/rviz/src/rviz/frame_manager.h:103
#24 0xad2c9a7e in

boost::detail::function::void_function_obj_invoker1<boost::_bi::bind_t<void,
boost::mfi::mf2<void, rviz::FrameManager,
boost::shared_ptr<sensor_msgs::LaserScan const> const&,
rviz::Display>,
boost::_bi::list3<boost::_bi::valuerviz::FrameManager_,
boost::arg<1>, boost::_bi::valuerviz::Display* > >, void,
boost::shared_ptr<sensor_msgs::LaserScan const> const&>::invoke
(function_obj_ptr=@0xb12baaf0, a0=@0xa70de358)
at /opt/ros/include/boost-1_37/boost/bind/mem_fn_template.hpp:274
#25 0xad2cdcd0 in boost::function1<void,

boost::shared_ptr<sensor_msgs::LaserScan const> const&>::operator()
(this=0xb12baaec, a0=@0xa70de358)
at /opt/ros/include/boost-1_37/boost/function/function_template.hpp:989
#26 0xad2ce2e7 in boost::signal1<void,

boost::shared_ptr<sensor_msgs::LaserScan const> const&,
boost::last_value, int, std::less, boost::function<void
()(boost::shared_ptr<sensor_msgs::LaserScan const> const&)>

::operator() (this=0xb1265f68, a1=@0xa70de358)
at /opt/ros/include/boost-1_37/boost/signals/signal_template.hpp:119

27 0xad2d1c45 in

tf::MessageFilter<sensor_msgs::LaserScan>::testMessage
(this=0xb1265f60, message=@0xa70de358)
at /u/wim/ros/ros-rc/core/message_filters/include/message_filters/simple_filter.h:88

28 0xad2d2bf6 in

tf::MessageFilter<sensor_msgs::LaserScan>::testMessages
(this=0xb1265f60)
at /u/wim/ros/pkgs/geometry/tf/include/tf/message_filter.h:410

29 0xad2d4468 in

tf::MessageFilter<sensor_msgs::LaserScan>::maxRateTimerCallback
(this=0xb1265f60)
---Type to continue, or q to quit---
}}}

trac data:

• Owner: jfaust
• Reporter: jfaust
• Reported at: Fri Dec 18 15:44:06 2009
• URL: http://code.ros.org/trac/ros-pkg/ticket/3422

[hershwg]

[jfaust] r26639 should fix this, though I don't have a good repro case