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bad_alloc after getting goal response #2

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hsd-dev opened this issue Jul 11, 2019 · 2 comments
Closed

bad_alloc after getting goal response #2

hsd-dev opened this issue Jul 11, 2019 · 2 comments

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@hsd-dev
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hsd-dev commented Jul 11, 2019 •
edited
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For my reference: https://github.com/ipa-hsd/action_bridge/tree/dashing-devel

ros2 run --prefix=gdb action_bridge action_bridge_fibonacci_node   

GNU gdb (Ubuntu 8.1-0ubuntu3) 8.1.0.20180409-git
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Reading symbols from /home/hsd/dev/bridge_ws/install/action_bridge/lib/action_bridge/action_bridge_fibonacci_node...(no debugging symbols found)...done.
(gdb) run
Starting program: /home/hsd/dev/bridge_ws/install/action_bridge/lib/action_bridge/action_bridge_fibonacci_node 
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7fffed9b3700 (LWP 537)]
[New Thread 0x7fffed1b2700 (LWP 538)]
[New Thread 0x7fffec9b1700 (LWP 539)]
[New Thread 0x7fffe7fff700 (LWP 540)]
[New Thread 0x7fffe5c7b700 (LWP 541)]
[New Thread 0x7fffe547a700 (LWP 542)]
[New Thread 0x7fffe4c79700 (LWP 543)]
[New Thread 0x7fffd7fff700 (LWP 544)]
[New Thread 0x7fffd77fe700 (LWP 545)]
[New Thread 0x7fffd6ffd700 (LWP 546)]
[New Thread 0x7fffd63de700 (LWP 547)]
[New Thread 0x7fffd55cb700 (LWP 548)]
[New Thread 0x7fffd4dca700 (LWP 549)]
[New Thread 0x7fffbffff700 (LWP 550)]
[New Thread 0x7fffbf7fe700 (LWP 551)]
[INFO] [action_bridge_fibonacci]: Sending goal
[New Thread 0x7fffbeffd700 (LWP 568)]
[New Thread 0x7fffbe7fc700 (LWP 569)]
goal accepted
[Thread 0x7fffbeffd700 (LWP 568) exited]
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc

Thread 1 "action_bridge_f" received signal SIGABRT, Aborted.
__GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:51
51	../sysdeps/unix/sysv/linux/raise.c: No such file or directory.
(gdb) bt
#0  __GI_raise (sig=sig@entry=6)
    at ../sysdeps/unix/sysv/linux/raise.c:51
#1  0x00007ffff5698801 in __GI_abort () at abort.c:79
#2  0x00007ffff5ced957 in ?? ()
   from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#3  0x00007ffff5cf3ab6 in ?? ()
   from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#4  0x00007ffff5cf3af1 in std::terminate() ()
   from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#5  0x00007ffff5cf3d24 in __cxa_throw ()
   from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#6  0x00007ffff5cf429c in operator new(unsigned long) ()
   from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#7  0x00007ffff5d85bc7 in std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_M_assign(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) ()
   from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
---Type <return> to continue, or q <return> to quit---
#8  0x00007ffff5d85f19 in std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::operator=(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#9  0x000055555557f45f in actionlib_msgs::GoalID_<std::allocator<void> >::operator=(actionlib_msgs::GoalID_<std::allocator<void> > const&) ()
#10 0x000055555557f489 in actionlib_msgs::GoalStatus_<std::allocator<void> >::operator=(actionlib_msgs::GoalStatus_<std::allocator<void> > const&) ()
#11 0x00005555555aa90e in actionlib::ActionServer<actionlib_tutorials::FibonacciAction_<std::allocator<void> > >::publishFeedback(actionlib_msgs::GoalStatus_<std::allocator<void> > const&, actionlib_tutorials::FibonacciFeedback_<std::allocator<void> > const&) ()
#12 0x0000555555583508 in actionlib::ServerGoalHandle<actionlib_tutorials::FibonacciAction_<std::allocator<void> > >::publishFeedback(actionlib_tutorials::FibonacciFeedback_<std::allocator<void> > const&) ()
#13 0x000055555557d5bd in ActionBridge<actionlib_tutorials::FibonacciAction_<std::allocator<void> >, example_interfaces::action::Fibonacci>::GoalHandler::handle()::{lambda(std::shared_ptr<rclcpp_action::ClientGoalHandle<example_interfaces::action::Fibonacci> >, auto:1)#2}::operator()<std::shared_ptr<example_interfaces::action::Fibonacci_Feedback_<std::allocator<void> > const> > ()
#14 0x0000555555591e9f in std::_Function_handler<void (std::shared_ptr<rclcpp_action::ClientGoalHandle<example_interfaces::action::Fibonacci> >, std::shared_ptr<example_interfaces::action::Fibonacci_Feedback_<std::allocator<void> > const>), ActionBridge<actionlib_tutorials::FibonacciAction_<std::allocator<void> >, example_interfaces::action::Fibonacci>::GoalHandler::handle()::{lambda(std::shared_ptr<rclcpp_action::ClientGoalHandle<example_interfaces::action::Fibonacci> >, auto:1)#2}>::_M_invoke(std::_Any_data const&, std::shared_ptr<rclcpp_action::ClientGoalHandle<example_interfaces::action::Fibonacci> >&&, std::shared_ptr<example_interfaces::action::Fibonacci_Feedback_<std::allocator<void> > const>&&) ()
#15 0x00005555555afb7d in std::function<void (std::shared_ptr<rclcpp_action::ClientGoalHandle<example_interfaces::action::Fibonacci> >, std::shared_ptr<example_interfaces::action::Fibonacci_Feedback_<std::allocator<void> > const>)>::operator()(std::shared_ptr<rclcpp_action::ClientGoalHandle<example_interfaces::action::Fibonacci> >, std::shared_ptr<example_interfaces::action::Fibonacci_Feedback_<std::allocator<void> > const>) const ()
#16 0x00005555555acac9 in rclcpp_action::ClientGoalHandle<example_interfaces::action::Fibonacci>::call_feedback_callback(std::shared_ptr<rclcpp_action::ClientGoalHandle<example_interfaces::action::Fibonacci> >, std::shared_ptr<example_interfaces::action::Fibonacci_Feedback_<std::allocator<void> > const>) ()
#17 0x00005555555a9e64 in rclcpp_action::Client<example_interfaces::action::Fibonacci>::handle_feedback_message(std::shared_ptr<void>) ()
#18 0x00007ffff696403f in rclcpp_action::ClientBase::execute() () from /opt/ros/dashing/lib/librclcpp_action.so
#19 0x00007ffff669cc7f in rclcpp::executor::Executor::execute_any_executable(rclcpp::executor::AnyExecutable&) ()
   from /opt/ros/dashing/lib/librclcpp.so
#20 0x00007ffff66a2f2f in rclcpp::executors::SingleThreadedExecutor::spin() () from /opt/ros/dashing/lib/librclcpp.so
#21 0x00007ffff669fc32 in rclcpp::spin(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>) () from /opt/ros/dashing/lib/librclcpp.so
#22 0x00007ffff669feeb in rclcpp::spin(std::shared_ptr<rclcpp::Node>) () from /opt/ros/dashing/lib/librclcpp.so
#23 0x00005555555747ce in ActionBridge<actionlib_tutorials::FibonacciAction_<std::allocator<void> >, example_interfaces::action::Fibonacci>::main(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, char**) ()
#24 0x000055555556d093 in main ()

On the ROS1 action client side, I get:

$ rosrun actionlib_tutorials fibonacci_client
[ INFO] [1562932615.221419967]: Waiting for action server to start.
[ INFO] [1562932615.608441769]: Action server started, sending goal.
[ WARN] [1562932621.009234296]: Transitioning goal to LOST
[ INFO] [1562932621.009466688]: Action finished: LOST
@hsd-dev
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hsd-dev commented Jul 12, 2019 •
edited
Loading

I guess these 2 lines made the goal handle go out of scope:
https://github.com/ipa-hsd/action_bridge/blob/2b7e4d5a27d4774e9129ed8172461672df9cc3ce/include/action_bridge/action_bridge.hpp#L197-L201

Now changed that to:
https://github.com/ipa-hsd/action_bridge/blob/9145a1ad9717f24acf36bd24f20b1e33e6dc8a16/include/action_bridge/action_bridge.hpp#L195-L200

Now on the ROS1 action client side, I get:

$ rosrun actionlib_tutorials fibonacci_client
[ INFO] [1562934360.270788181]: Waiting for action server to start.
[ INFO] [1562934360.629783900]: Action server started, sending goal.
[ INFO] [1562934379.633558543]: Action finished: SUCCEEDED

But,

Starting program: /home/hsd/dev/bridge_ws/install/action_bridge/lib/action_bridge/action_bridge_fibonacci_node 
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7fffed9b3700 (LWP 19173)]
[New Thread 0x7fffed1b2700 (LWP 19174)]
[New Thread 0x7fffec9b1700 (LWP 19175)]
[New Thread 0x7fffe7fff700 (LWP 19176)]
[New Thread 0x7fffe5c7b700 (LWP 19177)]
[New Thread 0x7fffe547a700 (LWP 19178)]
[New Thread 0x7fffe4c79700 (LWP 19179)]
[New Thread 0x7fffd7fff700 (LWP 19181)]
[New Thread 0x7fffd77fe700 (LWP 19182)]
[New Thread 0x7fffd6ffd700 (LWP 19183)]
[New Thread 0x7fffd63de700 (LWP 19184)]
[New Thread 0x7fffd55cb700 (LWP 19185)]
[New Thread 0x7fffd4dca700 (LWP 19186)]
[New Thread 0x7fffbffff700 (LWP 19187)]
[New Thread 0x7fffb7fff700 (LWP 19188)]
[INFO] [action_bridge_fibonacci]: Sending goal
[New Thread 0x7fffbf7fe700 (LWP 19206)]
[New Thread 0x7fffbeffd700 (LWP 19207)]
[Thread 0x7fffbf7fe700 (LWP 19206) exited]
terminate called after throwing an instance of 'std::future_error'
  what():  std::future_error: Promise already satisfied

Thread 1 "action_bridge_f" received signal SIGABRT, Aborted.
__GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:51
51	../sysdeps/unix/sysv/linux/raise.c: No such file or directory.
(gdb) bt
#0  __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:51
#1  0x00007ffff5698801 in __GI_abort () at abort.c:79
#2  0x00007ffff5ced957 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#3  0x00007ffff5cf3ab6 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#4  0x00007ffff5cf3af1 in std::terminate() () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#5  0x00007ffff5cf3d24 in __cxa_throw () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#6  0x00007ffff5cef929 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#7  0x0000555555570ef6 in std::__future_base::_State_baseV2::_M_set_result(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>, bool) (
    this=0x7fffcc001090, __res=..., __ignore_failure=false) at /usr/include/c++/7/future:408
#8  0x0000555555597dc7 in std::promise<rclcpp_action::ClientGoalHandle<example_interfaces::action::Fibonacci>::WrappedResult>::set_value (this=0x555556217fe8, __r=...) at /usr/include/c++/7/future:1110
#9  0x000055555559348f in rclcpp_action::ClientGoalHandle<example_interfaces::action::Fibonacci>::set_result (this=0x555556217fc0, wrapped_result=...)
    at /opt/ros/dashing/include/rclcpp_action/client_goal_handle_impl.hpp:75
#10 0x000055555558d41c in rclcpp_action::Client<example_interfaces::action::Fibonacci>::make_result_aware(std::shared_ptr<rclcpp_action::ClientGoalHandle<example_interfaces::action::Fibonacci> >)::{lambda(std::shared_ptr<void>)#1}::operator()(std::shared_ptr<void>) (__closure=0x555556218210, 
    response=std::shared_ptr<void> (use count 4, weak count 0) = {...})
    at /opt/ros/dashing/include/rclcpp_action/client.hpp:613
#11 0x000055555559803c in std::_Function_handler<void (std::shared_ptr<void>), rclcpp_action::Client<example_interfaces::action::Fibonacci>::make_result_aware(std::shared_ptr<rclcpp_action::ClientGoalHandle<example_interfaces::action::Fibonacci> >)::{lambda(std::shared_ptr<void>)#1}>::_M_invoke(std::_Any_data const&, std::shared_ptr<void>&&) (__functor=..., __args#0=...)
    at /usr/include/c++/7/bits/std_function.h:316
#12 0x00007ffff69659ee in rclcpp_action::ClientBase::handle_result_response(rmw_request_id_t const&, std::shared_ptr<void>) () from /opt/ros/dashing/lib/librclcpp_action.so
#13 0x00007ffff69640c5 in rclcpp_action::ClientBase::execute() ()
   from /opt/ros/dashing/lib/librclcpp_action.so
---Type <return> to continue, or q <return> to quit---
#14 0x00007ffff669cc7f in rclcpp::executor::Executor::execute_any_executable(rclcpp::executor::AnyExecutable&) () from /opt/ros/dashing/lib/librclcpp.so
#15 0x00007ffff66a2f2f in rclcpp::executors::SingleThreadedExecutor::spin() () from /opt/ros/dashing/lib/librclcpp.so
#16 0x00007ffff669fc32 in rclcpp::spin(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>) () from /opt/ros/dashing/lib/librclcpp.so
#17 0x00007ffff669feeb in rclcpp::spin(std::shared_ptr<rclcpp::Node>) () from /opt/ros/dashing/lib/librclcpp.so
#18 0x00005555555747ce in ActionBridge<actionlib_tutorials::FibonacciAction_<std::allocator<void> >, example_interfaces::action::Fibonacci>::main (action_name="fibonacci", argc=1, argv=0x7fffffffd9d8)
    at /home/hsd/dev/bridge_ws/src/action_bridge/include/action_bridge/action_bridge.hpp:108
#19 0x000055555556d093 in main (argc=1, argv=0x7fffffffd9d8) at /home/hsd/dev/bridge_ws/src/action_bridge/src/action_bridge_fibonacci.cpp:56

Maybe should use:
https://github.com/ros2/rclcpp/blob/bfee90ab7a210657e1dc02c6b7754eb917687513/rclcpp_action/test/test_client.cpp#L447 ?

@mathias-luedtke mathias-luedtke mentioned this issue Jul 12, 2019
Merged
@hsd-dev
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hsd-dev commented Aug 22, 2019

Should be fixed as per ros2/rclcpp#783 (comment)
Will check after changes are released.

@hsd-dev hsd-dev closed this as completed Aug 22, 2019
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