MicroRTPS agent causes seg fault when stopped. about px4_ros_com HOT 4 CLOSED

It's not clear what is causing the segfault. What is clear is that you are not using the correct Fast-RTPS-Gen version, which should be 1.0.4.

from px4_ros_com.

I have rebuilt fastrtpsgen and now have version 1.0.4 installed.

$ /usr/local/bin/fastrtpsgen -version
openjdk version "11.0.7" 2020-04-14
OpenJDK Runtime Environment (build 11.0.7+10-post-Ubuntu-2ubuntu218.04)
OpenJDK 64-Bit Server VM (build 11.0.7+10-post-Ubuntu-2ubuntu218.04, mixed mode, sharing)
fastrtpsgen version 1.0.4

I have deleted my px4_ros_com directory containing source and all build files. I have then cloned the px4_msgs and px4_ros_com repos and rebuilt.

The seg fault is still happening. Thinking it might possibly be a version problem with the libraries that fastrtpsgen is using, I have included the output from ldd.

$ ldd /home/andy/px4/ros_com/install/px4_ros_com/bin/micrortps_agent     
        linux-vdso.so.1 (0x00007fff57564000)
        libfastrtps.so.1 => /opt/ros/eloquent/lib/libfastrtps.so.1 (0x00007fba334b9000)
        libfastcdr.so.1 => /opt/ros/eloquent/lib/libfastcdr.so.1 (0x00007fba332a7000)
        libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007fba33088000)
        libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007fba32cff000)
        libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007fba32961000)
        libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007fba32749000)
        libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007fba32358000)
        libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007fba32154000)
        libtinyxml2.so.6 => /usr/lib/x86_64-linux-gnu/libtinyxml2.so.6 (0x00007fba31f40000)
        libssl.so.1.1 => /usr/lib/x86_64-linux-gnu/libssl.so.1.1 (0x00007fba31cb3000)
        libcrypto.so.1.1 => /usr/lib/x86_64-linux-gnu/libcrypto.so.1.1 (0x00007fba317e8000)
        /lib64/ld-linux-x86-64.so.2 (0x00007fba33f4e000)

These are the library versions being used:

$ ll /opt/ros/eloquent/lib/libfast*
lrwxrwxrwx 1 root root      15 Dec 13 04:13 /opt/ros/eloquent/lib/libfastcdr.so -> libfastcdr.so.1
lrwxrwxrwx 1 root root      20 Dec 13 04:13 /opt/ros/eloquent/lib/libfastcdr.so.1 -> libfastcdr.so.1.0.10
-rw-r--r-- 1 root root   72480 Dec 13 04:13 /opt/ros/eloquent/lib/libfastcdr.so.1.0.10
lrwxrwxrwx 1 root root      16 Feb 18 17:47 /opt/ros/eloquent/lib/libfastrtps.so -> libfastrtps.so.1
lrwxrwxrwx 1 root root      20 Feb 18 17:47 /opt/ros/eloquent/lib/libfastrtps.so.1 -> libfastrtps.so.1.9.3
-rw-r--r-- 1 root root 5954248 Feb 18 17:47 /opt/ros/eloquent/lib/libfastrtps.so.1.9.3

Could it be that I need to build a different version of the other fast* libraries to pick up the fix you mentioned in another thread?

from px4_ros_com.

I have rebuilt fastrtpsgen and now have version 1.0.4 installed.

$ /usr/local/bin/fastrtpsgen -version
openjdk version "11.0.7" 2020-04-14
OpenJDK Runtime Environment (build 11.0.7+10-post-Ubuntu-2ubuntu218.04)
OpenJDK 64-Bit Server VM (build 11.0.7+10-post-Ubuntu-2ubuntu218.04, mixed mode, sharing)
fastrtpsgen version 1.0.4

I have deleted my px4_ros_com directory containing source and all build files. I have then cloned the px4_msgs and px4_ros_com repos and rebuilt.

The seg fault is still happening. Thinking it might possibly be a version problem with the libraries that fastrtpsgen is using, I have included the output from ldd.

$ ldd /home/andy/px4/ros_com/install/px4_ros_com/bin/micrortps_agent     
        linux-vdso.so.1 (0x00007fff57564000)
        libfastrtps.so.1 => /opt/ros/eloquent/lib/libfastrtps.so.1 (0x00007fba334b9000)
        libfastcdr.so.1 => /opt/ros/eloquent/lib/libfastcdr.so.1 (0x00007fba332a7000)
        libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007fba33088000)
        libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007fba32cff000)
        libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007fba32961000)
        libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007fba32749000)
        libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007fba32358000)
        libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007fba32154000)
        libtinyxml2.so.6 => /usr/lib/x86_64-linux-gnu/libtinyxml2.so.6 (0x00007fba31f40000)
        libssl.so.1.1 => /usr/lib/x86_64-linux-gnu/libssl.so.1.1 (0x00007fba31cb3000)
        libcrypto.so.1.1 => /usr/lib/x86_64-linux-gnu/libcrypto.so.1.1 (0x00007fba317e8000)
        /lib64/ld-linux-x86-64.so.2 (0x00007fba33f4e000)

These are the library versions being used:

$ ll /opt/ros/eloquent/lib/libfast*
lrwxrwxrwx 1 root root      15 Dec 13 04:13 /opt/ros/eloquent/lib/libfastcdr.so -> libfastcdr.so.1
lrwxrwxrwx 1 root root      20 Dec 13 04:13 /opt/ros/eloquent/lib/libfastcdr.so.1 -> libfastcdr.so.1.0.10
-rw-r--r-- 1 root root   72480 Dec 13 04:13 /opt/ros/eloquent/lib/libfastcdr.so.1.0.10
lrwxrwxrwx 1 root root      16 Feb 18 17:47 /opt/ros/eloquent/lib/libfastrtps.so -> libfastrtps.so.1
lrwxrwxrwx 1 root root      20 Feb 18 17:47 /opt/ros/eloquent/lib/libfastrtps.so.1 -> libfastrtps.so.1.9.3
-rw-r--r-- 1 root root 5954248 Feb 18 17:47 /opt/ros/eloquent/lib/libfastrtps.so.1.9.3

Could it be that I need to build a different version of the other fast* libraries to pick up the fix you mentioned in another thread?

This might be actually a problem with the agent itself and how it closes the application. I will dig in further when I have some time. Thanks for reporting.

from px4_ros_com.

This was solved meanwhile. Closing.

from px4_ros_com.