Comments (9)
I completely agree. Our plugin segfaults when its destructor is called, this is the reason of gazebo crash.
We need to close yarp ports, delete allocated memory and stuff like that!
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We discussed with @francesco-romano , the first things to fix (for all three plugins) are to properly close the yarp driver in the gazebo plugin destructor, and to properly remove the WorldUpdate callback in yarp driver close function.
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Commit cda7722 solves this issue on the normal iCub, but in my case crashes are still constant when removing iCubLegs (just saying to aid the debugging, I don't know if it is reproducible).
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I cleaned the code a bit, but the issue still remains.
Maybe we can try to debug this from within gazebo.
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@francesco-romano the situation is definitely improved now. For a more definite debug in the future we can try to use Gazebo compile in debug mode.
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It seems some issues are caused by ForceTorque
plugin...
I don't see its destructor called when the model is removed
EDIT: removing the torque plugin from the sdf file did not solve completely the problem, but it improved the behaviour... @traversaro I will need your help here (and of your gazebo-sources)
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Apparently (one) problem was with gazebo_yarp_forcetorque plugin removal. It is probably a gazebo bug, already reported to upstream :
https://bitbucket.org/osrf/gazebo/issue/1112/joint-destructor-are-never-called-after
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By the way it would be nice for gazebo_yarp_plugins if this bug could be fixed before the release of Gazebo 3.0, so it would be good if we could vote the issue [1] to gain upstream attention. For voting we need a bitbucket account, but if you already have a github account you can log through it.
cc @EnricoMingo @emingo @barbalberto @arocchi @MirkoFerrati @iron76 @alessandrosettimi @DanielePucci @jeljaik
https://bitbucket.org/osrf/gazebo/issue/1112/joint-destructor-are-never-called-after
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Using last version of development branch (after commits fa39668 and eaf14a7) and Gazebo 3.0 (that should be released soon) the bug seems finally to be solved.
If someone is still experiencing similar problems please reopen the issue.
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Related Issues (20)
- Suppress C4251 warnings on Windows
- Problem with right wrist of iCub3 with torque control? HOT 8
- Unable to insert iCub models properly in gazebo/windows HOT 3
- Conda CI failure End of October HOT 3
- CMake Error when linking `GazeboYARPPlugins` libraries HOT 3
- Support gpu_ray sensor type in gazebo_yarp_laser plugin HOT 1
- Coupling handlers for ergoCub hand MK3, 4 and 5 possibly incorrect HOT 18
- Abstract the `BaseCouplingHandler` andΒ `controlboard` and allow specific robots implementation downstream
- Expose fake temperature measurement in gazebo_yarp_forcetorque HOT 1
- CMake Error when linking `GazeboYARPPlugins` libraries in Windows HOT 10
- [basestate] Plugin is using `AnalogServer` wrapper which will be soon removed
- Windows CI Failure End of August 2023 caused by OpenCV 4.8.0 HOT 5
- Add Hand mk5.1 coupling handler HOT 5
- PID are not handled correctly for fingers joints in ergoCubGazeboV1 HOT 3
- Windows CI Failure mid September 2023 HOT 6
- Question about additional wrapper group in simulated IMU configuration HOT 1
- Cannot call IRGBDSensor::getRgbResolution() when using a gazebo_yarp_camera plugin HOT 12
- Ensure that enable_tags and disable_tags options can be passed in a world SDF file to the gazebo_yarp_robotinterface of an included model HOT 2
- Windows CI failed April 2024 HOT 2
- Unable to stream the base pose via gazebo HOT 4
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