ROS Topic Re-Publisher segfaults if multiple bags are loaded #48
Description
Environment:
OS: Ubuntu 20.04
Kernel: 5.13.0-39-generic
ROS: Noetic
Steps to reproduce error:
roslaunch plotjuggler_ros plotjuggler.launch- Chuckle at meme in loading screen.
- Load in multiple bag files.
- Select all topics to be published.
- Click the checkbox for ROS Topic Re-Publisher.
- Hit the play button
Stack trace:
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://localhost:33351/
SUMMARY
========
PARAMETERS
* /rosdistro: noetic
* /rosversion: 1.15.14
NODES
/
PlotJuggler (plotjuggler/plotjuggler)
auto-starting new master
process[master]: started with pid [623305]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 82f37e14-bcec-11ec-a350-21fe67c50afd
process[rosout-1]: started with pid [623330]
started core service [/rosout]
process[PlotJuggler-2]: started with pid [623333]
Loading compatible plugins from directory: "/home/snwu/catkin_workspaces/playground_catkin_ws/devel/.private/plotjuggler/lib/plotjuggler"
"libDataLoadCSV.so is a DataLoader plugin"
"libDataLoadULog.so is a DataLoader plugin"
"libDataStreamSample.so is a DataStreamer plugin" ...disabled, unless option -t is used
"libDataStreamUDP.so is a DataStreamer plugin"
"libDataStreamWebSocket.so is a DataStreamer plugin"
Type conversion already registered from type QString to type QwtText
"libProtobufParser.so is a MessageParser plugin"
"libPublisherCSV.so is a StatePublisher plugin"
Type conversion already registered from type QString to type QwtText
"libToolboxFFT.so is a Toolbox plugin"
Type conversion already registered from type QString to type QwtText
"libToolboxLuaEditor.so is a Toolbox plugin"
Type conversion already registered from type QString to type QwtText
"libToolboxQuaternion.so is a Toolbox plugin"
Number of plugins loaded: 9
Loading compatible plugins from directory: "/home/snwu/catkin_workspaces/playground_catkin_ws/devel/.private/plotjuggler/lib/plotjuggler_ros"
Number of plugins loaded: 0
Loading compatible plugins from directory: "/home/snwu/catkin_workspaces/playground_catkin_ws/devel/lib/plotjuggler_ros"
"libDataLoadROS.so is a DataLoader plugin"
"libDataStreamROS.so is a DataStreamer plugin"
"libRosoutPublisher.so is a StatePublisher plugin"
"libRosTopicPublisher.so is a StatePublisher plugin"
Number of plugins loaded: 4
Loading compatible plugins from directory: "/opt/ros/noetic/lib/plotjuggler_ros"
"libDataLoadROS.so is a DataLoader plugin" ...skipping, because already loaded
"libDataStreamROS.so is a DataStreamer plugin" ...skipping, because already loaded
"libRosoutPublisher.so is a StatePublisher plugin" ...skipping, because already loaded
"libRosTopicPublisher.so is a StatePublisher plugin" ...skipping, because already loaded
Number of plugins loaded: 0
Loading compatible plugins from directory: "/home/snwu/.local/share/PlotJuggler"
Number of plugins loaded: 0
The loading operation took 715 milliseconds
The loading operation took 6156 milliseconds
The loading operation took 1908 milliseconds
Stack trace (most recent call last):
#22 Object "", at 0xffffffffffffffff, in
#21 Object "/home/snwu/catkin_workspaces/playground_catkin_ws/devel/.private/plotjuggler/lib/plotjuggler/plotjuggler", at 0x5574f25b2fdd, in _start
#20 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f41a30500b2, in __libc_start_main
#19 Source "/home/snwu/catkin_workspaces/playground_catkin_ws/src/PlotJuggler/plotjuggler_app/main.cpp", line 390, in main [0x5574f25b1da3]
387: w->on_buttonStreamingStart_clicked();
388: }
389:
> 390: return app.exec();
391: }
#18 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f41a37f9115, in QCoreApplication::exec()
#17 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f41a37f13aa, in QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>)
#16 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f41a384a434, in QEventDispatcherGlib::processEvents(QFlags<QEventLoop::ProcessEventsFlag>)
#15 Object "/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x7f41a27c14a2, in g_main_context_iteration
#14 Object "/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x7f41a27c13ff, in g_main_context_dispatch
#13 Object "/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x7f41a27c117c, in g_main_context_dispatch
#12 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f41a384a06b, in QEventDispatcherGlib::flush()
#11 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f41a384977f, in QTimerInfoList::activateTimers()
#10 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f41a37f2809, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
#9 Object "/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x7f41a42140ef, in QApplication::notify(QObject*, QEvent*)
#8 Object "/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x7f41a420aa65, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
#7 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f41a381ebc4, in QObject::event(QEvent*)
#6 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f41a382b3ed, in QTimer::timeout(QTimer::QPrivateSignal)
#5 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f41a381e327, in QMetaObject::activate(QObject*, int, int, void**)
#4 Source "/home/snwu/catkin_workspaces/playground_catkin_ws/src/PlotJuggler/plotjuggler_app/mainwindow.cpp", line 2639, in MainWindow::onPlaybackLoop() [0x5574f25db04e]
2637: for (auto& it : _state_publisher)
2638: {
>2639: it.second->play(_tracker_time);
2640: }
2641:
2642: forEachWidget([&](PlotWidget* plot) {
#3 Source "/home/snwu/catkin_workspaces/playground_catkin_ws/src/plotjuggler-ros-plugins/plugins/TopicPublisherROS/statepublisher_rostopic.cpp", line 433, in TopicPublisherROS::play(double) [0x7f41854c7a6c]
430: if (_previous_play_index > current_index)
431: {
432: _previous_play_index = current_index;
> 433: updateState(current_time);
434: return;
435: }
436: else
#2 Source "/home/snwu/catkin_workspaces/playground_catkin_ws/src/plotjuggler-ros-plugins/plugins/TopicPublisherROS/statepublisher_rostopic.cpp", line 389, in TopicPublisherROS::updateState(double) [0x7f41854c712c]
386: if (any_value.type() == typeid(rosbag::MessageInstance))
387: {
388: const auto& msg_instance = std::any_cast<rosbag::MessageInstance>(any_value);
> 389: publishAnyMsg(msg_instance);
390: }
391: }
#1 | Source "/home/snwu/catkin_workspaces/playground_catkin_ws/src/plotjuggler-ros-plugins/plugins/TopicPublisherROS/statepublisher_rostopic.cpp", line 292, in TopicPublisherROS::publishAnyMsg(rosbag::MessageInstance const&)
| 291: const auto& topic_name = msg_instance.getTopic();
| > 292: RosIntrospection::ShapeShifter* shapeshifted = RosIntrospectionFactory::get().getShapeShifter(topic_name);
| 293:
| 294: if (!shapeshifted)
| Source "/home/snwu/catkin_workspaces/playground_catkin_ws/src/plotjuggler-ros-plugins/plugins/shape_shifter_factory.hpp", line 63, in RosIntrospectionFactory::getShapeShifter(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
| 61: {
| 62: auto& instance = get();
| > 63: auto it = instance._ss_map.find( topic_name );
| 64: return ( it == instance._ss_map.end()) ? nullptr : &(it->second);
| 65: }
| Source "/usr/include/c++/9/bits/stl_map.h", line 1169, in std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, RosIntrospection::ShapeShifter, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, RosIntrospection::ShapeShifter> > >::find(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
| 1167: iterator
| 1168: find(const key_type& __x)
| >1169: { return _M_t.find(__x); }
| 1170:
| 1171: #if __cplusplus > 201103L
| Source "/usr/include/c++/9/bits/stl_tree.h", line 2562, in std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, RosIntrospection::ShapeShifter>, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, RosIntrospection::ShapeShifter> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, RosIntrospection::ShapeShifter> > >::find(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
| 2560: find(const _Key& __k)
| 2561: {
| >2562: iterator __j = _M_lower_bound(_M_begin(), _M_end(), __k);
| 2563: return (__j == end()
| 2564: || _M_impl._M_key_compare(__k,
| Source "/usr/include/c++/9/bits/stl_tree.h", line 1934, in std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, RosIntrospection::ShapeShifter>, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, RosIntrospection::ShapeShifter> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, RosIntrospection::ShapeShifter> > >::_M_lower_bound(std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, RosIntrospection::ShapeShifter> >*, std::_Rb_tree_node_base*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
| 1932: {
| 1933: while (__x != 0)
| >1934: if (!_M_impl._M_key_compare(_S_key(__x), __k))
| 1935: __y = __x, __x = _S_left(__x);
| 1936: else
| Source "/usr/include/c++/9/bits/stl_function.h", line 386, in std::less<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&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const
| 384: bool
| 385: operator()(const _Tp& __x, const _Tp& __y) const
| > 386: { return __x < __y; }
| 387: };
| Source "/usr/include/c++/9/bits/basic_string.h", line 6232, in bool std::operator< <char, std::char_traits<char>, std::allocator<char> >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
| 6230: const basic_string<_CharT, _Traits, _Alloc>& __rhs)
| 6231: _GLIBCXX_NOEXCEPT
| >6232: { return __lhs.compare(__rhs) < 0; }
| 6233:
| 6234: /**
| Source "/usr/include/c++/9/bits/basic_string.h", line 2863, in std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::compare(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const
| 2861: const size_type __len = std::min(__size, __osize);
| 2862:
| >2863: int __r = traits_type::compare(_M_data(), __str.data(), __len);
| 2864: if (!__r)
| 2865: __r = _S_compare(__size, __osize);
Source "/usr/include/c++/9/bits/char_traits.h", line 332, in std::char_traits<char>::compare(char const*, char const*, unsigned long) [0x7f41854c5e44]
329: return 0;
330: }
331: #endif
> 332: return __builtin_memcmp(__s1, __s2, __n);
333: }
334:
335: static _GLIBCXX17_CONSTEXPR size_t
#0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f41a31b0bde, in __nss_database_lookup
Segmentation fault (Signal sent by the kernel [(nil)])