Gazebo scene view demo segfaults in Edifice

[iche033]

Environment

• OS Version: Ubuntu 18.04
• Source build - main (ign-rendering5)

Description

• Expected behavior: gazebo_scene_viewer demo runs
• Actual behavior: gazebo_scene_viewer segfaults

backtrace (see below) points to common::SubMesh copy constructor. This crash does not happen in ign-rendering4. The difference I see is the new way of creating dataPtr using IGN_UTILS_IMPL_PTR. However ign gazebo and other examples all run fine, which leads me to think that it could be related to the two ign-common versions that are loaded by this demo: ign-common1 is loaded by gazebo, while ign-rendering4 uses ign-common4

Steps to reproduce

1. build the demo
2. start gazebo: gazebo --verbose
3. run demo: ./gazebo_scene_viewer

Output

Crash with following backtrace:

Thread 1 "gazebo_scene_vi" received signal SIGSEGV, Segmentation fault.
0x0000000000000051 in ?? ()
(gdb) bt
#0  0x0000000000000051 in  ()
#1  0x00007fffc3246ff3 in ignition::utils::ImplPtr<ignition::common::SubMesh::Implementation, void (*)(ignition::common::SubMesh::Implementation*), ignition::utils::detail::CopyMoveDeleteOperations<ignition::common::SubMesh::Implementation, ignition::common::SubMesh::Implementation* (*)(ignition::common::SubMesh::Implementation const&), void (*)(ignition::common::SubMesh::Implementation&, ignition::common::SubMesh::Implementation const&)> >::Clone() const (this=0x555556eecc38) at /usr/include/c++/8/bits/unique_ptr.h:359
#2  0x00007fffc3246ff3 in ignition::utils::ImplPtr<ignition::common::SubMesh::Implementation, void (*)(ignition::common::SubMesh::Implementation*), ignition::utils::detail::CopyMoveDeleteOperations<ignition::common::SubMesh::Implementation, ignition::common::SubMesh::Implementation* (*)(ignition::common::SubMesh::Implementation const&), void (*)(ignition::common::SubMesh::Implementation&, ignition::common::SubMesh::Implementation const&)> >::ImplPtr(ignition::utils::ImplPtr<ignition::common::SubMesh::Implementation, void (*)(ignition::common::SubMesh::Implementation*), ignition::utils::detail::CopyMoveDeleteOperations<ignition::common::SubMesh::Implementation, ignition::common::SubMesh::Implementation* (*)(ignition::common::SubMesh::Implementation const&), void (*)(ignition::common::SubMesh::Implementation&, ignition::common::SubMesh::Implementation const&)> > const&) (_other=..., this=0x7fffffffcdd8)
    at /home/osrf/code/ign_e_ws/install/include/ignition/utils1/ignition/utils/detail/ImplPtr.hh:58
#3  0x00007fffc3246ff3 in ignition::common::SubMesh::SubMesh(ignition::common::SubMesh const&) (this=0x7fffffffcdd0)
    at /home/osrf/code/ign_e_ws/install/include/ignition/common4/ignition/common/SubMesh.hh:41
#4  0x00007fffc3246ff3 in ignition::rendering::v5::OgreMeshFactory::LoadImpl(ignition::rendering::v5::MeshDescriptor const&) (this=0x55555604aa20, _desc=...) at /home/osrf/code/ign_e_ws/src/ign-rendering/ogre/src/OgreMeshFactory.cc:230
#5  0x00007fffc32461e4 in ignition::rendering::v5::OgreMeshFactory::OgreEntity(ignition::rendering::v5::MeshDescriptor const&) (this=0x55555604aa20, _desc=...) at /home/osrf/code/ign_e_ws/src/ign-rendering/ogre/src/OgreMeshFactory.cc:76
#6  0x00007fffc324afe0 in ignition::rendering::v5::OgreMeshFactory::Create(ignition::rendering::v5::MeshDescriptor const&) (this=0x55555604aa20, _desc=...)
    at /home/osrf/code/ign_e_ws/src/ign-rendering/ogre/src/OgreMeshFactory.cc:59
#7  0x00007fffc32612a9 in ignition::rendering::v5::OgreScene::CreateMeshImpl(unsigned int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ignition::rendering::v5::MeshDescriptor const&) (this=0x555555ae5de0, _id=65526, _name="scene::Plane(65526)", _desc=...)
    at /usr/include/c++/8/bits/shared_ptr_base.h:1018
#8  0x00007fffc32608ef in ignition::rendering::v5::OgreScene::CreateMeshImpl(unsigned int, 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&) (this=0x555555ae5de0, _id=65526, _name="scene::Plane(65526)", _meshName=...) at /home/osrf/code/ign_e_ws/src/ign-rendering/ogre/src/OgreScene.cc:503
#9  0x00007fffc3262587 in ignition::rendering::v5::OgreScene::CreatePlaneImpl(unsigned int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) (this=0x555555ae5de0, _id=65526, _name="scene::Plane(65526)") at /usr/include/c++/8/bits/basic_string.h:252
#10 0x00007ffff5b831be in ignition::rendering::v5::BaseScene::CreatePlane() (this=0x555555ae5de0)
    at /home/osrf/code/ign_e_ws/src/ign-rendering/src/base/BaseScene.cc:1010
#11 0x0000555555586750 in ignition::rendering::SubSceneManager::ProcessPlane(gazebo::msgs::Geometry const&, std::shared_ptr<ignition::rendering::v5::Visual>) ()
#12 0x0000555555585a4d in ignition::rendering::SubSceneManager::ProcessGeometry(gazebo::msgs::Geometry const&, std::shared_ptr<ignition::rendering::v5::Visual>) ()
#13 0x0000555555584ff8 in ignition::rendering::SubSceneManager::ProcessVisual(gazebo::msgs::Visual const&, std::shared_ptr<ignition::rendering::v5::Visual>) ()
#14 0x00005555555853e6 in ignition::rendering::SubSceneManager::ProcessLink(gazebo::msgs::Link const&, std::shared_ptr<ignition::rendering::v5::Visual>) ()
#15 0x0000555555584748 in ignition::rendering::SubSceneManager::ProcessModel(gazebo::msgs::Model const&, std::shared_ptr<ignition::rendering::v5::Visual>) ()
#16 0x0000555555588d3a in ignition::rendering::NewSceneManager::ProcessScene() ()
#17 0x0000555555588851 in ignition::rendering::NewSceneManager::ProcessMessages() ()
#18 0x0000555555582437 in ignition::rendering::SubSceneManager::UpdateScenes() ()
---Type <return> to continue, or q <return> to quit---
#19 0x000055555557fefd in ignition::rendering::SceneManagerPrivate::UpdateScenes() ()
#20 0x000055555557e0d6 in ignition::rendering::SceneManager::UpdateScenes() ()
#21 0x000055555557192d in GlutIdle() ()
#22 0x00007ffff7bad03e in glutMainLoop () at /usr/lib/x86_64-linux-gnu/libglut.so.3
#23 0x000055555557176c in GlutRun(std::vector<std::shared_ptr<ignition::rendering::v5::Camera>, std::allocator<std::shared_ptr<ignition::rendering::v5::Camera> > >) ()
#24 0x000055555557a609 in main ()

Here's the output of ldd:

$ ldd gazebo_scene_viewer | grep common
	libgazebo_common.so.9 => /usr/lib/x86_64-linux-gnu/libgazebo_common.so.9 (0x00007feb7d9d2000)
	libignition-common1.so.1 => /usr/lib/x86_64-linux-gnu/libignition-common1.so.1 (0x00007feb7d0ae000)
	libignition-common4-graphics.so.4 => /home/osrf/code/ign_e_ws/install/lib/libignition-common4-graphics.so.4 (0x00007feb75010000)
	libignition-common4.so.4 => /home/osrf/code/ign_e_ws/install/lib/libignition-common4.so.4 (0x00007feb74da6000)
	libxkbcommon.so.0 => /usr/lib/x86_64-linux-gnu/libxkbcommon.so.0 (0x00007feb59416000)
	libpulsecommon-11.1.so => /usr/lib/x86_64-linux-gnu/pulseaudio/libpulsecommon-11.1.so (0x00007feb59198000)

[iche033]

Edifice reached EOL and gazebo_scene_viewer example was removed in Harmonic