Crash when calling WorldControl service over model with AckermannSteering plugin

[zhileiren]

Environment

• OS Version: Ubuntu 22.04
• Source or binary build?
  source build
  gz-sim version: 5641ef2
  built with
  gcc version: 11.4.0 (Ubuntu 11.4.0-1ubuntu1~22.04)
  build options: -DCMAKE_BUILD_TYPE=Coverage

Description

• Expected behavior: Gazebo doesn't crash
• Actual behavior: Gazebo crashes

Steps to reproduce

1. gz sim a.txt -r

2. dynamically creating a model with AckermannSteering plugin:

gz service --timeout 10000 -s /world/world_0/create --reptype gz.msgs.Boolean --reqtype gz.msgs.EntityFactory --req 'sdf: "<sdf version=\"1.11\"><model name=\"vehicle_blue\">\n      <pose>0 2 0.325 0 -0 0</pose>\n\n      <link name=\"chassis\">\n        <pose>-0.151427 -0 0.175 0 -0 0</pose>\n        <inertial>\n          <mass>1.14395</mass>\n          <inertia>\n            <ixx>0.126164</ixx>\n            <ixy>0</ixy>\n            <ixz>0</ixz>\n            <iyy>0.416519</iyy>\n            <iyz>0</iyz>\n            <izz>0.481014</izz>\n          </inertia>\n        </inertial>\n        <visual name=\"visual\">\n          <geometry>\n            <box>\n              <size>2.01142 1 0.568726</size>\n            </box>\n          </geometry>\n          <material>\n            <ambient>0.5 0.5 1.0 1</ambient>\n            <diffuse>0.5 0.5 1.0 1</diffuse>\n            <specular>0.0 0.0 1.0 1</specular>\n          </material>\n        </visual>\n        <collision name=\"collision\">\n          <geometry>\n            <box>\n              <size>2.01142 1 0.568726</size>\n            </box>\n          </geometry>\n        </collision>\n      </link>\n\n      <link name=\"front_left_wheel\">\n        <pose>0.554283 0.625029 -0.025 -1.5707 0 0</pose>\n        <inertial>\n          <mass>2</mass>\n          <inertia>\n            <ixx>0.145833</ixx>\n            <ixy>0</ixy>\n            <ixz>0</ixz>\n            <iyy>0.145833</iyy>\n            <iyz>0</iyz>\n            <izz>0.125</izz>\n          </inertia>\n        </inertial>\n        <visual name=\"visual\">\n          <geometry>\n            <cylinder>\n              <length>0.15</length>\n              <radius>0.3</radius>\n            </cylinder>\n          </geometry>\n          <material>\n            <ambient>0.2 0.2 0.2 1</ambient>\n            <diffuse>0.2 0.2 0.2 1</diffuse>\n            <specular>0.2 0.2 0.2 1</specular>\n          </material>\n        </visual>\n        <collision name=\"collision\">\n          <geometry>\n            <cylinder>\n              <length>0.15</length>\n              <radius>0.3</radius>\n            </cylinder>\n          </geometry>\n          <surface>\n            <friction>\n              <ode>\n                <mu>0.5</mu>\n                <mu2>1.0</mu2>\n                <fdir1>0 0 1</fdir1>\n              </ode>\n              <bullet>\n                <friction>0.5</friction>\n                <friction2>1</friction2>\n                <rolling_friction>0.1</rolling_friction>\n              </bullet>\n            </friction>\n          </surface>\n        </collision>\n      </link>\n\n      <link name=\"rear_left_wheel\">\n        <pose>-0.957138 0.625029 -0.025 -1.5707 0 0</pose>\n        <inertial>\n          <mass>2</mass>\n          <inertia>\n            <ixx>0.145833</ixx>\n            <ixy>0</ixy>\n            <ixz>0</ixz>\n            <iyy>0.145833</iyy>\n            <iyz>0</iyz>\n            <izz>0.125</izz>\n          </inertia>\n        </inertial>\n        <visual name=\"visual\">\n          <geometry>\n            <cylinder>\n              <length>0.15</length>\n              <radius>0.3</radius>\n            </cylinder>\n          </geometry>\n          <material>\n            <ambient>0.2 0.2 0.2 1</ambient>\n            <diffuse>0.2 0.2 0.2 1</diffuse>\n            <specular>0.2 0.2 0.2 1</specular>\n          </material>\n        </visual>\n        <collision name=\"collision\">\n          <geometry>\n            <cylinder>\n              <length>0.15</length>\n              <radius>0.3</radius>\n            </cylinder>\n          </geometry>\n          <surface>\n            <friction>\n              <ode>\n                <mu>0.5</mu>\n                <mu2>1.0</mu2>\n                <fdir1>0 0 1</fdir1>\n              </ode>\n              <bullet>\n                <friction>0.5</friction>\n                <friction2>1</friction2>\n                <rolling_friction>0.5</rolling_friction>\n              </bullet>\n            </friction>\n          </surface>\n        </collision>\n      </link>\n\n      <link name=\"front_right_wheel\">\n        <pose>0.554282 -0.625029 -0.025 -1.5707 0 0</pose>\n        <inertial>\n          <mass>2</mass>\n          <inertia>\n            <ixx>0.145833</ixx>\n            <ixy>0</ixy>\n            <ixz>0</ixz>\n            <iyy>0.145833</iyy>\n            <iyz>0</iyz>\n            <izz>0.125</izz>\n          </inertia>\n        </inertial>\n        <visual name=\"visual\">\n          <geometry>\n            <cylinder>\n              <length>0.15</length>\n              <radius>0.3</radius>\n            </cylinder>\n          </geometry>\n          <material>\n            <ambient>0.2 0.2 0.2 1</ambient>\n            <diffuse>0.2 0.2 0.2 1</diffuse>\n            <specular>0.2 0.2 0.2 1</specular>\n          </material>\n        </visual>\n        <collision name=\"collision\">\n          <geometry>\n            <cylinder>\n              <length>0.15</length>\n              <radius>0.3</radius>\n            </cylinder>\n          </geometry>\n          <surface>\n            <friction>\n              <ode>\n                <mu>0.5</mu>\n                <mu2>1.0</mu2>\n                <fdir1>0 0 1</fdir1>\n              </ode>\n              <bullet>\n                <friction>0.5</friction>\n                <friction2>1</friction2>\n                <rolling_friction>0.1</rolling_friction>\n              </bullet>\n            </friction>\n          </surface>\n        </collision>\n      </link>\n\n      <link name=\"rear_right_wheel\">\n        <pose>-0.957138 -0.625029 -0.025 -1.5707 0 0</pose>\n        <inertial>\n          <mass>2</mass>\n          <inertia>\n            <ixx>0.145833</ixx>\n            <ixy>0</ixy>\n            <ixz>0</ixz>\n            <iyy>0.145833</iyy>\n            <iyz>0</iyz>\n            <izz>0.125</izz>\n          </inertia>\n        </inertial>\n        <visual name=\"visual\">\n          <geometry>\n            <cylinder>\n              <length>0.15</length>\n              <radius>0.3</radius>\n            </cylinder>\n          </geometry>\n          <material>\n            <ambient>0.2 0.2 0.2 1</ambient>\n            <diffuse>0.2 0.2 0.2 1</diffuse>\n            <specular>0.2 0.2 0.2 1</specular>\n          </material>\n        </visual>\n        <collision name=\"collision\">\n          <geometry>\n            <cylinder>\n              <length>0.15</length>\n              <radius>0.3</radius>\n            </cylinder>\n          </geometry>\n          <surface>\n            <friction>\n              <ode>\n                <mu>0.5</mu>\n                <mu2>1.0</mu2>\n                <fdir1>0 0 1</fdir1>\n              </ode>\n              <bullet>\n                <friction>0.5</friction>\n                <friction2>1</friction2>\n                <rolling_friction>0.5</rolling_friction>\n              </bullet>\n            </friction>\n          </surface>\n        </collision>\n      </link>\n\n      <link name=\"front_left_wheel_steering_link\">\n        <pose>0.554283 0.5 0.02 0 0 0</pose>\n        <inertial>\n          <mass>0.5</mass>\n          <inertia>\n            <ixx>0.0153</ixx>\n            <iyy>0.025</iyy>\n            <izz>0.0153</izz>\n          </inertia>\n        </inertial>\n        <visual name=\"steering_link_visual\">\n          <pose>0 0 0 0 0 0</pose>\n          <geometry>\n            <cylinder>\n              <length>0.1</length>\n              <radius>0.03</radius>\n            </cylinder>\n          </geometry>\n          <material>\n            <ambient>1 1 1</ambient>\n            <diffuse>1 1 1</diffuse>\n          </material>\n        </visual>\n      </link>\n\n      <link name=\"front_right_wheel_steering_link\">\n        <pose>0.554283 -0.5 0.02 0 0 0</pose>\n        <inertial>\n          <mass>0.5</mass>\n          <inertia>\n            <ixx>0.0153</ixx>\n            <iyy>0.025</iyy>\n            <izz>0.0153</izz>\n          </inertia>\n        </inertial>\n        <visual name=\"steering_link_visual\">\n          <pose>0 0 0 0 0 0</pose>\n          <geometry>\n            <cylinder>\n              <length>0.1</length>\n              <radius>0.03</radius>\n            </cylinder>\n          </geometry>\n          <material>\n            <ambient>1 1 1</ambient>\n            <diffuse>1 1 1</diffuse>\n          </material>\n        </visual>\n      </link>\n\n      <joint name=\"front_left_wheel_steering_joint\" type=\"revolute\">\n        <child>front_left_wheel_steering_link</child>\n        <parent>chassis</parent>\n        <axis>\n          <xyz>0 0 1</xyz>\n          <limit>\n            <lower>-0.6</lower>\n            <upper>+0.6</upper>\n            <velocity>1.0</velocity>\n            <effort>25</effort>\n          </limit>\n          <use_parent_model_frame>1</use_parent_model_frame>\n        </axis>\n      </joint>\n\n      <joint name=\"front_right_wheel_steering_joint\" type=\"revolute\">\n        <parent>chassis</parent>\n        <child>front_right_wheel_steering_link</child>\n        <axis>\n          <xyz>0 0 1</xyz>\n          <limit>\n            <lower>-0.6</lower>\n            <upper>+0.6</upper>\n            <velocity>1.0</velocity>\n            <effort>25</effort>\n          </limit>\n        </axis>\n      </joint>\n\n      <joint name=\"front_left_wheel_joint\" type=\"revolute\">\n        <parent>front_left_wheel_steering_link</parent>\n        <child>front_left_wheel</child>\n        <axis>\n          <xyz>0 0 1</xyz>\n          <limit>\n            <lower>-1.79769e+308</lower>\n            <upper>1.79769e+308</upper>\n          </limit>\n        </axis>\n      </joint>\n\n      <joint name=\"front_right_wheel_joint\" type=\"revolute\">\n        <parent>front_right_wheel_steering_link</parent>\n        <child>front_right_wheel</child>\n        <axis>\n          <xyz>0 0 1</xyz>\n          <limit>\n            <lower>-1.79769e+308</lower>\n            <upper>1.79769e+308</upper>\n          </limit>\n        </axis>\n      </joint>\n\n      <joint name=\"rear_left_wheel_joint\" type=\"revolute\">\n        <parent>chassis</parent>\n        <child>rear_left_wheel</child>\n        <axis>\n          <xyz>0 0 1</xyz>\n          <limit>\n            <lower>-1.79769e+308</lower>\n            <upper>1.79769e+308</upper>\n          </limit>\n        </axis>\n      </joint>\n\n      <joint name=\"rear_right_wheel_joint\" type=\"revolute\">\n        <parent>chassis</parent>\n        <child>rear_right_wheel</child>\n        <axis>\n          <xyz>0 0 1</xyz>\n          <limit>\n            <lower>-1.79769e+308</lower>\n            <upper>1.79769e+308</upper>\n          </limit>\n        </axis>\n      </joint>\n\n      <plugin filename=\"gz-sim-ackermann-steering-system\" name=\"gz::sim::systems::AckermannSteering\">\n        <left_joint>front_left_wheel_joint</left_joint>\n        <left_joint>rear_left_wheel_joint</left_joint>\n        <right_joint>front_right_wheel_joint</right_joint>\n        <right_joint>rear_right_wheel_joint</right_joint>\n        <left_steering_joint>front_left_wheel_steering_joint</left_steering_joint>\n        <right_steering_joint>front_right_wheel_steering_joint</right_steering_joint>\n        <kingpin_width>1.0</kingpin_width>\n        <steering_limit>0.5</steering_limit>\n        <wheel_base>1.0</wheel_base>\n        <wheel_separation>1.25</wheel_separation>\n        <wheel_radius>0.3</wheel_radius>\n        <min_velocity>-1</min_velocity>\n        <max_velocity>1</max_velocity>\n        <min_acceleration>-3</min_acceleration>\n        <max_acceleration>3</max_acceleration>\n      </plugin>\n\n    </model></sdf>"
pose {
  position {
    x: 1.697057974471674
    y: -5.807148102869744
    z: 0.23030063614806195
  }
}
name: "model"
allow_renaming: true'

3. call service /world/world_0/control

gz service --timeout 10000 -s /world/world_0/control --reptype gz.msgs.Boolean --reqtype gz.msgs.WorldControl --req 'header {
  stamp {
    sec: 3589563572
    nsec: 28616
  }
}
pause: true
step: true
multi_step: 3324019261
reset {
  header {
    stamp {
      sec: 1840125899
      nsec: 18679
    }
  }
  all: true
  time_only: true
  model_only: true
}
seed: 4099918180
run_to_sim_time {
  sec: 1846651340
  nsec: 4481
}'

The crash could also be reproduced by extracting a.tar.gz
, and run

bash a.sh

Output

Stack trace (most recent call last) in thread 96154:
11   Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in
10   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff17f1de84f, in
9    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff17f14cac2, in
8    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7ff17ae89252, in
7    Object "/home/ren/play/robot/workspace/install/lib/libgz-sim8.so.8", at 0x7ff178b7f5f5, in
6    Object "/home/ren/play/robot/workspace/install/lib/libgz-sim8.so.8", at 0x7ff178b7f635, in
5    Object "/home/ren/play/robot/workspace/install/lib/libgz-sim8.so.8", at 0x7ff178b7f6a9, in
4    Object "/home/ren/play/robot/workspace/install/lib/libgz-sim8.so.8", at 0x7ff178b7f77b, in
3    Object "/home/ren/play/robot/workspace/install/lib/libgz-sim8.so.8", at 0x7ff178b7f813, in
2    Object "/home/ren/play/robot/workspace/install/lib/libgz-sim8.so.8", at 0x7ff178b6f9a3, in
1    Object "/data/play/robot/workspace/install/lib/gz-sim-8/plugins/libgz-sim-ackermann-steering-system.so", at 0x7ff13baf8097, in gz::sim::v8::systems::AckermannSteering::PostUpdate(gz::sim::v8::UpdateInfo const&, gz::sim::v8::EntityComponentManager const&)
0    Object "/data/play/robot/workspace/install/lib/gz-sim-8/plugins/libgz-sim-ackermann-steering-system.so", at 0x7ff13bafa472, in gz::sim::v8::systems::AckermannSteeringPrivate::UpdateVelocity(gz::sim::v8::UpdateInfo const&, gz::sim::v8::EntityComponentManager const&)
Segmentation fault (Address not mapped to object [(nil)])

[arjo129]

#2232 Has been merged, that resolves this problem.