Fix segfault in the Breadcrumb system when associated model is unloaded #454
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The segfault occurs when a model containing a Breadcrumbs system gets unloaded by the level manager. Since systems don't get unloaded, the Breadcrumbs system continues to operate assuming that the model it is associated with is valid. Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
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Failing tests are fixed by #455 |
chapulina
approved these changes
Nov 10, 2020
| @@ -547,6 +550,123 @@ TEST_F(BreadcrumbsTest, AllowRenaming) | |||
| EXPECT_TRUE(this->server->HasEntity("B1_0_1")); | |||
| } | |||
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| ///////////////////////////////////////////////// | |||
| /// Return a list of model entities whose names match the given regex | |||
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This could be eventually useful to move to EntityComponentManager. The trick is that it's probably too slow, and users may not realize that.
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Yeah, we can probably make it generic enough that it would work with any entity that has a name component.
Signed-off-by: Addisu Z. Taddese <[email protected]>
…ign-gazebo into breadcrumb_check_model
Codecov Report
@@ Coverage Diff @@
## ign-gazebo2 #454 +/- ##
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+ Coverage 77.88% 78.04% +0.15%
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Files 187 187
Lines 10208 10214 +6
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+ Hits 7951 7972 +21
+ Misses 2257 2242 -15
Continue to review full report at Codecov.
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doisyg
pushed a commit
to wyca-robotics/ign-gazebo
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Dec 13, 2020
…ed (gazebosim#454) The segfault occurs when a model containing a Breadcrumbs system gets unloaded by the level manager. Since systems don't get unloaded, the Breadcrumbs system continues to operate assuming that the model it is associated with is valid. Signed-off-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Guillaume Doisy <[email protected]>
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Currently, when a model is unloaded, the model systems associated with that model do not get unloaded. If the systems then try to access the components of the model, they will fail. However, most systems check the validity of the model they are associated with in the
System::Configurefunction and assume that if the model is valid then, it will be valid inPreUpdate/PostUpdatefunctions. I think it would be nice for that assumption to hold, but right now it might not.In the case of the Breadcrumb system, the system retrieves the pose of the model at every time step in
PreUpdateand assumes that it will be valid. However, if the model is unloaded, thePosecomponent will be anullptrcausing a segfault.The ideal fix would be to make sure systems are unloaded when the model gets unloaded (see #113), but until then, this PR adds a check for the validity of the model in
Breadcrumbs::PreUpdate.