std::bad_alloc crash in robot_description_callback

[tonynajjar]

Describe the bug

@saikishor I localized that after this commit I get the following crash.
I don't really see the relation though, do you?

Screenshots

[gazebo-1] [INFO] [1736265253.392840323] [gz_ros_control]: Loading controller_manager
[gazebo-1] [INFO] [1736265253.404793628] [controller_manager]: Subscribing to '/robot_description' topic for robot description.
[gazebo-1] [WARN] [1736265253.404938458] [gz_ros_control]: Waiting RM to load and initialize hardware...
[gazebo-1] [INFO] [1736265253.406613475] [controller_manager]: Received robot description from topic.
[gazebo-1] terminate called after throwing an instance of 'std::bad_alloc'
[gazebo-1]   what():  std::bad_alloc
[gazebo-1] Stack trace (most recent call last) in thread 584229:
[gazebo-1] #21   Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in 
[gazebo-1] #20   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ebd568a0c3b, in 
[gazebo-1] #19   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ebd56813a93, in 
[gazebo-1] #18   Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7ebd5186edb3, in 
[gazebo-1] #17   Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ebd1a0c0dc6, in rclcpp::executors::MultiThreadedExecutor::run(unsigned long)
[gazebo-1] #16   Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ebd1a0afc29, in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&)
[gazebo-1] #15   Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ebd1a0af4fa, in rclcpp::Executor::execute_subscription(std::shared_ptr<rclcpp::SubscriptionBase>)
[gazebo-1] #14   Object "/home/angsa/underlay_ws/install/controller_manager/lib/libcontroller_manager.so", at 0x7ebd1a4193ef, in rclcpp::Subscription<std_msgs::msg::String_<std::allocator<void> >, std::allocator<void>, std_msgs::msg::String_<std::allocator<void> >, std_msgs::msg::String_<std::allocator<void> >, rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::String_<std::allocator<void> >, std::allocator<void> > >::handle_message(std::shared_ptr<void>&, rclcpp::MessageInfo const&)
[gazebo-1] #13   Object "/home/angsa/underlay_ws/install/controller_manager/lib/libcontroller_manager.so", at 0x7ebd1a35516d, in std::__detail::__variant::__gen_vtable_impl<std::__detail::__variant::_Multi_array<std::__detail::__variant::__deduce_visit_result<void> (*)(rclcpp::AnySubscriptionCallback<std_msgs::msg::String_<std::allocator<void> >, std::allocator<void> >::dispatch<std_msgs::msg::String_<std::allocator<void> > >(std::shared_ptr<std_msgs::msg::String_<std::allocator<void> > >, rclcpp::MessageInfo const&)::{lambda(auto:1&&)#1}&&, std::variant<std::function<void (std_msgs::msg::String_<std::allocator<void> > const&)>, std::function<void (std_msgs::msg::String_<std::allocator<void> > const&, rclcpp::MessageInfo const&)>, std::function<void (rclcpp::SerializedMessage const&)>, std::function<void (rclcpp::SerializedMessage const&, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<std_msgs::msg::String_<std::allocator<void> >, std::default_delete<std_msgs::msg::String_<std::allocator<void> > > >)>, std::function<void (std::unique_ptr<std_msgs::msg::String_<std::allocator<void> >, std::default_delete<std_msgs::msg::String_<std::allocator<void> > > >, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<std_msgs::msg::String_<std::allocator<void> > const>)>, std::function<void (std::shared_ptr<std_msgs::msg::String_<std::allocator<void> > const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<std_msgs::msg::String_<std::allocator<void> > const> const&)>, std::function<void (std::shared_ptr<std_msgs::msg::String_<std::allocator<void> > const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<std_msgs::msg::String_<std::allocator<void> > >)>, std::function<void (std::shared_ptr<std_msgs::msg::String_<std::allocator<void> > >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>, rclcpp::MessageInfo const&)> >&)>, std::integer_sequence<unsigned long, 0ul> >::__visit_invoke(rclcpp::AnySubscriptionCallback<std_msgs::msg::String_<std::allocator<void> >, std::allocator<void> >::dispatch<std_msgs::msg::String_<std::allocator<void> > >(std::shared_ptr<std_msgs::msg::String_<std::allocator<void> > >, rclcpp::MessageInfo const&)::{lambda(auto:1&&)#1}&&, std::variant<std::function<void (std_msgs::msg::String_<std::allocator<void> > const&)>, std::function<void (std_msgs::msg::String_<std::allocator<void> > const&, rclcpp::MessageInfo const&)>, std::function<void (rclcpp::SerializedMessage const&)>, std::function<void (rclcpp::SerializedMessage const&, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<std_msgs::msg::String_<std::allocator<void> >, std::default_delete<std_msgs::msg::String_<std::allocator<void> > > >)>, std::function<void (std::unique_ptr<std_msgs::msg::String_<std::allocator<void> >, std::default_delete<std_msgs::msg::String_<std::allocator<void> > > >, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<std_msgs::msg::String_<std::allocator<void> > const>)>, std::function<void (std::shared_ptr<std_msgs::msg::String_<std::allocator<void> > const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<std_msgs::msg::String_<std::allocator<void> > const> const&)>, std::function<void (std::shared_ptr<std_msgs::msg::String_<std::allocator<void> > const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<std_msgs::msg::String_<std::allocator<void> > >)>, std::function<void (std::shared_ptr<std_msgs::msg::String_<std::allocator<void> > >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>, rclcpp::MessageInfo const&)> >&)
[gazebo-1] #12   Object "/home/angsa/underlay_ws/install/controller_manager/lib/libcontroller_manager.so", at 0x7ebd1a34f993, in std::_Function_handler<void (std_msgs::msg::String_<std::allocator<void> > const&), std::_Bind<void (controller_manager::ControllerManager::*(controller_manager::ControllerManager*, std::_Placeholder<1>))(std_msgs::msg::String_<std::allocator<void> > const&)> >::_M_invoke(std::_Any_data const&, std_msgs::msg::String_<std::allocator<void> > const&)
[gazebo-1] #11   Object "/home/angsa/underlay_ws/install/controller_manager/lib/libcontroller_manager.so", at 0x7ebd1a34d092, in controller_manager::ControllerManager::robot_description_callback(std_msgs::msg::String_<std::allocator<void> > const&)
[gazebo-1] #10   Object "/home/angsa/underlay_ws/install/controller_manager/lib/libcontroller_manager.so", at 0x7ebd1a34c5a6, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
[gazebo-1] #9    Object "/opt/ros/jazzy/lib/libgz_ros2_control-system.so", at 0x7ebd3ccd42a6, in 
[gazebo-1] #8    Object "/opt/ros/jazzy/lib/libgz_ros2_control-system.so", at 0x7ebd3ccf8aca, in 
[gazebo-1] #7    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7ebd51827ac7, in 
[gazebo-1] #6    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7ebd5183d390, in __cxa_throw
[gazebo-1] #5    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7ebd51827a54, in std::terminate()
[gazebo-1] #4    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7ebd5183d0d9, in 
[gazebo-1] #3    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7ebd51827ff4, in 
[gazebo-1] #2    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ebd5679f8fe, in abort
[gazebo-1] #1    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ebd567bc26d, in gsignal
[gazebo-1] #0    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ebd56815b1c, in pthread_kill
[gazebo-1] Aborted (Signal sent by tkill() 583990 1000)
[INFO] [gazebo-1]: process has finished cleanly [pid 583899]

Environment (please complete the following information):

• OS: Ubuntu Noble
• Version: Jazzy
• ros2_control built from source

Additional context
Add any other context about the problem here, especially include any modifications to ros2_control that relate to this issue.

[saikishor]

Hello @tonynajjar,

Thank you for reporting it. Can you please share the ros2_control tag information inside your URDF?. I'm not sure if this is coming from the recent commit, as we have tests internally that are working. I would suggest to remove the installed hardware_interface package to just discard some binary incompatibility.

Thank you

[tonynajjar]

  <ros2_control name="GazeboSimSystem" type="system">
    <hardware>
      <plugin>gz_ros2_control/GazeboSimSystem</plugin>
    </hardware>
    <joint name="wheel_left_joint">
      <command_interface name="velocity">
        <param name="min">-1</param>
        <param name="max">1</param>
      </command_interface>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
    </joint>
    <joint name="wheel_right_joint">
      <command_interface name="velocity">
        <param name="min">-1</param>
        <param name="max">1</param>
      </command_interface>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
    </joint>
  </ros2_control>

  <gazebo>
    <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
      <ros>
        <remapping>~/cmd_vel:=/cmd_vel</remapping>
        <remapping>~/odom:=/odometry/encoders</remapping>
      </ros>
      <parameters>path_to_yaml</parameters>
    </plugin>
  </gazebo>
</robot>

I will check if it works with the binaries without having anything in source

[saikishor]

The above one should work AFAIK. Can you check source only without any binaries of hardware_interface?

[gazebo-1] #9 Object "/opt/ros/jazzy/lib/libgz_ros2_control-system.so", at 0x7ebd3ccd42a6, in

Looking at your log, I see that the gz_ros2_control is being used from the binaries. Remember that it is linking againsyt installed binary instead of your local one. Try also compiling this locally

[tonynajjar]

When building gz_ros2_control from source I get:

📦 angsa@tony-XMG-CORE-M24:~/underlay_ws/src$ colcon build --packages-up-to gz_ros2_control
Starting >>> launch_ros
Starting >>> ros2_control_test_assets
Starting >>> controller_manager_msgs
Finished <<< ros2_control_test_assets [0.33s]                                                                                          
Finished <<< controller_manager_msgs [0.79s]                                                      
Finished <<< launch_ros [1.36s]           
Starting >>> joint_limits
Starting >>> launch_testing_ros
Finished <<< joint_limits [0.33s]                                                              
Starting >>> hardware_interface
Finished <<< hardware_interface [0.31s]                                                             
Starting >>> controller_interface
Starting >>> hardware_interface_testing                                                     
Finished <<< hardware_interface_testing [0.25s]                                                                                                     
Finished <<< controller_interface [0.30s]
Finished <<< launch_testing_ros [1.30s]           
Starting >>> controller_manager
--- stderr: controller_manager                               
/usr/lib/python3/dist-packages/setuptools/_distutils/cmd.py:66: SetuptoolsDeprecationWarning: setup.py install is deprecated.
!!

        ********************************************************************************
        Please avoid running ``setup.py`` directly.
        Instead, use pypa/build, pypa/installer or other
        standards-based tools.

        See https://blog.ganssle.io/articles/2021/10/setup-py-deprecated.html for details.
        ********************************************************************************

!!
  self.initialize_options()
---
Finished <<< controller_manager [0.75s]
Starting >>> gz_ros2_control
--- stderr: gz_ros2_control                               
In file included from /opt/ros/jazzy/opt/gz_msgs_vendor/include/gz/msgs10/gz/msgs/serialized.pb.h:12,
                 from /opt/ros/jazzy/opt/gz_sim_vendor/include/gz/sim8/gz/sim/EntityComponentManager.hh:20,
                 from /opt/ros/jazzy/opt/gz_sim_vendor/include/gz/sim8/gz/sim/System.hh:24,
                 from /home/angsa/underlay_ws/src/gz_ros2_control/gz_ros2_control/include/gz_ros2_control/gz_system_interface.hpp:24,
                 from /home/angsa/underlay_ws/src/gz_ros2_control/gz_ros2_control/include/gz_ros2_control/gz_system.hpp:24,
                 from /home/angsa/underlay_ws/src/gz_ros2_control/gz_ros2_control/src/gz_system.cpp:15:
/opt/ros/jazzy/opt/gz_msgs_vendor/include/gz/msgs10/gz/msgs/details/serialized.pb.h:17:2: error: #error This file was generated by an older version of protoc which is
   17 | #error This file was generated by an older version of protoc which is
      |  ^~~~~
/opt/ros/jazzy/opt/gz_msgs_vendor/include/gz/msgs10/gz/msgs/details/serialized.pb.h:18:2: error: #error incompatible with your Protocol Buffer headers. Please
   18 | #error incompatible with your Protocol Buffer headers. Please
      |  ^~~~~
/opt/ros/jazzy/opt/gz_msgs_vendor/include/gz/msgs10/gz/msgs/details/serialized.pb.h:19:2: error: #error regenerate this file with a newer version of protoc.
   19 | #error regenerate this file with a newer version of protoc.
      |  ^~~~~
In file included from /opt/ros/jazzy/opt/gz_msgs_vendor/include/gz/msgs10/gz/msgs/double_v.pb.h:12,
                 from /opt/ros/jazzy/opt/gz_sim_vendor/include/gz/sim8/gz/sim/components/Serialization.hh:31,
                 from /opt/ros/jazzy/opt/gz_sim_vendor/include/gz/sim8/gz/sim/components/Name.hh:23,
                 from /home/angsa/underlay_ws/src/gz_ros2_control/gz_ros2_control/src/gz_ros2_control_plugin.cpp:28:
/opt/ros/jazzy/opt/gz_msgs_vendor/include/gz/msgs10/gz/msgs/details/double_v.pb.h:17:2: error: #error This file was generated by an older version of protoc which is
   17 | #error This file was generated by an older version of protoc which is
      |  ^~~~~
/opt/ros/jazzy/opt/gz_msgs_vendor/include/gz/msgs10/gz/msgs/details/double_v.pb.h:18:2: error: #error incompatible with your Protocol Buffer headers. Please
   18 | #error incompatible with your Protocol Buffer headers. Please
      |  ^~~~~
/opt/ros/jazzy/opt/gz_msgs_vendor/include/gz/msgs10/gz/msgs/details/double_v.pb.h:19:2: error: #error regenerate this file with a newer version of protoc.
   19 | #error regenerate this file with a newer version of protoc.
      |  ^~~~~
In file included from /opt/ros/jazzy/opt/gz_msgs_vendor/include/gz/msgs10/gz/msgs/actor.pb.h:12,
                 from /opt/ros/jazzy/opt/gz_sim_vendor/include/gz/sim8/gz/sim/Conversions.hh:20,
                 from /opt/ros/jazzy/opt/gz_sim_vendor/include/gz/sim8/gz/sim/components/Serialization.hh:37:
/opt/ros/jazzy/opt/gz_msgs_vendor/include/gz/msgs10/gz/msgs/details/actor.pb.h:17:2: error: #error This file was generated by an older version of protoc which is
   17 | #error This file was generated by an older version of protoc which is
...

I guess I would also need to build gz_msgs_vendor/gz_msgs from source which doesn't seem so simple (or at least I don't know how because it's vendored). Do you know a way?

This is the installed version:

ros-jazzy-gz-msgs-vendor is already the newest version (0.0.5-1noble.20241218.083446).

[saikishor]

@tonynajjar are you using the jazzy branch?. If so, try with the last tag and see if it works

[tonynajjar]

sorry forgot to mention, yes I'm using the jazzy branch. I don't want to take too much of your time on what I believe is like you say, an issue with my setup e.g binary mismatch. I will try a bit more and if I can't get it to work I'll just pin my fork to before that problematic commit.

[saikishor]

Sure. No worries. Thank you. Keep us posted :)