6 ➡️ 7

[mjcarroll]

6 ➡️ 7

Port ign-gazebo6 to main

Branch comparison: main...ign-gazebo6

Note to maintainers: Remember to Merge with commit (not squash-merge or rebase)

[chapulina]

The only new test failure seems to be INTEGRATION_shader_param_system. Any suggestions on forward-porting this, @iche033 ?

[mjcarroll]

For more context, it looks like the SceneUpdate Event is still firing even after the server has run all of it's iterations?

(gdb) bt
#0  [33mignition::rendering::v7::ShaderParams::operator[][m ([36mthis=this@entry[m=0x0, [36m_name[m="color") at [32m/home/mjcarroll/workspaces/ign_garden/src/ign-rendering/src/ShaderParams.cc[m:130
#1  [34m0x00007fffcbe53393[m in [33mignition::gazebo::v7::systems::ShaderParamPrivate::OnUpdate[m ([36mthis[m=0x5555574e1260) at [32m/home/mjcarroll/workspaces/ign_garden/src/ign-gazebo/src/systems/shader_param/ShaderParam.cc[m:468
#2  [34m0x00007fffd0b19c51[m in [33mstd::function<void ()>::operator()() const[m ([36mthis[m=<optimized out>) at [32m/usr/include/c++/9/bits/std_function.h[m:683
#3  [33mignition::common::EventT<void (), ignition::gazebo::v7::events::SceneUpdateTag>::Signal<>()[m ([36mthis[m=0x555557128d10) at [32m/home/mjcarroll/workspaces/ign_garden/install/include/ignition/common5/ignition/common/Event.hh[m:146
#4  [33mignition::gazebo::v7::EventManager::Emit<ignition::common::EventT<void (), ignition::gazebo::v7::events::SceneUpdateTag>>()[m ([36mthis[m=<optimized out>) at [32m/home/mjcarroll/workspaces/ign_garden/src/ign-gazebo/include/ignition/gazebo/EventManager.hh[m:112
#5  [34m0x00007fffd0a8c061[m in [33mignition::gazebo::v7::RenderUtil::Update[m ([36mthis=this@entry[m=0x5555574d9d88) at [32m/home/mjcarroll/workspaces/ign_garden/src/ign-gazebo/src/rendering/RenderUtil.cc[m:1592
#6  [34m0x00007fffec224774[m in [33mignition::gazebo::v7::systems::SensorsPrivate::RunOnce[m ([36mthis[m=0x5555574d9d70) at [32m/home/mjcarroll/workspaces/ign_garden/src/ign-gazebo/src/systems/sensors/Sensors.cc[m:242
#7  [34m0x00007fffec225158[m in [33mignition::gazebo::v7::systems::SensorsPrivate::RenderThread[m ([36mthis[m=0x5555574d9d70) at [32m/home/mjcarroll/workspaces/ign_garden/src/ign-gazebo/src/systems/sensors/Sensors.cc[m:312
#8  [34m0x00007ffff7294de4[m in [33m??[m () from [32m/lib/x86_64-linux-gnu/libstdc++.so.6[m
#9  [34m0x00007ffff7c16609[m in [33mstart_thread[m ([36marg[m=<optimized out>) at [32mpthread_create.c[m:477
#10 [34m0x00007ffff70d0163[m in [33mclone[m () at [32m../sysdeps/unix/sysv/linux/x86_64/clone.S[m:95

[iche033]

The only new test failure seems to be INTEGRATION_shader_param_system. Any suggestions on forward-porting this, @iche033 ?

looks like ign-fuel_tools8 have issue downloading these models. I tried downloading the models using the command line in Fortress and Garden:

ign fuel download -v 4 --url "https://fuel.ignitionrobotics.org/1.0/openrobotics/models/waves"

With Garden, I see that the meshes and materials directories do not exist after unzipping. It could be something to do with recent changes in ign-common filesystem but not sure yet.

[iche033]

For more context, it looks like the SceneUpdate Event is still firing even after the server has run all of it's iterations?

I think the segfault is due to missing model files. If I copy the correctly downloaded / unzipped models to the test directory's fuel cache, the test passes.

[chapulina]

With Garden, I see that the meshes and materials directories do not exist after unzipping. It could be something to do with recent changes in ign-common filesystem but not sure yet.

Oh I believe that was fixed by gazebosim/gz-common#308, maybe we just need to retrigger CI then

[chapulina]

I retriggered just the build where the shader test was failing. I think this is good to go if that passes.

[iche033]

Oh I believe that was fixed by ignitionrobotics/ign-common#308, maybe we just need to retrigger CI then

nice I just updated ign-common5 in my workspace and that fixed the test.

[mjcarroll]

Now getting new failures:

INTEGRATION_recreate_entities

[ RUN      ] RecreateEntitiesFixture.RecreateEntities_WorldJoint
  [Msg] Loading SDF world file[/github/workspace/test/worlds/fixed_world_joint.sdf].
  [Msg] Loaded level [3]
  [Msg] No systems loaded from SDF, loading defaults
  [Dbg] [ServerConfig.cc:931] Loaded (3) plugins from file [/github/workspace/build/test/fake_home/.ignition/gazebo/7/server.config]
  [Dbg] [Physics.cc:801] Loaded [ignition::physics::dartsim::Plugin] from library [/usr/lib/x86_64-linux-gnu/ign-physics-6/engine-plugins/libignition-physics-dartsim-plugin.so]
  [Dbg] [SystemManager.cc:49] Loaded system [ignition::gazebo::systems::Physics] for entity [1]
  [Msg] Create service on [/world/default/create]
  [Msg] Remove service on [/world/default/remove]
  [Msg] Pose service on [/world/default/set_pose]
  [Msg] Light configuration service on [/world/default/light_config]
  [Msg] Physics service on [/world/default/set_physics]
  [Msg] SphericalCoordinates service on [/world/default/set_spherical_coordinates]
  [Msg] Enable collision service on [/world/default/enable_collision]
  [Msg] Disable collision service on [/world/default/disable_collision]
  [Msg] Material service on [/world/default/visual_config]
  [Dbg] [SystemManager.cc:49] Loaded system [ignition::gazebo::systems::UserCommands] for entity [1]
  [Dbg] [SystemManager.cc:49] Loaded system [ignition::gazebo::systems::SceneBroadcaster] for entity [1]
  [Msg] Serving world controls on [/world/default/control], [/world/default/control/state] and [/world/default/playback/control]
  [Msg] Serving GUI information on [/world/default/gui/info]
  [Msg] World [default] initialized with [1ms] physics profile.
  [Msg] Serving world SDF generation service on [/world/default/generate_world_sdf]
  [Msg] Serving world names on [/gazebo/worlds]
  [Msg] Resource path add service on [/gazebo/resource_paths/add].
  [Msg] Resource path get service on [/gazebo/resource_paths/get].
  [Msg] Resource paths published on [/gazebo/resource_paths].
  [Msg] Server control service on [/server_control].
  [Msg] Found no publishers on /stats, adding root stats topic
  [Msg] Found no publishers on /clock, adding root clock topic
  [Dbg] [SimulationRunner.cc:490] Creating PostUpdate worker threads: 3
  [Dbg] [SimulationRunner.cc:501] Creating postupdate worker thread (0)
  [Dbg] [SimulationRunner.cc:501] Creating postupdate worker thread (1)
  [Msmalloc(): invalid next->prev_inuse (unsorted)

195/195 Test #195: testFixture_TEST.py ....................................Child aborted***Exception:   3.31 sec
  terminate called after throwing an instance of 'pybind11::error_already_set'
    what():  TypeError: Unable to convert function return value to a Python type! The signature was
  	(self: ignition.gazebo.World, arg0: ignition.gazebo.EntityComponentManager) -> Optional[ignition::math::v7::Vector3<double>]
  
  At:
    /github/workspace/python/test/testFixture_TEST.py(46): on_pre_udpate_cb
  

[chapulina]

The testFixture.py failure should be fixed by ce0a85f, but we need to release python3-ignition-math7. I'm on it.

I can't reproduce the INTEGRATION_recreate_entities failure either.

[mjcarroll]

I can't reproduce the INTEGRATION_recreate_entities failure either.

The final error message would make me think it's probably some sort of heap corruption, but I don't know how to even begin to unwind that without more context.

[chapulina]

I opened #1380 with a subset of commits from this PR while we sort out the python3-ignition-math7 release.

[chapulina]

CI is happy!