Compliant Control Architecture

Actually I dont know, whether this is more rsb related, cca related or rci-converters related, so I place it here.

When starting a cca node with remote ports for rci data types, and when loading the rsbrstconvertersstable plugin instead of rsbrstconvertersrci plugin, the component crashes with a weird "invalid pointer" error instead of an "wrong or missing converter" error.

Example:¶

See the Flexirob open-rave collision checker which has an input port for rci::JointAngles. The rsb.conf is configured such that only the following plugins are loaded:

[plugins.cpp]
load = rsbspread:rsbrstconvertersstable:rsbrstconverterssandbox

First, the component is running fine, but when I send a joint angle to the related scope, i.e. the component receives the very first joint angle, it crashes:

cemmeric@augit:~/Documents/svn/flexirob/modules/lwr-collision/build ./build/runCollisionChecking 
[main] Creating collision checking component and configuring ports...
[main] Loading robot from file:         /vol/toolkit/nightly/x86_64/2013-10-10_02-00-40/etc/liblwr-rave/kuka_lwr_gripper.robot.xml
[main] Loading scene from file:         /vol/toolkit/nightly/x86_64/2013-10-10_02-00-40/etc/liblwr-rave/obstacle_none.env.xml
[LWRRaveEnvironment] creating rave environment...
[LWRRaveEnvironment] creating rave environment... 100%
  +---- myLWRRaveCollisionChecker -----------------------------------------------+
  |   Processing strategy:                                                       |
  |       <Port-Triggered, listening to port 'input_angles'>                     |
  |   Data input ports:                                                          |
  |       "input_angles"<rci::JointAngles> <cfg:spread,>(/lwr/status/all/position/) [optional] |
  |   Data output ports:                                                         |
  |       "output_collision"<rst::robot::RobotCollision> <cfg:spread,>(/lwr/status/collisions/) [optional] |
  +------------------------------------------------------------------------------+
  |       Properties:                                                            |
  +------------------------------------------------------------------------------+

[main] Collision checker running... 
*** glibc detected *** ./build/runCollisionChecking: free(): invalid pointer: 0x00007fa8540009c8 ***
======= Backtrace: =========
/lib/x86_64-linux-gnu/libc.so.6(+0x7eb96)[0x7fa89b600b96]
/vol/toolkit/nightly/x86_64/successful/lib/librst0.10.so.0.10(_ZN3rst10kinematics11JointAnglesD1Ev+0x24)[0x7fa89af7c154]
/homes/cemmeric/Documents/svn/flexirob/modules/lwr-collision/build/build/liblwr-collision0.1.so.0.1(_ZN8flexirob26CollisionCheckingComponent9onProcessEv+0x100)[0x7fa89cc78d0c]
/vol/toolkit/nightly/x86_64/successful/lib/libcca0.5.so.0.5(_ZN3cca4Node7processEv+0x134)[0x7fa89c373344]
/vol/toolkit/nightly/x86_64/successful/lib/libcca0.5.so.0.5(_ZN3cca4Node13inputCallbackEN5boost10shared_ptrIN3rsb5EventEEERKSs+0x1cc)[0x7fa89c37604c]
/vol/toolkit/nightly/x86_64/successful/lib/libcca0.5.so.0.5(_ZN5boost6detail8function26void_function_obj_invoker1INS_3_bi6bind_tIvNS_4_mfi3mf2IvN3cca4NodeENS_10shared_ptrIN3rsb5EventEEERKSsEENS3_5list3INS3_5valueIPS8_EENS_3argILi1EEENSH_ISsEEEEEEvSC_E6invokeERNS1_15function_bufferESC_+0x60)[0x7fa89c3779a0]
/vol/toolkit/nightly/x86_64/successful/lib/librsb.so.0.10(_ZN3rsb20EventFunctionHandler6handleEN5boost10shared_ptrINS_5EventEEE+0x5b)[0x7fa89b274bab]
/vol/toolkit/nightly/x86_64/successful/lib/libcca0.5.so.0.5(_ZN3cca13InputPortBase12InputHandler6handleEN5boost10shared_ptrIN3rsb5EventEEE+0xbd)[0x7fa89c392f5d]
/vol/toolkit/nightly/x86_64/successful/lib/librsb.so.0.10(_ZN3rsb15eventprocessing30ParallelEventReceivingStrategy7deliverEN5boost10shared_ptrINS_7HandlerEEENS3_INS_5EventEEE+0x87)[0x7fa89b2a9e87]
/vol/toolkit/nightly/x86_64/successful/lib/librsb.so.0.10(_ZN5boost6detail8function26void_function_obj_invoker2INS_3_bi6bind_tIvNS_4_mfi3mf2IvN3rsb15eventprocessing30ParallelEventReceivingStrategyENS_10shared_ptrINS7_7HandlerEEENSA_INS7_5EventEEEEENS3_5list3INS3_5valueIPS9_EENS_3argILi1EEENSK_ILi2EEEEEEEvRSC_RKSE_E6invokeERNS1_15function_bufferESP_SR_+0x9d)[0x7fa89b2ad5ed]
/vol/toolkit/nightly/x86_64/successful/lib/librsb.so.0.10(_ZN3rsc9threading26OrderedQueueDispatcherPoolIN5boost10shared_ptrIN3rsb5EventEEENS4_7HandlerEE22DeliverFunctionAdapter7deliverERNS3_IS7_EERKS6_+0x18)[0x7fa89b2add68]
/vol/toolkit/nightly/x86_64/successful/lib/librsb.so.0.10(_ZN3rsc9threading26OrderedQueueDispatcherPoolIN5boost10shared_ptrIN3rsb5EventEEENS4_7HandlerEE6workerERKj+0x681)[0x7fa89b2b2a11]
/vol/toolkit/nightly/x86_64/successful/lib/librsb.so.0.10(_ZN5boost6detail11thread_dataINS_8functionIFvvEEEE3runEv+0x1e)[0x7fa89b2adcbe]
/usr/lib/libboost_thread.so.1.46.1(thread_proxy+0x69)[0x7fa89ca32ce9]
/lib/x86_64-linux-gnu/libpthread.so.0(+0x7e9a)[0x7fa89be5ee9a]
/lib/x86_64-linux-gnu/libc.so.6(clone+0x6d)[0x7fa89b675ccd]
======= Memory map: ========
00400000-0042e000 r-xp 00000000 00:18 1426993312                         /homes/cemmeric/Documents/svn/flexirob/modules/lwr-collision/build/build/runCollisionChecking
0062d000-0062e000 r--p 0002d000 00:18 1426993312                         /homes/cemmeric/Documents/svn/flexirob/modules/lwr-collision/build/build/runCollisionChecking
0062e000-0062f000 rw-p 0002e000 00:18 1426993312                         /homes/cemmeric/Documents/svn/flexirob/modules/lwr-collision/build/build/runCollisionChecking
0064f000-01856000 rw-p 00000000 00:00 0                                  [heap]
400ac000-400ae000 r-xs 00000000 fc:03 918043                             /tmp/glug49Ct (deleted)
41b22000-41ba0000 rw-p 00000000 00:00 0 
7fa844000000-7fa844021000 rw-p 00000000 00:00 0 
7fa844021000-7fa848000000 ---p 00000000 00:00 0 
7fa848000000-7fa848021000 rw-p 00000000 00:00 0 
7fa848021000-7fa84c000000 ---p 00000000 00:00 0 
7fa84c000000-7fa84c021000 rw-p 00000000 00:00 0 
7fa84c021000-7fa850000000 ---p 00000000 00:00 0 
7fa850000000-7fa850021000 rw-p 00000000 00:00 0 
7fa850021000-7fa854000000 ---p 00000000 00:00 0 
7fa854000000-7fa854021000 rw-p 00000000 00:00 0 
7fa854021000-7fa858000000 ---p 00000000 00:00 0 
7fa8597fb000-7fa8597fc000 ---p 00000000 00:00 0 
7fa8597fc000-7fa859ffc000 rw-p 00000000 00:00 0                          [stack:2401]
7fa859ffc000-7fa859ffd000 ---p 00000000 00:00 0 
7fa859ffd000-7fa85a7fd000 rw-p 00000000 00:00 0                          [stack:2400]
7fa85a7fd000-7fa85a7fe000 ---p 00000000 00:00 0 
7fa85a7fe000-7fa85affe000 rw-p 00000000 00:00 0                          [stack:2399]
7fa85affe000-7fa85afff000 ---p 00000000 00:00 0 
7fa85afff000-7fa85b7ff000 rw-p 00000000 00:00 0                          [stack:2398]
7fa85b7ff000-7fa85b800000 ---p 00000000 00:00 0 
7fa85b800000-7fa85c000000 rw-p 00000000 00:00 0                          [stack:2395]
7fa85c000000-7fa85c021000 rw-p 00000000 00:00 0 
7fa85c021000-7fa860000000 ---p 00000000 00:00 0 
7fa86000f000-7fa86040f000 rw-s 93258000 00:05 14843                      /dev/nvidia0
7fa86040f000-7fa8604a1000 r-xp 00000000 00:1b 1109787574                 /vol/toolkit/nightly/x86_64/2013-10-10_02-00-40/lib/rsb0.10/plugins/librsbrstconverterssandbox.so.0.10
7fa8604a1000-7fa8606a1000 ---p 00092000 00:1b 1109787574                 /vol/toolkit/nightly/x86_64/2013-10-10_02-00-40/lib/rsb0.10/plugins/librsbrstconverterssandbox.so.0.10
7fa8606a1000-7fa8606a7000 r--p 00092000 00:1b 1109787574                 /vol/toolkit/nightly/x86_64/2013-10-10_02-00-40/lib/rsb0.10/plugins/librsbrstconverterssandbox.so.0.10
7fa8606a7000-7fa8606a8000 rw-p 00098000 00:1b 1109787574                 /vol/toolkit/nightly/x86_64/2013-10-10_02-00-40/lib/rsb0.10/plugins/librsbrstconverterssandbox.so.0.10
7fa8606a8000-7fa860717000 r-xp 00000000 00:1b 1109787568                 /vol/toolkit/nightly/x86_64/2013-10-10_02-00-40/lib/rsb0.10/plugins/librsbrstconvertersstable.so.0.10
7fa860717000-7fa860916000 ---p 0006f000 00:1b 1109787568                 /vol/toolkit/nightly/x86_64/2013-10-10_02-00-40/lib/rsb0.10/plugins/librsbrstconvertersstable.so.0.10
7fa860916000-7fa86091b000 r--p 0006e000 00:1b 1109787568                 /vol/toolkit/nightly/x86_64/2013-10-10_02-00-40/lib/rsb0.10/plugins/librsbrstconvertersstable.so.0.10
7fa86091b000-7fa86091c000 rw-p 00073000 00:1b 1109787568                 /vol/toolkit/nightly/x86_64/2013-10-10_02-00-40/lib/rsb0.10/plugins/librsbrstconvertersstable.so.0.10
7fa86091c000-7fa860943000 r-xp 00000000 00:1b 3255559467                 /vol/toolkit/nightly/x86_64/2013-10-10_02-00-40/lib/libspread.so.3.0.0Aborted

My concern¶

Of course, this scenario clearly fails because of missing converters (for rci::JointAngles): If I add the rsbrstconvertersrci

[plugins.cpp]
load = rsbspread:rsbrstconvertersrci:rsbrstconvertersstable:rsbrstconverterssandbox

(and resolve all the resulting ambiguity stuff) the component works fine. But shouldnt the component exit with an exception about "missing converters etc." instead of some weird memory error? So, what I complain about/want to report here is the error message/behavior.

Relation to converter ambiguity?¶

Maybe, this has something to do with the ambiguity issues of rsb-rst-rci-cca-mfg-converters (see e.g. #1317)? Although the rsbrstconvertersrci plugin is not loaded, there is a registered converter for wire-schema 'string' and rst-type 'rst::...:::JointAngles' but maybe this does not work in this context? Just an idea...