Fix crash when using BVH animations

[chapulina]

🦟 Bug fix

Summary

Actors using BVH animations have been crashing ign-gazebo, probably since #136, see #136 (comment).

The problem is that we were creating a temporary Skeleton, getting a pointer to its animation, and then deleting the original skeleton. Now that the skeleton is properly destroyed, we also destroy that pointer. The solution is to make a copy so we can keep ownership.

This needs to be backported to ign-common3, I'm targeting main so we can get it into Edifice's first release. I believe this is a critical bug fix.

@adlarkin , I believe you've been looking into this. Maybe you can see if this works?

Checklist

• Signed all commits for DCO
• Added tests - I suggest we just manually test this right now, and after Edifice's release we come back to add proper tests.
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
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[codecov]

Codecov Report

Merging #188 (650892d) into main (b68fd3a) will decrease coverage by 0.01%.
The diff coverage is 57.14%.

@@            Coverage Diff             @@
##             main     #188      +/-   ##
==========================================
- Coverage   75.49%   75.48%   -0.02%     
==========================================
  Files          73       73              
  Lines       10346    10349       +3     
==========================================
+ Hits         7811     7812       +1     
- Misses       2535     2537       +2     

Impacted Files	Coverage Δ
graphics/src/Skeleton.cc	42.22% <57.14%> (-0.13%)	⬇️

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[adlarkin]

This seems to fix the actor crashing issue. However, I still see this error that was mentioned in gazebosim/gz-sim#647 when I run one of the example actor worlds (for example, actor.sdf or actor_crowd.sdf):

[GUI] [Err] [RenderUtil.cc:919] invalid animation update data

It looks like this is coming from the RenderUtil class in ign-gazebo, so I'm not sure if this issue can be fixed in this PR or not. Any thoughts? Should we just merge this first to fix the critical bug, and then try to resolve this error message later?

Also, this PR may be able to close gazebosim/gz-sim#647, unless we want to leave that issue open while we resolve the RenderUtil error message.

[chapulina]

this PR may be able to close gazebosim/gz-sim#647

Oh thanks! I totally forgot there was an issue for this!

It looks like this is coming from the RenderUtil class in ign-gazebo

I also see that. Yeah I suspect that's something to be fixed on the ign-gazebo side. The animation seems to work for me even when the error is printed, so I think that's not critical to fix.

leave that issue open while we resolve the RenderUtil error message.

That works for me. I think we also shouldn't close it until this is backported and we add some tests.

[adlarkin]

All that sounds good, let's get this merged in and fix the crash before the release 🚢 🚀