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2 ➡️ 3 #136

Merged
merged 157 commits into from
May 18, 2020
Merged

2 ➡️ 3 #136

merged 157 commits into from
May 18, 2020

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chapulina
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Merge ign-gazebo2 forward to ign-gazebo3.

@azeey, I had to make some changes to SdfGenerator_TEST on 9ecee15 so that the worlds would load with SDFormat 9. Mind checking if that's the best way to fix those tests?

@iche033 , I have 2 tests failing locally, INTEGRATION_gpu_lidar and INTEGRATION_sensors_system, both at the destruction of GpuLidarSensor with the backtrace below. Have you seen this before and know why it would be failing on this branch? If not, I can dig into it.

Backtrace 
Thread 1 "INTEGRATION_sen" received signal SIGSEGV, Segmentation fault.
0x00007fffc1c8d969 in ?? () from /usr/lib/x86_64-linux-gnu/libGLdispatch.so.0
(gdb) bt
#0  0x00007fffc1c8d969 in ?? () from /usr/lib/x86_64-linux-gnu/libGLdispatch.so.0
#1  0x00007fffb616f4c8 in Ogre::GL3PlusFrameBufferObject::~GL3PlusFrameBufferObject() ()
   from /usr/lib/x86_64-linux-gnu/OGRE-2.1/OGRE/RenderSystem_GL3Plus.so
#2  0x00007fffb616eaf2 in ?? () from /usr/lib/x86_64-linux-gnu/OGRE-2.1/OGRE/RenderSystem_GL3Plus.so
#3  0x00007fffb619527a in Ogre::v1::GL3PlusTextureBuffer::~GL3PlusTextureBuffer() ()
   from /usr/lib/x86_64-linux-gnu/OGRE-2.1/OGRE/RenderSystem_GL3Plus.so
#4  0x00007fffb61952b9 in Ogre::v1::GL3PlusTextureBuffer::~GL3PlusTextureBuffer() ()
   from /usr/lib/x86_64-linux-gnu/OGRE-2.1/OGRE/RenderSystem_GL3Plus.so
#5  0x00007fffb61921eb in Ogre::GL3PlusTexture::freeInternalResourcesImpl() ()
   from /usr/lib/x86_64-linux-gnu/OGRE-2.1/OGRE/RenderSystem_GL3Plus.so
#6  0x00007fffc2c0e57d in Ogre::Texture::freeInternalResources() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.2.1.0
#7  0x00007fffb61922f9 in Ogre::GL3PlusTexture::~GL3PlusTexture() () from /usr/lib/x86_64-linux-gnu/OGRE-2.1/OGRE/RenderSystem_GL3Plus.so
#8  0x00007fffb6192429 in Ogre::GL3PlusTexture::~GL3PlusTexture() () from /usr/lib/x86_64-linux-gnu/OGRE-2.1/OGRE/RenderSystem_GL3Plus.so
#9  0x00007fffc84d2fd2 in Ogre::SharedPtr<Ogre::Texture>::destroy (this=0x7fffc4e902a8) at /usr/include/OGRE-2.1/OgreSharedPtr.h:340
#10 Ogre::SharedPtr<Ogre::Texture>::release (this=0x7fffc4e902a8) at /usr/include/OGRE-2.1/OgreSharedPtr.h:329
#11 0x00007fffc84e4ca9 in Ogre::SharedPtr<Ogre::Texture>::reset (this=<optimized out>) at /usr/include/OGRE-2.1/OgreSharedPtr.h:313
#12 ignition::rendering::v3::Ogre2GpuRays::Destroy() () at /home/chapulina/citadel_ws/src/ign-rendering/ogre2/src/Ogre2GpuRays.cc:202
#13 0x00007fffc85003e3 in ignition::rendering::v3::BaseStore<ignition::rendering::v3::Sensor, ignition::rendering::v3::Ogre2Sensor>::Destroy
Impl (this=<optimized out>, _iter=...) at /home/chapulina/citadel_ws/src/ign-rendering/include/ignition/rendering/base/BaseStorage.hh:953
#14 0x00007fffc850012f in ignition::rendering::v3::BaseStore<ignition::rendering::v3::Sensor, ignition::rendering::v3::Ogre2Sensor>::Destroy
 (this=0x7fffc494be20, _object=...) at /usr/include/c++/8/ext/atomicity.h:82
#15 0x00007fffca5e265d in ignition::rendering::v3::BaseScene::DestroySensor(std::shared_ptr<ignition::rendering::v3::Sensor>, bool) ()
    at /usr/include/c++/8/ext/atomicity.h:96
#16 0x00007fffa4bdd4f3 in ignition::sensors::v3::GpuLidarSensor::RemoveGpuRays(std::shared_ptr<ignition::rendering::v3::Scene>) ()
    at /usr/include/c++/8/ext/atomicity.h:96
#17 0x00007fffa4bde0a4 in ignition::sensors::v3::GpuLidarSensor::~GpuLidarSensor (this=0x7fffc49a1700, __in_chrg=<optimized out>)
    at /home/chapulina/citadel_ws/src/ign-sensors/src/GpuLidarSensor.cc:59
#18 0x00007fffa4bde3a9 in ignition::sensors::v3::GpuLidarSensor::~GpuLidarSensor (this=0x7fffc49a1700, __in_chrg=<optimized out>)
    at /home/chapulina/citadel_ws/src/ign-sensors/src/GpuLidarSensor.cc:57
#19 0x00007fffd01c23ee in std::default_delete<ignition::sensors::v3::Sensor>::operator() (this=0x7fffc4e8fc88, __ptr=<optimized out>)
    at /usr/include/c++/8/bits/unique_ptr.h:347
#20 std::unique_ptr<ignition::sensors::v3::Sensor, std::default_delete<ignition::sensors::v3::Sensor> >::~unique_ptr (this=0x7fffc4e8fc88,
    __in_chrg=<optimized out>) at /usr/include/c++/8/bits/unique_ptr.h:274
#21 std::pair<unsigned long const, std::unique_ptr<ignition::sensors::v3::Sensor, std::default_delete<ignition::sensors::v3::Sensor> > >::~p
air (this=0x7fffc4e8fc80, __in_chrg=<optimized out>) at /usr/include/c++/8/bits/stl_pair.h:208
#22 __gnu_cxx::new_allocator<std::_Rb_tree_node<std::pair<unsigned long const, std::unique_ptr<ignition::sensors::v3::Sensor, std::default_d
elete<ignition::sensors::v3::Sensor> > > > >::destroy<std::pair<unsigned long const, std::unique_ptr<ignition::sensors::v3::Sensor, std::def
ault_delete<ignition::sensors::v3::Sensor> > > > (this=0x555556dcca00, __p=0x7fffc4e8fc80) at /usr/include/c++/8/ext/new_allocator.h:140
#23 std::allocator_traits<std::allocator<std::_Rb_tree_node<std::pair<unsigned long const, std::unique_ptr<ignition::sensors::v3::Sensor, st
d::default_delete<ignition::sensors::v3::Sensor> > > > > >::destroy<std::pair<unsigned long const, std::unique_ptr<ignition::sensors::v3::Se
nsor, std::default_delete<ignition::sensors::v3::Sensor> > > > (__a=..., __p=0x7fffc4e8fc80) at /usr/include/c++/8/bits/alloc_traits.h:487

azeey and others added 30 commits January 30, 2020 16:44
@azeey
Add SDFormat world generation
7866695
@chapulina
Find custom physics engines
1333dcc
@chapulina
ign-physics version, remove ODE
23b1f71
@chapulina
Physics engine from command line
ca1dd57
@chapulina
Use unversioned libraries
01f296b
@chapulina
Merged ign-gazebo2 into find_physics_engined
9388796
@iche033
add AxisAlignedBox component, conversion functions, and populate bbox…
1bfd6fd 
… in physics
@iche033
GetBoundingBox
42a21a5
@iche033
fix test
ce23a83
@iche033
add comment
c97fa42
@iche033
changelog
e418259
@chapulina
merged from ign-physics1 and require ign-physics 1.6
4eba855
@chapulina
Pose commands from inspector
c0ceb09
@azeey
Allow putting GUI headers in src/gui and move resources into src/gui
00b1382
@azeey
Merge from allow_gui_headers_in_src
9ef2b2d
@azeey
Refactor runGui in ign.cc to src/gui/Gui.cc
8ef285d
@azeey
Refactor: Use ignition::gazebo::gui::runGui in gui_main.cc
aa7d616
@azeey
Merge from allow_gui_headers_in_src
3e8ed2d
@azeey
Add saving to file from GUI
8c048ad
@azeey
Move ign.cc to src, don't install Gui.hh
ebfc660
@chapulina
Example GUI system plugin
76abf20
@azeey
Document why we are include moc_*.cpp files
ea03759
@azeey
Merge from ign-gazebo2
360fc47
@azeey
Apply change to moved file
27c6544
@iche033
merge from ign-gazebo2
4d74c76
@iche033
merge from ign-gazebo2
06ac0e5
@azeey
Use qt5_wrap_cpp for Qt header files in include/ignition/gazebo/gui
3209f8a
@iche033
merge from ign-gazebo2
efef369
@chapulina
print missing features
1bffa34
@chapulina
fix msg
ec272fe
@chapulina chapulina requested a review from iche033 May 14, 2020 00:05
@github-actions github-actions bot added the 🏰 citadel Ignition Citadel label May 14, 2020
@chapulina chapulina self-assigned this May 14, 2020
@chapulina chapulina mentioned this pull request May 14, 2020
Closed
@chapulina
more fixes
2670ca9 
Signed-off-by: Louise Poubel <[email protected]>
@iche033
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iche033 commented May 14, 2020

This fixes the tests for me. It makes sure rendering sensors are removed in the rendering thread:

diff --git a/src/systems/sensors/Sensors.cc b/src/systems/sensors/Sensors.cc
index f93f62f1..1607cbfe 100644
--- a/src/systems/sensors/Sensors.cc
+++ b/src/systems/sensors/Sensors.cc
@@ -262,6 +262,10 @@ void SensorsPrivate::RenderThread()
   {
     this->RunOnce();
   }
+
+  for (auto id : this->sensorIds)
+    this->sensorManager.Remove(id);
+
   igndbg << "SensorsPrivate::RenderThread stopped" << std::endl;
 }

@chapulina chapulina mentioned this pull request May 14, 2020
Merged
@chapulina
Ian's fix for lidar destruction
f33d639 
Signed-off-by: Louise Poubel <[email protected]>
@chapulina
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This fixes the tests for me.

Thanks, @iche033 ! That did the trick for me locally! Pushed on f33d639. I'll see if it needs to be backported to ign-gazebo2.

azeey
azeey requested changes May 14, 2020
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Looks good. I made a comment on 9ecee15 saying that we can don't have to remove the invalid URIs to fix the test. And a couple of comments below:

src/SdfGenerator.cc Outdated Show resolved Hide resolved
src/SdfGenerator.cc Outdated Show resolved Hide resolved
@chapulina
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I'll see if it needs to be backported to ign-gazebo2.

I can't reproduce that test failure on ign-gazebo2 so I think we're good.

@chapulina
restore invalid URIs test
8a8bedb 
Signed-off-by: Louise Poubel <[email protected]>
@chapulina
remove sdf 1.7 TODOs
4ab83d0 
Signed-off-by: Louise Poubel <[email protected]>
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codecov bot commented May 15, 2020 •
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Codecov Report

Merging #136 into ign-gazebo3 will not change coverage.
The diff coverage is n/a.

Impacted file tree graph

@@             Coverage Diff              @@
##           ign-gazebo3     #136   +/-   ##
============================================
  Coverage        65.67%   65.67%           
============================================
  Files              127      127           
  Lines             6238     6238           
============================================
  Hits              4097     4097           
  Misses            2141     2141

Continue to review full report at Codecov.

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@chapulina
Bump msgs to 5.2
85e6acb 
Signed-off-by: Louise Poubel <[email protected]>
@chapulina
addressing test failures
253289f 
Signed-off-by: Louise Poubel <[email protected]>
@chapulina
try to fix Server_TEST on Ubuntu, and compilation on OSX
ddb03de 
Signed-off-by: Louise Poubel <[email protected]>
@chapulina
More test and warning fixes
40e707d 
Signed-off-by: Louise Poubel <[email protected]>
@chapulina
duh
7f5bd7a 
Signed-off-by: Louise Poubel <[email protected]>
@chapulina
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The Ubuntu build is clean and the OSX one has one new failure, INTEGRATION_breadcrumbs. I SSH'ed into that CI machine (glados) and couldn't reproduce the failure. Spurious perhaps? Triggered a new homebrew build: Build Status

@chapulina
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Spurious perhaps?

The test passed now. Let's hope it was a spurious failure, and not a new flaky test.

@chapulina chapulina merged commit f6c36b8 into ign-gazebo3 May 18, 2020
@chapulina chapulina deleted the 2_to_3 branch June 1, 2020 20:08
@diegoferigo diegoferigo mentioned this pull request Apr 28, 2021
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@azeey azeey azeey approved these changes

@maryaB-osr maryaB-osr Awaiting requested review from maryaB-osr

@iche033 iche033 Awaiting requested review from iche033 iche033 is a code owner

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@chapulina @iche033 @azeey @nkoenig