Hello list,
I stumbled upon a nasty situation, and would like describe it here to see if
someone can shed some light on it.
We have a minimal test where we perform some rosconsole logs. One of these
comes from a xenomai-scheduled thread (but does not use the rt-scheduler, so
it's OK to make system calls). The thing is that rosconsole log messages in
this thread always causes a segfault. A gdb backtrace is attached to this
post (file 'backtrace'). The first thing I'd like to clear is: When calling
ros::console::print(FilterBase *, ...), is it OK if the FilterBase * pointer
is null? (maybe it means use no filter?). Otherwise has anyone stumbled upon
a similar situation?. In the meantime, we're trying to rule out
misconfigurations of the xenomai environment.
For those interested in inspecting the code of the minimal example, which
uses orocos-rtt as well, I've attached the file 'test.cpp'.
Setup details:
gcc (Ubuntu 4.4.3-4ubuntu5) 4.4.3
ros cturtle from ubuntu packages 1.2.1-36~lucid
orocos-rtt 1.8.5
xenomai 2.4.10 on a 2.6.34 kernel
TIA,
Adolfo
P.S. A similar post has also been submitted to the orocos-dev mailing list.
--
Adolfo Rodríguez Tsouroukdissian, Ph. D.
Robotics engineer
PAL ROBOTICS S.L
http://www.pal-robotics.com
Tel. +34.93.414.53.47
Fax.+34.93.209.11.09
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#include <rtt/os/main.h>
#include <rtt/TaskContext.hpp>
#include <rtt/PeriodicActivity.hpp>
#include <ros/console.h>
class Dummy : public RTT::TaskContext
{
public:
Dummy(const std::string& name) : RTT::TaskContext(name) {}
virtual ~Dummy() {}
protected:
virtual bool configureHook() {ROS_INFO("configureHook"); return true;} // Executed from main thread. No problem
virtual bool startHook() {ROS_WARN("startHook"); return true;} // Executed from main thread. No problem
virtual void stopHook() {ROS_ERROR("stopHook");} // Executed from main thread. No problem
virtual void updateHook() {ROS_ERROR("updateHook");} // Executed from xenomai-scheduled thread. Segfault!
};
int ORO_main( int argc, char** argv )
{
Dummy dummy("dummy");
dummy.setActivity( new RTT::PeriodicActivity( ORO_SCHED_OTHER, 10, 0.1));
dummy.configure();
dummy.start(); // updateHook() will be called upon completion of start(), and the segfault occurs
sleep(1);
dummy.stop();
return 0;
}
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