[ros-users] rosconsole segfault in xenomai-linked application

[Adolfo Rodríguez Tsouroukdissian]

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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