Crashing and speedup simulator whilst running windowless

[hogg377]

Hello,
I have been working with stage for a little while now to setup an artificial evolution application in multi-agent systems. However, I'm having issues with the stageros crashing when running the simulator at increased speeds, the evolution can be running fine for 10 minutes or so but then crash and I have to restart.

Errors:
Segmentation fault (core dumped)
or
Error in `/opt/ros/kinetic/lib/stage_ros/stageros': free(): invalid size: 0x00000000090ecd90
Followed by a long list (see below)

I have spent quite a lot of time trying to figure out the cause but haven't made much progress although I feel as though it might be to do with calling the reset service built into stage which I call every time a new individual in the evolution is tested. I understand this feature was added after the official release and might not be suitable when called many times every few seconds.

As another fix I have tried running stage windowless to improve speed up however, when I run stage windowless it seems to ignore the speedup defined in the world file and run at real time speed. If I run the same world file with the gui, it will be run at increased speed.

Any help would be greatly appreciated!

error.txt

[rtv]

You should use the latest stageros from my Github, which has been substantially rewritten to fix many bugs and work much more efficiently. https://github.com/rtv/stage_ros

…

On Sun, Jul 22, 2018 at 1:10 PM hogg377 ***@***.***> wrote: Hello, I have been working with stage for a little while now to setup an artificial evolution application in multi-agent systems. However, I'm having issues with the stageros crashing when running the simulator at increased speeds, the evolution can be running fine for 10 minutes or so but then crash and I have to restart. Errors: Segmentation fault (core dumped) or Error in `/opt/ros/kinetic/lib/stage_ros/stageros': free(): invalid size: 0x00000000090ecd90 Followed by a long list (see below) I have spent quite a lot of time trying to figure out the cause but haven't made much progress although I feel as though it might be to do with calling the reset service built into stage which I call every time a new individual in the evolution is tested. I understand this feature was added after the official release and might not be suitable when called many times every few seconds. As another fix I have tried running stage windowless to improve speed up however, when I run stage windowless it seems to ignore the speedup defined in the world file and run at real time speed. If I run the same world file with the gui, it will be run at increased speed. Any help would be greatly appreciated! error.txt <https://github.com/ros-simulation/stage_ros/files/2217342/error.txt> — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#55>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AACCnZwCGlE5NPhSbVD5ig9sDuEK5sxmks5uJNwhgaJpZM4VaIRs> .

-- Richard Vaughan Autonomy Lab / Computing Science / Simon Fraser University

[hogg377]

Hi,
Thanks for the help. I've installed the version you linked but I'm now having other issues with the simulator, I can only get one of my bots to move, when I publish from the terminal a cmd_vel message, it will only ever move one bot regardless of which bot I publish to. I have been stuck with this for a while as I'm sure it was something really simple but I can't get my head around it. The command I'm publishing...

/catkin_ws/src/my_stage/launch$ rostopic pub /stage/bot3/cmd_vel geometry_msgs/Twist "linear:
x: 2.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 5.0"

In my world file I have defined my bots as bot0, bot1, bot2, etc. So despite changing which topic I publish to only my bot0 will move. Similarly when I run a node to control each bot, stage shows that it has connections from my nodes for the required cmd_vel topics but still only the bot0 will move even when I have no node publishing to /stage/bot0/cmd_vel. I hope this is something simple that I'm missing.

Thanks.