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User command light test failure #634

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chapulina opened this issue Feb 17, 2021 · 9 comments · Fixed by #650
Open

User command light test failure #634

chapulina opened this issue Feb 17, 2021 · 9 comments · Fixed by #650
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@ahcorde
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bug Something isn't working 🔮 dome Ignition Dome help wanted We accept pull requests! macOS macOS support tests Broken or missing tests / testing infra

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@chapulina
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chapulina commented Feb 17, 2021 •
edited
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Environment

  • OS Version: Jenkins macOS / GitHub actions Linux (not Jenkins Linux)
  • Source or binary build? CI builds from source

Description

This was introduced on #482, I was a bit too quick to press the merge button.

Steps to reproduce

Run INTEGRATION_user_commands test.

Output

Test failure message:

UserCommandsTest.Light 
   [ RUN      ] UserCommandsTest.Light
  [Msg] Loading SDF world file[/github/workspace/test/worlds/lights_render.sdf].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [2251689575469537287] / [ign_gazebo_components.World].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [13994732549916512682] / [ign_gazebo_components.Name].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [12592746352568925681] / [ign_gazebo_components.Gravity].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [2188341333082264598] / [ign_gazebo_components.Physics].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [13224937992534617849] / [ign_gazebo_components.MagneticField].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [3630648173860223239] / [ign_gazebo_components.PhysicsEnginePlugin].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [17459188283658606303] / [ign_gazebo_components.RenderEngineServerPlugin].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [8705992680619689917] / [ign_gazebo_components.RenderEngineGuiPlugin].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [8753193699724811771] / [ign_gazebo_components.Wind].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [12173050716021724529] / [ign_gazebo_components.WorldLinearVelocity].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [15943768124495574352] / [ign_gazebo_components.WorldLinearVelocitySeed].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [3297509811873971798] / [ign_gazebo_components.ParentEntity].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [17100615127981600159] / [ign_gazebo_components.Scene].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [17605309075052480649] / [ign_gazebo_components.Atmosphere].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [8064491505919932473] / [ign_gazebo_components.Level].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [2668898242563798256] / [ign_gazebo_components.DefaultLevel].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [11371360182141354106] / [ign_gazebo_components.LevelEntityNames].
  [Dbg] [SimulationRunner.cc:839] Loaded system [ignition::gazebo::systems::SceneBroadcaster] for entity [1]
  [Msg] Create service on [/world/lights_command/create]
  [Msg] Remove service on [/world/lights_command/remove]
  [Msg] Pose service on [/world/lights_command/set_pose]
  [Msg] Light configuration service on [/world/lights_command/light_config]
  [Msg] Physics service on [/world/lights_command/set_physics]
  [Dbg] [SimulationRunner.cc:839] Loaded system [ignition::gazebo::systems::UserCommands] for entity [1]
  Error while loading the library [/usr/local/lib/ign-gazebo-5/plugins/libignition-gazebo-sensors-system.so]: libignition-gazebo5-rendering.so.5: cannot open shared object file: No such file or directory
  [Err] [SystemLoader.cc:75] Failed to load system plugin [ignition-gazebo-sensors-system] : couldn't load library on path [/usr/local/lib/ign-gazebo-5/plugins/libignition-gazebo-sensors-system.so].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [4981278897826323946] / [ign_gazebo_components.WorldSdf].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [6687176221774458630] / [ign_gazebo_components.Model].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [6612894081701502240] / [ign_gazebo_components.Pose].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [8546580419506082455] / [ign_gazebo_components.Static].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [9712747055438129860] / [ign_gazebo_components.WindMode].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [5661073481138181711] / [ign_gazebo_components.SelfCollide].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [11683062252779233161] / [ign_gazebo_components.SourceFilePath].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [5081358965268446661] / [ign_gazebo_components.Link].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [8112400427272910195] / [ign_gazebo_components.Inertial].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [16454635107327670381] / [ign_gazebo_components.Visual].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [13011964647677164955] / [ign_gazebo_components.CastShadows].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [13440282432131634483] / [ign_gazebo_components.Transparency].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [5453622280849253520] / [ign_gazebo_components.VisibilityFlags].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [17121648710877364109] / [ign_gazebo_components.Geometry].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [9853217982010720764] / [ign_gazebo_components.Material].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [3866641186784191835] / [ign_gazebo_components.Light].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [273039548655896271] / [ign_gazebo_components.Sensor].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [14624144930658477562] / [ign_gazebo_components.Camera].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [10522242218202596205] / [ign_gazebo_components.CanonicalLink].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [11536476718181283925] / [ign_gazebo_components.ModelSdf].
  [Msg] Loaded level [3]
  [Msg] Serving world controls on [/world/lights_command/control] and [/world/lights_command/playback/control]
  [Msg] Serving GUI information on [/world/lights_command/gui/info]
  [Msg] World [lights_command] initialized with [1ms] physics profile.
  [Msg] Serving world SDF generation service on [/world/lights_command/generate_world_sdf]
  [Msg] Serving world names on [/gazebo/worlds]
  [Msg] Resource path add service on [/gazebo/resource_paths/add].
  [Msg] Resource path get service on [/gazebo/resource_paths/get].
  [Msg] Resource paths published on [/gazebo/resource_paths].
  [Msg] Found no publishers on /stats, adding root stats topic
  [Msg] Found no publishers on /clock, adding root clock topic
  [Dbg] [SimulationRunner.cc:470] Creating PostUpdate worker threads: 3
  [Dbg] [SimulationRunner.cc:483] Creating postupdate worker thread (0)
  [Dbg] [SimulationRunner.cc:483] Creating postupdate worker thread (1)
  [Msg] Serving scene information on [/world/lights_command/scene/info]
  [Msg] Serving graph information on [/world/lights_command/scene/graph]
  [Msg] Serving full state on [/world/lights_command/state]
  [Msg] Serving full state (async) on [/world/lights_command/state_async]
  [Msg] Publishing scene information on [/world/lights_command/scene/info]
  [Msg] Publishing entity deletions on [/world/lights_command/scene/deletion]
  [Msg] Publishing state changes on [/world/lights_command/state]
  [Msg] Publishing pose messages on [/world/lights_command/pose/info]
  [Msg] Publishing dynamic pose messages on [/world/lights_command/dynamic_pose/info]
  [Dbg] [EntityComponentManager.cc:672] Using components of type [8418521521794632513] / [ign_gazebo_components.LightCmd].
  /github/workspace/test/integration/user_commands.cc:775: Failure
  Expected equality of these values:
    math::Color(0, 1, 1, 0)
      Which is: 0 1 1 0
    pointLightComp->Data().Diffuse()
      Which is: 1 0 0 1
  /github/workspace/test/integration/user_commands.cc:777: Failure
  Expected equality of these values:
    math::Color(0.2, 0.2, 0.2, 0.2)
      Which is: 0.2 0.2 0.2 0.2
    pointLightComp->Data().Specular()
      Which is: 0.1 0.1 0.1 1
  /github/workspace/test/integration/user_commands.cc:778: Failure
  The difference between 2.6 and pointLightComp->Data().AttenuationRange() is 1.3999999999999999, which exceeds 0.1, where
  2.6 evaluates to 2.6000000000000001,
  pointLightComp->Data().AttenuationRange() evaluates to 4, and
  0.1 evaluates to 0.10000000000000001.
  /github/workspace/test/integration/user_commands.cc:779: Failure
  The difference between 0.7 and pointLightComp->Data().LinearAttenuationFactor() is 0.19999999999999996, which exceeds 0.1, where
  0.7 evaluates to 0.69999999999999996,
  pointLightComp->Data().LinearAttenuationFactor() evaluates to 0.5, and
  0.1 evaluates to 0.10000000000000001.
  /github/workspace/test/integration/user_commands.cc:780: Failure
  The difference between 0.6 and pointLightComp->Data().ConstantAttenuationFactor() is 0.39999999999999997, which exceeds 0.1, where
  0.6 evaluates to 0.59999999999999998,
  pointLightComp->Data().ConstantAttenuationFactor() evaluates to 0.20000000000000001, and
  0.1 evaluates to 0.10000000000000001.
  /github/workspace/test/integration/user_commands.cc:782: Failure
  Value of: pointLightComp->Data().CastShadows()
    Actual: false
  Expected: true
  /github/workspace/test/integration/user_commands.cc:839: Failure
  Expected equality of these values:
    math::Color(0, 1, 1, 0)
      Which is: 0 1 1 0
    directionalLightComp->Data().Diffuse()
      Which is: 0.8 0.8 0.8 1
  /github/workspace/test/integration/user_commands.cc:841: Failure
  Expected equality of these values:
    math::Color(0.3, 0.3, 0.3, 0.3)
      Which is: 0.3 0.3 0.3 0.3
    directionalLightComp->Data().Specular()
      Which is: 0.2 0.2 0.2 1
  /github/workspace/test/integration/user_commands.cc:842: Failure
  The difference between 2.6 and directionalLightComp->Data().AttenuationRange() is 97.400000000000006, which exceeds 0.1, where
  2.6 evaluates to 2.6000000000000001,
  directionalLightComp->Data().AttenuationRange() evaluates to 100, and
  0.1 evaluates to 0.10000000000000001.
  /github/workspace/test/integration/user_commands.cc:844: Failure
  The difference between 0.7 and directionalLightComp->Data().LinearAttenuationFactor() is 0.68999999999999995, which exceeds 0.1, where
  0.7 evaluates to 0.69999999999999996,
  directionalLightComp->Data().LinearAttenuationFactor() evaluates to 0.01, and
  0.1 evaluates to 0.10000000000000001.
  /github/workspace/test/integration/user_commands.cc:846: Failure
  The difference between 0.6 and directionalLightComp->Data().ConstantAttenuationFactor() is 0.30000000000000004, which exceeds 0.1, where
  0.6 evaluates to 0.59999999999999998,
  directionalLightComp->Data().ConstantAttenuationFactor() evaluates to 0.90000000000000002, and
  0.1 evaluates to 0.10000000000000001.
  /github/workspace/test/integration/user_commands.cc:848: Failure
  The difference between 1 and directionalLightComp->Data().QuadraticAttenuationFactor() is 0.999, which exceeds 0.1, where
  1 evaluates to 1,
  directionalLightComp->Data().QuadraticAttenuationFactor() evaluates to 0.001, and
  0.1 evaluates to 0.10000000000000001.
  /github/workspace/test/integration/user_commands.cc:849: Failure
  Expected equality of these values:
    math::Vector3d(1, 2, 3)
      Which is: 1 2 3
    directionalLightComp->Data().Direction()
      Which is: 0.5 0.2 -0.9
  /github/workspace/test/integration/user_commands.cc:850: Failure
  Value of: directionalLightComp->Data().CastShadows()
    Actual: true
  Expected: false
  /github/workspace/test/integration/user_commands.cc:909: Failure
  Expected equality of these values:
    math::Color(1, 0, 1, 0)
      Which is: 1 0 1 0
    spotLightComp->Data().Diffuse()
      Which is: 0 1 0 1
  /github/workspace/test/integration/user_commands.cc:911: Failure
  Expected equality of these values:
    math::Color(0.3, 0.3, 0.3, 0.3)
      Which is: 0.3 0.3 0.3 0.3
    spotLightComp->Data().Specular()
      Which is: 0.2 0.2 0.2 1
  /github/workspace/test/integration/user_commands.cc:912: Failure
  The difference between 2.6 and spotLightComp->Data().AttenuationRange() is 2.3999999999999999, which exceeds 0.1, where
  2.6 evaluates to 2.6000000000000001,
  spotLightComp->Data().AttenuationRange() evaluates to 5, and
  0.1 evaluates to 0.10000000000000001.
  /github/workspace/test/integration/user_commands.cc:913: Failure
  The difference between 0.7 and spotLightComp->Data().LinearAttenuationFactor() is 0.29999999999999993, which exceeds 0.1, where
  0.7 evaluates to 0.69999999999999996,
  spotLightComp->Data().LinearAttenuationFactor() evaluates to 0.40000000000000002, and
  0.1 evaluates to 0.10000000000000001.
  /github/workspace/test/integration/user_commands.cc:914: Failure
  The difference between 0.6 and spotLightComp->Data().ConstantAttenuationFactor() is 0.29999999999999999, which exceeds 0.1, where
  0.6 evaluates to 0.59999999999999998,
  spotLightComp->Data().ConstantAttenuationFactor() evaluates to 0.29999999999999999, and
  0.1 evaluates to 0.10000000000000001.
  /github/workspace/test/integration/user_commands.cc:915: Failure
  The difference between 1 and spotLightComp->Data().QuadraticAttenuationFactor() is 0.999, which exceeds 0.1, where
  1 evaluates to 1,
  spotLightComp->Data().QuadraticAttenuationFactor() evaluates to 0.001, and
  0.1 evaluates to 0.10000000000000001.
  /github/workspace/test/integration/user_commands.cc:916: Failure
  Expected equality of these values:
    math::Vector3d(1, 2, 3)
      Which is: 1 2 3
    spotLightComp->Data().Direction()
      Which is: 0 0 -1
  /github/workspace/test/integration/user_commands.cc:917: Failure
  Value of: spotLightComp->Data().CastShadows()
    Actual: false
  Expected: true
  /github/workspace/test/integration/user_commands.cc:919: Failure
  The difference between 1.5 and spotLightComp->Data().SpotInnerAngle().Radian() is 1.3999999999999999, which exceeds 0.1, where
  1.5 evaluates to 1.5,
  spotLightComp->Data().SpotInnerAngle().Radian() evaluates to 0.10000000000000001, and
  0.1 evaluates to 0.10000000000000001.
  /github/workspace/test/integration/user_commands.cc:920: Failure
  The difference between 0.3 and spotLightComp->Data().SpotOuterAngle().Radian() is 0.20000000000000001, which exceeds 0.1, where
  0.3 evaluates to 0.29999999999999999,
  spotLightComp->Data().SpotOuterAngle().Radian() evaluates to 0.5, and
  0.1 evaluates to 0.10000000000000001.
  [Dbg] [SimulationRunner.cc:499] Exiting postupdate worker thread (0)
  [Dbg] [SimulationRunner.cc:499] Exiting postupdate worker thread (1)
  [  FAILED  ] UserCommandsTest.Light (447 ms)

This other test also has a fish message:

  Error [parser.cc:562] Error parsing XML from string: Error=XML_ERROR_MISMATCHED_ELEMENT ErrorID=16 (0x10) Line number=1: XMLElement name=sdf
  [Err] [UserCommands.cc:598] Error Code 28 Msg: Unable to read SDF string: <?xml version='1.0' ?><sdf version='1.6'></sdfo>

But passes 🧐 :

UserCommandsTest.Create 
  [ RUN      ] UserCommandsTest.Create
  [Msg] Loading SDF world file[/github/workspace/examples/worlds/empty.sdf].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [2251689575469537287] / [ign_gazebo_components.World].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [13994732549916512682] / [ign_gazebo_components.Name].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [12592746352568925681] / [ign_gazebo_components.Gravity].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [2188341333082264598] / [ign_gazebo_components.Physics].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [13224937992534617849] / [ign_gazebo_components.MagneticField].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [3630648173860223239] / [ign_gazebo_components.PhysicsEnginePlugin].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [17459188283658606303] / [ign_gazebo_components.RenderEngineServerPlugin].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [8705992680619689917] / [ign_gazebo_components.RenderEngineGuiPlugin].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [8753193699724811771] / [ign_gazebo_components.Wind].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [12173050716021724529] / [ign_gazebo_components.WorldLinearVelocity].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [15943768124495574352] / [ign_gazebo_components.WorldLinearVelocitySeed].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [3297509811873971798] / [ign_gazebo_components.ParentEntity].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [17100615127981600159] / [ign_gazebo_components.Scene].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [17605309075052480649] / [ign_gazebo_components.Atmosphere].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [8064491505919932473] / [ign_gazebo_components.Level].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [2668898242563798256] / [ign_gazebo_components.DefaultLevel].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [11371360182141354106] / [ign_gazebo_components.LevelEntityNames].
  [Dbg] [Physics.cc:601] Loaded [ignition::physics::dartsim::Plugin] from library [/usr/lib/x86_64-linux-gnu/ign-physics-4/engine-plugins/libignition-physics-dartsim-plugin.so]
  [Dbg] [SimulationRunner.cc:839] Loaded system [ignition::gazebo::systems::Physics] for entity [1]
  [Msg] Create service on [/world/empty/create]
  [Msg] Remove service on [/world/empty/remove]
  [Msg] Pose service on [/world/empty/set_pose]
  [Msg] Light configuration service on [/world/empty/light_config]
  [Msg] Physics service on [/world/empty/set_physics]
  [Dbg] [SimulationRunner.cc:839] Loaded system [ignition::gazebo::systems::UserCommands] for entity [1]
  [Dbg] [SimulationRunner.cc:839] Loaded system [ignition::gazebo::systems::SceneBroadcaster] for entity [1]
  [Dbg] [SimulationRunner.cc:839] Loaded system [ignition::gazebo::systems::Contact] for entity [1]
  [Dbg] [EntityComponentManager.cc:672] Using components of type [4981278897826323946] / [ign_gazebo_components.WorldSdf].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [6687176221774458630] / [ign_gazebo_components.Model].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [6612894081701502240] / [ign_gazebo_components.Pose].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [8546580419506082455] / [ign_gazebo_components.Static].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [9712747055438129860] / [ign_gazebo_components.WindMode].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [5661073481138181711] / [ign_gazebo_components.SelfCollide].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [11683062252779233161] / [ign_gazebo_components.SourceFilePath].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [5081358965268446661] / [ign_gazebo_components.Link].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [8112400427272910195] / [ign_gazebo_components.Inertial].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [16454635107327670381] / [ign_gazebo_components.Visual].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [13011964647677164955] / [ign_gazebo_components.CastShadows].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [13440282432131634483] / [ign_gazebo_components.Transparency].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [5453622280849253520] / [ign_gazebo_components.VisibilityFlags].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [17121648710877364109] / [ign_gazebo_components.Geometry].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [9853217982010720764] / [ign_gazebo_components.Material].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [17938588655714334139] / [ign_gazebo_components.Collision].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [9225962031573086509] / [ign_gazebo_components.CollisionElement].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [10522242218202596205[Wrn] [UserCommands.cc:668] Entity named [spawned_model] already exists and [allow_renaming] is false. Entity not spawned.
  ] / [ign_gazebo_components.CanonicalLink].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [11536476718181283925] / [ign_gazebo_components.ModelSdf].
  [Dbg] [EntityComponentManager.cc:672] Using components of type [3866641186784191835] / [ign_gazebo_components.Light].
  [Msg] Loaded level [3]
  [Msg] Serving world controls on [/world/empty/control] and [/world/empty/playback/control]
  [Msg] Serving GUI information on [/world/empty/gui/info]
  [Msg] World [empty] initialized with [1ms] physics profile.
  [Msg] Serving world SDF generation service on [/world/empty/generate_world_sdf]
  [Msg] Serving world names on [/gazebo/worlds]
  [Msg] Resource path add service on [/gazebo/resource_paths/add].
  [Msg] Resource path get service on [/gazebo/resource_paths/get].
  [Msg] Resource paths published on [/gazebo/resource_paths].
  [Msg] Found no publishers on /stats, adding root stats topic
  [Msg] Found no publishers on /clock, adding root clock topic
  [Dbg] [SimulationRunner.cc:470] Creating PostUpdate worker threads: 4
  [Dbg] [SimulationRunner.cc:483] Creating postupdate worker thread (0)
  [Dbg] [SimulationRunner.cc:483] Creating postupdate worker thread (1)
  [Dbg] [SimulationRunner.cc:483] Creating postupdate worker thread (2)
  [Msg] Serving scene information on [/world/empty/scene/info]
  [Msg] Serving graph information on [/world/empty/scene/graph]
  [Msg] Serving full state on [/world/empty/state]
  [Msg] Serving full state (async) on [/world/empty/state_async]
  [Msg] Publishing scene information on [/world/empty/scene/info]
  [Msg] Publishing entity deletions on [/world/empty/scene/deletion]
  [Msg] Publishing state changes on [/world/empty/state]
  [Msg] Publishing pose messages on [/world/empty/pose/info]
  [Msg] Publishing dynamic pose messages on [/world/empty/dynamic_pose/info]
  [Dbg] [UserCommands.cc:721] Created entity [9] named [spawned_model]
  [Dbg] [UserCommands.cc:721] Created entity [13] named [spawned_model_0]
  [Dbg] [UserCommands.cc:721] Created entity [17] named [banana]
  [Dbg] [UserCommands.cc:721] Created entity [21] named [spawned_light]
  [Dbg] [UserCommands.cc:721] Created entity [22] named [light_test]
  [Dbg] [UserCommands.cc:721] Created entity [23] named [acerola]
  [Dbg] [UserCommands.cc:721] Created entity [27] named [coconut]
  [Dbg] [UserCommands.cc:721] Created entity [31] named [accepted_light]
  Error [parser.cc:562] Error parsing XML from string: Error=XML_ERROR_MISMATCHED_ELEMENT ErrorID=16 (0x10) Line number=1: XMLElement name=sdf
  [Err] [UserCommands.cc:598] Error Code 28 Msg: Unable to read SDF string: <?xml version='1.0' ?><sdf version='1.6'></sdfo>
  [Dbg] [UserCommands.cc:721] Created entity [32] named [test_model]
  [Dbg] [SimulationRunner.cc:499] Exiting postupdate worker thread (1)
  [Dbg] [SimulationRunner.cc:499] Exiting postupdate worker thread (2)
  [Dbg] [SimulationRunner.cc:499] Exiting postupdate worker thread (0)
  [       OK ] UserCommandsTest.Create (1609 ms)
@chapulina chapulina added bug Something isn't working tests Broken or missing tests / testing infra labels Feb 17, 2021
@chapulina chapulina mentioned this issue Feb 17, 2021
Merged
@ahcorde
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ahcorde commented Feb 18, 2021

Backtrace

Backtrace 
0x00007fffd63247f4 in std::_Hashtable<dart::dynamics::JacobianNode*, dart::dynamics::JacobianNode*, std::allocator<dart::dynamics::JacobianNode*>, std::__detail::_Identity, std::equal_to<dart::dynamics::JacobianNode*>, std::hash<dart::dynamics::JacobianNode*>, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<false, true, true> >::_M_erase(std::integral_constant<bool, true>, dart::dynamics::JacobianNode* const&) () from /usr/lib/x86_64-linux-gnu/libdart.so.6
(gdb) bt
#0  0x00007fffd63247f4 in std::_Hashtable<dart::dynamics::JacobianNode*, dart::dynamics::JacobianNode*, std::allocator<dart::dynamics::JacobianNode*>, std::__detail::_Identity, std::equal_to<dart::dynamics::JacobianNode*>, std::hash<dart::dynamics::JacobianNode*>, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<false, true, true> >::_M_erase(std::integral_constant<bool, true>, dart::dynamics::JacobianNode* const&) () from /usr/lib/x86_64-linux-gnu/libdart.so.6
#1  0x00007fffd63b44f1 in dart::dynamics::JacobianNode::~JacobianNode() () from /usr/lib/x86_64-linux-gnu/libdart.so.6
#2  0x00007fffd641fc75 in dart::dynamics::ShapeNode::~ShapeNode() () from /usr/lib/x86_64-linux-gnu/libdart.so.6
#3  0x00007fffd641fe6d in dart::dynamics::ShapeNode::~ShapeNode() () from /usr/lib/x86_64-linux-gnu/libdart.so.6
#4  0x00007fffd63208d6 in std::_Sp_counted_ptr<dart::dynamics::NodeDestructor*, (__gnu_cxx::_Lock_policy)2>::_M_dispose() () from /usr/lib/x86_64-linux-gnu/libdart.so.6
#5  0x00007fffd675f9d8 in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release (this=0x5555570d6860) at /usr/include/c++/9/bits/shared_ptr_base.h:148
#6  std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release (this=0x5555570d6860) at /usr/include/c++/9/bits/shared_ptr_base.h:148
#7  std::__shared_count<(__gnu_cxx::_Lock_policy)2>::~__shared_count (this=<optimized out>, __in_chrg=<optimized out>) at /usr/include/c++/9/bits/shared_ptr_base.h:730
#8  std::__shared_ptr<dart::dynamics::NodeDestructor, (__gnu_cxx::_Lock_policy)2>::~__shared_ptr (this=<optimized out>, __in_chrg=<optimized out>) at /usr/include/c++/9/bits/shared_ptr_base.h:1169
#9  std::shared_ptr<dart::dynamics::NodeDestructor>::~shared_ptr (this=<optimized out>, __in_chrg=<optimized out>) at /usr/include/c++/9/bits/shared_ptr.h:103
#10 dart::dynamics::TemplateNodePtr<dart::dynamics::ShapeNode, dart::dynamics::BodyNode>::~TemplateNodePtr (this=<optimized out>, __in_chrg=<optimized out>) at /usr/include/dart/dynamics/detail/NodePtr.hpp:49
#11 ignition::physics::dartsim::ShapeInfo::~ShapeInfo (this=<optimized out>, __in_chrg=<optimized out>) at /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/Base.hh:71
#12 __gnu_cxx::new_allocator<ignition::physics::dartsim::ShapeInfo>::destroy<ignition::physics::dartsim::ShapeInfo> (this=<optimized out>, __p=<optimized out>) at /usr/include/c++/9/ext/new_allocator.h:153
#13 std::allocator_traits<std::allocator<ignition::physics::dartsim::ShapeInfo> >::destroy<ignition::physics::dartsim::ShapeInfo> (__a=..., __p=<optimized out>) at /usr/include/c++/9/bits/alloc_traits.h:497
#14 std::_Sp_counted_ptr_inplace<ignition::physics::dartsim::ShapeInfo, std::allocator<ignition::physics::dartsim::ShapeInfo>, (__gnu_cxx::_Lock_policy)2>::_M_dispose (this=<optimized out>)
    at /usr/include/c++/9/bits/shared_ptr_base.h:557
#15 0x00005555555a05e8 in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release (this=0x5555570f1710) at /usr/include/c++/9/bits/shared_ptr_base.h:148
#16 std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release (this=0x5555570f1710) at /usr/include/c++/9/bits/shared_ptr_base.h:148
#17 0x00007fffec6f65a4 in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::~__shared_count (this=0x5555570f4630, __in_chrg=<optimized out>) at /usr/include/c++/9/bits/shared_ptr_base.h:1169
#18 std::__shared_ptr<void, (__gnu_cxx::_Lock_policy)2>::~__shared_ptr (this=0x5555570f4628, __in_chrg=<optimized out>) at /usr/include/c++/9/bits/shared_ptr_base.h:1169
#19 std::shared_ptr<void>::~shared_ptr (this=0x5555570f4628, __in_chrg=<optimized out>) at /usr/include/c++/9/bits/shared_ptr.h:103
#20 ignition::physics::Identity::~Identity (this=0x5555570f4620, __in_chrg=<optimized out>) at /home/ahcorde/ignition_dome/install/include/ignition/physics3/ignition/physics/detail/Identity.hh:73
#21 ignition::physics::Entity<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::FeatureList<ignition::gazebo::v4::systems::PhysicsPrivate::MinimumFeatureList, ignition::physics::GetContactsFromLastStepFeature, ignition::physics::sdf::ConstructSdfCollision>, ignition::physics::CollisionFilterMaskFeature> >::~Entity (this=0x5555570f4608, __in_chrg=<optimized out>)
    at /home/ahcorde/ignition_dome/install/include/ignition/physics3/ignition/physics/Entity.hh:294
#22 ignition::physics::Shape<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::FeatureList<ignition::gazebo::v4::systems::PhysicsPrivate::MinimumFeatureList, ignition::physics::GetContactsFromLastStepFeature, ignition::physics::sdf::ConstructSdfCollision>, ignition::physics::CollisionFilterMaskFeature> >::~Shape (this=0x5555570f4600, __in_chrg=<optimized out>, 
    __vtt_parm=<optimized out>) at /home/ahcorde/ignition_dome/install/include/ignition/physics3/ignition/physics/detail/FeatureList.hh:698
#23 std::_Optional_payload_base<ignition::physics::Shape<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::FeatureList<ignition::gazebo::v4::systems::PhysicsPrivate::MinimumFeatureList, ignition::physics::GetContactsFromLastStepFeature, ignition::physics::sdf::ConstructSdfCollision>, ignition::physics::CollisionFilterMaskFeature> > >::_M_destroy (this=0x5555570f4600)
    at /usr/include/c++/9/optional:257
#24 std::_Optional_payload_base<ignition::physics::Shape<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::FeatureList<ignition::gazebo::v4::systems::PhysicsPrivate::MinimumFeatureList, ignition::physics::GetContactsFromLastStepFeature, ignition::physics::sdf::ConstructSdfCollision>, ignition::physics::CollisionFilterMaskFeature> > >::_M_reset (this=0x5555570f4600)
    at /usr/include/c++/9/optional:277
#25 std::_Optional_payload<ignition::physics::Shape<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::FeatureList<ignition::gazebo::v4::systems::PhysicsPrivate::MinimumFeatureList, ignition::physics::GetContactsFromLastStepFeature, ignition::physics::sdf::ConstructSdfCollision>, ignition::physics::CollisionFilterMaskFeature> >, false, false, false>::~_Optional_payload (
    this=0x5555570f4600, __in_chrg=<optimized out>) at /usr/include/c++/9/optional:398
#26 std::_Optional_base<ignition::physics::Shape<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::FeatureList<ignition::gazebo::v4::systems::PhysicsPrivate::MinimumFeatureList, ignition::physics::GetContactsFromLastStepFeature, ignition::physics::sdf::ConstructSdfCollision>, ignition::physics::CollisionFilterMaskFeature> >, false, false>::~_Optional_base (
    this=0x5555570f4600, __in_chrg=<optimized out>) at /usr/include/c++/9/optional:471
#27 std::optional<ignition::physics::Shape<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::FeatureList<ignition::gazebo::v4::systems::PhysicsPrivate::MinimumFeatureList, ignition::physics::GetContactsFromLastStepFeature, ignition::physics::sdf::ConstructSdfCollision>, ignition::physics::CollisionFilterMaskFeature> > >::~optional (this=0x5555570f4600, 
    __in_chrg=<optimized out>) at /usr/include/c++/9/optional:656
#28 ignition::physics::EntityPtr<ignition::physics::Shape<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::FeatureList<ignition::gazebo::v4::systems::PhysicsPrivate::MinimumFeatureList, ignition::physics::GetContactsFromLastStepFeature, ignition::physics::sdf::ConstructSdfCollision>, ignition::physics::CollisionFilterMaskFeature> > >::~EntityPtr (this=0x5555570f4600, 
    __in_chrg=<optimized out>) at /home/ahcorde/ignition_dome/install/include/ignition/physics3/ignition/physics/Entity.hh:47
#29 std::pair<unsigned long const, ignition::physics::EntityPtr<ignition::physics::Shape<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::FeatureList<ignition::gazebo::v4::systems::PhysicsPrivate::MinimumFeatureList, ignition::physics::GetContactsFromLastStepFeature, ignition::physics::sdf::ConstructSdfCollision>, ignition::physics::CollisionFilterMaskFeature> > > >::~pair (this=0x5555570f45f8, __in_chrg=<optimized out>) at /usr/include/c++/9/bits/stl_pair.h:208
#30 __gnu_cxx::new_allocator<std::__detail::_Hash_node<std::pair<unsigned long const, ignition::physics::EntityPtr<ignition::physics::Shape<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::FeatureList<ignition::gazebo::v4::systems::PhysicsPrivate::MinimumFeatureList, ignition::physics::GetContactsFromLastStepFeature, ignition::physics::sdf::ConstructSdfCollision>, ignition::physics::CollisionFilterMaskFeature> > > >, false> >::destroy<std::pair<unsigned long const, ignition::physics::EntityPtr<ignition::physics::Shape<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::FeatureList<ignition::gazebo::v4::systems::PhysicsPrivate::MinimumFeatureList, ignition::physics::GetContactsFromLastStepFeature, ignition::physics::sdf::ConstructSdfCollision>, ignition::physics::CollisionFilterMaskFeature> > > > > (this=<optimized out>, __p=0x5555570f45f8) at /usr/include/c++/9/ext/new_allocator.h:153
--Type <RET> for more, q to quit, c to continue without paging--
#31 std::allocator_traits<std::allocator<std::__detail::_Hash_node<std::pair<unsigned long const, ignition::physics::EntityPtr<ignition::physics::Shape<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::FeatureList<ignition::gazebo::v4::systems::PhysicsPrivate::MinimumFeatureList, ignition::physics::GetContactsFromLastStepFeature, ignition::physics::sdf::ConstructSdfCollision>, ignition::physics::CollisionFilterMaskFeature> > > >, false> > >::destroy<std::pair<unsigned long const, ignition::physics::EntityPtr<ignition::physics::Shape<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::FeatureList<ignition::gazebo::v4::systems::PhysicsPrivate::MinimumFeatureList, ignition::physics::GetContactsFromLastStepFeature, ignition::physics::sdf::ConstructSdfCollision>, ignition::physics::CollisionFilterMaskFeature> > > > > (__a=..., __p=0x5555570f45f8) at /usr/include/c++/9/bits/alloc_traits.h:497
#32 std::__detail::_Hashtable_alloc<std::allocator<std::__detail::_Hash_node<std::pair<unsigned long const, ignition::physics::EntityPtr<ignition::physics::Shape<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::FeatureList<ignition::gazebo::v4::systems::PhysicsPrivate::MinimumFeatureList, ignition::physics::GetContactsFromLastStepFeature, ignition::physics::sdf::ConstructSdfCollision>, ignition::physics::CollisionFilterMaskFeature> > > >, false> > >::_M_deallocate_node (__n=0x5555570f45f0, this=<optimized out>) at /usr/include/c++/9/bits/hashtable_policy.h:2102
#33 0x00007fffec7258eb in std::__detail::_Hashtable_alloc<std::allocator<std::__detail::_Hash_node<std::pair<unsigned long const, ignition::physics::EntityPtr<ignition::physics::Shape<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::FeatureList<ignition::gazebo::v4::systems::PhysicsPrivate::MinimumFeatureList, ignition::physics::GetContactsFromLastStepFeature, ignition::physics::sdf::ConstructSdfCollision>, ignition::physics::CollisionFilterMaskFeature> > > >, false> > >::_M_deallocate_nodes (this=<optimized out>, __n=0x5555570d2a70)
    at /usr/include/c++/9/bits/hashtable_policy.h:2120
#34 std::_Hashtable<unsigned long, std::pair<unsigned long const, ignition::physics::EntityPtr<ignition::physics::Shape<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::FeatureList<ignition::gazebo::v4::systems::PhysicsPrivate::MinimumFeatureList, ignition::physics::GetContactsFromLastStepFeature, ignition::physics::sdf::ConstructSdfCollision>, ignition::physics::CollisionFilterMaskFeature> > > >, std::allocator<std::pair<unsigned long const, ignition::physics::EntityPtr<ignition::physics::Shape<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::FeatureList<ignition::gazebo::v4::systems::PhysicsPrivate::MinimumFeatureList, ignition::physics::GetContactsFromLastStepFeature, ignition::physics::sdf::ConstructSdfCollision>, ignition::physics::CollisionFilterMaskFeature> > > > >, std::__detail::_Select1st, std::equal_to<unsigned long>, std::hash<unsigned long>, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<false, false, true> >::clear (this=0x55555705a1d0) at /usr/include/c++/9/bits/hashtable.h:2028
#35 std::_Hashtable<unsigned long, std::pair<unsigned long const, ignition::physics::EntityPtr<ignition::physics::Shape<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::FeatureList<ignition::gazebo::v4::systems::PhysicsPrivate::MinimumFeatureList, ignition::physics::GetContactsFromLastStepFeature, ignition::physics::sdf::ConstructSdfCollision>, ignition::physics::CollisionFilterMaskFeature> > > >, std::allocator<std::pair<unsigned long const, ignition::physics::EntityPtr<ignition::physics::Shape<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::FeatureList<ignition::gazebo::v4::systems::PhysicsPrivate::MinimumFeatureList, ignition::physics::GetContactsFromLastStepFeature, ignition::physics::sdf::ConstructSdfCollision>, ignition::physics::CollisionFilterMaskFeature> > > > >, std::__detail::_Select1st, std::equal_to<unsigned long>, std::hash<unsigned long>, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<false, false, true> >::~_Hashtable (this=0x55555705a1d0, __in_chrg=<optimized out>) at /usr/include/c++/9/bits/hashtable.h:1352
#36 std::unordered_map<unsigned long, ignition::physics::EntityPtr<ignition::physics::Shape<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::FeatureList<ignition::gazebo::v4::systems::PhysicsPrivate::MinimumFeatureList, ignition::physics::GetContactsFromLastStepFeature, ignition::physics::sdf::ConstructSdfCollision>, ignition::physics::CollisionFilterMaskFeature> > >, std::hash<unsigned long>, std::equal_to<unsigned long>, std::allocator<std::pair<unsigned long const, ignition::physics::EntityPtr<ignition::physics::Shape<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::FeatureList<ignition::gazebo::v4::systems::PhysicsPrivate::MinimumFeatureList, ignition::physics::GetContactsFromLastStepFeature, ignition::physics::sdf::ConstructSdfCollision>, ignition::physics::CollisionFilterMaskFeature> > > > > >::~unordered_map (this=0x55555705a1d0, __in_chrg=<optimized out>) at /usr/include/c++/9/bits/unordered_map.h:102
#37 ignition::gazebo::v4::systems::PhysicsPrivate::~PhysicsPrivate (this=0x555557059df0, __in_chrg=<optimized out>) at /home/ahcorde/ignition_dome/src/ign-gazebo/src/systems/physics/Physics.cc:106
#38 0x00007fffec6f6c5d in std::default_delete<ignition::gazebo::v4::systems::PhysicsPrivate>::operator() (this=0x555557054a98, __ptr=0x555557059df0) at /usr/include/c++/9/bits/unique_ptr.h:75
#39 std::unique_ptr<ignition::gazebo::v4::systems::PhysicsPrivate, std::default_delete<ignition::gazebo::v4::systems::PhysicsPrivate> >::~unique_ptr (this=0x555557054a98, __in_chrg=<optimized out>)
    at /usr/include/c++/9/bits/unique_ptr.h:292
#40 ignition::gazebo::v4::systems::Physics::~Physics (this=0x555557054a80, __in_chrg=<optimized out>) at /home/ahcorde/ignition_dome/src/ign-gazebo/src/systems/physics/Physics.hh:65
#41 0x00007fffec6f6c8d in ignition::gazebo::v4::systems::Physics::~Physics (this=0x555557054a80, __in_chrg=<optimized out>) at /home/ahcorde/ignition_dome/src/ign-gazebo/src/systems/physics/Physics.hh:65
#42 0x00007ffff7c5df96 in std::function<void (void*)>::operator()(void*) const (__args#0=<optimized out>, this=0x555557058a38) at /usr/include/c++/9/bits/std_function.h:683
#43 ignition::plugin::PluginWithDlHandle::~PluginWithDlHandle (this=0x555557058a20, __in_chrg=<optimized out>) at /home/ahcorde/ignition_dome/src/ign-plugin/core/src/Plugin.cc:64
#44 0x00007ffff7c5cbe0 in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release (this=0x555557058a10) at /usr/include/c++/9/bits/shared_ptr_base.h:148
#45 std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release (this=0x555557058a10) at /usr/include/c++/9/bits/shared_ptr_base.h:148
#46 std::__shared_count<(__gnu_cxx::_Lock_policy)2>::~__shared_count (this=0x555557077238, __in_chrg=<optimized out>) at /usr/include/c++/9/bits/shared_ptr_base.h:730
#47 std::__shared_ptr<void, (__gnu_cxx::_Lock_policy)2>::~__shared_ptr (this=0x555557077230, __in_chrg=<optimized out>) at /usr/include/c++/9/bits/shared_ptr_base.h:1169
#48 std::shared_ptr<void>::~shared_ptr (this=0x555557077230, __in_chrg=<optimized out>) at /usr/include/c++/9/bits/shared_ptr.h:103
#49 ignition::plugin::Plugin::Implementation::~Implementation (this=0x555557077200, __in_chrg=<optimized out>) at /home/ahcorde/ignition_dome/src/ign-plugin/core/src/Plugin.cc:107
#50 std::default_delete<ignition::plugin::Plugin::Implementation>::operator() (this=<optimized out>, __ptr=0x555557077200) at /usr/include/c++/9/bits/unique_ptr.h:81
#51 std::unique_ptr<ignition::plugin::Plugin::Implementation, std::default_delete<ignition::plugin::Plugin::Implementation> >::~unique_ptr (this=<optimized out>, __in_chrg=<optimized out>)
    at /usr/include/c++/9/bits/unique_ptr.h:292
#52 ignition::plugin::Plugin::~Plugin (this=<optimized out>, __in_chrg=<optimized out>) at /home/ahcorde/ignition_dome/src/ign-plugin/core/src/Plugin.cc:385
#53 0x00007ffff7f16cc3 in ignition::plugin::SpecializedPlugin<ignition::gazebo::v4::System, ignition::gazebo::v4::ISystemConfigure, ignition::gazebo::v4::ISystemPreUpdate, ignition::gazebo::v4::ISystemUpdate, ignition::gazebo::v4::ISystemPostUpdate>::~SpecializedPlugin (this=0x555557077190, __in_chrg=<optimized out>, __vtt_parm=<optimized out>)
    at /home/ahcorde/ignition_dome/install/include/ignition/plugin1/ignition/plugin/detail/SpecializedPlugin.hh:307
#54 std::default_delete<ignition::plugin::SpecializedPlugin<ignition::gazebo::v4::System, ignition::gazebo::v4::ISystemConfigure, ignition::gazebo::v4::ISystemPreUpdate, ignition::gazebo::v4::ISystemUpdate, ignition::gazebo::v4::ISystemPostUpdate> >::operator() (this=0x555557077080, __ptr=0x555557077190) at /usr/include/c++/9/bits/unique_ptr.h:81
#55 std::unique_ptr<ignition::plugin::SpecializedPlugin<ignition::gazebo::v4::System, ignition::gazebo::v4::ISystemConfigure, ignition::gazebo::v4::ISystemPreUpdate, ignition::gazebo::v4::ISystemUpdate, ignition::gazebo::v4::ISystemPostUpdate>, std::default_delete<ignition::plugin::SpecializedPlugin<ignition::gazebo::v4::System, ignition::gazebo::v4::ISystemConfigure, ignition::gazebo::v4::ISystemPreUpdate, ignition::gazebo::v4::ISystemUpdate, ignition::gazebo::v4::ISystemPostUpdate> > >::~unique_ptr (this=0x555557077080, __in_chrg=<optimized out>) at /usr/include/c++/9/bits/unique_ptr.h:292
#56 ignition::plugin::TemplatePluginPtr<ignition::plugin::SpecializedPlugin<ignition::gazebo::v4::System, ignition::gazebo::v4::ISystemConfigure, ignition::gazebo::v4::ISystemPreUpdate, ignition::gazebo::v4::ISy--Type <RET> for more, q to quit, c to continue without paging--
stemUpdate, ignition::gazebo::v4::ISystemPostUpdate> >::~TemplatePluginPtr (this=0x555557077080, __in_chrg=<optimized out>)
    at /home/ahcorde/ignition_dome/install/include/ignition/plugin1/ignition/plugin/PluginPtr.hh:57
#57 ignition::gazebo::v4::SystemInternal::~SystemInternal (this=0x555557077080, __in_chrg=<optimized out>) at /home/ahcorde/ignition_dome/src/ign-gazebo/src/SimulationRunner.hh:92
#58 std::_Destroy<ignition::gazebo::v4::SystemInternal> (__pointer=0x555557077080) at /usr/include/c++/9/bits/stl_construct.h:98
#59 std::_Destroy_aux<false>::__destroy<ignition::gazebo::v4::SystemInternal*> (__last=<optimized out>, __first=0x555557077080) at /usr/include/c++/9/bits/stl_construct.h:108
#60 std::_Destroy<ignition::gazebo::v4::SystemInternal*> (__last=<optimized out>, __first=<optimized out>) at /usr/include/c++/9/bits/stl_construct.h:137
#61 std::_Destroy<ignition::gazebo::v4::SystemInternal*, ignition::gazebo::v4::SystemInternal> (__last=0x555557077180, __first=<optimized out>) at /usr/include/c++/9/bits/stl_construct.h:206
#62 std::vector<ignition::gazebo::v4::SystemInternal, std::allocator<ignition::gazebo::v4::SystemInternal> >::~vector (this=0x5555558624b0, __in_chrg=<optimized out>) at /usr/include/c++/9/bits/stl_vector.h:677
#63 ignition::gazebo::v4::SimulationRunner::~SimulationRunner (this=0x5555558624a0, __in_chrg=<optimized out>) at /home/ahcorde/ignition_dome/src/ign-gazebo/src/SimulationRunner.cc:230
#64 0x00007ffff7f16ead in ignition::gazebo::v4::SimulationRunner::~SimulationRunner (this=0x5555558624a0, __in_chrg=<optimized out>) at /home/ahcorde/ignition_dome/src/ign-gazebo/src/SimulationRunner.cc:230
#65 0x00007ffff7f0e007 in std::default_delete<ignition::gazebo::v4::SimulationRunner>::operator() (this=0x555557061870, __ptr=<optimized out>) at /usr/include/c++/9/bits/unique_ptr.h:75
#66 std::unique_ptr<ignition::gazebo::v4::SimulationRunner, std::default_delete<ignition::gazebo::v4::SimulationRunner> >::~unique_ptr (this=0x555557061870, __in_chrg=<optimized out>)
    at /usr/include/c++/9/bits/unique_ptr.h:292
#67 std::_Destroy<std::unique_ptr<ignition::gazebo::v4::SimulationRunner, std::default_delete<ignition::gazebo::v4::SimulationRunner> > > (__pointer=0x555557061870) at /usr/include/c++/9/bits/stl_construct.h:98
#68 std::_Destroy_aux<false>::__destroy<std::unique_ptr<ignition::gazebo::v4::SimulationRunner, std::default_delete<ignition::gazebo::v4::SimulationRunner> >*> (__last=<optimized out>, __first=0x555557061870)
    at /usr/include/c++/9/bits/stl_construct.h:108
#69 std::_Destroy<std::unique_ptr<ignition::gazebo::v4::SimulationRunner, std::default_delete<ignition::gazebo::v4::SimulationRunner> >*> (__last=<optimized out>, __first=<optimized out>)
    at /usr/include/c++/9/bits/stl_construct.h:137
#70 std::_Destroy<std::unique_ptr<ignition::gazebo::v4::SimulationRunner, std::default_delete<ignition::gazebo::v4::SimulationRunner> >*, std::unique_ptr<ignition::gazebo::v4::SimulationRunner, std::default_delete<ignition::gazebo::v4::SimulationRunner> > > (__last=0x555557061878, __first=<optimized out>) at /usr/include/c++/9/bits/stl_construct.h:206
#71 std::vector<std::unique_ptr<ignition::gazebo::v4::SimulationRunner, std::default_delete<ignition::gazebo::v4::SimulationRunner> >, std::allocator<std::unique_ptr<ignition::gazebo::v4::SimulationRunner, std::default_delete<ignition::gazebo::v4::SimulationRunner> > > >::~vector (this=0x5555558a6bd8, __in_chrg=<optimized out>) at /usr/include/c++/9/bits/stl_vector.h:677
#72 ignition::gazebo::v4::ServerPrivate::~ServerPrivate (this=0x5555558a6bd0, __in_chrg=<optimized out>) at /home/ahcorde/ignition_dome/src/ign-gazebo/src/ServerPrivate.cc:96
#73 0x00007ffff7f03e45 in std::default_delete<ignition::gazebo::v4::ServerPrivate>::operator() (this=<optimized out>, __ptr=0x5555558a6bd0) at /usr/include/c++/9/bits/unique_ptr.h:75
#74 std::unique_ptr<ignition::gazebo::v4::ServerPrivate, std::default_delete<ignition::gazebo::v4::ServerPrivate> >::~unique_ptr (this=<optimized out>, __in_chrg=<optimized out>)
    at /usr/include/c++/9/bits/unique_ptr.h:292
#75 ignition::gazebo::v4::Server::~Server (this=<optimized out>, __in_chrg=<optimized out>) at /home/ahcorde/ignition_dome/src/ign-gazebo/include/ignition/gazebo/Server.hh:107
#76 0x0000555555595d96 in UserCommandsTest_Remove_Test::TestBody (this=<optimized out>) at /home/ahcorde/ignition_dome/install/include/ignition/plugin1/ignition/plugin/detail/SpecializedPlugin.hh:307
#77 0x00005555555fee41 in testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void> (location=0x555555605de8 "the test body", method=<optimized out>, object=0x7fffcc0088e0)
    at /home/ahcorde/ignition_dome/src/ign-gazebo/test/gtest/src/gtest.cc:2418
#78 testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void> (object=object@entry=0x7fffcc0088e0, method=<optimized out>, location=location@entry=0x555555605de8 "the test body")
    at /home/ahcorde/ignition_dome/src/ign-gazebo/test/gtest/src/gtest.cc:2473
#79 0x00005555555f1b96 in testing::Test::Run (this=this@entry=0x7fffcc0088e0) at /home/ahcorde/ignition_dome/src/ign-gazebo/test/gtest/src/gtest.cc:2512
#80 0x00005555555f1e32 in testing::Test::Run (this=0x7fffcc0088e0) at /home/ahcorde/ignition_dome/src/ign-gazebo/test/gtest/src/gtest.cc:2688
#81 testing::TestInfo::Run (this=0x555555841b90) at /home/ahcorde/ignition_dome/src/ign-gazebo/test/gtest/src/gtest.cc:2688
#82 0x00005555555f1fdc in testing::TestInfo::Run (this=<optimized out>) at /home/ahcorde/ignition_dome/src/ign-gazebo/test/gtest/src/gtest.cc:2662
#83 testing::TestSuite::Run (this=0x5555556c7e70) at /home/ahcorde/ignition_dome/src/ign-gazebo/test/gtest/src/gtest.cc:2820
#84 0x00005555555f27a3 in testing::TestSuite::Run (this=<optimized out>) at /home/ahcorde/ignition_dome/src/ign-gazebo/test/gtest/src/gtest.cc:2800
#85 testing::internal::UnitTestImpl::RunAllTests (this=0x55555565ed30) at /home/ahcorde/ignition_dome/src/ign-gazebo/test/gtest/src/gtest.cc:5342
#86 0x00005555555ff3b1 in testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool> (location=0x555555607158 "auxiliary test code (environments or event listeners)", 
    method=<optimized out>, object=0x55555565ed30) at /home/ahcorde/ignition_dome/src/ign-gazebo/test/gtest/src/gtest.cc:2418
#87 testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool> (object=0x55555565ed30, method=<optimized out>, 
    location=location@entry=0x555555607158 "auxiliary test code (environments or event listeners)") at /home/ahcorde/ignition_dome/src/ign-gazebo/test/gtest/src/gtest.cc:2473
#88 0x00005555555f2935 in testing::UnitTest::Run (this=0x555555629d20 <testing::UnitTest::GetInstance()::instance>) at /home/ahcorde/ignition_dome/src/ign-gazebo/test/gtest/include/gtest/gtest.h:1412
#89 0x000055555558ce54 in RUN_ALL_TESTS () at /home/ahcorde/ignition_dome/src/ign-gazebo/test/gtest/include/gtest/gtest.h:2473
#90 main (argc=<optimized out>, argv=0x7fffffffdc18) at /home/ahcorde/ignition_dome/src/ign-gazebo/test/gtest/src/gtest_main.cc:45

@ahcorde
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ahcorde commented Feb 18, 2021

I simplified the backtrace

Server::~Server
ServerPrivate::~ServerPrivate
SimulationRunner::~SimulationRunner
SystemInternal::~SystemInternal
Plugin::~Plugin
PluginWithDlHandle::~PluginWithDlHandle 
gazebo::v4::systems::Physics::~Physics
gazebo::v4::systems::PhysicsPrivate::~PhysicsPrivate
ignition::physics::Identity::~Identity
ignition::physics::dartsim::ShapeInfo::~ShapeInfo
dart::dynamics::ShapeNode::~ShapeNode()

I have forced Ignition-Gazebo to use tpe instead of dartsim in this test. it seems that ign-physics is generating this problem, Destruction of the objects is wrong, I will digg in ign-physics. Most of these destructors are the default ones.

@scpeters any idea or thoughts ?

@ahcorde
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ahcorde commented Feb 18, 2021 •
edited
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I runned the ign-physics3 with asan

INTEGRATION_DoublePendulum 
17: Test command: /home/ahcorde/ignition_dome/build/ignition-physics3/bin/INTEGRATION_DoublePendulum "--gtest_output=xml:/home/ahcorde/ignition_dome/build/ignition-physics3/test_results/INTEGRATION_DoublePendulum.xml"
17: Test timeout computed to be: 240
17: [==========] Running 1 test from 1 test case.
17: [----------] Global test environment set-up.
17: [----------] 1 test from DoublePendulum
17: [ RUN      ] DoublePendulum.Step
17: DoublePendulum: testing plugin: mock::dart::DARTDoublePendulum
17: Warning: link 'link1' material 'black' undefined.
17:          at line 84 in /build/urdfdom-VnCcob/urdfdom-1.0.4+ds/urdf_parser/src/model.cpp
17: Warning: link 'link1' material 'black' undefined.
17:          at line 84 in /build/urdfdom-VnCcob/urdfdom-1.0.4+ds/urdf_parser/src/model.cpp
17: Warning: link 'link2' material 'orange' undefined.
17:          at line 84 in /build/urdfdom-VnCcob/urdfdom-1.0.4+ds/urdf_parser/src/model.cpp
17: Warning: link 'link2' material 'orange' undefined.
17:          at line 84 in /build/urdfdom-VnCcob/urdfdom-1.0.4+ds/urdf_parser/src/model.cpp
17: =================================================================
17: ==280118==ERROR: AddressSanitizer: heap-buffer-overflow on address 0x60200040ef08 at pc 0x7ffaa3f89a55 bp 0x7ffdf9fe6940 sp 0x7ffdf9fe6930
17: READ of size 8 at 0x60200040ef08 thread T0
17:     #0 0x7ffaa3f89a54 in Eigen::internal::handmade_aligned_free(void*) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:98
17:     #1 0x7ffaa3f89a54 in Eigen::internal::aligned_free(void*) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:179
17:     #2 0x7ffaa3f89a54 in void Eigen::internal::conditional_aligned_free<true>(void*) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:230
17:     #3 0x7ffaa3f89a54 in void Eigen::internal::conditional_aligned_delete_auto<double, true>(double*, unsigned long) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:416
17:     #4 0x7ffaa3f89a54 in Eigen::DenseStorage<double, -1, -1, 1, 0>::~DenseStorage() /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:542
17:     #5 0x7ffaa3f89a54 in Eigen::PlainObjectBase<Eigen::Matrix<double, -1, 1, 0, -1, 1> >::~PlainObjectBase() /usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:98
17:     #6 0x7ffaa3f89a54 in Eigen::Matrix<double, -1, 1, 0, -1, 1>::~Matrix() /usr/include/eigen3/Eigen/src/Core/Matrix.h:178
17:     #7 0x7ffaa3f89a54 in dart::dynamics::Skeleton::Configuration::~Configuration() /usr/include/dart/dynamics/Skeleton.hpp:94
17:     #8 0x7ffaa3f89a54 in mock::dart::DARTDoublePendulum::Write(ignition::physics::JointPositions&) const /home/ahcorde/ignition_dome/src/ign-physics/test/plugins/DARTDoublePendulum.cc:276
17:     #9 0x7ffaa3f89a54 in mock::dart::DARTDoublePendulum::WorldForwardStep(ignition::physics::Identity const&, ignition::physics::SpecifyData<ignition::physics::RequireData<ignition::physics::WorldPoses>, ignition::physics::ExpectData<ignition::physics::Contacts, ignition::physics::JointPositions> >&, ignition::physics::CompositeData&, ignition::physics::ExpectData<ignition::physics::ApplyExternalForceTorques, ignition::physics::ApplyGeneralizedForces, ignition::physics::VelocityControlCommands, ignition::physics::ServoControlCommands> const&) /home/ahcorde/ignition_dome/src/ign-physics/test/plugins/DARTDoublePendulum.cc:268
17:     #10 0x55ae4de10a58 in ignition::physics::ForwardStep::World<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::ForwardStep, ignition::physics::GetEngineInfo, ignition::physics::GetWorldFromEngine> >::Step(ignition::physics::SpecifyData<ignition::physics::RequireData<ignition::physics::WorldPoses>, ignition::physics::ExpectData<ignition::physics::Contacts, ignition::physics::JointPositions> >&, ignition::physics::CompositeData&, ignition::physics::ExpectData<ignition::physics::ApplyExternalForceTorques, ignition::physics::ApplyGeneralizedForces, ignition::physics::VelocityControlCommands, ignition::physics::ServoControlCommands> const&) /home/ahcorde/ignition_dome/src/ign-physics/include/ignition/physics/ForwardStep.hh:162
17:     #11 0x55ae4de10a58 in DoublePendulum_TEST(ignition::plugin::TemplatePluginPtr<ignition::plugin::Plugin>) /home/ahcorde/ignition_dome/src/ign-physics/test/integration/DoublePendulum.cc:79
17:     #12 0x55ae4de1752e in DoublePendulum_Step_Test::TestBody() /home/ahcorde/ignition_dome/src/ign-physics/test/integration/DoublePendulum.cc:49
17:     #13 0x55ae4df22af9 in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421
17:     #14 0x55ae4df22af9 in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457
17:     #15 0x55ae4def6379 in testing::Test::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2495
17:     #16 0x55ae4def6a39 in testing::Test::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2487
17:     #17 0x55ae4def6a39 in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2671
17:     #18 0x55ae4def6f22 in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2646
17:     #19 0x55ae4def6f22 in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2789
17:     #20 0x55ae4def855f in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2775
17:     #21 0x55ae4def855f in testing::internal::UnitTestImpl::RunAllTests() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:5051
17:     #22 0x55ae4df23be9 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421
17:     #23 0x55ae4df23be9 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457
17:     #24 0x55ae4def8d23 in testing::UnitTest::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:4667
17:     #25 0x55ae4de0e0e8 in RUN_ALL_TESTS() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/include/gtest/gtest.h:2329
17:     #26 0x55ae4de0e0e8 in main /home/ahcorde/ignition_dome/src/ign-physics/test/integration/DoublePendulum.cc:234
17:     #27 0x7ffaa6d500b2 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x270b2)
17:     #28 0x55ae4de0f7ad in _start (/home/ahcorde/ignition_dome/build/ignition-physics3/bin/INTEGRATION_DoublePendulum+0x377ad)
17: 
17: 0x60200040ef08 is located 8 bytes to the left of 16-byte region [0x60200040ef10,0x60200040ef20)
17: allocated by thread T0 here:
17:     #0 0x7ffaa7434bc8 in malloc (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10dbc8)
17:     #1 0x7ffaa329bcf7 in dart::dynamics::MetaSkeleton::getPositions(std::vector<unsigned long, std::allocator<unsigned long> > const&) const (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x3b7cf7)
17:     #2 0x7ffaa330130b in dart::dynamics::Skeleton::getConfiguration(int) const (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x41d30b)
17: 
17: SUMMARY: AddressSanitizer: heap-buffer-overflow /usr/include/eigen3/Eigen/src/Core/util/Memory.h:98 in Eigen::internal::handmade_aligned_free(void*)
17: Shadow bytes around the buggy address:
17:   0x0c0480079d90: fa fa 00 00 fa fa 04 fa fa fa 00 00 fa fa 00 00
17:   0x0c0480079da0: fa fa fd fa fa fa 00 00 fa fa fd fa fa fa 00 00
17:   0x0c0480079db0: fa fa fd fa fa fa fd fd fa fa 00 00 fa fa 00 00
17:   0x0c0480079dc0: fa fa 00 00 fa fa 00 00 fa fa 00 00 fa fa 00 00
17:   0x0c0480079dd0: fa fa fd fd fa fa fd fa fa fa fd fd fa fa 00 00
17: =>0x0c0480079de0: fa[fa]00 00 fa fa 00 00 fa fa 00 00 fa fa fa fa
17:   0x0c0480079df0: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
17:   0x0c0480079e00: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
17:   0x0c0480079e10: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
17:   0x0c0480079e20: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
17:   0x0c0480079e30: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
17: Shadow byte legend (one shadow byte represents 8 application bytes):
17:   Addressable:           00
17:   Partially addressable: 01 02 03 04 05 06 07 
17:   Heap left redzone:       fa
17:   Freed heap region:       fd
17:   Stack left redzone:      f1
17:   Stack mid redzone:       f2
17:   Stack right redzone:     f3
17:   Stack after return:      f5
17:   Stack use after scope:   f8
17:   Global redzone:          f9
17:   Global init order:       f6
17:   Poisoned by user:        f7
17:   Container overflow:      fc
17:   Array cookie:            ac
17:   Intra object redzone:    bb
17:   ASan internal:           fe
17:   Left alloca redzone:     ca
17:   Right alloca redzone:    cb
17:   Shadow gap:              cc
17: ==280118==ABORTING
17/87 Test #17: INTEGRATION_DoublePendulum ..................***Failed    0.27 sec
UNIT_Base_TEST 
46: Test command: /home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_Base_TEST "--gtest_output=xml:/home/ahcorde/ignition_dome/build/ignition-physics3/test_results/UNIT_Base_TEST.xml"
46: Test timeout computed to be: 240
46: [==========] Running 1 test from 1 test case.
46: [----------] Global test environment set-up.
46: [----------] 1 test from BaseClass
46: [ RUN      ] BaseClass.RemoveModel
46: =================================================================
46: ==280234==ERROR: AddressSanitizer: heap-buffer-overflow on address 0x60d000000448 at pc 0x55baf2d3880a bp 0x7ffde696fed0 sp 0x7ffde696fec0
46: READ of size 8 at 0x60d000000448 thread T0
46:     #0 0x55baf2d38809 in dart::common::MakeCloneable<dart::common::Aspect::Properties, dart::dynamics::detail::FixedFrameProperties>::~MakeCloneable() /usr/include/eigen3/Eigen/src/Core/util/Memory.h:98
46:     #1 0x7f59c30bc0de in dart::common::EmbeddedPropertiesAspect<dart::dynamics::FixedFrame, dart::dynamics::detail::FixedFrameProperties>* dart::common::SpecializedForAspect<dart::common::EmbeddedPropertiesAspect<dart::dynamics::FixedFrame, dart::dynamics::detail::FixedFrameProperties> >::_createAspect<dart::common::MakeCloneable<dart::common::Aspect::Properties, dart::dynamics::detail::FixedFrameProperties> >(dart::common::SpecializedForAspect<dart::common::EmbeddedPropertiesAspect<dart::dynamics::FixedFrame, dart::dynamics::detail::FixedFrameProperties> >::type<dart::common::EmbeddedPropertiesAspect<dart::dynamics::FixedFrame, dart::dynamics::detail::FixedFrameProperties> >, dart::common::MakeCloneable<dart::common::Aspect::Properties, dart::dynamics::detail::FixedFrameProperties>&&) (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x3470de)
46:     #2 0x7f59c30bb676 in dart::dynamics::FixedFrame::FixedFrame(dart::dynamics::Frame*, Eigen::Transform<double, 3, 1, 0> const&) (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x346676)
46:     #3 0x7f59c317d707 in dart::dynamics::ShapeNode::ShapeNode(dart::dynamics::BodyNode*, dart::common::detail::ComposeData<dart::common::detail::CompositeData<std::map<std::type_index, std::unique_ptr<dart::common::Aspect::Properties, std::default_delete<dart::common::Aspect::Properties> >, std::less<std::type_index>, std::allocator<std::pair<std::type_index const, std::unique_ptr<dart::common::Aspect::Properties, std::default_delete<dart::common::Aspect::Properties> > > > >, dart::common::detail::GetProperties>, dart::common::detail::GetProperties, dart::common::EmbeddedPropertiesAspect<dart::dynamics::EntityNode<dart::dynamics::TemplatedJacobianNode<dart::dynamics::FixedJacobianNode> >, dart::dynamics::detail::EntityNodeProperties>, dart::dynamics::FixedFrame, dart::dynamics::ShapeFrame> const&) (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x408707)
46:     #4 0x55baf2d618e9 in dart::dynamics::ShapeNode* dart::dynamics::BodyNode::createNode<dart::dynamics::ShapeNode, dart::common::detail::ComposeData<dart::common::detail::CompositeData<std::map<std::type_index, std::unique_ptr<dart::common::Aspect::Properties, std::default_delete<dart::common::Aspect::Properties> >, std::less<std::type_index>, std::allocator<std::pair<std::type_index const, std::unique_ptr<dart::common::Aspect::Properties, std::default_delete<dart::common::Aspect::Properties> > > > >, dart::common::detail::GetProperties>, dart::common::detail::GetProperties, dart::common::EmbeddedPropertiesAspect<dart::dynamics::EntityNode<dart::dynamics::TemplatedJacobianNode<dart::dynamics::FixedJacobianNode> >, dart::dynamics::detail::EntityNodeProperties>, dart::dynamics::FixedFrame, dart::dynamics::ShapeFrame>&>(dart::common::detail::ComposeData<dart::common::detail::CompositeData<std::map<std::type_index, std::unique_ptr<dart::common::Aspect::Properties, std::default_delete<dart::common::Aspect::Properties> >, std::less<std::type_index>, std::allocator<std::pair<std::type_index const, std::unique_ptr<dart::common::Aspect::Properties, std::default_delete<dart::common::Aspect::Properties> > > > >, dart::common::detail::GetProperties>, dart::common::detail::GetProperties, dart::common::EmbeddedPropertiesAspect<dart::dynamics::EntityNode<dart::dynamics::TemplatedJacobianNode<dart::dynamics::FixedJacobianNode> >, dart::dynamics::detail::EntityNodeProperties>, dart::dynamics::FixedFrame, dart::dynamics::ShapeFrame>&) /usr/include/dart/dynamics/detail/BodyNode.hpp:136
46:     #5 0x55baf2d618e9 in dart::dynamics::ShapeNode* dart::dynamics::BodyNode::createShapeNode<dart::common::detail::ComposeData<dart::common::detail::CompositeData<std::map<std::type_index, std::unique_ptr<dart::common::Aspect::Properties, std::default_delete<dart::common::Aspect::Properties> >, std::less<std::type_index>, std::allocator<std::pair<std::type_index const, std::unique_ptr<dart::common::Aspect::Properties, std::default_delete<dart::common::Aspect::Properties> > > > >, dart::common::detail::GetProperties>, dart::common::detail::GetProperties, dart::common::EmbeddedPropertiesAspect<dart::dynamics::EntityNode<dart::dynamics::TemplatedJacobianNode<dart::dynamics::FixedJacobianNode> >, dart::dynamics::detail::EntityNodeProperties>, dart::dynamics::FixedFrame, dart::dynamics::ShapeFrame> >(dart::common::detail::ComposeData<dart::common::detail::CompositeData<std::map<std::type_index, std::unique_ptr<dart::common::Aspect::Properties, std::default_delete<dart::common::Aspect::Properties> >, std::less<std::type_index>, std::allocator<std::pair<std::type_index const, std::unique_ptr<dart::common::Aspect::Properties, std::default_delete<dart::common::Aspect::Properties> > > > >, dart::common::detail::GetProperties>, dart::common::detail::GetProperties, dart::common::EmbeddedPropertiesAspect<dart::dynamics::EntityNode<dart::dynamics::TemplatedJacobianNode<dart::dynamics::FixedJacobianNode> >, dart::dynamics::detail::EntityNodeProperties>, dart::dynamics::FixedFrame, dart::dynamics::ShapeFrame>, bool) /usr/include/dart/dynamics/detail/BodyNode.hpp:153
46:     #6 0x55baf2d6319c in dart::dynamics::ShapeNode* dart::dynamics::BodyNode::createShapeNode<dart::dynamics::Shape, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&>(std::shared_ptr<dart::dynamics::Shape> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) /usr/include/dart/dynamics/detail/BodyNode.hpp:176
46:     #7 0x55baf2d66409 in dart::dynamics::ShapeNode* dart::dynamics::BodyNode::createShapeNodeWith<dart::dynamics::CollisionAspect>(std::shared_ptr<dart::dynamics::Shape> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) /usr/include/dart/dynamics/detail/BodyNode.hpp:192
46:     #8 0x55baf2d66409 in dart::dynamics::ShapeNode* dart::dynamics::BodyNode::createShapeNodeWith<dart::dynamics::CollisionAspect>(std::shared_ptr<dart::dynamics::Shape> const&) /usr/include/dart/dynamics/detail/BodyNode.hpp:184
46:     #9 0x55baf2d2a118 in operator() /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/Base_TEST.cc:64
46:     #10 0x55baf2d31342 in BaseClass_RemoveModel_Test::TestBody() /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/Base_TEST.cc:77
46:     #11 0x55baf2e51839 in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421
46:     #12 0x55baf2e51839 in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457
46:     #13 0x55baf2e24a39 in testing::Test::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2495
46:     #14 0x55baf2e250f9 in testing::Test::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2487
46:     #15 0x55baf2e250f9 in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2671
46:     #16 0x55baf2e255e2 in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2646
46:     #17 0x55baf2e255e2 in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2789
46:     #18 0x55baf2e26c1f in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2775
46:     #19 0x55baf2e26c1f in testing::internal::UnitTestImpl::RunAllTests() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:5051
46:     #20 0x55baf2e52929 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421
46:     #21 0x55baf2e52929 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457
46:     #22 0x55baf2e273e3 in testing::UnitTest::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:4667
46:     #23 0x55baf2d207e8 in RUN_ALL_TESTS() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/include/gtest/gtest.h:2329
46:     #24 0x55baf2d207e8 in main /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/Base_TEST.cc:139
46:     #25 0x7f59c29980b2 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x270b2)
46:     #26 0x55baf2d2209d in _start (/home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_Base_TEST+0x3709d)
46: 
46: 0x60d000000448 is located 8 bytes to the left of 144-byte region [0x60d000000450,0x60d0000004e0)
46: allocated by thread T0 here:
46:     #0 0x7f59c34c1bc8 in malloc (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10dbc8)
46:     #1 0x7f59c30bc03b in dart::common::EmbeddedPropertiesAspect<dart::dynamics::FixedFrame, dart::dynamics::detail::FixedFrameProperties>* dart::common::SpecializedForAspect<dart::common::EmbeddedPropertiesAspect<dart::dynamics::FixedFrame, dart::dynamics::detail::FixedFrameProperties> >::_createAspect<dart::common::MakeCloneable<dart::common::Aspect::Properties, dart::dynamics::detail::FixedFrameProperties> >(dart::common::SpecializedForAspect<dart::common::EmbeddedPropertiesAspect<dart::dynamics::FixedFrame, dart::dynamics::detail::FixedFrameProperties> >::type<dart::common::EmbeddedPropertiesAspect<dart::dynamics::FixedFrame, dart::dynamics::detail::FixedFrameProperties> >, dart::common::MakeCloneable<dart::common::Aspect::Properties, dart::dynamics::detail::FixedFrameProperties>&&) (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x34703b)
46: 
46: SUMMARY: AddressSanitizer: heap-buffer-overflow /usr/include/eigen3/Eigen/src/Core/util/Memory.h:98 in dart::common::MakeCloneable<dart::common::Aspect::Properties, dart::dynamics::detail::FixedFrameProperties>::~MakeCloneable()
46: Shadow bytes around the buggy address:
46:   0x0c1a7fff8030: 00 00 00 fa fa fa fa fa fa fa fa fa 00 00 00 00
46:   0x0c1a7fff8040: 00 00 00 00 00 00 00 00 00 00 00 00 00 fa fa fa
46:   0x0c1a7fff8050: fa fa fa fa fa fa 00 00 00 00 00 00 00 00 00 00
46:   0x0c1a7fff8060: 00 00 00 00 00 00 00 fa fa fa fa fa fa fa fa fa
46:   0x0c1a7fff8070: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
46: =>0x0c1a7fff8080: 00 05 fa fa fa fa fa fa fa[fa]00 00 00 00 00 00
46:   0x0c1a7fff8090: 00 00 00 00 00 00 00 00 00 00 00 00 fa fa fa fa
46:   0x0c1a7fff80a0: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
46:   0x0c1a7fff80b0: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
46:   0x0c1a7fff80c0: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
46:   0x0c1a7fff80d0: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
46: Shadow byte legend (one shadow byte represents 8 application bytes):
46:   Addressable:           00
46:   Partially addressable: 01 02 03 04 05 06 07 
46:   Heap left redzone:       fa
46:   Freed heap region:       fd
46:   Stack left redzone:      f1
46:   Stack mid redzone:       f2
46:   Stack right redzone:     f3
46:   Stack after return:      f5
46:   Stack use after scope:   f8
46:   Global redzone:          f9
46:   Global init order:       f6
46:   Poisoned by user:        f7
46:   Container overflow:      fc
46:   Array cookie:            ac
46:   Intra object redzone:    bb
46:   ASan internal:           fe
46:   Left alloca redzone:     ca
46:   Right alloca redzone:    cb
46:   Shadow gap:              cc
46: ==280234==ABORTING
46/87 Test #46: UNIT_Base_TEST ..............................***Failed    0.11 sec
UNIT_Collisions_TEST 
48: Test command: /home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_Collisions_TEST "--gtest_output=xml:/home/ahcorde/ignition_dome/build/ignition-physics3/test_results/UNIT_Collisions_TEST.xml"
48: Test timeout computed to be: 240
48: [==========] Running 3 tests from 1 test case.
48: [----------] Global test environment set-up.
48: [----------] 3 tests from PhysicsPlugins/Collisions_TEST
48: [ RUN      ] PhysicsPlugins/Collisions_TEST.MeshAndPlane/0
48: Testing library /home/ahcorde/ignition_dome/build/ignition-physics3/lib/libignition-physics3-dartsim-plugin.so.3.1.0
48:  -- Plugin name: ignition::physics::dartsim::Plugin
48: =================================================================
48: ==280236==ERROR: AddressSanitizer: heap-buffer-overflow on address 0x60d000000ed8 at pc 0x7f4a6e2e289a bp 0x7ffd54c59260 sp 0x7ffd54c59250
48: READ of size 8 at 0x60d000000ed8 thread T0
48:     #0 0x7f4a6e2e2899 in dart::common::MakeCloneable<dart::common::Aspect::Properties, dart::dynamics::detail::FixedFrameProperties>::~MakeCloneable() /usr/include/eigen3/Eigen/src/Core/util/Memory.h:98
48:     #1 0x7f4a6ddbe0de in dart::common::EmbeddedPropertiesAspect<dart::dynamics::FixedFrame, dart::dynamics::detail::FixedFrameProperties>* dart::common::SpecializedForAspect<dart::common::EmbeddedPropertiesAspect<dart::dynamics::FixedFrame, dart::dynamics::detail::FixedFrameProperties> >::_createAspect<dart::common::MakeCloneable<dart::common::Aspect::Properties, dart::dynamics::detail::FixedFrameProperties> >(dart::common::SpecializedForAspect<dart::common::EmbeddedPropertiesAspect<dart::dynamics::FixedFrame, dart::dynamics::detail::FixedFrameProperties> >::type<dart::common::EmbeddedPropertiesAspect<dart::dynamics::FixedFrame, dart::dynamics::detail::FixedFrameProperties> >, dart::common::MakeCloneable<dart::common::Aspect::Properties, dart::dynamics::detail::FixedFrameProperties>&&) (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x3470de)
48:     #2 0x7f4a6ddbd676 in dart::dynamics::FixedFrame::FixedFrame(dart::dynamics::Frame*, Eigen::Transform<double, 3, 1, 0> const&) (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x346676)
48:     #3 0x7f4a6de7f707 in dart::dynamics::ShapeNode::ShapeNode(dart::dynamics::BodyNode*, dart::common::detail::ComposeData<dart::common::detail::CompositeData<std::map<std::type_index, std::unique_ptr<dart::common::Aspect::Properties, std::default_delete<dart::common::Aspect::Properties> >, std::less<std::type_index>, std::allocator<std::pair<std::type_index const, std::unique_ptr<dart::common::Aspect::Properties, std::default_delete<dart::common::Aspect::Properties> > > > >, dart::common::detail::GetProperties>, dart::common::detail::GetProperties, dart::common::EmbeddedPropertiesAspect<dart::dynamics::EntityNode<dart::dynamics::TemplatedJacobianNode<dart::dynamics::FixedJacobianNode> >, dart::dynamics::detail::EntityNodeProperties>, dart::dynamics::FixedFrame, dart::dynamics::ShapeFrame> const&) (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x408707)
48:     #4 0x7f4a6e2f5c4c in dart::dynamics::ShapeNode* dart::dynamics::BodyNode::createNode<dart::dynamics::ShapeNode, dart::common::detail::ComposeData<dart::common::detail::CompositeData<std::map<std::type_index, std::unique_ptr<dart::common::Aspect::Properties, std::default_delete<dart::common::Aspect::Properties> >, std::less<std::type_index>, std::allocator<std::pair<std::type_index const, std::unique_ptr<dart::common::Aspect::Properties, std::default_delete<dart::common::Aspect::Properties> > > > >, dart::common::detail::GetProperties>, dart::common::detail::GetProperties, dart::common::EmbeddedPropertiesAspect<dart::dynamics::EntityNode<dart::dynamics::TemplatedJacobianNode<dart::dynamics::FixedJacobianNode> >, dart::dynamics::detail::EntityNodeProperties>, dart::dynamics::FixedFrame, dart::dynamics::ShapeFrame>&>(dart::common::detail::ComposeData<dart::common::detail::CompositeData<std::map<std::type_index, std::unique_ptr<dart::common::Aspect::Properties, std::default_delete<dart::common::Aspect::Properties> >, std::less<std::type_index>, std::allocator<std::pair<std::type_index const, std::unique_ptr<dart::common::Aspect::Properties, std::default_delete<dart::common::Aspect::Properties> > > > >, dart::common::detail::GetProperties>, dart::common::detail::GetProperties, dart::common::EmbeddedPropertiesAspect<dart::dynamics::EntityNode<dart::dynamics::TemplatedJacobianNode<dart::dynamics::FixedJacobianNode> >, dart::dynamics::detail::EntityNodeProperties>, dart::dynamics::FixedFrame, dart::dynamics::ShapeFrame>&) /usr/include/dart/dynamics/detail/BodyNode.hpp:136
48:     #5 0x7f4a6e2f5c4c in dart::dynamics::ShapeNode* dart::dynamics::BodyNode::createShapeNode<dart::common::detail::ComposeData<dart::common::detail::CompositeData<std::map<std::type_index, std::unique_ptr<dart::common::Aspect::Properties, std::default_delete<dart::common::Aspect::Properties> >, std::less<std::type_index>, std::allocator<std::pair<std::type_index const, std::unique_ptr<dart::common::Aspect::Properties, std::default_delete<dart::common::Aspect::Properties> > > > >, dart::common::detail::GetProperties>, dart::common::detail::GetProperties, dart::common::EmbeddedPropertiesAspect<dart::dynamics::EntityNode<dart::dynamics::TemplatedJacobianNode<dart::dynamics::FixedJacobianNode> >, dart::dynamics::detail::EntityNodeProperties>, dart::dynamics::FixedFrame, dart::dynamics::ShapeFrame> >(dart::common::detail::ComposeData<dart::common::detail::CompositeData<std::map<std::type_index, std::unique_ptr<dart::common::Aspect::Properties, std::default_delete<dart::common::Aspect::Properties> >, std::less<std::type_index>, std::allocator<std::pair<std::type_index const, std::unique_ptr<dart::common::Aspect::Properties, std::default_delete<dart::common::Aspect::Properties> > > > >, dart::common::detail::GetProperties>, dart::common::detail::GetProperties, dart::common::EmbeddedPropertiesAspect<dart::dynamics::EntityNode<dart::dynamics::TemplatedJacobianNode<dart::dynamics::FixedJacobianNode> >, dart::dynamics::detail::EntityNodeProperties>, dart::dynamics::FixedFrame, dart::dynamics::ShapeFrame>, bool) /usr/include/dart/dynamics/detail/BodyNode.hpp:153
48:     #6 0x7f4a6e2f752c in dart::dynamics::ShapeNode* dart::dynamics::BodyNode::createShapeNode<dart::dynamics::Shape, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&>(std::shared_ptr<dart::dynamics::Shape> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) /usr/include/dart/dynamics/detail/BodyNode.hpp:176
48:     #7 0x7f4a6e3252af in dart::dynamics::ShapeNode* dart::dynamics::BodyNode::createShapeNodeWith<dart::dynamics::CollisionAspect, dart::dynamics::DynamicsAspect>(std::shared_ptr<dart::dynamics::Shape> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) /usr/include/dart/dynamics/detail/BodyNode.hpp:192
48:     #8 0x7f4a6e321baf in ignition::physics::dartsim::ShapeFeatures::AttachMeshShape(ignition::physics::Identity const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ignition::common::Mesh const&, Eigen::Transform<double, 3, 1, 0> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/ShapeFeatures.cc:258
48:     #9 0x55877bc65140 in ignition::physics::mesh::AttachMeshShapeFeature::Link<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::LinkFrameSemantics, ignition::physics::ForwardStep, ignition::physics::GetEntities, ignition::physics::ConstructEmptyWorldFeature, ignition::physics::ConstructEmptyModelFeature, ignition::physics::ConstructEmptyLinkFeature, ignition::physics::mesh::AttachMeshShapeFeature, ignition::physics::AttachPlaneShapeFeature, ignition::physics::SetFreeJointRelativeTransformFeature, ignition::physics::AttachFixedJointFeature> >::AttachMeshShape(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ignition::common::Mesh const&, Eigen::Transform<double, 3, 1, 0> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) /home/ahcorde/ignition_dome/src/ign-physics/mesh/include/ignition/physics/mesh/detail/MeshShape.hh:68
48:     #10 0x55877bc65140 in ConstructMeshPlaneWorld(ignition::physics::EntityPtr<ignition::physics::Engine<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::LinkFrameSemantics, ignition::physics::ForwardStep, ignition::physics::GetEntities, ignition::physics::ConstructEmptyWorldFeature, ignition::physics::ConstructEmptyModelFeature, ignition::physics::ConstructEmptyLinkFeature, ignition::physics::mesh::AttachMeshShapeFeature, ignition::physics::AttachPlaneShapeFeature, ignition::physics::SetFreeJointRelativeTransformFeature, ignition::physics::AttachFixedJointFeature> > > const&, ignition::common::Mesh const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/Collisions_TEST.cc:107
48:     #11 0x55877bc6748b in operator() /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/Collisions_TEST.cc:131
48:     #12 0x55877bc6748b in _M_invoke /usr/include/c++/9/bits/std_function.h:286
48:     #13 0x55877bc67f3b in std::function<ignition::physics::EntityPtr<ignition::physics::World<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::LinkFrameSemantics, ignition::physics::ForwardStep, ignition::physics::GetEntities, ignition::physics::ConstructEmptyWorldFeature, ignition::physics::ConstructEmptyModelFeature, ignition::physics::ConstructEmptyLinkFeature, ignition::physics::mesh::AttachMeshShapeFeature, ignition::physics::AttachPlaneShapeFeature, ignition::physics::SetFreeJointRelativeTransformFeature, ignition::physics::AttachFixedJointFeature> > > (ignition::physics::EntityPtr<ignition::physics::Engine<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::LinkFrameSemantics, ignition::physics::ForwardStep, ignition::physics::GetEntities, ignition::physics::ConstructEmptyWorldFeature, ignition::physics::ConstructEmptyModelFeature, ignition::physics::ConstructEmptyLinkFeature, ignition::physics::mesh::AttachMeshShapeFeature, ignition::physics::AttachPlaneShapeFeature, ignition::physics::SetFreeJointRelativeTransformFeature, ignition::physics::AttachFixedJointFeature> > > const&)>::operator()(ignition::physics::EntityPtr<ignition::physics::Engine<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::LinkFrameSemantics, ignition::physics::ForwardStep, ignition::physics::GetEntities, ignition::physics::ConstructEmptyWorldFeature, ignition::physics::ConstructEmptyModelFeature, ignition::physics::ConstructEmptyLinkFeature, ignition::physics::mesh::AttachMeshShapeFeature, ignition::physics::AttachPlaneShapeFeature, ignition::physics::SetFreeJointRelativeTransformFeature, ignition::physics::AttachFixedJointFeature> > > const&) const /usr/include/c++/9/bits/std_function.h:688
48:     #14 0x55877bc67f3b in LoadWorlds(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::function<ignition::physics::EntityPtr<ignition::physics::World<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::LinkFrameSemantics, ignition::physics::ForwardStep, ignition::physics::GetEntities, ignition::physics::ConstructEmptyWorldFeature, ignition::physics::ConstructEmptyModelFeature, ignition::physics::ConstructEmptyLinkFeature, ignition::physics::mesh::AttachMeshShapeFeature, ignition::physics::AttachPlaneShapeFeature, ignition::physics::SetFreeJointRelativeTransformFeature, ignition::physics::AttachFixedJointFeature> > > (ignition::physics::EntityPtr<ignition::physics::Engine<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::LinkFrameSemantics, ignition::physics::ForwardStep, ignition::physics::GetEntities, ignition::physics::ConstructEmptyWorldFeature, ignition::physics::ConstructEmptyModelFeature, ignition::physics::ConstructEmptyLinkFeature, ignition::physics::mesh::AttachMeshShapeFeature, ignition::physics::AttachPlaneShapeFeature, ignition::physics::SetFreeJointRelativeTransformFeature, ignition::physics::AttachFixedJointFeature> > > const&)> const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/Collisions_TEST.cc:77
48:     #15 0x55877bc69eb3 in Collisions_TEST_MeshAndPlane_Test::TestBody() /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/Collisions_TEST.cc:132
48:     #16 0x55877bd84869 in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421
48:     #17 0x55877bd84869 in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457
48:     #18 0x55877bd58539 in testing::Test::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2495
48:     #19 0x55877bd58bf9 in testing::Test::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2487
48:     #20 0x55877bd58bf9 in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2671
48:     #21 0x55877bd590e2 in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2646
48:     #22 0x55877bd590e2 in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2789
48:     #23 0x55877bd5a71f in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2775
48:     #24 0x55877bd5a71f in testing::internal::UnitTestImpl::RunAllTests() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:5051
48:     #25 0x55877bd85959 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421
48:     #26 0x55877bd85959 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457
48:     #27 0x55877bd5aee3 in testing::UnitTest::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:4667
48:     #28 0x55877bc61f88 in RUN_ALL_TESTS() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/include/gtest/gtest.h:2329
48:     #29 0x55877bc61f88 in main /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/Collisions_TEST.cc:162
48:     #30 0x7f4a734b70b2 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x270b2)
48:     #31 0x55877bc6389d in _start (/home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_Collisions_TEST+0x3b89d)
48: 
48: 0x60d000000ed8 is located 8 bytes to the left of 144-byte region [0x60d000000ee0,0x60d000000f70)
48: allocated by thread T0 here:
48:     #0 0x7f4a73ad0bc8 in malloc (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10dbc8)
48:     #1 0x7f4a6ddbe03b in dart::common::EmbeddedPropertiesAspect<dart::dynamics::FixedFrame, dart::dynamics::detail::FixedFrameProperties>* dart::common::SpecializedForAspect<dart::common::EmbeddedPropertiesAspect<dart::dynamics::FixedFrame, dart::dynamics::detail::FixedFrameProperties> >::_createAspect<dart::common::MakeCloneable<dart::common::Aspect::Properties, dart::dynamics::detail::FixedFrameProperties> >(dart::common::SpecializedForAspect<dart::common::EmbeddedPropertiesAspect<dart::dynamics::FixedFrame, dart::dynamics::detail::FixedFrameProperties> >::type<dart::common::EmbeddedPropertiesAspect<dart::dynamics::FixedFrame, dart::dynamics::detail::FixedFrameProperties> >, dart::common::MakeCloneable<dart::common::Aspect::Properties, dart::dynamics::detail::FixedFrameProperties>&&) (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x34703b)
48: 
48: SUMMARY: AddressSanitizer: heap-buffer-overflow /usr/include/eigen3/Eigen/src/Core/util/Memory.h:98 in dart::common::MakeCloneable<dart::common::Aspect::Properties, dart::dynamics::detail::FixedFrameProperties>::~MakeCloneable()
48: Shadow bytes around the buggy address:
48:   0x0c1a7fff8180: 00 00 00 00 00 fa fa fa fa fa fa fa fa fa 00 00
48:   0x0c1a7fff8190: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 fa
48:   0x0c1a7fff81a0: fa fa fa fa fa fa fa fa 00 00 00 00 00 00 00 00
48:   0x0c1a7fff81b0: 00 00 00 00 00 00 00 00 00 fa fa fa fa fa fa fa
48:   0x0c1a7fff81c0: fa fa 00 00 00 00 00 00 00 00 00 00 00 00 00 00
48: =>0x0c1a7fff81d0: 00 00 00 fa fa fa fa fa fa fa fa[fa]00 00 00 00
48:   0x0c1a7fff81e0: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 fa fa
48:   0x0c1a7fff81f0: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
48:   0x0c1a7fff8200: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
48:   0x0c1a7fff8210: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
48:   0x0c1a7fff8220: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
48: Shadow byte legend (one shadow byte represents 8 application bytes):
48:   Addressable:           00
48:   Partially addressable: 01 02 03 04 05 06 07 
48:   Heap left redzone:       fa
48:   Freed heap region:       fd
48:   Stack left redzone:      f1
48:   Stack mid redzone:       f2
48:   Stack right redzone:     f3
48:   Stack after return:      f5
48:   Stack use after scope:   f8
48:   Global redzone:          f9
48:   Global init order:       f6
48:   Poisoned by user:        f7
48:   Container overflow:      fc
48:   Array cookie:            ac
48:   Intra object redzone:    bb
48:   ASan internal:           fe
48:   Left alloca redzone:     ca
48:   Right alloca redzone:    cb
48:   Shadow gap:              cc
48: ==280236==ABORTING
48/87 Test #48: UNIT_Collisions_TEST ........................***Failed    0.49 sec
UNIT_EntityManagement_TEST 
50: Test command: /home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_EntityManagement_TEST "--gtest_output=xml:/home/ahcorde/ignition_dome/build/ignition-physics3/test_results/UNIT_EntityManagement_TEST.xml"
50: Test timeout computed to be: 240
50: [==========] Running 2 tests from 1 test case.
50: [----------] Global test environment set-up.
50: [----------] 2 tests from EntityManagement_TEST
50: [ RUN      ] EntityManagement_TEST.ConstructEmptyWorld
50: =================================================================
50: ==280238==ERROR: AddressSanitizer: attempting free on address which was not malloc()-ed: 0x620000000090 in thread T0
50:     #0 0x7faef49607cf in __interceptor_free (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10d7cf)
50:     #1 0x7faeeec9c4db in dart::dynamics::Skeleton::moveBodyNodeTree(dart::dynamics::Joint*, dart::dynamics::BodyNode*, std::shared_ptr<dart::dynamics::Skeleton>, dart::dynamics::BodyNode*) (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x4254db)
50:     #2 0x7faeef091c40 in dart::dynamics::RevoluteJoint* dart::dynamics::Skeleton::moveBodyNodeTree<dart::dynamics::RevoluteJoint>(dart::dynamics::BodyNode*, std::shared_ptr<dart::dynamics::Skeleton> const&, dart::dynamics::BodyNode*, dart::dynamics::RevoluteJoint::Properties const&) /usr/include/dart/dynamics/detail/Skeleton.hpp:51
50:     #3 0x7faeef09237d in dart::dynamics::RevoluteJoint* dart::dynamics::BodyNode::moveTo<dart::dynamics::RevoluteJoint>(dart::dynamics::BodyNode*, dart::dynamics::RevoluteJoint::Properties const&) /usr/include/dart/dynamics/detail/BodyNode.hpp:50
50:     #4 0x7faeef07d7f5 in ignition::physics::dartsim::JointFeatures::AttachRevoluteJoint(ignition::physics::Identity const&, ignition::physics::EntityPtr<ignition::physics::Link<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::Feature> > > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/JointFeatures.cc:415
50:     #5 0x55c7766ec68b in ignition::physics::AttachRevoluteJointFeature::Link<ignition::physics::FeaturePolicy<double, 3ul>, TestFeatureList>::AttachRevoluteJoint(ignition::physics::EntityPtr<ignition::physics::Link<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::Feature> > > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) /home/ahcorde/ignition_dome/src/ign-physics/include/ignition/physics/detail/RevoluteJoint.hh:57
50:     #6 0x55c7766c0e05 in EntityManagement_TEST_ConstructEmptyWorld_Test::TestBody() /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/EntityManagement_TEST.cc:71
50:     #7 0x55c77681b0a9 in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421
50:     #8 0x55c77681b0a9 in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457
50:     #9 0x55c7767f10b9 in testing::Test::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2495
50:     #10 0x55c7767f1779 in testing::Test::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2487
50:     #11 0x55c7767f1779 in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2671
50:     #12 0x55c7767f1c62 in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2646
50:     #13 0x55c7767f1c62 in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2789
50:     #14 0x55c7767f329f in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2775
50:     #15 0x55c7767f329f in testing::internal::UnitTestImpl::RunAllTests() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:5051
50:     #16 0x55c77681c199 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421
50:     #17 0x55c77681c199 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457
50:     #18 0x55c7767f3a63 in testing::UnitTest::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:4667
50:     #19 0x55c7766b64f8 in RUN_ALL_TESTS() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/include/gtest/gtest.h:2329
50:     #20 0x55c7766b64f8 in main /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/EntityManagement_TEST.cc:227
50:     #21 0x7faef43470b2 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x270b2)
50:     #22 0x55c7766b815d in _start (/home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_EntityManagement_TEST+0x4515d)
50: 
50: 0x620000000090 is located 16 bytes inside of 3776-byte region [0x620000000080,0x620000000f40)
50: allocated by thread T0 here:
50:     #0 0x7faef4960bc8 in malloc (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10dbc8)
50:     #1 0x7faeef032ead in Eigen::internal::handmade_aligned_malloc(unsigned long) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:88
50:     #2 0x7faeef032ead in Eigen::internal::aligned_malloc(unsigned long) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:164
50:     #3 0x7faeef032ead in void* Eigen::internal::conditional_aligned_malloc<true>(unsigned long) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:214
50:     #4 0x7faeef032ead in dart::dynamics::FreeJoint::operator new(unsigned long) /usr/include/dart/dynamics/FreeJoint.hpp:344
50:     #5 0x7faeef032ead in std::pair<dart::dynamics::FreeJoint*, dart::dynamics::BodyNode*> dart::dynamics::Skeleton::createJointAndBodyNodePair<dart::dynamics::FreeJoint, dart::dynamics::BodyNode>(dart::dynamics::BodyNode*, dart::dynamics::FreeJoint::Properties const&, dart::dynamics::BodyNode::Properties const&) /usr/include/dart/dynamics/detail/Skeleton.hpp:82
50:     #6 0x7faeef032ead in ignition::physics::dartsim::EntityManagementFeatures::ConstructEmptyLink(ignition::physics::Identity const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/EntityManagementFeatures.cc:654
50:     #7 0x55c7766ea80a in ignition::physics::ConstructEmptyLinkFeature::Model<ignition::physics::FeaturePolicy<double, 3ul>, TestFeatureList>::ConstructEmptyLink(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) /home/ahcorde/ignition_dome/src/ign-physics/include/ignition/physics/detail/ConstructEmpty.hh:55
50:     #8 0x55c776863a7f in vtable for ignition::physics::Model<ignition::physics::FeaturePolicy<double, 3ul>, TestFeatureList> (/home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_EntityManagement_TEST+0x1f0a7f)
50: 
50: SUMMARY: AddressSanitizer: bad-free (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10d7cf) in __interceptor_free
50: ==280238==ABORTING
50/87 Test #50: UNIT_EntityManagement_TEST ..................***Failed    0.41 sec
UNIT_JointFeatures_TEST 
52: Test command: /home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_JointFeatures_TEST "--gtest_output=xml:/home/ahcorde/ignition_dome/build/ignition-physics3/test_results/UNIT_JointFeatures_TEST.xml"
52: Test timeout computed to be: 240
52: [==========] Running 5 tests from 1 test case.
52: [----------] Global test environment set-up.
52: [----------] 5 tests from JointFeaturesFixture
52: [ RUN      ] JointFeaturesFixture.JointSetCommand
52: =================================================================
52: ==280240==ERROR: AddressSanitizer: attempting free on address which was not malloc()-ed: 0x62000004a090 in thread T0
52:     #0 0x7f33059097cf in __interceptor_free (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10d7cf)
52:     #1 0x7f33055e24db in dart::dynamics::Skeleton::moveBodyNodeTree(dart::dynamics::Joint*, dart::dynamics::BodyNode*, std::shared_ptr<dart::dynamics::Skeleton>, dart::dynamics::BodyNode*) (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x4254db)
52:     #2 0x7f32fd691c40 in dart::dynamics::RevoluteJoint* dart::dynamics::Skeleton::moveBodyNodeTree<dart::dynamics::RevoluteJoint>(dart::dynamics::BodyNode*, std::shared_ptr<dart::dynamics::Skeleton> const&, dart::dynamics::BodyNode*, dart::dynamics::RevoluteJoint::Properties const&) /usr/include/dart/dynamics/detail/Skeleton.hpp:51
52:     #3 0x7f32fd69218f in dart::dynamics::RevoluteJoint* dart::dynamics::BodyNode::moveTo<dart::dynamics::RevoluteJoint>(dart::dynamics::BodyNode*, dart::dynamics::RevoluteJoint::Properties const&) /usr/include/dart/dynamics/detail/BodyNode.hpp:53
52:     #4 0x7f32fd6d6d89 in ConstructSingleAxisJoint<dart::dynamics::RevoluteJoint> /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:205
52:     #5 0x7f32fd6d6d89 in ignition::physics::dartsim::SDFFeatures::ConstructSdfJoint(ignition::physics::dartsim::ModelInfo const&, sdf::v10::Joint const&, dart::dynamics::BodyNode*, dart::dynamics::BodyNode*) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:798
52:     #6 0x7f32fd6dd3af in ignition::physics::dartsim::SDFFeatures::ConstructSdfModel(ignition::physics::Identity const&, sdf::v10::Model const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:402
52:     #7 0x7f32fd69e337 in ignition::physics::dartsim::SDFFeatures::ConstructSdfWorld(ignition::physics::Identity const&, sdf::v10::World const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:339
52:     #8 0x56315dbb2c6a in ignition::physics::sdf::ConstructSdfWorld::Engine<ignition::physics::FeaturePolicy<double, 3ul>, ignition::physics::FeatureList<ignition::physics::dartsim::RetrieveWorld, ignition::physics::AttachFixedJointFeature, ignition::physics::DetachJointFeature, ignition::physics::SetJointTransformFromParentFeature, ignition::physics::ForwardStep, ignition::physics::FreeJointCast, ignition::physics::GetBasicJointState, ignition::physics::GetEntities, ignition::physics::RevoluteJointCast, ignition::physics::SetBasicJointState, ignition::physics::SetJointVelocityCommandFeature, ignition::physics::sdf::ConstructSdfModel, ignition::physics::sdf::ConstructSdfWorld> >::ConstructWorld(sdf::v10::World const&) /home/ahcorde/ignition_dome/src/ign-physics/sdf/include/ignition/physics/sdf/ConstructWorld.hh:54
52:     #9 0x56315db64a76 in JointFeaturesFixture_JointSetCommand_Test::TestBody() /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/JointFeatures_TEST.cc:98
52:     #10 0x56315dcb20d9 in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421
52:     #11 0x56315dcb20d9 in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457
52:     #12 0x56315dc880e9 in testing::Test::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2495
52:     #13 0x56315dc887a9 in testing::Test::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2487
52:     #14 0x56315dc887a9 in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2671
52:     #15 0x56315dc88c92 in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2646
52:     #16 0x56315dc88c92 in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2789
52:     #17 0x56315dc8a2cf in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2775
52:     #18 0x56315dc8a2cf in testing::internal::UnitTestImpl::RunAllTests() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:5051
52:     #19 0x56315dcb31c9 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421
52:     #20 0x56315dcb31c9 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457
52:     #21 0x56315dc8aa93 in testing::UnitTest::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:4667
52:     #22 0x56315db60958 in RUN_ALL_TESTS() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/include/gtest/gtest.h:2329
52:     #23 0x56315db60958 in main /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/JointFeatures_TEST.cc:594
52:     #24 0x7f3304a710b2 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x270b2)
52:     #25 0x56315db62dfd in _start (/home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_JointFeatures_TEST+0x44dfd)
52: 
52: 0x62000004a090 is located 16 bytes inside of 3776-byte region [0x62000004a080,0x62000004af40)
52: allocated by thread T0 here:
52:     #0 0x7f3305909bc8 in malloc (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10dbc8)
52:     #1 0x7f32fd6adb85 in Eigen::internal::handmade_aligned_malloc(unsigned long) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:88
52:     #2 0x7f32fd6adb85 in Eigen::internal::aligned_malloc(unsigned long) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:164
52:     #3 0x7f32fd6adb85 in void* Eigen::internal::conditional_aligned_malloc<true>(unsigned long) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:214
52:     #4 0x7f32fd6adb85 in dart::dynamics::FreeJoint::operator new(unsigned long) /usr/include/dart/dynamics/FreeJoint.hpp:344
52:     #5 0x7f32fd6adb85 in std::pair<dart::dynamics::FreeJoint*, dart::dynamics::BodyNode*> dart::dynamics::Skeleton::createJointAndBodyNodePair<dart::dynamics::FreeJoint, dart::dynamics::BodyNode>(dart::dynamics::BodyNode*, dart::dynamics::FreeJoint::Properties const&, dart::dynamics::BodyNode::Properties const&) /usr/include/dart/dynamics/detail/Skeleton.hpp:82
52:     #6 0x7f32fd6adb85 in ignition::physics::dartsim::SDFFeatures::ConstructSdfLink(ignition::physics::Identity const&, sdf::v10::Link const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:446
52:     #7 0x7f32fd69e943 in ignition::physics::dartsim::SDFFeatures::FindOrConstructLink(std::shared_ptr<dart::dynamics::Skeleton> const&, ignition::physics::Identity const&, sdf::v10::Model const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:694
52:     #8 0x7f32fd77fe3f  (/home/ahcorde/ignition_dome/build/ignition-physics3/lib/libignition-physics3-dartsim-plugin.so.3.1.0+0x2ece3f)
52: 
52: SUMMARY: AddressSanitizer: bad-free (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10d7cf) in __interceptor_free
52: ==280240==ABORTING
52/87 Test #52: UNIT_JointFeatures_TEST .....................***Failed    0.45 sec
UNIT_LinkFeatures_TEST 
54: Test command: /home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_LinkFeatures_TEST "--gtest_output=xml:/home/ahcorde/ignition_dome/build/ignition-physics3/test_results/UNIT_LinkFeatures_TEST.xml"
54: Test timeout computed to be: 240
54: [==========] Running 3 tests from 1 test case.
54: [----------] Global test environment set-up.
54: [----------] 3 tests from LinkFeaturesFixture
54: [ RUN      ] LinkFeaturesFixture.LinkForceTorque
54: =================================================================
54: ==280242==ERROR: AddressSanitizer: attempting free on address which was not malloc()-ed: 0x620000046090 in thread T0
54:     #0 0x7f202abc27cf in __interceptor_free (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10d7cf)
54:     #1 0x7f202637cf47 in dart::dynamics::BodyNode::~BodyNode() (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x305f47)
54:     #2 0x7f202637d31c in dart::dynamics::BodyNode::~BodyNode() (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x30631c)
54:     #3 0x7f20264979d6 in dart::dynamics::Skeleton::~Skeleton() (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x4209d6)
54:     #4 0x7f20264982ac in dart::dynamics::Skeleton::~Skeleton() (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x4212ac)
54:     #5 0x7f2026552c6a in dart::simulation::World::~World() (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x4dbc6a)
54:     #6 0x7f20267be90a in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() /usr/include/c++/9/bits/shared_ptr_base.h:155
54:     #7 0x7f20267be90a in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() /usr/include/c++/9/bits/shared_ptr_base.h:148
54:     #8 0x7f20267be90a in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::~__shared_count() /usr/include/c++/9/bits/shared_ptr_base.h:730
54:     #9 0x7f20267be90a in std::__shared_ptr<dart::simulation::World, (__gnu_cxx::_Lock_policy)2>::~__shared_ptr() /usr/include/c++/9/bits/shared_ptr_base.h:1169
54:     #10 0x7f20267be90a in std::shared_ptr<dart::simulation::World>::~shared_ptr() /usr/include/c++/9/bits/shared_ptr.h:103
54:     #11 0x7f20267be90a in std::pair<unsigned long const, std::shared_ptr<dart::simulation::World> >::~pair() /usr/include/c++/9/bits/stl_pair.h:208
54:     #12 0x7f20267be90a in void __gnu_cxx::new_allocator<std::__detail::_Hash_node<std::pair<unsigned long const, std::shared_ptr<dart::simulation::World> >, false> >::destroy<std::pair<unsigned long const, std::shared_ptr<dart::simulation::World> > >(std::pair<unsigned long const, std::shared_ptr<dart::simulation::World> >*) /usr/include/c++/9/ext/new_allocator.h:153
54:     #13 0x7f20267be90a in void std::allocator_traits<std::allocator<std::__detail::_Hash_node<std::pair<unsigned long const, std::shared_ptr<dart::simulation::World> >, false> > >::destroy<std::pair<unsigned long const, std::shared_ptr<dart::simulation::World> > >(std::allocator<std::__detail::_Hash_node<std::pair<unsigned long const, std::shared_ptr<dart::simulation::World> >, false> >&, std::pair<unsigned long const, std::shared_ptr<dart::simulation::World> >*) /usr/include/c++/9/bits/alloc_traits.h:497
54:     #14 0x7f20267be90a in std::__detail::_Hashtable_alloc<std::allocator<std::__detail::_Hash_node<std::pair<unsigned long const, std::shared_ptr<dart::simulation::World> >, false> > >::_M_deallocate_node(std::__detail::_Hash_node<std::pair<unsigned long const, std::shared_ptr<dart::simulation::World> >, false>*) /usr/include/c++/9/bits/hashtable_policy.h:2102
54:     #15 0x7f20267be90a in std::__detail::_Hashtable_alloc<std::allocator<std::__detail::_Hash_node<std::pair<unsigned long const, std::shared_ptr<dart::simulation::World> >, false> > >::_M_deallocate_nodes(std::__detail::_Hash_node<std::pair<unsigned long const, std::shared_ptr<dart::simulation::World> >, false>*) /usr/include/c++/9/bits/hashtable_policy.h:2124
54:     #16 0x7f20267be90a in std::_Hashtable<unsigned long, std::pair<unsigned long const, std::shared_ptr<dart::simulation::World> >, std::allocator<std::pair<unsigned long const, std::shared_ptr<dart::simulation::World> > >, std::__detail::_Select1st, std::equal_to<unsigned long>, std::hash<unsigned long>, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<false, false, true> >::clear() /usr/include/c++/9/bits/hashtable.h:2028
54:     #17 0x7f20267be90a in std::_Hashtable<unsigned long, std::pair<unsigned long const, std::shared_ptr<dart::simulation::World> >, std::allocator<std::pair<unsigned long const, std::shared_ptr<dart::simulation::World> > >, std::__detail::_Select1st, std::equal_to<unsigned long>, std::hash<unsigned long>, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<false, false, true> >::~_Hashtable() /usr/include/c++/9/bits/hashtable.h:1352
54:     #18 0x7f20267be90a in std::unordered_map<unsigned long, std::shared_ptr<dart::simulation::World>, std::hash<unsigned long>, std::equal_to<unsigned long>, std::allocator<std::pair<unsigned long const, std::shared_ptr<dart::simulation::World> > > >::~unordered_map() /usr/include/c++/9/bits/unordered_map.h:102
54:     #19 0x7f20267be90a in ignition::physics::dartsim::EntityStorage<std::shared_ptr<dart::simulation::World>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >::~EntityStorage() /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/Base.hh:89
54:     #20 0x7f20267be90a in ignition::physics::dartsim::Base::~Base() /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/Base.hh:205
54:     #21 0x7f202693d92c in ignition::physics::dartsim::Plugin::~Plugin() /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/plugin.cc:48
54:     #22 0x7f202a862f95 in std::function<void (void*)>::operator()(void*) const /usr/include/c++/9/bits/std_function.h:688
54:     #23 0x7f202a862f95 in ignition::plugin::PluginWithDlHandle::~PluginWithDlHandle() /home/ahcorde/ignition_dome/src/ign-plugin/core/src/Plugin.cc:64
54:     #24 0x7f202a861bdf in std::unique_ptr<ignition::plugin::Plugin::Implementation, std::default_delete<ignition::plugin::Plugin::Implementation> >::~unique_ptr() /usr/include/c++/9/bits/shared_ptr_base.h:155
54:     #25 0x7f202a861bdf in ignition::plugin::Plugin::~Plugin() /home/ahcorde/ignition_dome/src/ign-plugin/core/src/Plugin.cc:385
54:     #26 0x559740cb27c3 in ignition::physics::detail::DeterminePlugin<ignition::physics::FeaturePolicy<double, 3ul>, TestFeatureList>::Specializer::~Specializer() /home/ahcorde/ignition_dome/src/ign-physics/include/ignition/physics/detail/FeatureList.hh:127
54:     #27 0x559740cb27c3 in ignition::physics::detail::DeterminePlugin<ignition::physics::FeaturePolicy<double, 3ul>, TestFeatureList>::Specializer::~Specializer() /home/ahcorde/ignition_dome/src/ign-physics/include/ignition/physics/detail/FeatureList.hh:127
54:     #28 0x559740cbcb57 in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() /usr/include/c++/9/bits/shared_ptr_base.h:155
54:     #29 0x559740cbcb57 in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() /usr/include/c++/9/bits/shared_ptr_base.h:148
54:     #30 0x559740cbd94b in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::~__shared_count() /usr/include/c++/9/bits/shared_ptr_base.h:730
54:     #31 0x559740cbd94b in std::__shared_ptr<ignition::plugin::TemplatePluginPtr<ignition::physics::detail::DeterminePlugin<ignition::physics::FeaturePolicy<double, 3ul>, TestFeatureList>::Specializer>, (__gnu_cxx::_Lock_policy)2>::~__shared_ptr() /usr/include/c++/9/bits/shared_ptr_base.h:1169
54:     #32 0x559740cbd94b in std::shared_ptr<ignition::plugin::TemplatePluginPtr<ignition::physics::detail::DeterminePlugin<ignition::physics::FeaturePolicy<double, 3ul>, TestFeatureList>::Specializer> >::~shared_ptr() /usr/include/c++/9/bits/shared_ptr.h:103
54:     #33 0x559740cbd94b in ignition::physics::Entity<ignition::physics::FeaturePolicy<double, 3ul>, TestFeatureList>::~Entity() /home/ahcorde/ignition_dome/src/ign-physics/include/ignition/physics/Entity.hh:295
54:     #34 0x559740cbd94b in ignition::physics::Engine<ignition::physics::FeaturePolicy<double, 3ul>, TestFeatureList>::~Engine() /home/ahcorde/ignition_dome/src/ign-physics/include/ignition/physics/detail/FeatureList.hh:693
54:     #35 0x559740cbd94b in std::_Optional_payload_base<ignition::physics::Engine<ignition::physics::FeaturePolicy<double, 3ul>, TestFeatureList> >::_M_destroy() /usr/include/c++/9/optional:257
54:     #36 0x559740cbd94b in std::_Optional_payload_base<ignition::physics::Engine<ignition::physics::FeaturePolicy<double, 3ul>, TestFeatureList> >::_M_reset() /usr/include/c++/9/optional:277
54:     #37 0x559740cbd94b in std::_Optional_payload<ignition::physics::Engine<ignition::physics::FeaturePolicy<double, 3ul>, TestFeatureList>, false, false, false>::~_Optional_payload() /usr/include/c++/9/optional:398
54:     #38 0x559740cbd94b in std::_Optional_base<ignition::physics::Engine<ignition::physics::FeaturePolicy<double, 3ul>, TestFeatureList>, false, false>::~_Optional_base() /usr/include/c++/9/optional:471
54:     #39 0x559740cbd94b in std::optional<ignition::physics::Engine<ignition::physics::FeaturePolicy<double, 3ul>, TestFeatureList> >::~optional() /usr/include/c++/9/optional:656
54:     #40 0x559740cbd94b in ignition::physics::EntityPtr<ignition::physics::Engine<ignition::physics::FeaturePolicy<double, 3ul>, TestFeatureList> >::~EntityPtr() /home/ahcorde/ignition_dome/src/ign-physics/include/ignition/physics/Entity.hh:47
54:     #41 0x559740cbd94b in LinkFeaturesFixture::~LinkFeaturesFixture() /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/LinkFeatures_TEST.cc:58
54:     #42 0x559740cbd94b in LinkFeaturesFixture_LinkForceTorque_Test::~LinkFeaturesFixture_LinkForceTorque_Test() /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/LinkFeatures_TEST.cc:118
54:     #43 0x559740cbd94b in LinkFeaturesFixture_LinkForceTorque_Test::~LinkFeaturesFixture_LinkForceTorque_Test() /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/LinkFeatures_TEST.cc:118
54:     #44 0x559740ddf5a9 in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421
54:     #45 0x559740ddf5a9 in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457
54:     #46 0x559740db307e in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2676
54:     #47 0x559740db36f2 in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2646
54:     #48 0x559740db36f2 in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2789
54:     #49 0x559740db4d2f in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2775
54:     #50 0x559740db4d2f in testing::internal::UnitTestImpl::RunAllTests() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:5051
54:     #51 0x559740de0699 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421
54:     #52 0x559740de0699 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457
54:     #53 0x559740db54f3 in testing::UnitTest::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:4667
54:     #54 0x559740c96398 in RUN_ALL_TESTS() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/include/gtest/gtest.h:2329
54:     #55 0x559740c96398 in main /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/LinkFeatures_TEST.cc:347
54:     #56 0x7f202a3460b2 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x270b2)
54:     #57 0x559740c9801d in _start (/home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_LinkFeatures_TEST+0x3d01d)
54: 
54: 0x620000046090 is located 16 bytes inside of 3776-byte region [0x620000046080,0x620000046f40)
54: allocated by thread T0 here:
54:     #0 0x7f202abc2bc8 in malloc (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10dbc8)
54:     #1 0x7f20268adb85 in Eigen::internal::handmade_aligned_malloc(unsigned long) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:88
54:     #2 0x7f20268adb85 in Eigen::internal::aligned_malloc(unsigned long) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:164
54:     #3 0x7f20268adb85 in void* Eigen::internal::conditional_aligned_malloc<true>(unsigned long) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:214
54:     #4 0x7f20268adb85 in dart::dynamics::FreeJoint::operator new(unsigned long) /usr/include/dart/dynamics/FreeJoint.hpp:344
54:     #5 0x7f20268adb85 in std::pair<dart::dynamics::FreeJoint*, dart::dynamics::BodyNode*> dart::dynamics::Skeleton::createJointAndBodyNodePair<dart::dynamics::FreeJoint, dart::dynamics::BodyNode>(dart::dynamics::BodyNode*, dart::dynamics::FreeJoint::Properties const&, dart::dynamics::BodyNode::Properties const&) /usr/include/dart/dynamics/detail/Skeleton.hpp:82
54:     #6 0x7f20268adb85 in ignition::physics::dartsim::SDFFeatures::ConstructSdfLink(ignition::physics::Identity const&, sdf::v10::Link const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:446
54:     #7 0x559740cc8ca5 in ignition::physics::sdf::ConstructSdfLink::Model<ignition::physics::FeaturePolicy<double, 3ul>, TestFeatureList>::ConstructLink(sdf::v10::Link const&) /home/ahcorde/ignition_dome/src/ign-physics/sdf/include/ignition/physics/sdf/ConstructLink.hh:54
54:     #8 0x559740e23717 in vtable for ignition::physics::Model<ignition::physics::FeaturePolicy<double, 3ul>, TestFeatureList> (/home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_LinkFeatures_TEST+0x1c8717)
54: 
54: SUMMARY: AddressSanitizer: bad-free (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10d7cf) in __interceptor_free
54: ==280242==ABORTING
54/87 Test #54: UNIT_LinkFeatures_TEST ......................***Failed    0.45 sec
UNIT_SDFFeatures_TEST 
56: Test command: /home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_SDFFeatures_TEST "--gtest_output=xml:/home/ahcorde/ignition_dome/build/ignition-physics3/test_results/UNIT_SDFFeatures_TEST.xml"
56: Test timeout computed to be: 240
56: [==========] Running 9 tests from 2 test cases.
56: [----------] Global test environment set-up.
56: [----------] 4 tests from SDFFeatures_TEST
56: [ RUN      ] SDFFeatures_TEST.CheckDartsimData
56: =================================================================
56: ==280244==ERROR: AddressSanitizer: attempting free on address which was not malloc()-ed: 0x62000004a090 in thread T0
56:     #0 0x7f2c5ef247cf in __interceptor_free (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10d7cf)
56:     #1 0x7f2c5ebfd4db in dart::dynamics::Skeleton::moveBodyNodeTree(dart::dynamics::Joint*, dart::dynamics::BodyNode*, std::shared_ptr<dart::dynamics::Skeleton>, dart::dynamics::BodyNode*) (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x4254db)
56:     #2 0x7f2c56c91c40 in dart::dynamics::RevoluteJoint* dart::dynamics::Skeleton::moveBodyNodeTree<dart::dynamics::RevoluteJoint>(dart::dynamics::BodyNode*, std::shared_ptr<dart::dynamics::Skeleton> const&, dart::dynamics::BodyNode*, dart::dynamics::RevoluteJoint::Properties const&) /usr/include/dart/dynamics/detail/Skeleton.hpp:51
56:     #3 0x7f2c56c9218f in dart::dynamics::RevoluteJoint* dart::dynamics::BodyNode::moveTo<dart::dynamics::RevoluteJoint>(dart::dynamics::BodyNode*, dart::dynamics::RevoluteJoint::Properties const&) /usr/include/dart/dynamics/detail/BodyNode.hpp:53
56:     #4 0x7f2c56cd6d89 in ConstructSingleAxisJoint<dart::dynamics::RevoluteJoint> /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:205
56:     #5 0x7f2c56cd6d89 in ignition::physics::dartsim::SDFFeatures::ConstructSdfJoint(ignition::physics::dartsim::ModelInfo const&, sdf::v10::Joint const&, dart::dynamics::BodyNode*, dart::dynamics::BodyNode*) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:798
56:     #6 0x7f2c56cdd3af in ignition::physics::dartsim::SDFFeatures::ConstructSdfModel(ignition::physics::Identity const&, sdf::v10::Model const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:402
56:     #7 0x7f2c56c9e337 in ignition::physics::dartsim::SDFFeatures::ConstructSdfWorld(ignition::physics::Identity const&, sdf::v10::World const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:339
56:     #8 0x5558bc05d18a in ignition::physics::sdf::ConstructSdfWorld::Engine<ignition::physics::FeaturePolicy<double, 3ul>, TestFeatureList>::ConstructWorld(sdf::v10::World const&) /home/ahcorde/ignition_dome/src/ign-physics/sdf/include/ignition/physics/sdf/ConstructWorld.hh:54
56:     #9 0x5558bc01f40e in LoadWorld(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures_TEST.cc:87
56:     #10 0x5558bc02079f in SDFFeatures_TEST_CheckDartsimData_Test::TestBody() /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures_TEST.cc:96
56:     #11 0x5558bc1557f9 in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421
56:     #12 0x5558bc1557f9 in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457
56:     #13 0x5558bc12a529 in testing::Test::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2495
56:     #14 0x5558bc12abe9 in testing::Test::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2487
56:     #15 0x5558bc12abe9 in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2671
56:     #16 0x5558bc12b0d2 in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2646
56:     #17 0x5558bc12b0d2 in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2789
56:     #18 0x5558bc12c70f in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2775
56:     #19 0x5558bc12c70f in testing::internal::UnitTestImpl::RunAllTests() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:5051
56:     #20 0x5558bc1568e9 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421
56:     #21 0x5558bc1568e9 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457
56:     #22 0x5558bc12ced3 in testing::UnitTest::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:4667
56:     #23 0x5558bc015398 in RUN_ALL_TESTS() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/include/gtest/gtest.h:2329
56:     #24 0x5558bc015398 in main /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures_TEST.cc:519
56:     #25 0x7f2c5e08c0b2 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x270b2)
56:     #26 0x5558bc01843d in _start (/home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_SDFFeatures_TEST+0x4243d)
56: 
56: 0x62000004a090 is located 16 bytes inside of 3776-byte region [0x62000004a080,0x62000004af40)
56: allocated by thread T0 here:
56:     #0 0x7f2c5ef24bc8 in malloc (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10dbc8)
56:     #1 0x7f2c56cadb85 in Eigen::internal::handmade_aligned_malloc(unsigned long) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:88
56:     #2 0x7f2c56cadb85 in Eigen::internal::aligned_malloc(unsigned long) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:164
56:     #3 0x7f2c56cadb85 in void* Eigen::internal::conditional_aligned_malloc<true>(unsigned long) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:214
56:     #4 0x7f2c56cadb85 in dart::dynamics::FreeJoint::operator new(unsigned long) /usr/include/dart/dynamics/FreeJoint.hpp:344
56:     #5 0x7f2c56cadb85 in std::pair<dart::dynamics::FreeJoint*, dart::dynamics::BodyNode*> dart::dynamics::Skeleton::createJointAndBodyNodePair<dart::dynamics::FreeJoint, dart::dynamics::BodyNode>(dart::dynamics::BodyNode*, dart::dynamics::FreeJoint::Properties const&, dart::dynamics::BodyNode::Properties const&) /usr/include/dart/dynamics/detail/Skeleton.hpp:82
56:     #6 0x7f2c56cadb85 in ignition::physics::dartsim::SDFFeatures::ConstructSdfLink(ignition::physics::Identity const&, sdf::v10::Link const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:446
56:     #7 0x7f2c56c9e943 in ignition::physics::dartsim::SDFFeatures::FindOrConstructLink(std::shared_ptr<dart::dynamics::Skeleton> const&, ignition::physics::Identity const&, sdf::v10::Model const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:694
56:     #8 0x7f2c56d7fe3f  (/home/ahcorde/ignition_dome/build/ignition-physics3/lib/libignition-physics3-dartsim-plugin.so.3.1.0+0x2ece3f)
56: 
56: SUMMARY: AddressSanitizer: bad-free (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10d7cf) in __interceptor_free
56: ==280244==ABORTING
56/87 Test #56: UNIT_SDFFeatures_TEST .......................***Failed    0.45 sec
UNIT_SimulationFeatures_TEST 
60: Test command: /home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_SimulationFeatures_TEST "--gtest_output=xml:/home/ahcorde/ignition_dome/build/ignition-physics3/test_results/UNIT_SimulationFeatures_TEST.xml"
60: Test timeout computed to be: 240
60: [==========] Running 12 tests from 1 test case.
60: [----------] Global test environment set-up.
60: [----------] 12 tests from PhysicsPlugins/SimulationFeatures_TEST
60: [ RUN      ] PhysicsPlugins/SimulationFeatures_TEST.Falling/0
60: Testing library /home/ahcorde/ignition_dome/build/ignition-physics3/lib/libignition-physics3-dartsim-plugin.so.3.1.0
60:  -- Plugin name: ignition::physics::dartsim::Plugin
60: =================================================================
60: ==280250==ERROR: AddressSanitizer: heap-buffer-overflow on address 0x60d00001d0f8 at pc 0x7fd93c7e289a bp 0x7fff3858fe30 sp 0x7fff3858fe20
60: READ of size 8 at 0x60d00001d0f8 thread T0
60:     #0 0x7fd93c7e2899 in dart::common::MakeCloneable<dart::common::Aspect::Properties, dart::dynamics::detail::FixedFrameProperties>::~MakeCloneable() /usr/include/eigen3/Eigen/src/Core/util/Memory.h:98
60:     #1 0x7fd93c2be0de in dart::common::EmbeddedPropertiesAspect<dart::dynamics::FixedFrame, dart::dynamics::detail::FixedFrameProperties>* dart::common::SpecializedForAspect<dart::common::EmbeddedPropertiesAspect<dart::dynamics::FixedFrame, dart::dynamics::detail::FixedFrameProperties> >::_createAspect<dart::common::MakeCloneable<dart::common::Aspect::Properties, dart::dynamics::detail::FixedFrameProperties> >(dart::common::SpecializedForAspect<dart::common::EmbeddedPropertiesAspect<dart::dynamics::FixedFrame, dart::dynamics::detail::FixedFrameProperties> >::type<dart::common::EmbeddedPropertiesAspect<dart::dynamics::FixedFrame, dart::dynamics::detail::FixedFrameProperties> >, dart::common::MakeCloneable<dart::common::Aspect::Properties, dart::dynamics::detail::FixedFrameProperties>&&) (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x3470de)
60:     #2 0x7fd93c2bd676 in dart::dynamics::FixedFrame::FixedFrame(dart::dynamics::Frame*, Eigen::Transform<double, 3, 1, 0> const&) (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x346676)
60:     #3 0x7fd93c37f707 in dart::dynamics::ShapeNode::ShapeNode(dart::dynamics::BodyNode*, dart::common::detail::ComposeData<dart::common::detail::CompositeData<std::map<std::type_index, std::unique_ptr<dart::common::Aspect::Properties, std::default_delete<dart::common::Aspect::Properties> >, std::less<std::type_index>, std::allocator<std::pair<std::type_index const, std::unique_ptr<dart::common::Aspect::Properties, std::default_delete<dart::common::Aspect::Properties> > > > >, dart::common::detail::GetProperties>, dart::common::detail::GetProperties, dart::common::EmbeddedPropertiesAspect<dart::dynamics::EntityNode<dart::dynamics::TemplatedJacobianNode<dart::dynamics::FixedJacobianNode> >, dart::dynamics::detail::EntityNodeProperties>, dart::dynamics::FixedFrame, dart::dynamics::ShapeFrame> const&) (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x408707)
60:     #4 0x7fd93c7f5c4c in dart::dynamics::ShapeNode* dart::dynamics::BodyNode::createNode<dart::dynamics::ShapeNode, dart::common::detail::ComposeData<dart::common::detail::CompositeData<std::map<std::type_index, std::unique_ptr<dart::common::Aspect::Properties, std::default_delete<dart::common::Aspect::Properties> >, std::less<std::type_index>, std::allocator<std::pair<std::type_index const, std::unique_ptr<dart::common::Aspect::Properties, std::default_delete<dart::common::Aspect::Properties> > > > >, dart::common::detail::GetProperties>, dart::common::detail::GetProperties, dart::common::EmbeddedPropertiesAspect<dart::dynamics::EntityNode<dart::dynamics::TemplatedJacobianNode<dart::dynamics::FixedJacobianNode> >, dart::dynamics::detail::EntityNodeProperties>, dart::dynamics::FixedFrame, dart::dynamics::ShapeFrame>&>(dart::common::detail::ComposeData<dart::common::detail::CompositeData<std::map<std::type_index, std::unique_ptr<dart::common::Aspect::Properties, std::default_delete<dart::common::Aspect::Properties> >, std::less<std::type_index>, std::allocator<std::pair<std::type_index const, std::unique_ptr<dart::common::Aspect::Properties, std::default_delete<dart::common::Aspect::Properties> > > > >, dart::common::detail::GetProperties>, dart::common::detail::GetProperties, dart::common::EmbeddedPropertiesAspect<dart::dynamics::EntityNode<dart::dynamics::TemplatedJacobianNode<dart::dynamics::FixedJacobianNode> >, dart::dynamics::detail::EntityNodeProperties>, dart::dynamics::FixedFrame, dart::dynamics::ShapeFrame>&) /usr/include/dart/dynamics/detail/BodyNode.hpp:136
60:     #5 0x7fd93c7f5c4c in dart::dynamics::ShapeNode* dart::dynamics::BodyNode::createShapeNode<dart::common::detail::ComposeData<dart::common::detail::CompositeData<std::map<std::type_index, std::unique_ptr<dart::common::Aspect::Properties, std::default_delete<dart::common::Aspect::Properties> >, std::less<std::type_index>, std::allocator<std::pair<std::type_index const, std::unique_ptr<dart::common::Aspect::Properties, std::default_delete<dart::common::Aspect::Properties> > > > >, dart::common::detail::GetProperties>, dart::common::detail::GetProperties, dart::common::EmbeddedPropertiesAspect<dart::dynamics::EntityNode<dart::dynamics::TemplatedJacobianNode<dart::dynamics::FixedJacobianNode> >, dart::dynamics::detail::EntityNodeProperties>, dart::dynamics::FixedFrame, dart::dynamics::ShapeFrame> >(dart::common::detail::ComposeData<dart::common::detail::CompositeData<std::map<std::type_index, std::unique_ptr<dart::common::Aspect::Properties, std::default_delete<dart::common::Aspect::Properties> >, std::less<std::type_index>, std::allocator<std::pair<std::type_index const, std::unique_ptr<dart::common::Aspect::Properties, std::default_delete<dart::common::Aspect::Properties> > > > >, dart::common::detail::GetProperties>, dart::common::detail::GetProperties, dart::common::EmbeddedPropertiesAspect<dart::dynamics::EntityNode<dart::dynamics::TemplatedJacobianNode<dart::dynamics::FixedJacobianNode> >, dart::dynamics::detail::EntityNodeProperties>, dart::dynamics::FixedFrame, dart::dynamics::ShapeFrame>, bool) /usr/include/dart/dynamics/detail/BodyNode.hpp:153
60:     #6 0x7fd93c7f752c in dart::dynamics::ShapeNode* dart::dynamics::BodyNode::createShapeNode<dart::dynamics::Shape, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&>(std::shared_ptr<dart::dynamics::Shape> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) /usr/include/dart/dynamics/detail/BodyNode.hpp:176
60:     #7 0x7fd93c7bb4c4 in dart::dynamics::ShapeNode* dart::dynamics::BodyNode::createShapeNodeWith<dart::dynamics::CollisionAspect, dart::dynamics::DynamicsAspect>(std::shared_ptr<dart::dynamics::Shape> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) /usr/include/dart/dynamics/detail/BodyNode.hpp:192
60:     #8 0x7fd93c7bb4c4 in ignition::physics::dartsim::SDFFeatures::ConstructSdfCollision(ignition::physics::Identity const&, sdf::v10::Collision const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:541
60:     #9 0x7fd93c7af61d in ignition::physics::dartsim::SDFFeatures::ConstructSdfLink(ignition::physics::Identity const&, sdf::v10::Link const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:478
60:     #10 0x7fd93c79e943 in ignition::physics::dartsim::SDFFeatures::FindOrConstructLink(std::shared_ptr<dart::dynamics::Skeleton> const&, ignition::physics::Identity const&, sdf::v10::Model const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:694
60:     #11 0x7fd93c7dd239 in ignition::physics::dartsim::SDFFeatures::ConstructSdfModel(ignition::physics::Identity const&, sdf::v10::Model const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:380
60:     #12 0x7fd93c79e337 in ignition::physics::dartsim::SDFFeatures::ConstructSdfWorld(ignition::physics::Identity const&, sdf::v10::World const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SDFFeatures.cc:339
60:     #13 0x55df6bc2ee5a in ignition::physics::sdf::ConstructSdfWorld::Engine<ignition::physics::FeaturePolicy<double, 3ul>, TestFeatureList>::ConstructWorld(sdf::v10::World const&) /home/ahcorde/ignition_dome/src/ign-physics/sdf/include/ignition/physics/sdf/ConstructWorld.hh:54
60:     #14 0x55df6bbfbd4f in LoadWorlds(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SimulationFeatures_TEST.cc:87
60:     #15 0x55df6bbfdbaa in SimulationFeatures_TEST_Falling_Test::TestBody() /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SimulationFeatures_TEST.cc:120
60:     #16 0x55df6bd58089 in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421
60:     #17 0x55df6bd58089 in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457
60:     #18 0x55df6bd2c339 in testing::Test::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2495
60:     #19 0x55df6bd2c9f9 in testing::Test::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2487
60:     #20 0x55df6bd2c9f9 in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2671
60:     #21 0x55df6bd2cee2 in testing::TestInfo::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2646
60:     #22 0x55df6bd2cee2 in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2789
60:     #23 0x55df6bd2e51f in testing::TestCase::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2775
60:     #24 0x55df6bd2e51f in testing::internal::UnitTestImpl::RunAllTests() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:5051
60:     #25 0x55df6bd59179 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2421
60:     #26 0x55df6bd59179 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:2457
60:     #27 0x55df6bd2ece3 in testing::UnitTest::Run() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/src/gtest.cc:4667
60:     #28 0x55df6bbf79a8 in RUN_ALL_TESTS() /home/ahcorde/ignition_dome/src/ign-physics/test/gtest/include/gtest/gtest.h:2329
60:     #29 0x55df6bbf79a8 in main /home/ahcorde/ignition_dome/src/ign-physics/dartsim/src/SimulationFeatures_TEST.cc:329
60:     #30 0x7fd9401510b2 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x270b2)
60:     #31 0x55df6bbf92ad in _start (/home/ahcorde/ignition_dome/build/ignition-physics3/bin/UNIT_SimulationFeatures_TEST+0x3f2ad)
60: 
60: 0x60d00001d0f8 is located 8 bytes to the left of 144-byte region [0x60d00001d100,0x60d00001d190)
60: allocated by thread T0 here:
60:     #0 0x7fd940a32bc8 in malloc (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10dbc8)
60:     #1 0x7fd93c2be03b in dart::common::EmbeddedPropertiesAspect<dart::dynamics::FixedFrame, dart::dynamics::detail::FixedFrameProperties>* dart::common::SpecializedForAspect<dart::common::EmbeddedPropertiesAspect<dart::dynamics::FixedFrame, dart::dynamics::detail::FixedFrameProperties> >::_createAspect<dart::common::MakeCloneable<dart::common::Aspect::Properties, dart::dynamics::detail::FixedFrameProperties> >(dart::common::SpecializedForAspect<dart::common::EmbeddedPropertiesAspect<dart::dynamics::FixedFrame, dart::dynamics::detail::FixedFrameProperties> >::type<dart::common::EmbeddedPropertiesAspect<dart::dynamics::FixedFrame, dart::dynamics::detail::FixedFrameProperties> >, dart::common::MakeCloneable<dart::common::Aspect::Properties, dart::dynamics::detail::FixedFrameProperties>&&) (/usr/lib/x86_64-linux-gnu/libdart.so.6+0x34703b)
60: 
60: SUMMARY: AddressSanitizer: heap-buffer-overflow /usr/include/eigen3/Eigen/src/Core/util/Memory.h:98 in dart::common::MakeCloneable<dart::common::Aspect::Properties, dart::dynamics::detail::FixedFrameProperties>::~MakeCloneable()
60: Shadow bytes around the buggy address:
60:   0x0c1a7fffb9c0: 00 00 00 00 00 00 00 00 00 03 fa fa fa fa fa fa
60:   0x0c1a7fffb9d0: fa fa fd fd fd fd fd fd fd fd fd fd fd fd fd fd
60:   0x0c1a7fffb9e0: fd fd fd fa fa fa fa fa fa fa fa fa 00 00 00 00
60:   0x0c1a7fffb9f0: 00 00 00 00 00 00 00 00 00 00 00 00 07 fa fa fa
60:   0x0c1a7fffba00: fa fa fa fa fa fa 00 00 00 00 00 00 00 00 00 00
60: =>0x0c1a7fffba10: 00 00 00 00 00 00 00 fa fa fa fa fa fa fa fa[fa]
60:   0x0c1a7fffba20: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
60:   0x0c1a7fffba30: 00 00 fa fa fa fa fa fa fa fa fa fa fa fa fa fa
60:   0x0c1a7fffba40: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
60:   0x0c1a7fffba50: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
60:   0x0c1a7fffba60: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
60: Shadow byte legend (one shadow byte represents 8 application bytes):
60:   Addressable:           00
60:   Partially addressable: 01 02 03 04 05 06 07 
60:   Heap left redzone:       fa
60:   Freed heap region:       fd
60:   Stack left redzone:      f1
60:   Stack mid redzone:       f2
60:   Stack right redzone:     f3
60:   Stack after return:      f5
60:   Stack use after scope:   f8
60:   Global redzone:          f9
60:   Global init order:       f6
60:   Poisoned by user:        f7
60:   Container overflow:      fc
60:   Array cookie:            ac
60:   Intra object redzone:    bb
60:   ASan internal:           fe
60:   Left alloca redzone:     ca
60:   Right alloca redzone:    cb
60:   Shadow gap:              cc
60: ==280250==ABORTING
60/87 Test #60: UNIT_SimulationFeatures_TEST ................***Failed    0.44 sec

@azeey
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azeey commented Feb 22, 2021

I think this is related #586

@chapulina chapulina added the 🔮 dome Ignition Dome label Feb 24, 2021
This was referenced Feb 24, 2021
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I can't reproduce the failures locally on Ubuntu.

@ahcorde , how did you get that backtrace? It seems to be crashing on the Remove test for you, but that's not what is happening on CI.

On macOS on Jenkins, the Light test is segfaulting.

On GitHub actions, the Light test has lots of failing expectations, and I believe it's because of this:

Error while loading the library [/usr/local/lib/ign-gazebo-5/plugins/libignition-gazebo-sensors-system.so]: libignition-gazebo5-rendering.so.5: cannot open shared object file: No such file or directory
  [Err] [SystemLoader.cc:75] Failed to load system plugin [ignition-gazebo-sensors-system] : couldn't load library on path [/usr/local/lib/ign-gazebo-5/plugins/libignition-gazebo-sensors-system.so].

See #650 for a fix - it works on GitHub actions, I haven't checked macOS yet.

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macOS isn't fixed yet

@chapulina chapulina reopened this Mar 1, 2021
@chapulina chapulina added the macOS macOS support label Mar 5, 2021
@chapulina chapulina mentioned this issue Nov 15, 2021
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Disabling the test on macOS: #1204

@chapulina chapulina added the help wanted We accept pull requests! label Nov 15, 2021
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azeey commented Nov 15, 2021

Just thought it might be related, but I've been able to get consistent segfaults when running the following if I build ign-gazebo using clang.

bin/INTEGRATION_user_commands --gtest_filter=*Light:*Pose

The failure appears to be related to the unloading of a shared library from a previous test affecting the component storage map storagesById: https://github.com/ignitionrobotics/ign-gazebo/blob/f8942cd9b19cf0b61a1d5a7fb9f47d0c1d558e84/include/ignition/gazebo/components/Factory.hh#L310.

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azeey commented Nov 16, 2021

Just thought it might be related, but I've been able to get consistent segfaults when running the following if I build ign-gazebo using clang.

bin/INTEGRATION_user_commands --gtest_filter=*Light:*Pose

The failure appears to be related to the unloading of a shared library from a previous test affecting the component storage map storagesById:

https://github.com/ignitionrobotics/ign-gazebo/blob/f8942cd9b19cf0b61a1d5a7fb9f47d0c1d558e84/include/ignition/gazebo/components/Factory.hh#L310

.

I should have said using clang on Linux.

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👩‍🌾 Set LD_LIBRARY_PATH on Actions CI (fix user_commands test) gazebosim/gz-sim
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@azeey @ahcorde @chapulina