Segfault importing Pinocchio 3.3.0 Python bindings from Humble binaries #2542
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scastro-bdai
changed the title
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Thanks @scastro-bdai, for raising this issue. Could you show the GDB results when running the Python import? |
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EDIT: I can Google after all :) |
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I think I got somewhere... installed Python debug symbols and ran a simple file that just runs |
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Thanks for the report. With #0 0x00005c23a5f77df8 in _Py_Dealloc ()
#1 0x00007add40e4f74f in _Py_DECREF () at /usr/include/python3.10/object.h:500
#2 _Py_XDECREF () at /usr/include/python3.10/object.h:567
#3 xdecref<_object> () at /usr/include/boost/python/refcount.hpp:38
#4 operator= () at /usr/include/boost/python/handle.hpp:85
#5 operator= () at /usr/include/boost/python/args_fwd.hpp:19
#6 __copy_m<boost::python::detail::keyword const*, boost::python::detail::keyword*> () at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/stl_algobase.h:385
#7 __copy_move_a2<false, boost::python::detail::keyword const*, boost::python::detail::keyword*> () at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/stl_algobase.h:494
#8 __copy_move_a1<false, boost::python::detail::keyword const*, boost::python::detail::keyword*> () at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/stl_algobase.h:522
#9 __copy_move_a<false, boost::python::detail::keyword const*, boost::python::detail::keyword*> () at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/stl_algobase.h:530
#10 copy<boost::python::detail::keyword const*, boost::python::detail::keyword*> () at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/stl_algobase.h:619
#11 operator, () at /usr/include/boost/python/args.hpp:89
#12 visit<boost::python::class_<pinocchio::SE3Tpl<double, 0>, boost::python::detail::not_specified, boost::python::detail::not_specified, boost::python::detail::not_specified> > () at ./include/pinocchio/bindings/python/spatial/se3.hpp:61
#13 0x00007add40e4dfe8 in visit<boost::python::def_visitor<pinocchio::python::SE3PythonVisitor<pinocchio::SE3Tpl<double, 0> > >, boost::python::class_<pinocchio::SE3Tpl<double, 0>, boost::python::detail::not_specified, boost::python::detail::not_specified, boost::python::detail::not_specified> > () at /usr/include/boost/python/def_visitor.hpp:31
#14 visit<boost::python::class_<pinocchio::SE3Tpl<double, 0>, boost::python::detail::not_specified, boost::python::detail::not_specified, boost::python::detail::not_specified> > () at /usr/include/boost/python/def_visitor.hpp:67
#15 def<pinocchio::python::SE3PythonVisitor<pinocchio::SE3Tpl<double, 0> > > () at /usr/include/boost/python/class.hpp:221
#16 expose () at ./include/pinocchio/bindings/python/spatial/se3.hpp:226
#17 0x00007add40e4de9c in exposeSE3 () at ./.obj-x86_64-linux-gnu/bindings/python/./bindings/python/spatial/expose-SE3.cpp:20
#18 0x00007add41169cbc in init_module_pinocchio_pywrap_default () at ./.obj-x86_64-linux-gnu/bindings/python/./bindings/python/module.cpp:95
#19 0x00007adde8a926e3 in boost::python::handle_exception_impl(boost::function0<void>) () from /lib/x86_64-linux-gnu/libboost_python310.so.1.74.0
#20 0x00007adde8a93c69 in boost::python::detail::init_module(PyModuleDef&, void (*)()) () from /lib/x86_64-linux-gnu/libboost_python310.so.1.74.0
#21 0x00005c23a60a558a in ?? () |
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@nim65s So you confirm there is an issue? If it is the case, could you share the docker image. |
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Yes, I'm currently working on adding the CI back, and I found another issue on eigenpy so I won't work on this segfault right now, but a reproducer is simply: FROM ros:humble
RUN apt update && apt install -qy ros-humble-pinocchio ros-humble-pinocchio-dbgsym gdb |
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EigenPy might be the cause. No? |
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eigenpy seems to work fine in this docker: root@b6e2fda1be49:/# python3
Python 3.10.12 (main, Sep 11 2024, 15:47:36) [GCC 11.4.0] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> import eigenpy
>>> eigenpy.__file__
'/opt/ros/humble/lib/python3.10/site-packages/eigenpy/__init__.py'
>>> eigenpy.__version__
'3.8.2'
>>> eigenpy.Quaternion(1, 2, 3, 4).norm()
5.477225575051661 |
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I think I have found the issue. Could you please show me how to compile Pinocchio with ROS ? |
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Bug description
After upgrading to the ROS Humble December 20, 2024 sync, which upgrades from 2.6.21 to 3.3.0. importing the Python bindings segfaults.
These binaries are specifically from the
ros-humble-pinocchioapt install.Expected behavior
Importing should not segfault.
Reproduction steps
Steps to reproduce the behavior:
python3import pinocchioBefore upgrade:
After upgrade
System
ros-humble-pinocchioThe text was updated successfully, but these errors were encountered: