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libusb seg faults when using realsense devices concurrently on Ubuntu 20 #12280

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danielkoohmarey-bc opened this issue Oct 11, 2023 · 5 comments
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libusb seg faults when using realsense devices concurrently on Ubuntu 20 #12280

danielkoohmarey-bc opened this issue Oct 11, 2023 · 5 comments
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D400 Series jetson Linux

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@danielkoohmarey-bc
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  • All users are welcomed to report bugs, ask questions, suggest or request enhancements and generally feel free to open new issue, even if they haven't followed any of the suggestions above :)
Required Info
Camera Model D435
Firmware Version 5.13.0.XX
Operating System & Version Ubuntu 20
Kernel Version (Linux Only) 5.10.120
Platform NVIDIA Jetson
SDK Version n/a
Language C++
Segment Robot

Issue Description

We recently migrated from Ubuntu 18 to Ubuntu 20, and are seeing some seg faults using this branch of librealsense: https://github.com/IntelRealSense/librealsense/tree/4f37f2ef0874c1716bce223b20e46d00532ffb04

We are accessing 2 realsense cameras concurrently in C++ in two separate threads. Each thread has its own rs2::context object. When the threads access frames concurrently, we receive a seg fault:

(gdb) bt
#0  0x0000fffff5a9cad4 in  () at /lib/aarch64-linux-gnu/libusb-1.0.so.0
#1  0x0000fffff5a9cca4 in  () at /lib/aarch64-linux-gnu/libusb-1.0.so.0
#2  0x0000fffff5a9d274 in libusb_get_device_list () at /lib/aarch64-linux-gnu/libusb-1.0.so.0
#3  0x0000fffff6dc89bc in librealsense::platform::usb_context::usb_context() (this=0xffffb8003c40) at /<redacted>/librealsense/src/libusb/context-libusb.cpp:18
#4  0x0000fffff6dd08d4 in __gnu_cxx::new_allocator<librealsense::platform::usb_context>::construct<librealsense::platform::usb_context>(librealsense::platform::usb_context*) (this=<optimized out>, __p=0xffffb8003c40) at /usr/include/c++/9/new:174
#5  std::allocator_traits<std::allocator<librealsense::platform::usb_context> >::construct<librealsense::platform::usb_context>(std::allocator<librealsense::platform::usb_context>&, librealsense::platform::usb_context*) (__a=..., __p=0xffffb8003c40)
    at /usr/include/c++/9/bits/alloc_traits.h:483
#6  std::_Sp_counted_ptr_inplace<librealsense::platform::usb_context, std::allocator<librealsense::platform::usb_context>, (__gnu_cxx::_Lock_policy)2>::_Sp_counted_ptr_inplace<>(std::allocator<librealsense::platform::usb_context>) (__a=..., this=0xffffb8003c30)
    at /usr/include/c++/9/bits/shared_ptr_base.h:548
#7  std::__shared_count<(__gnu_cxx::_Lock_policy)2>::__shared_count<librealsense::platform::usb_context, std::allocator<librealsense::platform::usb_context>>(librealsense::platform::usb_context*&, std::_Sp_alloc_shared_tag<std::allocator<librealsense::platform::usb_context> >) (__a=..., __p=<synthetic pointer>: <optimized out>, this=<synthetic pointer>) at /usr/include/c++/9/bits/shared_ptr_base.h:679
#8  std::__shared_ptr<librealsense::platform::usb_context, (__gnu_cxx::_Lock_policy)2>::__shared_ptr<std::allocator<librealsense::platform::usb_context>>(std::_Sp_alloc_shared_tag<std::allocator<librealsense::platform::usb_context> >)
    (__tag=..., this=<synthetic pointer>) at /usr/include/c++/9/bits/shared_ptr_base.h:1344
#9  std::shared_ptr<librealsense::platform::usb_context>::shared_ptr<std::allocator<librealsense::platform::usb_context>>(std::_Sp_alloc_shared_tag<std::allocator<librealsense::platform::usb_context> >) (__tag=..., this=<synthetic pointer>)
    at /usr/include/c++/9/bits/shared_ptr.h:359
#10 std::allocate_shared<librealsense::platform::usb_context, std::allocator<librealsense::platform::usb_context>>(std::allocator<librealsense::platform::usb_context> const&) (__a=...) at /usr/include/c++/9/bits/shared_ptr.h:702
#11 std::make_shared<librealsense::platform::usb_context>() () at /usr/include/c++/9/bits/shared_ptr.h:718
#12 librealsense::platform::usb_enumerator::query_devices_info() () at /<redacted>/librealsense/src/libusb/enumerator-libusb.cpp:83
#13 0x0000fffff6dd4940 in librealsense::platform::v4l_backend::query_usb_devices() const (this=<optimized out>) at /<redacted>/librealsense/src/linux/backend-v4l2.cpp:1819
#14 0x0000fffff6de4b7c in librealsense::polling_device_watcher::polling(dispatcher::cancellable_timer) (this=0xaaaaab1cd050, cancellable_timer=...) at /<redacted>/librealsense/src/types.h:1556
#15 0x0000fffff6de952c in std::function<void (dispatcher::cancellable_timer)>::operator()(dispatcher::cancellable_timer) const (__args#0=..., this=<optimized out>) at /usr/include/c++/9/bits/std_function.h:683
#16 active_object<std::function<void (dispatcher::cancellable_timer)> >::do_loop()::{lambda(dispatcher::cancellable_timer)#1}::operator()(dispatcher::cancellable_timer) const (this=<optimized out>, ct=...)
    at /<redacted>/librealsense/src/concurrency.h:404
#17 std::_Function_handler<void (dispatcher::cancellable_timer), active_object<std::function<void (dispatcher::cancellable_timer)> >::do_loop()::{lambda(dispatcher::cancellable_timer)#1}>::_M_invoke(std::_Any_data const&, dispatcher::cancellable_timer&&)
    (__functor=..., __args#0=...) at /usr/include/c++/9/bits/std_function.h:300
#18 0x0000fffff6c55698 in std::function<void (dispatcher::cancellable_timer)>::operator()(dispatcher::cancellable_timer) const (__args#0=..., this=0xffffebd9e6c8) at /usr/include/c++/9/bits/std_function.h:683
#19 dispatcher::dispatcher(unsigned int)::{lambda()#1}::operator()() const (__closure=0xaaaaab1b2458) at /<redacted>/librealsense/src/concurrency.h:231
#20 0x0000fffff73faf9c in  () at /lib/aarch64-linux-gnu/libstdc++.so.6
#21 0x0000fffff751a624 in start_thread (arg=0xfffff73faf80) at pthread_create.c:477
#22 0x0000fffff726849c in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:78

Additional separate backtrace, with libusb logs:

[Realsenserealsense_camera_front][info][74756] processFrame returned for Depth
[47.435637] [000123f2] libusb: debug [linux_get_parent_info] Dev 0xffffb8028100 (1-2.7) has parent 0xffffb80123d0 (1-2) port 7
[47.436823] [000123f2] libusb: debug [linux_get_device_address] getting address for device: 1-3 detached: 0
[47.436882] [000123f2] libusb: debug [linux_get_device_address] scan 1-3
[47.437064] [000123f2] libusb: debug [linux_get_device_address] bus=1 dev=3
[47.437110] [000123f2] libusb: debug [linux_enumerate_device] busnum 1 devaddr 3 session_id 259
[47.437153] [000123f2] libusb: debug [linux_enumerate_device] allocating new device for 1/3 (session 259)
[47.437318] [000123f2] libusb: debug [linux_get_parent_info] Dev 0xffffb80281f0 (1-3) has parent 0xffffb8027f00 (usb1) port 3
[47.437748] [000123f2] libusb: debug [linux_get_device_address] getting address for device: usb2 detached: 0
[47.437798] [000123f2] libusb: debug [linux_get_device_address] scan usb2
[47.437969] [000123f2] libusb: debug [linux_get_device_address] bus=2 dev=1
[47.438032] [000123f2] libusb: debug [linux_enumerate_device] busnum 2 devaddr 1 session_id 513
[47.438075] [000123f2] libusb: debug [linux_enumerate_device] allocating new device for 2/1 (session 513)
[47.438965] [000123f2] libusb: debug [linux_get_device_address] getting address for device: 2-3 detached: 0
[47.439022] [000123f2] libusb: debug [linux_get_device_address] scan 2-3
[47.439233] [000123f2] libusb: debug [linux_get_device_address] bus=2 dev=2
[47.439260] [000123f2] libusb: debug [linux_enumerate_device] busnum 2 devaddr 2 session_id 514
[47.439282] [000123f2] libusb: debug [linux_enumerate_device] allocating new device for 2/2 (session 514)
[47.439428] [000123f2] libusb: debug [linux_get_parent_info] Dev 0xffffb8028460 (2-3) has parent 0xffffb8028350 (usb2) port 3
[47.439853] [000123f2] libusb: debug [linux_get_device_address] getting address for device: 2-3.1 detached: 0
[47.439880] [000123f2] libusb: debug [linux_get_device_address] scan 2-3.1
[47.440039] [000123f2] libusb: debug [linux_get_device_address] bus=2 dev=4
[47.440062] [000123f2] libusb: debug [linux_enumerate_device] busnum 2 devaddr 4 session_id 516
[47.440085] [000123f2] libusb: debug [linux_enumerate_device] allocating new device for 2/4 (session 516)
[47.440251] [000123f2] libusb: debug [linux_get_parent_info] Dev 0xffffb8028940 (2-3.1) has parent 0xffffb8028460 (2-3) port 1
[47.440862] [000123f2] libusb: debug [linux_get_device_address] getting address for device: 2-3.2 detached: 0
[47.440925] [000123f2] libusb: debug [linux_get_device_address] scan 2-3.2
[47.441121] [000123f2] libusb: debug [linux_get_device_address] bus=2 dev=5
[47.441169] [000123f2] libusb: debug [linux_enumerate_device] busnum 2 devaddr 5 session_id 517
[47.441216] [000123f2] libusb: debug [linux_enumerate_device] allocating new device for 2/5 (session 517)
[47.441392] [000123f2] libusb: debug [linux_get_parent_info] Dev 0xffffb8028a10 (2-3.2) has parent 0xffffb8028460 (2-3) port 2
[47.441843] [000123f2] libusb: debug [linux_get_device_address] getting address for device: 2-3.4 detached: 0
[47.442010] [000123f2] libusb: debug [linux_get_device_address] scan 2-3.4
[47.442310] [000123f2] libusb: debug [linux_get_device_address] bus=2 dev=7
[47.442354] [000123f2] libusb: debug [linux_enumerate_device] busnum 2 devaddr 7 session_id 519
[47.442379] [000123f2] libusb: debug [linux_enumerate_device] allocating new device for 2/7 (session 519)
[47.442526] [000123f2] libusb: debug [linux_get_parent_info] Dev 0xffffb802ab70 (2-3.4) has parent 0xffffb8028460 (2-3) port 4
[47.442998] [000123f2] libusb: debug [usbi_add_pollfd] add fd 24 events 1
[47.443373] [000123f2] libusb: debug [usbi_io_init] using timerfd for timeouts
[47.443395] [000123f2] libusb: debug [usbi_add_pollfd] add fd 26 events 1
[47.443431] [000123f2] libusb: debug [libusb_get_device_list] 
[47.443534] [000123f2] libusb: debug [discovered_devs_append] need to increase capacity
[47.443608] [000123f2] libusb: debug [libusb_get_device_descriptor] 
[47.443669] [000123f2] libusb: debug [libusb_get_config_descriptor] index 0
[47.443776] [000123f2] libusb: debug [parse_endpoint] skipping descriptor 30
[47.443910] [000123f2] libusb: debug [parse_endpoint] skipping descriptor 30
[47.443975] [000123f2] libusb: debug [parse_endpoint] skipping descriptor 30
[47.444052] [000123f2] libusb: debug [parse_endpoint] skipping descriptor 30
[47.444113] [000123f2] libusb: debug [parse_endpoint] skipping descriptor 30
[47.444175] [000123f2] libusb: debug [parse_endpoint] skipping descriptor 30
[47.444233] [000123f2] libusb: debug [parse_endpoint] skipping descriptor 30
[47.443467] [000123f0] libusb: debug [libusb_exit] destroying default context
[47.444377] [000123f0] libusb: debug [libusb_handle_events_timeout_completed] doing our own event handling
[47.444428] [000123f0] libusb: debug [handle_events] poll fds modified, reallocating
[47.444490] [000123f0] libusb: debug [handle_events] poll() 2 fds with timeout in 0ms
[47.444540] [000123f0] libusb: debug [handle_events] poll() returned 0
[47.444579] [000123f0] libusb: debug [libusb_unref_device] destroy device 2.7
[47.444623] [000123f0] libusb: debug [libusb_unref_device] destroy device 2.5
[47.444687] [000123f0] libusb: debug [libusb_unref_device] destroy device 2.4
[47.444728] [000123f0] libusb: debug [libusb_unref_device] destroy device 2.2
[47.444767] [000123f0] libusb: debug [libusb_unref_device] destroy device 2.1
[47.444828] [000123f0] libusb: debug [libusb_unref_device] destroy device 1.3
[47.445376] [000123f0] libusb: debug [libusb_unref_device] destroy device 1.6
[47.445407] [000123f0] libusb: debug [libusb_unref_device] destroy device 1.29
[47.445455] [000123f0] libusb: debug [libusb_unref_device] destroy device 1.28
[47.445528] [000123f0] libusb: debug [libusb_unref_device] destroy device 1.2
[47.445590] [000123f0] libusb: debug [libusb_unref_device] destroy device 1.1
[47.445651] [000123f0] libusb: debug [usbi_remove_pollfd] remove fd 20
[47.445783] [000123f0] libusb: debug [usbi_remove_pollfd] remove fd 23
[47.444293] [000123f2] libusb: debug [parse_endpoint] skipping descriptor 30
--Type <RET> for more, q to quit, c to continue without paging--

Thread 4 "<redacted>" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0xffffebd9ef50 (LWP 74738)]
0x0000ffffb40008d0 in ?? ()
(gdb) bt
#0  0x0000ffffb40008d0 in  ()
#1  0x000000000000003d in  ()
(gdb) set $pc = $lr
(gdb) bt
#0  0x0000fffff5a9cad4 in  () at /lib/aarch64-linux-gnu/libusb-1.0.so.0
#1  0x0000fffff5a9cca4 in  () at /lib/aarch64-linux-gnu/libusb-1.0.so.0
#2  0x0000fffff5a9f1a0 in  () at /lib/aarch64-linux-gnu/libusb-1.0.so.0
#3  0x0000fffff5a9fb18 in libusb_get_config_descriptor () at /lib/aarch64-linux-gnu/libusb-1.0.so.0
#4  0x0000fffff6dd0460 in librealsense::platform::get_subdevices(libusb_device*, libusb_device_descriptor) (device=device@entry=0xffffb802ab70, desc=...)
    at //<redacted>//librealsense/src/libusb/enumerator-libusb.cpp:42
#5  0x0000fffff6dd094c in librealsense::platform::usb_enumerator::query_devices_info() () at //<redacted>//librealsense/src/libusb/enumerator-libusb.cpp:96
#6  0x0000fffff6dd4940 in librealsense::platform::v4l_backend::query_usb_devices() const (this=<optimized out>) at //<redacted>//librealsense/src/linux/backend-v4l2.cpp:1819
#7  0x0000fffff6de4b7c in librealsense::polling_device_watcher::polling(dispatcher::cancellable_timer) (this=0xaaaaab1cd050, cancellable_timer=...)
    at //<redacted>//librealsense/src/types.h:1556
#8  0x0000fffff6de952c in std::function<void (dispatcher::cancellable_timer)>::operator()(dispatcher::cancellable_timer) const (__args#0=..., this=<optimized out>) at /usr/include/c++/9/bits/std_function.h:683
#9  active_object<std::function<void (dispatcher::cancellable_timer)> >::do_loop()::{lambda(dispatcher::cancellable_timer)#1}::operator()(dispatcher::cancellable_timer) const (this=<optimized out>, ct=...)
    at //<redacted>//librealsense/src/concurrency.h:404
#10 std::_Function_handler<void (dispatcher::cancellable_timer), active_object<std::function<void (dispatcher::cancellable_timer)> >::do_loop()::{lambda(dispatcher::cancellable_timer)#1}>::_M_invoke(std::_Any_data const&, dispatcher::cancellable_timer&&) (__functor=..., __args#0=...) at /usr/include/c++/9/bits/std_function.h:300
#11 0x0000fffff6c55698 in std::function<void (dispatcher::cancellable_timer)>::operator()(dispatcher::cancellable_timer) const (__args#0=..., this=0xffffebd9e6c8) at /usr/include/c++/9/bits/std_function.h:683
#12 dispatcher::dispatcher(unsigned int)::{lambda()#1}::operator()() const (__closure=0xaaaaab1b2458) at //<redacted>//librealsense/src/concurrency.h:231
#13 0x0000fffff73faf9c in  () at /lib/aarch64-linux-gnu/libstdc++.so.6
#14 0x0000fffff751a624 in start_thread (arg=0xfffff73faf80) at pthread_create.c:477
#15 0x0000fffff726849c in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:78

We note we didn't observe this behavior on Ubuntu 18. Is this a known issue? Would upgrading librealsense versions mitigate this?

I also note in looking at the reference multicam example, I see a single rs2::context used to access data from multiple devices. Is this the recommended approach for data access from multiple realsense? Are there any known issues/limitation to instantiating multiple rs2::context within the same process and running them in a thread?

We fetch frames by registering a callback with the rs2::sensor:

            rs2::sensor sensor = activeSensors[moduleName];
            sensor.open(sensor_profile.second);
            sensor.start(_sensorsCallback[moduleName]);  // how we fetch frames via callback

Any insight into improper usage resulting in the seg fault or how to avoid is appreciated, thanks!
@danielkoohmarey-bc danielkoohmarey-bc changed the title libusb seg faults when accessing realsenses concurrently on Ubuntu 20 libusb seg faults when using realsense devices concurrently on Ubuntu 20 Oct 11, 2023
@MartyG-RealSense
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Hi @danielkoohmarey-bc Which JetPack version are you using, please? JetPack 4 is for Ubuntu 18.04, whilst JetPack 5 is the first to be compatible with Ubuntu 20.04. The librealsense SDK officially supports JetPack 5.0.2 from SDK version 2.54.1 onwards.

Which librealsense SDK version are you currently using?

In regard to multiple cameras, you can either use ctx.query_devices to automatically build a list of all attached cameras and their serial numbers (as rs-multicam does), or instead manually define each individual camera and its serial number. If the same cameras will not always be attached to the computer then automatically building a device list with ctx will be the best approach.

Usually there will only be one rs2::context. You can though create multiple pipelines and assign a different camera to each. The rs-multicam example creates multiple pipelines automatically, one for each attached device.

@danielkoohmarey-bc
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danielkoohmarey-bc commented Oct 11, 2023 •
edited
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Hello Marty, thanks for following up. We are using JetPack version 5.1.2. Can you clarify how I can identify the SDK version? I see 8d31b4f

#define RS2_API_MAJOR_VERSION    2
#define RS2_API_MINOR_VERSION    41

on the branch we are using, does this mean we need to upgrade from 2.41 to 2.54.1+?
Thank you for the support.

@MartyG-RealSense
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Yes, ideally you should upgrade to 2.54.1 or newer to use JetPack 5 and Ubuntu 20.04.

If you build librealsense again from packages then it should automatically be the latest version (currently 2.54.2).

If your build librealsense from source code then you can select the version that you want to use from the Releases page, and download the source code as a zipped folder from the Assets list at the bottom of each version's information listing.

https://github.com/IntelRealSense/librealsense/releases/

@MartyG-RealSense
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Hi @danielkoohmarey-bc Do you require further assistance with this case, please? Thanks!

@MartyG-RealSense
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Case closed due to no further comments received.

@fk-bbraun fk-bbraun mentioned this issue Nov 13, 2023
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