GZ sim crashes: libprotobuf ERROR google/protobuf/descriptor_database.cc:175

[DisCoLabIITK]

Environment

• OS Version:
• Source or binary build?
• If this is a GUI or sensor rendering bug, describe your GPU and rendering system. Otherwise delete this section.

  • Rendering plugin: [ogre | ogre2].

    • Sensor rendering error.
    • GUI rendering error.

  • EGL headless mode:

    • Running in EGL headless mode

  • Generally, mention all circumstances that might affect rendering capabilities:

    • [ *] running on a dual GPU machine (integrated GPU + discrete GPU)
    • running on a multi-GPU machine (it has multiple discrete GPUs)
    • running on real hardware
    • running in virtual machine
    • running in Docker/Singularity
    • running remotely (e.g. via SSH)
    • running in a cloud
    • using VirtualGL, XVFB, Xdummy, XVNC or other indirect rendering utilities
    • GPU is concurrently used for other tasks
      • desktop acceleration
      • video decoding (i.e. a playing Youtube video)
      • video encoding
      • CUDA/ROCm computations (Tensorflow, Torch, Caffe running)
      • multiple simulators running at the same time
    • other...

  • Rendering system info:

    • On Linux, provide the outputs of the following commands:

      LANG=C lspci -nn | grep VGA  # might require installing pciutils
      echo "$DISPLAY"
      LANG=C glxinfo -B | grep -i '\(direct rendering\|opengl\|profile\)'  # might require installing mesa-utils package
      ps aux | grep Xorg
      sudo env LANG=C X -version  # if you don't have root access, try to tell the version of Xorg e.g. via package manager

    • On Windows, run dxdiag and report the GPU-related information.
    • On Mac OS, open a terminal and type system_profiler SPDisplaysDataType.

    01:00.0 VGA compatible controller [0300]: NVIDIA Corporation GA107M [GeForce RTX 3050 Ti Mobile] [10de:25a0] (rev a1)
    05:00.0 VGA compatible controller [0300]: Advanced Micro Devices, Inc. [AMD/ATI] Rembrandt [1002:1681] (rev c8)
    $ echo "$DISPLAY"
    :0
    $ LANG=C glxinfo -B | grep -i '\(direct rendering\|opengl\|profile\)' 
    Command 'glxinfo' not found, but can be installed with:
    sudo apt install mesa-utils
    $ ps aux | grep Xorg
         19745  0.0  0.0   9720  2488 pts/2    S+   23:27   0:00 grep --color=auto Xorg
    $ sudo env LANG=C X -version 
    
    X.Org X Server 1.21.1.4
    X Protocol Version 11, Revision 0
    Current Operating System: Linux blackbox 6.8.0-51-generic #52~22.04.1-Ubuntu SMP PREEMPT_DYNAMIC Mon Dec  9 15:00:52 UTC 2 x86_64
    Kernel command line: BOOT_IMAGE=/boot/vmlinuz-6.8.0-51-generic root=UUID=9c98fd32-57c7-455a-9c1b-f0a56d16c74f ro quiet splash vt.handoff=7
    xorg-server 2:21.1.4-2ubuntu1.7~22.04.12 (For technical support please see http://www.ubuntu.com/support) 
    Current version of pixman: 0.40.0
        Before reporting problems, check http://wiki.x.org
        to make sure that you have the latest version.
    

  • Please, attach the ogre.log or ogre2.log file from ~/.gz/rendering

23:02:12: OGRE EXCEPTION(3:RenderingAPIException): Fixed Function pipeline is no longer allowed nor supported. The material highlight_material must use shaders in HlmsLowLevel::calculateHashFor at ./OgreMain/src/OgreHlmsLowLevel.cpp (line 160)
23:02:12: OGRE EXCEPTION(3:RenderingAPIException): Fixed Function pipeline is no longer allowed nor supported. The material highlight_material must use shaders in HlmsLowLevel::calculateHashFor at ./OgreMain/src/OgreHlmsLowLevel.cpp (line 160)
23:02:12: Couldn't apply datablock '[Hash 0x537893c9]' to this renderable. Using default one. Check previous log messages to see if there's more information.
23:02:12: OGRE EXCEPTION(3:RenderingAPIException): Fixed Function pipeline is no longer allowed nor supported. The material highlight_material must use shaders in HlmsLowLevel::calculateHashFor at ./OgreMain/src/OgreHlmsLowLevel.cpp (line 160)
23:02:12: OGRE EXCEPTION(3:RenderingAPIException): Fixed Function pipeline is no longer allowed nor supported. The material highlight_material must use shaders in HlmsLowLevel::calculateHashFor at ./OgreMain/src/OgreHlmsLowLevel.cpp (line 160)
23:02:12: Couldn't apply datablock '[Hash 0x537893c9]' to this renderable. Using default one. Check previous log messages to see if there's more information.
23:02:12: WARNING: Deleting mapped buffer without having it unmapped. This is often sign of a resource leak or a bad pattern. Umapping the buffer for you...
23:02:12: WARNING: Deleting mapped buffer without having it unmapped. This is often sign of a resource leak or a bad pattern. Umapping the buffer for you...
23:02:12: WARNING: Deleting mapped buffer without having it unmapped. This is often sign of a resource leak or a bad pattern. Umapping the buffer for you...
23:02:16: OGRE EXCEPTION(3:RenderingAPIException): Fixed Function pipeline is no longer allowed nor supported. The material highlight_material must use shaders in HlmsLowLevel::calculateHashFor at ./OgreMain/src/OgreHlmsLowLevel.cpp (line 160)
23:02:16: OGRE EXCEPTION(3:RenderingAPIException): Fixed Function pipeline is no longer allowed nor supported. The material highlight_material must use shaders in HlmsLowLevel::calculateHashFor at ./OgreMain/src/OgreHlmsLowLevel.cpp (line 160)
23:02:16: Couldn't apply datablock '[Hash 0x537893c9]' to this renderable. Using default one. Check previous log messages to see if there's more information.
23:02:16: OGRE EXCEPTION(3:RenderingAPIException): Fixed Function pipeline is no longer allowed nor supported. The material highlight_material must use shaders in HlmsLowLevel::calculateHashFor at ./OgreMain/src/OgreHlmsLowLevel.cpp (line 160)
23:02:16: OGRE EXCEPTION(3:RenderingAPIException): Fixed Function pipeline is no longer allowed nor supported. The material highlight_material must use shaders in HlmsLowLevel::calculateHashFor at ./OgreMain/src/OgreHlmsLowLevel.cpp (line 160)
23:02:16: Couldn't apply datablock '[Hash 0x537893c9]' to this renderable. Using default one. Check previous log messages to see if there's more information.
23:02:16: WARNING: Deleting mapped buffer without having it unmapped. This is often sign of a resource leak or a bad pattern. Umapping the buffer for you...
23:02:16: WARNING: Deleting mapped buffer without having it unmapped. This is often sign of a resource leak or a bad pattern. Umapping the buffer for you...

Description

• Expected behavior: I downloaded the files from https://gazebosim.org/api/sim/9/surface_vehicles.html. When i run "gz sim -r src/gazebo_maritime/worlds/sydney_regatta.sdf", the sim crashes.
• Actual behavior: $ sim crashes

Steps to reproduce

1. Follows the steps at https://gazebosim.org/api/sim/9/surface_vehicles.html

Output

gz sim -r ~/gazebo_maritime_ws/src/gazebo_maritime/worlds/sydney_regatta.sdf 
Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[libprotobuf ERROR google/protobuf/descriptor_database.cc:175] Symbol name "gz.sim.private_msgs.PerformerAffinity" conflicts with the existing symbol "gz.sim.private_msgs.PerformerAffinity".
[libprotobuf FATAL google/protobuf/descriptor.cc:1382] CHECK failed: GeneratedDatabase()->Add(encoded_file_descriptor, size): 
terminate called after throwing an instance of 'google::protobuf::FatalException'
  what():  CHECK failed: GeneratedDatabase()->Add(encoded_file_descriptor, size): 
Stack trace (most recent call last):
#31   Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x7ea0d2b17199, in gz::sim::v8::SdfEntityCreator::LoadModelPlugins()
#30   Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x7ea0d2b1f4b5, in 
#29   Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x7ea0d2b53d28, in gz::sim::v8::SimulationRunner::LoadPlugins(unsigned long, std::vector<sdf::v14::Plugin, std::allocator<sdf::v14::Plugin> > const&)
#28   Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x7ea0d2b614d3, in gz::sim::v8::SystemManager::LoadPlugin(unsigned long, sdf::v14::Plugin const&)
#27   Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x7ea0d2b5fca9, in gz::sim::v8::SystemLoader::LoadPlugin(sdf::v14::Plugin const&)
#26   Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x7ea0d2b5ed58, in 
#25   Object "/lib/x86_64-linux-gnu/libgz-plugin2-loader.so.2", at 0x7ea0d7e3656f, in gz::plugin::Loader::LoadLib(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)
#24   Object "/lib/x86_64-linux-gnu/libgz-plugin2-loader.so.2", at 0x7ea0d7e354dd, in gz::plugin::Loader::Implementation::LoadLib(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)
#23   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7ea0d80906c7, in dlopen
#22   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7ea0d809012d, in 
#21   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7ea0d8174b62, in _dl_catch_error
#20   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7ea0d8174a97, in _dl_catch_exception
#19   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7ea0d809063b, in 
#18   Object "/lib64/ld-linux-x86-64.so.2", at 0x7ea0d884d34d, in 
#17   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7ea0d8174a97, in _dl_catch_exception
#16   Object "/lib64/ld-linux-x86-64.so.2", at 0x7ea0d884cff5, in 
#15   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7ea0d8174af4, in _dl_catch_exception
#14   Object "/lib64/ld-linux-x86-64.so.2", at 0x7ea0d8845567, in 
#13   Object "/lib64/ld-linux-x86-64.so.2", at 0x7ea0d884547d, in 
#12   Object "/lib/x86_64-linux-gnu/libgz-sim7.so.7", at 0x7ea0a2ab826b, in 
#11   Object "/lib/x86_64-linux-gnu/libprotobuf.so.23", at 0x7ea0d1f81951, in google::protobuf::internal::AddDescriptors(google::protobuf::internal::DescriptorTable const*)
#10   Object "/lib/x86_64-linux-gnu/libprotobuf.so.23", at 0x7ea0d1f81966, in google::protobuf::internal::AddDescriptors(google::protobuf::internal::DescriptorTable const*)
#9    Object "/lib/x86_64-linux-gnu/libprotobuf.so.23", at 0x7ea0d1e92c35, in 
#8    Object "/lib/x86_64-linux-gnu/libgcc_s.so.1", at 0x7ea0d7ea72dc, in _Unwind_Resume
#7    Object "/lib/x86_64-linux-gnu/libgcc_s.so.1", at 0x7ea0d7ea6883, in 
#6    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7ea0d3cad958, in __gxx_personality_v0
#5    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7ea0d3cad1e8, in 
#4    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7ea0d3cae20b, in 
#3    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7ea0d3ca2b9d, in 
#2    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7ea0d80287f2, in abort
#1    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7ea0d8042475, in raise
#0    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7ea0d80969fc, in pthread_kill
Aborted (Signal sent by tkill() 17879 1000)

[azeey]

What OS version are you using? It looks like there's an issue with the protobuf version. Do you have a newer protobuf version installed than what comes in Ubuntu by default?

[DisCoLabIITK]

Hi. I am using Ubuntu 22.04.5 LTS x86_64. I have narrowed down the issue to two libraries: libSurface.so and libWaveVisual.so. If i disable these two the models load and sim doesn't crash. How to check the protobuf version?

[azeey]

Taking a closer look at your error logs, it looks like you have both Gazebo Harmonic (gz-sim8) and Garden (gz-sim7) installed:

#26   Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x7ea0d2b5ed58, in 
...
#12   Object "/lib/x86_64-linux-gnu/libgz-sim7.so.7", at 0x7ea0a2ab826b, in 
...

While it's possible to use them side by side, it might complicate things a bit. Can you try uninstalling Garden? Depending on how you installed things, the following might work

sudo apt-get remove gz-garden
sudo apt-get autoremove

You'll then have to clean and rebuild your workspace to make sure it's using Harmonic.

[DisCoLabIITK]

I did the above mentioned steps. I noticed a few things. If i build after i delete the logs, build and install folder using "colcon build" the sim loads except for it cannot find the plugins error:

[Err] [SystemLoader.cc:92] Failed to load system plugin [libPublisherPlugin.so] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [libWaveVisual.so] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [libSurface.so] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [libSurface.so] : Could not find shared library.
Warning [Utils.cc:132] [/sdf/plugin[@name="maritime::WaveVisual"]:<data-string>:L1]: XML Element[plugin], child of element[sdf], not defined in SDF. Copying[plugin] as children of [sdf].
[GUI] [Err] [SystemLoader.cc:92] Failed to load system plugin [libWaveVisual.so] : Could not find shared library.
Warning [Utils.cc:132] [/sdf/plugin[@name="maritime::WaveVisual"]:<data-string>:L1]: XML Element[plugin], child of element[sdf], not defined in SDF. Copying[plugin] as children of [sdf].

However if i repeat the steps but instead build with "colcon build --merge-install" and start the sim, it crashes with the same protobuf error.