Gazebo shutdown after sometimes with the mbzirc_naive_spinning_radar

[t-thanh]

Hi,

I have issue with mbzirc_naive_spinning_radar.
I follow the tutorial and can see the visualize lidar of the spinning lidar in gazebo. However, Gazebo shutdown after sometimes (about one minute) with the error below.
Note: I'm in Ubuntu 20.04 native, all installations followed with the instruction

[ign gazebo-1] [Msg] Loading plugin [ignition-rendering-ogre2]
[ign gazebo-1] free(): invalid next size (fast)
[ign gazebo-1] Stack trace (most recent call last):
[ign gazebo-1] #31   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f6a0290a5f0, in 
[ign gazebo-1] #30   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f6a02a79cf1, in rb_vm_exec
[ign gazebo-1] #29   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f6a02a735e0, in 
[ign gazebo-1] #28   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f6a02a62805, in 
[ign gazebo-1] #27   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f6a02a7c2da, in 
[ign gazebo-1] #26   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f6a02a6f4b4, in 
[ign gazebo-1] #25   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f6a029cd3be, in 
[ign gazebo-1] #24   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f6a0290d742, in rb_protect
[ign gazebo-1] #23   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f6a02a86f80, in rb_yield
[ign gazebo-1] #22   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f6a02a79cf1, in rb_vm_exec
[ign gazebo-1] #21   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f6a02a735e0, in 
[ign gazebo-1] #20   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f6a02a62805, in 
[ign gazebo-1] #19   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f6a02a7c2da, in 
[ign gazebo-1] #18   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f6a02a6f4b4, in 
[ign gazebo-1] #17   Object "/usr/lib/x86_64-linux-gnu/ruby/2.7.0/fiddle.so", at 0x7f69fe3cc714, in 
[ign gazebo-1] #16   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f6a02a40929, in rb_nogvl
[ign gazebo-1] #15   Object "/usr/lib/x86_64-linux-gnu/ruby/2.7.0/fiddle.so", at 0x7f69fe3cc8fb, in 
[ign gazebo-1] #14   Object "/lib/x86_64-linux-gnu/libffi.so.7", at 0x7f69fe365409, in 
[ign gazebo-1] #13   Object "/lib/x86_64-linux-gnu/libffi.so.7", at 0x7f69fe365ff4, in 
[ign gazebo-1] #12   Object "/usr/lib/x86_64-linux-gnu/libignition-gazebo6-ign.so.6.9.0", at 0x7f69fd90ff25, in runServer
[ign gazebo-1] #11   Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7f69fd4f113b, in ignition::gazebo::v6::Server::Run(bool, unsigned long, bool)
[ign gazebo-1] #10   Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7f69fd4f9e63, in 
[ign gazebo-1] #9    Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7f69fd507bda, in ignition::gazebo::v6::SimulationRunner::Run(unsigned long)
[ign gazebo-1] #8    Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7f69fd458f26, in ignition::gazebo::v6::EntityComponentManager::SetAllComponentsUnchanged()
[ign gazebo-1] #7    Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7f69fd466bc8, in std::_Hashtable<unsigned long, std::pair<unsigned long const, std::unordered_set<unsigned long, std::hash<unsigned long>, std::equal_to<unsigned long>, std::allocator<unsigned long> > >, std::allocator<std::pair<unsigned long const, std::unordered_set<unsigned long, std::hash<unsigned long>, std::equal_to<unsigned long>, std::allocator<unsigned long> > > >, 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()
[ign gazebo-1] #6    Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7f69fd466a70, in std::_Hashtable<unsigned long, unsigned long, std::allocator<unsigned long>, std::__detail::_Identity, 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, true, true> >::~_Hashtable()
[ign gazebo-1] #5    Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7f69fd466a2a, in std::_Hashtable<unsigned long, unsigned long, std::allocator<unsigned long>, std::__detail::_Identity, 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, true, true> >::clear()
[ign gazebo-1] #4    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6a02705bab, in 
[ign gazebo-1] #3    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6a027042fb, in 
[ign gazebo-1] #2    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6a026fc26d, in 
[ign gazebo-1] #1    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6a02691858, in abort
[ign gazebo-1] #0    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6a026b200b, in gsignal
[ign gazebo-1] Aborted (Signal sent by tkill() 860540 1000)
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:1571] Updated sta[GUI] [Dbg] [Application.cc:388] Loading plugin [VisualizeLidar]
[ign gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[ign gazebo-1] [GUI] [Dbg] [VisualizeLidar.cc:189] Creating lidar visual
[ign gazebo-1] [GUI] [Msg] Added plugin [Visualize lidar] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [VisualizeLidar] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libVisualizeLidar.so]
[ign gazebo-1] [GUI] [Msg] Refreshing topic list for LaserScan messages.
[ign gazebo-1] [GUI] [Msg] Lidar Visual Display OFF.
[ign gazebo-1] [GUI] [Msg] Lidar Visual Display ON.
[ign gazebo-1] [GUI] [Msg] Refreshing topic list for LaserScan messages.
[ign gazebo-1] [GUI] [Msg] Subscribed to /world/coast/model/usv/model/sensor_0/link/sensor_link/sensor/lidar/scan
[ign gazebo-1] [GUI] [Dbg] [SignalHandler.cc:141] Received signal[2].
[ign gazebo-1] [GUI] [Dbg] [Gui.cc:331] Shutting down ign-gazebo-gui
[ign gazebo-1] [GUI] [Dbg] [Application.cc:134] Terminating application.
[ign gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[ign gazebo-1] [GUI] [Dbg] [MinimalScene.cc:583] Destroy scene [scene]
[INFO] [ign gazebo-1]: process has finished cleanly [pid 860520]

[iche033]

Hi, I tried running the sim with the spinning lidar for a while but haven't been able to reproduce the crash yet. Looking at your backtrace and console output, I think it could be coming from the Visualize Lidar GUI plugin upstream since I also ran into a similar issue before when closing the plugin. We noticed obvious locking issues / race condition in that plugin and I've created a PR to fix it in gazebosim/gz-sim#1538