Skip to content

Fix: random segmentation fault during detach using physics mutex #20

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
awesomebytes merged 1 commit into from
Feb 16, 2022
Merged

Fix: random segmentation fault during detach using physics mutex #20

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 4 additions & 0 deletions include/gazebo_ros_link_attacher.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,8 @@
#ifndef GAZEBO_ROS_LINK_ATTACHER_HH
#define GAZEBO_ROS_LINK_ATTACHER_HH

#include <boost/thread/recursive_mutex.hpp>

#include <ros/ros.h>

#include <sdf/sdf.hh>
Expand Down Expand Up @@ -73,6 +75,8 @@ namespace gazebo

std::vector<fixedJoint> joints;

boost::recursive_mutex* physics_mutex;

/// \brief The physics engine.
physics::PhysicsEnginePtr physics;

Expand Down
4 changes: 4 additions & 0 deletions src/gazebo_ros_link_attacher.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,3 +1,4 @@
#include <boost/thread/recursive_mutex.hpp>
#include <gazebo/common/Plugin.hh>
#include <ros/ros.h>
#include "gazebo_ros_link_attacher.h"
Expand Down Expand Up @@ -35,6 +36,8 @@ namespace gazebo

this->world = _world;
this->physics = this->world->Physics();
this->physics_mutex = this->physics->GetPhysicsUpdateMutex();

this->attach_service_ = this->nh_.advertiseService("attach", &GazeboRosLinkAttacher::attach_callback, this);
ROS_INFO_STREAM("Attach service at: " << this->nh_.resolveName("attach"));
this->detach_service_ = this->nh_.advertiseService("detach", &GazeboRosLinkAttacher::detach_callback, this);
Expand Down Expand Up @@ -151,6 +154,7 @@ namespace gazebo
// search for the instance of joint and do detach
fixedJoint j;
if(this->getJoint(model1, link1, model2, link2, j)){
boost::recursive_mutex::scoped_lock lock(*this->physics_mutex);
j.joint->Detach();
return true;
}
Expand Down