Segmentation fault in ros::NodeHandle::destruct()

[rishabh900]

I am trying to spawn pr2(xacro) in empty world gazebo along with its controllers using pr2_controller_manager. But whenever I try to roslaunch it's launch file I get the following segmentation fault:-

Thread 28 "gzserver" received signal SIGSEGV, Segmentation fault. [Switching to Thread 0x7fff63ffd700 (LWP 13263)] 0x00007fffc96ac0ed in ros::NodeHandle::destruct() () from /opt/ros/kinetic/lib/libroscpp.so

And its backtrace is :-

`#0 0x00007fffc96ac0ed in ros::NodeHandle::destruct() () from /opt/ros/kinetic/lib/libroscpp.so

#1 0x00007fffc96ac269 in ros::NodeHandle::~NodeHandle() () from /opt/ros/kinetic/lib/libroscpp.so

#2 0x00007fff105a54b4 in pr2_controller_manager::ControllerManager::~ControllerManager() ()
from /home/deadmanlogan/i_am_from_source/catkin_ws/devel_isolated/pr2_controller_manager/lib/libpr2_controller_manager.so

#3 0x00007fff105a5ed9 in pr2_controller_manager::ControllerManager::~ControllerManager() ()
from /home/deadmanlogan/i_am_from_source/catkin_ws/devel_isolated/pr2_controller_manager/lib/libpr2_controller_manager.so

#4 0x00007fff184b480a in gazebo::GazeboRosControllerManager::~GazeboRosControllerManager() ()
from /home/deadmanlogan/i_am_from_source/catkin_ws/devel_isolated/pr2_gazebo_plugins/lib/libgazebo_ros_controller_manager.so

#5 0x00007fff184b4996 in gazebo::GazeboRosControllerManager::~GazeboRosControllerManager() ()
from /home/deadmanlogan/i_am_from_source/catkin_ws/devel_isolated/pr2_gazebo_plugins/lib/libgazebo_ros_controller_manager.so

#6 0x00007ffff5ba80c9 in boost::checked_deletegazebo::ModelPlugin (x=0x7fff0d795b90) at /usr/include/boost/core/checked_delete.hpp:34

#7 0x00007ffff5baadd6 in boost::detail::sp_counted_impl_pgazebo::ModelPlugin::dispose (this=0x7fff0d7955c0)
at /usr/include/boost/smart_ptr/detail/sp_counted_impl.hpp:78

#8 0x00007ffff59b4efe in boost::detail::sp_counted_base::release (this=0x7fff0d7955c0)
at /usr/include/boost/smart_ptr/detail/sp_counted_base_gcc_x86.hpp:146

#9 0x00007ffff59b4f91 in boost::detail::shared_count::~shared_count (this=0x7fff63ffb3d8, __in_chrg=)
at /usr/include/boost/smart_ptr/detail/shared_count.hpp:443

#10 0x00007ffff5b9f086 in boost::shared_ptrgazebo::ModelPlugin::~shared_ptr (this=0x7fff63ffb3d0, __in_chrg=)
at /usr/include/boost/smart_ptr/shared_ptr.hpp:323

#11 0x00007ffff5b9a392 in gazebo::physics::Model::LoadPlugin (this=0x7fff3c24bf20, _sdf=std::shared_ptr (count 3, weak 5) 0x7fff368df950)
at /home/deadmanlogan/i_am_from_source/Gazebo-7/gazebo/physics/Model.cc:1002

#12 0x00007ffff5b999e2 in gazebo::physics::Model::LoadPlugins (this=0x7fff3c24bf20)
at /home/deadmanlogan/i_am_from_source/Gazebo-7/gazebo/physics/Model.cc:915

#13 0x00007ffff5c08bd9 in gazebo::physics::World::ProcessFactoryMsgs (this=0x11fbe70)
at /home/deadmanlogan/i_am_from_source/Gazebo-7/gazebo/physics/World.cc:1958

#14 0x00007ffff5c0b9de in gazebo::physics::World::ProcessMessages (this=0x11fbe70)
at /home/deadmanlogan/i_am_from_source/Gazebo-7/gazebo/physics/World.cc:2282

#15 0x00007ffff5c0069f in gazebo::physics::World::Step (this=0x11fbe70) at /home/deadmanlogan/i_am_from_source/Gazebo-7/gazebo/physics/World.cc:688

#16 0x00007ffff5bff06c in gazebo::physics::World::RunLoop (this=0x11fbe70) at /home/deadmanlogan/i_am_from_source/Gazebo-7/gazebo/physics/World.cc:481

#17 0x00007ffff5c2e413 in boost::_mfi::mf0<void, gazebo::physics::World>::operator() (this=0x12bff98, p=0x11fbe70)
at /usr/include/boost/bind/mem_fn_template.hpp:49

#18 0x00007ffff5c2d4be in boost::_bi::list1<boost::_bi::valuegazebo::physics::World* >::operator()<boost::_mfi::mf0<void, gazebo::physics::World>, boost::_bi::list0> (this=0x12bffa8, f=..., a=...) at /usr/include/boost/bind/bind.hpp:253

#19 0x00007ffff5c2b74a in boost::_bi::bind_t<void, boost::_mfi::mf0<void, gazebo::physics::World>, boost::_bi::list1<boost::_bi::valuegazebo::physics::World* > >::operator() (this=0x12bff98) at /usr/include/boost/bind/bind.hpp:893

#20 0x00007ffff5c3070a in boost::detail::thread_data<boost::_bi::bind_t<void, boost::_mfi::mf0<void, gazebo::physics::World>, boost::_bi::list1<boost::_bi::valuegazebo::physics::World* > > >::run (this=0x12bfde0) at /usr/include/boost/thread/detail/thread.hpp:116

#21 0x00007ffff35c65d5 in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.58.0

#22 0x00007ffff79086ba in start_thread (arg=0x7fff63ffd700) at pthread_create.c:333

#23 0x00007ffff64c741d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:109`

Kindly advice what could be the reason.

[dirk-thomas]

I am not sure if you have seen the ROS support guidelines but we kindly ask to raise questions like this on answers.ros.org instead.

The rational for asking all kind of questions in a single place is:

• There are many more people reading questions there so your chances on getting an answer and in a timely manner are much higher.
• In the future other users will search there for similar problems and can find your question and the potential answers.
• The issue tracker in this repo is used to track bugs, feature requests, etc. But your question is not such an action item.

Therefore I will close this ticket here for now. If you have asked your question on answers.ros.org please feel free to add a link to the question to this ticket so that future readers can find the related question.