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Published
20 hours ago •
robotology
robotology
Buffered port getOutputCount may cause a segfault if called when one of the output ports is closing
trafficstars
Describe the bug
This issue originated when we noticed that the yarprobotinterface sometimes crashed when closing the module we use for the walking. Initially, the cause was not very clear until it happened also in simulation, this time with WholeBodyDynamics starting as a separate device. It happened once that the device crashed after closing the walking module. In particular, it crashed after the walking module closed the ports used to read the external wrenches. These are simple BufferedPorts.
I then launched WholeBodyDynamics using valgrind and I obtained several memory leaks.
Here the output
sdafarra@iiticublap104:~$ YARP_CLOCK=/clock valgrind yarprobotinterface --config launch-wholebodydynamics.xml
==220691== Memcheck, a memory error detector
==220691== Copyright (C) 2002-2017, and GNU GPL'd, by Julian Seward et al.
==220691== Using Valgrind-3.15.0 and LibVEX; rerun with -h for copyright info
==220691== Command: yarprobotinterface --config launch-wholebodydynamics.xml
==220691==
[INFO] |yarp.os.Port| Port /iiticublap104/yarprobotinterface/220691/clock:i active at tcp://10.240.9.61:10274/
[INFO] |yarp.os.Network| Success: port-to-port persistent connection added.
[INFO] |yarp.os.Time| Waiting for clock server to start broadcasting data ...
[INFO] |yarp.os.impl.PortCoreInputUnit| Receiving input from /clock to /iiticublap104/yarprobotinterface/220691/clock:i using tcp
[ERROR] |yarp.os.Property| cannot read from yarprobotinterface.ini
[DEBUG] Reading file /home/sdafarra/Software/robotology-superbuild/build/install/share/yarp/robots/iCubGazeboV3/launch-wholebodydynamics.xml
[WARNING] Invalid syntax while loading /home/sdafarra/Software/robotology-superbuild/build/install/share/yarp/robots/iCubGazeboV3/launch-wholebodydynamics.xml at line 1 . Expected document of type robot . Found devices
[DEBUG] yarprobotinterface: using xml parser for DTD v3.x
[DEBUG] Reading file /home/sdafarra/Software/robotology-superbuild/build/install/share/yarp/robots/iCubGazeboV3/launch-wholebodydynamics.xml
[DEBUG] Preprocessor complete in: 0.077 s
[WARNING] Invalid syntax while loading at line 4 . "robot" element should contain the "portprefix" attribute. Using "name" attribute
[INFO] |yarp.os.Port| Port /iCubGazeboV3/yarprobotinterface active at tcp://10.240.9.61:10053/
[INFO] startup phase starting...
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/torso/rpc:o active at tcp://10.240.9.61:10054/
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/torso/command:o active at tcp://10.240.9.61:10055/
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/torso/stateExt:i active at tcp://10.240.9.61:10056/
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /wholeBodyDynamics/torso/rpc:o to /icubSim/torso/rpc:i using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /wholeBodyDynamics/torso/command:o to /icubSim/torso/command:i using udp
[INFO] |yarp.os.impl.PortCoreInputUnit| Receiving input from /icubSim/torso/stateExt:o to /wholeBodyDynamics/torso/stateExt:i using udp
[INFO] |yarp.dev.PolyDriver| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/left_arm/rpc:o active at tcp://10.240.9.61:10057/
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/left_arm/command:o active at tcp://10.240.9.61:10058/
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/left_arm/stateExt:i active at tcp://10.240.9.61:10059/
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /wholeBodyDynamics/left_arm/rpc:o to /icubSim/left_arm/rpc:i using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /wholeBodyDynamics/left_arm/command:o to /icubSim/left_arm/command:i using udp
[INFO] |yarp.os.impl.PortCoreInputUnit| Receiving input from /icubSim/left_arm/stateExt:o to /wholeBodyDynamics/left_arm/stateExt:i using udp
[INFO] |yarp.dev.PolyDriver| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/right_arm/rpc:o active at tcp://10.240.9.61:10060/
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/right_arm/command:o active at tcp://10.240.9.61:10061/
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/right_arm/stateExt:i active at tcp://10.240.9.61:10062/
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /wholeBodyDynamics/right_arm/rpc:o to /icubSim/right_arm/rpc:i using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /wholeBodyDynamics/right_arm/command:o to /icubSim/right_arm/command:i using udp
[INFO] |yarp.os.impl.PortCoreInputUnit| Receiving input from /icubSim/right_arm/stateExt:o to /wholeBodyDynamics/right_arm/stateExt:i using udp
[INFO] |yarp.dev.PolyDriver| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/left_leg/rpc:o active at tcp://10.240.9.61:10063/
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/left_leg/command:o active at tcp://10.240.9.61:10064/
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/left_leg/stateExt:i active at tcp://10.240.9.61:10065/
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /wholeBodyDynamics/left_leg/rpc:o to /icubSim/left_leg/rpc:i using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /wholeBodyDynamics/left_leg/command:o to /icubSim/left_leg/command:i using udp
[INFO] |yarp.os.impl.PortCoreInputUnit| Receiving input from /icubSim/left_leg/stateExt:o to /wholeBodyDynamics/left_leg/stateExt:i using udp
[INFO] |yarp.dev.PolyDriver| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/right_leg/rpc:o active at tcp://10.240.9.61:10066/
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/right_leg/command:o active at tcp://10.240.9.61:10067/
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/right_leg/stateExt:i active at tcp://10.240.9.61:10068/
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /wholeBodyDynamics/right_leg/rpc:o to /icubSim/right_leg/rpc:i using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /wholeBodyDynamics/right_leg/command:o to /icubSim/right_leg/command:i using udp
[INFO] |yarp.os.impl.PortCoreInputUnit| Receiving input from /icubSim/right_leg/stateExt:o to /wholeBodyDynamics/right_leg/stateExt:i using udp
[INFO] |yarp.dev.PolyDriver| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/head/rpc:o active at tcp://10.240.9.61:10069/
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/head/command:o active at tcp://10.240.9.61:10070/
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/head/stateExt:i active at tcp://10.240.9.61:10071/
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /wholeBodyDynamics/head/rpc:o to /icubSim/head/rpc:i using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /wholeBodyDynamics/head/command:o to /icubSim/head/command:i using udp
[INFO] |yarp.os.impl.PortCoreInputUnit| Receiving input from /icubSim/head/stateExt:o to /wholeBodyDynamics/head/stateExt:i using udp
[INFO] |yarp.dev.PolyDriver| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/imu active at tcp://10.240.9.61:10072/
[INFO] |yarp.os.impl.PortCoreInputUnit| Receiving input from /icubSim/inertial to /wholeBodyDynamics/imu using udp
[INFO] |yarp.dev.PolyDriver| Created device <genericSensorClient>. See C++ class yarp::dev::GenericSensorClient for documentation.
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/l_arm_ft_sensor active at tcp://10.240.9.61:10073/
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/l_arm_ft_sensor/rpc:o active at tcp://10.240.9.61:10074/
[INFO] |yarp.os.impl.PortCoreInputUnit| Receiving input from /icubSim/left_arm/analog:o to /wholeBodyDynamics/l_arm_ft_sensor using udp
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /wholeBodyDynamics/l_arm_ft_sensor/rpc:o to /icubSim/left_arm/analog:o/rpc:i using tcp
[INFO] |yarp.dev.PolyDriver| Created device <analogsensorclient>. See C++ class AnalogSensorClient for documentation.
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/r_arm_ft_sensor active at tcp://10.240.9.61:10075/
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/r_arm_ft_sensor/rpc:o active at tcp://10.240.9.61:10076/
[INFO] |yarp.os.impl.PortCoreInputUnit| Receiving input from /icubSim/right_arm/analog:o to /wholeBodyDynamics/r_arm_ft_sensor using udp
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /wholeBodyDynamics/r_arm_ft_sensor/rpc:o to /icubSim/right_arm/analog:o/rpc:i using tcp
[INFO] |yarp.dev.PolyDriver| Created device <analogsensorclient>. See C++ class AnalogSensorClient for documentation.
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/l_foot_front_ft_sensor active at tcp://10.240.9.61:10077/
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/l_foot_front_ft_sensor/rpc:o active at tcp://10.240.9.61:10078/
[INFO] |yarp.os.impl.PortCoreInputUnit| Receiving input from /icubSim/left_foot_front/analog:o to /wholeBodyDynamics/l_foot_front_ft_sensor using udp
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /wholeBodyDynamics/l_foot_front_ft_sensor/rpc:o to /icubSim/left_foot_front/analog:o/rpc:i using tcp
[INFO] |yarp.dev.PolyDriver| Created device <analogsensorclient>. See C++ class AnalogSensorClient for documentation.
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/l_foot_rear_ft_sensor active at tcp://10.240.9.61:10079/
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/l_foot_rear_ft_sensor/rpc:o active at tcp://10.240.9.61:10080/
[INFO] |yarp.os.impl.PortCoreInputUnit| Receiving input from /icubSim/left_foot_rear/analog:o to /wholeBodyDynamics/l_foot_rear_ft_sensor using udp
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /wholeBodyDynamics/l_foot_rear_ft_sensor/rpc:o to /icubSim/left_foot_rear/analog:o/rpc:i using tcp
[INFO] |yarp.dev.PolyDriver| Created device <analogsensorclient>. See C++ class AnalogSensorClient for documentation.
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/r_foot_front_ft_sensor active at tcp://10.240.9.61:10081/
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/r_foot_front_ft_sensor/rpc:o active at tcp://10.240.9.61:10082/
[INFO] |yarp.os.impl.PortCoreInputUnit| Receiving input from /icubSim/right_foot_front/analog:o to /wholeBodyDynamics/r_foot_front_ft_sensor using udp
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /wholeBodyDynamics/r_foot_front_ft_sensor/rpc:o to /icubSim/right_foot_front/analog:o/rpc:i using tcp
[INFO] |yarp.dev.PolyDriver| Created device <analogsensorclient>. See C++ class AnalogSensorClient for documentation.
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/r_foot_rear_ft_sensor active at tcp://10.240.9.61:10083/
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/r_foot_rear_ft_sensor/rpc:o active at tcp://10.240.9.61:10084/
[INFO] |yarp.os.impl.PortCoreInputUnit| Receiving input from /icubSim/right_foot_rear/analog:o to /wholeBodyDynamics/r_foot_rear_ft_sensor using udp
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /wholeBodyDynamics/r_foot_rear_ft_sensor/rpc:o to /icubSim/right_foot_rear/analog:o/rpc:i using tcp
[INFO] |yarp.dev.PolyDriver| Created device <analogsensorclient>. See C++ class AnalogSensorClient for documentation.
[DEBUG] wholeBodyDynamics Statistics: Opening estimator.
[INFO] wholeBodyDynamics : Loading model from /home/sdafarra/Software/robotology-superbuild/build/install/share/iCub/robots/iCubGazeboV3/model.urdf
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
[DEBUG] wholeBodyDynamics Statistics: Estimator opened in 1.022 s.
[DEBUG] wholeBodyDynamics Statistics: Loading settings from configuration files.
[INFO] wholeBodyDynamics : Using the following filter cutoff frequencies,
[INFO] wholeBodyDynamics: imuFilterCutoffInHz: 3 Hz.
[INFO] wholeBodyDynamics: forceTorqueFilterCutoffInHz: 3 Hz.
[INFO] wholeBodyDynamics: jointVelFilterCutoffInHz: 3 Hz.
[INFO] wholeBodyDynamics: jointAccFilterCutoffInHz: 3 Hz.
[INFO] wholeBodyDynamics: setting startWithZeroFTSensorOffsets was set to true , FT sensor offsets will be automatically reset to zero.
[DEBUG] wholeBodyDynamics Statistics: Settings loaded in 0.356 s.
[DEBUG] wholeBodyDynamics Statistics: Opening RPC port.
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/rpc active at tcp://10.240.9.61:10085/
[DEBUG] wholeBodyDynamics Statistics: RPC port opened in 9.129 s.
[DEBUG] wholeBodyDynamics Statistics: Opening settings port.
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/settings active at tcp://10.240.9.61:10086/
[DEBUG] wholeBodyDynamics Statistics: Settings port opened in 8.215 s.
[DEBUG] wholeBodyDynamics Statistics: Opening remapper control board.
[INFO] |yarp.dev.PolyDriver| Created device <controlboardremapper>. See C++ class ControlBoardRemapper for documentation.
[DEBUG] wholeBodyDynamics Statistics: Remapper control board opened in 3.999 s.
[DEBUG] wholeBodyDynamics Statistics: Opening remapper virtual sensors.
[INFO] |yarp.dev.PolyDriver| Created device <virtualAnalogRemapper>. See C++ class yarp::dev::VirtualAnalogRemapper for documentation.
[DEBUG] wholeBodyDynamics Statistics: Remapper virtual sensors opened in 4.656 s.
[DEBUG] wholeBodyDynamics Statistics: Opening contact frames.
[WARNING] subModel no 0 has the maximum number of variables (6). The frame l_upper_leg will not be added to it.
[WARNING] subModel no 0 has the maximum number of variables (6). The frame r_upper_leg will not be added to it.
[DEBUG] wholeBodyDynamics Statistics: Contact frames opened in 0.253 s.
[DEBUG] wholeBodyDynamics Statistics: Opening external wrenches ports.
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/left_arm/endEffectorWrench:o active at tcp://10.240.9.61:10087/
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/right_arm/endEffectorWrench:o active at tcp://10.240.9.61:10088/
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o active at tcp://10.240.9.61:10089/
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o active at tcp://10.240.9.61:10090/
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o active at tcp://10.240.9.61:10091/
[INFO] |yarp.os.Port| Port /wholeBodyDynamics/right_foot_rear/cartesianEndEffectorWrench:o active at tcp://10.240.9.61:10092/
[DEBUG] wholeBodyDynamics Statistics: External port wrenches opened in 58.372 s.
[DEBUG] wholeBodyDynamics Statistics: Opening multiple analog sensors remapper.
[INFO] |yarp.dev.PolyDriver| Created device <multipleanalogsensorsremapper>. See C++ class MultipleAnalogSensorsRemapper for documentation.
[DEBUG] wholeBodyDynamics Statistics: Multiple analog sensors remapper opened in 4.351 s.
[DEBUG] wholeBodyDynamics Statistics: Configuration finished. Waiting attachAll to be called.
[INFO] |yarp.dev.PolyDriver| Created device <wholebodydynamics>. See C++ class yarp::dev::WholeBodyDynamicsDevice for documentation.
[INFO] Entering action level 15 of phase startup
[DEBUG] wholeBodyDynamics Statistics: attachAll started. Attaching all control board.
[DEBUG] wholeBodyDynamics Statistics: Attaching all control board took 9.509 s.
[DEBUG] wholeBodyDynamics Statistics: Attaching all virtual analog sensors.
[DEBUG] wholeBodyDynamics Statistics: Attaching all virtual analog sensors took 0 s.
[DEBUG] wholeBodyDynamics Statistics: Attaching all FTs.
[INFO] Starting attach MAS and analog ft
[DEBUG] wholeBodyDynamicsDevice :: number of ft sensors found in both ft + mas 6 where analog are 6 and mas are 0
[DEBUG] wholeBodyDynamics Statistics: Attaching all Fts took 0 s.
[DEBUG] wholeBodyDynamics Statistics: Attaching all IMUs.
[DEBUG] wholeBodyDynamics Statistics: Attaching all IMUs took 0 s.
[DEBUG] wholeBodyDynamics Statistics: Calibrating offsets.
[DEBUG] wholeBodyDynamics Statistics: Calibrating took 0 s.
[DEBUG] wholeBodyDynamics Statistics: Starting
[INFO] All actions for action level 15 of startup phase started. Waiting for unfinished actions.
[INFO] All actions for action level 15 of startup phase finished.
[INFO] startup phase finished.
[INFO] run phase starting...
[DEBUG] yarprobotinterface running happily
[WARNING] wholeBodyDynamics warning : FT sensor l_arm_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor l_arm_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor l_foot_rear_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor l_foot_rear_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_arm_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_arm_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_foot_front_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor l_arm_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_arm_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_foot_front_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_foot_rear_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_arm_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor l_arm_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_foot_rear_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor l_foot_front_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_arm_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_foot_front_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_foot_rear_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor l_foot_rear_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_arm_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_foot_front_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_foot_rear_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor l_foot_front_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor l_arm_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_arm_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_foot_front_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_foot_rear_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor l_foot_front_ft_sensor was not readed correctly, using old measurement
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o to /walking-coordinator/left_foot_front/cartesianEndEffectorWrench:i using tcp
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_foot_front_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor l_foot_front_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor l_arm_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor l_foot_front_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_foot_rear_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor l_foot_front_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_arm_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_foot_front_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o to /walking-coordinator/left_foot_rear/cartesianEndEffectorWrench:i using tcp
[WARNING] wholeBodyDynamics warning : FT sensor r_foot_rear_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_arm_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_foot_front_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_foot_rear_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor l_foot_front_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor l_foot_front_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_foot_rear_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor l_foot_rear_ft_sensor was not readed correctly, using old measurement
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o to /walking-coordinator/right_foot_front/cartesianEndEffectorWrench:i using tcp
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_foot_front_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_arm_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor l_foot_front_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor l_foot_front_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor l_arm_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_foot_rear_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /wholeBodyDynamics/right_foot_rear/cartesianEndEffectorWrench:o to /walking-coordinator/right_foot_rear/cartesianEndEffectorWrench:i using tcp
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor l_arm_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_arm_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_foot_rear_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor l_arm_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor l_foot_front_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor l_arm_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_foot_rear_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_arm_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_foot_rear_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor l_arm_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor l_foot_front_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_foot_rear_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor l_foot_rear_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[INFO] |yarp.os.impl.PortCoreOutputUnit| Removing output from /wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o to /walking-coordinator/left_foot_front/cartesianEndEffectorWrench:i
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor r_foot_rear_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : FT sensor l_arm_ft_sensor was not readed correctly, using old measurement
[WARNING] wholeBodyDynamics warning : imu sensor was not readed correctly, using old measurement
[INFO] |yarp.os.impl.PortCoreOutputUnit| Removing output from /wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o to /walking-coordinator/left_foot_rear/cartesianEndEffectorWrench:i
==220691== Thread 67:
==220691== Invalid read of size 4
==220691== at 0x4A002B9: non-virtual thunk to yarp::os::impl::SocketTwoWayStream::interrupt() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49FC8D5: yarp::os::impl::Protocol::interrupt() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F8D65: yarp::os::impl::PortCoreOutputUnit::closeMain() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDEC8: yarp::os::impl::PortCore::reapUnits() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D5EBB: yarp::os::impl::PortCore::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Address 0x2a685418 is 24 bytes inside a block of size 120 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x497C683: yarp::os::ShiftStream::Private::close() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49FD0BE: yarp::os::impl::Protocol::closeHelper() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F8A45: yarp::os::impl::PortCoreOutputUnit::closeBasic() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F9306: yarp::os::impl::PortCoreOutputUnit::sendHelper() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F9CC4: yarp::os::impl::PortCoreOutputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x4A09B3B: yarp::os::impl::TcpFace::write(yarp::os::Contact const&) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x491BB31: yarp::os::Carriers::connect(yarp::os::Contact const&) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D6830: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
==220691== Invalid read of size 4
==220691== at 0x508AEB8: ACE_SOCK::close() (in /usr/lib/libACE-6.4.5.so)
==220691== by 0x4A00320: non-virtual thunk to yarp::os::impl::SocketTwoWayStream::interrupt() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49FC8D5: yarp::os::impl::Protocol::interrupt() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F8D65: yarp::os::impl::PortCoreOutputUnit::closeMain() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDEC8: yarp::os::impl::PortCore::reapUnits() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D5EBB: yarp::os::impl::PortCore::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Address 0x2a685418 is 24 bytes inside a block of size 120 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x497C683: yarp::os::ShiftStream::Private::close() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49FD0BE: yarp::os::impl::Protocol::closeHelper() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F8A45: yarp::os::impl::PortCoreOutputUnit::closeBasic() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F9306: yarp::os::impl::PortCoreOutputUnit::sendHelper() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F9CC4: yarp::os::impl::PortCoreOutputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x4A09B3B: yarp::os::impl::TcpFace::write(yarp::os::Contact const&) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x491BB31: yarp::os::Carriers::connect(yarp::os::Contact const&) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D6830: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
==220691== Invalid write of size 1
==220691== at 0x49FC8D6: yarp::os::impl::Protocol::interrupt() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F8D65: yarp::os::impl::PortCoreOutputUnit::closeMain() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDEC8: yarp::os::impl::PortCore::reapUnits() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D5EBB: yarp::os::impl::PortCore::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Address 0x56d5010 is 48 bytes inside a block of size 392 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x49F8A57: yarp::os::impl::PortCoreOutputUnit::closeBasic() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F9306: yarp::os::impl::PortCoreOutputUnit::sendHelper() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F9CC4: yarp::os::impl::PortCoreOutputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x4A09DE3: yarp::os::impl::TcpFace::write(yarp::os::Contact const&) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x491BB31: yarp::os::Carriers::connect(yarp::os::Contact const&) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D6830: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
[INFO] |yarp.os.impl.PortCoreOutputUnit| Removing output from /wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o to /walking-coordinator/right_foot_front/cartesianEndEffectorWrench:i
==220691== Thread 70:
==220691== Invalid write of size 8
==220691== at 0x4B76FEB: std::thread::join() (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x4A0B764: yarp::os::impl::ThreadImpl::join(double) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8B4: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDD8B: yarp::os::impl::PortCore::getOutputCount() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x1ECD0517: yarp::os::BufferedPort<yarp::sig::VectorOf<double> >::getOutputCount() (BufferedPort-inl.h:253)
==220691== by 0x30239194: void yarp::dev::broadcastData<yarp::sig::VectorOf<double> >(yarp::sig::VectorOf<double>&, yarp::os::BufferedPort<yarp::sig::VectorOf<double> >&) (WholeBodyDynamicsDevice.cpp:2497)
==220691== by 0x3022C260: yarp::dev::WholeBodyDynamicsDevice::publishExternalWrenches() (WholeBodyDynamicsDevice.cpp:2581)
==220691== by 0x3022B923: yarp::dev::WholeBodyDynamicsDevice::publishEstimatedQuantities() (WholeBodyDynamicsDevice.cpp:2416)
==220691== by 0x3022C4F3: yarp::dev::WholeBodyDynamicsDevice::run() (WholeBodyDynamicsDevice.cpp:2631)
==220691== by 0x494877D: yarp::os::PeriodicThread::Private::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== Address 0x5efb520 is 32 bytes inside a block of size 312 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D18D4: yarp::os::impl::PortCore::removeOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7D0F: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x49D5BFF: yarp::os::impl::PortCore::addOutput(yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D68B8: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
==220691== Invalid write of size 1
==220691== at 0x4A0B6FE: yarp::os::impl::ThreadImpl::join(double) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8B4: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDD8B: yarp::os::impl::PortCore::getOutputCount() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x1ECD0517: yarp::os::BufferedPort<yarp::sig::VectorOf<double> >::getOutputCount() (BufferedPort-inl.h:253)
==220691== by 0x30239194: void yarp::dev::broadcastData<yarp::sig::VectorOf<double> >(yarp::sig::VectorOf<double>&, yarp::os::BufferedPort<yarp::sig::VectorOf<double> >&) (WholeBodyDynamicsDevice.cpp:2497)
==220691== by 0x3022C260: yarp::dev::WholeBodyDynamicsDevice::publishExternalWrenches() (WholeBodyDynamicsDevice.cpp:2581)
==220691== by 0x3022B923: yarp::dev::WholeBodyDynamicsDevice::publishEstimatedQuantities() (WholeBodyDynamicsDevice.cpp:2416)
==220691== by 0x3022C4F3: yarp::dev::WholeBodyDynamicsDevice::run() (WholeBodyDynamicsDevice.cpp:2631)
==220691== by 0x494877D: yarp::os::PeriodicThread::Private::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== Address 0x5efb52b is 43 bytes inside a block of size 312 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D18D4: yarp::os::impl::PortCore::removeOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7D0F: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x49D5BFF: yarp::os::impl::PortCore::addOutput(yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D68B8: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
==220691== Invalid write of size 1
==220691== at 0x4A0B702: yarp::os::impl::ThreadImpl::join(double) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8B4: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDD8B: yarp::os::impl::PortCore::getOutputCount() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x1ECD0517: yarp::os::BufferedPort<yarp::sig::VectorOf<double> >::getOutputCount() (BufferedPort-inl.h:253)
==220691== by 0x30239194: void yarp::dev::broadcastData<yarp::sig::VectorOf<double> >(yarp::sig::VectorOf<double>&, yarp::os::BufferedPort<yarp::sig::VectorOf<double> >&) (WholeBodyDynamicsDevice.cpp:2497)
==220691== by 0x3022C260: yarp::dev::WholeBodyDynamicsDevice::publishExternalWrenches() (WholeBodyDynamicsDevice.cpp:2581)
==220691== by 0x3022B923: yarp::dev::WholeBodyDynamicsDevice::publishEstimatedQuantities() (WholeBodyDynamicsDevice.cpp:2416)
==220691== by 0x3022C4F3: yarp::dev::WholeBodyDynamicsDevice::run() (WholeBodyDynamicsDevice.cpp:2631)
==220691== by 0x494877D: yarp::os::PeriodicThread::Private::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== Address 0x5efb528 is 40 bytes inside a block of size 312 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D18D4: yarp::os::impl::PortCore::removeOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7D0F: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x49D5BFF: yarp::os::impl::PortCore::addOutput(yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D68B8: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
==220691== Invalid read of size 8
==220691== at 0x497B04E: yarp::os::Semaphore::check() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B717: yarp::os::impl::ThreadImpl::join(double) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8B4: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDD8B: yarp::os::impl::PortCore::getOutputCount() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x1ECD0517: yarp::os::BufferedPort<yarp::sig::VectorOf<double> >::getOutputCount() (BufferedPort-inl.h:253)
==220691== by 0x30239194: void yarp::dev::broadcastData<yarp::sig::VectorOf<double> >(yarp::sig::VectorOf<double>&, yarp::os::BufferedPort<yarp::sig::VectorOf<double> >&) (WholeBodyDynamicsDevice.cpp:2497)
==220691== by 0x3022C260: yarp::dev::WholeBodyDynamicsDevice::publishExternalWrenches() (WholeBodyDynamicsDevice.cpp:2581)
==220691== by 0x3022B923: yarp::dev::WholeBodyDynamicsDevice::publishEstimatedQuantities() (WholeBodyDynamicsDevice.cpp:2416)
==220691== by 0x3022C4F3: yarp::dev::WholeBodyDynamicsDevice::run() (WholeBodyDynamicsDevice.cpp:2631)
==220691== by 0x494877D: yarp::os::PeriodicThread::Private::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== Address 0x5efb538 is 56 bytes inside a block of size 312 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D18D4: yarp::os::impl::PortCore::removeOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7D0F: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x49D5BFF: yarp::os::impl::PortCore::addOutput(yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D68B8: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
==220691== Invalid read of size 4
==220691== at 0x5122FC4: pthread_mutex_lock (pthread_mutex_lock.c:67)
==220691== by 0x497B069: yarp::os::Semaphore::check() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B717: yarp::os::impl::ThreadImpl::join(double) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8B4: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDD8B: yarp::os::impl::PortCore::getOutputCount() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x1ECD0517: yarp::os::BufferedPort<yarp::sig::VectorOf<double> >::getOutputCount() (BufferedPort-inl.h:253)
==220691== by 0x30239194: void yarp::dev::broadcastData<yarp::sig::VectorOf<double> >(yarp::sig::VectorOf<double>&, yarp::os::BufferedPort<yarp::sig::VectorOf<double> >&) (WholeBodyDynamicsDevice.cpp:2497)
==220691== by 0x3022C260: yarp::dev::WholeBodyDynamicsDevice::publishExternalWrenches() (WholeBodyDynamicsDevice.cpp:2581)
==220691== by 0x3022B923: yarp::dev::WholeBodyDynamicsDevice::publishEstimatedQuantities() (WholeBodyDynamicsDevice.cpp:2416)
==220691== by 0x3022C4F3: yarp::dev::WholeBodyDynamicsDevice::run() (WholeBodyDynamicsDevice.cpp:2631)
==220691== by 0x494877D: yarp::os::PeriodicThread::Private::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== Address 0x57881c8 is 24 bytes inside a block of size 104 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x4A0BD6F: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F90A3: yarp::os::impl::PortCoreOutputUnit::~PortCoreOutputUnit() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D18D4: yarp::os::impl::PortCore::removeOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7D0F: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x497AD75: yarp::os::Semaphore::Semaphore(unsigned int) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F769A: yarp::os::impl::PortCoreOutputUnit::PortCoreOutputUnit(yarp::os::impl::PortCore&, int, yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D5C13: yarp::os::impl::PortCore::addOutput(yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D68B8: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
==220691== Invalid read of size 4
==220691== at 0x5122FEF: pthread_mutex_lock (pthread_mutex_lock.c:80)
==220691== by 0x497B069: yarp::os::Semaphore::check() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B717: yarp::os::impl::ThreadImpl::join(double) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8B4: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDD8B: yarp::os::impl::PortCore::getOutputCount() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x1ECD0517: yarp::os::BufferedPort<yarp::sig::VectorOf<double> >::getOutputCount() (BufferedPort-inl.h:253)
==220691== by 0x30239194: void yarp::dev::broadcastData<yarp::sig::VectorOf<double> >(yarp::sig::VectorOf<double>&, yarp::os::BufferedPort<yarp::sig::VectorOf<double> >&) (WholeBodyDynamicsDevice.cpp:2497)
==220691== by 0x3022C260: yarp::dev::WholeBodyDynamicsDevice::publishExternalWrenches() (WholeBodyDynamicsDevice.cpp:2581)
==220691== by 0x3022B923: yarp::dev::WholeBodyDynamicsDevice::publishEstimatedQuantities() (WholeBodyDynamicsDevice.cpp:2416)
==220691== by 0x3022C4F3: yarp::dev::WholeBodyDynamicsDevice::run() (WholeBodyDynamicsDevice.cpp:2631)
==220691== by 0x494877D: yarp::os::PeriodicThread::Private::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== Address 0x57881b8 is 8 bytes inside a block of size 104 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x4A0BD6F: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F90A3: yarp::os::impl::PortCoreOutputUnit::~PortCoreOutputUnit() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D18D4: yarp::os::impl::PortCore::removeOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7D0F: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x497AD75: yarp::os::Semaphore::Semaphore(unsigned int) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F769A: yarp::os::impl::PortCoreOutputUnit::PortCoreOutputUnit(yarp::os::impl::PortCore&, int, yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D5C13: yarp::os::impl::PortCore::addOutput(yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D68B8: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
==220691== Invalid read of size 4
==220691== at 0x5122FF9: pthread_mutex_lock (pthread_mutex_lock.c:81)
==220691== by 0x497B069: yarp::os::Semaphore::check() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B717: yarp::os::impl::ThreadImpl::join(double) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8B4: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDD8B: yarp::os::impl::PortCore::getOutputCount() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x1ECD0517: yarp::os::BufferedPort<yarp::sig::VectorOf<double> >::getOutputCount() (BufferedPort-inl.h:253)
==220691== by 0x30239194: void yarp::dev::broadcastData<yarp::sig::VectorOf<double> >(yarp::sig::VectorOf<double>&, yarp::os::BufferedPort<yarp::sig::VectorOf<double> >&) (WholeBodyDynamicsDevice.cpp:2497)
==220691== by 0x3022C260: yarp::dev::WholeBodyDynamicsDevice::publishExternalWrenches() (WholeBodyDynamicsDevice.cpp:2581)
==220691== by 0x3022B923: yarp::dev::WholeBodyDynamicsDevice::publishEstimatedQuantities() (WholeBodyDynamicsDevice.cpp:2416)
==220691== by 0x3022C4F3: yarp::dev::WholeBodyDynamicsDevice::run() (WholeBodyDynamicsDevice.cpp:2631)
==220691== by 0x494877D: yarp::os::PeriodicThread::Private::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== Address 0x57881c0 is 16 bytes inside a block of size 104 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x4A0BD6F: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F90A3: yarp::os::impl::PortCoreOutputUnit::~PortCoreOutputUnit() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D18D4: yarp::os::impl::PortCore::removeOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7D0F: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x497AD75: yarp::os::Semaphore::Semaphore(unsigned int) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F769A: yarp::os::impl::PortCoreOutputUnit::PortCoreOutputUnit(yarp::os::impl::PortCore&, int, yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D5C13: yarp::os::impl::PortCore::addOutput(yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D68B8: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
==220691== Invalid write of size 4
==220691== at 0x512300C: pthread_mutex_lock (pthread_mutex_lock.c:159)
==220691== by 0x497B069: yarp::os::Semaphore::check() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B717: yarp::os::impl::ThreadImpl::join(double) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8B4: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDD8B: yarp::os::impl::PortCore::getOutputCount() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x1ECD0517: yarp::os::BufferedPort<yarp::sig::VectorOf<double> >::getOutputCount() (BufferedPort-inl.h:253)
==220691== by 0x30239194: void yarp::dev::broadcastData<yarp::sig::VectorOf<double> >(yarp::sig::VectorOf<double>&, yarp::os::BufferedPort<yarp::sig::VectorOf<double> >&) (WholeBodyDynamicsDevice.cpp:2497)
==220691== by 0x3022C260: yarp::dev::WholeBodyDynamicsDevice::publishExternalWrenches() (WholeBodyDynamicsDevice.cpp:2581)
==220691== by 0x3022B923: yarp::dev::WholeBodyDynamicsDevice::publishEstimatedQuantities() (WholeBodyDynamicsDevice.cpp:2416)
==220691== by 0x3022C4F3: yarp::dev::WholeBodyDynamicsDevice::run() (WholeBodyDynamicsDevice.cpp:2631)
==220691== by 0x494877D: yarp::os::PeriodicThread::Private::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== Address 0x57881c0 is 16 bytes inside a block of size 104 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x4A0BD6F: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F90A3: yarp::os::impl::PortCoreOutputUnit::~PortCoreOutputUnit() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D18D4: yarp::os::impl::PortCore::removeOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7D0F: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x497AD75: yarp::os::Semaphore::Semaphore(unsigned int) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F769A: yarp::os::impl::PortCoreOutputUnit::PortCoreOutputUnit(yarp::os::impl::PortCore&, int, yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D5C13: yarp::os::impl::PortCore::addOutput(yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D68B8: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
==220691== Invalid read of size 4
==220691== at 0x512300F: pthread_mutex_lock (pthread_mutex_lock.c:161)
==220691== by 0x497B069: yarp::os::Semaphore::check() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B717: yarp::os::impl::ThreadImpl::join(double) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8B4: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDD8B: yarp::os::impl::PortCore::getOutputCount() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x1ECD0517: yarp::os::BufferedPort<yarp::sig::VectorOf<double> >::getOutputCount() (BufferedPort-inl.h:253)
==220691== by 0x30239194: void yarp::dev::broadcastData<yarp::sig::VectorOf<double> >(yarp::sig::VectorOf<double>&, yarp::os::BufferedPort<yarp::sig::VectorOf<double> >&) (WholeBodyDynamicsDevice.cpp:2497)
==220691== by 0x3022C260: yarp::dev::WholeBodyDynamicsDevice::publishExternalWrenches() (WholeBodyDynamicsDevice.cpp:2581)
==220691== by 0x3022B923: yarp::dev::WholeBodyDynamicsDevice::publishEstimatedQuantities() (WholeBodyDynamicsDevice.cpp:2416)
==220691== by 0x3022C4F3: yarp::dev::WholeBodyDynamicsDevice::run() (WholeBodyDynamicsDevice.cpp:2631)
==220691== by 0x494877D: yarp::os::PeriodicThread::Private::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== Address 0x57881c4 is 20 bytes inside a block of size 104 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x4A0BD6F: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F90A3: yarp::os::impl::PortCoreOutputUnit::~PortCoreOutputUnit() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D18D4: yarp::os::impl::PortCore::removeOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7D0F: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x497AD75: yarp::os::Semaphore::Semaphore(unsigned int) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F769A: yarp::os::impl::PortCoreOutputUnit::PortCoreOutputUnit(yarp::os::impl::PortCore&, int, yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D5C13: yarp::os::impl::PortCore::addOutput(yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D68B8: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
==220691== Invalid read of size 4
==220691== at 0x497B06E: yarp::os::Semaphore::check() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B717: yarp::os::impl::ThreadImpl::join(double) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8B4: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDD8B: yarp::os::impl::PortCore::getOutputCount() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x1ECD0517: yarp::os::BufferedPort<yarp::sig::VectorOf<double> >::getOutputCount() (BufferedPort-inl.h:253)
==220691== by 0x30239194: void yarp::dev::broadcastData<yarp::sig::VectorOf<double> >(yarp::sig::VectorOf<double>&, yarp::os::BufferedPort<yarp::sig::VectorOf<double> >&) (WholeBodyDynamicsDevice.cpp:2497)
==220691== by 0x3022C260: yarp::dev::WholeBodyDynamicsDevice::publishExternalWrenches() (WholeBodyDynamicsDevice.cpp:2581)
==220691== by 0x3022B923: yarp::dev::WholeBodyDynamicsDevice::publishEstimatedQuantities() (WholeBodyDynamicsDevice.cpp:2416)
==220691== by 0x3022C4F3: yarp::dev::WholeBodyDynamicsDevice::run() (WholeBodyDynamicsDevice.cpp:2631)
==220691== by 0x494877D: yarp::os::PeriodicThread::Private::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== Address 0x5788210 is 96 bytes inside a block of size 104 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x4A0BD6F: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F90A3: yarp::os::impl::PortCoreOutputUnit::~PortCoreOutputUnit() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D18D4: yarp::os::impl::PortCore::removeOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7D0F: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x497AD75: yarp::os::Semaphore::Semaphore(unsigned int) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F769A: yarp::os::impl::PortCoreOutputUnit::PortCoreOutputUnit(yarp::os::impl::PortCore&, int, yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D5C13: yarp::os::impl::PortCore::addOutput(yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D68B8: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
==220691== Invalid read of size 4
==220691== at 0x51247B4: __pthread_mutex_unlock_usercnt (pthread_mutex_unlock.c:41)
==220691== by 0x51247B4: pthread_mutex_unlock (pthread_mutex_unlock.c:357)
==220691== by 0x497B090: yarp::os::Semaphore::check() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B717: yarp::os::impl::ThreadImpl::join(double) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8B4: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDD8B: yarp::os::impl::PortCore::getOutputCount() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x1ECD0517: yarp::os::BufferedPort<yarp::sig::VectorOf<double> >::getOutputCount() (BufferedPort-inl.h:253)
==220691== by 0x30239194: void yarp::dev::broadcastData<yarp::sig::VectorOf<double> >(yarp::sig::VectorOf<double>&, yarp::os::BufferedPort<yarp::sig::VectorOf<double> >&) (WholeBodyDynamicsDevice.cpp:2497)
==220691== by 0x3022C260: yarp::dev::WholeBodyDynamicsDevice::publishExternalWrenches() (WholeBodyDynamicsDevice.cpp:2581)
==220691== by 0x3022B923: yarp::dev::WholeBodyDynamicsDevice::publishEstimatedQuantities() (WholeBodyDynamicsDevice.cpp:2416)
==220691== by 0x3022C4F3: yarp::dev::WholeBodyDynamicsDevice::run() (WholeBodyDynamicsDevice.cpp:2631)
==220691== by 0x494877D: yarp::os::PeriodicThread::Private::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== Address 0x57881c8 is 24 bytes inside a block of size 104 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x4A0BD6F: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F90A3: yarp::os::impl::PortCoreOutputUnit::~PortCoreOutputUnit() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D18D4: yarp::os::impl::PortCore::removeOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7D0F: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x497AD75: yarp::os::Semaphore::Semaphore(unsigned int) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F769A: yarp::os::impl::PortCoreOutputUnit::PortCoreOutputUnit(yarp::os::impl::PortCore&, int, yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D5C13: yarp::os::impl::PortCore::addOutput(yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D68B8: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
==220691== Invalid read of size 4
==220691== at 0x51247CB: __pthread_mutex_unlock_usercnt (pthread_mutex_unlock.c:55)
==220691== by 0x51247CB: pthread_mutex_unlock (pthread_mutex_unlock.c:357)
==220691== by 0x497B090: yarp::os::Semaphore::check() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B717: yarp::os::impl::ThreadImpl::join(double) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8B4: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDD8B: yarp::os::impl::PortCore::getOutputCount() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x1ECD0517: yarp::os::BufferedPort<yarp::sig::VectorOf<double> >::getOutputCount() (BufferedPort-inl.h:253)
==220691== by 0x30239194: void yarp::dev::broadcastData<yarp::sig::VectorOf<double> >(yarp::sig::VectorOf<double>&, yarp::os::BufferedPort<yarp::sig::VectorOf<double> >&) (WholeBodyDynamicsDevice.cpp:2497)
==220691== by 0x3022C260: yarp::dev::WholeBodyDynamicsDevice::publishExternalWrenches() (WholeBodyDynamicsDevice.cpp:2581)
==220691== by 0x3022B923: yarp::dev::WholeBodyDynamicsDevice::publishEstimatedQuantities() (WholeBodyDynamicsDevice.cpp:2416)
==220691== by 0x3022C4F3: yarp::dev::WholeBodyDynamicsDevice::run() (WholeBodyDynamicsDevice.cpp:2631)
==220691== by 0x494877D: yarp::os::PeriodicThread::Private::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== Address 0x57881c4 is 20 bytes inside a block of size 104 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x4A0BD6F: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F90A3: yarp::os::impl::PortCoreOutputUnit::~PortCoreOutputUnit() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D18D4: yarp::os::impl::PortCore::removeOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7D0F: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x497AD75: yarp::os::Semaphore::Semaphore(unsigned int) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F769A: yarp::os::impl::PortCoreOutputUnit::PortCoreOutputUnit(yarp::os::impl::PortCore&, int, yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D5C13: yarp::os::impl::PortCore::addOutput(yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D68B8: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
==220691== Invalid write of size 4
==220691== at 0x51247D1: __pthread_mutex_unlock_usercnt (pthread_mutex_unlock.c:52)
==220691== by 0x51247D1: pthread_mutex_unlock (pthread_mutex_unlock.c:357)
==220691== by 0x497B090: yarp::os::Semaphore::check() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B717: yarp::os::impl::ThreadImpl::join(double) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8B4: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDD8B: yarp::os::impl::PortCore::getOutputCount() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x1ECD0517: yarp::os::BufferedPort<yarp::sig::VectorOf<double> >::getOutputCount() (BufferedPort-inl.h:253)
==220691== by 0x30239194: void yarp::dev::broadcastData<yarp::sig::VectorOf<double> >(yarp::sig::VectorOf<double>&, yarp::os::BufferedPort<yarp::sig::VectorOf<double> >&) (WholeBodyDynamicsDevice.cpp:2497)
==220691== by 0x3022C260: yarp::dev::WholeBodyDynamicsDevice::publishExternalWrenches() (WholeBodyDynamicsDevice.cpp:2581)
==220691== by 0x3022B923: yarp::dev::WholeBodyDynamicsDevice::publishEstimatedQuantities() (WholeBodyDynamicsDevice.cpp:2416)
==220691== by 0x3022C4F3: yarp::dev::WholeBodyDynamicsDevice::run() (WholeBodyDynamicsDevice.cpp:2631)
==220691== by 0x494877D: yarp::os::PeriodicThread::Private::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== Address 0x57881c0 is 16 bytes inside a block of size 104 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x4A0BD6F: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F90A3: yarp::os::impl::PortCoreOutputUnit::~PortCoreOutputUnit() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D18D4: yarp::os::impl::PortCore::removeOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7D0F: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x497AD75: yarp::os::Semaphore::Semaphore(unsigned int) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F769A: yarp::os::impl::PortCoreOutputUnit::PortCoreOutputUnit(yarp::os::impl::PortCore&, int, yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D5C13: yarp::os::impl::PortCore::addOutput(yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D68B8: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
==220691== Invalid read of size 4
==220691== at 0x51247D8: __pthread_mutex_unlock_usercnt (pthread_mutex_unlock.c:58)
==220691== by 0x51247D8: pthread_mutex_unlock (pthread_mutex_unlock.c:357)
==220691== by 0x497B090: yarp::os::Semaphore::check() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B717: yarp::os::impl::ThreadImpl::join(double) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8B4: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDD8B: yarp::os::impl::PortCore::getOutputCount() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x1ECD0517: yarp::os::BufferedPort<yarp::sig::VectorOf<double> >::getOutputCount() (BufferedPort-inl.h:253)
==220691== by 0x30239194: void yarp::dev::broadcastData<yarp::sig::VectorOf<double> >(yarp::sig::VectorOf<double>&, yarp::os::BufferedPort<yarp::sig::VectorOf<double> >&) (WholeBodyDynamicsDevice.cpp:2497)
==220691== by 0x3022C260: yarp::dev::WholeBodyDynamicsDevice::publishExternalWrenches() (WholeBodyDynamicsDevice.cpp:2581)
==220691== by 0x3022B923: yarp::dev::WholeBodyDynamicsDevice::publishEstimatedQuantities() (WholeBodyDynamicsDevice.cpp:2416)
==220691== by 0x3022C4F3: yarp::dev::WholeBodyDynamicsDevice::run() (WholeBodyDynamicsDevice.cpp:2631)
==220691== by 0x494877D: yarp::os::PeriodicThread::Private::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== Address 0x57881c8 is 24 bytes inside a block of size 104 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x4A0BD6F: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F90A3: yarp::os::impl::PortCoreOutputUnit::~PortCoreOutputUnit() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D18D4: yarp::os::impl::PortCore::removeOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7D0F: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x497AD75: yarp::os::Semaphore::Semaphore(unsigned int) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F769A: yarp::os::impl::PortCoreOutputUnit::PortCoreOutputUnit(yarp::os::impl::PortCore&, int, yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D5C13: yarp::os::impl::PortCore::addOutput(yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D68B8: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
==220691== Invalid read of size 4
==220691== at 0x51247DB: __pthread_mutex_unlock_usercnt (pthread_mutex_unlock.c:58)
==220691== by 0x51247DB: pthread_mutex_unlock (pthread_mutex_unlock.c:357)
==220691== by 0x497B090: yarp::os::Semaphore::check() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B717: yarp::os::impl::ThreadImpl::join(double) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8B4: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDD8B: yarp::os::impl::PortCore::getOutputCount() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x1ECD0517: yarp::os::BufferedPort<yarp::sig::VectorOf<double> >::getOutputCount() (BufferedPort-inl.h:253)
==220691== by 0x30239194: void yarp::dev::broadcastData<yarp::sig::VectorOf<double> >(yarp::sig::VectorOf<double>&, yarp::os::BufferedPort<yarp::sig::VectorOf<double> >&) (WholeBodyDynamicsDevice.cpp:2497)
==220691== by 0x3022C260: yarp::dev::WholeBodyDynamicsDevice::publishExternalWrenches() (WholeBodyDynamicsDevice.cpp:2581)
==220691== by 0x3022B923: yarp::dev::WholeBodyDynamicsDevice::publishEstimatedQuantities() (WholeBodyDynamicsDevice.cpp:2416)
==220691== by 0x3022C4F3: yarp::dev::WholeBodyDynamicsDevice::run() (WholeBodyDynamicsDevice.cpp:2631)
==220691== by 0x494877D: yarp::os::PeriodicThread::Private::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== Address 0x57881b8 is 8 bytes inside a block of size 104 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x4A0BD6F: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F90A3: yarp::os::impl::PortCoreOutputUnit::~PortCoreOutputUnit() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D18D4: yarp::os::impl::PortCore::removeOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7D0F: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x497AD75: yarp::os::Semaphore::Semaphore(unsigned int) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F769A: yarp::os::impl::PortCoreOutputUnit::PortCoreOutputUnit(yarp::os::impl::PortCore&, int, yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D5C13: yarp::os::impl::PortCore::addOutput(yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D68B8: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
==220691== Invalid read of size 8
==220691== at 0x49CD8B5: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDD8B: yarp::os::impl::PortCore::getOutputCount() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x1ECD0517: yarp::os::BufferedPort<yarp::sig::VectorOf<double> >::getOutputCount() (BufferedPort-inl.h:253)
==220691== by 0x30239194: void yarp::dev::broadcastData<yarp::sig::VectorOf<double> >(yarp::sig::VectorOf<double>&, yarp::os::BufferedPort<yarp::sig::VectorOf<double> >&) (WholeBodyDynamicsDevice.cpp:2497)
==220691== by 0x3022C260: yarp::dev::WholeBodyDynamicsDevice::publishExternalWrenches() (WholeBodyDynamicsDevice.cpp:2581)
==220691== by 0x3022B923: yarp::dev::WholeBodyDynamicsDevice::publishEstimatedQuantities() (WholeBodyDynamicsDevice.cpp:2416)
==220691== by 0x3022C4F3: yarp::dev::WholeBodyDynamicsDevice::run() (WholeBodyDynamicsDevice.cpp:2631)
==220691== by 0x494877D: yarp::os::PeriodicThread::Private::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Address 0x5efb500 is 0 bytes inside a block of size 312 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D18D4: yarp::os::impl::PortCore::removeOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7D0F: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x49D5BFF: yarp::os::impl::PortCore::addOutput(yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D68B8: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
==220691== Invalid write of size 8
==220691== at 0x4A0BD08: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0BDFC: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDD8B: yarp::os::impl::PortCore::getOutputCount() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x1ECD0517: yarp::os::BufferedPort<yarp::sig::VectorOf<double> >::getOutputCount() (BufferedPort-inl.h:253)
==220691== by 0x30239194: void yarp::dev::broadcastData<yarp::sig::VectorOf<double> >(yarp::sig::VectorOf<double>&, yarp::os::BufferedPort<yarp::sig::VectorOf<double> >&) (WholeBodyDynamicsDevice.cpp:2497)
==220691== by 0x3022C260: yarp::dev::WholeBodyDynamicsDevice::publishExternalWrenches() (WholeBodyDynamicsDevice.cpp:2581)
==220691== by 0x3022B923: yarp::dev::WholeBodyDynamicsDevice::publishEstimatedQuantities() (WholeBodyDynamicsDevice.cpp:2416)
==220691== by 0x3022C4F3: yarp::dev::WholeBodyDynamicsDevice::run() (WholeBodyDynamicsDevice.cpp:2631)
==220691== by 0x494877D: yarp::os::PeriodicThread::Private::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== Address 0x5efb500 is 0 bytes inside a block of size 312 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D18D4: yarp::os::impl::PortCore::removeOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7D0F: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x49D5BFF: yarp::os::impl::PortCore::addOutput(yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D68B8: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
==220691== Invalid read of size 1
==220691== at 0x4A0B6BC: yarp::os::impl::ThreadImpl::join(double) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0BD66: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0BDFC: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDD8B: yarp::os::impl::PortCore::getOutputCount() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x1ECD0517: yarp::os::BufferedPort<yarp::sig::VectorOf<double> >::getOutputCount() (BufferedPort-inl.h:253)
==220691== by 0x30239194: void yarp::dev::broadcastData<yarp::sig::VectorOf<double> >(yarp::sig::VectorOf<double>&, yarp::os::BufferedPort<yarp::sig::VectorOf<double> >&) (WholeBodyDynamicsDevice.cpp:2497)
==220691== by 0x3022C260: yarp::dev::WholeBodyDynamicsDevice::publishExternalWrenches() (WholeBodyDynamicsDevice.cpp:2581)
==220691== by 0x3022B923: yarp::dev::WholeBodyDynamicsDevice::publishEstimatedQuantities() (WholeBodyDynamicsDevice.cpp:2416)
==220691== by 0x3022C4F3: yarp::dev::WholeBodyDynamicsDevice::run() (WholeBodyDynamicsDevice.cpp:2631)
==220691== by 0x494877D: yarp::os::PeriodicThread::Private::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== Address 0x5efb52b is 43 bytes inside a block of size 312 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D18D4: yarp::os::impl::PortCore::removeOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7D0F: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x49D5BFF: yarp::os::impl::PortCore::addOutput(yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D68B8: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
==220691== Invalid write of size 1
==220691== at 0x4A0B6C0: yarp::os::impl::ThreadImpl::join(double) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0BD66: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0BDFC: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDD8B: yarp::os::impl::PortCore::getOutputCount() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x1ECD0517: yarp::os::BufferedPort<yarp::sig::VectorOf<double> >::getOutputCount() (BufferedPort-inl.h:253)
==220691== by 0x30239194: void yarp::dev::broadcastData<yarp::sig::VectorOf<double> >(yarp::sig::VectorOf<double>&, yarp::os::BufferedPort<yarp::sig::VectorOf<double> >&) (WholeBodyDynamicsDevice.cpp:2497)
==220691== by 0x3022C260: yarp::dev::WholeBodyDynamicsDevice::publishExternalWrenches() (WholeBodyDynamicsDevice.cpp:2581)
==220691== by 0x3022B923: yarp::dev::WholeBodyDynamicsDevice::publishEstimatedQuantities() (WholeBodyDynamicsDevice.cpp:2416)
==220691== by 0x3022C4F3: yarp::dev::WholeBodyDynamicsDevice::run() (WholeBodyDynamicsDevice.cpp:2631)
==220691== by 0x494877D: yarp::os::PeriodicThread::Private::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== Address 0x5efb52a is 42 bytes inside a block of size 312 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D18D4: yarp::os::impl::PortCore::removeOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7D0F: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x49D5BFF: yarp::os::impl::PortCore::addOutput(yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D68B8: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
==220691== Invalid read of size 8
==220691== at 0x497ACCC: yarp::os::Semaphore::~Semaphore() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0BD6F: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0BDFC: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDD8B: yarp::os::impl::PortCore::getOutputCount() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x1ECD0517: yarp::os::BufferedPort<yarp::sig::VectorOf<double> >::getOutputCount() (BufferedPort-inl.h:253)
==220691== by 0x30239194: void yarp::dev::broadcastData<yarp::sig::VectorOf<double> >(yarp::sig::VectorOf<double>&, yarp::os::BufferedPort<yarp::sig::VectorOf<double> >&) (WholeBodyDynamicsDevice.cpp:2497)
==220691== by 0x3022C260: yarp::dev::WholeBodyDynamicsDevice::publishExternalWrenches() (WholeBodyDynamicsDevice.cpp:2581)
==220691== by 0x3022B923: yarp::dev::WholeBodyDynamicsDevice::publishEstimatedQuantities() (WholeBodyDynamicsDevice.cpp:2416)
==220691== by 0x3022C4F3: yarp::dev::WholeBodyDynamicsDevice::run() (WholeBodyDynamicsDevice.cpp:2631)
==220691== by 0x494877D: yarp::os::PeriodicThread::Private::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== Address 0x5efb538 is 56 bytes inside a block of size 312 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D18D4: yarp::os::impl::PortCore::removeOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7D0F: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x49D5BFF: yarp::os::impl::PortCore::addOutput(yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D68B8: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
==220691== Invalid write of size 8
==220691== at 0x497ACD4: yarp::os::Semaphore::~Semaphore() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0BD6F: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0BDFC: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDD8B: yarp::os::impl::PortCore::getOutputCount() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x1ECD0517: yarp::os::BufferedPort<yarp::sig::VectorOf<double> >::getOutputCount() (BufferedPort-inl.h:253)
==220691== by 0x30239194: void yarp::dev::broadcastData<yarp::sig::VectorOf<double> >(yarp::sig::VectorOf<double>&, yarp::os::BufferedPort<yarp::sig::VectorOf<double> >&) (WholeBodyDynamicsDevice.cpp:2497)
==220691== by 0x3022C260: yarp::dev::WholeBodyDynamicsDevice::publishExternalWrenches() (WholeBodyDynamicsDevice.cpp:2581)
==220691== by 0x3022B923: yarp::dev::WholeBodyDynamicsDevice::publishEstimatedQuantities() (WholeBodyDynamicsDevice.cpp:2416)
==220691== by 0x3022C4F3: yarp::dev::WholeBodyDynamicsDevice::run() (WholeBodyDynamicsDevice.cpp:2631)
==220691== by 0x494877D: yarp::os::PeriodicThread::Private::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== Address 0x5efb530 is 48 bytes inside a block of size 312 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D18D4: yarp::os::impl::PortCore::removeOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7D0F: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x49D5BFF: yarp::os::impl::PortCore::addOutput(yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D68B8: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
==220691== Invalid read of size 8
==220691== at 0x497ACDC: yarp::os::Semaphore::~Semaphore() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0BD6F: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0BDFC: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDD8B: yarp::os::impl::PortCore::getOutputCount() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x1ECD0517: yarp::os::BufferedPort<yarp::sig::VectorOf<double> >::getOutputCount() (BufferedPort-inl.h:253)
==220691== by 0x30239194: void yarp::dev::broadcastData<yarp::sig::VectorOf<double> >(yarp::sig::VectorOf<double>&, yarp::os::BufferedPort<yarp::sig::VectorOf<double> >&) (WholeBodyDynamicsDevice.cpp:2497)
==220691== by 0x3022C260: yarp::dev::WholeBodyDynamicsDevice::publishExternalWrenches() (WholeBodyDynamicsDevice.cpp:2581)
==220691== by 0x3022B923: yarp::dev::WholeBodyDynamicsDevice::publishEstimatedQuantities() (WholeBodyDynamicsDevice.cpp:2416)
==220691== by 0x3022C4F3: yarp::dev::WholeBodyDynamicsDevice::run() (WholeBodyDynamicsDevice.cpp:2631)
==220691== by 0x494877D: yarp::os::PeriodicThread::Private::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== Address 0x57881b0 is 0 bytes inside a block of size 104 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x4A0BD6F: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F90A3: yarp::os::impl::PortCoreOutputUnit::~PortCoreOutputUnit() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D18D4: yarp::os::impl::PortCore::removeOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7D0F: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x497AD75: yarp::os::Semaphore::Semaphore(unsigned int) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F769A: yarp::os::impl::PortCoreOutputUnit::PortCoreOutputUnit(yarp::os::impl::PortCore&, int, yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D5C13: yarp::os::impl::PortCore::addOutput(yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D68B8: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
==220691== Invalid write of size 8
==220691== at 0x497ACFF: yarp::os::Semaphore::~Semaphore() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0BD6F: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0BDFC: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDD8B: yarp::os::impl::PortCore::getOutputCount() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x1ECD0517: yarp::os::BufferedPort<yarp::sig::VectorOf<double> >::getOutputCount() (BufferedPort-inl.h:253)
==220691== by 0x30239194: void yarp::dev::broadcastData<yarp::sig::VectorOf<double> >(yarp::sig::VectorOf<double>&, yarp::os::BufferedPort<yarp::sig::VectorOf<double> >&) (WholeBodyDynamicsDevice.cpp:2497)
==220691== by 0x3022C260: yarp::dev::WholeBodyDynamicsDevice::publishExternalWrenches() (WholeBodyDynamicsDevice.cpp:2581)
==220691== by 0x3022B923: yarp::dev::WholeBodyDynamicsDevice::publishEstimatedQuantities() (WholeBodyDynamicsDevice.cpp:2416)
==220691== by 0x3022C4F3: yarp::dev::WholeBodyDynamicsDevice::run() (WholeBodyDynamicsDevice.cpp:2631)
==220691== by 0x494877D: yarp::os::PeriodicThread::Private::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== Address 0x57881b0 is 0 bytes inside a block of size 104 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x4A0BD6F: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F90A3: yarp::os::impl::PortCoreOutputUnit::~PortCoreOutputUnit() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D18D4: yarp::os::impl::PortCore::removeOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7D0F: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x497AD75: yarp::os::Semaphore::Semaphore(unsigned int) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F769A: yarp::os::impl::PortCoreOutputUnit::PortCoreOutputUnit(yarp::os::impl::PortCore&, int, yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D5C13: yarp::os::impl::PortCore::addOutput(yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D68B8: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
==220691== Invalid read of size 4
==220691== at 0x5126DD6: pthread_cond_destroy@@GLIBC_2.3.2 (pthread_cond_destroy.c:50)
==220691== by 0x497AD07: yarp::os::Semaphore::~Semaphore() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0BD6F: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0BDFC: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDD8B: yarp::os::impl::PortCore::getOutputCount() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x1ECD0517: yarp::os::BufferedPort<yarp::sig::VectorOf<double> >::getOutputCount() (BufferedPort-inl.h:253)
==220691== by 0x30239194: void yarp::dev::broadcastData<yarp::sig::VectorOf<double> >(yarp::sig::VectorOf<double>&, yarp::os::BufferedPort<yarp::sig::VectorOf<double> >&) (WholeBodyDynamicsDevice.cpp:2497)
==220691== by 0x3022C260: yarp::dev::WholeBodyDynamicsDevice::publishExternalWrenches() (WholeBodyDynamicsDevice.cpp:2581)
==220691== by 0x3022B923: yarp::dev::WholeBodyDynamicsDevice::publishEstimatedQuantities() (WholeBodyDynamicsDevice.cpp:2416)
==220691== by 0x3022C4F3: yarp::dev::WholeBodyDynamicsDevice::run() (WholeBodyDynamicsDevice.cpp:2631)
==220691== by 0x494877D: yarp::os::PeriodicThread::Private::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== Address 0x5788204 is 84 bytes inside a block of size 104 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x4A0BD6F: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F90A3: yarp::os::impl::PortCoreOutputUnit::~PortCoreOutputUnit() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D18D4: yarp::os::impl::PortCore::removeOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7D0F: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x497AD75: yarp::os::Semaphore::Semaphore(unsigned int) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F769A: yarp::os::impl::PortCoreOutputUnit::PortCoreOutputUnit(yarp::os::impl::PortCore&, int, yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D5C13: yarp::os::impl::PortCore::addOutput(yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D68B8: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
==220691== Invalid read of size 4
==220691== at 0x5126DE4: pthread_cond_destroy@@GLIBC_2.3.2 (pthread_cond_destroy.c:50)
==220691== by 0x497AD07: yarp::os::Semaphore::~Semaphore() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0BD6F: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0BDFC: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDD8B: yarp::os::impl::PortCore::getOutputCount() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x1ECD0517: yarp::os::BufferedPort<yarp::sig::VectorOf<double> >::getOutputCount() (BufferedPort-inl.h:253)
==220691== by 0x30239194: void yarp::dev::broadcastData<yarp::sig::VectorOf<double> >(yarp::sig::VectorOf<double>&, yarp::os::BufferedPort<yarp::sig::VectorOf<double> >&) (WholeBodyDynamicsDevice.cpp:2497)
==220691== by 0x3022C260: yarp::dev::WholeBodyDynamicsDevice::publishExternalWrenches() (WholeBodyDynamicsDevice.cpp:2581)
==220691== by 0x3022B923: yarp::dev::WholeBodyDynamicsDevice::publishEstimatedQuantities() (WholeBodyDynamicsDevice.cpp:2416)
==220691== by 0x3022C4F3: yarp::dev::WholeBodyDynamicsDevice::run() (WholeBodyDynamicsDevice.cpp:2631)
==220691== by 0x494877D: yarp::os::PeriodicThread::Private::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== Address 0x5788204 is 84 bytes inside a block of size 104 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x4A0BD6F: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F90A3: yarp::os::impl::PortCoreOutputUnit::~PortCoreOutputUnit() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D18D4: yarp::os::impl::PortCore::removeOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7D0F: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x497AD75: yarp::os::Semaphore::Semaphore(unsigned int) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F769A: yarp::os::impl::PortCoreOutputUnit::PortCoreOutputUnit(yarp::os::impl::PortCore&, int, yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D5C13: yarp::os::impl::PortCore::addOutput(yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D68B8: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
==220691== Invalid free() / delete / delete[] / realloc()
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x4A0BD6F: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0BDFC: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDD8B: yarp::os::impl::PortCore::getOutputCount() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x1ECD0517: yarp::os::BufferedPort<yarp::sig::VectorOf<double> >::getOutputCount() (BufferedPort-inl.h:253)
==220691== by 0x30239194: void yarp::dev::broadcastData<yarp::sig::VectorOf<double> >(yarp::sig::VectorOf<double>&, yarp::os::BufferedPort<yarp::sig::VectorOf<double> >&) (WholeBodyDynamicsDevice.cpp:2497)
==220691== by 0x3022C260: yarp::dev::WholeBodyDynamicsDevice::publishExternalWrenches() (WholeBodyDynamicsDevice.cpp:2581)
==220691== by 0x3022B923: yarp::dev::WholeBodyDynamicsDevice::publishEstimatedQuantities() (WholeBodyDynamicsDevice.cpp:2416)
==220691== by 0x3022C4F3: yarp::dev::WholeBodyDynamicsDevice::run() (WholeBodyDynamicsDevice.cpp:2631)
==220691== by 0x494877D: yarp::os::PeriodicThread::Private::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== Address 0x57881b0 is 0 bytes inside a block of size 104 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x4A0BD6F: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F90A3: yarp::os::impl::PortCoreOutputUnit::~PortCoreOutputUnit() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D18D4: yarp::os::impl::PortCore::removeOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7D0F: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x497AD75: yarp::os::Semaphore::Semaphore(unsigned int) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F769A: yarp::os::impl::PortCoreOutputUnit::PortCoreOutputUnit(yarp::os::impl::PortCore&, int, yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D5C13: yarp::os::impl::PortCore::addOutput(yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D68B8: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
==220691== Invalid read of size 8
==220691== at 0x4A0BD70: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0BDFC: yarp::os::impl::ThreadImpl::~ThreadImpl() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDD8B: yarp::os::impl::PortCore::getOutputCount() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x1ECD0517: yarp::os::BufferedPort<yarp::sig::VectorOf<double> >::getOutputCount() (BufferedPort-inl.h:253)
==220691== by 0x30239194: void yarp::dev::broadcastData<yarp::sig::VectorOf<double> >(yarp::sig::VectorOf<double>&, yarp::os::BufferedPort<yarp::sig::VectorOf<double> >&) (WholeBodyDynamicsDevice.cpp:2497)
==220691== by 0x3022C260: yarp::dev::WholeBodyDynamicsDevice::publishExternalWrenches() (WholeBodyDynamicsDevice.cpp:2581)
==220691== by 0x3022B923: yarp::dev::WholeBodyDynamicsDevice::publishEstimatedQuantities() (WholeBodyDynamicsDevice.cpp:2416)
==220691== by 0x3022C4F3: yarp::dev::WholeBodyDynamicsDevice::run() (WholeBodyDynamicsDevice.cpp:2631)
==220691== by 0x494877D: yarp::os::PeriodicThread::Private::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== Address 0x5efb520 is 32 bytes inside a block of size 312 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D18D4: yarp::os::impl::PortCore::removeOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7D0F: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x49D5BFF: yarp::os::impl::PortCore::addOutput(yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D68B8: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
==220691== Invalid free() / delete / delete[] / realloc()
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDD8B: yarp::os::impl::PortCore::getOutputCount() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x1ECD0517: yarp::os::BufferedPort<yarp::sig::VectorOf<double> >::getOutputCount() (BufferedPort-inl.h:253)
==220691== by 0x30239194: void yarp::dev::broadcastData<yarp::sig::VectorOf<double> >(yarp::sig::VectorOf<double>&, yarp::os::BufferedPort<yarp::sig::VectorOf<double> >&) (WholeBodyDynamicsDevice.cpp:2497)
==220691== by 0x3022C260: yarp::dev::WholeBodyDynamicsDevice::publishExternalWrenches() (WholeBodyDynamicsDevice.cpp:2581)
==220691== by 0x3022B923: yarp::dev::WholeBodyDynamicsDevice::publishEstimatedQuantities() (WholeBodyDynamicsDevice.cpp:2416)
==220691== by 0x3022C4F3: yarp::dev::WholeBodyDynamicsDevice::run() (WholeBodyDynamicsDevice.cpp:2631)
==220691== by 0x494877D: yarp::os::PeriodicThread::Private::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== Address 0x5efb500 is 0 bytes inside a block of size 312 free'd
==220691== at 0x483D1CF: operator delete(void*, unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x49CD8BE: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D18D4: yarp::os::impl::PortCore::removeOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7D0F: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691== Block was alloc'd at
==220691== at 0x483BE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==220691== by 0x49D5BFF: yarp::os::impl::PortCore::addOutput(yarp::os::OutputProtocol*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D68B8: yarp::os::impl::PortCore::addOutput(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, yarp::os::OutputStream*, bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49D7818: yarp::os::impl::PortCore::adminBlock(yarp::os::ConnectionReader&, void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49F5770: yarp::os::impl::PortCoreInputUnit::run() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4A0B644: theExecutiveBranch(void*) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x4B76D83: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x5120608: start_thread (pthread_create.c:477)
==220691== by 0x4DBE292: clone (clone.S:95)
==220691==
terminate called after throwing an instance of 'std::system_error'
what(): No such process
==220691==
==220691== Process terminating with default action of signal 6 (SIGABRT)
==220691== at 0x4CE218B: raise (raise.c:51)
==220691== by 0x4CC1858: abort (abort.c:79)
==220691== by 0x4B3E950: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x4B4A47B: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x4B4A4E6: std::terminate() (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x4B4A798: __cxa_throw (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x4B4177E: std::__throw_system_error(int) (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x4B76FFF: std::thread::join() (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==220691== by 0x4A0B764: yarp::os::impl::ThreadImpl::join(double) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CD8B4: yarp::os::impl::PortCore::cleanUnits(bool) (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x49CDD8B: yarp::os::impl::PortCore::getOutputCount() (in /home/sdafarra/Software/robotology-superbuild/build/install/lib/libYARP_os.so.3.4.1)
==220691== by 0x1ECD0517: yarp::os::BufferedPort<yarp::sig::VectorOf<double> >::getOutputCount() (BufferedPort-inl.h:253)
==220691==
==220691== HEAP SUMMARY:
==220691== in use at exit: 7,006,984 bytes in 13,458 blocks
==220691== total heap usage: 4,664,003 allocs, 4,650,547 frees, 388,964,236 bytes allocated
==220691==
==220691== LEAK SUMMARY:
==220691== definitely lost: 432 bytes in 2 blocks
==220691== indirectly lost: 23,501 bytes in 200 blocks
==220691== possibly lost: 30,640 bytes in 91 blocks
==220691== still reachable: 6,952,411 bytes in 13,165 blocks
==220691== of which reachable via heuristic:
==220691== stdstring : 40 bytes in 1 blocks
==220691== multipleinheritance: 576 bytes in 4 blocks
==220691== suppressed: 0 bytes in 0 blocks
==220691== Rerun with --leak-check=full to see details of leaked memory
==220691==
==220691== For lists of detected and suppressed errors, rerun with: -s
==220691== ERROR SUMMARY: 37 errors from 31 contexts (suppressed: 6 from 2)
Aborted (core dumped)
Several of them seem to point to the use of getOutputCount (used in https://github.com/robotology/whole-body-estimators/blob/2ffe2d0c65a70b5435a4aa97882ab1857cb091a0/devices/wholeBodyDynamics/WholeBodyDynamicsDevice.cpp#L2497) before writing to the port. Then, the culprit seems the cleanUnits(false) call. I suspect that there is a racing condition between this call, and the client port closing.
To Reproduce
For the time being I managed to reproduce it when launching WholeBodyDynamics using valgrind, and then launch and close the WalkingModule. I don't think this is the most comfortable way to reproduce it. I haven't worked out a minimal example yet.
Expected behavior
I guess that getOutputCount should not interfere with the port closing.
Configuration (please complete the following information):
- OS: Ubuntu 20.04
- yarp version: 3.4.1+20201211.2+gitc193b7996
- compiler: gcc version 9.3.0
cc @traversaro @GiulioRomualdi @Yeshasvitvs @prashanthr05 @Nicogene @drdanz
Related issue: https://github.com/robotology/walking-controllers/issues/83