Segmentation faults in C++ code when compiled/run on ROS Noetic

[alikureishy]

Steps to reproduce:

> Pull this repository into a catkin workspace in a Noetic installation
> Compile with catkin_make
> Run any of the launch files:
    > roslaunch leap_motion vizualization.launch

You will see errors (seg faults) for all the C++ nodes being started, such as "leap_motion_driver_node".

[Note: I understand that the leap motion SDK was only built for python 2.7, but that is not what this above Issue is about. I also understand that Noetic is not presently supported for this driver...but if the issue above is a simple fix, perhaps it could help uses who just want to use the C++ portions of the driver].

[dvigne]

I am also having this issue running the latest ROS Noetic

I tried to throw both the camera node and the driver node into GDB to find where the SEGFAULT was occuring and both brought me to boost::detail::find_tss_data(void const*) in LeapSDK/lib/x64/libLeap.so.

The complete output of the GDB log is below

Starting program: /home/derickvigne/Documents/GitHub/marc_robot_hand/workspace/devel/lib/leap_motion/leap_motion_driver_node
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7ffff4790700 (LWP 74921)]
[New Thread 0x7ffff3f8f700 (LWP 74922)]
[New Thread 0x7ffff378e700 (LWP 74923)]
[New Thread 0x7ffff2f8d700 (LWP 74924)]

Thread 5 "leap_motion_dri" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7ffff2f8d700 (LWP 74924)]
0x00007ffff7a7f9ac in boost::detail::find_tss_data(void const*) () from /home/derickvigne/Documents/GitHub/marc_robot_hand/workspace/src/leap_motion/LeapSDK/lib/x64/libLeap.so

[nowittyusername]

Hello!

I am unsure when I am able to look into and fix this issue as I don't have easy access to the hardware anymore. However, thanks for reporting this issue regardless.

[dingthe4th]

Hi, just wondering if someone got a fix to run this project on Noetic?

@safdark @dvigne

The error for this is:

Thanks!

[dvigne]

Hi @rglbiv, no I'm sorry I never picked it back up to try and fix, do you have any additional log lines besides what was output to the ROS console above?

[dingthe4th]

Unfortunately, I think that was all that was outputted, the log messages were not helpful (see below). I think this is because Noetic is still not supported with this project. I tried with another machine (Melodic) and it works, but I am just trying my luck here to check if someone figured out a solution to make it work with Noetic. Nevertheless, thanks for reaching out!

ding@ding-HP-ENVY-15-Notebook-PC:~/.ros/log/57cd1f98-a927-11ec-9552-1d024eec14cd$ roslaunch leap_motion demo.launch
... logging to /home/ding/.ros/log/57cd1f98-a927-11ec-9552-1d024eec14cd/roslaunch-ding-HP-ENVY-15-Notebook-PC-30120.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ding-HP-ENVY-15-Notebook-PC:38315/

SUMMARY
========

PARAMETERS
 * /enable_controller_info: False
 * /enable_filter: True
 * /enable_frame_info: False
 * /enable_gesture_circle: False
 * /enable_gesture_key_tap: False
 * /enable_gesture_screen_tap: False
 * /enable_gesture_swipe: False
 * /enable_hand_info: False
 * /filter_cutoff: 4.0
 * /rosdistro: noetic
 * /rosversion: 1.15.14

NODES
  /
    leap_driver (leap_motion/leap_motion_driver_node)
    leap_filter (leap_motion/leap_motion_filter_node)
    leap_visualizer (leap_motion/leap_motion_visualizer_node)
    link1_broadcaster (tf/static_transform_publisher)
    rviz (rviz/rviz)
  /leap_motion/
    leap_camera (leap_motion/leap_motion_camera_node)
    link2_broadcaster (tf/static_transform_publisher)
    stereo_image (stereo_image_proc/stereo_image_proc)

ROS_MASTER_URI=http://localhost:11311

process[leap_driver-1]: started with pid [30134]
process[leap_visualizer-2]: started with pid [30135]
process[link1_broadcaster-3]: started with pid [30137]
process[leap_filter-4]: started with pid [30144]
process[leap_motion/leap_camera-5]: started with pid [30155]
process[leap_motion/stereo_image-6]: started with pid [30162]
process[leap_motion/link2_broadcaster-7]: started with pid [30163]
process[rviz-8]: started with pid [30178]
[leap_visualizer-2] process has died [pid 30135, exit code -11, cmd /home/ding/catkin_ws/devel/lib/leap_motion/leap_motion_visualizer_node __name:=leap_visualizer __log:=/home/ding/.ros/log/57cd1f98-a927-11ec-9552-1d024eec14cd/leap_visualizer-2.log].
log file: /home/ding/.ros/log/57cd1f98-a927-11ec-9552-1d024eec14cd/leap_visualizer-2*.log
[leap_driver-1] process has died [pid 30134, exit code -11, cmd /home/ding/catkin_ws/devel/lib/leap_motion/leap_motion_driver_node __name:=leap_driver __log:=/home/ding/.ros/log/57cd1f98-a927-11ec-9552-1d024eec14cd/leap_driver-1.log].
log file: /home/ding/.ros/log/57cd1f98-a927-11ec-9552-1d024eec14cd/leap_driver-1*.log
[leap_filter-4] process has died [pid 30144, exit code -11, cmd /home/ding/catkin_ws/devel/lib/leap_motion/leap_motion_filter_node __name:=leap_filter __log:=/home/ding/.ros/log/57cd1f98-a927-11ec-9552-1d024eec14cd/leap_filter-4.log].
log file: /home/ding/.ros/log/57cd1f98-a927-11ec-9552-1d024eec14cd/leap_filter-4*.log
[leap_motion/leap_camera-5] process has died [pid 30155, exit code -11, cmd /home/ding/catkin_ws/devel/lib/leap_motion/leap_motion_camera_node __name:=leap_camera __log:=/home/ding/.ros/log/57cd1f98-a927-11ec-9552-1d024eec14cd/leap_motion-leap_camera-5.log].
log file: /home/ding/.ros/log/57cd1f98-a927-11ec-9552-1d024eec14cd/leap_motion-leap_camera-5*.log
[ WARN] [1647877963.806339858]: The input topic '/leap_motion/right/camera_info' is not yet advertised
^C[rviz-8] killing on exit
[leap_motion/link2_broadcaster-7] killing on exit
[leap_motion/stereo_image-6] killing on exit
[link1_broadcaster-3] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

ding@ding-HP-ENVY-15-Notebook-PC:~/.ros/log/57cd1f98-a927-11ec-9552-1d024eec14cd$ tail -f roslaunch-ding-HP-ENVY-15-Notebook-PC-30120.log
[roslaunch.pmon][INFO] 2022-03-21 23:53:25,343: ProcessMonitor exit: pmon has shutdown
[roslaunch][INFO] 2022-03-21 23:53:25,343: process monitor is done spinning, initiating full shutdown
[roslaunch][INFO] 2022-03-21 23:53:25,343: runner.stop()
[roslaunch][INFO] 2022-03-21 23:53:25,343: shutting down processing monitor...
[roslaunch][INFO] 2022-03-21 23:53:25,343: shutting down processing monitor <ProcessMonitor(ProcessMonitor-1, stopped daemon 140103266612992)>
[roslaunch.pmon][INFO] 2022-03-21 23:53:25,343: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon 140103266612992)>
[roslaunch][INFO] 2022-03-21 23:53:25,343: ... shutting down processing monitor complete
[roslaunch][INFO] 2022-03-21 23:53:25,344: done
[roslaunch.pmon][INFO] 2022-03-21 23:53:25,344: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon 140103266612992)>
[rospy.core][INFO] 2022-03-21 23:53:25,344: signal_shutdown [atexit]

[alikureishy]

Hi, just wondering if someone got a fix to run this project on Noetic?

@rglbiv If you need to access leapmotion frame data urgently, a workaround that I used was leapmotion's websocket interface. It's not ideal, but at least can get you the data you need.

[joelsantosvalle]

Hi, just wondering if someone figured how to run this project in Noetic?

@alikureishy @dvigne @rglbiv

[dingthe4th]

@Jasv06 Hello, unfortunately, I used this project for Melodic as I also couldn't figure out on how to run it on Noetic on my own. But I can assure you it works on Melodic version!

[dvigne]

@Jasv06 I never got the time to debug it further so I never got it to run on Melodic. Sorry I couldn't be more help.

[mszuyx]

@Jasv06 I am also hoping to use the driver on Noetic. As @rglbiv mentioned, there isn't much to go on with the error message. But since it works with Melodic, I guess it has something to do with python 2.7 vs 3.4+ (I guess the cpp nodes will run just the same). I wonder if someone has done a python 3 migration for all the scripts to test out this theory.