Crash when Heightmap size/pos is set to DBL_MAX(ODE Assertion Failure) #847
Description
Environment
- OS Version: Ubuntu 24.04
- Source or binary build?
source , latest
build option : Coverage
Description
- Expected behavior: not crash but warning or error msgs
- Actual behavior: gazebo crashes
Steps to reproduce
- gz sim -r -s crash.sdf
- crash
sure that caused by
<heightmap>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Fortress heightmap/tip/files/materials/textures/fortress_heightmap.png</uri>
<size>1e308 1e308 1e308</size>
<pos>0 0 -1e308</pos>
</heightmap>Assertion Failure in ode here.
Output
ODE INTERNAL ERROR 1: assertion "(nMinX < nMaxX) && (nMinZ < nMaxZ)" failed in dCollideHeightfield() [heightfield.cpp:1803]
Stack trace (most recent call last):
#26 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in
#25 Object "/home/momo/gz_jetty/install/libexec/gz/sim10/gz-sim-main", at 0x5c16f0bd7ca4, in _start
#24 Source "../csu/libc-start.c", line 360, in __libc_start_main_impl [0x7a357f62a28a]
#23 Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7a357f62a1c9]
#22 Source "/home/momo/gz_jetty/src/gz-sim/src/cmd/sim_main.cc", line 578, in main [0x5c16f0be23ee]
576: // Run the server in the main thread
577: sim::Server server(serverConfig);
> 578: server.Run(true, opt->iterations, opt->runOnStart == 0);
579:
580: gzdbg << "Shutting down gz-sim-server" << std::endl;
581: }
#21 Source "/home/momo/gz_jetty/src/gz-sim/src/Server.cc", line 172, in Run [0x7a3585039745]
169: }
170:
171: if (_blocking)
> 172: return this->dataPtr->Run(_iterations);
173:
174: // Make sure two threads are not created
175: std::unique_lock<std::mutex> lock(this->dataPtr->runMutex);
#20 Source "/home/momo/gz_jetty/src/gz-sim/src/ServerPrivate.cc", line 204, in Run [0x7a35850a86d2]
201: // simulation runner, and we can avoid using the thread pool.
202: if (this->simRunners.size() == 1)
203: {
> 204: result = this->simRunners[0]->Run(_iterations);
205: }
206: else
207: {
#19 Source "/home/momo/gz_jetty/src/gz-sim/src/SimulationRunner.cc", line 910, in Run [0x7a35850eb264]
907: }
908: else
909: {
> 910: this->Step(this->currentInfo);
911: }
912:
913: // Handle Server::RunOnce(false) in which a single paused run is executed
#18 Source "/home/momo/gz_jetty/src/gz-sim/src/SimulationRunner.cc", line 971, in Step [0x7a35850ec3cc]
968: this->systemMgr->ProcessPendingEntitySystems();
969:
970: // Update all the systems.
> 971: this->UpdateSystems();
972:
973: if (!this->Paused() && this->requestedRunToSimTime &&
974: this->requestedRunToSimTime.value() > this->simTimeEpoch &&
#17 Source "/home/momo/gz_jetty/src/gz-sim/src/SimulationRunner.cc", line 647, in UpdateSystems [0x7a35850e848c]
644: {
645: for (auto& system : systems)
646: {
> 647: system->Update(this->currentInfo, this->entityCompMgr);
648: }
649: }
650: }
#16 Source "/home/momo/gz_jetty/src/gz-sim/src/systems/physics/Physics.cc", line 1013, in Update [0x7a356a564afd]
1010: // Only step if not paused.
1011: if (!_info.paused)
1012: {
>1013: stepOutput = this->dataPtr->Step(_info.dt);
1014: }
1015: auto changedLinks = this->dataPtr->ChangedLinks(_ecm, stepOutput);
1016: this->dataPtr->UpdateSim(_ecm, changedLinks);
#15 Source "/home/momo/gz_jetty/src/gz-sim/src/systems/physics/Physics.cc", line 3203, in Step [0x7a356a584c03]
3201: for (const auto &world : this->entityWorldMap.Map())
3202: {
>3203: world.second->Step(output, state, input);
3204: }
3205:
3206: return output;
#14 Source "/home/momo/gz_jetty/install/include/gz/physics9/gz/physics/ForwardStep.hh", line 173, in Step [0x7a356a64cfc0]
170: public: void Step(Output &_h, State &_x, const Input &_u)
171: {
172: this->template Interface<ForwardStep>()->
> 173: WorldForwardStep(this->identity, _h, _x, _u);
174: }
175: };
#13 Source "/home/momo/gz_jetty/src/gz-physics/dartsim/src/SimulationFeatures.cc", line 111, in WorldForwardStep [0x7a3561261699]
108: }
109:
110: // TODO(MXG): Parse input
> 111: world->step();
112:
113: for (auto &[ignore, modelInfo] : this->models.idToObject)
114: {
#12 Object "/usr/lib/x86_64-linux-gnu/libdart.so.6.13.2", at 0x7a35605a966c, in dart::simulation::World::step(bool)
#11 Object "/usr/lib/x86_64-linux-gnu/libdart.so.6.13.2", at 0x7a356058f3d5, in dart::constraint::ConstraintSolver::solve()
#10 Object "/usr/lib/x86_64-linux-gnu/libdart.so.6.13.2", at 0x7a356058d970, in dart::constraint::ConstraintSolver::updateConstraints()
#9 Source "/home/momo/gz_jetty/src/gz-physics/dartsim/src/GzCollisionDetector.cc", line 135, in collide [0x7a3561187b57]
132: const CollisionOption &_option,
133: CollisionResult *_result)
134: {
> 135: bool ret = OdeCollisionDetector::collide(_group, _option, _result);
136: this->LimitCollisionPairMaxContacts(_result);
137: return ret;
138: }
#8 Object "/usr/lib/x86_64-linux-gnu/libdart-collision-ode.so.6.13.2", at 0x7a357018822c, in dart::collision::OdeCollisionDetector::collide(dart::collision::CollisionGroup*, dart::collision::CollisionOption const&, dart::collision::CollisionResult*)
#7 Source "/build/ode-hO0nTH/ode-0.16.2/ode/src/collision_space.cpp", line 592, in collide [0x7a356bf212e3]
#6 Object "/usr/lib/x86_64-linux-gnu/libdart-collision-ode.so.6.13.2", at 0x7a35701885e5, in
#5 Source "/build/ode-hO0nTH/ode-0.16.2/ode/src/collision_kernel.cpp", line 319, in dCollide [0x7a356bf11867]
#4 Source "/build/ode-hO0nTH/ode-0.16.2/ode/src/heightfield.cpp", line 1803, in dCollideHeightfield [0x7a356bf3694b]
#3 Source "/build/ode-hO0nTH/ode-0.16.2/ode/src/error.cpp", line 105, in dDebug [0x7a356bf20037]
#2 Source "./stdlib/abort.c", line 79, in abort [0x7a357f6288fe]
#1 Source "../sysdeps/posix/raise.c", line 26, in raise [0x7a357f64527d]
#0 | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal
| Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation
Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x7a357f69eb2c]
Aborted (Signal sent by tkill() 3630184 1000)