double free or corruption (out)

[shen-shui]

When I use gpd to grab the first item, an error will be reported.

robot@WP:~$ roslaunch robot_sim gpd_run.launch type:=2 topic:=/cloud_sample
... logging to /home/robot/.ros/log/4f386c5a-0183-11ef-b6c9-3171f884d3a1/roslaunch-WP-19219.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://WP:43347/

SUMMARY
========

PARAMETERS
 * /detect_grasps/cloud_topic: /cloud_sample
 * /detect_grasps/cloud_type: 2
 * /detect_grasps/config_file: /home/robot/packa...
 * /detect_grasps/rviz_topic: plot_grasps
 * /detect_grasps/samples_topic: 
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /
    detect_grasps (gpd_ros/detect_grasps)

ROS_MASTER_URI=http://localhost:11311

process[detect_grasps-1]: started with pid [19234]
Init ....
============ HAND GEOMETRY ======================
finger_width: 0.01
hand_outer_diameter: 0.12
hand_depth: 0.06
hand_height: 0.02
init_bite: 0.01
=================================================
============ PLOTTING ========================
plot_normals: true
plot_samples false
plot_candidates: true
plot_filtered_candidates: false
plot_valid_grasps: false
plot_clustered_grasps: false
plot_selected_grasps: true
==============================================
============ CLOUD PREPROCESSING =============
voxelize: true
voxel_size: 0.003
remove_outliers: false
workspace: -1.00 1.00 -1.00 1.00 -1.00 1.00 
sample_above_plane: false
normals_radius: 0.030
refine_normals_k: 0
==============================================
============ CANDIDATE GENERATION ============
num_samples: 30
num_threads: 4
nn_radius: 0.01
hand axes: 2 
num_orientations: 8
num_finger_placements: 10
deepen_hand: true
friction_coeff: 20.00
min_viable: 6
==============================================
============ GRASP IMAGE GEOMETRY ===============
volume width: 0.1
volume depth: 0.06
volume height: 0.02
image_size: 60
image_num_channels: 15
=================================================
NET SETUP runtime: 0.0651241
============ CLASSIFIER ======================
model_file: 
weights_file: /home/robot/package/gpd/models/lenet/15channels/params/
batch_size: 1
==============================================
============ CANDIDATE FILTERING =============
candidate_workspace: -1.00 1.00 -1.00 1.00 -1.00 1.00 
min_aperture: 0.0000
max_aperture: 0.0850
==============================================
============ CLUSTERING ======================
min_inliers: 0
==============================================

Created GPD ....
[ INFO] [1713884915.293421216]: Waiting for point cloud to arrive ...
view_points:
0
0
0
[ INFO] [1713884942.474148372, 263.709000000]: Received cloud with 921600 points, and 31933 samples
Processing cloud with 921600 points.
31933 samples left after workspace filtering 
Voxelized cloud: 190220
Calculating surface normals ...
num_threads: 4
 runtime(computeNormals): 4.5696
camera: 0, #indices: 190220, #normals: 190220 
Calculated 190220 surface normals in 4.5734s (mode: OpenMP).
Reversing direction of normals that do not point to at least one camera ...
 reversed 0 normals
 runtime (reverse normals): 0.00195851
Using 30 out of 31933 available samples.
Subsampled 30 samples at random uniformly.
Plotting normals for different camera sources
Estimating local reference frames ...
Estimated 30 frames in 0.0003s.
Finding hand poses ...
Found 30 hand sets in 0.12s
====> HAND SEARCH TIME: 0.145323
Generated 30 hand sets.
nouveau: kernel rejected pushbuf: Device or resource busy
nouveau: ch11: krec 0 pushes 1 bufs 10 relocs 0
nouveau: ch11: buf 00000000 00000003 00000004 00000004 00000000
nouveau: ch11: buf 00000001 0000000b 00000004 00000000 00000004
nouveau: ch11: buf 00000002 00000013 00000002 00000000 00000002
nouveau: ch11: buf 00000003 00000014 00000002 00000000 00000002
nouveau: ch11: buf 00000004 00000008 00000002 00000002 00000000
nouveau: ch11: buf 00000005 0000000a 00000002 00000002 00000000
nouveau: ch11: buf 00000006 00000006 00000004 00000000 00000004
nouveau: ch11: buf 00000007 00000010 00000002 00000002 00000000
nouveau: ch11: buf 00000008 00000007 00000002 00000002 00000000
nouveau: ch11: buf 00000009 0000001c 00000002 00000002 00000000
nouveau: ch11: psh 00000000 0000048920 00000489ac
nouveau: 	0x200406c0
nouveau: 	0x00000000
nouveau: 	0x00019610
nouveau: 	0x00000003
nouveau: 	0x00005002
nouveau: 	0x200205f2
nouveau: 	0x00000000
nouveau: 	0x0001bd00
nouveau: 	0x2002008e
nouveau: 	0x00000000
nouveau: 	0x0001bd8f
nouveau: 	0x200105f6
nouveau: 	0x00000002
nouveau: 	0x20030700
nouveau: 	0x00001014
nouveau: 	0x00000000
nouveau: 	0x00562600
nouveau: 	0x20020180
nouveau: 	0x00000000
nouveau: 	0x005627df
nouveau: 	0x80040586
nouveau: 	0x200205f7
nouveau: 	0x00000000
nouveau: 	0x00000024
nouveau: 	0x80000585
nouveau: 	0x200406c0
nouveau: 	0x00000000
nouveau: 	0x00019600
nouveau: 	0x00000003
nouveau: 	0x00005002
nouveau: 	0x200406c0
nouveau: 	0x00000000
nouveau: 	0x00014000
nouveau: 	0x000002f6
nouveau: 	0x1000f010
Filtering grasps outside of workspace ...
Number of grasp candidates within workspace and gripper width: 124
neighborhoods search time: 0.0170
Created 124 images in 0.6513s
Selecting the 5 highest scoring grasps ...
 grasp #0, score: 1348.7671
 grasp #1, score: 1345.2932
 grasp #2, score: 1127.4420
 grasp #3, score: 1123.4860
 grasp #4, score: 995.2620
======== Selected grasps ========
Grasp 0: 1348.77
Grasp 1: 1345.29
Grasp 2: 1127.44
Grasp 3: 1123.49
Grasp 4: 995.262
Selected the 5 best grasps.
======== RUNTIMES ========
 1. Candidate generation: 0.1456s
 2. Descriptor extraction: 0.6516s
 3. Classification: 0.3787s
==========
 TOTAL: 14.5211s
[ INFO] [1713884998.036766907, 318.692000000]: Published 5 highest-scoring grasps.
[ INFO] [1713884998.036844013, 318.692000000]: Waiting for point cloud to arrive ...
double free or corruption (out)
[detect_grasps-1] process has died [pid 19234, exit code -6, cmd /home/robot/catkin_ws/devel/lib/gpd_ros/detect_grasps __name:=detect_grasps __log:=/home/robot/.ros/log/4f386c5a-0183-11ef-b6c9-3171f884d3a1/detect_grasps-1.log].
log file: /home/robot/.ros/log/4f386c5a-0183-11ef-b6c9-3171f884d3a1/detect_grasps-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Sometimes an error is reported when starting the gpd algorithm

robot@WP:~$ roslaunch robot_sim gpd_run.launch type:=2 topic:=/cloud_sample
... logging to /home/robot/.ros/log/4bb36a0c-0184-11ef-b6c9-3171f884d3a1/roslaunch-WP-20926.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://WP:38337/

SUMMARY
========

PARAMETERS
 * /detect_grasps/cloud_topic: /cloud_sample
 * /detect_grasps/cloud_type: 2
 * /detect_grasps/config_file: /home/robot/packa...
 * /detect_grasps/rviz_topic: plot_grasps
 * /detect_grasps/samples_topic: 
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /
    detect_grasps (gpd_ros/detect_grasps)

ROS_MASTER_URI=http://localhost:11311

process[detect_grasps-1]: started with pid [20941]
Init ....
============ HAND GEOMETRY ======================
finger_width: 0.01
hand_outer_diameter: 0.12
hand_depth: 0.06
hand_height: 0.02
init_bite: 0.01
=================================================
============ PLOTTING ========================
plot_normals: true
plot_samples false
plot_candidates: true
plot_filtered_candidates: false
plot_valid_grasps: false
plot_clustered_grasps: false
plot_selected_grasps: true
==============================================
============ CLOUD PREPROCESSING =============
voxelize: true
voxel_size: 0.003
remove_outliers: false
workspace: -1.00 1.00 -1.00 1.00 -1.00 1.00 
sample_above_plane: false
normals_radius: 0.030
refine_normals_k: 0
==============================================
============ CANDIDATE GENERATION ============
num_samples: 30
num_threads: 4
nn_radius: 0.01
hand axes: 2 
num_orientations: 8
num_finger_placements: 10
deepen_hand: true
friction_coeff: 20.00
min_viable: 6
==============================================
============ GRASP IMAGE GEOMETRY ===============
volume width: 0.1
volume depth: 0.06
volume height: 0.02
image_size: 60
image_num_channels: 15
=================================================
NET SETUP runtime: 0.0796375
============ CLASSIFIER ======================
model_file: 
weights_file: /home/robot/package/gpd/models/lenet/15channels/params/
batch_size: 1
==============================================
============ CANDIDATE FILTERING =============
candidate_workspace: -1.00 1.00 -1.00 1.00 -1.00 1.00 
min_aperture: 0.0000
max_aperture: 0.0850
==============================================
============ CLUSTERING ======================
min_inliers: 0
==============================================

Created GPD ....
[ INFO] [1713885332.349522727]: Waiting for point cloud to arrive ...
view_points:
0
0
0
[detect_grasps-1] process has died [pid 20941, exit code -11, cmd /home/robot/catkin_ws/devel/lib/gpd_ros/detect_grasps __name:=detect_grasps __log:=/home/robot/.ros/log/4bb36a0c-0184-11ef-b6c9-3171f884d3a1/detect_grasps-1.log].
log file: /home/robot/.ros/log/4bb36a0c-0184-11ef-b6c9-3171f884d3a1/detect_grasps-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Can you help me analyze what the problem is?

[artyom-boyarov]

@shen-shui: I encountered the exact same issue as you. I integrated GPD into a ros 2 service and was using GPD as an external library. I removed the flags ' -march=native -msse4.2 -mavx2 -mfma -flto' from line 29 of GPD's CMakeLists.txt, and the issue was resolved. The last post in this issue: #88 helped me.