Rviz version 1.14.25: still another librviz related crash

[arbephoenix]

with regards to the closed issue "Rviz version 1.14.23: librviz related crash after ubuntu (20.04) update #1832"

Apparently after testing some more, we have actually seen two seperate crash types in 1.14.23 that are not seen with 1.14.20.
One was fixed with 1.14.25 buty the other one is still there.
See the description of both below.
Issue 1 is solved with 1.14.25 but issue 2 still persists

1. This crash was indeed solved with 1.14.25 (was crashing with 1.14.23)

(gdb) bt
#0  0x00007ffff64b1a2e in QMetaObject::activate(QObject*, int, int, void**) ()
    at /lib/x86_64-linux-gnu/libQt5Core.so.5
#1  0x00007ffff7d0e90a in rviz::PropertyTreeModel::propertyHiddenChanged(rviz::Property const*) () at /home/eyalr/arbe-gitlab/arberos_1.3/devel/lib/librviz.so
#2  0x00007ffff7deef6b in rviz::PropertyTreeModel::emitPropertyHiddenChanged(rviz::Property const*) ()
    at /home/eyalr/arbe-gitlab/arberos_1.3/devel/lib/librviz.so
#3  0x00007ffff7dedd25 in rviz::Property::setModel(rviz::PropertyTreeModel*)::{lambda()#1}::operator()() const ()
    at /home/eyalr/arbe-gitlab/arberos_1.3/devel/lib/librviz.so
#4  0x00007ffff7deee1e in QtPrivate::FunctorCall<QtPrivate::IndexesList<>, QtPrivate::List<>, void, rviz::Property::setModel(rviz::PropertyTreeModel*)::{lambda()#1}>::call({lambda()#1}&, void**) ()
    at /home/eyalr/arbe-gitlab/arberos_1.3/devel/lib/librviz.so
#5  0x00007ffff7deedf0 in void QtPrivate::Functor<rviz::Property::setModel(rviz::PropertyTreeModel*)::{lambda()#1}, 0>::call<QtPrivate::List<>, void>({lambda()#1}&, void*, {lambda()#1}&*) ()
    at /home/eyalr/arbe-gitlab/arberos_1.3/devel/lib/librviz.so
#6  0x00007ffff7deedbe in QtPrivate::QFunctorSlotObject<rviz::Property::setModel(rviz::PropertyTreeModel*)::{lambda()#1}, 0, QtPrivate::List<>, void>::impl(int, QtPrivate::QSlotObjectBase*, QObject*, void**, bool*) ()
    at /home/eyalr/arbe-gitlab/arberos_1.3/devel/lib/librviz.so
#7  0x00007ffff64bf486 in  () at /lib/x86_64-linux-gnu/libQt5Core.so.5
--Type <RET> for more, q to quit, c to continue without paging--
#8  0x00007ffff64b2bc5 in QObject::event(QEvent*) ()
    at /lib/x86_64-linux-gnu/libQt5Core.so.5
#9  0x00007ffff6f6aa66 in QApplicationPrivate::notify_helper(QObject*, QEvent*)
    () at /lib/x86_64-linux-gnu/libQt5Widgets.so.5
#10 0x00007ffff6f740f0 in QApplication::notify(QObject*, QEvent*) ()
    at /lib/x86_64-linux-gnu/libQt5Widgets.so.5
#11 0x00007ffff648680a in QCoreApplication::notifyInternal2(QObject*, QEvent*)
    () at /lib/x86_64-linux-gnu/libQt5Core.so.5
#12 0x00007ffff64dd780 in QTimerInfoList::activateTimers() ()
    at /lib/x86_64-linux-gnu/libQt5Core.so.5
#13 0x00007ffff64de06c in  () at /lib/x86_64-linux-gnu/libQt5Core.so.5
#14 0x00007fff8814217d in g_main_context_dispatch ()
    at /lib/x86_64-linux-gnu/libglib-2.0.so.0
#15 0x00007fff88142400 in  () at /lib/x86_64-linux-gnu/libglib-2.0.so.0
#16 0x00007fff881424a3 in g_main_context_iteration ()
    at /lib/x86_64-linux-gnu/libglib-2.0.so.0
#17 0x00007ffff64de435 in QEventDispatcherGlib::processEvents(QFlags<QEventLoop::ProcessEventsFlag>) () at /lib/x86_64-linux-gnu/libQt5Core.so.5
#18 0x00007ffff64853ab in QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>) () at /lib/x86_64-linux-gnu/libQt5Core.so.5
#19 0x00007ffff648d116 in QCoreApplication::exec() ()
    at /lib/x86_64-linux-gnu/libQt5Core.so.5
#20 0x0000555555599801 in main ()

2. This issue is still there with 1.14.25

(gdb) bt
#0  0x00007ffff6f968b4 in QWidget::layout() const ()
    at /lib/x86_64-linux-gnu/libQt5Widgets.so.5
#1  0x00007ffff708eb6d in QDockWidget::titleBarWidget() const ()
    at /lib/x86_64-linux-gnu/libQt5Widgets.so.5
#2  0x00007ffff7dd67c3 in rviz::PanelDockWidget::addMaximizeButton() ()
    at /home/eyalr/arbe-gitlab/arberos_1.3/devel/lib/librviz.so
#3  0x00007fff119760fa in rviz::ImageDisplay::onInitialize() ()
    at /home/eyalr/arbe-gitlab/arberos_1.3/devel/lib/librviz_default_plugin.so
#4  0x00007ffff7d20ad5 in rviz::Display::initialize(rviz::DisplayContext*) ()
    at /home/eyalr/arbe-gitlab/arberos_1.3/devel/lib/librviz.so
#5  0x00007ffff7e7e139 in rviz::VisualizationManager::addDisplay(rviz::Display*, bool) () at /home/eyalr/arbe-gitlab/arberos_1.3/devel/lib/librviz.so
#6  0x00007ffff7e7e694 in rviz::VisualizationManager::createDisplay(QString const&, QString const&, bool) ()
    at /home/eyalr/arbe-gitlab/arberos_1.3/devel/lib/librviz.so
#7  0x0000555555636a87 in viewpanel::enableCamera(bool) ()
#8  0x0000555555604ab2 in MainWindow::MainWindow() ()
#9  0x0000555555599198 in main ()

Your environment

• OS Version: e.g. Ubuntu 20.04
• ROS Distro: [Noetic]
• RViz, Qt, OGRE, OpenGl version as printed by rviz:
  rviz --version
  [ INFO] [1716898124.335460451]: rviz version 1.14.23
  [ INFO] [1716898124.335527302]: compiled against Qt version 5.12.8
  [ INFO] [1716898124.335539388]: compiled against OGRE version 1.9.0 (Ghadamon)*

Any suggestions?

Best Regards,
Eyal

[arbephoenix]

Another input:
Seems like reverting commit 6ca7e79 is resolving the issue for me.
So something with the addition of the maximize button may be causing the issue.

With this revert (see my branch log below) I now have 1.14.25 working ok (built rviz from sources)

eyalr@eyalr-ThinkPad-P14s-Gen-4:~/arbe-gitlab/arberos_1.3/src/rviz$ git log
commit a9186cd98b296f0313a4939a82b3baf1f7e55cf1 (HEAD -> noetic-devel)
Author: Eyal Reizer [email protected]
Date: Tue May 28 16:46:53 2024 +0300

Revert "Add maximize button to Image and Camera display (#1803)"

This reverts commit 6ca7e79215e60ca8d27f2a707a721a9b1ae40b6f.

commit ba95c1f (origin/noetic-devel, origin/HEAD)
Author: Robert Haschke [email protected]
Date: Sat May 25 22:41:55 2024 +0200

CI: Reenable clang-tidy

CLANG_TIDY arg wasn't forwarded to industrial_ci

commit d1cea53 (tag: 1.14.25)
Author: Robert Haschke [email protected]
Date: Tue May 21 08:53:35 2024 +0200

1.14.25

[rhaschke]

Could you please provide the steps required to produce the second bug? I guess you are adding a new ImageDisplay?

[arbephoenix]

Basically we are calling the following sequence from a custom GUI implemented in c++ that uses librviz
Attching the relevant snippet below.
The string title that is built below is "Front Camera"
nr equals 0
..
std::string title = Radar_name[nr] + " Camera";
Camera_[nr] = manager_->createDisplay("rviz/Image", title.c_str(), true);
..

The crash happens when the createDisplay API ic called

[rhaschke]

Looks like titleBarWidget() fails here:

rviz/src/rviz/panel_dock_widget.cpp

Line 134 in ba95c1f

dynamic_cast<QHBoxLayout*>(titleBarWidget()->layout())->insertWidget(2, button);

As this works in the rviz GUI, I guess your code is missing something / doing something different than rviz.
Does your widget have a title bar at all?

To further debug this issue, it would be helpful if you could provide a minimal C++ example reproducing the issue.
Thanks.

[arbephoenix]

Actually it does not have a title bar...
It is just a floating image window that displays a usb camera image

Is it a must to have a title bar?
It was working fine without it before this addition

[rhaschke]

In the rviz GUI those floating windows are DockWidgets, which have a title bar. In order to understand, what needs to be changed in the code, I do need a minimal example of your code to reproduce the issue.

[rhaschke]

From the gdb backtrace, I guess that #1835 should fix your issue. Could you please verify?

[arbephoenix]

Hi,

The specific fundtion that is causing this crash inside our GUI looks like the following.
I have extracted it out of a prety large project.

The function below is an example of how we are starting the image window.

rviz::Display* Camera_
QWidget *CameraWidget;

void viewpanel::enableCamera()
{
std::string title = "Front Camera"
Camera_ = manager_->createDisplay("rviz/Image", title.c_str(), true);

	std::string cstr_me = "/cv_camera_0/processed_image";
	Camera_->subProp("Image Topic")->setValue(cstr_me.c_str());
	Camera_->subProp("Transport Hint")->setValue("raw");

	CameraWidget = Camera_->getAssociatedWidget();
	Qt::WindowFlags flags = CameraWidget->windowFlags();
	flags |= Qt::WindowStaysOnTopHint;

	CameraWidget->setWindowFlags(flags);
	sleep(1);
	CameraWidget->show();
}

}

The crash is hapenning when the createDisplay() API is called.
The camera window looks like just a floating window as in the attached picture:

Hope it has enough info to be able to help.
Best Regards,
Eyal

[arbephoenix]

From the gdb backtrace, I guess that #1835 should fix your issue. Could you please verify?

Yes!
I have manually merged this fix into image_display.cpp in the rviz source code and it looks like it is sollving the issue:
https://github.com/ros-visualization/rviz/pull/1835/files

I assume this fix is just not merged yet into noetic_devel, right?

See the "working" screenshot:

Best Regards,
Eyal

[rhaschke]

Thanks for your swift reply. I merged the fixes into the noetic-devel branch.
I will wait with a new release a few more days. Maybe more issues pop up?
I'm sorry for the trouble this latest updated caused.
Please give me a reminder, if I didn't pushed a new release within 2 weeks.