Yarp: Buggy devices make yarprobotinterface seg-fault

Created on 29 Apr 2016  路  19Comments  路  Source: robotology/yarp

@davidetome commented on Tue Jan 19 2016

* glibc detected *** robotInterface: corrupted double-linked list: 0x000000000c75c800 *
======= Backtrace: =========
/lib/x86_64-linux-gnu/libc.so.6(+0x75be6)[0x7fa5ad13abe6]
/lib/x86_64-linux-gnu/libc.so.6(+0x7605d)[0x7fa5ad13b05d]
/lib/x86_64-linux-gnu/libc.so.6(+0x77518)[0x7fa5ad13c518]
/lib/x86_64-linux-gnu/libc.so.6(cfree+0x6c)[0x7fa5ad13f98c]
/usr/local/src/robot/yarp/build-pc104/lib/libYARP_OS.so.1(_ZN4yarp2os4impl14PortCorePacket5resetEv+0x2e)[0x7fa5ae2ad89e]
/usr/local/src/robot/yarp/build-pc104/lib/libYARP_OS.so.1(_ZN26PortWriterBufferBaseHelperD0Ev+0x15b)[0x7fa5ae2c282b]
/usr/local/src/robot/yarp/build-pc104/lib/libYARP_OS.so.1(_ZN4yarp2os20PortWriterBufferBaseD1Ev+0x21)[0x7fa5ae2c1911]
/usr/local/src/robot/icub-main/build-pc104/lib/iCub/skinWrapper.so(_ZN4yarp3dev12AnalogServerD1Ev+0x447)[0x7fa5765d3dc7]
/usr/local/src/robot/icub-main/build-pc104/lib/iCub/skinWrapper.so(_ZN4yarp3dev12AnalogServerD0Ev+0x9)[0x7fa5765d4269]
/usr/local/src/robot/icub-main/build-pc104/lib/iCub/skinWrapper.so(_ZN11skinWrapper5closeEv+0x22)[0x7fa5765c3522]
/usr/local/src/robot/yarp/build-pc104/lib/libYARP_dev.so.1(_ZN4yarp3dev10PolyDriver9closeMainEv+0x44)[0x7fa5adeb9d34]
robotInterface(_ZN14RobotInterface6Device5closeEv+0x20)[0x4168d0]
robotInterface(_ZN14RobotInterface5Robot7Private12closeDevicesEv+0x46)[0x41ecd6]
robotInterface(_ZN14RobotInterface5Robot10enterPhaseENS_11ActionPhaseE+0x1bee)[0x424ebe]
robotInterface(_ZN14RobotInterface6Module5closeEv+0x55)[0x41a605]
/usr/local/src/robot/yarp/build-pc104/lib/libYARP_OS.so.1(_ZN4yarp2os8RFModule9runModuleEv+0x211)[0x7fa5ae2e2b61]
robotInterface(main+0xe2)[0x413c82]
/lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xfd)[0x7fa5ad0e3ead]
robotInterface[0x413fd9]
======= Memory map: ========
00400000-00450000 r-xp 00000000 00:17 12324236 /usr/local/src/robot/icub-main/build-pc104/bin/robotInterface
00650000-00652000 rw-p 00050000 00:17 12324236 /usr/local/src/robot/icub-main/build-pc104/bin/robotInterface
006d2000-0e1ad000 rw-p 00000000 00:00 0 [heap]
7fa5447f9000-7fa5447fa000 ---p 00000000 00:00 0
7fa5447fa000-7fa544ffa000 rw-p 00000000 00:00 0
7fa546ffe000-7fa546fff000 ---p 00000000 00:00 0
7fa546fff000-7fa5477ff000 rw-p 00000000 00:00 0
7fa548000000-7fa54803b000 rw-p 00000000 00:00 0
7fa54803b000-7fa54c000000 ---p 00000000 00:00 0
7fa54d7cb000-7fa54d7cc000 ---p 00000000 00:00 0
7fa54d7cc000-7fa54dfcc000 rw-p 00000000 00:00 0
7fa54f7cf000-7fa54f7d0000 ---p 00000000 00:00 0
7fa54f7d0000-7fa54ffd0000 rw-p 00000000 00:00 0
7fa5517d3000-7fa5517d4000 ---p 00000000 00:00 0
7fa5517d4000-7fa551fd4000 rw-p 00000000 00:00 0
7fa5537d7000-7fa5537d8000 ---p 00000000 00:00 0
7fa5537d8000-7fa553fd8000 rw-p 00000000 00:00 0
7fa568000000-7fa5680b5000 rw-p 00000000 00:00 0
7fa5680b5000-7fa56c000000 ---p 00000000 00:00 0
7fa56f185000-7fa56f19b000 r-xp 00000000 00:17 12323984 /usr/local/src/robot/icub-main/build-pc104/lib/iCub/parametricCalibrator.so
7fa56f19b000-7fa56f39a000 ---p 00016000 00:17 12323984 /usr/local/src/robot/icub-main/build-pc104/lib/iCub/parametricCalibrator.so
7fa56f39a000-7fa56f39b000 rw-p 00015000 00:17 12323984 /usr/local/src/robot/icub-main/build-pc104/lib/iCub/parametricCalibrator.so
7fa56f39b000-7fa56f39c000 ---p 00000000 00:00 0
7fa56f39c000-7fa56fb9c000 rw-p 00000000 00:00 0
7fa56fb9c000-7fa56fb9d000 ---p 00000000 00:00 0
7fa56fb9d000-7fa57039d000 rw-p 00000000 00:00 0
7fa57039d000-7fa57039e000 ---p 00000000 00:00 0
7fa57039e000-7fa570b9e000 rw-p 00000000 00:00 0
7fa570b9e000-7fa570baa000 r-xp 00000000 00:17 12324003 /usr/local/src/robot/icub-main/build-pc104/lib/iCub/xsensmtx.so
7fa570baa000-7fa570da9000 ---p 0000c000 00:17 12324003 /usr/local/src/robot/icub-main/build-pc104/lib/iCub/xsensmtx.so
7fa570da9000-7fa570daa000 rw-p 0000b000 00:17 12324003 /usr/local/src/robot/icub-main/build-pc104/lib/iCub/xsensmtx.so
7fa570daa000-7fa570dab000 ---p 00000000 00:00 0
7fa570dab000-7fa5715ab000 rw-p 00000000 00:00 0
7fa5715ab000-7fa5715ac000 ---p 00000000 00:00 0
7fa5715ac000-7fa571dac000 rw-p 00000000 00:00 0
7fa571dac000-7fa571dad000 ---p 00000000 00:00 0
7fa571dad000-7fa5725ad000 rw-p 00000000 00:00 0
7fa5725ad000-7fa5725ae000 ---p 00000000 00:00 0
7fa5725ae000-7fa572dae000 rw-p 00000000 00:00 0
7fa572dae000-7fa572daf000 ---p 00000000 00:00 0
7fa572daf000-7fa5735af000 rw-p 00000000 00:00 0
7fa5735af000-7fa5735b0000 ---p 00000000 00:00 0
7fa5735b0000-7fa573db0000 rw-p 00000000 00:00 0
7fa573db0000-7fa573db1000 ---p 00000000 00:00 0
7fa573db1000-7fa5745b1000 rw-p 00000000 00:00 0
7fa5745b1000-7fa5745b2000 ---p 00000000 00:00 0
7fa5745b2000-7fa574db2000 rw-p 00000000 00:00 0
7fa574db2000-7fa574db3000 ---p 00000000 00:00 0
7fa574db3000-7fa5755b3000 rw-p 00000000 00:00 0
7fa5755b3000-7fa5755b4000 ---p 00000000 00:00 0
7fa5755b4000-7fa575db4000 rw-p 00000000 00:00 0
7fa5765b5000-7fa5765db000 r-xp 00000000 00:17 12324049 /usr/local/src/robot/icub-main/build-pc104/lib/iCub/skinWrapper.so
7fa5765db000-7fa5767db000 ---p 00026000 00:17 12324049 /usr/local/src/robot/icub-main/build-pc104/lib/iCub/skinWrapper.so
7fa5767db000-7fa5767dd000 rw-p 00026000 00:17 12324049 /usr/local/src/robot/icub-main/build-pc104/lib/iCub/skinWrapper.so
7fa5857fb000-7fa5857fc000 ---p 00000000 00:00 0
7fa5857fc000-7fa585ffc000 rw-p 00000000 00:00 0
7fa5867fd000-7fa5867fe000 ---p 00000000 00:00 0
7fa5867fe000-7fa586ffe000 rw-p 00000000 00:00 0
7fa5877ff000-7fa587800000 ---p 00000000 00:00 0
7fa587800000-7fa588000000 rw-p 00000000 00:00 0
7fa588000000-7fa58999c000 rw-p 00000000 00:00 0
7fa58999c000-7fa58c000000 ---p 00000000 00:00 0
7fa58c04a000-7fa58c06d000 r-xp 00000000 00:17 12324079 /usr/local/src/robot/icub-main/build-pc104/lib/iCub/canBusSkin.so
7fa58c06d000-7fa58c26c000 ---p 00023000 00:17 12324079 /usr/local/src/robot/icub-main/build-pc104/lib/iCub/canBusSkin.so
7fa58c26c000-7fa58c26e000 rw-p 00022000 00:17 12324079 /usr/local/src/robot/icub-main/build-pc104/lib/iCub/canBusSkin.so
7fa58c26e000-7fa58c27a000 r-xp 00000000 00:17 12324037 /usr/local/src/robot/icub-main/build-pc104/lib/iCub/canBusAnalogSensor.so
7fa58c27a000-7fa58c47a000 ---p 0000c000 00:17 12324037 /usr/local/src/robot/icub-main/build-pc104/lib/iCub/canBusAnalogSensor.so
7fa58c47a000-7fa58c47b000 rw-p 0000c000 00:17 12324037 /usr/local/src/robot/icub-main/build-pc104/lib/iCub/canBusAnalogSensor.so
7fa58c47b000-7fa58c487000 r-xp 00000000 00:17 12324056 /usr/local/src/robot/icub-main/build-pc104/lib/iCub/canBusVirtualAnalogSensor.so
7fa58c487000-7fa58c687000 ---p 0000c000 00:17 12324056 /usr/local/src/robot/icub-main/build-pc104/lib/iCub/canBusVirtualAnalogSensor.so
7fa58c687000-7fa58c688000 rw-p 0000c000 00:17 12324056 /usr/local/src/robot/icub-main/build-pc104/lib/iCub/canBusVirtualAnalogSensor.so
7fa58ce89000-7fa58ce8a000 ---p 00000000 00:00 0
7fa58ce8a000-7fa58d68a000 rw-p 00000000 00:00 0
7fa58de8b000-7fa58de8c000 ---p 00000000 00:00 0
7fa58de8c000-7fa58e68c000 rw-p 00000000 00:00 0
7fa58ee8d000-7fa58ee8e000 ---p 00000000 00:00 0
7fa58ee8e000-7fa58f68e000 rw-p 00000000 00:00 0
7fa58fe8f000-7fa58fe90000 ---p 00000000 00:00 0
7fa58fe90000-7fa590690000 rw-p 00000000 00:00 0
7fa590690000-7fa590691000 r-xp 00000000 07:00 10130 /lib/live/mount/rootfs/filesystem.squashfs/lib/modules/3.2.0-4+icub.1-rt-amd64/iCubDrivers/cfw002/LinuxDriver/API/libcfw002.so
7fa590691000-7fa590891000 ---p 00001000 07:00 10130 /lib/live/mount/rootfs/filesystem.squashfs/lib/modules/3.2.0-4+icub.1-rt-amd64/iCubDrivers/cfw002/LinuxDriver/API/libcfw002.so
7fa590891000-7fa590892000 rw-p 00001000 07:00 10130 /lib/live/mount/rootfs/filesystem.squashfs/lib/modules/3.2.0-4+icub.1-rt-amd64/iCubDrivers/cfw002/LinuxDriver/API/libcfw002.so
7fa590892000-7fa590898000 r-xp 00000000 00:17 12323935 /usr/local/src/robot/icub-main/build-pc104/lib/iCub/cfw2can.so
7fa590898000-7fa590a98000 ---p 00006000 00:17 12323935 /usr/local/src/robot/icub-main/build-pc104/lib/iCub/cfw2can.so
7fa590a98000-7fa590a99000 rw-p 00006000 00:17 12323935 /usr/local/src/robot/icub-main/build-pc104/lib/iCub/cfw2can.so
7fa590a99000-7fa590aa2000 r-xp 00000000 00:17 12323967 /usr/local/src/robot/icub-main/build-pc104/lib/iCub/shcan.so
7fa590aa2000-7fa590ca1000 ---p 00009000 00:17 12323967 /usr/local/src/robot/icub-main/build-pc104/lib/iCub/shcan.so
7fa590ca1000-7fa590ca2000 rw-p 00008000 00:17 12323967 /usr/local/src/robot/icub-main/build-pc104/lib/iCub/shcan.so
7fa590ca2000-7fa590d12000 r-xp 00000000 00:17 12323928 /usr/local/src/robot/icub-main/build-pc104/lib/iCub/canmotioncontrol.so
7fa590d12000-7fa590f12000 ---p 00070000 00:17 12323928 /usr/local/src/robot/icub-main/build-pc104/lib/iCub/canmotioncontrol.so
7fa590f12000-7fa590f17000 rw-p 00070000 00:17 12323928 /usr/local/src/robot/icub-main/build-pc104/lib/iCub/canmotioncontrol.so
7fa590f17000-7fa590f1b000 rw-p 00000000 00:00 0
7fa5aaf4f000-7fa5aaf97000 r-xp 00000000 07:00 26983 /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/libgslcblas.so.0.0.0
7fa5aaf97000-7fa5ab196000 ---p 00048000 07:00 26983 /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/libgslcblas.so.0.0.0
7fa5ab196000-7fa5ab197000 rw-p 00047000 07:00 26983 /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/libgslcblas.so.0.0.0
7fa5ab197000-7fa5ab3dd000 r-xp 00000000 07:00 28471 /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/libgsl.so.0.16.0
7fa5ab3dd000-7fa5ab5dd000 ---p 00246000 07:00 28471 /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/libgsl.so.0.16.0
7fa5ab5dd000-7fa5ab5f0000 rw-p 00246000 07:00 28471 /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/libgsl.so.0.16.0
7fa5ab5f0000-7fa5ab5fa000 r-xp 00000000 00:17 12321681 /usr/local/src/robot/yarp/build-pc104/lib/libYARP_name.so.2.3.64.10
7fa5ab5fa000-7fa5ab7f9000 ---p 0000a000 00:17 12321681 /usr/local/src/robot/yarp/build-pc104/lib/libYARP_name.so.2.3.64.10
7fa5ab7f9000-7fa5ab7fa000 rw-p 00009000 00:17 12321681 /usr/local/src/robot/yarp/build-pc104/lib/libYARP_name.so.2.3.64.10
7fa5ab7fa000-7fa5ab813000 r-xp 00000000 00:17 12321936 /usr/local/src/robot/yarp/build-pc104/lib/libYARP_math.so.2.3.64.10
7fa5ab813000-7fa5aba13000 ---p 00019000 00:17 12321936 /usr/local/src/robot/yarp/build-pc104/lib/libYARP_math.so.2.3.64.10
7fa5aba13000-7fa5aba14000 rw-p 00019000 00:17 12321936 /usr/local/src/robot/yarp/build-pc104/lib/libYARP_math.so.2.3.64.10
7fa5aba14000-7fa5abadc000 r-xp 00000000 00:17 12324264 /usr/local/src/robot/icub-main/build-pc104/lib/iCub/cartesiancontrollerserver.so
7fa5abadc000-7fa5abcdb000 ---p 000c8000 00:17 12324264 /usr/local/src/robot/icub-main/build-pc104/lib/iCub/cartesiancontrollerserver.so
7fa5abcdb000-7fa5abce0000 rw-p 000c7000 00:17 12324264 /usr/local/src/robot/icub-main/build-pc104/lib/iCub/cartesiancontrollerserver.so
7fa5abce0000-7fa5abce1000 ---p 00000000 00:00 0
7fa5abce1000-7fa5ac4e1000 rw-p 00000000 00:00 0
7fa5ac4e1000-7fa5ac513000 r-xp 00000000 00:17 12321725 /usr/local/src/robot/yarp/build-pc104/lib/libYARP_sig.so.2.3.64.10
7fa5ac513000-7fa5ac712000 ---p 00032000 00:17 12321725 /usr/local/src/robot/yarp/build-pc104/lib/libYARP_sig.so.2.3.64.10
7fa5ac712000-7fa5ac713000 rw-p 00031000 00:17 12321725 /usr/local/src/robot/yarp/build-pc104/lib/libYARP_sig.so.2.3.64.10
7fa5ac713000-7fa5ac714000 rw-p 00000000 00:00 0
7fa5ac714000-7fa5ac71b000 r-xp 00000000 07:00 10226 /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/librt-2.13.so
7fa5ac71b000-7fa5ac91a000 ---p 00007000 07:00 10226 /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/librt-2.13.so
7fa5ac91a000-7fa5ac91b000 r--p 00006000 07:00 10226 /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/librt-2.13.so
7fa5ac91b000-7fa5ac91c000 rw-p 00007000 07:00 10226 /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/librt-2.13.so
7fa5ac91c000-7fa5ac91e000 r-xp 00000000 07:00 10300 /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libdl-2.13.so
7fa5ac91e000-7fa5acb1e000 ---p 00002000 07:00 10300 /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libdl-2.13.so
7fa5acb1e000-7fa5acb1f000 r--p 00002000 07:00 10300 /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libdl-2.13.so
7fa5acb1f000-7fa5acb20000 rw-p 00003000 07:00 10300 /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libdl-2.13.so
7fa5acb20000-7fa5acc93000 r-xp 00000000 07:00 23107 /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/libACE-6.0.3.so
7fa5acc93000-7fa5ace92000 ---p 00173000 07:00 23107 /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/libACE-6.0.3.so
7fa5ace92000-7fa5acea3000 r--p 00172000 07:00 23107 /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/libACE-6.0.3.so
7fa5acea3000-7fa5acea7000 rw-p 00183000 07:00 23107 /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/libACE-6.0.3.so
7fa5acea7000-7fa5acea9000 rw-p 00000000 00:00 0
7fa5acea9000-7fa5acec0000 r-xp 00000000 07:00 10307 /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libpthread-2.13.so
7fa5acec0000-7fa5ad0bf000 ---p 00017000 07:00 10307 /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libpthread-2.13.so
7fa5ad0bf000-7fa5ad0c0000 r--p 00016000 07:00 10307 /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libpthread-2.13.so
7fa5ad0c0000-7fa5ad0c1000 rw-p 00017000 07:00 10307 /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libpthread-2.13.so
7fa5ad0c1000-7fa5ad0c5000 rw-p 00000000 00:00 0
7fa5ad0c5000-7fa5ad246000 r-xp 00000000 07:00 10150 /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libc-2.13.so
7fa5ad246000-7fa5ad446000 ---p 00181000 07:00 10150 /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libc-2.13.so
7fa5ad446000-7fa5ad44a000 r--p 00181000 07:00 10150 /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libc-2.13.so
7fa5ad44a000-7fa5ad44b000 rw-p 00185000 07:00 10150 /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libc-2.13.so
7fa5ad44b000-7fa5ad450000 rw-p 00000000 00:00 0
7fa5ad450000-7fa5ad465000 r-xp 00000000 07:00 10287 /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libgcc_s.so.1
7fa5ad465000-7fa5ad665000 ---p 00015000 07:00 10287 /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libgcc_s.so.1
7fa5ad665000-7fa5ad666000 rw-p 00015000 07:00 10287 /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libgcc_s.so.1
7fa5ad666000-7fa5ad6e7000 r-xp 00000000 07:00 10140 /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libm-2.13.so
7fa5ad6e7000-7fa5ad8e6000 ---p 00081000 07:00 10140 /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libm-2.13.so
7fa5ad8e6000-7fa5ad8e7000 r--p 00080000 07:00 10140 /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libm-2.13.so
7fa5ad8e7000-7fa5ad8e8000 rw-p 00081000 07:00 10140 /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libm-2.13.so
7fa5ad8e8000-7fa5ad9d0000 r-xp 00000000 07:00 25245 /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.17
7fa5ad9d0000-7fa5adbd0000 ---p 000e8000 07:00 25245 /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.17
7fa5adbd0000-7fa5adbd8000 r--p 000e8000 07:00 25245 /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.17
7fa5adbd8000-7fa5adbda000 rw-p 000f0000 07:00 25245 /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.17
7fa5adbda000-7fa5adbef000 rw-p 00000000 00:00 0
7fa5adbef000-7fa5adbf1000 r-xp 00000000 00:17 12321669 /usr/local/src/robot/yarp/build-pc104/lib/libYARP_init.so.2.3.64.10
7fa5adbf1000-7fa5addf0000 ---p 00002000 00:17 12321669 /usr/local/src/robot/yarp/build-pc104/lib/libYARP_init.so.2.3.64.10
7fa5addf0000-7fa5addf1000 rw-p 00001000 00:17 12321669 /usr/local/src/robot/yarp/build-pc104/lib/libYARP_init.so.2.3.64.10
7fa5addf1000-7fa5adf8b000 r-xp 00000000 00:17 12322244 /usr/local/src/robot/yarp/build-pc104/lib/libYARP_dev.so.2.3.64.10
7fa5adf8b000-7fa5ae18a000 ---p 0019a000 00:17 12322244 /usr/local/src/robot/yarp/build-pc104/lib/libYARP_dev.so.2.3.64.10
7fa5ae18a000-7fa5ae19b000 rw-p 00199000 00:17 12322244 /usr/local/src/robot/yarp/build-pc104/lib/libYARP_dev.so.2.3.64.10
7fa5ae19b000-7fa5ae36f000 r-xp 00000000 00:17 12321665 /usr/local/src/robot/yarp/build-pc104/lib/libYARP_OS.so.2.3.64.10
7fa5ae36f000-7fa5ae56f000 ---p 001d4000 00:17 12321665 /usr/local/src/robot/yarp/build-pc104/lib/libYARP_OS.so.2.3.64.10
7fa5ae56f000-7fa5ae57e000 rw-p 001d4000 00:17 12321665 /usr/local/src/robot/yarp/build-pc104/lib/libYARP_OS.so.2.3.64.10
7fa5ae57e000-7fa5ae59e000 r-xp 00000000 07:00 10285 /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/ld-2.13.so
7fa5ae782000-7fa5ae78a000 rw-p 00000000 00:00 0
7fa5ae799000-7fa5ae79d000 rw-p 00000000 00:00 0
7fa5ae79d000-7fa5ae79e000 r--p 0001f000 07:00 10285 /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/ld-2.13.so
7fa5ae79e000-7fa5ae79f000 rw-p 00020000 07:00 10285 /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/ld-2.13.so
7fa5ae79f000-7fa5ae7a0000 rw-p 00000000 00:00 0
7fffda441000-7fffda462000 rw-p 00000000 00:00 0 [stack]
7fffda561000-7fffda562000 r-xp 00000000 00:00 0 [vdso]
ffffffffff600000-ffffffffff601000 r-xp 00000000 00:00 0 [vsyscall]
Aborted

@francesco-romano commented on Mon Jan 25 2016

I add also this log:

*** glibc detected *** robotInterface: corrupted double-linked list: 0x00007fee8a8f0ff0 ***
======= Backtrace: =========
/lib/x86_64-linux-gnu/libc.so.6(+0x75be6)[0x7feeb23bcbe6]
/lib/x86_64-linux-gnu/libc.so.6(+0x7605d)[0x7feeb23bd05d]
/lib/x86_64-linux-gnu/libc.so.6(+0x77518)[0x7feeb23be518]
/lib/x86_64-linux-gnu/libc.so.6(cfree+0x6c)[0x7feeb23c198c]
/usr/local/src/robot/yarp/build-pc104/lib/libYARP_dev.so.1(_ZN10StubDriverD0Ev+0x201)[0x7feeb313a261]
/usr/local/src/robot/yarp/build-pc104/lib/libYARP_dev.so.1(_ZN4yarp3dev10PolyDriver9closeMainEv+0x53)[0x7feeb3144443]
robotInterface(_ZN14RobotInterface6Device5closeEv+0x20)[0x416a80]
robotInterface(_ZN14RobotInterface5Robot7Private12closeDevicesEv+0x46)[0x41ee86]
robotInterface(_ZN14RobotInterface5Robot10enterPhaseENS_11ActionPhaseE+0x1bee)[0x42506e]
robotInterface(_ZN14RobotInterface6Module5closeEv+0x55)[0x41a7b5]
/usr/local/src/robot/yarp/build-pc104/lib/libYARP_OS.so.1(_ZN4yarp2os8RFModule9runModuleEv+0x211)[0x7feeb3585061]
robotInterface(main+0x140)[0x413d90]
/lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xfd)[0x7feeb2365ead]
robotInterface[0x414109]
======= Memory map: ========
00400000-00451000 r-xp 00000000 00:16 930116                             /usr/local/src/robot/icub-main/build-pc104/bin/robotInterface
00650000-00652000 rw-p 00050000 00:16 930116                             /usr/local/src/robot/icub-main/build-pc104/bin/robotInterface
01de9000-02770000 rw-p 00000000 00:00 0                                  [heap]
7fee44000000-7fee44117000 rw-p 00000000 00:00 0 
7fee44117000-7fee48000000 ---p 00000000 00:00 0 
7fee74ce9000-7fee74cff000 r-xp 00000000 00:16 921952                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/parametricCalibratorEth.so
7fee74cff000-7fee74eff000 ---p 00016000 00:16 921952                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/parametricCalibratorEth.so
7fee74eff000-7fee74f00000 rw-p 00016000 00:16 921952                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/parametricCalibratorEth.so
7fee74f00000-7fee74f7f000 r-xp 00000000 00:16 930052                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/embObjSkin.so
7fee74f7f000-7fee7517e000 ---p 0007f000 00:16 930052                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/embObjSkin.so
7fee7517e000-7fee75183000 rw-p 0007e000 00:16 930052                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/embObjSkin.so
7fee75183000-7fee75184000 ---p 00000000 00:00 0 
7fee75184000-7fee75984000 rw-p 00000000 00:00 0 
7fee75984000-7fee75985000 ---p 00000000 00:00 0 
7fee75985000-7fee76185000 rw-p 00000000 00:00 0 
7fee76185000-7fee761a8000 r-xp 00000000 00:16 920062                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/canBusSkin.so
7fee761a8000-7fee763a7000 ---p 00023000 00:16 920062                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/canBusSkin.so
7fee763a7000-7fee763a9000 rw-p 00022000 00:16 920062                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/canBusSkin.so
7fee763a9000-7fee763aa000 ---p 00000000 00:00 0 
7fee763aa000-7fee76baa000 rw-p 00000000 00:00 0 
7fee76baa000-7fee76bab000 ---p 00000000 00:00 0 
7fee76bab000-7fee773ab000 rw-p 00000000 00:00 0 
7fee773ab000-7fee773ac000 ---p 00000000 00:00 0 
7fee773ac000-7fee77bac000 rw-p 00000000 00:00 0 
7fee77bac000-7fee77bad000 ---p 00000000 00:00 0 
7fee77bad000-7fee783ad000 rw-p 00000000 00:00 0 
7fee783ad000-7fee783ae000 ---p 00000000 00:00 0 
7fee783ae000-7fee78bae000 rw-p 00000000 00:00 0 
7fee78bae000-7fee78baf000 ---p 00000000 00:00 0 
7fee78baf000-7fee793af000 rw-p 00000000 00:00 0 
7fee793af000-7fee793d5000 r-xp 00000000 00:16 921975                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/skinWrapper.so
7fee793d5000-7fee795d5000 ---p 00026000 00:16 921975                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/skinWrapper.so
7fee795d5000-7fee795d7000 rw-p 00026000 00:16 921975                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/skinWrapper.so
7fee79dd8000-7fee79dd9000 ---p 00000000 00:00 0 
7fee79dd9000-7fee7a5d9000 rw-p 00000000 00:00 0 
7fee7adda000-7fee7addb000 ---p 00000000 00:00 0 
7fee7addb000-7fee7b5db000 rw-p 00000000 00:00 0 
7fee7f5e3000-7fee7f5ef000 r-xp 00000000 00:16 921894                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/xsensmtx.so
7fee7f5ef000-7fee7f7ee000 ---p 0000c000 00:16 921894                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/xsensmtx.so
7fee7f7ee000-7fee7f7ef000 rw-p 0000b000 00:16 921894                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/xsensmtx.so
7fee88000000-7fee8befc000 rw-p 00000000 00:00 0 
7fee8befc000-7fee8c000000 ---p 00000000 00:00 0 
7fee8d933000-7fee8d9ac000 r-xp 00000000 00:16 930054                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/embObjAnalogSensor.so
7fee8d9ac000-7fee8dbac000 ---p 00079000 00:16 930054                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/embObjAnalogSensor.so
7fee8dbac000-7fee8dbb0000 rw-p 00079000 00:16 930054                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/embObjAnalogSensor.so
7fee9e3d1000-7fee9e496000 r-xp 00000000 00:16 930053                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/embObjMotionControl.so
7fee9e496000-7fee9e695000 ---p 000c5000 00:16 930053                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/embObjMotionControl.so
7fee9e695000-7fee9e69d000 rw-p 000c4000 00:16 930053                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/embObjMotionControl.so
7feea1ea4000-7feea1ea5000 r-xp 00000000 07:00 10128                      /lib/live/mount/rootfs/filesystem.squashfs/lib/modules/3.2.0-4+icub.1-rt-amd64/iCubDrivers/cfw002/LinuxDriver/API/libcfw002.so
7feea1ea5000-7feea20a5000 ---p 00001000 07:00 10128                      /lib/live/mount/rootfs/filesystem.squashfs/lib/modules/3.2.0-4+icub.1-rt-amd64/iCubDrivers/cfw002/LinuxDriver/API/libcfw002.so
7feea20a5000-7feea20a6000 rw-p 00001000 07:00 10128                      /lib/live/mount/rootfs/filesystem.squashfs/lib/modules/3.2.0-4+icub.1-rt-amd64/iCubDrivers/cfw002/LinuxDriver/API/libcfw002.so
7feea20a6000-7feea20ac000 r-xp 00000000 00:16 920066                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/cfw2can.so
7feea20ac000-7feea22ac000 ---p 00006000 00:16 920066                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/cfw2can.so
7feea22ac000-7feea22ad000 rw-p 00006000 00:16 920066                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/cfw2can.so
7feea22ad000-7feea2320000 r-xp 00000000 00:16 920031                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/canmotioncontrol.so
7feea2320000-7feea251f000 ---p 00073000 00:16 920031                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/canmotioncontrol.so
7feea251f000-7feea2525000 rw-p 00072000 00:16 920031                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/canmotioncontrol.so
7feea2525000-7feea2529000 rw-p 00000000 00:00 0 
7feeaa539000-7feeaa581000 r-xp 00000000 07:00 26981                      /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/libgslcblas.so.0.0.0
7feeaa581000-7feeaa780000 ---p 00048000 07:00 26981                      /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/libgslcblas.so.0.0.0
7feeaa780000-7feeaa781000 rw-p 00047000 07:00 26981                      /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/libgslcblas.so.0.0.0
7feeaa781000-7feeaa9c7000 r-xp 00000000 07:00 28469                      /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/libgsl.so.0.16.0
7feeaa9c7000-7feeaabc7000 ---p 00246000 07:00 28469                      /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/libgsl.so.0.16.0
7feeaabc7000-7feeaabda000 rw-p 00246000 07:00 28469                      /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/libgsl.so.0.16.0
7feeaabda000-7feeaabe4000 r-xp 00000000 00:16 1445208                    /usr/local/src/robot/yarp/build-pc104/lib/libYARP_name.so.2.3.64.12
7feeaabe4000-7feeaade3000 ---p 0000a000 00:16 1445208                    /usr/local/src/robot/yarp/build-pc104/lib/libYARP_name.so.2.3.64.12
7feeaade3000-7feeaade4000 rw-p 00009000 00:16 1445208                    /usr/local/src/robot/yarp/build-pc104/lib/libYARP_name.so.2.3.64.12
7feeaade4000-7feeaadfd000 r-xp 00000000 00:16 1451832                    /usr/local/src/robot/yarp/build-pc104/lib/libYARP_math.so.2.3.64.12
7feeaadfd000-7feeaaffd000 ---p 00019000 00:16 1451832                    /usr/local/src/robot/yarp/build-pc104/lib/libYARP_math.so.2.3.64.12
7feeaaffd000-7feeaaffe000 rw-p 00019000 00:16 1451832                    /usr/local/src/robot/yarp/build-pc104/lib/libYARP_math.so.2.3.64.12
7feeaaffe000-7feeaafff000 ---p 00000000 00:00 0 
7feeaafff000-7feeab7ff000 rw-p 00000000 00:00 0 
7feeab7ff000-7feeab800000 ---p 00000000 00:00 0 
7feeab800000-7feeac000000 rw-p 00000000 00:00 0 
7feeac000000-7feeb0000000 rw-p 00000000 00:00 0 
7feeb0025000-7feeb00ec000 r-xp 00000000 00:16 930150                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/cartesiancontrollerserver.so
7feeb00ec000-7feeb02ec000 ---p 000c7000 00:16 930150                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/cartesiancontrollerserver.so
7feeb02ec000-7feeb02f1000 rw-p 000c7000 00:16 930150                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/cartesiancontrollerserver.so
7feeb02f1000-7feeb02f2000 ---p 00000000 00:00 0 
7feeb02f2000-7feeb0af2000 rw-p 00000000 00:00 0 
7feeb0af2000-7feeb0af3000 ---p 00000000 00:00 0 
7feeb0af3000-7feeb12f3000 rw-p 00000000 00:00 0 
7feeb12f3000-7feeb1318000 r-xp 00000000 07:00 10245                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libtinfo.so.5.9
7feeb1318000-7feeb1517000 ---p 00025000 07:00 10245                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libtinfo.so.5.9
7feeb1517000-7feeb151b000 r--p 00024000 07:00 10245                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libtinfo.so.5.9
7feeb151b000-7feeb151c000 rw-p 00028000 07:00 10245                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libtinfo.so.5.9
7feeb151c000-7feeb154e000 r-xp 00000000 00:16 1451820                    /usr/local/src/robot/yarp/build-pc104/lib/libYARP_sig.so.2.3.64.12
7feeb154e000-7feeb174d000 ---p 00032000 00:16 1451820                    /usr/local/src/robot/yarp/build-pc104/lib/libYARP_sig.so.2.3.64.12
7feeb174d000-7feeb174e000 rw-p 00031000 00:16 1451820                    /usr/local/src/robot/yarp/build-pc104/lib/libYARP_sig.so.2.3.64.12
7feeb174e000-7feeb174f000 rw-p 00000000 00:00 0 
7feeb174f000-7feeb178c000 r-xp 00000000 07:00 10223                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libreadline.so.6.2
7feeb178c000-7feeb198c000 ---p 0003d000 07:00 10223                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libreadline.so.6.2
7feeb198c000-7feeb198e000 r--p 0003d000 07:00 10223                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libreadline.so.6.2
7feeb198e000-7feeb1994000 rw-p 0003f000 07:00 10223                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libreadline.so.6.2
7feeb1994000-7feeb1996000 rw-p 00000000 00:00 0 
7feeb1996000-7feeb199d000 r-xp 00000000 07:00 10224                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/librt-2.13.so
7feeb199d000-7feeb1b9c000 ---p 00007000 07:00 10224                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/librt-2.13.so
7feeb1b9c000-7feeb1b9d000 r--p 00006000 07:00 10224                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/librt-2.13.so
7feeb1b9d000-7feeb1b9e000 rw-p 00007000 07:00 10224                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/librt-2.13.so
7feeb1b9e000-7feeb1ba0000 r-xp 00000000 07:00 10298                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libdl-2.13.so
7feeb1ba0000-7feeb1da0000 ---p 00002000 07:00 10298                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libdl-2.13.so
7feeb1da0000-7feeb1da1000 r--p 00002000 07:00 10298                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libdl-2.13.so
7feeb1da1000-7feeb1da2000 rw-p 00003000 07:00 10298                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libdl-2.13.so
7feeb1da2000-7feeb1f15000 r-xp 00000000 07:00 23105                      /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/libACE-6.0.3.so
7feeb1f15000-7feeb2114000 ---p 00173000 07:00 23105                      /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/libACE-6.0.3.so
7feeb2114000-7feeb2125000 r--p 00172000 07:00 23105                      /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/libACE-6.0.3.so
7feeb2125000-7feeb2129000 rw-p 00183000 07:00 23105                      /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/libACE-6.0.3.so
7feeb2129000-7feeb212b000 rw-p 00000000 00:00 0 
7feeb212b000-7feeb2142000 r-xp 00000000 07:00 10305                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libpthread-2.13.so
7feeb2142000-7feeb2341000 ---p 00017000 07:00 10305                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libpthread-2.13.so
7feeb2341000-7feeb2342000 r--p 00016000 07:00 10305                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libpthread-2.13.so
7feeb2342000-7feeb2343000 rw-p 00017000 07:00 10305                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libpthread-2.13.so
7feeb2343000-7feeb2347000 rw-p 00000000 00:00 0 
7feeb2347000-7feeb24c8000 r-xp 00000000 07:00 10148                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libc-2.13.so
7feeb24c8000-7feeb26c8000 ---p 00181000 07:00 10148                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libc-2.13.so
7feeb26c8000-7feeb26cc000 r--p 00181000 07:00 10148                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libc-2.13.so
7feeb26cc000-7feeb26cd000 rw-p 00185000 07:00 10148                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libc-2.13.so
7feeb26cd000-7feeb26d2000 rw-p 00000000 00:00 0 
7feeb26d2000-7feeb26e7000 r-xp 00000000 07:00 10285                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libgcc_s.so.1
7feeb26e7000-7feeb28e7000 ---p 00015000 07:00 10285                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libgcc_s.so.1
7feeb28e7000-7feeb28e8000 rw-p 00015000 07:00 10285                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libgcc_s.so.1
7feeb28e8000-7feeb2969000 r-xp 00000000 07:00 10138                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libm-2.13.so
7feeb2969000-7feeb2b68000 ---p 00081000 07:00 10138                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libm-2.13.so
7feeb2b68000-7feeb2b69000 r--p 00080000 07:00 10138                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libm-2.13.so
7feeb2b69000-7feeb2b6a000 rw-p 00081000 07:00 10138                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libm-2.13.so
7feeb2b6a000-7feeb2c52000 r-xp 00000000 07:00 25243                      /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.17
7feeb2c52000-7feeb2e52000 ---p 000e8000 07:00 25243                      /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.17
7feeb2e52000-7feeb2e5a000 r--p 000e8000 07:00 25243                      /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.17
7feeb2e5a000-7feeb2e5c000 rw-p 000f0000 07:00 25243                      /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.17
7feeb2e5c000-7feeb2e71000 rw-p 00000000 00:00 0 
7feeb2e71000-7feeb2e73000 r-xp 00000000 00:16 1444977                    /usr/local/src/robot/yarp/build-pc104/lib/libYARP_init.so.2.3.64.12
7feeb2e73000-7feeb3072000 ---p 00002000 00:16 1444977                    /usr/local/src/robot/yarp/build-pc104/lib/libYARP_init.so.2.3.64.12
7feeb3072000-7feeb3073000 rw-p 00001000 00:16 1444977                    /usr/local/src/robot/yarp/build-pc104/lib/libYARP_init.so.2.3.64.12
7feeb3073000-7feeb322b000 r-xp 00000000 00:16 1451952                    /usr/local/src/robot/yarp/build-pc104/lib/libYARP_dev.so.2.3.64.12
7feeb322b000-7feeb342b000 ---p 001b8000 00:16 1451952                    /usr/local/src/robot/yarp/build-pc104/lib/libYARP_dev.so.2.3.64.12
7feeb342b000-7feeb343c000 rw-p 001b8000 00:16 1451952                    /usr/local/src/robot/yarp/build-pc104/lib/libYARP_dev.so.2.3.64.12
7feeb343c000-7feeb3612000 r-xp 00000000 00:16 1444724                    /usr/local/src/robot/yarp/build-pc104/lib/libYARP_OS.so.2.3.64.12
7feeb3612000-7feeb3811000 ---p 001d6000 00:16 1444724                    /usr/local/src/robot/yarp/build-pc104/lib/libYARP_OS.so.2.3.64.12
7feeb3811000-7feeb3820000 rw-p 001d5000 00:16 1444724                    /usr/local/src/robot/yarp/build-pc104/lib/libYARP_OS.so.2.3.64.12
7feeb3820000-7feeb3821000 rw-p 00000000 00:00 0 
7feeb3821000-7feeb3841000 r-xp 00000000 07:00 10283                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/ld-2.13.so
7feeb3a25000-7feeb3a2d000 rw-p 00000000 00:00 0 
7feeb3a3c000-7feeb3a40000 rw-p 00000000 00:00 0 
7feeb3a40000-7feeb3a41000 r--p 0001f000 07:00 10283                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/ld-2.13.so
7feeb3a41000-7feeb3a42000 rw-p 00020000 07:00 10283                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/ld-2.13.so
7feeb3a42000-7feeb3a43000 rw-p 00000000 00:00 0 
7fff73652000-7fff73673000 rw-p 00000000 00:00 0                          [stack]
7fff737b6000-7fff737b7000 r-xp 00000000 00:00 0                          [vdso]
ffffffffff600000-ffffffffff601000 r-xp 00000000 00:00 0                  [vsyscall]
Aborted

@traversaro commented on Mon Jan 25 2016

Related issue : https://github.com/robotology/icub-main/issues/275 .

@gsaponaro commented on Thu Feb 04 2016

We also experience a segmentation fault when quitting robotInterface on iCubLisboa01 (after having done a fresh update on pc104 & cluster, including upgrading the firmware to the latest build 87).

[INFO]All actions for action level 1 of interrupt1 phase finished. 
[INFO]interrupt1 phase finished. 
[INFO]shutdown phase starting... 
[INFO]Entering action level 2 of phase shutdown 
[INFO]Stopping icub/cartesianController/left_arm
[INFO]Stopping icub/cartesianController/right_arm
[INFO]All actions for action level 2 of shutdown phase started. Waiting for unfinished actions. 
[INFO]All actions for action level 2 of shutdown phase finished. 
[INFO]Entering action level 5 of phase shutdown 
[INFO]All actions for action level 5 of shutdown phase started. Waiting for unfinished actions. 
[INFO]All actions for action level 5 of shutdown phase finished. 
Segmentation fault

@gsaponaro commented on Thu Feb 04 2016

Backtrace and memory map: https://gist.github.com/gsaponaro/ffa7734357c58413deb6

@lornat75 commented on Wed Feb 10 2016

@barbalberto can we try to replicate this and fix it?

@francesco-romano commented on Thu Mar 17 2016

@marcoaccame
I don't know if the error we've just seen is the same

@traversaro commented on Thu Mar 17 2016

@barbalberto some juicy details obtained by running canLoader in Valgrind : 

icub@pc104:/usr/local/src/robot/icub-main/build-pc104$ valgrind canLoader
==26087== Memcheck, a memory error detector
==26087== Copyright (C) 2002-2011, and GNU GPL'd, by Julian Seward et al.
==26087== Using Valgrind-3.7.0 and LibVEX; rerun with -h for copyright info
==26087== Command: canLoader
==26087== 
Initializing GUI version of canloader
Gtk-Message: Failed to load module "canberra-gtk-module"
==26087== Conditional jump or move depends on uninitialised value(s)
==26087==    at 0x8121AEB: myMain(int, char**) (main.cpp:1903)
==26087== 
==26087== Conditional jump or move depends on uninitialised value(s)
==26087==    at 0x8121AED: myMain(int, char**) (main.cpp:1903)
==26087== 
==26087== Syscall param ioctl(generic) points to unaddressable byte(s)
==26087==    at 0x57E1D19: ioctl (syscall-template.S:82)
==26087==    by 0x403FAC4: cfwCanRtxEnable (in /lib/modules/3.2.0-4-686-pae/iCubDrivers/cfw002/LinuxDriver/API/libcfw002.so)
==26087==    by 0xB8538A7: yarp::dev::Cfw2Can::open(yarp::os::Searchable&) (Cfw2Can.cpp:131)
==26087==    by 0x823A76F: StubDriver::open(yarp::os::Searchable&) (Drivers.cpp:199)
==26087==    by 0x8234DA7: yarp::dev::PolyDriver::coreOpen(yarp::os::Searchable&) (PolyDriver.cpp:265)
==26087==    by 0x8235788: yarp::dev::PolyDriver::open(yarp::os::Searchable&) (PolyDriver.cpp:120)
==26087==    by 0x79A04F7: ???
==26087==  Address 0x15 is not stack'd, malloc'd or (recently) free'd
==26087== 
[INFO]created device <cfw2can>. See C++ class yarp::dev::Cfw2Can for documentation.
yarp: Port /log/pc104/no_progname/26087 active at tcp://10.0.0.2:10003
yarp: Sending output from /log/pc104/no_progname/26087 to /yarplogger using tcp
==26087== Syscall param ioctl(generic) points to uninitialised byte(s)
==26087==    at 0x57E1D19: ioctl (syscall-template.S:82)
==26087==    by 0x403F986: cfwCanRead (in /lib/modules/3.2.0-4-686-pae/iCubDrivers/cfw002/LinuxDriver/API/libcfw002.so)
==26087==    by 0xB85318F: yarp::dev::Cfw2Can::canRead(yarp::dev::CanBuffer&, unsigned int, unsigned int*, bool) (Cfw2Can.cpp:77)
==26087==    by 0x812F54F: cDriver::receive_message(yarp::dev::CanBuffer&, int, double) (driver.cpp:79)
==26087==    by 0x812BD10: cDownloader::initschede() (downloader.cpp:1255)
==26087==    by 0x811EA0A: start_end_click(_GtkButton*, void*) (main.cpp:793)
==26087==    by 0x4150C56: g_cclosure_marshal_VOID__VOIDv (in /usr/lib/i386-linux-gnu/libgobject-2.0.so.0.3200.4)
==26087==    by 0x414F120: ??? (in /usr/lib/i386-linux-gnu/libgobject-2.0.so.0.3200.4)
==26087==    by 0x4168278: g_signal_emit_valist (in /usr/lib/i386-linux-gnu/libgobject-2.0.so.0.3200.4)
==26087==    by 0x4168CD2: g_signal_emit (in /usr/lib/i386-linux-gnu/libgobject-2.0.so.0.3200.4)
==26087==    by 0x4611539: gtk_button_clicked (in /usr/lib/i386-linux-gnu/libgtk-x11-2.0.so.0.2400.10)
==26087==    by 0x461293F: ??? (in /usr/lib/i386-linux-gnu/libgtk-x11-2.0.so.0.2400.10)
==26087==  Address 0xbeaf50e0 is on thread 1's stack
==26087== 
[INFO]CONNECTED: 2 Boards found on bus 1
[DEBUG]    id   type     version
[DEBUG]   14       7     3.1.2
[DEBUG]    7       3     2.48.87
==26087== Syscall param ioctl(generic) points to unaddressable byte(s)
==26087==    at 0x57E1D19: ioctl (syscall-template.S:82)
==26087==    by 0x403FB01: cfwCanRtxDisable (in /lib/modules/3.2.0-4-686-pae/iCubDrivers/cfw002/LinuxDriver/API/libcfw002.so)
==26087==    by 0xB85329A: yarp::dev::Cfw2Can::close() (Cfw2Can.cpp:147)
==26087==    by 0x823A797: StubDriver::close() (Drivers.cpp:204)
==26087==    by 0x8234006: yarp::dev::PolyDriver::closeMain() (PolyDriver.cpp:138)
==26087==    by 0x8234074: yarp::dev::PolyDriver::~PolyDriver() (PolyDriver.cpp:172)
==26087==    by 0x812F93F: cDriver::~cDriver() (driver.h:40)
==26087==    by 0x812899B: cDownloader::stopdriver() (downloader.cpp:107)
==26087==    by 0x811EAA3: start_end_click(_GtkButton*, void*) (main.cpp:815)
==26087==    by 0x4150C56: g_cclosure_marshal_VOID__VOIDv (in /usr/lib/i386-linux-gnu/libgobject-2.0.so.0.3200.4)
==26087==    by 0x414F120: ??? (in /usr/lib/i386-linux-gnu/libgobject-2.0.so.0.3200.4)
==26087==    by 0x4168278: g_signal_emit_valist (in /usr/lib/i386-linux-gnu/libgobject-2.0.so.0.3200.4)
==26087==  Address 0x5 is not stack'd, malloc'd or (recently) free'd
==26087== 
yarp: Removing output from /log/pc104/no_progname/26087 to /yarplogger
==26087== Invalid read of size 4
==26087==    at 0x81165CE: _ZN9__gnu_cxxL27__exchange_and_add_dispatchEPii.constprop.17 (atomicity.h:48)
==26087==    by 0x574129E: exit (exit.c:100)
==26087==    by 0x5728E4D: (below main) (libc-start.c:276)
==26087==  Address 0xb082440 is 8 bytes inside a block of size 24 free'd
==26087==    at 0x402719C: operator delete(void*) (vg_replace_malloc.c:457)
==26087==    by 0x569648A: std::string::_Rep::_M_destroy(std::allocator<char> const&) (in /usr/lib/i386-linux-gnu/libstdc++.so.6.0.17)
==26087==    by 0x574129E: exit (exit.c:100)
==26087==    by 0x5728E4D: (below main) (libc-start.c:276)
==26087== 
==26087== Invalid free() / delete / delete[] / realloc()
==26087==    at 0x402719C: operator delete(void*) (vg_replace_malloc.c:457)
==26087==    by 0x569648A: std::string::_Rep::_M_destroy(std::allocator<char> const&) (in /usr/lib/i386-linux-gnu/libstdc++.so.6.0.17)
==26087==    by 0x574129E: exit (exit.c:100)
==26087==    by 0x5728E4D: (below main) (libc-start.c:276)
==26087==  Address 0xb082438 is 0 bytes inside a block of size 24 free'd
==26087==    at 0x402719C: operator delete(void*) (vg_replace_malloc.c:457)
==26087==    by 0x569648A: std::string::_Rep::_M_destroy(std::allocator<char> const&) (in /usr/lib/i386-linux-gnu/libstdc++.so.6.0.17)
==26087==    by 0x574129E: exit (exit.c:100)
==26087==    by 0x5728E4D: (below main) (libc-start.c:276)
==26087== 
==26087== Invalid read of size 4
==26087==    at 0x8183720: ACE_Array_Base<yarp::os::ConstString>::~ACE_Array_Base() (basic_string.h:290)
==26087==    by 0x8184672: yarp::os::impl::Companion::~Companion() (Containers_T.h:1991)
==26087==    by 0x574122E: __run_exit_handlers (exit.c:78)
==26087==    by 0x574129E: exit (exit.c:100)
==26087==    by 0x5728E4D: (below main) (libc-start.c:276)
==26087==  Address 0xb086af0 is 0 bytes inside a block of size 128 free'd
==26087==    at 0x4026D7C: operator delete[](void*) (vg_replace_malloc.c:490)
==26087==    by 0x50C54FE: ACE_New_Allocator::free(void*) (in /usr/lib/libACE-6.0.3.so)
==26087==    by 0x8183740: ACE_Array_Base<yarp::os::ConstString>::~ACE_Array_Base() (Array_Base.inl:11)
==26087==    by 0x8184672: yarp::os::impl::Companion::~Companion() (Containers_T.h:1991)
==26087==    by 0x574122E: __run_exit_handlers (exit.c:78)
==26087==    by 0x574129E: exit (exit.c:100)
==26087==    by 0x5728E4D: (below main) (libc-start.c:276)
==26087== 
==26087== Invalid read of size 4
==26087==    at 0x8116944: _ZN9__gnu_cxxL27__exchange_and_add_dispatchEPii.constprop.46 (atomicity.h:48)
==26087==    by 0x8183754: ACE_Array_Base<yarp::os::ConstString>::~ACE_Array_Base() (basic_string.h:242)
==26087==    by 0x8184672: yarp::os::impl::Companion::~Companion() (Containers_T.h:1991)
==26087==    by 0x574122E: __run_exit_handlers (exit.c:78)
==26087==    by 0x574129E: exit (exit.c:100)
==26087==    by 0x5728E4D: (below main) (libc-start.c:276)
==26087==  Address 0xb087a08 is 8 bytes inside a block of size 64 free'd
==26087==    at 0x402719C: operator delete(void*) (vg_replace_malloc.c:457)
==26087==    by 0x569648A: std::string::_Rep::_M_destroy(std::allocator<char> const&) (in /usr/lib/i386-linux-gnu/libstdc++.so.6.0.17)
==26087==    by 0x8183775: ACE_Array_Base<yarp::os::ConstString>::~ACE_Array_Base() (basic_string.h:246)
==26087==    by 0x8184672: yarp::os::impl::Companion::~Companion() (Containers_T.h:1991)
==26087==    by 0x574122E: __run_exit_handlers (exit.c:78)
==26087==    by 0x574129E: exit (exit.c:100)
==26087==    by 0x5728E4D: (below main) (libc-start.c:276)
==26087== 
==26087== Invalid free() / delete / delete[] / realloc()
==26087==    at 0x402719C: operator delete(void*) (vg_replace_malloc.c:457)
==26087==    by 0x569648A: std::string::_Rep::_M_destroy(std::allocator<char> const&) (in /usr/lib/i386-linux-gnu/libstdc++.so.6.0.17)
==26087==    by 0x8183775: ACE_Array_Base<yarp::os::ConstString>::~ACE_Array_Base() (basic_string.h:246)
==26087==    by 0x8184672: yarp::os::impl::Companion::~Companion() (Containers_T.h:1991)
==26087==    by 0x574122E: __run_exit_handlers (exit.c:78)
==26087==    by 0x574129E: exit (exit.c:100)
==26087==    by 0x5728E4D: (below main) (libc-start.c:276)
==26087==  Address 0xb087a00 is 0 bytes inside a block of size 64 free'd
==26087==    at 0x402719C: operator delete(void*) (vg_replace_malloc.c:457)
==26087==    by 0x569648A: std::string::_Rep::_M_destroy(std::allocator<char> const&) (in /usr/lib/i386-linux-gnu/libstdc++.so.6.0.17)
==26087==    by 0x8183775: ACE_Array_Base<yarp::os::ConstString>::~ACE_Array_Base() (basic_string.h:246)
==26087==    by 0x8184672: yarp::os::impl::Companion::~Companion() (Containers_T.h:1991)
==26087==    by 0x574122E: __run_exit_handlers (exit.c:78)
==26087==    by 0x574129E: exit (exit.c:100)
==26087==    by 0x5728E4D: (below main) (libc-start.c:276)
==26087== 
==26087== Invalid free() / delete / delete[] / realloc()
==26087==    at 0x4026D7C: operator delete[](void*) (vg_replace_malloc.c:490)
==26087==    by 0x50C54FE: ACE_New_Allocator::free(void*) (in /usr/lib/libACE-6.0.3.so)
==26087==    by 0x8183740: ACE_Array_Base<yarp::os::ConstString>::~ACE_Array_Base() (Array_Base.inl:11)
==26087==    by 0x8184672: yarp::os::impl::Companion::~Companion() (Containers_T.h:1991)
==26087==    by 0x574122E: __run_exit_handlers (exit.c:78)
==26087==    by 0x574129E: exit (exit.c:100)
==26087==    by 0x5728E4D: (below main) (libc-start.c:276)
==26087==  Address 0xb086af0 is 0 bytes inside a block of size 128 free'd
==26087==    at 0x4026D7C: operator delete[](void*) (vg_replace_malloc.c:490)
==26087==    by 0x50C54FE: ACE_New_Allocator::free(void*) (in /usr/lib/libACE-6.0.3.so)
==26087==    by 0x8183740: ACE_Array_Base<yarp::os::ConstString>::~ACE_Array_Base() (Array_Base.inl:11)
==26087==    by 0x8184672: yarp::os::impl::Companion::~Companion() (Containers_T.h:1991)
==26087==    by 0x574122E: __run_exit_handlers (exit.c:78)
==26087==    by 0x574129E: exit (exit.c:100)
==26087==    by 0x5728E4D: (below main) (libc-start.c:276)
==26087== 
==26087== Invalid read of size 4
==26087==    at 0x8184688: yarp::os::impl::Companion::~Companion() (basic_string.h:290)
==26087==    by 0x574122E: __run_exit_handlers (exit.c:78)
==26087==    by 0x574129E: exit (exit.c:100)
==26087==    by 0x5728E4D: (below main) (libc-start.c:276)
==26087==  Address 0xb086a40 is 0 bytes inside a block of size 128 free'd
==26087==    at 0x4026D7C: operator delete[](void*) (vg_replace_malloc.c:490)
==26087==    by 0x50C54FE: ACE_New_Allocator::free(void*) (in /usr/lib/libACE-6.0.3.so)
==26087==    by 0x81846AB: yarp::os::impl::Companion::~Companion() (Array_Base.inl:11)
==26087==    by 0x574122E: __run_exit_handlers (exit.c:78)
==26087==    by 0x574129E: exit (exit.c:100)
==26087==    by 0x5728E4D: (below main) (libc-start.c:276)
==26087== 
==26087== Invalid read of size 4
==26087==    at 0x8116944: _ZN9__gnu_cxxL27__exchange_and_add_dispatchEPii.constprop.46 (atomicity.h:48)
==26087==    by 0x81846C7: yarp::os::impl::Companion::~Companion() (basic_string.h:242)
==26087==    by 0x574122E: __run_exit_handlers (exit.c:78)
==26087==    by 0x574129E: exit (exit.c:100)
==26087==    by 0x5728E4D: (below main) (libc-start.c:276)
==26087==  Address 0xb0879c0 is 8 bytes inside a block of size 18 free'd
==26087==    at 0x402719C: operator delete(void*) (vg_replace_malloc.c:457)
==26087==    by 0x569648A: std::string::_Rep::_M_destroy(std::allocator<char> const&) (in /usr/lib/i386-linux-gnu/libstdc++.so.6.0.17)
==26087==    by 0x81846E8: yarp::os::impl::Companion::~Companion() (basic_string.h:246)
==26087==    by 0x574122E: __run_exit_handlers (exit.c:78)
==26087==    by 0x574129E: exit (exit.c:100)
==26087==    by 0x5728E4D: (below main) (libc-start.c:276)
==26087== 
==26087== Invalid free() / delete / delete[] / realloc()
==26087==    at 0x402719C: operator delete(void*) (vg_replace_malloc.c:457)
==26087==    by 0x569648A: std::string::_Rep::_M_destroy(std::allocator<char> const&) (in /usr/lib/i386-linux-gnu/libstdc++.so.6.0.17)
==26087==    by 0x81846E8: yarp::os::impl::Companion::~Companion() (basic_string.h:246)
==26087==    by 0x574122E: __run_exit_handlers (exit.c:78)
==26087==    by 0x574129E: exit (exit.c:100)
==26087==    by 0x5728E4D: (below main) (libc-start.c:276)
==26087==  Address 0xb0879b8 is 0 bytes inside a block of size 18 free'd
==26087==    at 0x402719C: operator delete(void*) (vg_replace_malloc.c:457)
==26087==    by 0x569648A: std::string::_Rep::_M_destroy(std::allocator<char> const&) (in /usr/lib/i386-linux-gnu/libstdc++.so.6.0.17)
==26087==    by 0x81846E8: yarp::os::impl::Companion::~Companion() (basic_string.h:246)
==26087==    by 0x574122E: __run_exit_handlers (exit.c:78)
==26087==    by 0x574129E: exit (exit.c:100)
==26087==    by 0x5728E4D: (below main) (libc-start.c:276)
==26087== 
==26087== Invalid free() / delete / delete[] / realloc()
==26087==    at 0x4026D7C: operator delete[](void*) (vg_replace_malloc.c:490)
==26087==    by 0x50C54FE: ACE_New_Allocator::free(void*) (in /usr/lib/libACE-6.0.3.so)
==26087==    by 0x81846AB: yarp::os::impl::Companion::~Companion() (Array_Base.inl:11)
==26087==    by 0x574122E: __run_exit_handlers (exit.c:78)
==26087==    by 0x574129E: exit (exit.c:100)
==26087==    by 0x5728E4D: (below main) (libc-start.c:276)
==26087==  Address 0xb086a40 is 0 bytes inside a block of size 128 free'd
==26087==    at 0x4026D7C: operator delete[](void*) (vg_replace_malloc.c:490)
==26087==    by 0x50C54FE: ACE_New_Allocator::free(void*) (in /usr/lib/libACE-6.0.3.so)
==26087==    by 0x81846AB: yarp::os::impl::Companion::~Companion() (Array_Base.inl:11)
==26087==    by 0x574122E: __run_exit_handlers (exit.c:78)
==26087==    by 0x574129E: exit (exit.c:100)
==26087==    by 0x5728E4D: (below main) (libc-start.c:276)
==26087== 
==26087== Invalid read of size 4
==26087==    at 0x815B363: yarp::os::Semaphore::wait() (POSIXSemaphoreImpl.h:26)
==26087==    by 0x574129E: exit (exit.c:100)
==26087==    by 0x5728E4D: (below main) (libc-start.c:276)
==26087==  Address 0x4 is not stack'd, malloc'd or (recently) free'd
==26087== 
==26087== 
==26087== Process terminating with default action of signal 11 (SIGSEGV)
==26087==  Access not within mapped region at address 0x4
==26087==    at 0x815B363: yarp::os::Semaphore::wait() (POSIXSemaphoreImpl.h:26)
==26087==    by 0x574129E: exit (exit.c:100)
==26087==    by 0x5728E4D: (below main) (libc-start.c:276)
==26087==  If you believe this happened as a result of a stack
==26087==  overflow in your program's main thread (unlikely but
==26087==  possible), you can try to increase the size of the
==26087==  main thread stack using the --main-stacksize= flag.
==26087==  The main thread stack size used in this run was 8388608.
==26087== 
==26087== HEAP SUMMARY:
==26087==     in use at exit: 1,304,772 bytes in 10,160 blocks
==26087==   total heap usage: 553,633 allocs, 543,536 frees, 44,817,919 bytes allocated
==26087== 
==26087== LEAK SUMMARY:
==26087==    definitely lost: 26,768 bytes in 16 blocks
==26087==    indirectly lost: 10,539 bytes in 471 blocks
==26087==      possibly lost: 841,073 bytes in 3,526 blocks
==26087==    still reachable: 426,392 bytes in 6,147 blocks
==26087==         suppressed: 0 bytes in 0 blocks
==26087== Rerun with --leak-check=full to see details of leaked memory
==26087== 
==26087== For counts of detected and suppressed errors, rerun with: -v
==26087== Use --track-origins=yes to see where uninitialised values come from
==26087== ERROR SUMMARY: 250950 errors from 16 contexts (suppressed: 177 from 10)

@pattacini commented on Thu Mar 17 2016

cc @Tobias-Fischer

@traversaro commented on Thu Mar 17 2016

I don't have time to further investigate it, but I guess the problem could be related to the fact that yarp::os::Companion class and the fact that somewhere it is defined as a static instance. that is then duplicated in the robotInterface/canLoader binary and in the cfw2can.so device that is loaded at runtime... but in this case it should happen with all devices loaded at runtime.

@barbalberto commented on Thu Mar 17 2016

AFAIK it seems to happen only on can robot and not in eth ones... maybe @randaz81 can help more on this regard?

@randaz81 commented on Thu Mar 17 2016

Well, every ETH robot has at least one CAN network (the head). I'm familiar with this error on ETH robots too, but I never tried on a ETH robot with the head disabled.
Additionally, I saw this error also running robotInterface on non-robot-devices!! (e.g. the rpLidar)

@pattacini commented on Thu Mar 24 2016

Sooner or later this bug should be put at the top of our to-fix list.

@traversaro commented on Wed Apr 27 2016

Just to clarify, this happens also on ETH robots, this is an example on iCubDarmstadt01:

[DEBUG]right_arm_calibrator finished park device right_arm_mc_wrapper 
[DEBUG]Head_Calibrator : Moving to park position, joint: 1 
[DEBUG]Head_Calibrator : Moving to park position, joint: 2 
[DEBUG]Head_Calibrator : Moving to park position, joint: 3 
[DEBUG]Head_Calibrator : Moving to park position, joint: 4 
[DEBUG]Head_Calibrator : Moving to park position, joint: 5 
[DEBUG]Head_Calibrator : Park  completed 
[DEBUG]cfw2can [0] msg from board 1: PWM DIS CH1 
[DEBUG]cfw2can [0] msg from board 1: PWM DIS CH0 
[DEBUG]cfw2can [0] msg from board 1: PWM DIS COUPLED:1 
[DEBUG]cfw2can [0] msg from board 1: PWM DIS COUPLED:0 
[DEBUG]cfw2can [0] msg from board 2: PWM DIS:0 
[DEBUG]cfw2can [0] msg from board 2: PWM DIS:1 
[DEBUG]cfw2can [0] msg from board 2: PWM DIS COUPLED:3 
[DEBUG]cfw2can [0] msg from board 2: PWM DIS COUPLED:2 
[DEBUG]head_calibrator finished park device head_mc_wrapper 
[INFO]All actions for action level 1 of interrupt1 phase finished. 
[INFO]interrupt1 phase finished. 
[INFO]shutdown phase starting... 
[INFO]Entering action level 2 of phase shutdown 
[INFO]Stopping icub/cartesianController/left_arm
[INFO]Stopping icub/cartesianController/right_arm
[INFO]All actions for action level 2 of shutdown phase started. Waiting for unfinished actions. 
[INFO]All actions for action level 2 of shutdown phase finished. 
[INFO]Entering action level 5 of phase shutdown 
[INFO]All actions for action level 5 of shutdown phase started. Waiting for unfinished actions. 
[INFO]All actions for action level 5 of shutdown phase finished. 
yarp: Removing input from /icub/yarpmotorgui0/head/rpc:o to /icub/head/rpc:i
yarp: Removing input from /icub/yarpmotorgui0/head/command:o to /icub/head/command:i
yarp: Removing output from /icub/head/state:o to /icub/yarpmotorgui0/head/state:i
yarp: Removing output from /icub/head/stateExt:o to /icub/yarpmotorgui0/head/stateExt:i
yarp: Removing input from /icub/yarpmotorgui0/torso/rpc:o to /icub/torso/rpc:i
yarp: Removing input from /icub/yarpmotorgui0/torso/command:o to /icub/torso/command:i
yarp: Removing output from /icub/torso/state:o to /icub/yarpmotorgui0/torso/state:i
yarp: Removing output from /icub/torso/stateExt:o to /icub/yarpmotorgui0/torso/stateExt:i
yarp: Removing input from /icub/yarpmotorgui0/left_arm/rpc:o to /icub/left_arm/rpc:i
yarp: Removing input from /icub/yarpmotorgui0/left_arm/command:o to /icub/left_arm/command:i
yarp: Removing output from /icub/left_arm/state:o to /icub/yarpmotorgui0/left_arm/state:i
yarp: Removing output from /icub/left_arm/stateExt:o to /icub/yarpmotorgui0/left_arm/stateExt:i
yarp: Removing input from /icub/yarpmotorgui0/right_arm/rpc:o to /icub/right_arm/rpc:i
yarp: Removing input from /icub/yarpmotorgui0/right_arm/command:o to /icub/right_arm/command:i
yarp: Removing output from /icub/right_arm/state:o to /icub/yarpmotorgui0/right_arm/state:i
yarp: Removing output from /icub/right_arm/stateExt:o to /icub/yarpmotorgui0/right_arm/stateExt:i
yarp: Removing input from /icub/yarpmotorgui0/left_leg/rpc:o to /icub/left_leg/rpc:i
yarp: Removing input from /icub/yarpmotorgui0/left_leg/command:o to /icub/left_leg/command:i
yarp: Removing output from /icub/left_leg/state:o to /icub/yarpmotorgui0/left_leg/state:i
yarp: Removing output from /icub/left_leg/stateExt:o to /icub/yarpmotorgui0/left_leg/stateExt:i
yarp: Removing input from /icub/yarpmotorgui0/right_leg/rpc:o to /icub/right_leg/rpc:i
yarp: Removing input from /icub/yarpmotorgui0/right_leg/command:o to /icub/right_leg/command:i
yarp: Removing output from /icub/right_leg/state:o to /icub/yarpmotorgui0/right_leg/state:i
yarp: Removing output from /icub/right_leg/stateExt:o to /icub/yarpmotorgui0/right_leg/stateExt:i
[INFO]Closing Server Inertial...
[INFO]Server Intertial thread finished
*** glibc detected *** robotInterface: corrupted double-linked list: 0x00007f1e99ab2b50 ***
======= Backtrace: =========
/lib/x86_64-linux-gnu/libc.so.6(+0x75be6)[0x7f1ec3bc5be6]
/lib/x86_64-linux-gnu/libc.so.6(+0x7605d)[0x7f1ec3bc605d]
/lib/x86_64-linux-gnu/libc.so.6(+0x77518)[0x7f1ec3bc7518]
/lib/x86_64-linux-gnu/libc.so.6(cfree+0x6c)[0x7f1ec3bca98c]
/usr/local/src/robot/yarp/build-pc104/lib/libYARP_OS.so.1(_ZN4yarp2os4impl20PortReaderBufferBaseD1Ev+0x2e)[0x7f1ec4d918be]
/usr/local/src/robot/icub-main/build-pc104/lib/iCub/skinWrapper.so(_ZN4yarp3dev12AnalogServerD1Ev+0x3fc)[0x7f1e8ede4a5c]
/usr/local/src/robot/icub-main/build-pc104/lib/iCub/skinWrapper.so(_ZN4yarp3dev12AnalogServerD0Ev+0x9)[0x7f1e8ede4f49]
/usr/local/src/robot/icub-main/build-pc104/lib/iCub/skinWrapper.so(_ZN11skinWrapper5closeEv+0x22)[0x7f1e8edd4522]
/usr/local/src/robot/yarp/build-pc104/lib/libYARP_dev.so.1(_ZN4yarp3dev10PolyDriver9closeMainEv+0x44)[0x7f1ec494f674]
robotInterface(_ZN14RobotInterface6Device5closeEv+0x20)[0x416a70]
robotInterface(_ZN14RobotInterface5Robot7Private12closeDevicesEv+0x46)[0x41ee76]
robotInterface(_ZN14RobotInterface5Robot10enterPhaseENS_11ActionPhaseE+0x1bee)[0x42505e]
robotInterface(_ZN14RobotInterface6Module5closeEv+0x55)[0x41a7a5]
/usr/local/src/robot/yarp/build-pc104/lib/libYARP_OS.so.1(_ZN4yarp2os8RFModule9runModuleEv+0x211)[0x7f1ec4db5101]
robotInterface(main+0x137)[0x413d87]
/lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xfd)[0x7f1ec3b6eead]
robotInterface[0x4140f9]
======= Memory map: ========
00400000-00451000 r-xp 00000000 00:17 540989                             /usr/local/src/robot/icub-main/build-pc104/bin/robotInterface
00650000-00652000 rw-p 00050000 00:17 540989                             /usr/local/src/robot/icub-main/build-pc104/bin/robotInterface
01bc8000-03631000 rw-p 00000000 00:00 0                                  [heap]
7f1e18000000-7f1e180f8000 rw-p 00000000 00:00 0 
7f1e180f8000-7f1e1c000000 ---p 00000000 00:00 0 
7f1e1e77d000-7f1e1e77e000 ---p 00000000 00:00 0 
7f1e1e77e000-7f1e1ef7e000 rw-p 00000000 00:00 0 
7f1e20000000-7f1e200be000 rw-p 00000000 00:00 0 
7f1e200be000-7f1e24000000 ---p 00000000 00:00 0 
7f1e38000000-7f1e38065000 rw-p 00000000 00:00 0 
7f1e38065000-7f1e3c000000 ---p 00000000 00:00 0 
7f1e4b7b7000-7f1e4b7b8000 ---p 00000000 00:00 0 
7f1e4b7b8000-7f1e4bfb8000 rw-p 00000000 00:00 0 
7f1e55fcc000-7f1e55fcd000 ---p 00000000 00:00 0 
7f1e55fcd000-7f1e567cd000 rw-p 00000000 00:00 0 
7f1e6aff6000-7f1e6aff7000 ---p 00000000 00:00 0 
7f1e6aff7000-7f1e6b7f7000 rw-p 00000000 00:00 0 
7f1e70000000-7f1e702c7000 rw-p 00000000 00:00 0 
7f1e702c7000-7f1e74000000 ---p 00000000 00:00 0 
7f1e75740000-7f1e75741000 ---p 00000000 00:00 0 
7f1e75741000-7f1e75f41000 rw-p 00000000 00:00 0 
7f1e89f69000-7f1e89f7f000 r-xp 00000000 00:17 665512                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/parametricCalibratorEth.so
7f1e89f7f000-7f1e8a17f000 ---p 00016000 00:17 665512                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/parametricCalibratorEth.so
7f1e8a17f000-7f1e8a180000 rw-p 00016000 00:17 665512                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/parametricCalibratorEth.so
7f1e8a180000-7f1e8a198000 r-xp 00000000 00:17 664700                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/embObjSkin.so
7f1e8a198000-7f1e8a398000 ---p 00018000 00:17 664700                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/embObjSkin.so
7f1e8a398000-7f1e8a399000 rw-p 00018000 00:17 664700                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/embObjSkin.so
7f1e8a399000-7f1e8a39a000 ---p 00000000 00:00 0 
7f1e8a39a000-7f1e8ab9a000 rw-p 00000000 00:00 0 
7f1e8ab9a000-7f1e8ab9b000 ---p 00000000 00:00 0 
7f1e8ab9b000-7f1e8b39b000 rw-p 00000000 00:00 0 
7f1e8b39b000-7f1e8b3be000 r-xp 00000000 00:17 664499                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/canBusSkin.so
7f1e8b3be000-7f1e8b5bd000 ---p 00023000 00:17 664499                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/canBusSkin.so
7f1e8b5bd000-7f1e8b5bf000 rw-p 00022000 00:17 664499                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/canBusSkin.so
7f1e8b5bf000-7f1e8b5c0000 ---p 00000000 00:00 0 
7f1e8b5c0000-7f1e8bdc0000 rw-p 00000000 00:00 0 
7f1e8bdc0000-7f1e8bdc1000 ---p 00000000 00:00 0 
7f1e8bdc1000-7f1e8c5c1000 rw-p 00000000 00:00 0 
7f1e8c5c1000-7f1e8c5c2000 ---p 00000000 00:00 0 
7f1e8c5c2000-7f1e8cdc2000 rw-p 00000000 00:00 0 
7f1e8cdc2000-7f1e8cdc3000 ---p 00000000 00:00 0 
7f1e8cdc3000-7f1e8d5c3000 rw-p 00000000 00:00 0 
7f1e8d5c3000-7f1e8d5c4000 ---p 00000000 00:00 0 
7f1e8d5c4000-7f1e8ddc4000 rw-p 00000000 00:00 0 
7f1e8ddc4000-7f1e8ddc5000 ---p 00000000 00:00 0 
7f1e8ddc5000-7f1e8e5c5000 rw-p 00000000 00:00 0 
7f1e8e5c5000-7f1e8e5c6000 ---p 00000000 00:00 0 
7f1e8e5c6000-7f1e8edc6000 rw-p 00000000 00:00 0 
7f1e8edc6000-7f1e8edec000 r-xp 00000000 00:17 666650                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/skinWrapper.so
7f1e8edec000-7f1e8efec000 ---p 00026000 00:17 666650                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/skinWrapper.so
7f1e8efec000-7f1e8efee000 rw-p 00026000 00:17 666650                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/skinWrapper.so
7f1e98000000-7f1e9a635000 rw-p 00000000 00:00 0 
7f1e9a635000-7f1e9c000000 ---p 00000000 00:00 0 
7f1e9c1ea000-7f1e9c1f6000 r-xp 00000000 00:17 665533                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/xsensmtx.so
7f1e9c1f6000-7f1e9c3f5000 ---p 0000c000 00:17 665533                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/xsensmtx.so
7f1e9c3f5000-7f1e9c3f6000 rw-p 0000b000 00:17 665533                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/xsensmtx.so
7f1e9ebfb000-7f1e9ec0d000 r-xp 00000000 00:17 664923                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/embObjAnalogSensor.so
7f1e9ec0d000-7f1e9ee0c000 ---p 00012000 00:17 664923                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/embObjAnalogSensor.so
7f1e9ee0c000-7f1e9ee0d000 rw-p 00011000 00:17 664923                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/embObjAnalogSensor.so
7f1eae62c000-7f1eae62d000 ---p 00000000 00:00 0 
7f1eae62d000-7f1eaee2d000 rw-p 00000000 00:00 0 
7f1eaee2d000-7f1eaee2e000 ---p 00000000 00:00 0 
7f1eaee2e000-7f1eaf62e000 rw-p 00000000 00:00 0 
7f1eaf62e000-7f1eaf69e000 r-xp 00000000 00:17 539064                     /usr/local/src/robot/icub-main/build-pc104/lib/libethResources.so.1.2.17
7f1eaf69e000-7f1eaf89e000 ---p 00070000 00:17 539064                     /usr/local/src/robot/icub-main/build-pc104/lib/libethResources.so.1.2.17
7f1eaf89e000-7f1eaf8a2000 rw-p 00070000 00:17 539064                     /usr/local/src/robot/icub-main/build-pc104/lib/libethResources.so.1.2.17
7f1eaf8a2000-7f1eaf904000 r-xp 00000000 00:17 664663                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/embObjMotionControl.so
7f1eaf904000-7f1eafb04000 ---p 00062000 00:17 664663                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/embObjMotionControl.so
7f1eafb04000-7f1eafb08000 rw-p 00062000 00:17 664663                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/embObjMotionControl.so
7f1eb330f000-7f1eb3310000 r-xp 00000000 07:00 10130                      /lib/live/mount/rootfs/filesystem.squashfs/lib/modules/3.2.0-4+icub.1-rt-amd64/iCubDrivers/cfw002/LinuxDriver/API/libcfw002.so
7f1eb3310000-7f1eb3510000 ---p 00001000 07:00 10130                      /lib/live/mount/rootfs/filesystem.squashfs/lib/modules/3.2.0-4+icub.1-rt-amd64/iCubDrivers/cfw002/LinuxDriver/API/libcfw002.so
7f1eb3510000-7f1eb3511000 rw-p 00001000 07:00 10130                      /lib/live/mount/rootfs/filesystem.squashfs/lib/modules/3.2.0-4+icub.1-rt-amd64/iCubDrivers/cfw002/LinuxDriver/API/libcfw002.so
7f1eb3511000-7f1eb3517000 r-xp 00000000 00:17 661391                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/cfw2can.so
7f1eb3517000-7f1eb3717000 ---p 00006000 00:17 661391                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/cfw2can.so
7f1eb3717000-7f1eb3718000 rw-p 00006000 00:17 661391                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/cfw2can.so
7f1eb3718000-7f1eb371a000 r-xp 00000000 00:17 539065                     /usr/local/src/robot/icub-main/build-pc104/lib/libiCubDev.so.1.2.17
7f1eb371a000-7f1eb391a000 ---p 00002000 00:17 539065                     /usr/local/src/robot/icub-main/build-pc104/lib/libiCubDev.so.1.2.17
7f1eb391a000-7f1eb391b000 rw-p 00002000 00:17 539065                     /usr/local/src/robot/icub-main/build-pc104/lib/libiCubDev.so.1.2.17
7f1eb391b000-7f1eb398e000 r-xp 00000000 00:17 663136                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/canmotioncontrol.so
7f1eb398e000-7f1eb3b8e000 ---p 00073000 00:17 663136                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/canmotioncontrol.so
7f1eb3b8e000-7f1eb3b93000 rw-p 00073000 00:17 663136                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/canmotioncontrol.so
7f1eb3b93000-7f1eb3b97000 rw-p 00000000 00:00 0 
7f1ebbba7000-7f1ebbded000 r-xp 00000000 07:00 28471                      /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/libgsl.so.0.16.0
7f1ebbded000-7f1ebbfed000 ---p 00246000 07:00 28471                      /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/libgsl.so.0.16.0
7f1ebbfed000-7f1ebc000000 rw-p 00246000 07:00 28471                      /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/libgsl.so.0.16.0
7f1ebc000000-7f1ec0000000 rw-p 00000000 00:00 0 
7f1ec01df000-7f1ec0227000 r-xp 00000000 07:00 26983                      /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/libgslcblas.so.0.0.0
7f1ec0227000-7f1ec0426000 ---p 00048000 07:00 26983                      /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/libgslcblas.so.0.0.0
7f1ec0426000-7f1ec0427000 rw-p 00047000 07:00 26983                      /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/libgslcblas.so.0.0.0
7f1ec0427000-7f1ec049e000 r-xp 00000000 00:17 539113                     /usr/local/src/robot/icub-main/build-pc104/lib/libctrlLib.so.1.2.17
7f1ec049e000-7f1ec069e000 ---p 00077000 00:17 539113                     /usr/local/src/robot/icub-main/build-pc104/lib/libctrlLib.so.1.2.17
7f1ec069e000-7f1ec06a1000 rw-p 00077000 00:17 539113                     /usr/local/src/robot/icub-main/build-pc104/lib/libctrlLib.so.1.2.17
7f1ec06a1000-7f1ec06ab000 r-xp 00000000 00:17 275991                     /usr/local/src/robot/yarp/build-pc104/lib/libYARP_name.so.2.3.64.14
7f1ec06ab000-7f1ec08aa000 ---p 0000a000 00:17 275991                     /usr/local/src/robot/yarp/build-pc104/lib/libYARP_name.so.2.3.64.14
7f1ec08aa000-7f1ec08ab000 rw-p 00009000 00:17 275991                     /usr/local/src/robot/yarp/build-pc104/lib/libYARP_name.so.2.3.64.14
7f1ec08ab000-7f1ec08c4000 r-xp 00000000 00:17 276716                     /usr/local/src/robot/yarp/build-pc104/lib/libYARP_math.so.2.3.64.14
7f1ec08c4000-7f1ec0ac4000 ---p 00019000 00:17 276716                     /usr/local/src/robot/yarp/build-pc104/lib/libYARP_math.so.2.3.64.14
7f1ec0ac4000-7f1ec0ac5000 rw-p 00019000 00:17 276716                     /usr/local/src/robot/yarp/build-pc104/lib/libYARP_math.so.2.3.64.14
7f1ec0ac5000-7f1ec0b0a000 r-xp 00000000 00:17 540911                     /usr/local/src/robot/icub-main/build-pc104/lib/libiKin.so.1.2.17
7f1ec0b0a000-7f1ec0d0a000 ---p 00045000 00:17 540911                     /usr/local/src/robot/icub-main/build-pc104/lib/libiKin.so.1.2.17
7f1ec0d0a000-7f1ec0d0c000 rw-p 00045000 00:17 540911                     /usr/local/src/robot/icub-main/build-pc104/lib/libiKin.so.1.2.17
7f1ec0d0c000-7f1ec0d65000 r-xp 00000000 00:17 664665                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/cartesiancontrollerserver.so
7f1ec0d65000-7f1ec0f65000 ---p 00059000 00:17 664665                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/cartesiancontrollerserver.so
7f1ec0f65000-7f1ec0f68000 rw-p 00059000 00:17 664665                     /usr/local/src/robot/icub-main/build-pc104/lib/iCub/cartesiancontrollerserver.so
7f1ec0f68000-7f1ec0f69000 ---p 00000000 00:00 0 
7f1ec0f69000-7f1ec1769000 rw-p 00000000 00:00 0 
7f1ec276b000-7f1ec276c000 ---p 00000000 00:00 0 
7f1ec276c000-7f1ec2f6c000 rw-p 00000000 00:00 0 
7f1ec2f6c000-7f1ec2f9e000 r-xp 00000000 00:17 275999                     /usr/local/src/robot/yarp/build-pc104/lib/libYARP_sig.so.2.3.64.14
7f1ec2f9e000-7f1ec319d000 ---p 00032000 00:17 275999                     /usr/local/src/robot/yarp/build-pc104/lib/libYARP_sig.so.2.3.64.14
7f1ec319d000-7f1ec319e000 rw-p 00031000 00:17 275999                     /usr/local/src/robot/yarp/build-pc104/lib/libYARP_sig.so.2.3.64.14
7f1ec319e000-7f1ec319f000 rw-p 00000000 00:00 0 
7f1ec319f000-7f1ec31a6000 r-xp 00000000 07:00 10226                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/librt-2.13.so
7f1ec31a6000-7f1ec33a5000 ---p 00007000 07:00 10226                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/librt-2.13.so
7f1ec33a5000-7f1ec33a6000 r--p 00006000 07:00 10226                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/librt-2.13.so
7f1ec33a6000-7f1ec33a7000 rw-p 00007000 07:00 10226                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/librt-2.13.so
7f1ec33a7000-7f1ec33a9000 r-xp 00000000 07:00 10300                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libdl-2.13.so
7f1ec33a9000-7f1ec35a9000 ---p 00002000 07:00 10300                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libdl-2.13.so
7f1ec35a9000-7f1ec35aa000 r--p 00002000 07:00 10300                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libdl-2.13.so
7f1ec35aa000-7f1ec35ab000 rw-p 00003000 07:00 10300                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libdl-2.13.so
7f1ec35ab000-7f1ec371e000 r-xp 00000000 07:00 23107                      /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/libACE-6.0.3.so
7f1ec371e000-7f1ec391d000 ---p 00173000 07:00 23107                      /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/libACE-6.0.3.so
7f1ec391d000-7f1ec392e000 r--p 00172000 07:00 23107                      /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/libACE-6.0.3.so
7f1ec392e000-7f1ec3932000 rw-p 00183000 07:00 23107                      /lib/live/mount/rootfs/filesystem.squashfs/usr/lib/libACE-6.0.3.so
7f1ec3932000-7f1ec3934000 rw-p 00000000 00:00 0 
7f1ec3934000-7f1ec394b000 r-xp 00000000 07:00 10307                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libpthread-2.13.so
7f1ec394b000-7f1ec3b4a000 ---p 00017000 07:00 10307                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libpthread-2.13.so
7f1ec3b4a000-7f1ec3b4b000 r--p 00016000 07:00 10307                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libpthread-2.13.so
7f1ec3b4b000-7f1ec3b4c000 rw-p 00017000 07:00 10307                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libpthread-2.13.so
7f1ec3b4c000-7f1ec3b50000 rw-p 00000000 00:00 0 
7f1ec3b50000-7f1ec3cd1000 r-xp 00000000 07:00 10150                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libc-2.13.so
7f1ec3cd1000-7f1ec3ed1000 ---p 00181000 07:00 10150                      /lib/live/mount/rootfs/filesystem.squashfs/lib/x86_64-linux-gnu/libc-2.13.soAborted

@pattacini commented on Fri Apr 29 2016

@randaz81 @barbalberto @drdanz
Please, apply any possible bug fix to yarprobotinterface instead.

Devices Bug High Other Major
Source
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@pattacini you are on holiday! Go have fun! :laughing:

picture drdanz on 4 Aug 2016
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All 19 comments

A controlboardwrapper which is trying to attach to an already closed motorcontrol device may cause this issue.

randaz81 picture randaz81 on 3 May 2016

Ping: what's the current status?
Who can we assign as responsible for this issue?

pattacini picture pattacini on 10 May 2016

@barbalberto has recently fixed a couple of problems with robotinterface causing segmentation faults -- I am not sure they are the ones referred to in this issue.

lornat75 picture lornat75 on 10 May 2016
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Is this still an issue?

drdanz picture drdanz on 4 Aug 2016

We don't have robots to test it now.
As far as I remember, yes

francesco-romano picture francesco-romano on 4 Aug 2016

Let me reinforce that I've been still seeing problems upon closure: seg-faults and hang-ups. Don't know if all these problems can be still categorized under this issue. A robot is required to verify the current status any how.

pattacini picture pattacini on 4 Aug 2016

@pattacini you are on holiday! Go have fun! :laughing:

drdanz picture drdanz on 4 Aug 2016
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Does this still happen? I think it was fixed on icub-main devel branch by robotology/icub-main@b0e4bd9250d201cc3d40118eddad2bb29b871529, can anyone confirm this?

drdanz picture drdanz on 10 Nov 2016

Honestly I'm still catching seg-faults of yarprobotinterface every once in a while...

pattacini picture pattacini on 10 Nov 2016
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@pattacini segmentation faults or "double link or corruption" errors?
Also I'm pretty sure that yarprobotinterface is not the problem here, it is very likely to be some buggy device...

drdanz picture drdanz on 10 Nov 2016

Definitely, I'm not blaming yarprobotinterface that is merely a deployer.
To answer your questions: seg-faults.

However, what is happening after CTRL+C is somehow problematic.

pattacini picture pattacini on 10 Nov 2016

Changing component to "Devices" then. It might also be a problem of some devices in icubmod, though.

drdanz picture drdanz on 10 Nov 2016

Also might be fixed by #942

drdanz picture drdanz on 10 Nov 2016

@pattacini #942 was merged, can you please let me know whether this still happens or not?

drdanz picture drdanz on 10 Nov 2016

I'm afraid we have now more serious problems.
iCub does not even start up in yarp/devel + icub-main/devel... 馃槥

We just started off with @randaz81 to try to nail down what's going wrong.

pattacini picture pattacini on 11 Nov 2016

Update

Because of an address conflict we had to reboot PC104. Since then, the problem disappeared. Very weird.

However, yarprobotinterface still seg-faults upon closure in at least a couple of different ways.

cc @randaz81

pattacini picture pattacini on 14 Nov 2016

@pattacini Any idea about which devices are making it crash?

drdanz picture drdanz on 16 Feb 2017

No idea sorry; I had no time to debug 馃槥

However, recently, it seems that yarptobotinterface is more robust in this respect.

pattacini picture pattacini on 16 Feb 2017

Even if it's still potentially risky because we didn't nail down the problem thus far, I'd tend to close this issue for the time being, given that we've not been experiencing other seg-faults.

pattacini picture pattacini on 17 Feb 2017
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