Dnia 12 lipca 2018 10:55 gengdongjiu <gengdong...@huawei.com> napisał(a):
Hi Greg, Thanks for the answer, On 2018/7/11 22:09, Greg Gallagher wrote:
Have you looked at any of the ROS frameworks that use Xenomai? Is the
expectation that roscore runs in the secondary domain and your ros based
application runs in the primary domain? Yes, we have looked at the the ROS
frameworks that use Xenomai. do you have any suggestion? Please consider
OROCOS for RT part instead of ROS. Eventually ROS2. we are not very
familiar with the ROS. In our test, we used the ROS pub and sub to do
communication. From our test, if roscore runs in the secondary (normal
linux)domain, it will not have such issue. should the roscore run in the
secondary domain or the primary domain? I do not know which domain it should
run into. thanks a lot. ROS haven't been designed as a real-time
framework, especially in communication domain (ros topics + TCP + XML RPC).
Best, Mariusz -Greg On Wed, Jul 11, 2018 at 10:03 AM, gengdongjiu
<gengdong...@huawei.com> wrote: Hi, Philippe/ Gilles/ Jan/
Alexis/others, I’m running ros on Xenomai, with Xenomai-3.07 and linux
kernel 4.4.71. I first export CFLAGS and LDFLAGS of posix skin. And compile
ros project with posix skin successfully. Then, I run roscore as root user,
it throws a std::system_error. So I debug roscore with gdb. According to the
gdb backtrace frame #10, it’s the 62 lines of participant.cpp that caused the
problem. Which is “std::unique_lock<std::mutex ul(_msg_lock);”. As far as I
know, initializing a unique_lock will call _msg_lock.lock(),and _msg_lock is a
std::mutex, _msg_lock.lock() will call pthread_mutex_lock(). According the to
the error message “Operation not permitted”. Pthread_mutex_lock() must return
EPERM, and pthread_mutex_lock return EPRM only if the mutex is not
process-shared and does not belong to the current process or the caller
context is invalid. So my question is why compiling and running ros on
xenomai will cause pthread_mutex_lock() return EPERM? Does current calling
context is invalid ? And how can I solve this problem, does anybody have any
insight? By the way, it’s perfect fine to compiling and running ros on linux
with the same code. Thanks. ------------------------------
root@ros:/home/ros/zjw/ros/ins roscore terminate called after throwing an
instance of 'std::system_error' what(): Operation not permitted
Aborted (core dumped) (gdb) r `which roscore` Starting program:
/usr/bin/python `which roscore` [Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthre [New
Thread 0x7ffff3586700 (LWP 29315)] [New Thread 0x7ffff279b700 (LWP 29316)]
[New Thread 0x7ffff1f9a700 (LWP 29317)] [New Thread 0x7ffff1799700 (LWP
29318)] [New Thread 0x7ffff0f98700 (LWP 29319)] [New Thread 0x7fffe3fff700
(LWP 29320)] [New Thread 0x7fffe37fe700 (LWP 29321)] [New Thread
0x7fffe2ffd700 (LWP 29322)] terminate called after throwing an instance of
'std::system_error' what(): Operation not permitted Thread 9
"python" received signal SIGABRT, Aborted. [Switching to Thread
0x7fffe2ffd700 (LWP 29322)] 0x00007ffff7825428 in __GI_raise
(sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/rai 54
../sysdeps/unix/sysv No such file or directory. (gdb) bt #0
0x00007ffff7825428 in __GI_raise (sig=sig@entry=6) at
../sysdeps/unix/sysv/linux/rai #1 0x00007ffff782702a in __GI_abort () at
abort.c:89 #2 0x00007ffff3e6884d in __gnu_cxx::__verbose_terminate () at
../../../../src/libstdc++-v3/l #3 0x00007ffff3e666b6 in
__cxxabiv1::__terminate (handler=<optimized out>) at
../../../../src/libstdc++-v3/l #4 0x00007ffff3e66701 in std::terminate () at
../../../../src/libstdc++-v3/l #5 0x00007ffff3e66919 in
__cxxabiv1::__cxa_throw (obj=obj@entry=0x7fffd00010d0, tinfo=0x7ffff414ec00
<typeinfo for std::system_error>, dest=0x7ffff3e91640
<std::system_error::~system_er at ../../../../src/libstdc++-v3/l #6
0x00007ffff3e8f7fe in std::__throw_system_error (__i=1) at
../../../../../src/libstdc++-v #7 0x00007ffff4162451 in std::mutex::lock
(this=0x25c7280) at /usr/include/c++/5/mutex:139 #8
std::unique_lock<std::mutex> (this=0x7fffe2ffc300) at
/usr/include/c++/5/mutex:485 #9 std::unique_lock<std::mutex> (__m=...,
this=0x7fffe2ffc300) at /usr/include/c++/5/mutex:415 #10
ros::Participant::read_msg[abi (this=0x25c7200) at
/home/ros/zjw/ros/src/ros_comm #11 0x00007ffff4be9195 in
_wrap_Participant_read_msg () from /home/ros/zjw/ros/install/ros_ #12
0x00000000004bc3fa in PyEval_EvalFrameEx () #13 0x00000000004c136f in
PyEval_EvalFrameEx () #14 0x00000000004b9ab6 in PyEval_EvalCodeEx () #15
0x00000000004d55f3 in ?? () #16 0x00000000004a577e in PyObject_Call () #17
0x00000000004bed3d in PyEval_EvalFrameEx () #18 0x00000000004c136f in
PyEval_EvalFrameEx () #19 0x00000000004c136f in PyEval_EvalFrameEx () #20
0x00000000004b9ab6 in PyEval_EvalCodeEx () #21 0x00000000004d54b9 in ?? ()
#22 0x00000000004eebee in ?? () #23 0x00000000004a577e in PyObject_Call ()
#24 0x00000000004c5e10 in PyEval_CallObjectWithKeywords () #25
0x0000000000589172 in ?? () #26 0x00007ffff7bc16ba in start_thread
(arg=0x7fffe2ffd700) at pthread_create.c:333 #27 0x00007ffff78f741d in clone
() at ../sysdeps/unix/sysv/linux/x86 (gdb)
root@ros:/home/ros/zjw/ros/ins grep -nrIT -e "_msg_lock"
/home/ros/zjw/ros/src/ros_comm /home/ros/zjw/ros/src/ros_comm 144 :
std::mutex _msg_lock; /home/ros/zjw/ros/src/ros_comm 53:
std::lock_guard<std::mut lg(_msg_lock); /home/ros/zjw/ros/src/ros_comm
62: std::unique_lock<std::mutex> ul(_msg_lock); .
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