ColladaLoader Segmentation fault when when mesh share indexes

[ozzdemir]

Environment

• OS Version: Ubuntu 24.04
• Binary build, 5

Description

• Expected behavior: Gazebo can load valid collada meshes without any segmentation fault
• Actual behavior: Gazebo consistently crashes when trying to load meshes with certain properties

I've found out that this issue mentioned and reported to be resolved in gz-classic, and the mentioned PR is quite small. Here are the references:

• [collada to urdf] Segmentation fault in gazebo (Ubuntu 18.04) ros/collada_urdf#34
• This fix for cases where VERTEX and NROMAL share same polylist <p> , see https://github.com/osrf/gazebo/issues/2682#issue-602951524 gazebo-classic#2811

Steps to reproduce

1. Download example mesh
2. gz sim -v 4 test.sdf
3. Crash with segmentation fault

Test SDF

<?xml version="1.0" ?>
<sdf version="1.10">
  <world name="default">
    <model name="dae_test">
      <static>true</static>
      <link name="link">
        <visual name="visual">
          <geometry>
            <mesh>
              <uri>file:///path/to/mesh/box-assimp-4.dae</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
    </model>
  </world>
</sdf>

Output

#29   Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in
#28   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x712b780d9c3b, in
#27   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x712b7804caa3, in
#26   Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x712b713f0673, in
#25   Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x712b713ef36a, in QThread::exec()
#24   Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x712b715eba7a, in QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>)
#23   Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x712b7164a278, in QEventDispatcherGlib::processEvents(QFlags<QEventLoop::ProcessEventsFlag>)
#22   Object "/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x712b6efeda62, in g_main_context_iteration
#21   Object "/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x712b6f04d736, in
#20   Object "/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x712b6efee5c4, in
#19   Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x712b7164ac0e, in
#18   Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x712b715f094a, in QCoreApplicationPrivate::sendPostedEvents(QObject*, int, QThreadData*)
#17   Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x712b715ed117, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
#16   Object "/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x712b70d28d44, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
#15   Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x712b7161b342, in QObject::event(QEvent*)
#14   Object "/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libMinimalScene.so", at 0x712b382ecdab, in gz::gui::plugins::RenderThread::RenderNext(gz::gui::plugins::RenderSync*)
#13   Object "/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libMinimalScene.so", at 0x712b38300546, in gz::gui::plugins::RenderThreadRhiOpenGL::RenderNext(gz::gui::plugins::RenderSync*)
#12   Object "/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libMinimalScene.so", at 0x712b382f1307, in gz::gui::plugins::GzRenderer::Render(gz::gui::plugins::RenderSync*, gz::gui::plugins::RenderThreadRhi&)
#11   Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x712b715ed117, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
#10   Object "/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x712b70d28d34, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
#9    Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x712b715ece81, in QCoreApplicationPrivate::sendThroughObjectEventFilters(QObject*, QEvent*)
#8    Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libGzSceneManager.so", at 0x712b30706dc8, in gz::sim::v8::GzSceneManager::eventFilter(QObject*, QEvent*)
#7    Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/libgz-sim8-rendering.so.8", at 0x712b30666731, in gz::sim::v8::RenderUtil::Update()
#6    Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/libgz-sim8-rendering.so.8", at 0x712b306a81c7, in gz::sim::v8::SceneManager::CreateVisual(unsigned long, sdf::v14::Visual const&, unsigned long)
#5    Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/libgz-sim8-rendering.so.8", at 0x712b306a6753, in gz::sim::v8::SceneManager::LoadGeometry(sdf::v14::Geometry const&, gz::math::v7::Vector3<double>&, gz::math::v7::Pose3<double>&)
#4    Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/libgz-sim8.so.8", at 0x712b7242fd7d, in gz::sim::v8::loadMesh(sdf::v14::Mesh const&)
#3    Object "/opt/ros/jazzy/opt/gz_common_vendor/lib/libgz-common5-graphics.so.5", at 0x712b6fa1f494, in gz::common::MeshManager::Load(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
#2    Object "/opt/ros/jazzy/opt/gz_common_vendor/lib/libgz-common5-graphics.so.5", at 0x712b6f9e8e9e, in gz::common::ColladaLoader::Load(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
#1    Object "/lib/x86_64-linux-gnu/libtinyxml2.so.10", at 0x712b6faacc32, in tinyxml2::XMLElement::Attribute(char const*, char const*) const
#0    Object "/lib/x86_64-linux-gnu/libtinyxml2.so.10", at 0x712b6faacbdb, in tinyxml2::XMLElement::FindAttribute(char const*) const
Segmentation fault (Address not mapped to object [0x70])

[iche033]

oh yeah, looks like we can easily apply the changes in gazebosim/gazebo-classic#2811 to ColldaLoader.cc here and add a simple test to ColladaLoader_TEST.cc