UNIT_Dem_TEST failure on 20.04

[richmattes]

Description

The UNIT_Dem_TEST fails for me with a segfault, with the following output:

        Start  19: UNIT_Dem_TEST
 19/424 Test  #19: UNIT_Dem_TEST .........................................***Exception: SegFault  0.46 sec
[==========] Running 10 tests from 1 test case.
[----------] Global test environment set-up.
[----------] 10 tests from DemTest
[ RUN      ] DemTest.MisingFile
[Wrn] [SystemPaths.cc:459] File or path does not exist ["/file/shouldn/never/exist.png"] [/file/shouldn/never/exist.png]
[Err] [Dem.cc:78] Unable to open DEM file[/file/shouldn/never/exist.png], check your GAZEBO_RESOURCE_PATH settings.
[       OK ] DemTest.MisingFile (2 ms)
[ RUN      ] DemTest.NotDem
ERROR 4: `/home/rich/fedora/gazebo/gazebo-11.1.0/media/materials/scripts/CMakeLists.txt' not recognized as a supported file format.
[Err] [Dem.cc:88] Unable to open DEM file[/home/rich/fedora/gazebo/gazebo-11.1.0/media/materials/scripts/CMakeLists.txt]. Format not recognised as a supported dataset.
[       OK ] DemTest.NotDem (0 ms)
[ RUN      ] DemTest.UnsupportedDem
[Err] [Dem.cc:96] Unsupported number of bands in file [/home/rich/fedora/gazebo/gazebo-11.1.0/media/materials/textures/wood.jpg]. Found 3 but only 1 is a valid value.
[       OK ] DemTest.UnsupportedDem (1 ms)
[ RUN      ] DemTest.NonSquaredDemPortrait
[       OK ] DemTest.NonSquaredDemPortrait (24 ms)
[ RUN      ] DemTest.NonSquaredDemLandscape
[       OK ] DemTest.NonSquaredDemLandscape (12 ms)
[ RUN      ] DemTest.SquaredDem
[       OK ] DemTest.SquaredDem (11 ms)
[ RUN      ] DemTest.BasicAPI
[Err] [Dem.cc:181] EXCEPTION: Illegal coordinates. You are asking for the elevation in (0,129) but the terrain is [129 x 129]


[Err] [Dem.cc:181] EXCEPTION: Illegal coordinates. You are asking for the elevation in (129,0) but the terrain is [129 x 129]


[Err] [Dem.cc:181] EXCEPTION: Illegal coordinates. You are asking for the elevation in (129,129) but the terrain is [129 x 129]


[       OK ] DemTest.BasicAPI (15 ms)
[ RUN      ] DemTest.FillHeightmap
[       OK ] DemTest.FillHeightmap (13 ms)
[ RUN      ] DemTest.NegDem
ERROR 1: PROJ: proj_create_operations: Source and target ellipsoid do not belong to the same celestial body
ERROR 6: Cannot find coordinate operations from `PROJCRS["Moon2000_npole",BASEGEOGCRS["GCS_Moon",DATUM["Moon_2000",ELLIPSOID["Moon_2000_IAU_IAG",1737400,0,LENGTHUNIT["metre",1,ID["EPSG",9001]]]],PRIMEM["Reference_Meridian",0,ANGLEUNIT["degree",0.0174532925199433,ID["EPSG",9122]]]],CONVERSION["unnamed",METHOD["Polar Stereographic (variant B)",ID["EPSG",9829]],PARAMETER["Latitude of standard parallel",90,ANGLEUNIT["degree",0.0174532925199433],ID["EPSG",8832]],PARAMETER["Longitude of origin",0,ANGLEUNIT["degree",0.0174532925199433],ID["EPSG",8833]],PARAMETER["False easting",0,LENGTHUNIT["metre",1],ID["EPSG",8806]],PARAMETER["False northing",0,LENGTHUNIT["metre",1],ID["EPSG",8807]]],CS[Cartesian,2],AXIS["easting",south,ORDER[1],LENGTHUNIT["metre",1]],AXIS["northing",south,ORDER[2],LENGTHUNIT["metre",1]]]' to `EPSG:4326'

Looking in to the issue, it appears that the call to OGRCreateCoordinateTransformation is returning NULL and printing the above error, but the return result is never checked before using the cT variable.

Additionally, the cT object appears to be leaked as it is never expliclty released using OCTDestroyCoordinateTransformation() per the documentation

Environment

• Fedora 32 x86_64
• gazebo-11.1.0
• proj-6.3.2

[scpeters]

I've added a check for a nullptr and fixed the memory leak in a branch in scpeters@e9d95a2; can you take a look at that? I think there must be something else wrong though, since I don't see any console output from DemTest.NegDem on Ubuntu 18.04.

[richmattes]

That commit looks good to me.

It looks like 18.04 has proj-4.9.3 - it could be a change between that release and Fedora's 6.3.2. Focal has 6.3.1 - maybe there's a way to test it there?

There's some mailing list traffic where people have had similar problems. The error output here definitely looks like it's trying to convert from the moon to the earth.

[richmattes]

FWIW I now get this output with the commit you linked (on gazebo 10.1.0). It looks like the test after the segfault is also failing, now that the transform failure throws an exception.

        Start  19: UNIT_Dem_TEST
 19/408 Test  #19: UNIT_Dem_TEST .........................................***Failed    0.44 sec
[==========] Running 10 tests from 1 test case.
[----------] Global test environment set-up.
[----------] 10 tests from DemTest
[ RUN      ] DemTest.MisingFile
[Wrn] [SystemPaths.cc:459] File or path does not exist ["/file/shouldn/never/exist.png"] [/file/shouldn/never/exist.png]
[Err] [Dem.cc:78] Unable to open DEM file[/file/shouldn/never/exist.png], check your GAZEBO_RESOURCE_PATH settings.
[       OK ] DemTest.MisingFile (2 ms)
[ RUN      ] DemTest.NotDem
ERROR 4: `/home/rich/fedora/gazebo/gazebo-10.1.0/media/materials/scripts/CMakeLists.txt' not recognized as a supported file format.
[Err] [Dem.cc:88] Unable to open DEM file[/home/rich/fedora/gazebo/gazebo-10.1.0/media/materials/scripts/CMakeLists.txt]. Format not recognised as a supported dataset.
[       OK ] DemTest.NotDem (1 ms)
[ RUN      ] DemTest.UnsupportedDem
[Err] [Dem.cc:96] Unsupported number of bands in file [/home/rich/fedora/gazebo/gazebo-10.1.0/media/materials/textures/wood.jpg]. Found 3 but only 1 is a valid value.
[       OK ] DemTest.UnsupportedDem (0 ms)
[ RUN      ] DemTest.NonSquaredDemPortrait
[       OK ] DemTest.NonSquaredDemPortrait (64 ms)
[ RUN      ] DemTest.NonSquaredDemLandscape
[       OK ] DemTest.NonSquaredDemLandscape (47 ms)
[ RUN      ] DemTest.SquaredDem
[       OK ] DemTest.SquaredDem (47 ms)
[ RUN      ] DemTest.BasicAPI
[Err] [Dem.cc:181] EXCEPTION: Illegal coordinates. You are asking for the elevation in (0,129) but the terrain is [129 x 129]


[Err] [Dem.cc:181] EXCEPTION: Illegal coordinates. You are asking for the elevation in (129,0) but the terrain is [129 x 129]


[Err] [Dem.cc:181] EXCEPTION: Illegal coordinates. You are asking for the elevation in (129,129) but the terrain is [129 x 129]


[       OK ] DemTest.BasicAPI (60 ms)
[ RUN      ] DemTest.FillHeightmap
[       OK ] DemTest.FillHeightmap (47 ms)
[ RUN      ] DemTest.NegDem
ERROR 1: PROJ: proj_create_operations: Source and target ellipsoid do not belong to the same celestial body
ERROR 6: Cannot find coordinate operations from `PROJCRS["Moon2000_npole",BASEGEOGCRS["GCS_Moon",DATUM["Moon_2000",ELLIPSOID["Moon_2000_IAU_IAG",1737400,0,LENGTHUNIT["metre",1,ID["EPSG",9001]]]],PRIMEM["Reference_Meridian",0,ANGLEUNIT["degree",0.0174532925199433,ID["EPSG",9122]]]],CONVERSION["unnamed",METHOD["Polar Stereographic (variant B)",ID["EPSG",9829]],PARAMETER["Latitude of standard parallel",90,ANGLEUNIT["degree",0.0174532925199433],ID["EPSG",8832]],PARAMETER["Longitude of origin",0,ANGLEUNIT["degree",0.0174532925199433],ID["EPSG",8833]],PARAMETER["False easting",0,LENGTHUNIT["metre",1],ID["EPSG",8806]],PARAMETER["False northing",0,LENGTHUNIT["metre",1],ID["EPSG",8807]]],CS[Cartesian,2],AXIS["easting",south,ORDER[1],LENGTHUNIT["metre",1]],AXIS["northing",south,ORDER[2],LENGTHUNIT["metre",1]]]' to `EPSG:4326'
[Err] [Dem.cc:220] EXCEPTION: Unable to transform terrain coordinate system to WGS84 for coordinates (0,0)


unknown file: Failure
Unknown C++ exception thrown in the test body.
[  FAILED  ] DemTest.NegDem (13 ms)
[ RUN      ] DemTest.UnfinishedDem
/home/rich/fedora/gazebo/gazebo-10.1.0/gazebo/common/Dem_TEST.cc:219: Failure
Value of: demNoData.GetWorldHeight()
  Actual: 7499.8281
Expected: 14050.08
/home/rich/fedora/gazebo/gazebo-10.1.0/gazebo/common/Dem_TEST.cc:220: Failure
Value of: demNoData.GetWorldWidth()
  Actual: 14150.225
Expected: 9785.4375
[  FAILED  ] DemTest.UnfinishedDem (41 ms)
[----------] 10 tests from DemTest (322 ms total)

[----------] Global test environment tear-down
[==========] 10 tests from 1 test case ran. (322 ms total)
[  PASSED  ] 8 tests.
[  FAILED  ] 2 tests, listed below:
[  FAILED  ] DemTest.NegDem
[  FAILED  ] DemTest.UnfinishedDem

 2 FAILED TESTS

[scpeters]

I'm not sure if it's related, but there's also a compiler warning in Dem.cc:

gazebo/common/Dem.cc: In member function ‘void gazebo::common::Dem::GetGeoReference(double, double, ignition::math::v6::Angle&, ignition::math::v6::Angle&) const’:
/root/gazebo/gazebo/common/Dem.cc:215:41: warning: ‘OGRErr OGRSpatialReference::importFromWkt(char**)’ is deprecated [-Wdeprecated-declarations]
  215 |     sourceCs.importFromWkt(&importString);
      |                                         ^
In file included from /root/gazebo/gazebo/common/Dem.cc:25:
/usr/include/gdal/ogr_spatialref.h:204:17: note: declared here
  204 |     OGRErr      importFromWkt( char ** )
      |                 ^~~~~~~~~~~~~

[scpeters]

the compiler warning should be fixed by ad932ed

[scpeters]

I think the following line may be the issue:

• https://github.com/scpeters/gazebo/blob/e9d95a26c0fe5fdeb7d09840f77fa3ec5d8c9df9/gazebo/common/Dem.cc#L216

[scpeters]

I've found the place in proj that throws the "Source and target ellipsoid do not belong to the same celestial body" exception:

• https://github.com/OSGeo/PROJ/blob/6.3.2/src/iso19111/coordinateoperation.cpp#L13509-L13514

[scpeters]

support for ISO 19111 was added in proj 6.0.0:

• https://github.com/OSGeo/PROJ/blob/6.0.0/NEWS#L10

[scpeters]

I added some code that prints warning messages instead of failing hard on 20.04 when this type of failure occurs. The UNIT_Dem_TEST still fails on 20.04, but it doesn't throw an exception