Double free caused by use of HMMWV and LinkLocks

[James Baxter]

I've encountered a memory error that I can't seem to figure out. It seems to be that the HMMWV_Full destructors cause the (internal to the suspension) LinkLock destructors to do a double free, only if a link lock class is referenced (but not necessarily used) in the class. Here is a minimal example:

#include <chrono_models/vehicle/hmmwv/HMMWV.h>

#include <chrono/physics/ChLinkLock.h>

using namespace chrono;

using namespace chrono::vehicle;

using namespace chrono::vehicle::hmmwv;

void foo() {

    auto bar = chrono_types::make_shared<ChLinkLockRevolute>();

}

int main(int argc, char* argv[]) {

    HMMWV_Full my_hmmwv;

    my_hmmwv.SetContactMethod(ChContactMethod::SMC);

    my_hmmwv.SetChassisCollisionType(CollisionType::NONE);

    my_hmmwv.SetChassisFixed(false);

    my_hmmwv.SetInitPosition(CSYSNORM);

    my_hmmwv.SetPowertrainType(PowertrainModelType::SHAFTS);

    my_hmmwv.SetDriveType(DrivelineTypeWV::AWD);

    my_hmmwv.UseTierodBodies(true);

    my_hmmwv.SetSteeringType(SteeringTypeWV::PITMAN_ARM);

    my_hmmwv.SetBrakeType(BrakeType::SHAFTS);

    my_hmmwv.SetTireType(TireModelType::TMEASY);

    my_hmmwv.SetTireStepSize(1e-3);

    my_hmmwv.Initialize();

    return 0;

}

You can see that the function `foo` isn't even called, yet it's existence causes the crash. If commented out, there are no issues. Here is the output (development branch):

Chrono was not built with Thrust support. CHRONO collision system type not available.
double free or corruption (out)
Aborted

I've attached Valgrind output too, which is more detailed. I'm hoping that there is something really simple or obvious that I'm missing here. Thanks in advance for any help figuring this out.

[Radu Serban]

James, I am unable to reproduce this (on Windows using VS 2022 v.17.4.4 and on Ubuntu 22.04 (WSL) using GCC 11.3.0).

I take it you are using GCC. What version? Are you linking any additional libraries to your Chrono build? Any changes to CMakeLists or to compiler flags?

--Radu

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[James Baxter]

Hi Radu,

I run this using an Ubuntu container running on Podman (a Docker alternative). I have attached the files I use to generate it, which will allow you to replicate my environment.

Instructions to reproduce:

- Install Podman (Docker should also replicate the issue, but you will need to rename 'Containerfile' to 'Dockerfile', and replace every 'podman' with 'docker'). It should work just fine on WSL 2.

- Download the 3 files to a folder you can access from WSL and `cd` into it

- Build the container: `podman build -t chrono .`

- Run the container: `podman run --rm -it -v $PWD:/root/code -w /root/code chrono`

- (inside the container) Build: `mkdir build && cd build && cmake .. && make`

- (inside the container) Run: `./chrono_crash`

If you aren't familiar with containerization, please note that the command to run the container mounts the current folder to /root/code in the container. So if you add files there, they persist on your machine. If you run the command in a folder already containing data, then delete the data in the folder from within the container, it will be similarly deleted on your machine. Therefore, I suggest making a new empty folder to add these files and operate it. Also, you can exit the container with CLRL+D.

Let me know if you have any issues

[Radu Serban]

James,

 

This is such a complicated setup to reproduce the error you mention that I suspect it may have nothing to do with Chrono itself (especially since I was unable to reproduce it with VS on Windows or GCC on Linux).  You will need to show us how we can reproduce this with an MRE, not with a scenario that introduces so many unknowns (to say nothing of the extra work it’d require any of us to replicate your very particular setup).

To view this discussion on the web visit https://groups.google.com/d/msgid/projectchrono/3f0ba9ad-f94d-4cb1-813e-e61b79fbdf0an%40googlegroups.com.