Run the solar panel line-of-sight ray cast on the render thread (fixes #44) - #50
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ivanperez-keera merged 1 commit intoOct 1, 2026
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Tested this with demos/PR 165. Seems to work as expected (no longer crashes) |
…e-ros#44). Gazebo runs ISystemPostUpdate systems on parallel worker threads. SolarPanelPlugin created a rendering RayQuery and cast it from PostUpdate, so the three panel instances on the rover hit the Ogre scene concurrently with each other and with the Sensors system's render thread. Under Harmonic that corrupts the heap within seconds of the rover spawning (malloc_consolidate, std::bad_alloc, SIGSEGV or SIGBUS depending on the run). Disabling this one plugin makes the crash go away; disabling either of the other two does not. Move all rendering access into a gz::sim::events::PostRender callback, which runs on the render thread. PostUpdate now only reads the entity state it needs from the ECM, hands the sun-to-panel ray to the render thread under a mutex, takes back the latest line-of-sight result and publishes the power output. The power computation itself is unchanged. The unused static scene event and SetScene hook are removed, and the ray query is created once instead of on every simulation step.
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Approved based on check performed by @ana-GT .
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Fixes #44. Stacked on #48 (the first two commits are that PR's; only the last one, "Run the solar panel line-of-sight ray cast on the render thread", is this one) — merge after it.
SolarPanelPlugincreated and cast a renderingRayQueryfromPostUpdate. Gazebo Harmonic executesISystemPostUpdatesystems on parallel worker threads, so the rover's three panel instances hit the Ogre scene concurrently with each other and with the Sensors system's render thread, corrupting the heap within seconds of spawning (malloc_consolidate(): invalid chunk size→std::bad_alloc, or SIGSEGV / SIGBUS on other runs). Bisecting by disabling one plugin at a time: only disabling this plugin keeps the server alive.All rendering access now happens in a
gz::sim::events::PostRendercallback on the render thread;PostUpdatehands the sun-to-panel ray over under a mutex and takes back the latest line-of-sight result. The power computation is unchanged, and the ray query is created once instead of on every simulation step. The same structure runs on Fortress.Verification
lunar_pole_exploration_rover: Migrate to ROS 2 Jazzy and Gazebo Harmonic (#164) demos#165) headless: with this change the server runs for the whole test session (drive, rotate, camera sweeps, sensor switching) with no crash output; without it, it dies within seconds of the rover spawning. Solar output 106.786 W at rest, identical to the Fortress reading, rising to ~129 W as the rover turns.demosmainagainst this branch: server alive, plugins loaded from the image build, solar ~106.7 W, battery 30 V / 100 %.