AirSim bug: SparseArray.h中的Assertion failed: Index ＜ GetMaxIndex()

问题描述：

今天遇到了一个挺奇怪的问题：

在时隔了几个月之后我在某个计算机上再次运行AirSim在Unreal下的“Blocks”仿真，同时结合ROS接口使用：

打开Unreal正常，
Unreal打开Blocks环境正常，
airsim ros node打开正常，
airsim ros teleop打开正常，（ROS接口和teleop节点链接）

但是刚刚用键盘键入一个控制信号，就崩溃了，Unreal窗口报错如下：

Assertion failed: Index < GetMaxIndex() [File:Runtime/Core/Public/Containers/SparseArray.h] [Line: 86]
Signal 11 caught.
Malloc Size=65538 LargeMemoryPoolOffset=65554
CommonUnixCrashHandler: Signal=11
Malloc Size=65535 LargeMemoryPoolOffset=131119
Malloc Size=786112 LargeMemoryPoolOffset=917248
[2021.01.07-01.03.36:548][867]LogCore: === Critical error: ===
Unhandled Exception: SIGSEGV: invalid attempt to write memory at address 0x0000000000000003
[2021.01.07-01.03.36:548][867]LogCore: Assertion failed: Index < GetMaxIndex() [File:Runtime/Core/Public/Containers/SparseArray.h] [Line: 86]
0x00007f57c9992776 libUE4Editor-Core.so!FGenericPlatformMisc::RaiseException(unsigned int) [/data/UnrealEngine/Engine/Source/Runtime/Core/Private/GenericPlatform/GenericPlatformMisc.cpp:477]
0x00007f57c9ba6677 libUE4Editor-Core.so!FOutputDevice::LogfImpl(char16_t const*, …) [/data/UnrealEngine/Engine/Source/Runtime/Core/Private/Misc/OutputDevice.cpp:71]
0x00007f57c9b2ead6 libUE4Editor-Core.so!AssertFailedImplV(char const*, char const*, int, char16_t const*, __va_list_tag*) [/data/UnrealEngine/Engine/Source/Runtime/Core/Private/Misc/AssertionMacros.cpp:105]
0x00007f57c9b2e96b libUE4Editor-Core.so!FDebug::CheckVerifyFailedImpl(char const*, char const*, int, char16_t const*, …) [/data/UnrealEngine/Engine/Source/Runtime/Core/Private/Misc/AssertionMacros.cpp:452]
0x00007f57c74b1739 libUE4Editor-Engine.so!TSparseArray<TSetElement<FTickFunction*>, TSparseArrayAllocator<TSizedDefaultAllocator<32>, FDefaultBitArrayAllocator> >::AllocateIndex(int) [/data/UnrealEngine/Engine/Source/Runtime/Core/Public/Containers/SparseArray.h:86]
0x00007f57c74b14fb libUE4Editor-Engine.so!FSetElementId TSet<FTickFunction*, DefaultKeyFuncs<FTickFunction*, false>, FDefaultSetAllocator>::Emplace<FTickFunction* const&>(FTickFunction* const&&&, bool*) [/data/UnrealEngine/Engine/Source/Runtime/Core/Public/Containers/Set.h:588]
0x00007f57c749af18 libUE4Editor-Engine.so!FTickTaskLevel::AddTickFunction(FTickFunction*) [/data/UnrealEngine/Engine/Source/Runtime/Engine/Private/TickTaskManager.cpp:1125]
0x00007f57c745f000 libUE4Editor-Engine.so!FTickFunction::SetTickFunctionEnable(bool) [/data/UnrealEngine/Engine/Source/Runtime/Engine/Private/TickTaskManager.cpp:1829]
0x00007f57c65305a0 libUE4Editor-Engine.so!UActorComponent::Activate(bool) [/data/UnrealEngine/Engine/Source/Runtime/Engine/Private/Components/ActorComponent.cpp:1607]
0x00007f572d21541c libUE4Editor-AirSim.so!APIPCamera::enableCaptureComponent(msr::airlib::ImageCaptureBase::ImageType, bool) [/data/AirSim/Unreal/Environments/Blocks/Plugins/AirSim/Source/PIPCamera.cpp:460]
0x00007f572d2278da libUE4Editor-AirSim.so!UnrealImageCapture::getSceneCaptureImage(std::__1::vector<msr::airlib::ImageCaptureBase::ImageRequest, std::__1::allocatormsr::airlib::ImageCaptureBase::ImageRequest > const&, std::__1::vector<msr::airlib::ImageCaptureBase::ImageResponse, std::__1::allocatormsr::airlib::ImageCaptureBase::ImageResponse >&, bool) const [/data/AirSim/Unreal/Environments/Blocks/Plugins/AirSim/Source/UnrealImageCapture.cpp:42]
0x00007f572d210793 libUE4Editor-AirSim.so!PawnSimApi::getImages(std::__1::vector<msr::airlib::ImageCaptureBase::ImageRequest, std::__1::allocatormsr::airlib::ImageCaptureBase::ImageRequest > const&) const [/data/AirSim/Unreal/Environments/Blocks/Plugins/AirSim/Source/PawnSimApi.cpp:195]
0x00007f572d341641 libUE4Editor-AirSim.so!std::__1::__function::__func<(lambda at /data/AirSim/external/rpclib/rpclib-2.2.1/include/rpc/dispatcher.inl:67:40), std::__1::allocator<(lambda at /data/AirSim/external/rpclib/rpclib-2.2.1/include/rpc/dispatcher.inl:67:40)>, std::__1::unique_ptr<clmdep_msgpack::v1::object_handle, std::__1::default_delete<clmdep_msgpack::v1::object_handle> > (const clmdep_msgpack::v2::object &)>::operator() [/usr/lib/llvm-8/bin/…/include/c++/v1/functional:1651]
0x00007f572d37c22c libUE4Editor-AirSim.so!rpc::detail::dispatcher::dispatch_call(clmdep_msgpack::v2::object const&, bool) [/data/AirSim/external/rpclib/rpclib-2.2.1/lib/rpc/dispatcher.cc:46]
0x00007f572d37bfdc libUE4Editor-AirSim.so!rpc::detail::dispatcher::dispatch(clmdep_msgpack::v2::object const&, bool) [/data/AirSim/external/rpclib/rpclib-2.2.1/lib/rpc/dispatcher.cc:22]
0x00007f572d389545 libUE4Editor-AirSim.so!clmdep_asio::detail::completion_handler<rpc::detail::server_session::do_read()::KaTeX parse error: Expected group after '_' at position 21: …perator()(std::_̲_1::error_code,…_0, std::__1::allocator<rpc::server::async_run(unsigned long):😒_0>, void ()>::operator()() [/usr/lib/llvm-8/bin/…/include/c++/v1/functional:1651]
0x00007f572d3874bd libUE4Editor-AirSim.so!void* std::__1::__thread_proxy<std::__1::tuple<std::__1::unique_ptr<std::__1::__thread_struct, std::__1::default_deletestd::__1::__thread_struct >, std::__1::function<void ()> > >(void*) [/usr/lib/llvm-8/bin/…/include/c++/v1/thread:352]
0x00007f57ca4bb6ba libpthread.so.0!UnknownFunction(0x76b9)
0x00007f57c10364dd libc.so.6!clone(+0x6c)
[2021.01.07-01.03.36:558][867]LogExit: Executing StaticShutdownAfterError
Malloc Size=88934 LargeMemoryPoolOffset=1006198
LogPlatformFile: Not using cached read wrapper
LogTaskGraph: Started task graph with 4 named threads and 9 total threads with 1 sets of task threads.
LogICUInternationalization: ICU TimeZone Detection - Raw Offset: +8:00, Platform Override: ‘’
LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/UnrealEngine/4.24/Saved/Config/Linux/Manifest.ini’) failed: errno=13 (Permission denied)
LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/UnrealEngine/4.24/Saved/Config/Linux/Manifest.ini’) failed: errno=13 (Permission denied)
LogInit: Build: ++UE4+Release-4.24-CL-0
LogInit: Engine Version: 4.24.3-0+++UE4+Release-4.24
LogInit: Compatible Engine Version: 4.24.0-0+++UE4+Release-4.24
LogInit: Net CL: 0
LogInit: OS: GenericOSVersionLabel (GenericOSSubVersionLabel), CPU: Intel® Core™ i7-8700 CPU @ 3.20GHz, GPU: GenericGPUBrand
LogInit: Compiled (64-bit): Apr 3 2020 10:47:27
LogInit: Compiled with Clang: 8.0.1 (tags/RELEASE_801/final)
LogInit: Build Configuration: Shipping
LogInit: Branch Name: ++UE4+Release-4.24
LogInit: Command Line: -Abslog="/data/AirSim/Unreal/Environments/Blocks/Saved/Logs/Blocks-CRC.log" “/data/AirSim/Unreal/Environments/Blocks/Saved/Crashes/crashinfo-Blocks-pid-22327-D24CB0AD568C45C4A2C6B46CB11F1A71/”
LogInit: Base Directory: /data/UnrealEngine/Engine/Binaries/Linux/
LogInit: Installed Engine Build: 1
LogInit: Presizing for max 100000 objects, including 0 objects not considered by GC, pre-allocating 0 bytes for permanent pool.
LogInit: Object subsystem initialized
LogConfig: Applying CVar settings from Section [ConsoleVariables] File [/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Engine.ini]
[2021.01.07-01.03.36:717][ 0]LogInit: Unix hardware info:
[2021.01.07-01.03.36:717][ 0]LogInit: - we are not the first instance of this executable
[2021.01.07-01.03.36:717][ 0]LogInit: - this process’ id (pid) is 23214, parent process’ id (ppid) is 22327
[2021.01.07-01.03.36:717][ 0]LogInit: - we are not running under debugger
[2021.01.07-01.03.36:717][ 0]LogInit: - machine network name is ‘XXXX-xxxx-n000’
[2021.01.07-01.03.36:717][ 0]LogInit: - user name is ‘XXXX’ (XXXX)
[2021.01.07-01.03.36:717][ 0]LogInit: - we’re logged in locally
[2021.01.07-01.03.36:717][ 0]LogInit: - we’re running with rendering
[2021.01.07-01.03.36:717][ 0]LogInit: - CPU: GenuineIntel ‘Intel® Core™ i7-8700 CPU @ 3.20GHz’ (signature: 0x906EA)
[2021.01.07-01.03.36:717][ 0]LogInit: - Number of physical cores available for the process: 6
[2021.01.07-01.03.36:717][ 0]LogInit: - Number of logical cores available for the process: 12
[2021.01.07-01.03.36:717][ 0]LogInit: - Cache line size: 64
[2021.01.07-01.03.36:717][ 0]LogInit: - Memory allocator used: binned2
[2021.01.07-01.03.36:717][ 0]LogInit: - This binary is optimized with LTO: no, PGO: no, instrumented for PGO data collection: no
[2021.01.07-01.03.36:717][ 0]LogInit: - This is an internal build.
[2021.01.07-01.03.36:717][ 0]LogCore: Skipped benchmarking clocks because the engine is running in a standalone program mode - CLOCK_MONOTONIC will be used.
[2021.01.07-01.03.36:717][ 0]LogInit: Unix-specific commandline switches:
[2021.01.07-01.03.36:717][ 0]LogInit: -ansimalloc - use malloc()/free() from libc (useful for tools like valgrind and electric fence)
[2021.01.07-01.03.36:717][ 0]LogInit: -jemalloc - use jemalloc for all memory allocation
[2021.01.07-01.03.36:717][ 0]LogInit: -binnedmalloc - use binned malloc for all memory allocation
[2021.01.07-01.03.36:717][ 0]LogInit: -filemapcachesize=NUMBER - set the size for case-sensitive file mapping cache
[2021.01.07-01.03.36:717][ 0]LogInit: -useksm - uses kernel same-page mapping (KSM) for mapped memory (OFF)
[2021.01.07-01.03.36:717][ 0]LogInit: -ksmmergeall - marks all mmap’d memory pages suitable for KSM (OFF)
[2021.01.07-01.03.36:717][ 0]LogInit: -preloadmodulesymbols - Loads the main module symbols file into memory (OFF)
[2021.01.07-01.03.36:717][ 0]LogInit: -sigdfl=SIGNAL - Allows a specific signal to be set to its default handler rather then ignoring the signal
[2021.01.07-01.03.36:717][ 0]LogInit: -httpproxy=ADDRESS:PORT - redirects HTTP requests to a proxy (only supported if compiled with libcurl)
[2021.01.07-01.03.36:717][ 0]LogInit: -reuseconn - allow libcurl to reuse HTTP connections (only matters if compiled with libcurl)
[2021.01.07-01.03.36:717][ 0]LogInit: -virtmemkb=NUMBER - sets process virtual memory (address space) limit (overrides VirtualMemoryLimitInKB value from .ini)
[2021.01.07-01.03.36:717][ 0]LogInit: - Physical RAM available (not considering process quota): 32 GB (32002 MB, 32770804 KB, 33557303296 bytes)
[2021.01.07-01.03.36:717][ 0]LogInit: - VirtualMemoryAllocator pools will grow at scale 1.4
[2021.01.07-01.03.36:717][ 0]LogInit: - MemoryRangeDecommit() will be a no-op (re-run with -vmapoolevict to change)
[2021.01.07-01.03.36:726][ 0]LogAssetRegistry: FAssetRegistry took 0.0000 seconds to start up
[2021.01.07-01.03.36:727][ 0]LogUObjectArray: 1110 objects as part of root set at end of initial load.
[2021.01.07-01.03.36:727][ 0]LogUObjectAllocator: 166096 out of 0 bytes used by permanent object pool.
[2021.01.07-01.03.36:727][ 0]LogUObjectArray: CloseDisregardForGC: 0/0 objects in disregard for GC pool
[2021.01.07-01.03.36:727][ 0]LogInit: Using OS detected language (en-US).
[2021.01.07-01.03.36:727][ 0]LogInit: Using OS detected locale (en-US).
[2021.01.07-01.03.36:727][ 0]LogTextLocalizationManager: No localization for ‘en-US’ exists, so ‘en’ will be used for the language.
[2021.01.07-01.03.36:727][ 0]LogTextLocalizationManager: No localization for ‘en-US’ exists, so ‘en’ will be used for the locale.
[2021.01.07-01.03.36:732][ 0]LogInit: Using OS detected language (en-US).
[2021.01.07-01.03.36:732][ 0]LogInit: Using OS detected locale (en-US).
[2021.01.07-01.03.36:732][ 0]LogTextLocalizationManager: No localization for ‘en-US’ exists, so ‘en’ will be used for the language.
[2021.01.07-01.03.36:732][ 0]LogTextLocalizationManager: No localization for ‘en-US’ exists, so ‘en’ will be used for the locale.
[2021.01.07-01.03.36:733][ 0]LogTextLocalizationManager: Compacting localization data took 0.37ms
[2021.01.07-01.03.36:733][ 0]LogPackageLocalizationCache: Processed 2 localized package path(s) for 1 prioritized culture(s) in 0.000010 seconds
[2021.01.07-01.03.36:733][ 0]CrashReportCoreLog: CrashReportClientVersion=1.0
[2021.01.07-01.03.36:733][ 0]CrashReportCoreLog: CrashReportReceiver disabled
[2021.01.07-01.03.36:733][ 0]CrashReportCoreLog: DataRouterUrl: https://datarouter.ol.epicgames.com/datarouter/api/v1/public/data
[2021.01.07-01.03.36:734][ 0]LogInit: Initializing SDL.
[2021.01.07-01.03.36:792][ 0]LogInit: Initialized SDL 2.0.10 revision: 12952 (hg-12952:bc90ce38f1e2) (compiled against 2.0.10)
[2021.01.07-01.03.36:792][ 0]LogInit: Using SDL video driver ‘x11’
[2021.01.07-01.03.36:794][ 0]LogSlate: New Slate User Created. User Index 0, Is Virtual User: 0
[2021.01.07-01.03.36:794][ 0]LogSlate: Slate User Registered. User Index 0, Is Virtual User: 0
[2021.01.07-01.03.36:795][ 0]LogSlate: Using FreeType 2.10.0
[2021.01.07-01.03.36:795][ 0]LogSlate: SlateFontServices - WITH_FREETYPE: 1, WITH_HARFBUZZ: 1
[2021.01.07-01.03.36:795][ 0]LogInit: Using SDL_WINDOW_OPENGL
[2021.01.07-01.03.36:796][ 0]LogInit: FSlateOpenGLContext::Initialize - creating OpenGL 2.1 context
[2021.01.07-01.03.36:849][ 0]CrashReportCoreLog: Initial state = Unknown UploadState value
[2021.01.07-01.03.36:849][ 0]CrashReportCoreLog: Initial state = Unknown UploadState value
[2021.01.07-01.03.36:850][ 0]LogLinux: Scale at X=65.000000, Y=24.000000: 1.000000 (monitor=#0, HDPI=96.000000 (horz scale: 1.000000), VDPI=96.000000 (vert scale: 1.000000))
[2021.01.07-01.03.36:851][ 0]LogLinux: Scale at X=992.500000, Y=552.000000: 1.000000 (monitor=#0, HDPI=96.000000 (horz scale: 1.000000), VDPI=96.000000 (vert scale: 1.000000))
[2021.01.07-01.03.36:852][ 0]LogInit: FSlateOpenGLContext::Initialize - creating OpenGL 2.1 context
[2021.01.07-01.03.36:854][ 0]LogSlate: Took 0.000045 seconds to synchronously load lazily loaded font ‘…/…/…/Engine/Content/Slate/Fonts/Roboto-Regular.ttf’ (155K)
[2021.01.07-01.03.36:855][ 0]LogSlate: Took 0.000032 seconds to synchronously load lazily loaded font ‘…/…/…/Engine/Content/Slate/Fonts/Roboto-Bold.ttf’ (160K)
[2021.01.07-01.03.36:856][ 0]LogSlate: Took 0.000039 seconds to synchronously load lazily loaded font ‘…/…/…/Engine/Content/Slate/Fonts/Roboto-Italic.ttf’ (157K)
[2021.01.07-01.03.42:272][ 0]LogSlate: Request Window ‘Unreal Engine 4 Crash Reporter’ being destroyed
[2021.01.07-01.03.42:272][ 0]LogSlate: Window ‘Unreal Engine 4 Crash Reporter’ being destroyed
[2021.01.07-01.03.42:274][ 0]LogCore: Engine exit requested (reason: OnRequestExit)
[2021.01.07-01.03.42:290][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Engine.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.03.42:291][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Engine.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.03.42:292][ 0]CrashReportCoreLog: Final state (Receiver) = Ready
[2021.01.07-01.03.42:292][ 0]CrashReportCoreLog: Final state (Receiver) = Unknown UploadState value
[2021.01.07-01.03.42:294][ 0]LogSlate: Slate User Destroyed. User Index 0, Is Virtual User: 0
[2021.01.07-01.03.42:294][ 0]LogCore: Engine exit requested (reason: CrashReportClientApp RequestExit; note: exit was already requested)
[2021.01.07-01.03.42:294][ 0]LogExit: Preparing to exit.
[2021.01.07-01.03.42:298][ 0]LogExit: Object subsystem successfully closed.
[2021.01.07-01.03.42:299][ 0]LogModuleManager: Shutting down and abandoning module ImageWrapper (10)
[2021.01.07-01.03.42:299][ 0]LogModuleManager: Shutting down and abandoning module InputCore (8)
[2021.01.07-01.03.42:300][ 0]LogModuleManager: Shutting down and abandoning module CoreUObject (6)
[2021.01.07-01.03.42:300][ 0]LogModuleManager: Shutting down and abandoning module PakFile (4)
[2021.01.07-01.03.42:300][ 0]LogModuleManager: Shutting down and abandoning module RSA (3)
[2021.01.07-01.03.42:300][ 0]LogExit: Exiting.
[2021.01.07-01.03.42:300][ 0]LogInit: Tearing down SDL.
[2021.01.07-01.03.42:318][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Engine.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.03.42:319][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Engine.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.03.42:319][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Game.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.03.42:319][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Game.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.03.42:321][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Input.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.03.42:321][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Input.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.03.42:323][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Compat.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.03.42:323][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Compat.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.03.42:324][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Lightmass.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.03.42:324][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Lightmass.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.03.42:325][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Scalability.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.03.42:325][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Scalability.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.03.42:325][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Hardware.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.03.42:325][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Hardware.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.03.42:325][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/RuntimeOptions.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.03.42:325][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/RuntimeOptions.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.03.42:325][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/GameUserSettings.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.03.42:326][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/GameUserSettings.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.03.42:328][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/EditorPerProjectUserSettings.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.03.42:328][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/EditorPerProjectUserSettings.ini’) failed: errno=13 (Permission denied)
Engine crash handling finished; re-raising signal 11 for the default handler. Good bye.
FUnixPlatformMisc::RequestExitWithStatus
FUnixPlatformMisc::RequestExit
[2021.01.07-01.08.00:476][360]LogHAL: Warning: Process (pid=22365) is still running - we will reap it in a waiter thread, but the thread handle is going to be leaked.
Malloc Size=204904 LargeMemoryPoolOffset=1295432
[2021.01.07-01.08.00:477][ 0]LogSlate: Request Window ‘Unreal Engine 4 Crash Reporter’ being destroyed
[2021.01.07-01.08.00:477][ 0]LogSlate: Window ‘Unreal Engine 4 Crash Reporter’ being destroyed
[2021.01.07-01.08.00:479][ 0]LogCore: Engine exit requested (reason: OnRequestExit; note: exit was already requested)
[2021.01.07-01.08.00:500][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Engine.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.08.00:501][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Engine.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.08.00:501][ 0]CrashReportCoreLog: Final state (Receiver) = Ready
[2021.01.07-01.08.00:501][ 0]CrashReportCoreLog: Final state (Receiver) = Unknown UploadState value
[2021.01.07-01.08.00:504][ 0]LogSlate: Slate User Destroyed. User Index 0, Is Virtual User: 0
[2021.01.07-01.08.00:504][ 0]LogCore: Engine exit requested (reason: CrashReportClientApp RequestExit; note: exit was already requested)
[2021.01.07-01.08.00:504][ 0]LogExit: Preparing to exit.
[2021.01.07-01.08.00:508][ 0]LogExit: Object subsystem successfully closed.
[2021.01.07-01.08.00:510][ 0]LogModuleManager: Shutting down and abandoning module ImageWrapper (10)
[2021.01.07-01.08.00:510][ 0]LogModuleManager: Shutting down and abandoning module InputCore (8)
[2021.01.07-01.08.00:510][ 0]LogModuleManager: Shutting down and abandoning module CoreUObject (6)
[2021.01.07-01.08.00:510][ 0]LogModuleManager: Shutting down and abandoning module PakFile (4)
[2021.01.07-01.08.00:510][ 0]LogModuleManager: Shutting down and abandoning module RSA (3)
[2021.01.07-01.08.00:511][ 0]LogExit: Exiting.
[2021.01.07-01.08.00:511][ 0]LogInit: Tearing down SDL.
[2021.01.07-01.08.00:514][ 0]LogCore: FUnixPlatformMisc::RequestExit(bForce=false, ReturnCode=143)
[2021.01.07-01.08.00:523][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Engine.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.08.00:523][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Engine.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.08.00:523][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Game.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.08.00:523][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Game.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.08.00:525][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Input.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.08.00:525][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Input.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.08.00:527][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Compat.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.08.00:527][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Compat.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.08.00:527][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Lightmass.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.08.00:527][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Lightmass.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.08.00:528][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Scalability.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.08.00:528][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Scalability.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.08.00:528][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Hardware.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.08.00:529][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/Hardware.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.08.00:529][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/RuntimeOptions.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.08.00:529][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/RuntimeOptions.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.08.00:529][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/GameUserSettings.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.08.00:529][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/GameUserSettings.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.08.00:531][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/EditorPerProjectUserSettings.ini’) failed: errno=13 (Permission denied)
[2021.01.07-01.08.00:531][ 0]LogUnixPlatformFile: Warning: create dir(’/home/XXXX/.config/Epic/CrashReportClient/Saved/Config/Linux/EditorPerProjectUserSettings.ini’) failed: errno=13 (Permission denied)

看上去是File:Runtime/Core/Public/Containers/SparseArray.h的问题，在github的AirSim issue里搜索发现已有相似问题：

issue 3062

有人回答可能是之前的某次commit引入了相关问题，10月份的一个pr试图修正这个问题：pr 3064

解决办法：

按理说既然修正了，更新到最新的AirSim应该能解决问题。但是既然我之前使用都没有这个error，还是先试试回退：

在本地的/UnrealEngine下，运行./Setup.sh 和 ./GenerateProjectFiles.sh重新编译一遍Unreal 4.24

在本地的/AirSim下，确保AirSim回退到了9月3号之前的commit（也许我在那之后在本地进行过一些改动和更新），用./setup.sh 和 ./build.sh重新编译一遍，再次执行以上仿真过程，没有再出现相同的bug，运行正常。

将此临时解决方案暂时记录在此。