"Assertion `!pthread_mutex_lock(&m)' failed." runtime error while working with custom message and kinect

asked 2011-07-25 07:02:17 -0500

kluessi
13 ● 2 ● 2 ● 5

updated 2011-07-26 12:37:29 -0500

Asomerville
2061 ● 46 ● 72 ● 110
http://www.resquared.com/

Hi all,

I'm working with the Microsoft Kinect.

I'm using pointcloud_to_laserscan to retrieve a laserscan from kinect.

And there is another node which retrieves the rgb image from kinect for feature extraction and advertises the features using a custom ros message on a topic called "features".

Now I have another node. This node should subscribe to the pointcloud_to_laserscan and to the features topic using message_filters, because I need the laserscan and the features taken at the same time.

I tried to use the tutorial on http://www.ros.org/wiki/message_filters

I defined a sync policy:

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::LaserScan, myNode::myMsg> SyncLaserNodePolicy;

message_filters::Synchronizer<SyncLaserNodePolicy> sync2_;
message_filters::Subscriber<sensor_msgs::LaserScan> kinectLaser_sub;
message_filters::Subscriber<myNode::myMsg> feature_sub;

In the constructor of the node I initialize:

      kinectLaser_sub(n,"kinectLaser",1),
      feature_sub(n,"features",1),
      sync2_(SyncLaserNodePolicy(10),kinectLaser_sub,feature_sub),

My custom message is defined as:

Header header
surfKeyp2d[] keypoints2d
surfKeyp3d[] keypoints3d
surfDescMsg[] descriptors
uint32 number
sensor_msgs/Image image
geometry_msgs/TransformStamped trans

The code is compiling without errors, but when I try to run my node I get the following error:

myNode: /usr/include/boost/thread/pthread/mutex.hpp:50: 
void boost::mutex::lock():     Assertion `!pthread_mutex_lock(&m)' failed.
Aborted

Anybody have an idea whats wrong?

Thanks a lot!