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The ros::serialization::StreamOverrunException was caused by a bad memory management between nodelets. Thanks to @gvdhoorn, debugging the code showed that the exception was caused by:

• Attempting to access a freed memory location
• Attempting to free an already freed memory location

In the first nodelet of the pipeline I was sending a pointer to a PointCloud and forgot to re-allocate the pointer before modifying its contents. The subsequent nodelets therefore received a pointer to a memory location that had changed since the message was sent, causing the error. To sum up, make sure that you do not modify a sent message when working with nodelets.

The ros::serialization::StreamOverrunException was caused by a bad memory management between nodelets. Thanks to @gvdhoorn, debugging the code showed that the exception was caused by:

• Attempting to access a freed memory location
• Attempting to free an already freed memory location

In the first nodelet of the pipeline I was sending a pointer to a PointCloud and forgot to re-allocate the pointer before modifying its contents. The subsequent nodelets therefore received a pointer to a memory location that had changed since the message was sent, causing the error. To sum up, make sure that you do not modify a sent message when working with nodelets.

void
SurfaceSegmentationNode::publishMsgs()
{
    this->marker_publisher_.publish(this->output_surfaces_markers_->getMarkerArray());
    this->surface_publisher_.publish(this->output_surfaces_msg_);
    this->full_cloud_publisher_.publish(this->input_cloud_full_);
    this->subsampled_cloud_publisher_.publish(this->input_cloud_subsampled_);
}

void
SurfaceSegmentationNode::resetMsgs()
{
    this->input_cloud_full_ = pointCloud::ConstPtr(new pointCloud());
    this->input_cloud_subsampled_ = pointCloud::ConstPtr(new pointCloud());
    this->output_surfaces_msg_ = scene_msgs::SurfaceArray::Ptr(new scene_msgs::SurfaceArray);
    this->output_surfaces_markers_->resetMarkers();
    this->surface_segmentation_.surface_vector.clear();
}