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Thank you for reporting the bug.
pcl_anh_gpu
is an algorithm that consumes a lot of memory.
If the map is large or the resolution of the NDT is small, the memory will be insufficient and the process will die.
A similar bug has been identified for the CPU implementation pcl_anh
.
Since pcl_anh_gpu
,pcl_anh
and pcl_openmp
have known bugs, I recommend usingpcl_generic
.
If you like, please report the bug to autoware gitlab. https://gitlab.com/autowarefoundation/autoware.ai/core_perception/issues