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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