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The problem is this line _odom_tb{std::make_shared<tf2_ros::StaticTransformBroadcaster>(shared_from_this())}

You are trying to get a shared pointer from this in the initialization phase, even though the constructor isn't fully completed yet and therefore this doesn't point to a correct instance.

As a workaround, you can try to call theconstructor for the StaticTransformBroadcaster [0] with a raw this pointer or introduce a separate init function for your odomNode.

[0] https://github.com/ros2/geometry2/blob/ros2/tf2_ros/include/tf2_ros/static_transform_broadcaster.h#L53-L63

The problem is this line _odom_tb{std::make_shared<tf2_ros::StaticTransformBroadcaster>(shared_from_this())}

You are trying to get a shared pointer from this in the initialization phase, even though the constructor isn't fully completed yet and therefore this doesn't point to a correct instance.

As a workaround, you can try to call theconstructor the constructor for the StaticTransformBroadcaster StaticTransformBroadcaster [0] with a raw this pointer or introduce a separate init function for your odomNode.

[0] https://github.com/ros2/geometry2/blob/ros2/tf2_ros/include/tf2_ros/static_transform_broadcaster.h#L53-L63