Publisher gives segmentation fault unless message is defined in a "parent scope"
Hi,
A peculiar bug occurred while making a simple listener/publisher for a visualization application.
I am using boost::function to pass a lambda-function; which might be a bit odd, but I do not see how this could give me a segmentation error or whether it is something different..
So the following gives a segmentation error when it tries to publish the message:
#include ....
int main(int argc, char** argv) {
ros::init(argc, argv, "inertial_odom_demo_node");
ros::NodeHandle n;
auto pose_pub = n.advertise<geometry_msgs::PoseStamped>("/pose", 10);
odometry inertial_odom;
boost::function<void (const sensor_msgs::Imu&)> callback =
[&] (const sensor_msgs::Imu& msg) {
Eigen::Vector3d a, g;
a << msg.linear_acceleration.x, msg.linear_acceleration.y, msg.linear_acceleration.z;
g << msg.angular_velocity.x, msg.angular_velocity.y, msg.angular_velocity.z;
uint64_t t = msg.header.stamp.toNSec();
if (inertial_odom.imu(a,g,t))
{
auto state_vector = inertial_odom.pose();
geometry_msgs::PoseStamped poseStamped;
poseStamped.header.frame_id = "map";
poseStamped.header.stamp = msg.header.stamp;
poseStamped.pose.position.x = state_vector(0);
poseStamped.pose.position.y = state_vector(1);
poseStamped.pose.position.z = state_vector(2);
poseStamped.pose.orientation.w = state_vector(3);
poseStamped.pose.orientation.x = state_vector(4);
poseStamped.pose.orientation.y = state_vector(5);
poseStamped.pose.orientation.z = state_vector(6);
pose_pub.publish(poseStamped);
}
};
auto imu_sub = n.subscribe<sensor_msgs::Imu>("/imu", 1000, callback);
ros::spin();
}
while the following does not:
#include ....
int main(int argc, char** argv) {
ros::init(argc, argv, "inertial_odom_demo_node");
ros::NodeHandle n;
auto pose_pub = n.advertise<geometry_msgs::PoseStamped>("/pose", 10);
geometry_msgs::PoseStamped poseStamped;
poseStamped.header.frame_id = "map";
odometry inertial_odom;
boost::function<void (const sensor_msgs::Imu&)> callback =
[&] (const sensor_msgs::Imu& msg) {
Eigen::Vector3d a, g;
a << msg.linear_acceleration.x, msg.linear_acceleration.y, msg.linear_acceleration.z;
g << msg.angular_velocity.x, msg.angular_velocity.y, msg.angular_velocity.z;
uint64_t t = msg.header.stamp.toNSec();
if (inertial_odom.imu(a,g,t))
{
auto state_vector = inertial_odom.pose();
poseStamped.header.stamp = msg.header.stamp;
poseStamped.pose.position.x = state_vector(0);
poseStamped.pose.position.y = state_vector(1);
poseStamped.pose.position.z = state_vector(2);
poseStamped.pose.orientation.w = state_vector(3);
poseStamped.pose.orientation.x = state_vector(4);
poseStamped.pose.orientation.y = state_vector(5);
poseStamped.pose.orientation.z = state_vector(6);
pose_pub.publish(poseStamped);
}
};
auto imu_sub = n.subscribe<sensor_msgs::Imu>("/imu", 1000, callback);
ros::spin();
}
I toyed around with different message-type, but it does not change the result... Any ideas?
Two things:
boost::functionto pass a lambda toNodeHandle::subscribe(..), do you have a particular reason for wanting to use it?autoworked fine for me.This might have something to do with
poseStampedhaving gone .... out of scope before it's actually published, and ROS internals trying to use a dangling reference (as much as those exist).
Some interesting links: passing functions to functions and ..
.. Segmentation fault with std::function and lambda parameters.
hi,
Thanks for those two links; they look highly relevant.. Using auto seemed to work, then I did something and now I keep getting an error.. I will retrace my steps and comment once I have something working :-)
ps; this is the main complaint when using auto for now: error: no match for call to .... BOOST_FUNCTION_RETURN((*f)(BOOST_FUNCTION_ARGS));
As for using lambda's; no success. (also here https://stackoverflow.com/questions/4... ). As for the return value of the lambda and seg fault.. also didn't work yet.. I am going to look at it some more later.
Little update on the auto-lambda-callback; it stumbled upon me that ros uses xx::yy::ConstPtr when passing messages; while in the lambda I defined the function argument as reference and use it as such.. now this is ok; but it does not work with auto, if I treat it as ConstPtr (e.g. *msg), auto works