Hello,

I am creating a really simple subscriber to a published message. The message is from another node that process image and produce odometry. My node consist of 3 files, RoverMoveMain.cpp, RoverMoveSimple.cpp, and RoverMoveSimple.h

RoverMoveSimple.h

#include <stdlib.h>
#include <cmath>

#include "helper/constant.h"
#include "helper/typedef.h"
#include "helper/helper.h"
#include "boost/atomic.hpp"
#include "tf2/convert.h"
#include "tf2/LinearMath/Matrix3x3.h"

#ifndef ROVER_MOVE_H
#define ROVER_MOVE_H

using namespace std;

class RoverMoveSimple {
    protected:
        // Attribute
        NodeHandle n;

        Sub cur_pos_sub;
    public:
        // method
        RoverMoveSimple(NodeHandle* nh);

        void UpdatePosCB(const OdometryPtr& cur_pos);
};

RoverMoveSimple.cpp

RoverMoveSimple::RoverMoveSimple(NodeHandle* nh) {
    this->cur_pos_sub = nh->subscribe("odom", 1000, &RoverMoveSimple::UpdatePosCB, this);
}

void RoverMoveSimple::UpdatePosCB(const OdometryPtr& cur_pos){
    cout << cur_pos->pose.pose.position.x << ";" << cur_pos->pose.pose.position.y << "\n";
}

RoverMoveMain.cpp

#include "rover_move/RoverMoveSimple.h"

int main(int argc, char** argv) {
    ros::init(argc, argv, "RoverMove");

    NodeHandle n;
    RoverMoveSimple rm = RoverMoveSimple(&n);
    ros::spin();
    return 0;
}

The problem is, my node run okay for soem time, and then it will stop working and error. It is said the error code is -11. I have checked that probably related to segmentation fault.Is this correct? The problem is, how can this error happened? This is really just a simple node.

Update backtrace using gdb. It seems there are some problem with boost thread used by ros when delete message or somehing.

#0  0x729012b0 in ?? ()
#1  0x76f85f0c in boost::detail::sp_counted_base::release() ()
   from /home/pi/rover_workspace_for_dat2019/devel/lib/libRoverMove.so
#2  0x76ee5820 in boost::detail::sp_counted_impl_pd<ros::MessageDeserializer*, boost::detail::sp_ms_deleter<ros::MessageDeserializer> >::dispose() () from /opt/ros/kinetic/lib/libroscpp.so
#3  0x76ee9e38 in ros::SubscriptionQueue::call() () from /opt/ros/kinetic/lib/libroscpp.so
#4  0x76e8ed3c in ros::CallbackQueue::callOneCB(ros::CallbackQueue::TLS*) () from /opt/ros/kinetic/lib/libroscpp.so
#5  0x76e8fffc in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/kinetic/lib/libroscpp.so
#6  0x76eee420 in ros::SingleThreadedSpinner::spin(ros::CallbackQueue*) () from /opt/ros/kinetic/lib/libroscpp.so
#7  0x76ed45c0 in ros::spin() () from /opt/ros/kinetic/lib/libroscpp.so
#8  0x00011048 in main ()

Using debug mode in building:

Thread 1 "RoverMoveNode" received signal SIGSEGV, Segmentation fault.
0x73001ca8 in ?? ()
(gdb) bt
#0  0x73001ca8 in ?? ()
#1  0x76f86388 in boost::detail::sp_counted_base::release (this=0x73000ad8)
    at /usr/local/include/boost/smart_ptr/detail/sp_counted_base_spin.hpp:103
#2  0x76ee5820 in boost::detail::sp_counted_impl_pd<ros::MessageDeserializer*, boost::detail::sp_ms_deleter<ros::MessageDeserializer> >::dispose() () from /opt/ros/kinetic/lib/libroscpp.so
#3  0x76ee9e38 in ros::SubscriptionQueue::call() () from /opt/ros/kinetic/lib/libroscpp.so
#4  0x76e8ed3c in ros::CallbackQueue::callOneCB(ros::CallbackQueue::TLS*) () from /opt/ros/kinetic/lib/libroscpp.so
#5  0x76e8fffc in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/kinetic/lib/libroscpp.so
#6  0x76eee420 in ros::SingleThreadedSpinner::spin(ros::CallbackQueue*) () from /opt/ros/kinetic/lib/libroscpp.so
#7  0x76ed45c0 in ros::spin() () from /opt/ros/kinetic/lib/libroscpp.so
#8  0x00011048 in main (argc=1, argv=0x7effef54)
    at /home/pi/rover_workspace_for_dat2019/src/rover_move/src/RoverMoveMain.cpp:6