ndt_mapping cause "Segmentation fault"

asked 2021-04-13 20:19:29 -0600

xxfore gravatar image

when i try to use "/path/to/install/lidar_localizer/lib/lidar_localizer/ndt_mapping __name:=ndt_mapping" It happend Segmentation Fault

use_openmp:0
use_imu:0
....
max_submap_size : 100
Segmentation fault (core dumped)

After i check the core dump file by using gdb , It shows trace like below

#0  __memcpy_generic () at ../sysdeps/aarch64/multiarch/../memcpy.S:117
#1  0x000000555807fbac in memcpy (__len=<optimized out>, __src=<optimized out>, __dest=<optimized out>)
    at /usr/include/aarch64-linux-gnu/bits/string_fortified.h:34
#2  pcl::fromPCLPointCloud2<pcl::PointXYZI> (field_map=std::vector of length 15125457886, capacity 15125457898 = {...}, cloud=..., msg=...)
    at /usr/include/pcl-1.8/pcl/conversions.h:217
#3  pcl::fromPCLPointCloud2<pcl::PointXYZI> (cloud=..., msg=...) at /usr/include/pcl-1.8/pcl/conversions.h:234
#4  pcl::fromROSMsg<pcl::PointXYZI> (cloud=..., pcl_cloud=...) at /opt/ros/melodic/include/pcl_conversions/pcl_conversions.h:550
#5  0x000000555806810c in points_callback (input=...)
    at /data/github/autoware.ai-opencv3/src/autoware/core_perception/lidar_localizer/nodes/ndt_mapping/ndt_mapping.cpp:469
#6  0x0000005558074f9c in boost::function1<void, boost::shared_ptr<sensor_msgs::PointCloud2_<std::allocator<void> > const> const&>::operator() (
    a0=..., this=<optimized out>) at /usr/include/boost/function/function_template.hpp:759
#7  boost::detail::function::void_function_obj_invoker1<boost::function<void (boost::shared_ptr<sensor_msgs::PointCloud2_<std::allocator<void> > const> const&)>, void, boost::shared_ptr<sensor_msgs::PointCloud2_<std::allocator<void> > const> >::invoke(boost::detail::function::function_buffer&, boost::shared_ptr<sensor_msgs::PointCloud2_<std::allocator<void> > const>) (function_obj_ptr=..., a0=...)
    at /usr/include/boost/function/function_template.hpp:159
#8  0x00000055580826e0 in boost::function1<void, boost::shared_ptr<sensor_msgs::PointCloud2_<std::allocator<void> > const> >::operator() (a0=..., 
    this=0x558524bad8) at /usr/include/boost/function/function_template.hpp:759
#9  ros::SubscriptionCallbackHelperT<boost::shared_ptr<sensor_msgs::PointCloud2_<std::allocator<void> > const> const&, void>::call (
    this=0x558524bad0, params=...) at /opt/ros/melodic/include/ros/subscription_callback_helper.h:144
#10 0x0000007f7a450f44 in ros::SubscriptionQueue::call() () from /opt/ros/melodic/lib/libroscpp.so
#11 0x0000007f7a400244 in ros::CallbackQueue::callOneCB(ros::CallbackQueue::TLS*) () from /opt/ros/melodic/lib/libroscpp.so
#12 0x0000007f7a401b44 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/melodic/lib/libroscpp.so
#13 0x0000007f7a454e64 in ros::SingleThreadedSpinner::spin(ros::CallbackQueue*) () from /opt/ros/melodic/lib/libroscpp.so
#14 0x0000007f7a43eab8 in ros::spin() () from /opt/ros/melodic/lib/libroscpp.so
#15 0x0000005558065358 in main (argc=<optimized out>, argv=<optimized out>)
    at /data/github/autoware.ai-opencv3/src/autoware/core_perception/lidar_localizer/nodes/ndt_mapping/ndt_mapping.cpp:1045
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Comments

Please provide more context including:

  • Operating system and version
  • Version of Autoware being used
  • Building Autoware from source or using the pre-built version?
  • Using Docker containers or running outside of Docker?
Josh Whitley gravatar image Josh Whitley  ( 2021-04-14 11:48:29 -0600 )edit