Code works in Electric flawlessly but segfaults in Fuerte

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Dear ROS brothers,

I found this implementation of TinySLAM for ROS called coreslam, which I checked out from the University of Albany repository.

As far as I understood, the code was developed back in 2008 and the latest change was made in December 2010. So I guess the pkg was working fine with CTurtle and most likely Diamondback.

I have a Fuerte installation in Ubuntu 11.10 and I was able to compile the pkg after explicitly linking the signals boost library (as suggested in the Fuerte Migration Guide) in the CMakeList.txt:

rosbuild_add_boost_directories()
rosbuild_add_executable(bin/slam_coreslam src/slam_coreslam.cpp src/main.cpp)
rosbuild_link_boost(bin/slam_coreslam signals)

As soon as I run the slam_coreslam node, I receive an immediate and deathly segmentation fault. I understand that the program crashes in line 27 of main.cpp, when the SlamCoreSlam class is initialized (slam_coreslam.h, slam_coreslam.cpp), because when I comment out this line, it will not segfault.

I have used gdb to debug the problem, here is the gdb stack backtrace:

(gdb) exec-file slam_coreslam 
(gdb) r
Starting program: /home/david/stacks/coreslam/bin/slam_coreslam slam_coreslam
[Thread debugging using libthread_db enabled]

Program received signal SIGSEGV, Segmentation fault.
0x08062ac8 in ?? ()
(gdb) bt
#0  0x08062ac8 in ?? ()
#1  0x004ba113 in __libc_start_main () from /lib/i386-linux-gnu/libc.so.6
#2  0x08062be9 in ?? ()
Backtrace stopped: Not enough registers or memory available to unwind further
(gdb)

I've also run it with valgrind, here is the output:

david@David-Laptop:~/stacks/coreslam/bin$ valgrind ./slam_coreslam 
==7329== Memcheck, a memory error detector
==7329== Copyright (C) 2002-2010, and GNU GPL'd, by Julian Seward et al.
==7329== Using Valgrind-3.6.1-Debian and LibVEX; rerun with -h for copyright info
==7329== Command: ./slam_coreslam
==7329== 
==7329== Warning: client switching stacks?  SP change: 0xbe824fb0 --> 0xbdffbc90
==7329==          to suppress, use: --max-stackframe=8557344 or greater
==7329== Invalid write of size 4
==7329==    at 0x8062AB7: main (main.cpp:25)
==7329==  Address 0xbe824fac is on thread 1's stack
==7329== 
==7329== Invalid write of size 4
==7329==    at 0x8062AC8: main (main.cpp:26)
==7329==  Address 0xbdffbc98 is on thread 1's stack
==7329== 
==7329== 
==7329== Process terminating with default action of signal 11 (SIGSEGV)
==7329==  Access not within mapped region at address 0xBDFFBC98
==7329==    at 0x8062AC8: main (main.cpp:26)
==7329==  If you believe this happened as a result of a stack
==7329==  overflow in your program's main thread (unlikely but
==7329==  possible), you can try to increase the size of the
==7329==  main thread stack using the --main-stacksize= flag.
==7329==  The main thread stack size used in this run was 8388608.
==7329== 
==7329== Process terminating with default action of signal 11 (SIGSEGV)
==7329==  Access not within mapped region at address 0xBDFFBC8C
==7329==    at 0x402242C: _vgnU_freeres (vg_preloaded.c:58)
==7329==  If you believe this happened as a result of a stack
==7329==  overflow in your program's main thread (unlikely but
==7329==  possible), you can try to increase the size of the
==7329==  main thread stack using the --main-stacksize= flag.
==7329==  The main thread stack size used in ...