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LaMa - A Localization and Mapping library
BSD 3-Clause "New" or "Revised" License
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possible nullptr deference in iris_lama/src/nlls/solver.cpp #31

Closed easylyou closed 3 years ago

easylyou commented 3 years ago

Hi. I'm doing some test and found loc2d_ros process crash because of SEGV. Here is the stderr debug output. I'm appreciated you could help me to debug.

AddressSanitizer:DEADLYSIGNAL
=================================================================
==228409==ERROR: AddressSanitizer: SEGV on unknown address 0x000000000000 (pc 0x00000078705e bp 0x7fff6353e8a0 sp 0x7fff6353e870 T0)
==228409==The signal is caused by a READ memory access.
==228409==Hint: address points to the zero page.
    #0 0x78705e in Eigen::internal::enable_if<(NumTraits<double>::IsSigned) || (NumTraits<double>::IsComplex), Eigen::NumTraits<double>::Real>::type Eigen::numext::abs<double>(double const&) /usr/include/eigen3/Eigen/src/Core/MathFunctions.h:1051:14
    #1 0x78705e in Eigen::internal::scalar_abs_op<double>::operator()(double const&) const /usr/include/eigen3/Eigen/src/Core/functors/UnaryFunctors.h:44:103
    #2 0x786ff8 in Eigen::internal::unary_evaluator<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> const>, Eigen::internal::IndexBased, double>::coeff(long) const /usr/include/eigen3/Eigen/src/Core/CoreEvaluators.h:549:12
    #3 0x7bfafe in Eigen::internal::redux_evaluator<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> const> >::coeff(long) const /usr/include/eigen3/Eigen/src/Core/Redux.h:369:24
    #4 0x7bf6d3 in Eigen::internal::redux_impl<Eigen::internal::scalar_max_op<double, double>, Eigen::internal::redux_evaluator<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> const> >, 3, 0>::run(Eigen::internal::redux_evaluator<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> const> > const&, Eigen::internal::scalar_max_op<double, double> const&) /usr/include/eigen3/Eigen/src/Core/Redux.h:258:17
    #5 0x7beb25 in double Eigen::DenseBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> const> >::redux<Eigen::internal::scalar_max_op<double, double> >(Eigen::internal::scalar_max_op<double, double> const&) const /usr/include/eigen3/Eigen/src/Core/Redux.h:418:10
    #6 0x7ba987 in Eigen::DenseBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> const> >::maxCoeff() const /usr/include/eigen3/Eigen/src/Core/Redux.h:438:20
    #7 0x7b79d9 in Eigen::JacobiSVD<Eigen::Matrix<double, -1, -1, 0, -1, -1>, 2>::compute(Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, unsigned int) /usr/include/eigen3/Eigen/src/SVD/JacobiSVD.h:676:40
    #8 0x725069 in Eigen::JacobiSVD<Eigen::Matrix<double, -1, -1, 0, -1, -1>, 2>::JacobiSVD(Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, unsigned int) /usr/include/eigen3/Eigen/src/SVD/JacobiSVD.h:548:7
    #9 0x721808 in lama::Solver::calculateCovariance(Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>*) const /home/r1/ros2_clang_navigation/src/iris_lama/src/nlls/solver.cpp:144:36
    #10 0x7207ad in lama::Solver::solve(lama::Problem&, Eigen::Matrix<double, -1, -1, 0, -1, -1>*) /home/r1/ros2_clang_navigation/src/iris_lama/src/nlls/solver.cpp:115:9
    #11 0x72235b in lama::Solve(lama::Solver::Options const&, lama::Problem&, Eigen::Matrix<double, -1, -1, 0, -1, -1>*) /home/r1/ros2_clang_navigation/src/iris_lama/src/nlls/solver.cpp:158:12
    #12 0x8d77dc in lama::Loc2D::update(std::shared_ptr<lama::PointCloudXYZ> const&, lama::Pose2D const&, double, bool) /home/r1/ros2_clang_navigation/src/iris_lama/src/loc2d.cpp:149:5
    #13 0x4f7fc2 in lama::Loc2DROS::onLaserScan(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>) /home/r1/ros2_clang_navigation/src/iris_lama_ros/src/loc2d_ros.cpp:216:17
    #14 0x6cc142 in void std::__invoke_impl<void, void (lama::Loc2DROS::*&)(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>), lama::Loc2DROS*&, std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&>(std::__invoke_memfun_deref, void (lama::Loc2DROS::*&)(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>), lama::Loc2DROS*&, std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/invoke.h:73:14
    #15 0x6cbe4a in std::__invoke_result<void (lama::Loc2DROS::*&)(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>), lama::Loc2DROS*&, std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&>::type std::__invoke<void (lama::Loc2DROS::*&)(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>), lama::Loc2DROS*&, std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&>(void (lama::Loc2DROS::*&)(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>), lama::Loc2DROS*&, std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/invoke.h:95:14
    #16 0x6cbcfb in void std::_Bind<void (lama::Loc2DROS::* (lama::Loc2DROS*, std::_Placeholder<1>))(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>)>::__call<void, std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&, 0ul, 1ul>(std::tuple<std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&>&&, std::_Index_tuple<0ul, 1ul>) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/functional:400:11
    #17 0x6cbb06 in void std::_Bind<void (lama::Loc2DROS::* (lama::Loc2DROS*, std::_Placeholder<1>))(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>)>::operator()<std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&, void>(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/functional:482:17
    #18 0x6cb62d in std::_Function_handler<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&), std::_Bind<void (lama::Loc2DROS::* (lama::Loc2DROS*, std::_Placeholder<1>))(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>)> >::_M_invoke(std::_Any_data const&, std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/std_function.h:300:2
    #19 0x6ca7cd in std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&)>::operator()(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&) const /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/std_function.h:688:14
    #20 0x6ca0dd in std::_Function_handler<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>), std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&)> >::_M_invoke(std::_Any_data const&, std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>&&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/std_function.h:300:2
    #21 0x6925d5 in std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>)>::operator()(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>) const /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/std_function.h:688:14
    #22 0x6cacf8 in message_filters::CallbackHelper1T<std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&, sensor_msgs::msg::LaserScan_<std::allocator<void> > >::call(message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&, bool) /opt/ros/foxy/include/message_filters/signal1.h:74:5
    #23 0x663e7d in message_filters::Signal1<sensor_msgs::msg::LaserScan_<std::allocator<void> > >::call(message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&) /opt/ros/foxy/include/message_filters/signal1.h:117:15
    #24 0x663b68 in message_filters::SimpleFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> > >::signalMessage(message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&) /opt/ros/foxy/include/message_filters/simple_filter.h:133:13
    #25 0x6c2325 in tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>::messageReady(message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&) /opt/ros/foxy/include/tf2_ros/message_filter.h:643:13
    #26 0x6b6c68 in tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>::transformReadyCallback(std::shared_future<geometry_msgs::msg::TransformStamped_<std::allocator<void> > > const&, unsigned long) /opt/ros/foxy/include/tf2_ros/message_filter.h:537:7
    #27 0x6c4b42 in void std::__invoke_impl<void, void (tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>::*&)(std::shared_future<geometry_msgs::msg::TransformStamped_<std::allocator<void> > > const&, unsigned long), tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>*&, std::shared_future<geometry_msgs::msg::TransformStamped_<std::allocator<void> > > const&, unsigned long&>(std::__invoke_memfun_deref, void (tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>::*&)(std::shared_future<geometry_msgs::msg::TransformStamped_<std::allocator<void> > > const&, unsigned long), tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>*&, std::shared_future<geometry_msgs::msg::TransformStamped_<std::allocator<void> > > const&, unsigned long&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/invoke.h:73:14
    #28 0x6c47e7 in std::__invoke_result<void (tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>::*&)(std::shared_future<geometry_msgs::msg::TransformStamped_<std::allocator<void> > > const&, unsigned long), tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>*&, std::shared_future<geometry_msgs::msg::TransformStamped_<std::allocator<void> > > const&, unsigned long&>::type std::__invoke<void (tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>::*&)(std::shared_future<geometry_msgs::msg::TransformStamped_<std::allocator<void> > > const&, unsigned long), tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>*&, std::shared_future<geometry_msgs::msg::TransformStamped_<std::allocator<void> > > const&, unsigned long&>(void (tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>::*&)(std::shared_future<geometry_msgs::msg::TransformStamped_<std::allocator<void> > > const&, unsigned long), tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>*&, std::shared_future<geometry_msgs::msg::TransformStamped_<std::allocator<void> > > const&, unsigned long&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/invoke.h:95:14
    #29 0x6c4662 in void std::_Bind<void (tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>::* (tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>*, std::_Placeholder<1>, unsigned long))(std::shared_future<geometry_msgs::msg::TransformStamped_<std::allocator<void> > > const&, unsigned long)>::__call<void, std::shared_future<geometry_msgs::msg::TransformStamped_<std::allocator<void> > > const&, 0ul, 1ul, 2ul>(std::tuple<std::shared_future<geometry_msgs::msg::TransformStamped_<std::allocator<void> > > const&>&&, std::_Index_tuple<0ul, 1ul, 2ul>) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/functional:400:11
    #30 0x6c43d6 in void std::_Bind<void (tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>::* (tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>*, std::_Placeholder<1>, unsigned long))(std::shared_future<geometry_msgs::msg::TransformStamped_<std::allocator<void> > > const&, unsigned long)>::operator()<std::shared_future<geometry_msgs::msg::TransformStamped_<std::allocator<void> > > const&, void>(std::shared_future<geometry_msgs::msg::TransformStamped_<std::allocator<void> > > const&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/functional:482:17
    #31 0x6c3a3d in std::_Function_handler<void (std::shared_future<geometry_msgs::msg::TransformStamped_<std::allocator<void> > > const&), std::_Bind<void (tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>::* (tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>*, std::_Placeholder<1>, unsigned long))(std::shared_future<geometry_msgs::msg::TransformStamped_<std::allocator<void> > > const&, unsigned long)> >::_M_invoke(std::_Any_data const&, std::shared_future<geometry_msgs::msg::TransformStamped_<std::allocator<void> > > const&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/std_function.h:300:2
    #32 0x7f38c69ab79e in std::function<void (std::shared_future<geometry_msgs::msg::TransformStamped_<std::allocator<void> > > const&)>::operator()(std::shared_future<geometry_msgs::msg::TransformStamped_<std::allocator<void> > > const&) const /usr/include/c++/9/bits/std_function.h:688:14
    #33 0x7f38c69ab79e in tf2_ros::Buffer::waitForTransform(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::chrono::time_point<std::chrono::_V2::system_clock, std::chrono::duration<long, std::ratio<1l, 1000000000l> > > const&, std::chrono::duration<long, std::ratio<1l, 1000000000l> > const&, std::function<void (std::shared_future<geometry_msgs::msg::TransformStamped_<std::allocator<void> > > const&)>) obj-x86_64-linux-gnu/./src/buffer.cpp:272:13
    #34 0x6b1a43 in tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>::add(message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&) /opt/ros/foxy/include/tf2_ros/message_filter.h:402:15
    #35 0x6a3b18 in tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>::incomingMessage(message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&) /opt/ros/foxy/include/tf2_ros/message_filter.h:552:5
    #36 0x6a94db in void std::__invoke_impl<void, void (tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>::*&)(message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&), tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>*&, message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&>(std::__invoke_memfun_deref, void (tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>::*&)(message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&), tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>*&, message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/invoke.h:73:14
    #37 0x6a925a in std::__invoke_result<void (tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>::*&)(message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&), tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>*&, message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&>::type std::__invoke<void (tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>::*&)(message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&), tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>*&, message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&>(void (tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>::*&)(message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&), tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>*&, message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/invoke.h:95:14
    #38 0x6a910b in void std::_Bind<void (tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>::* (tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>*, std::_Placeholder<1>))(message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&)>::__call<void, message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&, 0ul, 1ul>(std::tuple<message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&>&&, std::_Index_tuple<0ul, 1ul>) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/functional:400:11
    #39 0x6a8f16 in void std::_Bind<void (tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>::* (tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>*, std::_Placeholder<1>))(message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&)>::operator()<message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&, void>(message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/functional:482:17
    #40 0x6a876d in std::_Function_handler<void (message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&), std::_Bind<void (tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>::* (tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>*, std::_Placeholder<1>))(message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&)> >::_M_invoke(std::_Any_data const&, message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/std_function.h:300:2
    #41 0x6a581d in std::function<void (message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&)>::operator()(message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&) const /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/std_function.h:688:14
    #42 0x6a52e0 in message_filters::CallbackHelper1T<message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&, sensor_msgs::msg::LaserScan_<std::allocator<void> > >::call(message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&, bool) /opt/ros/foxy/include/message_filters/signal1.h:74:5
    #43 0x663e7d in message_filters::Signal1<sensor_msgs::msg::LaserScan_<std::allocator<void> > >::call(message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&) /opt/ros/foxy/include/message_filters/signal1.h:117:15
    #44 0x663b68 in message_filters::SimpleFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> > >::signalMessage(message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&) /opt/ros/foxy/include/message_filters/simple_filter.h:133:13
    #45 0x663585 in message_filters::Subscriber<sensor_msgs::msg::LaserScan_<std::allocator<void> > >::cb(message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&) /opt/ros/foxy/include/message_filters/subscriber.h:235:11
    #46 0x6632f7 in message_filters::Subscriber<sensor_msgs::msg::LaserScan_<std::allocator<void> > >::subscribe(rclcpp::Node*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rmw_qos_profile_t)::'lambda'(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>)::operator()(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>) const /opt/ros/foxy/include/message_filters/subscriber.h:174:24
    #47 0x662ebe in std::_Function_handler<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>), message_filters::Subscriber<sensor_msgs::msg::LaserScan_<std::allocator<void> > >::subscribe(rclcpp::Node*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rmw_qos_profile_t)::'lambda'(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>)>::_M_invoke(std::_Any_data const&, std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>&&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/std_function.h:300:2
    #48 0x6925d5 in std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>)>::operator()(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>) const /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/std_function.h:688:14
    #49 0x6954f8 in rclcpp::AnySubscriptionCallback<sensor_msgs::msg::LaserScan_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > >, rclcpp::MessageInfo const&) /opt/ros/foxy/include/rclcpp/any_subscription_callback.hpp:167:7
    #50 0x6705f9 in rclcpp::Subscription<sensor_msgs::msg::LaserScan_<std::allocator<void> >, std::allocator<void>, rclcpp::message_memory_strategy::MessageMemoryStrategy<sensor_msgs::msg::LaserScan_<std::allocator<void> >, std::allocator<void> > >::handle_message(std::shared_ptr<void>&, rclcpp::MessageInfo const&) /opt/ros/foxy/include/rclcpp/subscription.hpp:275:19
    #51 0x7f38c676802b  (/opt/ros/foxy/lib/librclcpp.so+0xd702b)
    #52 0x7f38c67688ea in rclcpp::Executor::execute_subscription(std::shared_ptr<rclcpp::SubscriptionBase>) (/opt/ros/foxy/lib/librclcpp.so+0xd78ea)
    #53 0x7f38c67690a4 in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&) (/opt/ros/foxy/lib/librclcpp.so+0xd80a4)
    #54 0x7f38c676da4b in rclcpp::executors::SingleThreadedExecutor::spin() (/opt/ros/foxy/lib/librclcpp.so+0xdca4b)
    #55 0x7f38c676b4e7 in rclcpp::spin(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>) (/opt/ros/foxy/lib/librclcpp.so+0xda4e7)
    #56 0x7f38c676b78f in rclcpp::spin(std::shared_ptr<rclcpp::Node>) (/opt/ros/foxy/lib/librclcpp.so+0xda78f)
    #57 0x4ffc55 in main /home/r1/ros2_clang_navigation/src/iris_lama_ros/src/loc2d_ros.cpp:393:5
    #58 0x7f38c5d120b2 in __libc_start_main /build/glibc-eX1tMB/glibc-2.31/csu/../csu/libc-start.c:308:16
    #59 0x43885d in _start (/home/r1/ros2_clang_navigation/build/iris_lama_ros2/src/loc2d_ros+0x43885d)
eupedrosa commented 3 years ago

That can happen if the number of points in the scan is zero or close to zero. Can you verify that? I believe I do not have a safeguard against that.

easylyou commented 3 years ago

I'm so sorry for the late reply. That can happen if the number of points in the scan is zero or close to zero. I think you are right. In fact I am doing robust tests under some extreme conditions including possible malformed sensor. It is possible receiving a weird message from laser in our tests. I have seen same problems in other localization methods, which are enough for our investigation. Sorry again for the late reply.. I have forgotten for almost two months! More importantly, thanks for your reply!