The demo in but_velodyne_lib works well, but the ros version always crashes

[libing64]

Thanks for sharing your excellent work. The demo in but_velodynelib works well on my computer, but the ros version always crashes in this line: `Eigen::Matrix4f t = registration->runRegistration(*boost::dynamic_pointer_cast(pcl_inputcloud), covariance);`

I am not sure this is a bug or caused by my configuration.

The ros version demo is from https://github.com/martin-velas/but_velodyne/blob/indigo-devel/but_velodyne_odom/demo.sh

And here is the output:

SUMMARY
========

PARAMETERS
 * /collar_line_odom/save_file: False
 * /rosdistro: indigo
 * /rosversion: 1.11.19

NODES
  /
    collar_line_odom (but_velodyne_odom/collar_line_odom)
    manager (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [11425]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to ed9c810e-4270-11e6-b4e2-28d244dc300f
process[rosout-1]: started with pid [11438]
started core service [/rosout]
process[manager-2]: started with pid [11455]
[ INFO] [1467696349.056043830]: Initializing nodelet with 4 worker threads.
process[collar_line_odom-3]: started with pid [11475]
[ INFO] [1467696349.598387103]: opened file /home/libing/.ros/poses.graph
[ INFO] [1467696357.102409605]: Publishing data on topic /velodyne_points with frame_id /base_link.
[ INFO] [1467696357.797918075]: Loaded a point cloud with 124608 points (total size is 2242944) and the following channels: x y z intensity ring.
11475: Prediction:
1 0 0 0
0 1 0 0
-0 0 1 0
0 0 0 1

[collar_line_odom-3] process has died [pid 11475, exit code -11, cmd /home/libing/catkin_ws/devel/lib/but_velodyne_odom/collar_line_odom ~input/cloud:=/velodyne_points ~output/odom:=/velodyne_odom __name:=collar_line_odom __log:=/home/libing/.ros/log/ed9c810e-4270-11e6-b4e2-28d244dc300f/collar_line_odom-3.log].
log file: /home/libing/.ros/log/ed9c810e-4270-11e6-b4e2-28d244dc300f/collar_line_odom-3*.log
[ INFO] [1467696362.638622549]: Publishing data on topic /velodyne_points with frame_id /base_link.
[ INFO] [1467696363.332379942]: Loaded a point cloud with 124544 points (total size is 2241792) and the following channels: x y z intensity ring.

Can you provide some help or advice?

[martin-velas]

Hi, thanks for interest in our work! The behaviour you encounter is quite strange and I can not tell much from this output. Try to run the node with gdb - just add the option launch-prefix into the collar_line_odometry.launch file as described here: http://answers.ros.org/question/47210/how-to-roslaunch-node-in-gdb/ and use command run in the xterminal which will appear after launch. Hope we will see the issue then. Regards, Martin.