double free or corruption (out) [ros2run]: Aborted

[li-dahua]

ROS2 Humble Ubuntu 22.04 I tried this already. Not working.

rgb_sub = std::make_shared<message_filters::Subscriber<ImageMsg> >(this, "/camera/rgb");
depth_sub = std::make_shared<message_filters::Subscriber<ImageMsg> >(this, "/camera/depth");

The program crashes without showing output. ros2 run orbslam3 stereo vocabulary/ORBvoc.txt BFS.yaml False

ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. This program comes with ABSOLUTELY NO WARRANTY; This is free software, and you are welcome to redistribute it under certain conditions. See LICENSE.txt.

Input sensor was set to: Stereo

Loading ORB Vocabulary. This could take a while... Vocabulary loaded!

Initialization of Atlas from scratch Creation of new map with id: 0 Creation of new map with last KF id: 0 Seq. Name:

Camera Parameters:

Camera: Pinhole Image scale: 0.25 fx: 1749.73 fy: 1764.11 cx: 255.644 cy: 114.834 k1: -0.00412 k2: 0.723251 p1: -0.007554 p2: 0.001609 k3: 0 fps: 30 color order: BGR (ignored if grayscale) Depth Threshold (Close/Far Points): 50.0339

ORB Extractor Parameters:

Number of Features: 1250 Scale Levels: 8 Scale Factor: 1.2 Initial Fast Threshold: 20 Minimum Fast Threshold: 7 There are 1 cameras in the atlas Camera 0 is pinhole Starting the Viewer Shutdown Saving keyframe trajectory to KeyFrameTrajectory.txt ... double free or corruption (out)