Sensor fusion crash on ARM based machine

[icoderaven]

Hi, as mentioned in an earlier issue, I was attempting to run ssf_update on a PandaBoard ES running Ubuntu 12.04 and get a SIGBUS error before I even initialise the fusion. The backtrace is below

[ INFO] [1370922064.866466859]: interpreting measurement as sensor w.r.t. world
[ INFO] [1370922064.869182924]: using covariance from sensor
[ INFO] [1370922065.067577699]: Filter type: pose_sensor
[ INFO] [1370922065.068645814]: /pose_sensor:
subscribed to topics:
/imu/data
/ssf_core/hl_state_input
/vslam/pose
advertised topics:
/rosout
/ssf_core/state_out
/ssf_core/correction
/ssf_core/pose
/ssf_core/ext_state
/pose_sensor/parameter_descriptions
/pose_sensor/parameter_updates

Program received signal SIGBUS, Bus error.
allInOne<ros::serialization::IStream, geometry_msgs::Quaternion_<std::allocator >&> (m=..., stream=)
at /opt/ros/fuerte/include/geometry_msgs/Quaternion.h:215
215 stream.next(m.z);
(gdb) bt
#0 allInOne<ros::serialization::IStream, geometry_msgs::Quaternion_<std::allocator >&> (m=..., stream=)

at /opt/ros/fuerte/include/geometry_msgs/Quaternion.h:215

#1 read<ros::serialization::IStream, geometry_msgs::Quaternion_<std::allocator > > (t=..., stream=)

at /opt/ros/fuerte/include/geometry_msgs/Quaternion.h:219

#2 deserialize<geometry_msgs::Quaternion_<std::allocator >, ros::serialization::IStream> (t=..., stream=)

at /opt/ros/fuerte/include/ros/serialization.h:161

#3 next<geometry_msgs::Quaternion_<std::allocator > > (t=...,

this=<synthetic pointer>) at /opt/ros/fuerte/include/ros/serialization.h:716

#4 allInOne<ros::serialization::IStream, sensor_msgs::Imu_<std::allocator >&> (

m=..., stream=<synthetic pointer>) at /opt/ros/fuerte/include/sensor_msgs/Imu.h:291

#5 read<ros::serialization::IStream, sensor_msgs::Imu_<std::allocator > > (

t=..., stream=<synthetic pointer>) at /opt/ros/fuerte/include/sensor_msgs/Imu.h:299

#6 deserialize<sensor_msgs::Imu_<std::allocator >, ros::serialization::IStream> (

t=..., stream=<synthetic pointer>)
at /opt/ros/fuerte/include/ros/serialization.h:161

#7 ros::SubscriptionCallbackHelperTboost::shared_ptr<sensor_msgs::Imu_<std::allocator const> const&, void>::deserialize (this=, params=...)

at /opt/ros/fuerte/include/ros/subscription_callback_helper.h:172

#8 0xb6f84d30 in ros::MessageDeserializer::deserialize() ()

from /opt/ros/fuerte/lib/libroscpp.so
#9 0xb6f802bc in ros::SubscriptionQueue::call() ()

from /opt/ros/fuerte/lib/libroscpp.so
#10 0xb6f2d4ae in ros::CallbackQueue::callOneCB(ros::CallbackQueue::TLS*) ()

from /opt/ros/fuerte/lib/libroscpp.so
#11 0xb6f2d074 in ros::CallbackQueue::callAvailable(ros::WallDuration) ()

from /opt/ros/fuerte/lib/libroscpp.so
#12 0xb6f82324 in ros::SingleThreadedSpinner::spin(ros::CallbackQueue*) ()

from /opt/ros/fuerte/lib/libroscpp.so
#13 0xb6f669ee in ros::spin(ros::Spinner&) () from /opt/ros/fuerte/lib/libroscpp.so
#14 0xb6f669b2 in ros::spin() () from /opt/ros/fuerte/lib/libroscpp.so
#15 0x00010b8e in main (argc=1715953599, argv=)

at /home/bird/bird_repo/cpp/external_ros_pkgs/ethzasl_sensor_fusion/ssf_updates/src/main.cpp:75

---

Update:

This issue was resolved by applying the ROS serialization patch required (https://code.ros.org/trac/ros/attachment/ticket/2883/serialization_memcpy_instead_of_reinterpret.diff) and rebuilding the IMU driver node, tf and geometry packages and ssf_core using rosmake --pre-clean.