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thread 29 "icp_odometry" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7fffb0d25700 (LWP 154167)]
__memmove_avx_unaligned_erms () at ../sysdeps/x86_64/multiarch/memmove-vec-unaligned-erms.S:312
312 ../sysdeps/x86_64/multiarch/memmove-vec-unaligned-erms.S: No such file or directory.
(gdb) bt
#0 __memmove_avx_unaligned_erms () at ../sysdeps/x86_64/multiarch/memmove-vec-unaligned-erms.S:312
#1 0x00007fffb0314245 in void pcl::fromPCLPointCloud2<pcl::PointXYZI>(pcl::PCLPointCloud2 const&, pcl::PointCloud<pcl::PointXYZI>&, std::vector<pcl::detail::FieldMapping, std::allocator<pcl::detail::FieldMapping> > const&) ()
at /home/mathieu/catkin_ws/devel/lib//librtabmap_plugins.so
#2 0x00007fffb031b420 in void pcl::fromROSMsg<pcl::PointXYZI>(sensor_msgs::PointCloud2_<std::allocator<void> > const&, pcl::PointCloud<pcl::PointXYZI>&) () at /home/mathieu/catkin_ws/devel/lib//librtabmap_plugins.so
#3 0x00007fffb032247c in rtabmap_ros::ICPOdometry::callbackCloud(boost::shared_ptr<sensor_msgs::PointCloud2_<std::allocator<void> > const> const&) () at /home/mathieu/catkin_ws/devel/lib//librtabmap_plugins.so
The bug happens when converting the PointCloud2 message in PCL templated cloud version. It is crashing here.
The point cloud width/height/row_step are wrong. This bug seems coming from this commit in velodyne gazebo plugin. A solution is to invert the width and height values here to :
Here is a backtrace from gdb:
The bug happens when converting the PointCloud2 message in PCL templated cloud version. It is crashing here.
The point cloud width/height/row_step are wrong. This bug seems coming from this commit in velodyne gazebo plugin. A solution is to invert the width and height values here to :
msg.width = msg.data.size() / POINT_STEP; msg.height = 1;
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