[ros-users] octomap

[Raphael Favier]

Hello,

I am currently working with octomap and I am running in a few errors I
wonder if I am the only one to have:

A)  I have a checksum error for the marker array messages when I want to
visualise the cells of octomap_server in rviz.

B) Trying to create and object ScanNode using a pointcloud, always results
in a seg fault at runtime:

The following code
Pointcloud pc;
for(all my points in a pcl::PointCloud<pcl::PointXYZ> do)
{
  pc.push_back(point3d);
}
posed6d myPose(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
ScanNode scan(&pc, pose, 1);

always results in:

*** glibc detected *** /home/raph/rosnodes/my_pcl_tests/bin/test_octomap:
munmap_chunk(): invalid pointer: 0xbf801894 ***
[...]
aec63000-aed11000 r-xp 00000000 08:05 3147348   
/usr/lib/libcairo.so.2.11000.0/opt/ros/cturtle/ros/bin/rosrun: line 35:
11278 Aborted                 $exepath "$@" 

(i have enclosed the whole trace with this message) 
http://ros-users.122217.n3.nabble.com/file/n2241361/trace.txt trace.txt 


In the same fashion, running the example read_pointCloud.cpp given with
octomap always results in the following trace:

*** glibc detected ***
/home/raph/rosnodes/octomap_mapping/octomap/octomap/bin/read_pointcloud:
free(): invalid pointer: 0xbffb6d84 ***
[...]
/opt/ros/cturtle/ros/bin/rosrun: line 35: 12239 Aborted                
$exepath "$@"

(see trace.txt)


My exploration led me to understand that something must be going wrong with
the ScanNode object and in particular its scan field, but this is as far as
I am now.
Does anyone has the same problem or is it just me? :)
Any lead would be much appreciated

Raphael
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