[ros-users] SegFault in TransformBroadcaster

[David Gossow]

Hi all,

Problem solved. I've called add_library instead of rosbuild_add_library 
for the class where the error h
happened. This lead to the compiler flag -DBT_USE_DOUBLE_PRECISION being 
missing in that part of the code, which resulted in my code and all 
inline functions assuming float data and the externally linked code 
assuming double data. The std::strings that caused the segfault were 
thus overwritten by the oversized double data.

Seems a bit dangerous to have this flag set via the manifest.xml export 
and not checking it somehow, as everything will compile without warning 
and then produce seemingly random errors.

Cheers,
David

On 01/10/2011 03:20 PM, David Gossow wrote:
> Hi all,
>
> I get the following strange behaviour when using a TransformBroadcaster:
>
> I've got the following code, as in the tf tutorial:
>
>     // [this is actually a member variable of class RosMasterModule]
>     tf::TransformBroadcaster m_TransformBroadcaster;
>
>     tf::Transform transform;
>     transform.setOrigin( tf::Vector3(0, 0, 0) );
>     transform.setRotation( tf::Quaternion(0, 0, 0) );
>     m_TransformBroadcaster.sendTransform(tf::StampedTransform(transform,
> ros::Time::now(), "world", "turtle1"));
>
> When I use the code in my app's main(), everything works fine. However,
> if I use it inside an object instance, the program crashes with a
> segfault. Here's the backtrace:
>
> #0  __memcpy_ssse3 () at ../sysdeps/i386/i686/multiarch/memcpy-ssse3.S:1282
> #1  0xb4fa9bde in std::basic_string<char, std::char_traits<char>,
> std::allocator<char>  >::_Rep::_M_clone(std::allocator<char>  const&,
> unsigned int) () from /usr/lib/libstdc++.so.6
> #2  0xb4faa4cf in std::basic_string<char, std::char_traits<char>,
> std::allocator<char>  >::basic_string(std::basic_string<char,
> std::char_traits<char>, std::allocator<char>  >  const&) () from
> /usr/lib/libstdc++.so.6
> #3  0xb76942ee in tf::StampedTransform::StampedTransform
> (this=0x8b25840) at
> /tmp/buildd/ros-unstable-geometry-1.3.1/debian/ros-unstable-geometry/opt/ros/unstable/stacks/geometry/tf/include/tf/transform_datatypes.h:89
>
> #4  0xb76956c8 in std::vector<tf::StampedTransform,
> std::allocator<tf::StampedTransform>
>   >::_M_insert_aux(__gnu_cxx::__normal_iterator<tf::StampedTransform*,
> std::vector<tf::StampedTransform, std::allocator<tf::StampedTransform>  >
>   >, tf::StampedTransform const&) () from
> /opt/ros/unstable/stacks/geometry/tf/lib/libtf.so
> #5  0xb7693533 in push_back (this=0x899fbe0, transform=...) at
> /usr/include/c++/4.4/bits/stl_vector.h:741
> #6  tf::TransformBroadcaster::sendTransform (this=0x899fbe0,
> transform=...) at
> /tmp/buildd/ros-unstable-geometry-1.3.1/debian/ros-unstable-geometry/opt/ros/unstable/stacks/geometry/tf/src/transform_broadcaster.cpp:57
>
> #7  0x081a6ec1 in RosMasterModule::RosMasterModule (this=0x8c5d120) at
> /home/dgossow/Desktop/robbie/16/30_prog/trunk/Modules/RosMasterModule.cpp:37
>
> When publishing the same topic by hand without the TransformBroadcaster,
> everything works fine as well.
>
> Any ideas what could be the error?
>
> I'm Using Ubuntu 10.10 32-bit&  ros-unstable (same effect on cturle).
>
> Cheers,
> David
> _______________________________________________
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> ros-users at code.ros.org
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>


-- 
David Gossow                     | Tel: +49 261 287-2783
Universität Koblenz-Landau, ICV  | Fax: +49 261 287-100-2783
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