[ros-users] Transforming point gives segmentation fault

[Sanja Popovic]

Hi,

Sorry for the spam today, but I'm having lots of problems with ROS.

I want to transform a point using a tf, but I keep getting the segmentation fault. Here is the backtrace from the gdb:

Program received signal SIGSEGV, Segmentation fault.
0xb78155de in tf::Transformer::lookupFrameNumber(std::string const&) const () from /opt/ros/cturtle/stacks/geometry/tf/lib/libtf.so
(gdb) bt
#0  0xb78155de in tf::Transformer::lookupFrameNumber(std::string const&) const () from /opt/ros/cturtle/stacks/geometry/tf/lib/libtf.so
#1  0xb780da37 in tf::Transformer::lookupTransform(std::string const&, std::string const&, ros::Time const&, tf::StampedTransform&) const ()
   from /opt/ros/cturtle/stacks/geometry/tf/lib/libtf.so
#2  0xb780e87a in tf::Transformer::transformPoint(std::string const&, tf::Stamped<btVector3> const&, tf::Stamped<btVector3>&) const ()
   from /opt/ros/cturtle/stacks/geometry/tf/lib/libtf.so
#3  0xb781647b in tf::TransformListener::transformPoint(std::string const&, geometry_msgs::PointStamped_<std::allocator<void> > const&, geometry_msgs::PointStamped_<std::allocator<void> >&) const () from /opt/ros/cturtle/stacks/geometry/tf/lib/libtf.so
#4  0x080662e2 in callback (cloudMessage=...) at /opt/ros/cturtle/stacks/lis/bookbot/src/tableFilter.cpp:253
#5  0x0807c285 in boost::detail::function::void_function_invoker1<void (*)(sensor_msgs::PointCloud2_<std::allocator<void> >), void, sensor_msgs::PointCloud2_<std::allocator<void> > >::invoke (function_ptr=..., a0=...) at /usr/include/boost/function/function_template.hpp:112
#6  0x0807d58c in boost::function1<void, sensor_msgs::PointCloud2_<std::allocator<void> > >::operator() (this=0x8116148, params=...)
    at /usr/include/boost/function/function_template.hpp:1013
#7  ros::SubscriptionCallbackHelperT<sensor_msgs::PointCloud2_<std::allocator<void> >, void>::call (this=0x8116148, params=...)
    at /opt/ros/cturtle/ros/core/roscpp/include/ros/subscription_callback_helper.h:173
#8  0xb7416fbb in ros::SubscriptionQueue::call (this=0x8118c48) at /opt/ros/cturtle/ros/core/roscpp/src/libros/subscription_queue.cpp:164
#9  0xb74593fa in ros::CallbackQueue::callOneCB (this=0x810c7e8, tls=0x81189a8) at /opt/ros/cturtle/ros/core/roscpp/src/libros/callback_queue.cpp:381
#10 0xb745a25f in ros::CallbackQueue::callAvailable (this=0x810c7e8, timeout=...) at /opt/ros/cturtle/ros/core/roscpp/src/libros/callback_queue.cpp:333
#11 0xb745e1e0 in ros::SingleThreadedSpinner::spin (this=0xbffff12c, queue=0x810c7e8) at /opt/ros/cturtle/ros/core/roscpp/src/libros/spinner.cpp:49
#12 0xb73e96d9 in ros::spin (s=...) at /opt/ros/cturtle/ros/core/roscpp/src/libros/init.cpp:493
#13 0xb73e9709 in ros::spin () at /opt/ros/cturtle/ros/core/roscpp/src/libros/init.cpp:488
#14 0x080650eb in listener (n=...) at /opt/ros/cturtle/stacks/lis/bookbot/src/tableFilter.cpp:269
#15 0x08066fa5 in main (argc=1, argv=0xbffff454) at /opt/ros/cturtle/stacks/lis/bookbot/src/tableFilter.cpp:276

The call of function is nothing fancy, just tfListener->transformPoint(frame, point1, point2) where frame is a string and points 1 and 2 are PointStamped. tfListener is a global pointer to a transformListener in the code.

Thanks a lot,
Sanja