some problem about pcl and eigen #5831

timetosaygoodb · 2023-10-03T04:33:10Z

My code,Test3Dto3Dmatch.cpp, runs successfully when compiled in Debug mode. However, when I compile it in Release mode, I encounter a heap-buffer-overflow issue. To debug this, I added "-fno-omit-frame-pointer" and "-fsanitize=address" to the CMakeLists file. The error seems to occur within the Eigen library at Eigen::internal::handmade_aligned_free(void)*. I suspect the issue may be within functions like bimToslam::ISSextractor::operator() and bimToslam::Frontend::ExtractandMatchISS(), which are used for point cloud feature extraction. To investigate further, I created a new test file, TestISSextractor.cpp, and removed the parts related to Eigen. However, I still encounter the same error, roughly as follows:

==21835==ERROR: AddressSanitizer: heap-buffer-overflow on address 0x7fffd3e607f8 at pc 0x5555555e6f82 bp 0x7fffda9fd3e0 sp 0x7fffda9fd3d0 READ of size 8 at 0x7fffd3e607f8 thread T1 ... 0x7fffd3e607f8 is located 8 bytes to the left of 15672944-byte region [0x7fffd3e60800,0x7fffd4d52e70) allocated by thread T1 here: #0 0x7ffff6ef6b40 in __interceptor_malloc (/usr/lib/x86_64-linux-gnu/libasan.so.4+0xdeb40) #1 0x7ffff602fa88 in Eigen::internal::aligned_malloc(unsigned long) (/usr/lib/x86_64-linux-gnu/libpcl_filters.so.1.8+0x311a88)

I tried searching online and found similar issues, suggesting a problem between PCL and Eigen libraries. Some solutions involve enabling AVX instruction sets, so I added "-mavx2" in the CMakeLists file, but the issue remains unresolved. Here is my codehttps://github.com/timetosaygoodb/bimToslam.Here is the reference #4859

mvieth · 2023-10-03T09:32:17Z

Try also -march=native or -msse4.2.
However, your PCL version is quite old, and I would recommend you to switch to a newer one. I believe there was a fix since then that solved this problem (on Linux, when using CMake).

timetosaygoodb · 2023-10-04T06:06:48Z

Try also -march=native or -msse4.2. However, your PCL version is quite old, and I would recommend you to switch to a newer one. I believe there was a fix since then that solved this problem (on Linux, when using CMake).

Thank you for your suggestion, but the problem is still not solved. I also used pcl1.13 and the problem still occurred.

mvieth · 2023-10-04T08:00:53Z

I saw that you use a few other libraries in your project. I am not sure whether there might be some unfortunate interaction between PCL, Eigen, and one of those libraries.
Another thing you can try is add -DEIGEN_HAS_CXX17_OVERALIGN=0 to your compiler options.

timetosaygoodb · 2023-10-05T03:45:57Z

I saw that you use a few other libraries in your project. I am not sure whether there might be some unfortunate interaction between PCL, Eigen, and one of those libraries. Another thing you can try is add -DEIGEN_HAS_CXX17_OVERALIGN=0 to your compiler options.
Thank you for your suggestion again, but it is still occurred. It makes me very distressed, in Chinese, 头皮发麻

mvieth · 2023-10-09T13:22:44Z

Can you create a minimal reproducible example, meaning a program that makes the problem occur but is a short as possible, and has no dependencies on OpenCV, Pangolin, and the other libraries? (depending on PCL is okay of course)
I don't really have the time currently to build the repository you linked and install all the required libraries.

themightyoarfish · 2023-10-15T13:29:21Z

be sure to add ${PCL_DEFINITIONS} to your binary's compile definitions.

Hetols · 2023-12-04T12:46:00Z

I have also encountered a similar problem.
Ubuntu 22.04 with ROS2 Humble.

CmakeLists

cmake_minimum_required(VERSION 3.24)
project(project_name)

# Set C++ standard
set(CMAKE_CXX_STANDARD 17)
set(TARGET_NAME ${PROJECT_NAME})
set(PCL_HOME /usr/local/pcl-1.13)

# Set compiler flags
if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
    add_compile_options(-Wall -Wextra -Wpedantic)
endif ()

# Find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(PCL 1.13 REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(laser_geometry REQUIRED)

# Set dependencies
set(dependencies
        PCL
        rclcpp
        std_msgs
        sensor_msgs
        laser_geometry
        pcl_conversions
)

# Include directories
include_directories(
        include
        ${PCL_INCLUDE_DIRS}
        ${rclcpp_INCLUDE_DIRS}
)

# Build executable
add_executable(main
        src/main.cpp)

# Link libraries
ament_target_dependencies(main ${dependencies})
target_link_libraries(main ${PCL_LIBRARIES})

MESSAGE(STATUS "PCL_VERSION: ${PCL_VERSION}")
MESSAGE(STATUS "PCL_LIBRARIES: ${PCL_LIBRARIES}")
MESSAGE(STATUS "PCL_INCLUDE_DIRS: ${PCL_INCLUDE_DIRS}")
MESSAGE(STATUS "PCL_DEFINITIONS: ${PCL_DEFINITIONS}")

# Add definitions
add_definitions(${PCL_DEFINITIONS})
#add_definitions(-DEIGEN_HAS_CXX17_OVERALIGN=0)

# Install executable
install(TARGETS main
        RUNTIME DESTINATION lib/${PROJECT_NAME})
ament_package()

CmakeLog

-- Found ament_cmake: 1.3.6 (/opt/ros/humble/share/ament_cmake/cmake)
-- Found rclcpp: 16.0.7 (/opt/ros/humble/share/rclcpp/cmake)
-- Found rosidl_generator_c: 3.1.5 (/opt/ros/humble/share/rosidl_generator_c/cmake)
-- Found rosidl_adapter: 3.1.5 (/opt/ros/humble/share/rosidl_adapter/cmake)
-- Found rosidl_generator_cpp: 3.1.5 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
-- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
-- Found rmw_fastrtps_cpp: 6.2.5 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
-- Using RMW implementation 'rmw_fastrtps_cpp' as default
CMake Warning (dev) at /usr/local/pcl-1.13/share/pcl-1.13/Modules/FindFLANN.cmake:45 (find_package):
  Policy CMP0144 is not set: find_package uses upper-case <PACKAGENAME>_ROOT
  variables.  Run "cmake --help-policy CMP0144" for policy details.  Use the
  cmake_policy command to set the policy and suppress this warning.

  CMake variable FLANN_ROOT is set to:

    /usr

  For compatibility, find_package is ignoring the variable, but code in a
  .cmake module might still use it.
Call Stack (most recent call first):
  /usr/local/pcl-1.13/share/pcl-1.13/PCLConfig.cmake:258 (find_package)
  /usr/local/pcl-1.13/share/pcl-1.13/PCLConfig.cmake:303 (find_flann)
  /usr/local/pcl-1.13/share/pcl-1.13/PCLConfig.cmake:567 (find_external_library)
  CMakeLists.txt:20 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- FLANN found (include: /usr/include, lib: /usr/lib/x86_64-linux-gnu/libflann_cpp.so)
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so  found components: OpenGL GLX 
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so   
-- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb)
-- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb)
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so  found components: OpenGL GLX 
-- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb)
-- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb)
-- Found Qhull version 8.0.2
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so   
-- looking for PCL_COMMON
-- looking for PCL_KDTREE
-- looking for PCL_OCTREE
-- looking for PCL_SEARCH
-- looking for PCL_SAMPLE_CONSENSUS
-- looking for PCL_FILTERS
-- looking for PCL_2D
-- looking for PCL_GEOMETRY
-- looking for PCL_IO
-- looking for PCL_FEATURES
-- looking for PCL_ML
-- looking for PCL_SEGMENTATION
-- looking for PCL_VISUALIZATION
-- looking for PCL_SURFACE
-- looking for PCL_REGISTRATION
-- looking for PCL_KEYPOINTS
-- looking for PCL_TRACKING
-- looking for PCL_RECOGNITION
-- looking for PCL_STEREO
-- looking for PCL_OUTOFCORE
-- looking for PCL_PEOPLE
-- looking for PCL_SIMULATION
-- Found pcl_conversions: 2.4.0 (/opt/ros/humble/share/pcl_conversions/cmake)
-- Found laser_geometry: 2.4.0 (/opt/ros/humble/share/laser_geometry/cmake)
-- PCL_VERSION: 1.13.1.99
-- PCL_LIBRARIES: pcl_common;pcl_kdtree;pcl_octree;pcl_search;pcl_sample_consensus;pcl_filters;pcl_io;pcl_features;pcl_ml;pcl_segmentation;pcl_visualization;pcl_surface;pcl_registration;pcl_keypoints;pcl_tracking;pcl_recognition;pcl_stereo;pcl_outofcore;pcl_people;pcl_simulation;Boost::system;Boost::filesystem;Boost::iostreams;Boost::serialization;/usr/lib/libOpenNI.so;libusb::libusb;/usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb;VTK::ChartsCore;VTK::CommonColor;VTK::CommonComputationalGeometry;VTK::CommonCore;VTK::CommonDataModel;VTK::CommonExecutionModel;VTK::CommonMath;VTK::CommonMisc;VTK::CommonTransforms;VTK::FiltersCore;VTK::FiltersExtraction;VTK::FiltersGeneral;VTK::FiltersGeometry;VTK::FiltersModeling;VTK::FiltersSources;VTK::ImagingCore;VTK::ImagingSources;VTK::InteractionImage;VTK::InteractionStyle;VTK::InteractionWidgets;VTK::IOCore;VTK::IOGeometry;VTK::IOImage;VTK::IOLegacy;VTK::IOPLY;VTK::RenderingAnnotation;VTK::RenderingCore;VTK::RenderingContext2D;VTK::RenderingLOD;VTK::RenderingFreeType;VTK::ViewsCore;VTK::ViewsContext2D;VTK::RenderingOpenGL2;VTK::RenderingContextOpenGL2;VTK::GUISupportQt;FLANN::FLANN;QHULL::QHULL
-- PCL_INCLUDE_DIRS: /usr/local/pcl-1.13/include/pcl-1.13;/usr/local/include/eigen3;/usr/include;/usr/include/ni;/usr/include/openni2
-- PCL_DEFINITIONS: 
-- Configuring done (2.4s)
-- Generating done (0.0s)

Code

void lacerscan2pointcloud(const sensor_msgs::msg::LaserScan::SharedPtr &laser_msg, sensor_msgs::msg::PointCloud2 &cloud) {
    laser_geometry::LaserProjection laser_projection;
    laser_projection.projectLaser(*laser_msg, cloud);
}

Error

0x000055555556e3be in Eigen::internal::handmade_aligned_free (ptr=0x555555963a10) at /usr/local/include/eigen3/Eigen/src/Core/util/Memory.h:118

/** \internal Frees memory allocated with handmade_aligned_malloc */
EIGEN_DEVICE_FUNC inline void handmade_aligned_free(void *ptr)
{
  if (ptr) {
    EIGEN_USING_STD(free)
    # SIGSEGV (Segmentation fault) in here.
    free(*(reinterpret_cast<void**>(ptr) - 1));
  }
}

mvieth · 2023-12-06T10:51:03Z

@Hetols Can you provide a full backtrace, for example from valgrind or gdb? Do you build the laser_geometry package from source after you have installed your PCL build?

Hetols · 2023-12-07T03:10:46Z

I have also encountered a similar problem.
Ubuntu 22.04 with ROS2 Humble.
@mvieth I followed your suggestion and rebuilt the laser_geometry package, but the issue remains unresolved.

CmakeLists

Same as before

CmakeLog

-- Found ament_cmake: 1.3.6 (/opt/ros/humble/share/ament_cmake/cmake)
-- Found rclcpp: 16.0.7 (/opt/ros/humble/share/rclcpp/cmake)
-- Found rosidl_generator_c: 3.1.5 (/opt/ros/humble/share/rosidl_generator_c/cmake)
-- Found rosidl_adapter: 3.1.5 (/opt/ros/humble/share/rosidl_adapter/cmake)
-- Found rosidl_generator_cpp: 3.1.5 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
-- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
-- Found rmw_fastrtps_cpp: 6.2.5 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
-- Using RMW implementation 'rmw_fastrtps_cpp' as default
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.74.0/BoostConfig.cmake (found suitable version "1.74.0", minimum required is "1.65.0") found components: system filesystem iostreams serialization 
CMake Warning (dev) at /usr/local/share/pcl-1.13/Modules/FindFLANN.cmake:45 (find_package):
  Policy CMP0144 is not set: find_package uses upper-case <PACKAGENAME>_ROOT
  variables.  Run "cmake --help-policy CMP0144" for policy details.  Use the
  cmake_policy command to set the policy and suppress this warning.

  CMake variable FLANN_ROOT is set to:

    /usr

  For compatibility, find_package is ignoring the variable, but code in a
  .cmake module might still use it.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.13/PCLConfig.cmake:258 (find_package)
  /usr/local/share/pcl-1.13/PCLConfig.cmake:303 (find_flann)
  /usr/local/share/pcl-1.13/PCLConfig.cmake:567 (find_external_library)
  CMakeLists.txt:21 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- FLANN found (include: /usr/include, lib: /usr/lib/x86_64-linux-gnu/libflann_cpp.so)
-- Found OpenMP_CXX: -fopenmp (found version "4.5") 
-- Found OpenMP: TRUE (found version "4.5") found components: CXX 
-- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb)
-- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb)
-- Found Pcap: /usr/lib/x86_64-linux-gnu/libpcap.so  
-- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb)
-- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb)
-- Found Qhull version 8.0.2
CMake Warning (dev) at /home/hetols/.local/share/JetBrains/Toolbox/apps/clion-nova/bin/cmake/linux/x64/share/cmake-3.27/Modules/FindOpenGL.cmake:381 (message):
  Policy CMP0072 is not set: FindOpenGL prefers GLVND by default when
  available.  Run "cmake --help-policy CMP0072" for policy details.  Use the
  cmake_policy command to set the policy and suppress this warning.

  FindOpenGL found both a legacy GL library:

    OPENGL_gl_LIBRARY: /usr/lib/x86_64-linux-gnu/libGL.so

  and GLVND libraries for OpenGL and GLX:

    OPENGL_opengl_LIBRARY: /usr/lib/x86_64-linux-gnu/libOpenGL.so
    OPENGL_glx_LIBRARY: /usr/lib/x86_64-linux-gnu/libGLX.so

  OpenGL_GL_PREFERENCE has not been set to "GLVND" or "LEGACY", so for
  compatibility with CMake 3.10 and below the legacy GL library will be used.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.13/PCLConfig.cmake:327 (find_package)
  /usr/local/share/pcl-1.13/PCLConfig.cmake:567 (find_external_library)
  CMakeLists.txt:21 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so   
-- Found GLEW: /usr/include  
-- looking for PCL_COMMON
-- looking for PCL_KDTREE
-- looking for PCL_OCTREE
-- looking for PCL_SEARCH
-- looking for PCL_SAMPLE_CONSENSUS
-- looking for PCL_FILTERS
-- looking for PCL_2D
-- looking for PCL_GEOMETRY
-- looking for PCL_IO
-- looking for PCL_FEATURES
-- looking for PCL_ML
-- looking for PCL_SEGMENTATION
-- looking for PCL_VISUALIZATION
-- looking for PCL_SURFACE
-- looking for PCL_REGISTRATION
-- looking for PCL_KEYPOINTS
-- looking for PCL_TRACKING
-- looking for PCL_RECOGNITION
-- looking for PCL_STEREO
-- looking for PCL_OUTOFCORE
-- looking for PCL_PEOPLE
-- looking for PCL_SIMULATION
-- Found PCL_SIMULATION: /usr/local/lib/libpcl_simulation.so  
-- Found PCL: pcl_common;pcl_kdtree;pcl_octree;pcl_search;pcl_sample_consensus;pcl_filters;pcl_io;pcl_features;pcl_ml;pcl_segmentation;pcl_visualization;pcl_surface;pcl_registration;pcl_keypoints;pcl_tracking;pcl_recognition;pcl_stereo;pcl_outofcore;pcl_people;pcl_simulation;Boost::system;Boost::filesystem;Boost::iostreams;Boost::serialization;/usr/lib/libOpenNI.so;libusb::libusb;/usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb;VTK::ChartsCore;VTK::CommonColor;VTK::CommonComputationalGeometry;VTK::CommonCore;VTK::CommonDataModel;VTK::CommonExecutionModel;VTK::CommonMath;VTK::CommonMisc;VTK::CommonTransforms;VTK::FiltersCore;VTK::FiltersExtraction;VTK::FiltersGeneral;VTK::FiltersGeometry;VTK::FiltersModeling;VTK::FiltersSources;VTK::ImagingCore;VTK::ImagingSources;VTK::InteractionImage;VTK::InteractionStyle;VTK::InteractionWidgets;VTK::IOCore;VTK::IOGeometry;VTK::IOImage;VTK::IOLegacy;VTK::IOPLY;VTK::RenderingAnnotation;VTK::RenderingCore;VTK::RenderingContext2D;VTK::RenderingLOD;VTK::RenderingFreeType;VTK::ViewsCore;VTK::ViewsContext2D;VTK::RenderingOpenGL2;VTK::RenderingContextOpenGL2;VTK::GUISupportQt;FLANN::FLANN;QHULL::QHULL (Required is at least version "1.13.1") 
-- Found pcl_conversions: 2.4.0 (/opt/ros/humble/share/pcl_conversions/cmake)
-- Found laser_geometry: 2.6.0 (/usr/local/laser_geometry-ros2-2.6.0/share/laser_geometry/cmake)
-- PCL_VERSION: 1.13.1.99
-- PCL_LIBRARIES: pcl_common;pcl_kdtree;pcl_octree;pcl_search;pcl_sample_consensus;pcl_filters;pcl_io;pcl_features;pcl_ml;pcl_segmentation;pcl_visualization;pcl_surface;pcl_registration;pcl_keypoints;pcl_tracking;pcl_recognition;pcl_stereo;pcl_outofcore;pcl_people;pcl_simulation;Boost::system;Boost::filesystem;Boost::iostreams;Boost::serialization;/usr/lib/libOpenNI.so;libusb::libusb;/usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb;VTK::ChartsCore;VTK::CommonColor;VTK::CommonComputationalGeometry;VTK::CommonCore;VTK::CommonDataModel;VTK::CommonExecutionModel;VTK::CommonMath;VTK::CommonMisc;VTK::CommonTransforms;VTK::FiltersCore;VTK::FiltersExtraction;VTK::FiltersGeneral;VTK::FiltersGeometry;VTK::FiltersModeling;VTK::FiltersSources;VTK::ImagingCore;VTK::ImagingSources;VTK::InteractionImage;VTK::InteractionStyle;VTK::InteractionWidgets;VTK::IOCore;VTK::IOGeometry;VTK::IOImage;VTK::IOLegacy;VTK::IOPLY;VTK::RenderingAnnotation;VTK::RenderingCore;VTK::RenderingContext2D;VTK::RenderingLOD;VTK::RenderingFreeType;VTK::ViewsCore;VTK::ViewsContext2D;VTK::RenderingOpenGL2;VTK::RenderingContextOpenGL2;VTK::GUISupportQt;FLANN::FLANN;QHULL::QHULL
-- PCL_INCLUDE_DIRS: /usr/local/include/pcl-1.13;/usr/local/include/eigen3;/usr/include;/usr/include/pcl-1.12;/usr/include/ni;/usr/include/openni2
-- PCL_DEFINITIONS: -DEIGEN_HAS_CXX17_OVERALIGN=0
-- Configuring done (3.1s)
-- Generating done (0.0s)

Code

void lacerscan2pointcloud(const sensor_msgs::msg::LaserScan::SharedPtr &laser_msg, sensor_msgs::msg::PointCloud2 &cloud) {
    laser_geometry::LaserProjection laser_projection;
    laser_projection.projectLaser(*laser_msg, cloud);
}

Error

0x000055555556e3be in Eigen::internal::handmade_aligned_free (ptr=0x555555963a10) at /usr/local/include/eigen3/Eigen/src/Core/util/Memory.h:118

/** \internal Frees memory allocated with handmade_aligned_malloc */
EIGEN_DEVICE_FUNC inline void handmade_aligned_free(void *ptr)
{
  if (ptr) {
    EIGEN_USING_STD(free)
    # SIGSEGV (Segmentation fault) in here.
    free(*(reinterpret_cast<void**>(ptr) - 1));
  }
}

GDB Info

GNU gdb (Ubuntu 12.1-0ubuntu1~22.04) 12.1
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For help, type "help".
Type "apropos word" to search for commands related to "word"...
Reading symbols from main...
(gdb) run
Starting program: /home/hetols/workspace/install/test/lib/test/main 
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7fffeffff640 (LWP 8221)]
[New Thread 0x7fffef7fe640 (LWP 8222)]
[New Thread 0x7fffeeffd640 (LWP 8223)]
[New Thread 0x7fffee7fc640 (LWP 8224)]
[New Thread 0x7fffedffb640 (LWP 8225)]
[New Thread 0x7fffed7fa640 (LWP 8226)]
[New Thread 0x7fffecff9640 (LWP 8227)]
[New Thread 0x7fffec7f8640 (LWP 8228)]
[New Thread 0x7fffebff7640 (LWP 8229)]

Thread 1 "main" received signal SIGSEGV, Segmentation fault.
0x00007ffff4ca53fe in __GI___libc_free (mem=0x43a0) at ./malloc/malloc.c:3368
3368	  if (chunk_is_mmapped (p))                       /* release mmapped memory. */
(gdb) where
#0  0x00007ffff4ca53fe in __GI___libc_free (mem=0x43a0)
    at ./malloc/malloc.c:3368
#1  0x000055555557c81a in Eigen::internal::handmade_aligned_free (
    ptr=0x5555559c35c0)
    at /usr/local/include/eigen3/Eigen/src/Core/util/Memory.h:118
#2  0x000055555557c887 in Eigen::internal::aligned_free (ptr=0x5555559c35c0)
    at /usr/local/include/eigen3/Eigen/src/Core/util/Memory.h:206
#3  0x0000555555582ca6 in Eigen::internal::conditional_aligned_free<true> (
    ptr=0x5555559c35c0)
    at /usr/local/include/eigen3/Eigen/src/Core/util/Memory.h:259
#4  0x0000555555587f8a in Eigen::internal::conditional_aligned_delete_auto<double, true> (ptr=0x5555559c35c0, size=2162)
    at /usr/local/include/eigen3/Eigen/src/Core/util/Memory.h:485
#5  0x0000555555582c69 in Eigen::DenseStorage<double, -1, -1, -1, 0>::~DenseStorage (this=0x7fffffffc618, __in_chrg=<optimized out>)
    at /usr/local/include/eigen3/Eigen/src/Core/DenseStorage.h:465
#6  0x000055555557cb44 in Eigen::PlainObjectBase<Eigen::Array<double, -1, -1, 0, -1, -1> >::~PlainObjectBase (this=0x7fffffffc618, __in_chrg=<optimized out>)
    at /usr/local/include/eigen3/Eigen/src/Core/PlainObjectBase.h:98
#7  0x000055555557cb64 in Eigen::Array<double, -1, -1, 0, -1, -1>::~Array (
    this=0x7fffffffc618, __in_chrg=<optimized out>)
    at /usr/local/include/eigen3/Eigen/src/Core/Array.h:45
#8  0x000055555557f616 in laser_geometry::LaserProjection::~LaserProjection (
--Type <RET> for more, q to quit, c to continue without paging--c
    this=0x7fffffffc610, __in_chrg=<optimized out>) at /usr/local/laser_geometry-ros2-2.6.0/include/laser_geometry/laser_geometry/laser_geometry.hpp:99
#9  0x0000555555575067 in laserscan2pointxyz (msg=std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> >> (use count 1, weak count 0) = {...}, cloud=...) at /home/hetols/workspace/src/test/src/main.cpp:34
#10 0x000055555557513c in MainNode::topic_callback (this=0x55555570a5c0, msg=...) at /home/hetols/workspace/src/test/src/main.cpp:39
#11 0x00005555555cd284 in std::__invoke_impl<void, void (MainNode::*&)(sensor_msgs::msg::LaserScan_<std::allocator<void> > const&) const, MainNode*&, sensor_msgs::msg::LaserScan_<std::allocator<void> > const&> (__f=@0x555555985cc0: (void (MainNode::*)(const MainNode * const, const sensor_msgs::msg::LaserScan_<std::allocator<void> > &)) 0x5555555750cc <MainNode::topic_callback(sensor_msgs::msg::LaserScan_<std::allocator<void> > const&) const>, __t=@0x555555985cd0: 0x55555570a5c0) at /usr/include/c++/11/bits/invoke.h:74
#12 0x00005555555ca87b in std::__invoke<void (MainNode::*&)(sensor_msgs::msg::LaserScan_<std::allocator<void> > const&) const, MainNode*&, sensor_msgs::msg::LaserScan_<std::allocator<void> > const&> (__fn=@0x555555985cc0: (void (MainNode::*)(const MainNode * const, const sensor_msgs::msg::LaserScan_<std::allocator<void> > &)) 0x5555555750cc <MainNode::topic_callback(sensor_msgs::msg::LaserScan_<std::allocator<void> > const&) const>) at /usr/include/c++/11/bits/invoke.h:96
#13 0x00005555555c765e in std::_Bind<void (MainNode::*(MainNode*, std::_Placeholder<1>))(sensor_msgs::msg::LaserScan_<std::allocator<void> > const&) const>::__call<void, sensor_msgs::msg::LaserScan_<std::allocator<void> > const&, 0ul, 1ul>(std::tuple<sensor_msgs::msg::LaserScan_<std::allocator<void> > const&>&&, std::_Index_tuple<0ul, 1ul>) (this=0x555555985cc0, __args=...) at /usr/include/c++/11/functional:420
#14 0x00005555555c3878 in std::_Bind<void (MainNode::*(MainNode*, std::_Placeholder<1>))(sensor_msgs::msg::LaserScan_<std::allocator<void> > const&) const>::operator()<sensor_msgs::msg::LaserScan_<std::allocator<void> > const&, void>(sensor_msgs::msg::LaserScan_<std::allocator<void> > const&) (this=0x555555985cc0) at /usr/include/c++/11/functional:503
#15 0x00005555555be671 in std::__invoke_impl<void, std::_Bind<void (MainNode::*(MainNode*, std::_Placeholder<1>))(sensor_msgs::msg::LaserScan_<std::allocator<void> > const&) const>&, sensor_msgs::msg::LaserScan_<std::allocator<void> > const&>(std::__invoke_other, std::_Bind<void (MainNode::*(MainNode*, std::_Placeholder<1>))(sensor_msgs::msg::LaserScan_<std::allocator<void> > const&) const>&, sensor_msgs::msg::LaserScan_<std::allocator<void> > const&) (__f=...) at /usr/include/c++/11/bits/invoke.h:61
#16 0x00005555555b7dd1 in std::__invoke_r<void, std::_Bind<void (MainNode::*(MainNode*, std::_Placeholder<1>))(sensor_msgs::msg::LaserScan_<std::allocator<void> > const&) const>&, sensor_msgs::msg::LaserScan_<std::allocator<void> > const&>(std::_Bind<void (MainNode::*(MainNode*, std::_Placeholder<1>))(sensor_msgs::msg::LaserScan_<std::allocator<void> > const&) const>&, sensor_msgs::msg::LaserScan_<std::allocator<void> > const&) (__fn=...) at /usr/include/c++/11/bits/invoke.h:111
#17 0x00005555555aee45 in std::_Function_handler<void (sensor_msgs::msg::LaserScan_<std::allocator<void> > const&), std::_Bind<void (MainNode::*(MainNode*, std::_Placeholder<1>))(sensor_msgs::msg::LaserScan_<std::allocator<void> > const&) const> >::_M_invoke(std::_Any_data const&, sensor_msgs::msg::LaserScan_<std::allocator<void> > const&) (__functor=..., __args#0=...) at /usr/include/c++/11/bits/std_function.h:290
#18 0x0000555555602c93 in std::function<void (sensor_msgs::msg::LaserScan_<std::allocator<void> > const&)>::operator()(sensor_msgs::msg::LaserScan_<std::allocator<void> > const&) const (this=0x555555985a58, __args#0=...) at /usr/include/c++/11/bits/std_function.h:590
#19 0x0000555555600b9f in rclcpp::AnySubscriptionCallback<sensor_msgs::msg::LaserScan_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > >, rclcpp::MessageInfo const&)::{lambda(auto:1&&)#1}::operator()<std::function<void (sensor_msgs::msg::LaserScan_<std::allocator<void> > const&)>&>(std::function<void (sensor_msgs::msg::LaserScan_<std::allocator<void> > const&)>&) const (__closure=0x7fffffffcb20, callback=...) at /opt/ros/humble/include/rclcpp/rclcpp/any_subscription_callback.hpp:544
#20 0x000055555560b789 in std::__invoke_impl<void, rclcpp::AnySubscriptionCallback<sensor_msgs::msg::LaserScan_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > >, rclcpp::MessageInfo const&)::{lambda(auto:1&&)#1}, std::function<void (sensor_msgs::msg::LaserScan_<std::allocator<void> > const&)>&>(std::__invoke_other, rclcpp::AnySubscriptionCallback<sensor_msgs::msg::LaserScan_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > >, rclcpp::MessageInfo const&)::{lambda(auto:1&&)#1}&&, std::function<void (sensor_msgs::msg::LaserScan_<std::allocator<void> > const&)>&) (__f=...) at /usr/include/c++/11/bits/invoke.h:61
#21 0x00005555556092ba in std::__invoke<rclcpp::AnySubscriptionCallback<sensor_msgs::msg::LaserScan_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > >, rclcpp::MessageInfo const&)::{lambda(auto:1&&)#1}, std::function<void (sensor_msgs::msg::LaserScan_<std::allocator<void> > const&)>&>(rclcpp::AnySubscriptionCallback<sensor_msgs::msg::LaserScan_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > >, rclcpp::MessageInfo const&)::{lambda(auto:1&&)#1}&&, std::function<void (sensor_msgs::msg::LaserScan_<std::allocator<void> > const&)>&) (__fn=...) at /usr/include/c++/11/bits/invoke.h:96
#22 0x00005555556036cf in std::__detail::__variant::__gen_vtable_impl<std::__detail::__variant::_Multi_array<std::__detail::__variant::__deduce_visit_result<void> (*)(rclcpp::AnySubscriptionCallback<sensor_msgs::msg::LaserScan_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > >, rclcpp::MessageInfo const&)::{lambda(auto:1&&)#1}&&, std::variant<std::function<void (sensor_msgs::msg::LaserScan_<std::allocator<void> > const&)>, std::function<void (sensor_msgs::msg::LaserScan_<std::allocator<void> > const&, rclcpp::MessageInfo const&)>, std::function<void (rclcpp::SerializedMessage const&)>, std::function<void (rclcpp::SerializedMessage const&, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> >, std::default_delete<sensor_msgs::msg::LaserScan_<std::allocator<void> > > >)>, std::function<void (std::unique_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> >, std::default_delete<sensor_msgs::msg::LaserScan_<std::allocator<void> > > >, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > >)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>, rclcpp::MessageInfo const&)> >&)>, std::integer_sequence<unsigned long, 0ul> >::__visit_invoke(rclcpp::AnySubscriptionCallback<sensor_msgs::msg::LaserScan_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > >, rclcpp::MessageInfo const&)::{lambda(auto:1&&)#1}&&, std::variant<std::function<void (sensor_msgs::msg::LaserScan_<std::allocator<void> > const&)>, std::function<void (sensor_msgs::msg::LaserScan_<std::allocator<void> > const&, rclcpp::MessageInfo const&)>, std::function<void (rclcpp::SerializedMessage const&)>, std::function<void (rclcpp::SerializedMessage const&, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> >, std::default_delete<sensor_msgs::msg::LaserScan_<std::allocator<void> > > >)>, std::function<void (std::unique_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> >, std::default_delete<sensor_msgs::msg::LaserScan_<std::allocator<void> > > >, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > >)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>, rclcpp::MessageInfo const&)> >&) (__visitor=..., __vars#0=std::variant<> [no contained value]) at /usr/include/c++/11/variant:1016
#23 0x0000555555603fc5 in std::__do_visit<std::__detail::__variant::__deduce_visit_result<void>, rclcpp::AnySubscriptionCallback<sensor_msgs::msg::LaserScan_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > >, rclcpp::MessageInfo const&)::{lambda(auto:1&&)#1}, std::variant<std::function<void (sensor_msgs::msg::LaserScan_<std::allocator<void> > const&)>, std::function<void (sensor_msgs::msg::LaserScan_<std::allocator<void> > const&, rclcpp::MessageInfo const&)>, std::function<void (rclcpp::SerializedMessage const&)>, std::function<void (rclcpp::SerializedMessage const&, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> >, std::default_delete<sensor_msgs::msg::LaserScan_<std::allocator<void> > > >)>, std::function<void (std::unique_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> >, std::default_delete<sensor_msgs::msg::LaserScan_<std::allocator<void> > > >, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > >)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>, rclcpp::MessageInfo const&)> >&>(rclcpp::AnySubscriptionCallback<sensor_msgs::msg::LaserScan_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > >, rclcpp::MessageInfo const&)::{lambda(auto:1&&)#1}&&, std::variant<std::function<void (sensor_msgs::msg::LaserScan_<std::allocator<void> > const&)>, std::function<void (sensor_msgs::msg::LaserScan_<std::allocator<void> > const&, rclcpp::MessageInfo const&)>, std::function<void (rclcpp::SerializedMessage const&)>, std::function<void (rclcpp::SerializedMessage const&, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> >, std::default_delete<sensor_msgs::msg::LaserScan_<std::allocator<void> > > >)>, std::function<void (std::unique_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> >, std::default_delete<sensor_msgs::msg::LaserScan_<std::allocator<void> > > >, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > >)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>, rclcpp::MessageInfo const&)> >&) (__visitor=...) at /usr/include/c++/11/variant:1727
#24 0x000055555560402c in std::visit<rclcpp::AnySubscriptionCallback<sensor_msgs::msg::LaserScan_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > >, rclcpp::MessageInfo const&)::{lambda(auto:1&&)#1}, std::variant<std::function<void (sensor_msgs::msg::LaserScan_<std::allocator<void> > const&)>, std::function<void (sensor_msgs::msg::LaserScan_<std::allocator<void> > const&, rclcpp::MessageInfo const&)>, std::function<void (rclcpp::SerializedMessage const&)>, std::function<void (rclcpp::SerializedMessage const&, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> >, std::default_delete<sensor_msgs::msg::LaserScan_<std::allocator<void> > > >)>, std::function<void (std::unique_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> >, std::default_delete<sensor_msgs::msg::LaserScan_<std::allocator<void> > > >, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > >)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>, rclcpp::MessageInfo const&)> >&>(rclcpp::AnySubscriptionCallback<sensor_msgs::msg::LaserScan_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > >, rclcpp::MessageInfo const&)::{lambda(auto:1&&)#1}&&, std::variant<std::function<void (sensor_msgs::msg::LaserScan_<std::allocator<void> > const&)>, std::function<void (sensor_msgs::msg::LaserScan_<std::allocator<void> > const&, rclcpp::MessageInfo const&)>, std::function<void (rclcpp::SerializedMessage const&)>, std::function<void (rclcpp::SerializedMessage const&, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> >, std::default_delete<sensor_msgs::msg::LaserScan_<std::allocator<void> > > >)>, std::function<void (std::unique_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> >, std::default_delete<sensor_msgs::msg::LaserScan_<std::allocator<void> > > >, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > >)>, std::function<void (std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>, rclcpp::MessageInfo const&)> >&) (__visitor=...) at /usr/include/c++/11/variant:1761
#25 0x0000555555600c76 in rclcpp::AnySubscriptionCallback<sensor_msgs::msg::LaserScan_<std::allocator<void> >, std::allocator<void> >::dispatch (this=0x555555985a58, message=std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> >> (use count 3, weak count 0) = {...}, message_info=...) at /opt/ros/humble/include/rclcpp/rclcpp/any_subscription_callback.hpp:504
#26 0x00005555555fdc83 in rclcpp::Subscription<sensor_msgs::msg::LaserScan_<std::allocator<void> >, std::allocator<void>, sensor_msgs::msg::LaserScan_<std::allocator<void> >, sensor_msgs::msg::LaserScan_<std::allocator<void> >, rclcpp::message_memory_strategy::MessageMemoryStrategy<sensor_msgs::msg::LaserScan_<std::allocator<void> >, std::allocator<void> > >::handle_message (this=0x5555559858f0, message=std::shared_ptr<void> (use count 3, weak count 0) = {...}, message_info=...) at /opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:343
#27 0x00007ffff7dff7bc in rclcpp::Executor::execute_subscription(std::shared_ptr<rclcpp::SubscriptionBase>) () from /opt/ros/humble/lib/librclcpp.so
#28 0x00007ffff7dfffbf in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&) () from /opt/ros/humble/lib/librclcpp.so
#29 0x00007ffff7e078b0 in rclcpp::executors::SingleThreadedExecutor::spin() () from /opt/ros/humble/lib/librclcpp.so
#30 0x00007ffff7e07ac5 in rclcpp::spin(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>) () from /opt/ros/humble/lib/librclcpp.so
#31 0x00007ffff7e07bbf in rclcpp::spin(std::shared_ptr<rclcpp::Node>) () from /opt/ros/humble/lib/librclcpp.so
#32 0x0000555555575a90 in main (argc=1, argv=0x7fffffffdae8) at /home/hetols/workspace/src/test/src/main.cpp:114

mvieth · 2023-12-07T09:12:59Z

@Hetols the backtrace suggests that the problem happens while freeing co_sine_map_ in LaserProjection ( https://github.com/ros-perception/laser_geometry/blob/humble/include/laser_geometry/laser_geometry.hpp#L198 ). laser_geometry seems to be compiled as C++14, so try compiling your own project as C++14 as well (instead of C++17). Alternatively, try compiling your project with -DEIGEN_HAS_CXX17_OVERALIGN=0. Did you compile PCL as C++14? (this is the default)
Oh, and I assume you used the humble branch of laser_geometry when building it from source?

Hetols · 2023-12-08T06:39:28Z

I have also encountered a similar problem.
Ubuntu 22.04 with ROS2 Humble.

@mvieth Previously, flag -DEIGEN_HAS_CXX17_OVERALIGN=0 was automatically added by add_definitions(${PCL_DEFINITIONS}), and I only set my own project to use C++17, while PCL, laser_geometry (using the ros2 branch, not humble), and some other dependencies used the default C++ standard. However, based on your advice, I tried to rebuild PCL, laser_geometry (using the humble branch), and my own project with C++14, but I still got the same error.

CmakeLists

cmake_minimum_required(VERSION 3.24)
project(virtual_lds)

# Set C++ standard
set(CMAKE_CXX_STANDARD 14)
set(TARGET_NAME ${PROJECT_NAME})

# Set compiler flags
if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
    add_compile_options(-Wall -Wextra -Wpedantic)
endif ()

# Find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(PCL 1.13 REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(laser_geometry HINTS "/usr/local/laser_geometry-humble-2.4.0")

# Set dependencies
set(dependencies
        PCL
        rclcpp
        std_msgs
        sensor_msgs
        laser_geometry
        pcl_conversions
)

# Include directories
include_directories(
        include
        ${PCL_INCLUDE_DIRS}
        ${rclcpp_INCLUDE_DIRS}
)

# Build executable
add_executable(main
        src/main.cpp)

# Link libraries
ament_target_dependencies(main ${dependencies})
target_link_libraries(main ${PCL_LIBRARIES})

MESSAGE(STATUS "PCL_VERSION: ${PCL_VERSION}")
MESSAGE(STATUS "PCL_LIBRARIES: ${PCL_LIBRARIES}")
MESSAGE(STATUS "PCL_INCLUDE_DIRS: ${PCL_INCLUDE_DIRS}")
MESSAGE(STATUS "PCL_DEFINITIONS: ${PCL_DEFINITIONS}")

# Add definitions
add_definitions(${PCL_DEFINITIONS})

# Install executable
install(TARGETS main
        RUNTIME DESTINATION lib/${PROJECT_NAME})

# Install CMake config files
ament_package()

CmakeLog

-- Found ament_cmake: 1.3.6 (/opt/ros/humble/share/ament_cmake/cmake)
-- Found rclcpp: 16.0.7 (/opt/ros/humble/share/rclcpp/cmake)
-- Found rosidl_generator_c: 3.1.5 (/opt/ros/humble/share/rosidl_generator_c/cmake)
-- Found rosidl_adapter: 3.1.5 (/opt/ros/humble/share/rosidl_adapter/cmake)
-- Found rosidl_generator_cpp: 3.1.5 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
-- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
-- Found rmw_fastrtps_cpp: 6.2.5 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
-- Using RMW implementation 'rmw_fastrtps_cpp' as default
CMake Warning (dev) at /usr/local/share/pcl-1.13/Modules/FindFLANN.cmake:45 (find_package):
  Policy CMP0144 is not set: find_package uses upper-case <PACKAGENAME>_ROOT
  variables.  Run "cmake --help-policy CMP0144" for policy details.  Use the
  cmake_policy command to set the policy and suppress this warning.

  CMake variable FLANN_ROOT is set to:

    /usr

  For compatibility, find_package is ignoring the variable, but code in a
  .cmake module might still use it.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.13/PCLConfig.cmake:258 (find_package)
  /usr/local/share/pcl-1.13/PCLConfig.cmake:303 (find_flann)
  /usr/local/share/pcl-1.13/PCLConfig.cmake:567 (find_external_library)
  CMakeLists.txt:22 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- FLANN found (include: /usr/include, lib: /usr/lib/x86_64-linux-gnu/libflann_cpp.so)
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so  found components: OpenGL GLX 
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so   
-- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb)
-- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb)
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so  found components: OpenGL GLX 
-- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb)
-- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb)
-- Found Qhull version 8.0.2
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so   
-- looking for PCL_COMMON
-- looking for PCL_KDTREE
-- looking for PCL_OCTREE
-- looking for PCL_SEARCH
-- looking for PCL_SAMPLE_CONSENSUS
-- looking for PCL_FILTERS
-- looking for PCL_2D
-- looking for PCL_GEOMETRY
-- looking for PCL_IO
-- looking for PCL_FEATURES
-- looking for PCL_ML
-- looking for PCL_SEGMENTATION
-- looking for PCL_VISUALIZATION
-- looking for PCL_SURFACE
-- looking for PCL_REGISTRATION
-- looking for PCL_KEYPOINTS
-- looking for PCL_TRACKING
-- looking for PCL_RECOGNITION
-- looking for PCL_STEREO
-- looking for PCL_OUTOFCORE
-- looking for PCL_PEOPLE
-- looking for PCL_SIMULATION
-- Found PCL: pcl_common;pcl_kdtree;pcl_octree;pcl_search;pcl_sample_consensus;pcl_filters;pcl_io;pcl_features;pcl_ml;pcl_segmentation;pcl_visualization;pcl_surface;pcl_registration;pcl_keypoints;pcl_tracking;pcl_recognition;pcl_stereo;pcl_outofcore;pcl_people;pcl_simulation;Boost::system;Boost::filesystem;Boost::iostreams;Boost::serialization;/usr/lib/libOpenNI.so;libusb::libusb;/usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb;VTK::ChartsCore;VTK::CommonColor;VTK::CommonComputationalGeometry;VTK::CommonCore;VTK::CommonDataModel;VTK::CommonExecutionModel;VTK::CommonMath;VTK::CommonMisc;VTK::CommonTransforms;VTK::FiltersCore;VTK::FiltersExtraction;VTK::FiltersGeneral;VTK::FiltersGeometry;VTK::FiltersModeling;VTK::FiltersSources;VTK::ImagingCore;VTK::ImagingSources;VTK::InteractionImage;VTK::InteractionStyle;VTK::InteractionWidgets;VTK::IOCore;VTK::IOGeometry;VTK::IOImage;VTK::IOLegacy;VTK::IOPLY;VTK::RenderingAnnotation;VTK::RenderingCore;VTK::RenderingContext2D;VTK::RenderingLOD;VTK::RenderingFreeType;VTK::ViewsCore;VTK::ViewsContext2D;VTK::RenderingOpenGL2;VTK::RenderingContextOpenGL2;VTK::GUISupportQt;FLANN::FLANN;QHULL::QHULL (Required is at least version "1.13") 
-- Found pcl_conversions: 2.4.0 (/opt/ros/humble/share/pcl_conversions/cmake)
-- Found laser_geometry: 2.4.0 (/usr/local/laser_geometry-humble-2.4.0/share/laser_geometry/cmake)
-- PCL_VERSION: 1.13.1.99
-- PCL_LIBRARIES: pcl_common;pcl_kdtree;pcl_octree;pcl_search;pcl_sample_consensus;pcl_filters;pcl_io;pcl_features;pcl_ml;pcl_segmentation;pcl_visualization;pcl_surface;pcl_registration;pcl_keypoints;pcl_tracking;pcl_recognition;pcl_stereo;pcl_outofcore;pcl_people;pcl_simulation;Boost::system;Boost::filesystem;Boost::iostreams;Boost::serialization;/usr/lib/libOpenNI.so;libusb::libusb;/usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb;VTK::ChartsCore;VTK::CommonColor;VTK::CommonComputationalGeometry;VTK::CommonCore;VTK::CommonDataModel;VTK::CommonExecutionModel;VTK::CommonMath;VTK::CommonMisc;VTK::CommonTransforms;VTK::FiltersCore;VTK::FiltersExtraction;VTK::FiltersGeneral;VTK::FiltersGeometry;VTK::FiltersModeling;VTK::FiltersSources;VTK::ImagingCore;VTK::ImagingSources;VTK::InteractionImage;VTK::InteractionStyle;VTK::InteractionWidgets;VTK::IOCore;VTK::IOGeometry;VTK::IOImage;VTK::IOLegacy;VTK::IOPLY;VTK::RenderingAnnotation;VTK::RenderingCore;VTK::RenderingContext2D;VTK::RenderingLOD;VTK::RenderingFreeType;VTK::ViewsCore;VTK::ViewsContext2D;VTK::RenderingOpenGL2;VTK::RenderingContextOpenGL2;VTK::GUISupportQt;FLANN::FLANN;QHULL::QHULL
-- PCL_INCLUDE_DIRS: /usr/local/include/pcl-1.13;/usr/local/include/eigen3;/usr/include;/usr/include/ni;/usr/include/openni2
-- PCL_DEFINITIONS: -DEIGEN_HAS_CXX17_OVERALIGN=0
-- Configuring done (2.7s)
-- Generating done (0.0s)

Code & Error & GDB Info

Same as before

yumingdong · 2024-02-20T03:16:33Z

I have also encountered a similar problem. Ubuntu 22.04 with ROS2 Humble.

@mvieth Previously, flag -DEIGEN_HAS_CXX17_OVERALIGN=0 was automatically added by add_definitions(${PCL_DEFINITIONS}), and I only set my own project to use C++17, while PCL, laser_geometry (using the ros2 branch, not humble), and some other dependencies used the default C++ standard. However, based on your advice, I tried to rebuild PCL, laser_geometry (using the humble branch), and my own project with C++14, but I still got the same error.

CmakeLists

cmake_minimum_required(VERSION 3.24)
project(virtual_lds)

# Set C++ standard
set(CMAKE_CXX_STANDARD 14)
set(TARGET_NAME ${PROJECT_NAME})

# Set compiler flags
if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
    add_compile_options(-Wall -Wextra -Wpedantic)
endif ()

# Find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(PCL 1.13 REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(laser_geometry HINTS "/usr/local/laser_geometry-humble-2.4.0")

# Set dependencies
set(dependencies
        PCL
        rclcpp
        std_msgs
        sensor_msgs
        laser_geometry
        pcl_conversions
)

# Include directories
include_directories(
        include
        ${PCL_INCLUDE_DIRS}
        ${rclcpp_INCLUDE_DIRS}
)

# Build executable
add_executable(main
        src/main.cpp)

# Link libraries
ament_target_dependencies(main ${dependencies})
target_link_libraries(main ${PCL_LIBRARIES})

MESSAGE(STATUS "PCL_VERSION: ${PCL_VERSION}")
MESSAGE(STATUS "PCL_LIBRARIES: ${PCL_LIBRARIES}")
MESSAGE(STATUS "PCL_INCLUDE_DIRS: ${PCL_INCLUDE_DIRS}")
MESSAGE(STATUS "PCL_DEFINITIONS: ${PCL_DEFINITIONS}")

# Add definitions
add_definitions(${PCL_DEFINITIONS})

# Install executable
install(TARGETS main
        RUNTIME DESTINATION lib/${PROJECT_NAME})

# Install CMake config files
ament_package()

CmakeLog

-- Found ament_cmake: 1.3.6 (/opt/ros/humble/share/ament_cmake/cmake)
-- Found rclcpp: 16.0.7 (/opt/ros/humble/share/rclcpp/cmake)
-- Found rosidl_generator_c: 3.1.5 (/opt/ros/humble/share/rosidl_generator_c/cmake)
-- Found rosidl_adapter: 3.1.5 (/opt/ros/humble/share/rosidl_adapter/cmake)
-- Found rosidl_generator_cpp: 3.1.5 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
-- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
-- Found rmw_fastrtps_cpp: 6.2.5 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
-- Using RMW implementation 'rmw_fastrtps_cpp' as default
CMake Warning (dev) at /usr/local/share/pcl-1.13/Modules/FindFLANN.cmake:45 (find_package):
  Policy CMP0144 is not set: find_package uses upper-case <PACKAGENAME>_ROOT
  variables.  Run "cmake --help-policy CMP0144" for policy details.  Use the
  cmake_policy command to set the policy and suppress this warning.

  CMake variable FLANN_ROOT is set to:

    /usr

  For compatibility, find_package is ignoring the variable, but code in a
  .cmake module might still use it.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.13/PCLConfig.cmake:258 (find_package)
  /usr/local/share/pcl-1.13/PCLConfig.cmake:303 (find_flann)
  /usr/local/share/pcl-1.13/PCLConfig.cmake:567 (find_external_library)
  CMakeLists.txt:22 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- FLANN found (include: /usr/include, lib: /usr/lib/x86_64-linux-gnu/libflann_cpp.so)
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so  found components: OpenGL GLX 
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so   
-- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb)
-- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb)
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so  found components: OpenGL GLX 
-- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb)
-- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb)
-- Found Qhull version 8.0.2
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so   
-- looking for PCL_COMMON
-- looking for PCL_KDTREE
-- looking for PCL_OCTREE
-- looking for PCL_SEARCH
-- looking for PCL_SAMPLE_CONSENSUS
-- looking for PCL_FILTERS
-- looking for PCL_2D
-- looking for PCL_GEOMETRY
-- looking for PCL_IO
-- looking for PCL_FEATURES
-- looking for PCL_ML
-- looking for PCL_SEGMENTATION
-- looking for PCL_VISUALIZATION
-- looking for PCL_SURFACE
-- looking for PCL_REGISTRATION
-- looking for PCL_KEYPOINTS
-- looking for PCL_TRACKING
-- looking for PCL_RECOGNITION
-- looking for PCL_STEREO
-- looking for PCL_OUTOFCORE
-- looking for PCL_PEOPLE
-- looking for PCL_SIMULATION
-- Found PCL: pcl_common;pcl_kdtree;pcl_octree;pcl_search;pcl_sample_consensus;pcl_filters;pcl_io;pcl_features;pcl_ml;pcl_segmentation;pcl_visualization;pcl_surface;pcl_registration;pcl_keypoints;pcl_tracking;pcl_recognition;pcl_stereo;pcl_outofcore;pcl_people;pcl_simulation;Boost::system;Boost::filesystem;Boost::iostreams;Boost::serialization;/usr/lib/libOpenNI.so;libusb::libusb;/usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb;VTK::ChartsCore;VTK::CommonColor;VTK::CommonComputationalGeometry;VTK::CommonCore;VTK::CommonDataModel;VTK::CommonExecutionModel;VTK::CommonMath;VTK::CommonMisc;VTK::CommonTransforms;VTK::FiltersCore;VTK::FiltersExtraction;VTK::FiltersGeneral;VTK::FiltersGeometry;VTK::FiltersModeling;VTK::FiltersSources;VTK::ImagingCore;VTK::ImagingSources;VTK::InteractionImage;VTK::InteractionStyle;VTK::InteractionWidgets;VTK::IOCore;VTK::IOGeometry;VTK::IOImage;VTK::IOLegacy;VTK::IOPLY;VTK::RenderingAnnotation;VTK::RenderingCore;VTK::RenderingContext2D;VTK::RenderingLOD;VTK::RenderingFreeType;VTK::ViewsCore;VTK::ViewsContext2D;VTK::RenderingOpenGL2;VTK::RenderingContextOpenGL2;VTK::GUISupportQt;FLANN::FLANN;QHULL::QHULL (Required is at least version "1.13") 
-- Found pcl_conversions: 2.4.0 (/opt/ros/humble/share/pcl_conversions/cmake)
-- Found laser_geometry: 2.4.0 (/usr/local/laser_geometry-humble-2.4.0/share/laser_geometry/cmake)
-- PCL_VERSION: 1.13.1.99
-- PCL_LIBRARIES: pcl_common;pcl_kdtree;pcl_octree;pcl_search;pcl_sample_consensus;pcl_filters;pcl_io;pcl_features;pcl_ml;pcl_segmentation;pcl_visualization;pcl_surface;pcl_registration;pcl_keypoints;pcl_tracking;pcl_recognition;pcl_stereo;pcl_outofcore;pcl_people;pcl_simulation;Boost::system;Boost::filesystem;Boost::iostreams;Boost::serialization;/usr/lib/libOpenNI.so;libusb::libusb;/usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb;VTK::ChartsCore;VTK::CommonColor;VTK::CommonComputationalGeometry;VTK::CommonCore;VTK::CommonDataModel;VTK::CommonExecutionModel;VTK::CommonMath;VTK::CommonMisc;VTK::CommonTransforms;VTK::FiltersCore;VTK::FiltersExtraction;VTK::FiltersGeneral;VTK::FiltersGeometry;VTK::FiltersModeling;VTK::FiltersSources;VTK::ImagingCore;VTK::ImagingSources;VTK::InteractionImage;VTK::InteractionStyle;VTK::InteractionWidgets;VTK::IOCore;VTK::IOGeometry;VTK::IOImage;VTK::IOLegacy;VTK::IOPLY;VTK::RenderingAnnotation;VTK::RenderingCore;VTK::RenderingContext2D;VTK::RenderingLOD;VTK::RenderingFreeType;VTK::ViewsCore;VTK::ViewsContext2D;VTK::RenderingOpenGL2;VTK::RenderingContextOpenGL2;VTK::GUISupportQt;FLANN::FLANN;QHULL::QHULL
-- PCL_INCLUDE_DIRS: /usr/local/include/pcl-1.13;/usr/local/include/eigen3;/usr/include;/usr/include/ni;/usr/include/openni2
-- PCL_DEFINITIONS: -DEIGEN_HAS_CXX17_OVERALIGN=0
-- Configuring done (2.7s)
-- Generating done (0.0s)

Code & Error & GDB Info

Same as before

Have you solved this problem? I have encounter same problem, my develop environment is: Ubuntu 22.04 with ROS2 Humble pcl 1.12.1(install through apt install)
And when I use asan address tools , get following errors:
================================================================= ==191140==ERROR: AddressSanitizer: heap-buffer-overflow on address 0x61d00004e278 at pc 0x7f1a1afd1662 bp 0x7ffd1626ceb0 sp 0x7ffd1626cea0 READ of size 8 at 0x61d00004e278 thread T0 #0 0x7f1a1afd1661 in Eigen::internal::handmade_aligned_free(void*) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:118 #1 0x7f1a1afd1661 in Eigen::internal::aligned_free(void*) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:206 #2 0x7f1a1afd1661 in Eigen::aligned_allocator<pcl::PointXYZI>::deallocate(pcl::PointXYZI*, unsigned long) /usr/include/eigen3/Eigen/src/Core/util/Memory.h:921 #3 0x7f1a1afd1661 in std::allocator_traits<Eigen::aligned_allocator<pcl::PointXYZI> >::deallocate(Eigen::aligned_allocator<pcl::PointXYZI>&, pcl::PointXYZI*, unsigned long) /usr/include/c++/11/bits/alloc_traits.h:345 #4 0x7f1a1afd1661 in std::_Vector_base<pcl::PointXYZI, Eigen::aligned_allocator<pcl::PointXYZI> >::_M_deallocate(pcl::PointXYZI*, unsigned long) /usr/include/c++/11/bits/stl_vector.h:354 #5 0x7f1a1afd1661 in std::_Vector_base<pcl::PointXYZI, Eigen::aligned_allocator<pcl::PointXYZI> >::~_Vector_base() /usr/include/c++/11/bits/stl_vector.h:335 #6 0x7f1a1afd1661 in std::vector<pcl::PointXYZI, Eigen::aligned_allocator<pcl::PointXYZI> >::~vector() /usr/include/c++/11/bits/stl_vector.h:683 #7 0x7f1a1afd1661 in pcl::PointCloud<pcl::PointXYZI>::~PointCloud() /usr/include/pcl-1.12/pcl/point_cloud.h:172 #8 0x7f1a1afd1661 in std::_Sp_counted_ptr<pcl::PointCloud<pcl::PointXYZI>*, (__gnu_cxx::_Lock_policy)2>::_M_dispose() /usr/include/c++/11/bits/shared_ptr_base.h:348 #9 0x7f1a1affc2a6 in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() /usr/include/c++/11/bits/shared_ptr_base.h:168 #10 0x7f1a1b033cad in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::~__shared_count() /usr/include/c++/11/bits/shared_ptr_base.h:705 #11 0x7f1a1b033cad in std::__shared_ptr<pcl::PointCloud<pcl::PointXYZI> const, (__gnu_cxx::_Lock_policy)2>::~__shared_ptr() /usr/include/c++/11/bits/shared_ptr_base.h:1154 #12 0x7f1a1b033cad in std::shared_ptr<pcl::PointCloud<pcl::PointXYZI> const>::~shared_ptr() /usr/include/c++/11/bits/shared_ptr.h:122 #13 0x7f1a1b033cad in pcl::Registration<pcl::PointXYZI, pcl::PointXYZI, float>::~Registration() /usr/include/pcl-1.12/pcl/registration/registration.h:137 #14 0x7f1a1b1efd75 in pcl::IterativeClosestPoint<pcl::PointXYZI, pcl::PointXYZI, float>::~IterativeClosestPoint() /usr/include/pcl-1.12/pcl/registration/icp.h:184 #15 0x7f1a1b1efd75 in station_detect_pkg::StationDetection::~StationDetection() /home/ymdong4/slam_code/iflytek_slam/localization_and_mapping/src/cartographer_ros/cartographer_ros/cartographer_ros/include/station_detection.h:45 #16 0x558adaea79c6 in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() /usr/include/c++/11/bits/shared_ptr_base.h:168 #17 0x558adae7a328 in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::~__shared_count() /usr/include/c++/11/bits/shared_ptr_base.h:705 #18 0x558adae7a328 in std::__shared_ptr<station_detect_pkg::StationDetection, (__gnu_cxx::_Lock_policy)2>::~__shared_ptr() /usr/include/c++/11/bits/shared_ptr_base.h:1154 #19 0x558adae7a328 in std::shared_ptr<station_detect_pkg::StationDetection>::~shared_ptr() /usr/include/c++/11/bits/shared_ptr.h:122 #20 0x558adae7a328 in main /home/ymdong4/slam_code/iflytek_slam/localization_and_mapping/src/cartographer_ros/cartographer_ros/cartographer_ros/src/station_detection_node.cpp:68 #21 0x7f1a0a3f5d8f in __libc_start_call_main ../sysdeps/nptl/libc_start_call_main.h:58 #22 0x7f1a0a3f5e3f in __libc_start_main_impl ../csu/libc-start.c:392 #23 0x558adae7a834 in _start (/home/ymdong4/slam_code/iflytek_slam/localization_and_mapping/install/lib/cartographer_ros/station_detection_node+0x69834) 0x61d00004e278 is located 8 bytes to the left of 2048-byte region [0x61d00004e280,0x61d00004ea80) allocated by thread T0 here: #0 0x7f1a1bd89887 in __interceptor_malloc ../../../../src/libsanitizer/asan/asan_malloc_linux.cpp:145 #1 0x7f1a1127ea40 (/lib/x86_64-linux-gnu/libpcl_filters.so.1.12+0x55aa40) SUMMARY: AddressSanitizer: heap-buffer-overflow /usr/include/eigen3/Eigen/src/Core/util/Memory.h:118 in Eigen::internal::handmade_aligned_free(void*) Shadow bytes around the buggy address: 0x0c3a80001bf0: fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd 0x0c3a80001c00: fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd 0x0c3a80001c10: fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd 0x0c3a80001c20: fd fd fd fd fd fa fa fa fa fa fa fa fa fa fa fa 0x0c3a80001c30: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa =>0x0c3a80001c40: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa[fa] 0x0c3a80001c50: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0x0c3a80001c60: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0x0c3a80001c70: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0x0c3a80001c80: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0x0c3a80001c90: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 Shadow byte legend (one shadow byte represents 8 application bytes): Addressable: 00 Partially addressable: 01 02 03 04 05 06 07 Heap left redzone: fa Freed heap region: fd Stack left redzone: f1 Stack mid redzone: f2 Stack right redzone: f3 Stack after return: f5 Stack use after scope: f8 Global redzone: f9 Global init order: f6 Poisoned by user: f7 Container overflow: fc Array cookie: ac Intra object redzone: bb ASan internal: fe Left alloca redzone: ca Right alloca redzone: cb Shadow gap: cc
@https://github.com/mvieth

mvieth · 2024-02-21T20:36:40Z

@yumingdong Make sure that your code is compiled with AVX, AVX2, and AVX512 disabled, or try using #define PCL_NO_PRECOMPILE

yumingdong · 2024-02-22T03:48:09Z

@yumingdong Make sure that your code is compiled with AVX, AVX2, and AVX512 disabled, or try using #define PCL_NO_PRECOMPILE

I have use #define PCL_NO_PRECOMPILE macro in x86 PC can solve this problem, but in arm platform compile code supplys:
/../lib/gcc/aarch64-buildroot-linux-gnu/10.3.0/../../../../aarch64-buildroot-linux-gnu/bin/ld: CMakeFiles/station_detection_node.dir/src/station_detection.cpp.o: undefined reference to symbol 'LZ4_compress_HC_continue' ../lib/gcc/aarch64-buildroot-linux-gnu/10.3.0/../../../../aarch64-buildroot-linux-gnu/bin/ld: /home/jsxu4/rk3588_buildroot_toolchain/host/aarch64-buildroot-linux-gnu/sysroot/usr/lib64/libflann_cpp.so.1.9: error adding symbols: DSO missing from command line
Can you solve this problem?

TOMO-CAT · 2024-02-29T03:30:36Z

@yumingdong Make sure that your code is compiled with AVX, AVX2, and AVX512 disabled, or try using #define PCL_NO_PRECOMPILE

add -DPCL_NO_PRECOMPILE=ON flags in x86 can also solve the double-free problem for me，could you please explain how it work? thans very much

here is my gdb backtrace：

Since I can't abstract the code into a minimum example yet, I would not show the code now.

timetosaygoodb added the status: triage Labels incomplete label Oct 3, 2023

mvieth added kind: bug Type of issue and removed status: triage Labels incomplete labels Oct 4, 2023

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some problem about pcl and eigen #5831

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