received signal SIGSEGV, Segmentation fault

[MasterY0416]

Ｔhank you very much for your work. I have this problem when using libpointmatcher and spent a long time to solve this problem, but there is still no result.

`[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7fffe290c700 (LWP 6544)]
[New Thread 0x7fffe210b700 (LWP 6545)]
[New Thread 0x7fffe190a700 (LWP 6546)]
[New Thread 0x7fffe1109700 (LWP 6551)]
[New Thread 0x7fffe0908700 (LWP 6582)]
[New Thread 0x7fffd3fff700 (LWP 6583)]

Thread 1 "localizer_node" received signal SIGSEGV, Segmentation fault.
0x00007ffff7bb0515 in void Eigen::internal::call_dense_assignment_loop<Eigen::Matrix<float, -1, -1, 0, -1, -1>, Eigen::Matrix<float, -1, -1, 0, -1, -1>, Eigen::internal::assign_op<float, float> >(Eigen::Matrix<float, -1, -1, 0, -1, -1>&, Eigen::Matrix<float, -1, -1, 0, -1, -1> const&, Eigen::internal::assign_op<float, float> const&)
() from /home/yuan/icp_localization_ws/devel/.private/icp_localization/lib/libicp_localization.so
(gdb) [icp_node-2] killing on exit
Quit
(gdb) bt
#0 0x00007ffff7bb0515 in void Eigen::internal::call_dense_assignment_loop<Eigen::Matrix<float, -1, -1, 0, -1, -1>, Eigen::Matrix<float, -1, -1, 0, -1, -1>, Eigen::internal::assign_op<float, float> >(Eigen::Matrix<float, -1, -1, 0, -1, -1>&, Eigen::Matrix<float, -1, -1, 0, -1, -1> const&, Eigen::internal::assign_op<float, float> const&) () from /home/yuan/icp_localization_ws/devel/.private/icp_localization/lib/libicp_localization.so
#1 0x00007ffff5947b15 in SamplingSurfaceNormalDataPointsFilter::fuseRange(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int) const ()
from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so
#2 0x00007ffff5949e15 in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so
#3 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so
#4 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so
#5 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so
#6 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so
#7 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so
#8 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so
#9 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so
#10 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so
#11 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so
#12 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so
#13 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so
#14 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so
#15 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so
#16 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so
#17 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so
#18 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so
#19 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so
#20 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so
#21 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so
`

[jelavice]

Thank you for reporting. Could you send us the dataset, together with your config files and the OS and ROS version info? Then we can try to reproduce the issue.

[MasterY0416]

Name	Version
ros	kinetic
ubuntu:	16.04LTS
architecture:	64-bit
gcc:	gcc (Ubuntu 7.5.0-3ubuntu1~16.04) 7.5.0
git:	git version 2.7.4
cmake:	cmake version 3.20.5 CMake suite maintained and supported by Kitware (kitware.com/cmake).
boost:	Version: 1.58.0.1ubuntu1
eigen3:	Version: 3.3~beta1-2
doxygen:	Version: 1.8.11-1ubuntu0.1

[jelavice]

Thanks for the info, unfortunately I don't have the access to Ubuntu 16.04 and this package was only tested on 18.04 and 20.04. If you send me the dataset, I can try to reproduce on 20.04.

[tomlankhorst]

You could try to build in docker run -ti ros:kinetic.

[jelavice]

Indeed, I can try to run in docker.

[jelavice]

it seems that pcl 1.10 is not needed, and it resulted in conflicting pcl versions inside pointmatcher ros and icp_localization. My guess is that the file was maybe loaded somehow incorrectly. I removed the dependency from the CMakeLists. Can you try to rebuild and re-run?

If I am not mistaken, this happens when loading the map, right?