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I have a node that publishes 2 topics and a timer to publish TF using ros-noetic. However this setup throws an exception:
ros-noetic
libpthread.so.0!__GI___pthread_mutex_lock(pthread_mutex_t * mutex) (/build/glibc-BHL3KM/glibc-2.31/nptl/pthread_mutex_lock.c:67) libroscpp.so!ros::Publication::processPublishQueue() (Unknown Source:0) libroscpp.so!ros::TopicManager::processPublishQueues() (Unknown Source:0) libroscpp.so!boost::signals2::detail::signal_impl<void (), boost::signals2::optional_last_value<void>, int, std::less<int>, boost::function<void ()>, boost::function<void (boost::signals2::connection const&)>, boost::signals2::mutex>::operator()() (Unknown Source:0) libroscpp.so!ros::PollManager::threadFunc() (Unknown Source:0) libboost_thread.so.1.71.0![Unknown/Just-In-Time compiled code] (Unknown Source:0) libpthread.so.0!start_thread(void * arg) (/build/glibc-BHL3KM/glibc-2.31/nptl/pthread_create.c:477) libc.so.6!clone() (/build/glibc-BHL3KM/glibc-2.31/sysdeps/unix/sysv/linux/x86_64/clone.S:95)
That's the output of the callback stack when it throws the exception.
My code:
Node
#include <ros/ros.h> #include <calibrate_lidars/crash.h> int main(int argc, char** argv) { ros::init(argc, argv, "crash"); calibration::Crash cal; ros::AsyncSpinner spinner(0); spinner.start(); ros::waitForShutdown(); return 0; }
Header file
#pragma once #include <ros/ros.h> #include <geometry_msgs/TransformStamped.h> #include <tf/transform_datatypes.h> #include <tf2_ros/buffer.h> #include <tf2_eigen/tf2_eigen.h> #include <tf2_ros/transform_listener.h> #include <tf2_ros/transform_broadcaster.h> #include <tf2_geometry_msgs/tf2_geometry_msgs.h> namespace calibration { class Crash { public: // Constructor Crash(); private: tf2_ros::Buffer tf_buffer_; tf2_ros::TransformListener tf_listener_; geometry_msgs::TransformStamped tf_nominal_to_operational_; geometry_msgs::TransformStamped tf_nominal_to_calibrated_; tf2_ros::TransformBroadcaster tf_broadcaster_; ros::Timer tf_timer_; ros::Publisher pub_1_; ros::Publisher pub_2_; void initializeTfs(); }; } // namespace calibration
Definition of methods
#include <calibrate_lidars/crash.h> namespace calibration { Crash::Crash() : tf_listener_(tf_buffer_) { initializeTfs(); pub_1_ = ros::NodeHandle().advertise<geometry_msgs::TransformStamped>("topic_1", 1, false); pub_2_ = ros::NodeHandle().advertise<geometry_msgs::TransformStamped>("topic_2", 1, false); } void Crash::initializeTfs() { // initializing an identity transformation from nominal to operational frame tf_nominal_to_operational_.header.frame_id = "lidar_nominal_frame"; tf_nominal_to_operational_.child_frame_id = "lidar_operational_frame"; tf_nominal_to_operational_.transform.rotation.w = 1; tf_nominal_to_calibrated_ = tf_nominal_to_operational_; tf_nominal_to_calibrated_.child_frame_id = "lidar_calibrated_frame"; ROS_INFO_STREAM("Init transformation from nominal to operational frame: " << tf_nominal_to_operational_); tf_timer_ = ros::NodeHandle().createTimer(ros::Duration(0.1), [&](const ros::TimerEvent& event) { tf_nominal_to_operational_.header.stamp = ros::Time::now(); tf_nominal_to_calibrated_.header.stamp = ros::Time::now(); ROS_DEBUG_THROTTLE_NAMED(30, "calibration", "Sending Transforms"); tf_broadcaster_.sendTransform(tf_nominal_to_operational_); tf_broadcaster_.sendTransform(tf_nominal_to_calibrated_); }); } } // namespace calibration
I also tried using a customized callbackQueue, but it didn't solve it.
callbackQueue
The text was updated successfully, but these errors were encountered:
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Description
I have a node that publishes 2 topics and a timer to publish TF using
ros-noetic
. However this setup throws an exception:That's the output of the callback stack when it throws the exception.
My code:
Node
Header file
Definition of methods
I also tried using a customized
callbackQueue
, but it didn't solve it.The text was updated successfully, but these errors were encountered: