Noetic: segfault after connection success with package from APT

[Mindstan]

I have installed urg_node from APT (ros-neotic-urg-node), but when I run rosrun urg_node urg_node _serial_port:=/dev/ttyACM1 it crashes after the connection to the device:

[/urg_node: INFO] [1599296638.701332302] : Connected to serial device with ID: H1102605
[/urg_node:DEBUG] [1599296639.596760024] : Unable to update reconfigure limits. Not Ready.
[1]    30627 segmentation fault (core dumped)  rosrun urg_node urg_node _serial_port:=/dev/ttyACM1

However, if I clone this repository and build myself the package it works smoothly :

[/urg_node: INFO] [1599295313.022726465] : Connected to serial device with ID: H1102605
[/urg_node: INFO] [1599295314.117096183] : Streaming data.

• OS : Ubuntu 20.04
• Device : URG-04LX-UG01
• urg_node version: 0.1.14
• urg_c version: 1.0.405 (from APT ros-neotic-urg-c)
• GCC version: 9.3.0-10ubuntu2

GDB info:

Starting program: /opt/ros/noetic/lib/urg_node/urg_node 
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7ffff4981700 (LWP 32503)]
[New Thread 0x7fffeffff700 (LWP 32504)]
[New Thread 0x7fffef7fe700 (LWP 32505)]
[New Thread 0x7fffeeffd700 (LWP 32506)]
[/urg_node: INFO] [1599297220.564435432] : Connected to serial device with ID: H1102605
[New Thread 0x7fffee7fc700 (LWP 32509)]
[New Thread 0x7fffedffb700 (LWP 32510)]

Thread 7 "urg_node" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7fffedffb700 (LWP 32510)]
0x00007ffff7c566bd in std::runtime_error::runtime_error(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) () from /lib/x86_64-linux-gnu/libstdc++.so.6
(gdb) backtrace
#0  0x00007ffff7c566bd in std::runtime_error::runtime_error(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) () from /lib/x86_64-linux-gnu/libstdc++.so.6
#1  0x00007ffff79522b5 in urg_node::URGCWrapper::start (this=0x7fffdc0010a8) at ./src/urg_c_wrapper.cpp:870
#2  0x0000000000000000 in ?? ()

[bostoncleek]

I am running this node with the same environment setup as @Mindstan. I am attempting to communicate with the Hokuyo via Ethernet and observe the same error.

Starting program: /opt/ros/noetic/lib/urg_node/urg_node scan:=front/scan __name:=urg_front __log:=/home/administrator/.ros/log/6d7d83e4-fe99-11ea-9aea-abb0e9e33a90/ridgeback-urg_front-2.log
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7ffff4996700 (LWP 39609)]
[New Thread 0x7fffeffff700 (LWP 39610)]
[New Thread 0x7fffef7fe700 (LWP 39611)]
[New Thread 0x7fffeeffd700 (LWP 39612)]
[ INFO] [1600974552.380452838]: Connected to network device with intensity and ID: H1880745
[New Thread 0x7fffee7fc700 (LWP 39613)]
[New Thread 0x7fffedffb700 (LWP 39614)]

Thread 7 "urg_node" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7fffedffb700 (LWP 39614)]
0x00007ffff7c6a6bd in std::runtime_error::runtime_error(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) () from /lib/x86_64-linux-gnu/libstdc++.so.6
(gdb) backtrace
#0  0x00007ffff7c6a6bd in std::runtime_error::runtime_error(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) () from /lib/x86_64-linux-gnu/libstdc++.so.6
#1  0x00007ffff79662b5 in ?? () from /opt/ros/noetic/lib/liburg_c_wrapper.so
#2  0x0000000000000000 in ?? ()

[bostoncleek]

I found that the node still crashed when I build from source if the build type is release. If the build type is debug there is no issue. However please see the PR.