cartographer_ros
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Memory access violation crash
System Info
Operating System: Windows 10
ROS Version: Humble Hawksbill
cartographer commit hash: 2ce33a65bd4e41e3bf5af92c9275354ce7921c70
cartographer_ros commit hash: 098e6bf8556070b9228b9fa7d5766238bc141a90
Issue
cartographer_node
crashes while attempting to publish the submap list. Following the error, it appears to originate at line 229 of map_builder_bridge.cpp
when the map_builder_->pose_graph()->GetAllSubmapPoses()
object goes out of scope and is deleted. The node runs fine until LiDAR data is received and the submap list is no longer empty.
Console output:
[ERROR] [cartographer_node.EXE-2]: process has died [pid 39184, exit code 3221226356, cmd 'D:\ros2_humble\dev\cartographer_ros\install\lib\cartographer_ros\cartographer_node.EXE -configuration_directory D:\ros2_humble\dev\cartographer_ros\install\share\cartographer_ros/configuration_files -configuration_basename backpack_2d.lua --ros-args --params-file C:\Users\ISAACP~1.ADM\AppData\Local\Temp\launch_params_aqfmr0g4 -r echoes:=horizontal_laser_2d'].
The crash first happened in a release build using a custom lua configuration, however I am able to reproduce on builds with debug symbols included using a ros2-converted bag of the museum data and the demo_backpack_2d.launch.py
launch file.
Full crash dump with debug symbols is too large to attach but I have it available.