Publish Wheels Speeds and Steering Angle on a ROS topic : gzserver crashes

[GuillaumeHauss]

Hi all,

I would like to briefly modify the PriusHybridPlugin to make it publish on a separate ROS topic front wheels speeds and steering angle.

What I have tried so far is:

1. Add
   public: ros::Publisher sensorsPub;
public: std_msgs::MultiArrayLayout layout;
public: std_msgs::Float32MultiArray sensors_msg;
   to public declarations of the class PriusHybridPluginPrivate

2. Add
   this->dataPtr->sensorsPub = nh.advertise<std_msgs::Float32MultiArray>("/prius/sensors",10);
this->dataPtr->layout.dim[0].label = "sensors_values";
this->dataPtr->layout.dim[0].size = 2;
this->dataPtr->layout.dim[0].stride = 2;
this->dataPtr->layout.data_offset = 0;
this->dataPtr->sensors_msg.layout = this->dataPtr->layout;
   in the constructor of the plugin.

3. Add
   #include <std_msgs/Float32MultiArray.h>
#include <std_msgs/MultiArrayLayout.h>
   at the beginning of the PriusHybridPlugin.hh file

4. Finally, add
   this->dataPtr->sensors_msg.data[0] = (dPtr->flSteeringAngle+dPtr->frSteeringAngle)/2;
this->dataPtr->sensors_msg.data[1] = (dPtr->flWheelAngularVelocity+dPtr->frWheelAngularVelocity)/2;
this->dataPtr->sensorsPub.publish(this->dataPtr->sensors_msg);
   in the function Update(), after all the values have been read.

However, when I launch the simulation, gazebo immediately crashes with no more explanation than
[gazebo-2] process has died [pid 122, exit code 139] which means I have a segmentation violation somewhere, but I can't find where.

Thank you for your help
Cheers,
Guillaume

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