double free or corruption (out) [ros2run]: Aborted
Opened this issue · 2 comments
ROS2 Humble
Ubuntu 22.04
I tried this already. Not working.
rgb_sub = std::make_shared<message_filters::Subscriber<ImageMsg> >(this, "/camera/rgb");
depth_sub = std::make_shared<message_filters::Subscriber<ImageMsg> >(this, "/camera/depth");
The program crashes without showing output.
ros2 run orbslam3 stereo vocabulary/ORBvoc.txt BFS.yaml False
ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.
Input sensor was set to: Stereo
Loading ORB Vocabulary. This could take a while...
Vocabulary loaded!
Initialization of Atlas from scratch
Creation of new map with id: 0
Creation of new map with last KF id: 0
Seq. Name:
Camera Parameters:
Camera: Pinhole
Image scale: 0.25
fx: 1749.73
fy: 1764.11
cx: 255.644
cy: 114.834
k1: -0.00412
k2: 0.723251
p1: -0.007554
p2: 0.001609
k3: 0
fps: 30
color order: BGR (ignored if grayscale)
Depth Threshold (Close/Far Points): 50.0339
ORB Extractor Parameters:
Number of Features: 1250
Scale Levels: 8
Scale Factor: 1.2
Initial Fast Threshold: 20
Minimum Fast Threshold: 7
There are 1 cameras in the atlas
Camera 0 is pinhole
Starting the Viewer
Shutdown
Saving keyframe trajectory to KeyFrameTrajectory.txt ...
double free or corruption (out)
[ros2run]: Aborted
I faced the same problem. I solved it with correcting node class. I created node outside the class in the main (stereo.cpp), then put the created node variable into the node class (StereoSlamNode). It looks like StereoSlamNode class cannot access the shared_ptrrclcpp::Node(this) inside the StereoSlamNode constructor, thus instead of shared_ptrrclcpp::Node(this) an external node should be used.
Here's my proposed solution:
stereo.cpp
rclcpp::init(argc, argv);
if(argc < 4)
{
std::cerr << "\nUsage: ros2 run orbslam stereo path_to_vocabulary path_to_settings do_rectify" << std::endl;
return 1;
}
auto node = std::make_shared<rclcpp::Node>("run_slam");
// malloc error using new.. try shared ptr
// Create SLAM system. It initializes all system threads and gets ready to process frames.
bool visualization = true;
ORB_SLAM3::System pSLAM(argv[1], argv[2], ORB_SLAM3::System::STEREO, visualization);
std::shared_ptr<StereoSlamNode> slam_ros;
slam_ros = std::make_shared<StereoSlamNode>(&pSLAM, node.get(), argv[2], argv[3]);
std::cout << "============================ " << std::endl;
rclcpp::spin(slam_ros->node_->get_node_base_interface());
rclcpp::shutdown();
return EXIT_SUCCESS;stereo-slam-node.hpp
class StereoSlamNode : public rclcpp::Node
{
public:
StereoSlamNode(ORB_SLAM3::System* pSLAM, rclcpp::Node* node, const string &strSettingsFile, const string &strDoRectify);
~StereoSlamNode();
rclcpp::Node* node_;stereo-slam-node.cpp
StereoSlamNode::StereoSlamNode(ORB_SLAM3::System* pSLAM, rclcpp::Node* node, const string &strSettingsFile, const string &strDoRectify)
: Node("ORB_SLAM3_ROS2"),
m_SLAM(pSLAM),
node_(node)
{
left_sub = std::make_shared<message_filters::Subscriber<ImageMsg> >(node_, "camera/left");
right_sub = std::make_shared<message_filters::Subscriber<ImageMsg> >(node_, "camera/right");
syncApproximate = std::make_shared<message_filters::Synchronizer<approximate_sync_policy> >(approximate_sync_policy(10), *left_sub, *right_sub);
syncApproximate->registerCallback(&StereoSlamNode::GrabStereo, this);
}