Node is crashing when tag is being detected

[abhip64]

In continuous detector, whenever the tag is detected the node crashes with an exit code of -11 (SIGSEGV).

[apriltag_ros_continuous_node-1] process has died [pid 25446, exit code -11, cmd /home/emad/catkin_ws/devel/lib/apriltag_ros/apriltag_ros_continuous_node image_rect:=/duo3d_camera/left/image_rect camera_info:=/duo3d_camera/left/camera_info __name:=apriltag_ros_continuous_node __log:=/home/emad/.ros/log/1e7635d6-f2f5-11ed-850c-bb0023300a6f/apriltag_ros_continuous_node-1.log].
log file: /home/emad/.ros/log/1e7635d6-f2f5-11ed-850c-bb0023300a6f/apriltag_ros_continuous_node-1*.log

Commenting out the following lines in continuous_detector.cpp mitigates the issue but the /tag_detections_image topic will not be published. The /tag_detections as well as /tf topics work fine.

if (draw_tag_detections_image_)
  {
    tag_detector_->drawDetections(cv_image_);
    tag_detections_image_publisher_.publish(cv_image_->toImageMsg());
  }

Rosdistro: Noetic
Device: NVIDIA Jetson AGX Orin

[arizonat]

Can also confirm that this is an issue for us and setting draw_tag_detections_image_ to false "fixes" it (as in, no longer crashes, but also no longer gives us tag_detections_images). This is using the version built from source (apt version seems not to have this issue), but we've had other issues in regards to timing that we've been fixing and thus need to build from source.

Platform: ROS Noetic and Nvidia Jetson Orin NX JetPack 5.1