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Initiating the command rosrun gpd_ros detect_grasps_server results in a SIGSEGV with backtrace:
(gdb) bt
#0 0x000000000040e30c in GraspDetectionServer::GraspDetectionServer (this=0xffeffee70, node=...)
at ~/catkin_ws/src/gpd2_ros/src/gpd_ros/grasp_detection_server.cpp:14
#1 0x000000000040d71e in main (argc=1, argv=<optimized out>)
at ~/catkin_ws/src/gpd2_ros/src/gpd_ros/grasp_detection_server.cpp:132
and valgrind is saying:
==20809== Invalid read of size 8
==20809== at 0x40E30C: GraspDetectionServer::GraspDetectionServer(ros::NodeHandle&) (grasp_detection_server.cpp:14)
==20809== by 0x40D71D: main (grasp_detection_server.cpp:132)
==20809== Address 0x0 is not stack'd, malloc'd or (recently) free'd
It didn't make much sense (the error was alternating between the std::string constructor and the ros::NodeHandle object) and the culprit is unrelated to the error messages:
Commenting this line, and it's declaration in https://github.com/atenpas/gpd2_ros/blob/master/include/gpd_ros/grasp_detection_server.h#L103 results in no more segfaults. The variable is uninitialized (and never used anyways) so either a simple
diff --git a/src/gpd_ros/grasp_detection_server.cpp b/src/gpd_ros/grasp_detection_server.cpp
index 171b6d9..94d7e2f 100644
--- a/src/gpd_ros/grasp_detection_server.cpp
+++ b/src/gpd_ros/grasp_detection_server.cpp
@@ -6,7 +6,7 @@ GraspDetectionServer::GraspDetectionServer(ros::NodeHandle& node)
cloud_camera_ = NULL;
// set camera viewpoint to default origin
- std::vector<double> camera_position;
+ auto camera_position = std::vector<double> {0.0, 0.0, 0.0};
node.getParam("camera_position", camera_position);
view_point_ << camera_position[0], camera_position[1], camera_position[2];
or deleting the variable, work.
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