12345qiupeng
/
cartographer_ros
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fix segfault by changing the destruction order. (#1235) 

The metrics registry is used as a raw pointer reference in map builder
and must outlive it.

Since C++ destroys in reverse declaration order, we have to put the
registry declaration before the map builder bridge.

Fixes #1234.
master
Michael Grupp 2019-03-26 12:06:14 +01:00 committed by Wally B. Feed
parent 5f1ff900b4
commit eb86ba6e7c
1 changed files with 1 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
cartographer_ros/cartographer_ros/node.h
View File

@ -179,6 +179,7 @@ class Node {
tf2_ros::TransformBroadcaster tf_broadcaster_; tf2_ros::TransformBroadcaster tf_broadcaster_;
absl::Mutex mutex_; absl::Mutex mutex_;
std::unique_ptr<cartographer_ros::metrics::FamilyFactory> metrics_registry_;
MapBuilderBridge map_builder_bridge_ GUARDED_BY(mutex_); MapBuilderBridge map_builder_bridge_ GUARDED_BY(mutex_);
::ros::NodeHandle node_handle_; ::ros::NodeHandle node_handle_;
@ -225,8 +226,6 @@ class Node {
// simulation time is standing still. This prevents overflowing the transform // simulation time is standing still. This prevents overflowing the transform
// listener buffer by publishing the same transforms over and over again. // listener buffer by publishing the same transforms over and over again.
::ros::Timer publish_local_trajectory_data_timer_; ::ros::Timer publish_local_trajectory_data_timer_;
std::unique_ptr<cartographer_ros::metrics::FamilyFactory> metrics_registry_;
}; };
} // namespace cartographer_ros } // namespace cartographer_ros