Question

我在image_transport文件和CMake中都加入了packake.xml。我在ubuntu 16上使用ROS Kineltic，虽然我在ubuntu 14上使用ros indigo和jade也遇到了同样的问题。

我的CMake文件如下：

find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  image_transport
  roscpp
  rospy
  std_msgs
  message_generation
  genmsg
  )

generate_messages(
  DEPENDENCIES
  std_msgs
  )

catkin_package(
  CATKIN_DEPENDS  cv_bridge image_transport roscpp rospy std_msgs message_generation
  )
    include_directories(
   ${catkin_INCLUDE_DIRS}
   ) 
....

我的package.xml是

<buildtool_depend>catkin</buildtool_depend>
 <build_depend>cv_bridge</build_depend>
  <build_depend>image_transport</build_depend>
  <build_depend>roscpp</build_depend>
 <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>message_generation</build_depend>
   <run_depend>cv_bridge</run_depend>
  <run_depend>image_transport</run_depend>
  <run_depend>roscpp</run_depend>
  <run_depend>rospy</run_depend>
 <run_depend>std_msgs</run_depend>
  <run_depend>message_runtime</run_depend>
 <run_depend>message_generation</run_depend>
    <run_depend>image_transport</run_depend>

和我的.cpp文件

#include <ros/ros.h>
#include <image_transport/image_transport.h>
.....
int main(int argc, char **argv)
{

  ros::init(argc, argv, "imagegraber");
  ros::NodeHandle nodea;

 image_transport::ImageTransport it(nodea);

image_transport::Subscriber sub = it.subscribe("/pg_15508342/image_raw", 1, imageCallback);


 ros::spin();
return 0;
}

然而，当我运行我的代码时，我收到Segmentation fault (core dumped) ......可能是什么问题？代码在image_transport::ImageTransport it(nodea);

崩溃

请注意，我可以使用命令行运行image_transport：rosrun image_transport republish raw in:=/pg_15508342/image_raw raw out:=/newim。也可以运行image_view

Answer 1

我想我现在可以看到问题的根源。它与来自ros外部的Boost有关。事实上我应该在问题中报告我的完整CMakeLists.txt，但我最初认为这个问题与任何相关的问题都没有...

在我的CMakeLists.txt中，我包含了我自己的提升（从源代码下载的最新版本），如

SET (BOOST_DIR "/home/polar/soft/lib/boost/boost_1_61_0")
SET (BOOST_INCLUDEDIR "/home/polar/soft/lib/boost/boost_1_61_0/build/include")
SET (BOOST_LIBRARYDIR "/home/polar/soft/lib/boost/boost_1_61_0/build/lib")

FIND_PACKAGE(Boost 1.61.0 REQUIRED thread)
if (NOT Boost_FOUND)
  message(FATAL_ERROR " Fatal error: Boost (version >= 1.55) required.")
else()
  message(STATUS "Setting up BOOST")
  message(STATUS " Includes - ${Boost_INCLUDE_DIRS}")
  message(STATUS " Library  - ${Boost_LIBRARY_DIRS}")
  include_directories(${Boost_INCLUDE_DIRS})
  link_directories(${Boost_LIBRARY_DIRS})
endif (NOT Boost_FOUND)

因此我在image_transport::ImageTransport it(nh);得到了分段错误。但是，仅用

替换上面的CMake代码

FIND_PACKAGE(Boost)

我不再有分段错误。我应该更多地关注ros给出的关于ROS＆amp; Boost和我的独立Boost之间最终冲突的警告信息....

因此另一个问题，如何使用独立的Boost和ROS catkin？

无法从cpp代码运行image_transport：`Segmentation fault（core dumped）`

1 个答案: