ros中 指针传递 ros::NodeHandle *node 报received signal SIGSEGV, Segmentation fault
ros中 指针传递 ros::NodeHandle *node
报错：
Thread 1 "currencyChassis" received signal SIGSEGV, Segmentation fault. 0x00007fa8503fa3a6 in __GI___libc_realloc (oldmem=0x55ccc9afef20, bytes=64) at malloc.c:3233
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, std::allocator >::_M_assign(std::__cxx11::basic_string, std::allocator > const&) () from /lib/x86_64-linux-gnu/libstdc++.so.6
#3 0x00007fd08d067b8c in ros::Publisher::Publisher(std::__cxx11::basic_string, std::allocator > const&, std::__cxx11::basic_string, std::allocator > const&, std::__cxx11::basic_string, std::allocator > const&, bool, ros::NodeHandle const&, boost::shared_ptr const&) () from /opt/ros/noetic/lib/libroscpp.so
#4 0x00007fd08d0a0e24 in ros::NodeHandle::advertise(ros::AdvertiseOptions&) () from /opt/ros/noetic/lib/libroscpp.so
#5 0x00005582511d85fb in ros::NodeHandle::advertise > > (this=0x7ffcaebf09a0, topic="/start_car", queue_size=10, latch=false) at /opt/ros/noetic/include/ros/node_handle.h:254
#6 0x00005582511e7758 in SocketData::initRosCommunication (this=0x558252b9ca00) at /home/iimt/workspace/workspace_ros_foodcar_noetic/src/slamservice/slamservice/src/NetWork/SocketData.cpp:70
#7 0x00005582511e72a0 in SocketData::SocketData (this=0x558252b9ca00, node=0x7ffcaebf09a0, parent=0x0) at /home/iimt/workspace/workspace_ros_foodcar_noetic/src/slamservice/slamservice/src/NetWork/SocketData.cpp:24
#8 0x00005582511d5549 in SocketData::getInstance (node=0x7ffcaebf09a0) at /home/iimt/workspace/workspace_ros_foodcar_noetic/src/slamservice/slamservice/src/NetWork/SocketData.h:237
#9 0x00005582511d096c in NetworkServer::NetworkServer (this=0x7ffcaebf0830, node=0x7ffcaebf09a0, parent=0x0) at /home/iimt/workspace/workspace_ros_foodcar_noetic/src/slamservice/slamservice/src/NetWork/NetworkServer.cpp:19
#10 0x00005582511d00a3 in main (argc=1, argv=0x7ffcaebf0b68) at /home/iimt/workspace/workspace_ros_foodcar_noetic/src/slamservice/slamservice/src/NetWork/main.cpp:34
#11 0x00007fd08bb9a0b3 in __libc_start_main (main=0x5582511cff48 , argc=1, argv=0x7ffcaebf0b68, init=, fini=, rtld_fini=, stack_end=0x7ffcaebf0b58) at ../csu/libc-start.c:308
#12 0x00005582511ca60e in _start ()
Attempt to use a type name as an expression.
Attempt to use a type name as an expression.
[Switching to thread 2 (Thread 0x7fd0881d2700 (LWP 798524))]
Couldn't get registers: 没有那个进程.
[Thread 0x7fd075905700 (LWP 798538) exited]
[Thread 0x7fd0763b7700 (LWP 798530) exited]
[Thread 0x7fd076bb8700 (LWP 798529) exited]
[Thread 0x7fd077fff700 (LWP 798528) exited]
[Thread 0x7fd0869cf700 (LWP 798527) exited]
[Thread 0x7fd0871d0700 (LWP 798526) exited]
[Thread 0x7fd0879d1700 (LWP 798525) exited]
[Thread 0x7fd0881d2700 (LWP 798524) exited]
Program terminated with signal SIGSEGV, Segmentation fault.
The program no longer exists. 应该是：指针传递错误
解决办法：
把指针传递改为引用传递；
ros 代码 （ ros::NodeHandle *node 指针传递）
int main(int argc, char *argv[]) {
//节点名
string nodeName = "currencyChassis_NetWorkNode";
//初始化节点
ros::init(argc,argv,nodeName);
//创建节点
ros::NodeHandle node;
QApplication app(argc, argv);
try {
//数据解析类
SocketData::getInstance(&node);
} catch (std::exception e) {
cout << "main currencyChassis_NetWorkNode 异常！" <//
// Created by iimt on 21-12-1.
//
#ifndef SLAMSERVICE_SOCKETDATA_H
#define SLAMSERVICE_SOCKETDATA_H
using namespace std;
class SocketData: public QWidget {
Q_OBJECT
private:
//私有三个构造函数
SocketData(ros::NodeHandle *node, QWidget *parent = 0);
SocketData(const SocketData&);
SocketData operator=(const SocketData&);
static mutex *m ;
ros::NodeHandle *node;
public:
~SocketData();
static SocketData * getInstance(ros::NodeHandle *node){
if(instance == nullptr){
m->lock();
//懒汉式
if(instance == nullptr){
instance = new SocketData(node);
}
m->unlock();
}
return instance;
}
};
#endif //SLAMSERVICE_SOCKETDATA_H
改 (ros::NodeHandle &node )引用传递后，代码不报错
int main(int argc, char *argv[]) {
//节点名
string nodeName = "currencyChassis_NetWorkNode";
//初始化节点
ros::init(argc,argv,nodeName);
//创建节点
ros::NodeHandle node;
QApplication app(argc, argv);
try {
//数据解析类
SocketData::getInstance(node);
} catch (std::exception e) {
cout << "main currencyChassis_NetWorkNode 异常！" <//
// Created by iimt on 21-12-1.
//
#ifndef SLAMSERVICE_SOCKETDATA_H
#define SLAMSERVICE_SOCKETDATA_H
using namespace std;
class SocketData: public QWidget {
Q_OBJECT
private:
//私有三个构造函数
SocketData(ros::NodeHandle &node, QWidget *parent = 0);
SocketData(const SocketData&);
SocketData operator=(const SocketData&);
static mutex *m ;
ros::NodeHandle node;
public:
~SocketData();
static SocketData * getInstance(ros::NodeHandle &node){
if(instance == nullptr){
m->lock();
//懒汉式
if(instance == nullptr){
instance = new SocketData(node);
}
m->unlock();
}
return instance;
}
};
#endif //SLAMSERVICE_SOCKETDATA_H