分段故障++

Question

看來，使用載體的情況越來越細分的故障是一個常見的問題，但我仍然不能似乎解決我的問題。我不清楚爲什麼getArmPose函數代碼段中的矢量導致分段錯誤。

class CytonServer 
{ 
public: 
    CytonServer(); 
private: 
    std::vector <double> arm_pos_; 
.... 


    void CytonServer::publish_Callback() 
    { 
    ROS_INFO("PUBLISH"); 
     boost::mutex::scoped_lock lock(publish_mutex_); 
     if (teleop_vehicle_==false) 
     { 
     ROS_INFO("Publishing "); 
     end_effector_type = "point_end_effector"; 

     //Here is the culprip see function below 
     arm_pos_ = cytonCommands.getArmPose(); 
     ..... 
     } 
    } 

//In a different file is the following method that is called and is causing the segmentation fault 


std::vector <double> EcCytonCommands::getArmPose() 
{ 

    double x,y,z; 
    std::vector<double> arm_pos_; 
    EcManipulatorEndEffectorPlacement actualEEPlacement; 
    EcCoordinateSystemTransformation actualCoord; 

    getActualPlacement(actualEEPlacement); 
    actualCoord=actualEEPlacement.offsetTransformations()[0].coordSysXForm(); 

    arm_pos_.push_back(actualCoord.translation().x()); 
    arm_pos_.push_back(actualCoord.translation().y()); 

    arm_pos_.push_back(actualCoord.translation().z()); 

    return arm_pos_; 
} 

有關如何解決此問題的任何幫助將不勝感激。

Answer 1

感謝您的快速反饋。我們發現問題不在於媒體，而是我所調用的第三方應用程序不是線程安全的。添加互斥鎖已解決此問題。

std::vector <double> EcCytonCommands::getArmPose() 
{ 
    boost::mutex::scoped_lock lock(publish_mutex_); 
    std::vector<double> arm_pos_; 

    EcManipulatorEndEffectorPlacement actualEEPlacement; 
    EcCoordinateSystemTransformation actualCoord; 

    getActualPlacement(actualEEPlacement); 
    actualCoord=actualEEPlacement.offsetTransformations()[0].coordSysXForm(); 

    arm_pos_.push_back(actualCoord.translation().x()); 
    arm_pos_.push_back(actualCoord.translation().y()); 

    arm_pos_.push_back(actualCoord.translation().z()); 

    std::cout << "size, x, y, z: " <<arm_pos_.size()<< " "<<arm_pos_[0] <<", "<<arm_pos_[1]<<", "<<arm_pos_[2] <<std::endl; 
}