Rock-Tasks to create Maps from Pointclouds using the SLAM3D library.
orogen-slam3d's Introduction
orogen-slam3d's People
orogen-slam3d's Issues
Property use_odometry==false can lead to crashes
When the property use_odometry
is set to false there are a few opportunities to access the mOdometry
object even though it is nullptr
. Two can be reached by "normal" means, while one can only be reached through the transformer_callback
:
- Do a normal Start with
use_odometry=true
- Do Stop+Cleanup; set
use_odometry=false
- Do Configure+Start
- The transformer_callback will still be called because it has been registered in the Configure while
use_odometry==true
Here is a version that avoids the accesses through mOdometry
. One may want to also protect the access inside transformer_callback
. I am not sure if the mathematical results are correct.
https://github.com/pierrewillenbrockdfki/ric-orogen-slam3d/tree/workarounds-for-use_odometry-false
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