depthai-ros: [BUG] depthai_ros_driver camera.launch.py crashes "double free detected in tcache 2"

Describe the bug When I ran ros2 launch depthai_ros_driver camera.launch.py, it crashes at a random time with the error

[component_container-2] free(): double free detected in tcache 2
[ERROR] [component_container-2]: process has died [pid 55444, exit code -6, cmd '/opt/ros/humble/install/lib/rclcpp_components/component_container --ros-args --log-level debug --ros-args -r __node:=oak_container -r __ns:=/'].

Minimal Reproducible Example

Run ros2 launch depthai_ros_driver camera.launch.py with default parameters.

(stereo_inertial_node in depthai_examples works well.)

Attach system log Logs are here: log.txt log_system_information.json.txt

I am using a Jetson Orin Nano.

About this issue

Original URL
State: closed
Created a year ago
Comments: 26

Most upvoted comments

Hi, I was experiencing the same issue, both on a Ubuntu 22 laptop and a PI4. After attaching myself with a debugger, I narrowed the error to the IMU interpolation function (to be exact line 182 of ImuConverter.hpp).

The workaround I found is to set the sync method to COPY. Here is my pcl.yaml:

/oak:
  ros__parameters:
    camera:
      i_nn_type: none
    right:
      i_publish_topic: true
    stereo:
      i_align_depth: false
      i_subpixel: true
    imu:
      i_sync_method: COPY

BOOTCFG on Jul 13, 2023

@asimonov you can try the fix for noetic here

yes, this works without crashes for me. ubuntu 20 inside docker on jetson orin NX with jetpack 5.1.1. Oak-D Pro W Ethernet version.

i am only using mono left/right images and IMU in interpolated mode

asimonov on Aug 2, 2023

I’ve pushed some additional changes

No crashes after ~10 minutes on the updated branch with the same OAK-D Pro Wide USB camera (crashes within ~1 minute on apt version). I’m currently only able to verify it does not crash and rgb/depth streams to rviz, I don’t have a known good regression test suite - so it would be nice if anyone else can confirm,

Thanks for the updates and let me know if there’s anything else I can help with (will be out of contact the rest of this week after today).

ksharma-bdai on Aug 1, 2023

@Serafadam +1, this workaround resolves the issue for me as well (same lab as @tkelestemur-bdai)

@BOOTCFG nice detective work, thanks!

Also for some additional context if it is useful, this crash only occurs on our OAK-D Pro Wide USB cameras, the non-pro Wide USB version does not crash in the same launch setup.

ksharma-bdai on Jul 26, 2023