[ros2run]: Segmentation fault

[yudonghou123]

系统ubuntu22.04,ros2
各位大佬，我在进行ROS2 RUN时，终端输出以下问题：

ros2 run auv_socket imu_data_pub 
[INFO] [1679059271.449093718] [imu_data_pub]: Connect RUNNING
[INFO] [1679059271.449619076] [imu_data_pub]: connected successfullly!
server message: $AUXA,1873.105,001873.100,   0.000,  0.000,  0.000,31.88882479,120.56537209,  29.64,  0.000,  0.000,0.0000, 0.000464, 0.001863,-0.003287,-0.002777, 0.999490, 0.017888,23.31,31.88882479,120.56537209,  29.64,  0.000,  0.000,   0.000,  0,00|00|00|000|000|0.00,0x02004080,0x00000010*C9
��U
[ros2run]: Segmentation fault

我的惯导发布节点代码如下：

#include <memory>
#include <iostream>
#include <fstream>
#include <iomanip>
#include "rclcpp/rclcpp.hpp"
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/socket.h>
#include <sys/types.h>
#include <unistd.h>
#include <arpa/inet.h>
#include <netinet/in.h>
#include <fcntl.h>
#include <sys/shm.h>
#include "auv_msgs/msg/imu.hpp"
// IMU数据传输发布
#define PORT 26
#define BUFSIZE 1024
// 23 DVL    26 IMU    29 USBL     32 BDS
char *SERVER_IP = "192.168.0.7";
int result = 0;

using namespace std;
using namespace std::chrono_literals;

class imu_data_pub : public rclcpp::Node
{
public:
	imu_data_pub() : Node("imu_data_pub")
	{
		// 添加上电信号的指令

		auto now = std::chrono::system_clock::now();
		// 通过不同精度获取相差的毫秒数
		uint64_t dis_millseconds = std::chrono::duration_cast<std::chrono::milliseconds>(now.time_since_epoch()).count() - std::chrono::duration_cast<std::chrono::seconds>(now.time_since_epoch()).count() * 1000;
		time_t tt = std::chrono::system_clock::to_time_t(now);
		auto time_tm = localtime(&tt);
		char strTime[25] = {0};
		sprintf(strTime, "%d-%02d-%02d %02d:%02d:%02d %03d", time_tm->tm_year + 1900,
				time_tm->tm_mon + 1, time_tm->tm_mday, time_tm->tm_hour,
				time_tm->tm_min, time_tm->tm_sec, (int)dis_millseconds);
		ofstream imufile;
		imufile.open("imudata.txt", ios::out | ios::app);
		imufile << "******" << strTime << "******" << endl;
		imufile.close();
		// 创建发布对象
		imu_publisher_ = this->create_publisher<auv_msgs::msg::IMU>("imu_data", 100);
		imu_timer_ = this->create_wall_timer(0.1s, std::bind(&imu_data_pub::imu_time_callback, this));
	}

private:
	void imu_time_callback()
	{ // socket通讯
		char recvbuf[BUFSIZE];

		int socket_cli = socket(AF_INET, SOCK_STREAM, 0);
		if (socket_cli < 0)
		{
			RCLCPP_INFO(this->get_logger(), "socket() error!");
		}

		struct sockaddr_in sev_addr;
		memset(&sev_addr, 0, sizeof(sev_addr));
		sev_addr.sin_family = AF_INET;
		sev_addr.sin_port = htons(PORT);
		sev_addr.sin_addr.s_addr = inet_addr(SERVER_IP);
		RCLCPP_INFO(this->get_logger(), "Connect RUNNING");

		if (connect(socket_cli, (struct sockaddr *)&sev_addr, sizeof(sev_addr)) < 0)
		{
			RCLCPP_INFO(this->get_logger(), "connect error");
		}
		else
		{
			RCLCPP_INFO(this->get_logger(), "connected successfullly!");
		}
		while (rclcpp::ok())
		{
			// 读取变量信息
			recv(socket_cli, recvbuf, sizeof(recvbuf), 0);
			printf("server message: %s\n", recvbuf);
			auto imu_data = auv_msgs::msg::IMU();
			const char *split = ","; // 使用,割符进行分割
			char *p = strtok(recvbuf, split);
			int num = 0;
			double imu_value[24];
			while (p != NULL)
			{
				imu_value[num] = strtod(p, NULL);
				num++;
				p = strtok(NULL, split);
			}
			imu_data.header.frame_id = "imu_link";
			rclcpp::Time imu_right_time = this->get_clock()->now();
			imu_data.header.stamp = imu_right_time;
			imu_data.imu_run_time = imu_value[1];
			imu_data.imu_utc_time = imu_value[2];
			imu_data.imu_yaw = imu_value[3];
			imu_data.imu_pitch = imu_value[4];
			imu_data.imu_roll = imu_value[5];
			imu_data.imu_lat = imu_value[6];
			imu_data.imu_lon = imu_value[7];
			imu_data.imu_height = imu_value[8];
			imu_data.imu_n_velocity = imu_value[9];
			imu_data.imu_e_velocity = imu_value[10];
			imu_data.imu_estimate_err = imu_value[11];
			imu_data.imu_x_angvel = imu_value[12];
			imu_data.imu_y_angvel = imu_value[13];
			imu_data.imu_z_angvel = imu_value[14];
			imu_data.imu_x_speforce = imu_value[15];
			imu_data.imu_y_speforce = imu_value[16];
			imu_data.imu_z_speforce = imu_value[17];
			imu_data.imu_sys_temp = imu_value[18];
			imu_data.imu_ref_lat = imu_value[19];
			imu_data.imu_ref_lon = imu_value[20];
			imu_data.imu_ref_height = imu_value[21];
			imu_data.imu_ref_northvel = imu_value[22];
			imu_data.imu_ref_eastvel = imu_value[23];
			imu_data.imu_ref_yaw = imu_value[24];
			// 判断角度不能超过其规定范围
			/*if (imu_data.imu_yaw < 0)
			{
				imu_data.imu_yaw += 360;
				// RCLCPP_INFO(this->get_logger(), "IMU DATA ERROR");
			}
			else if (imu_data.imu_yaw > 360)
			{
				imu_data.imu_yaw -= 360;
			}
			else
			{ */
			// 将数据写入txt文件储存，以便后期调用
			ofstream imufile;
			imufile.open("imudata.txt", ios::out | ios::app);
			for (int i = 0; i < 25; i++)
			{
				imufile << fixed << setprecision(4) << imu_value[i] << " ";
			}
			cout << endl;
			imufile.close();
			// 发布数据
			imu_publisher_->publish(imu_data);
			//}
		}
		close(socket_cli);
	}
	rclcpp::TimerBase::SharedPtr imu_timer_;
	rclcpp::Publisher<auv_msgs::msg::IMU>::SharedPtr imu_publisher_;
};

int main(int argc, char *argv[])
{
	rclcpp::init(argc, argv);
	rclcpp::spin(std::make_shared<imu_data_pub>());
	rclcpp::shutdown();
	return 0;
}

我利用的socket通信来获取数据信息，大佬们能帮我看看怎么回事吗，不胜感激

[小鱼]

@yudonghou123 gdb一下看看