Segmentation fault (Address not mapped to object [(nil)])
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大佬们，救救孩子吧，一天了，请问这是怎么回事，我用GDB调试，程序输出以下问题
Stack trace (most recent call last): #10 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in #9 Object "/home/user7/auv533_ws/install/auv_socket/lib/auv_socket/usbl_data_pub", at 0x55e9f1cc8254, in #8 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2d54e29e3f, in __libc_start_main #7 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2d54e29d8f, in #6 Object "/home/user7/auv533_ws/install/auv_socket/lib/auv_socket/usbl_data_pub", at 0x55e9f1cc812f, in #5 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f2d5562524e, in rclcpp::spin(std::shared_ptr<rclcpp::Node>) #4 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f2d55625154, in rclcpp::spin(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>) #3 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f2d55624f3f, in rclcpp::executors::SingleThreadedExecutor::spin() #2 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f2d5561d650, in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&) #1 Object "/home/user7/auv533_ws/install/auv_socket/lib/auv_socket/usbl_data_pub", at 0x55e9f1ccca44, in #0 Object "/home/user7/auv533_ws/install/auv_socket/lib/auv_socket/usbl_data_pub", at 0x55e9f1cdbbad, in Segmentation fault (Address not mapped to object [(nil)]) [ros2run]: Segmentation fault救救孩子吧
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@yudonghou123 你的程序编译的时候应该没有debug模式，显示不出具体代码
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@小鱼 您好，我测试出是哪个地方的问题了，我目前想在一个cpp文件中发布多个话题，但是在发布另一个话题时总是出现上面的问题，您能帮我看看程序的问题吗？
#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 <list> #include <ctime> #include <time.h> #include <sys/shm.h> #include "auv_msgs/msg/usbl.hpp" #include "auv_msgs/msg/shorebased.hpp" #include <vector> #include "auv_socket/USBL_STRUCT.h" #include "auv_socket/USBL_SHOREBASED.h" #include "std_msgs/msg/bool.hpp" // 通过socket通信接收数据，并实现USBL数据传输发布，发布话题名称为usbl_data // 信息格式：auv_msgs/msg/USBL ofstream usblfile; string usblfilename; // 设置端口和数据长度 #define PORT 29 #define DATASIZE 1024 #define BUFSIZE 40960 // 23 DVL 26 IMU 29 USBL 32 BDS // 设置IP地址 char *SERVER_IP = "192.168.0.7"; using namespace std; using namespace std::chrono_literals; class usbl_data_pub : public rclcpp::Node { public: usbl_data_pub() : Node("usbl_data_pub") { // 创建输出文件时间前缀 time_t now; struct tm *usbl_time_info; char usbl_time[20]; time(&now); usbl_time_info = localtime(&now); strftime(usbl_time, sizeof(usbl_time), "%Y%m%d%H%M%S", usbl_time_info); string usbltime(usbl_time); usblfilename = "txt/usbldata/usbldata_" + usbltime + ".txt"; ofstream usblfile(usblfilename); if (!usblfile.is_open()) { RCLCPP_ERROR(this->get_logger(), "USBL FILE OPEN ERROR"); } // 创建回调组 callback_group_1 = this->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); auto pub_opt_1 = rclcpp::PublisherOptions(); pub_opt_1.callback_group = callback_group_1; callback_group_2 = this->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); auto pub_opt_2 = rclcpp::PublisherOptions(); pub_opt_1.callback_group = callback_group_2; // 创建发布对象 usbl_publisher_ = this->create_publisher<auv_msgs::msg::USBL>("usbl_data", 100,pub_opt_1); usbl_parse_pub = this->create_publisher<auv_msgs::msg::SHOREBASED>("usbl_parsedata", 100,pub_opt_2); usbl_flag_pub = this->create_publisher<std_msgs::msg::Bool>("usbl_response", 100,pub_opt_1); usbl_timer_ = this->create_wall_timer(1s, std::bind(&usbl_data_pub::usbl_time_callback, this),callback_group_1); } private: void usbl_time_callback() { // socket通讯，创建socket对象和连接 char recvbuf[BUFSIZE]; int socket_cli = socket(AF_INET, SOCK_STREAM, 0); if (socket_cli < 0) { RCLCPP_ERROR(this->get_logger(), "USBL 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); // 判断是否连接成功 if (connect(socket_cli, (struct sockaddr *)&sev_addr, sizeof(sev_addr)) < 0) { RCLCPP_ERROR(this->get_logger(), "USBL CONNECT ERROR"); } else { RCLCPP_INFO(this->get_logger(), "USBL CONNECTED SUCCESS"); } recvFlag = false; while (rclcpp::ok()) { // 接收来自socket缓冲区的信息 recv(socket_cli, recvbuf, sizeof(recvbuf), 0); RCLCPP_INFO(this->get_logger(), "%s", recvbuf); // 创建USBL的消息腹部格式并赋值发布 auto usbl_data = auv_msgs::msg::USBL(); auto usbl_response = std_msgs::msg::Bool(); auto usbl_parse_msg = auv_msgs::msg::SHOREBASED(); usbl_response.data = recvFlag; // usbl_flag_pub->publish(usbl_response); // usbl_data.header.frame_id = "usbl_link"; rclcpp::Time usbl_right_time = this->get_clock()->now(); usbl_data.usbl_sys_time = usbl_right_time.seconds(); // usbl_data.header.stamp = usbl_right_time; unsigned char data[BUFSIZE] = {0}; const char *split = "$"; // 使用,割符对接收到的数据进行分割 char *buf; char *p = strtok(recvbuf, split); while (p != NULL) { buf = p; // 将获得的数据赋给buf，并将其从16进制转为ASCII，赋值给data数组 for (int i = 0; i < strlen(buf); i += 2) { unsigned char c = 0; unsigned char a = buf[i]; // 第一位 unsigned char b = buf[i + 1]; // 后一位 if (a <= '9' && a >= '0') c = a - '0'; // zhuanma else if (a <= 'F' && a >= 'A') c = a - 'A' + 10; else if (a <= 'f' && a >= 'a') c = a - 'a' + 10; else break; c = c << 4; if (b <= '9' && b >= '0') c += b - '0'; else if (b <= 'F' && b >= 'A') c += b - 'A' + 10; else if (b <= 'f' && b >= 'a') c += b - 'a' + 10; else break; data[i >> 1] = c; } // 确定数据类型 // 150向110发送数据，150发送成功，110接收失败，150反馈收到32和63的数据，110显示32 // 单$32 110发送成功，150接收不到 $32 $63 150发送失败 // 110PING150或者向150发送数据，或者150向110发送数据，其反馈的以$39开头的数据其均未包含任何信息， // 只有150PING110时，以$39开头的数据才包含角度，距离信息 // 考虑反馈返回的数据程序是否冲突 switch (data[0]) { case 0x32: { // 如果出现32数据，说明110向150发送数据，150接收不成功 RCLCPP_ERROR(this->get_logger(), "Message sent when the transceiver receiver encounters an error"); break; } case 0x35: { // 如果出现35数据说明150向110发送数据，110已经接收代码未处理 RCLCPP_INFO_ONCE(this->get_logger(), "Message sent when the transceiver receives a response (to a transmitted request)."); break; } case 0x38: { // USBL自身设备信息 CID_XCVR_USBL tmpt; const unsigned char *q = data; tmpt = CID_XCVR_USBL(q); break; } case 0x39: { // 读取USBL相对信息 CID_XCVR_FIX tmpt; const unsigned char *q = data; tmpt = CID_XCVR_FIX(q); usbl_data.beacon_id = tmpt.ACO_FIX.DEST_ID; usbl_data.local_depth = tmpt.ACO_FIX.DEPTH_LOCAL; usbl_data.usbl_vos = tmpt.ACO_FIX.VOS / 10.0; usbl_data.usbl_roll = tmpt.ACO_FIX.ATTITUDE_ROLL / 10.0; // 通过此标志符号判断39数据是由PING产生的还是发送数据60产生的，不是PING产生的订阅时产生的数据为0 // 发送60数据产生的39数值错误 if (tmpt.ACO_FIX.FLAGS & 0x01) { usbl_data.range_count = tmpt.ACO_FIX.RANGE_FIELD.RANGE_COUNT; usbl_data.range_time = tmpt.ACO_FIX.RANGE_FIELD.RANGE_TIME; usbl_data.range_dist = tmpt.ACO_FIX.RANGE_FIELD.RANGE_DIST / 10.0 / 2.0; } if (tmpt.ACO_FIX.FLAGS & 0x02) { usbl_data.usbl_pitch = tmpt.ACO_FIX.USBL_FIELD.USBL_ELEVATION / 10.0; usbl_data.usbl_yaw = tmpt.ACO_FIX.USBL_FIELD.USBL_AZIMUTH / 10.0; } if (tmpt.ACO_FIX.FLAGS & 0x04) { usbl_data.position_east = tmpt.ACO_FIX.POSITION_FIELD.POSITION_EASTING / 10.0 / 2.0; usbl_data.position_north = tmpt.ACO_FIX.POSITION_FIELD.POSITION_NORTHING / 10.0 / 2.0; usbl_data.position_depth = tmpt.ACO_FIX.POSITION_FIELD.POSITION_DEPTH / 10.0 / 2.0; } usbl_publisher_->publish(usbl_data); // 将数据保存进txt文件中 usblfile.open(usblfilename, ios::out | ios::app); usblfile << usbl_data.usbl_sys_time << " "; usblfile << fixed << setprecision(4) << usbl_data.usbl_pitch << " " << usbl_data.usbl_yaw << " " << usbl_data.position_east << " " << usbl_data.position_north << " " << usbl_data.position_depth << endl; usblfile.close(); break; } case 0x43: { // 如果出现43数据，说明150PING110不成功代码未处理 RCLCPP_ERROR(this->get_logger(), "Message sent when a PING response error/timeout occurs"); break; } case 0x60: { // 150 向110发送成功反馈，不管110是否已经接收成功 // usbl_response.data = false; // usbl_flag_pub->publish(usbl_response); recvFlag = false; RCLCPP_INFO(this->get_logger(), "Message sent to transmit a datagram to another beacon)."); break; } case 0x61: { // 解析110发送给150的数据 // 注意格式61数据产生的39指令不包含位姿角度和东北天向距离 // CID_DAT_RECEIVE tmpt; const unsigned char *q = data; USBL_DATA_PARSE(data); break; } case 0x63: { // 标志150向110发送信息失败，代码未处理 RCLCPP_ERROR(this->get_logger(), "Message generated when a beacon response error/timeout occurs for ACKs."); break; } default: break; } p = strtok(NULL, split); } } close(socket_cli); } void USBL_DATA_PARSE(const unsigned char *data) { auto usbl_parse_msg = auv_msgs::msg::SHOREBASED(); CID_DAT_RECEIVE tmpt; tmpt = CID_DAT_RECEIVE(data); if (tmpt.PACKET_DATA[0] == 10 && tmpt.PACKET_LEN == 15) { // recvFlag = true; usbl_parse_msg.nextpos[0] = tmpt.PACKET_DATA[1]; // 当前路径点总个数 usbl_parse_msg.nextpos[1] = tmpt.PACKET_DATA[2]; // 当前路径点位数 usbl_parse_msg.nextpos[2] = ((tmpt.PACKET_DATA[3] + (tmpt.PACKET_DATA[4] << 8) + (tmpt.PACKET_DATA[5] << 16) + (tmpt.PACKET_DATA[6] << 24))); // 纬度 usbl_parse_msg.nextpos[3] = ((tmpt.PACKET_DATA[7] + (tmpt.PACKET_DATA[8] << 8) + (tmpt.PACKET_DATA[9] << 16) + (tmpt.PACKET_DATA[10] << 24))); // 经度 usbl_parse_msg.nextpos[4] = ((tmpt.PACKET_DATA[11] + (tmpt.PACKET_DATA[12] << 8) + (tmpt.PACKET_DATA[13] << 16) + (tmpt.PACKET_DATA[14] << 24))); // 高度 usbl_parse_pub->publish(usbl_parse_msg); // usbl_parse_pub->publish(usbl_parse_msg); } } rclcpp::Publisher<std_msgs::msg::Bool>::SharedPtr usbl_flag_pub; rclcpp::TimerBase::SharedPtr usbl_timer_; rclcpp::Publisher<auv_msgs::msg::USBL>::SharedPtr usbl_publisher_; rclcpp::Publisher<auv_msgs::msg::SHOREBASED>::SharedPtr usbl_parse_pub; rclcpp::CallbackGroup::SharedPtr callback_group_1; rclcpp::CallbackGroup::SharedPtr callback_group_2; }; int main(int argc, char *argv[]) { rclcpp::init(argc, argv); // rclcpp::spin(std::make_shared<usbl_data_pub>()); rclcpp::executors::MultiThreadedExecutor executor; auto usbl_data_pub_node = std::make_shared<usbl_data_pub>(); executor.add_node(usbl_data_pub_node); executor.spin(); rclcpp::shutdown(); return 0; }程序在发布话题时出现问题，我把话题发布注释掉就可行了，但是目前我想发布这个话题
void USBL_DATA_PARSE(const unsigned char *data) { auto usbl_parse_msg = auv_msgs::msg::SHOREBASED(); CID_DAT_RECEIVE tmpt; tmpt = CID_DAT_RECEIVE(data); if (tmpt.PACKET_DATA[0] == 10 && tmpt.PACKET_LEN == 15) { // recvFlag = true; usbl_parse_msg.nextpos[0] = tmpt.PACKET_DATA[1]; // 当前路径点总个数 usbl_parse_msg.nextpos[1] = tmpt.PACKET_DATA[2]; // 当前路径点位数 usbl_parse_msg.nextpos[2] = ((tmpt.PACKET_DATA[3] + (tmpt.PACKET_DATA[4] << 8) + (tmpt.PACKET_DATA[5] << 16) + (tmpt.PACKET_DATA[6] << 24))); // 纬度 usbl_parse_msg.nextpos[3] = ((tmpt.PACKET_DATA[7] + (tmpt.PACKET_DATA[8] << 8) + (tmpt.PACKET_DATA[9] << 16) + (tmpt.PACKET_DATA[10] << 24))); // 经度 usbl_parse_msg.nextpos[4] = ((tmpt.PACKET_DATA[11] + (tmpt.PACKET_DATA[12] << 8) + (tmpt.PACKET_DATA[13] << 16) + (tmpt.PACKET_DATA[14] << 24))); // 高度 usbl_parse_pub->publish(usbl_parse_msg); // usbl_parse_pub->publish(usbl_parse_msg); } }芜湖
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@yudonghou123 建议debug到具体哪一行挂掉的，这样方便找到问题
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@小鱼 您好，我的终端是这样报错的
Thread 1 "usbl_parse_pub" received signal SIGSEGV, Segmentation fault. 0x0000555555567ab6 in usbl_parse_pub::USBL_DATA_PARSE (this=0x555555640430, data=0x7fffffff2f6e "\fZ\003") at /home/user7/auv533_ws/src/auv_socket/src/usbl_parse_pub.cpp:175 175 if (tmpt.PACKET_DATA[0] == 10 && tmpt.PACKET_LEN == 15) (gdb) -
@yudonghou123 在 Segmentation fault (Address not mapped to object [(nil)]) 中说：
if (tmpt.PACKET_DATA[0] == 10 && tmpt.PACKET_LEN == 15)
有没有一种可能，我说是一种可能，tmpt 是空的数组
