Segmentation fault after connecting ROS 2 node to GNSS system #27
Description
Hardware Information
GNSS system: ADMA-Micro
Target computer: NVIDIA Jetson Orin AGX Devkit (aarch64 architecture)
Detailed Description
The ROS node was initialized inside a Docker container and the connection to the GNSS system could be established, but immediately terminates with exit code -11.
The docker image can be built by using the following Dockerfile:
FROM ros:iron
SHELL ["/bin/bash", "-c", "-o", "pipefail"]
ENV DEBIAN_FRONTEND=noninteractive \
force_color_prompt=yes \
PIP_DISABLE_PIP_VERSION_CHECK=true \
RMW_IMPLEMENTATION="rmw_cyclonedds_cpp" \
ROS_PACKAGE_PATH="/opt/ros/${ROS_DISTRO}" \
ROS_ROOT="/opt/ros/${ROS_DISTRO}"
RUN apt-get update -y && \
apt-get upgrade -y && \
apt-get install -y --no-install-recommends \
python3-pip \
vim-tiny \
ros-"${ROS_DISTRO}"-ament-cmake-clang-format \
ros-"${ROS_DISTRO}"-rmw-cyclonedds-cpp \
&& rm -rf /var/lib/apt/lists/* \
&& apt-get clean
# Install ZED ROS wrapper
WORKDIR /tmp/colcon
RUN git config --global advice.detachedHead false \
&& source "${ROS_PACKAGE_PATH}/setup.bash" \
&& mkdir -p src/ \
&& git clone --depth 1 --branch ros2_v2.2.0 \
--recursive https://github.com/GeneSysElektronik/adma_ros_driver.git \
"src/adma_ros_driver" \
&& rosdep update \
--include-eol-distros \
--rosdistro="${ROS_DISTRO}" \
&& rosdep install \
--from-paths src/ \
--rosdistro "${ROS_DISTRO}" \
--ignore-src -r -y \
&& colcon build \
--cmake-clean-first \
--install-base "${ROS_ROOT}/install" \
--merge-install \
--ament-cmake-args " -Wno-dev" \
&& rm -rf \
"build/" \
"log/" \
"src/" \
"*.rosinstall" \
/var/lib/apt/lists/* \
&& apt-get clean
RUN python3 -m pip install --no-cache-dir \
pytest~=7.0
# Entry point source ROS
COPY scripts/entrypoint.sh /usr/local/bin/entrypoint
ENTRYPOINT ["entrypoint"]
WORKDIR /appwhere the scripts/entrypoint.sh used inside the Dockerfile contains:
#!/bin/bash
source_if_exists() {
# shellcheck disable=SC1090
if [[ -f $1 ]]; then echo "Sourcing: $1" && source "$1"; fi
}
source_if_exists "${ROS_PACKAGE_PATH}/setup.bash"
source_if_exists "${ROS_ROOT}/install/setup.bash"
exec "$@"the build process was executed with the following command:
docker buildx create --use --name=multiarch
docker buildx build \
-t <image-name> \
--provenance=false \
--platform linux/amd64,linux/arm64/v8 \
--file Dockerfile \
.
docker buildx rm --force multiarchThe ROS node was launched using the following command:
local_root="$(git rev-parse --show-toplevel)"
docker run \
-t \
--rm \
--workdir=/app \
--network=host \
-v "${local_root}/config/gensys.yml":"/opt/ros/iron/install/share/adma_ros2_driver/config/driver_config.yaml" \
-v "${local_root}":/app \
<image-name> \
bash -c "ros2 launch adma_ros2_driver adma_driver.launch.py"with the config/gensys.yml file:
/**:
adma_ros2_driver:
ros__parameters:
destination_ip: '<ip-address>'
destination_port: 11021
use_performance_check: False
protocol_version: 'v3.3.5'
frame_ids:
navsatfix: 'gnss_link'
imu: 'imu_link'
adma: 'adma'
adma_status: 'adma_status'
raw_data: 'data_raw'
odometry_pose_id: 'adma' # header.frame_id (basicly could be a "name" of desired POI)
odometry_twist_id: 'odometry' # odometry.child_frame_id
odometry_yaw_offset: 0.0 # in degrees
topic_pois: # those values can be mixed individually
navsatfix: 1 # either 1-8 for desired POI or 0 if MRP(Measurement Reference Point) is required
imu: 1
velocity: 1
odometry: 1
mode: 0 # 0 = live (default) / 1 = rosbag replay of raw data
time_mode: 0 # 0 = ADMA INS time / 1 = ROS system time