fix bugs for Ubuntu 20.04 and ROS noetic

[BorisVandermeer]

demonode.cpp around line 135

In ROS noetic , It seems that a "mark_frame_id" can't be named begin with '/'

In reference_path_impl.cpp , In function ' buildReferenceFromStates ' around the tenth line from the bottom

" return true " is forgotten by mistake, which lead to a mistake like :
" double free or corruption (!prev) " or " free(): double free detected in tcache 2 "

Interestingly, in Ubuntu 16.04 or older this function seems to return true by default.

[bryanibit]

I modify /map to map for removing the running error. But process dies after choose 6 points, start and goal pose. At the same time, markarray shows error as follow in rviz.

I wanna ask you if your ps works well.

[BorisVandermeer]

我用起来没什么问题，我的issue上还有一个问题，需要在一buildReferenceFromStates那个函数后面添加一个return true，这个不改在高版本C++里面会导致程序崩溃

[bryanibit]

I add return true to the function you mentioned but I still had the error after putting the goal pose. I think there is a segment fault in my Ubuntu 20 in Release mode. I have the results in Debug mode via modifying CMakeLists.txt.

[BorisVandermeer]

You could try replacing "/path_optimizer/test/demo.cpp" with
demo.zip

[bryanibit]

@BorisVandermeer Still not working changing demo.cpp in Release mode. I think some params are not initialized, which results in the segment fault. In debug mode, it works well in Ubuntu 16.04 ros kinetic.

[LiliHU-tech]

@BorisVandermeer you can modify the "/map" to "map" in the demo.cpp