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Fix segmentation fault during destruction

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This commit is contained in:
Lu Junjie
2024-11-04 23:15:18 +08:00
parent 84bfe2e761
commit 361e57fc2b
6 changed files with 24 additions and 18 deletions
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11
flightlib/src/ros_nodes/flight_pilot.cpp
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@@ -15,14 +15,9 @@ FlightPilot::FlightPilot(const ros::NodeHandle& nh, const ros::NodeHandle& pnh)
// initialization
quad_state_.setZero();
if (scene_id_ == UnityScene::NATUREFOREST) {
quad_state_.x(QS::POSX) = 51; // 41-61
quad_state_.x(QS::POSY) = 108; // 98-118
quad_state_.x(QS::POSZ) = 34;
}
quad_ptr_->reset(quad_state_);
sgm_.reset(new sgm_gpu::SgmGpu(width_, height_));
sgm_ = std::make_shared<sgm_gpu::SgmGpu>(width_, height_);
// initialize subscriber and publisher
left_img_pub = nh_.advertise<sensor_msgs::Image>("RGB_image", 1);
@@ -44,7 +39,7 @@ FlightPilot::FlightPilot(const ros::NodeHandle& nh, const ros::NodeHandle& pnh)
spawnTreesAndSavePointCloud();
timer_main_loop_ = nh_.createTimer(ros::Rate(main_loop_freq_), &FlightPilot::mainLoopCallback, this);
std::cout<<"[FlightRos] Ros Node is Ready!"<<std::endl;
std::cout << "[FlightRos] Ros Node is Ready!" << std::endl;
}
FlightPilot::~FlightPilot() { disconnectUnity(); }
@@ -198,7 +193,7 @@ bool FlightPilot::loadParams(const YAML::Node& cfg) {
unity_render_ = cfg["unity_render"].as<bool>();
Scalar quad_size_i = cfg["quad_size"].as<Scalar>();
quad_size_ = Vector<3>(quad_size_i, quad_size_i, quad_size_i);
spawn_tree_ = cfg["unity"]["spawn_trees"].as<bool>();
spawn_tree_ = cfg["unity"]["spawn_trees"].as<bool>();
save_pointcloud_ = cfg["unity"]["save_pointcloud"].as<bool>();
avg_tree_spacing_ = cfg["unity"]["avg_tree_spacing"].as<Scalar>();
for (int i = 0; i < 3; ++i) {