Thread 20 (Thread 0x7fc1c15fa700 (LWP 32355)): #0 0x00007fc25171ded9 in futex_reltimed_wait_cancelable (private=, reltime=0x7fc1c15f88b0, expected=0, futex_word=0x559f5ce91924) at ../sysdeps/unix/sysv/linux/futex-internal.h:142 __ret = -516 oldtype = 0 err = rt = {tv_sec = 0, tv_nsec = 99996885} spin = 0 buffer = {__routine = 0x7fc25171d690 <__condvar_cleanup_waiting>, __arg = 0x7fc1c15f88e0, __canceltype = 0, __prev = 0x0} cbuffer = {wseq = 1027, cond = 0x559f5ce918f8, mutex = 0x559f5ce918d0, private = 0} err = g = 1 flags = maxspin = 0 signals = result = 0 seq = 513 #1 0x00007fc25171ded9 in __pthread_cond_wait_common (abstime=0x7fc1c15f89e0, mutex=0x559f5ce918d0, cond=0x559f5ce918f8) at pthread_cond_wait.c:533 rt = {tv_sec = 0, tv_nsec = 99996885} spin = 0 buffer = {__routine = 0x7fc25171d690 <__condvar_cleanup_waiting>, __arg = 0x7fc1c15f88e0, __canceltype = 0, __prev = 0x0} cbuffer = {wseq = 1027, cond = 0x559f5ce918f8, mutex = 0x559f5ce918d0, private = 0} err = g = 1 flags = maxspin = 0 signals = result = 0 seq = 513 #2 0x00007fc25171ded9 in __pthread_cond_timedwait (cond=0x559f5ce918f8, mutex=0x559f5ce918d0, abstime=0x7fc1c15f89e0) at pthread_cond_wait.c:667 #3 0x00007fc252d5d885 in ros::TimerManager::threadFunc() () at /opt/ros/melodic/lib/libroscpp.so #4 0x00007fc24f803bcd in () at /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.65.1 #5 0x00007fc2517176db in start_thread (arg=0x7fc1c15fa700) at pthread_create.c:463 pd = 0x7fc1c15fa700 now = unwind_buf = {cancel_jmp_buf = {{jmp_buf = {140470149687040, 8542201946237295765, 140470149680512, 0, 140471737296528, 140471845739776, -8572463531471938411, -8570528711322116971}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} not_first_call = #6 0x00007fc24ff5e88f in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95 Thread 19 (Thread 0x7fc1c1dfb700 (LWP 32316)): #0 0x00007fc2517206d6 in futex_abstimed_wait_cancelable (private=0, abstime=0x0, expected=0, futex_word=0x559f5dbdc808) at ../sysdeps/unix/sysv/linux/futex-internal.h:205 __ret = -512 oldtype = 0 err = #1 0x00007fc2517206d6 in do_futex_wait (sem=sem@entry=0x559f5dbdc808, abstime=0x0) at sem_waitcommon.c:111 #2 0x00007fc2517207c8 in __new_sem_wait_slow (sem=0x559f5dbdc808, abstime=0x0) at sem_waitcommon.c:181 _buffer = {__routine = 0x7fc251720690 <__sem_wait_cleanup>, __arg = 0x559f5dbdc808, __canceltype = 0, __prev = 0x0} err = d = 0 #3 0x00007fc1d9274277 in () at /usr/lib/x86_64-linux-gnu/libnvidia-opencl.so.1 #4 0x00007fc1d913d026 in () at /usr/lib/x86_64-linux-gnu/libnvidia-opencl.so.1 #5 0x00007fc1d92762a8 in () at /usr/lib/x86_64-linux-gnu/libnvidia-opencl.so.1 #6 0x00007fc2517176db in start_thread (arg=0x7fc1c1dfb700) at pthread_create.c:463 pd = 0x7fc1c1dfb700 now = unwind_buf = {cancel_jmp_buf = {{jmp_buf = {140470158079744, 8542201946237295765, 140470158073216, 0, 94143000251008, 140737097297136, -8572464630446695275, -8570528711322116971}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} not_first_call = #7 0x00007fc24ff5e88f in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95 Thread 18 (Thread 0x7fc1c25fc700 (LWP 32315)): #0 0x00007fc2517206d6 in futex_abstimed_wait_cancelable (private=0, abstime=0x0, expected=0, futex_word=0x559f601261a8) at ../sysdeps/unix/sysv/linux/futex-internal.h:205 __ret = -512 oldtype = 0 err = #1 0x00007fc2517206d6 in do_futex_wait (sem=sem@entry=0x559f601261a8, abstime=0x0) at sem_waitcommon.c:111 #2 0x00007fc2517207c8 in __new_sem_wait_slow (sem=0x559f601261a8, abstime=0x0) at sem_waitcommon.c:181 _buffer = {__routine = 0x7fc251720690 <__sem_wait_cleanup>, __arg = 0x559f601261a8, __canceltype = 0, __prev = 0x0} err = d = 4294967296 #3 0x00007fc1d9274277 in () at /usr/lib/x86_64-linux-gnu/libnvidia-opencl.so.1 #4 0x00007fc1d913d026 in () at /usr/lib/x86_64-linux-gnu/libnvidia-opencl.so.1 #5 0x00007fc1d92762a8 in () at /usr/lib/x86_64-linux-gnu/libnvidia-opencl.so.1 #6 0x00007fc2517176db in start_thread (arg=0x7fc1c25fc700) at pthread_create.c:463 pd = 0x7fc1c25fc700 now = unwind_buf = {cancel_jmp_buf = {{jmp_buf = {140470166472448, 8542201946237295765, 140470166465920, 0, 94143000250320, 140737097297136, -8572465731568935787, -8570528711322116971}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} not_first_call = #7 0x00007fc24ff5e88f in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95 Thread 17 (Thread 0x7fc1c2dfd700 (LWP 32314)): #0 0x00007fc2517206d6 in futex_abstimed_wait_cancelable (private=0, abstime=0x0, expected=0, futex_word=0x559f601261a8) at ../sysdeps/unix/sysv/linux/futex-internal.h:205 __ret = -512 oldtype = 0 err = #1 0x00007fc2517206d6 in do_futex_wait (sem=sem@entry=0x559f601261a8, abstime=0x0) at sem_waitcommon.c:111 #2 0x00007fc2517207c8 in __new_sem_wait_slow (sem=0x559f601261a8, abstime=0x0) at sem_waitcommon.c:181 _buffer = {__routine = 0x7fc251720690 <__sem_wait_cleanup>, __arg = 0x559f601261a8, __canceltype = 0, __prev = 0x0} err = d = 8589934592 #3 0x00007fc1d9274277 in () at /usr/lib/x86_64-linux-gnu/libnvidia-opencl.so.1 #4 0x00007fc1d913d026 in () at /usr/lib/x86_64-linux-gnu/libnvidia-opencl.so.1 #5 0x00007fc1d92762a8 in () at /usr/lib/x86_64-linux-gnu/libnvidia-opencl.so.1 #6 0x00007fc2517176db in start_thread (arg=0x7fc1c2dfd700) at pthread_create.c:463 pd = 0x7fc1c2dfd700 now = unwind_buf = {cancel_jmp_buf = {{jmp_buf = {140470174865152, 8542201946237295765, 140470174858624, 0, 94143000221856, 140737097297136, -8572466830543692651, -8570528711322116971}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} not_first_call = #7 0x00007fc24ff5e88f in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95 Thread 16 (Thread 0x7fc1c35fe700 (LWP 32313)): #0 0x00007fc2517206d6 in futex_abstimed_wait_cancelable (private=0, abstime=0x0, expected=0, futex_word=0x559f601261a8) at ../sysdeps/unix/sysv/linux/futex-internal.h:205 __ret = -512 oldtype = 0 err = #1 0x00007fc2517206d6 in do_futex_wait (sem=sem@entry=0x559f601261a8, abstime=0x0) at sem_waitcommon.c:111 #2 0x00007fc2517207c8 in __new_sem_wait_slow (sem=0x559f601261a8, abstime=0x0) at sem_waitcommon.c:181 _buffer = {__routine = 0x7fc251720690 <__sem_wait_cleanup>, __arg = 0x559f601261a8, __canceltype = 0, __prev = 0x0} err = d = 12884901888 #3 0x00007fc1d9274277 in () at /usr/lib/x86_64-linux-gnu/libnvidia-opencl.so.1 #4 0x00007fc1d913d026 in () at /usr/lib/x86_64-linux-gnu/libnvidia-opencl.so.1 #5 0x00007fc1d92762a8 in () at /usr/lib/x86_64-linux-gnu/libnvidia-opencl.so.1 #6 0x00007fc2517176db in start_thread (arg=0x7fc1c35fe700) at pthread_create.c:463 pd = 0x7fc1c35fe700 now = unwind_buf = {cancel_jmp_buf = {{jmp_buf = {140470183257856, 8542201946237295765, 140470183251328, 0, 94143000221248, 140737097297136, -8572467927370965867, -8570528711322116971}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} not_first_call = #7 0x00007fc24ff5e88f in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95 Thread 15 (Thread 0x7fc1c3dff700 (LWP 32312)): #0 0x00007fc2517206d6 in futex_abstimed_wait_cancelable (private=0, abstime=0x0, expected=0, futex_word=0x559f601261a8) at ../sysdeps/unix/sysv/linux/futex-internal.h:205 __ret = -512 oldtype = 0 err = #1 0x00007fc2517206d6 in do_futex_wait (sem=sem@entry=0x559f601261a8, abstime=0x0) at sem_waitcommon.c:111 #2 0x00007fc2517207c8 in __new_sem_wait_slow (sem=0x559f601261a8, abstime=0x0) at sem_waitcommon.c:181 _buffer = {__routine = 0x7fc251720690 <__sem_wait_cleanup>, __arg = 0x559f601261a8, __canceltype = 0, __prev = 0x0} err = d = 0 #3 0x00007fc1d9274277 in () at /usr/lib/x86_64-linux-gnu/libnvidia-opencl.so.1 #4 0x00007fc1d913d026 in () at /usr/lib/x86_64-linux-gnu/libnvidia-opencl.so.1 #5 0x00007fc1d92762a8 in () at /usr/lib/x86_64-linux-gnu/libnvidia-opencl.so.1 #6 0x00007fc2517176db in start_thread (arg=0x7fc1c3dff700) at pthread_create.c:463 pd = 0x7fc1c3dff700 now = unwind_buf = {cancel_jmp_buf = {{jmp_buf = {140470191650560, 8542201946237295765, 140470191644032, 0, 94143000220640, 140737097297136, -8572469026345722731, -8570528711322116971}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} not_first_call = #7 0x00007fc24ff5e88f in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95 Thread 14 (Thread 0x7fc1d8828700 (LWP 32311)): #0 0x00007fc25171d9f3 in futex_wait_cancelable (private=, expected=0, futex_word=0x559f5de4e878) at ../sysdeps/unix/sysv/linux/futex-internal.h:88 __ret = -512 oldtype = 0 err = spin = 0 buffer = {__routine = 0x7fc25171d690 <__condvar_cleanup_waiting>, __arg = 0x7fc1d8826b80, __canceltype = 1603039592, __prev = 0x0} cbuffer = {wseq = 0, cond = 0x559f5de4e850, mutex = 0x559f5de4e828, private = 0} err = g = 0 flags = signals = result = 0 seq = 0 #1 0x00007fc25171d9f3 in __pthread_cond_wait_common (abstime=0x0, mutex=0x559f5de4e828, cond=0x559f5de4e850) at pthread_cond_wait.c:502 spin = 0 buffer = {__routine = 0x7fc25171d690 <__condvar_cleanup_waiting>, __arg = 0x7fc1d8826b80, __canceltype = 1603039592, __prev = 0x0} cbuffer = {wseq = 0, cond = 0x559f5de4e850, mutex = 0x559f5de4e828, private = 0} err = g = 0 flags = signals = result = 0 seq = 0 #2 0x00007fc25171d9f3 in __pthread_cond_wait (cond=0x559f5de4e850, mutex=0x559f5de4e828) at pthread_cond_wait.c:655 #3 0x00007fc1d927706d in () at /usr/lib/x86_64-linux-gnu/libnvidia-opencl.so.1 #4 0x00007fc1d9215af3 in () at /usr/lib/x86_64-linux-gnu/libnvidia-opencl.so.1 #5 0x00007fc1d92762a8 in () at /usr/lib/x86_64-linux-gnu/libnvidia-opencl.so.1 #6 0x00007fc2517176db in start_thread (arg=0x7fc1d8828700) at pthread_create.c:463 pd = 0x7fc1d8828700 now = unwind_buf = {cancel_jmp_buf = {{jmp_buf = {140470537848576, 8542201946237295765, 140470537842048, 0, 94142963861328, 140737097296272, -8572515658416268139, -8570528711322116971}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} not_first_call = #7 0x00007fc24ff5e88f in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95 Thread 13 (Thread 0x7fc1d9029700 (LWP 32310)): #0 0x00007fc24ff51bf9 in __GI___poll (fds=0x7fc1d0000bd0, nfds=11, timeout=100) at ../sysdeps/unix/sysv/linux/poll.c:29 resultvar = 18446744073709551100 sc_cancel_oldtype = 0 #1 0x00007fc1d9273c23 in () at /usr/lib/x86_64-linux-gnu/libnvidia-opencl.so.1 #2 0x00007fc1d9309aca in () at /usr/lib/x86_64-linux-gnu/libnvidia-opencl.so.1 #3 0x00007fc1d92762a8 in () at /usr/lib/x86_64-linux-gnu/libnvidia-opencl.so.1 #4 0x00007fc2517176db in start_thread (arg=0x7fc1d9029700) at pthread_create.c:463 pd = 0x7fc1d9029700 now = unwind_buf = {cancel_jmp_buf = {{jmp_buf = {140470546241280, 8542201946237295765, 140470546234752, 0, 94142962248064, 140737097296192, -8572516757391025003, -8570528711322116971}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} not_first_call = #5 0x00007fc24ff5e88f in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95 Thread 12 (Thread 0x7fc1db7fe700 (LWP 32179)): #0 0x00007fc25171df85 in futex_abstimed_wait_cancelable (private=, abstime=0x7fc1db7fc7f0, expected=0, futex_word=0x7fc252fa57b4 ::global()::global+148>) at ../sysdeps/unix/sysv/linux/futex-internal.h:205 __ret = -516 oldtype = 0 err = spin = 0 buffer = {__routine = 0x7fc25171d690 <__condvar_cleanup_waiting>, __arg = 0x7fc1db7fc6d0, __canceltype = -612382576, __prev = 0x0} cbuffer = {wseq = 1711, cond = 0x7fc252fa5788 ::global()::global+104>, mutex = 0x7fc252fa5760 ::global()::global+64>, private = 0} err = g = 1 flags = maxspin = 0 signals = result = 0 seq = 855 #1 0x00007fc25171df85 in __pthread_cond_wait_common (abstime=0x7fc1db7fc7f0, mutex=0x7fc252fa5760 ::global()::global+64>, cond=0x7fc252fa5788 ::global()::global+104>) at pthread_cond_wait.c:539 spin = 0 buffer = {__routine = 0x7fc25171d690 <__condvar_cleanup_waiting>, __arg = 0x7fc1db7fc6d0, __canceltype = -612382576, __prev = 0x0} cbuffer = {wseq = 1711, cond = 0x7fc252fa5788 ::global()::global+104>, mutex = 0x7fc252fa5760 ::global()::global+64>, private = 0} err = g = 1 flags = maxspin = 0 signals = result = 0 seq = 855 #2 0x00007fc25171df85 in __pthread_cond_timedwait (cond=0x7fc252fa5788 ::global()::global+104>, mutex=0x7fc252fa5760 ::global()::global+64>, abstime=0x7fc1db7fc7f0) at pthread_cond_wait.c:667 #3 0x00007fc252cd2d66 in ros::TimerManager::threadFunc() () at /opt/ros/melodic/lib/libroscpp.so #4 0x00007fc24f803bcd in () at /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.65.1 #5 0x00007fc2517176db in start_thread (arg=0x7fc1db7fe700) at pthread_create.c:463 pd = 0x7fc1db7fe700 now = unwind_buf = {cancel_jmp_buf = {{jmp_buf = {140470588008192, 8542201946237295765, 140470588001664, 0, 94142961572896, 140737097307856, -8572520978807006059, -8570528711322116971}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} not_first_call = #6 0x00007fc24ff5e88f in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95 Thread 11 (Thread 0x7fc1dbfff700 (LWP 32178)): #0 0x00007fc25171ded9 in futex_reltimed_wait_cancelable (private=, reltime=0x7fc1dbffd960, expected=0, futex_word=0x7fffe8b12470) at ../sysdeps/unix/sysv/linux/futex-internal.h:142 __ret = -516 oldtype = 0 err = rt = {tv_sec = 0, tv_nsec = 9999407} spin = 0 buffer = {__routine = 0x7fc25171d690 <__condvar_cleanup_waiting>, __arg = 0x7fc1dbffd990, __canceltype = 10000000, __prev = 0x0} cbuffer = {wseq = 22258, cond = 0x7fffe8b12448, mutex = 0x7fffe8b12420, private = 0} err = g = 0 flags = maxspin = 0 signals = result = 0 seq = 11129 #1 0x00007fc25171ded9 in __pthread_cond_wait_common (abstime=0x7fc1dbffda40, mutex=0x7fffe8b12420, cond=0x7fffe8b12448) at pthread_cond_wait.c:533 rt = {tv_sec = 0, tv_nsec = 9999407} spin = 0 buffer = {__routine = 0x7fc25171d690 <__condvar_cleanup_waiting>, __arg = 0x7fc1dbffd990, __canceltype = 10000000, __prev = 0x0} cbuffer = {wseq = 22258, cond = 0x7fffe8b12448, mutex = 0x7fffe8b12420, private = 0} err = g = 0 flags = maxspin = 0 signals = result = 0 seq = 11129 #2 0x00007fc25171ded9 in __pthread_cond_timedwait (cond=0x7fffe8b12448, mutex=0x7fffe8b12420, abstime=0x7fc1dbffda40) at pthread_cond_wait.c:667 #3 0x00007fc252cfa584 in ros::CallbackQueue::callAvailable(ros::WallDuration) () at /opt/ros/melodic/lib/libroscpp.so #4 0x00007fc252ff75bb in tf2_ros::TransformListener::dedicatedListenerThread() () at /opt/ros/melodic/lib/libtf2_ros.so #5 0x00007fc24f803bcd in () at /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.65.1 #6 0x00007fc2517176db in start_thread (arg=0x7fc1dbfff700) at pthread_create.c:463 pd = 0x7fc1dbfff700 now = unwind_buf = {cancel_jmp_buf = {{jmp_buf = {140470596400896, 8542201946237295765, 140470596394368, 0, 94142961579008, 140737097307776, -8572522077781762923, -8570528711322116971}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} not_first_call = #7 0x00007fc24ff5e88f in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95 Thread 10 (Thread 0x7fc209e2d700 (LWP 32177)): #0 0x00007fc24ff51bf9 in __GI___poll (fds=0x559f5dc4c080, nfds=2, timeout=-1) at ../sysdeps/unix/sysv/linux/poll.c:29 resultvar = 18446744073709551100 sc_cancel_oldtype = 0 #1 0x00007fc245af65c9 in () at /usr/lib/x86_64-linux-gnu/libglib-2.0.so.0 #2 0x00007fc245af6962 in g_main_loop_run () at /usr/lib/x86_64-linux-gnu/libglib-2.0.so.0 #3 0x00007fc2383e50e6 in () at /usr/lib/x86_64-linux-gnu/libgio-2.0.so.0 #4 0x00007fc245b1e195 in () at /usr/lib/x86_64-linux-gnu/libglib-2.0.so.0 #5 0x00007fc2517176db in start_thread (arg=0x7fc209e2d700) at pthread_create.c:463 pd = 0x7fc209e2d700 now = unwind_buf = {cancel_jmp_buf = {{jmp_buf = {140471366244096, 8542201946237295765, 140471366237568, 0, 94142960870480, 140737097304336, -8570371341769778027, -8570528711322116971}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} not_first_call = #6 0x00007fc24ff5e88f in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95 Thread 9 (Thread 0x7fc20a62e700 (LWP 32176)): #0 0x00007fc24ff51bf9 in __GI___poll (fds=0x559f5dc3aac0, nfds=1, timeout=-1) at ../sysdeps/unix/sysv/linux/poll.c:29 resultvar = 18446744073709551100 sc_cancel_oldtype = 0 #1 0x00007fc245af65c9 in () at /usr/lib/x86_64-linux-gnu/libglib-2.0.so.0 #2 0x00007fc245af66dc in g_main_context_iteration () at /usr/lib/x86_64-linux-gnu/libglib-2.0.so.0 #3 0x00007fc245af6721 in () at /usr/lib/x86_64-linux-gnu/libglib-2.0.so.0 #4 0x00007fc245b1e195 in () at /usr/lib/x86_64-linux-gnu/libglib-2.0.so.0 #5 0x00007fc2517176db in start_thread (arg=0x7fc20a62e700) at pthread_create.c:463 pd = 0x7fc20a62e700 now = unwind_buf = {cancel_jmp_buf = {{jmp_buf = {140471374636800, 8542201946237295765, 140471374630272, 0, 94142960869232, 140737097303952, -8570372438597051243, -8570528711322116971}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} not_first_call = #6 0x00007fc24ff5e88f in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95 Thread 8 (Thread 0x7fc20b7fe700 (LWP 32174)): #0 0x00007fc25171df85 in futex_abstimed_wait_cancelable (private=, abstime=0x7fc20b7fcbf0, expected=0, futex_word=0x559f5d3dec38) at ../sysdeps/unix/sysv/linux/futex-internal.h:205 __ret = -516 oldtype = 0 err = spin = 0 buffer = {__routine = 0x7fc25171d690 <__condvar_cleanup_waiting>, __arg = 0x7fc20b7fcb80, __canceltype = 1565834280, __prev = 0x0} cbuffer = {wseq = 226, cond = 0x559f5d3dec10, mutex = 0x559f5d3debb8, private = 0} err = g = 0 flags = maxspin = 0 signals = result = 0 seq = 113 #1 0x00007fc25171df85 in __pthread_cond_wait_common (abstime=0x7fc20b7fcbf0, mutex=0x559f5d3debb8, cond=0x559f5d3dec10) at pthread_cond_wait.c:539 spin = 0 buffer = {__routine = 0x7fc25171d690 <__condvar_cleanup_waiting>, __arg = 0x7fc20b7fcb80, __canceltype = 1565834280, __prev = 0x0} cbuffer = {wseq = 226, cond = 0x559f5d3dec10, mutex = 0x559f5d3debb8, private = 0} err = g = 0 flags = maxspin = 0 signals = result = 0 seq = 113 #2 0x00007fc25171df85 in __pthread_cond_timedwait (cond=0x559f5d3dec10, mutex=0x559f5d3debb8, abstime=0x7fc20b7fcbf0) at pthread_cond_wait.c:667 #3 0x00007fc217043e97 in () at /usr/lib/x86_64-linux-gnu/libcuda.so.1 #4 0x00007fc216fe2a37 in () at /usr/lib/x86_64-linux-gnu/libcuda.so.1 #5 0x00007fc217043118 in () at /usr/lib/x86_64-linux-gnu/libcuda.so.1 #6 0x00007fc2517176db in start_thread (arg=0x7fc20b7fe700) at pthread_create.c:463 pd = 0x7fc20b7fe700 now = unwind_buf = {cancel_jmp_buf = {{jmp_buf = {140471393314560, 8542201946237295765, 140471393308032, 0, 94142954542112, 140737097306560, -8570374732109587307, -8570528711322116971}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} not_first_call = #7 0x00007fc24ff5e88f in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95 Thread 7 (Thread 0x7fc20bfff700 (LWP 32147)): #0 0x00007fc24ff51bf9 in __GI___poll (fds=0x7fc200000bd0, nfds=11, timeout=100) at ../sysdeps/unix/sysv/linux/poll.c:29 resultvar = 18446744073709551100 sc_cancel_oldtype = 0 #1 0x00007fc217040a93 in () at /usr/lib/x86_64-linux-gnu/libcuda.so.1 #2 0x00007fc2170d693a in () at /usr/lib/x86_64-linux-gnu/libcuda.so.1 #3 0x00007fc217043118 in () at /usr/lib/x86_64-linux-gnu/libcuda.so.1 #4 0x00007fc2517176db in start_thread (arg=0x7fc20bfff700) at pthread_create.c:463 pd = 0x7fc20bfff700 now = unwind_buf = {cancel_jmp_buf = {{jmp_buf = {140471401707264, 8542201946237295765, 140471401700736, 0, 94142952532336, 140737097306480, -8570375831084344171, -8570528711322116971}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} not_first_call = #5 0x00007fc24ff5e88f in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95 Thread 6 (Thread 0x7fc210e17700 (LWP 32146)): #0 0x00007fc24ff60237 in accept4 (fd=19, addr=..., addr_len=0x7fc210e15bb8, flags=524288) at ../sysdeps/unix/sysv/linux/accept4.c:32 resultvar = 18446744073709551104 sc_cancel_oldtype = 0 #1 0x00007fc217041a5a in () at /usr/lib/x86_64-linux-gnu/libcuda.so.1 #2 0x00007fc2170335bd in () at /usr/lib/x86_64-linux-gnu/libcuda.so.1 #3 0x00007fc217043118 in () at /usr/lib/x86_64-linux-gnu/libcuda.so.1 #4 0x00007fc2517176db in start_thread (arg=0x7fc210e17700) at pthread_create.c:463 pd = 0x7fc210e17700 now = unwind_buf = {cancel_jmp_buf = {{jmp_buf = {140471483594496, 8542201946237295765, 140471483587968, 0, 94142952477584, 140737097307808, -8570386736006308715, -8570528711322116971}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} not_first_call = #5 0x00007fc24ff5e88f in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95 Thread 5 (Thread 0x7fc224f75700 (LWP 32138)): #0 0x00007fc25171ded9 in futex_reltimed_wait_cancelable (private=, reltime=0x7fc224f73940, expected=0, futex_word=0x559f5d3d6888) at ../sysdeps/unix/sysv/linux/futex-internal.h:142 __ret = -516 oldtype = 0 err = rt = {tv_sec = 0, tv_nsec = 99999019} spin = 0 buffer = {__routine = 0x7fc25171d690 <__condvar_cleanup_waiting>, __arg = 0x7fc224f73970, __canceltype = 100000000, __prev = 0x0} cbuffer = {wseq = 1134, cond = 0x559f5d3d6860, mutex = 0x559f5d3d6838, private = 0} err = g = 0 flags = maxspin = 0 signals = result = 0 seq = 567 #1 0x00007fc25171ded9 in __pthread_cond_wait_common (abstime=0x7fc224f73a20, mutex=0x559f5d3d6838, cond=0x559f5d3d6860) at pthread_cond_wait.c:533 rt = {tv_sec = 0, tv_nsec = 99999019} spin = 0 buffer = {__routine = 0x7fc25171d690 <__condvar_cleanup_waiting>, __arg = 0x7fc224f73970, __canceltype = 100000000, __prev = 0x0} cbuffer = {wseq = 1134, cond = 0x559f5d3d6860, mutex = 0x559f5d3d6838, private = 0} err = g = 0 flags = maxspin = 0 signals = result = 0 seq = 567 #2 0x00007fc25171ded9 in __pthread_cond_timedwait (cond=0x559f5d3d6860, mutex=0x559f5d3d6838, abstime=0x7fc224f73a20) at pthread_cond_wait.c:667 #3 0x00007fc252cfa584 in ros::CallbackQueue::callAvailable(ros::WallDuration) () at /opt/ros/melodic/lib/libroscpp.so #4 0x00007fc252d3a6d1 in ros::internalCallbackQueueThreadFunc() () at /opt/ros/melodic/lib/libroscpp.so #5 0x00007fc24f803bcd in () at /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.65.1 #6 0x00007fc2517176db in start_thread (arg=0x7fc224f75700) at pthread_create.c:463 pd = 0x7fc224f75700 now = unwind_buf = {cancel_jmp_buf = {{jmp_buf = {140471820572416, 8542201946237295765, 140471820565888, 0, 94142952473232, 140737097308288, -8570430874311467883, -8570528711322116971}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} not_first_call = #7 0x00007fc24ff5e88f in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95 Thread 4 (Thread 0x7fc225776700 (LWP 32136)): #0 0x00007fc25171d9f3 in futex_wait_cancelable (private=, expected=0, futex_word=0x559f5d3d291c) at ../sysdeps/unix/sysv/linux/futex-internal.h:88 __ret = -512 oldtype = 0 err = spin = 0 buffer = {__routine = 0x7fc25171d690 <__condvar_cleanup_waiting>, __arg = 0x7fc2257748e0, __canceltype = 0, __prev = 0x0} cbuffer = {wseq = 11, cond = 0x559f5d3d28f0, mutex = 0x559f5d3d28c8, private = 0} err = g = 1 flags = signals = result = 0 seq = 5 #1 0x00007fc25171d9f3 in __pthread_cond_wait_common (abstime=0x0, mutex=0x559f5d3d28c8, cond=0x559f5d3d28f0) at pthread_cond_wait.c:502 spin = 0 buffer = {__routine = 0x7fc25171d690 <__condvar_cleanup_waiting>, __arg = 0x7fc2257748e0, __canceltype = 0, __prev = 0x0} cbuffer = {wseq = 11, cond = 0x559f5d3d28f0, mutex = 0x559f5d3d28c8, private = 0} err = g = 1 flags = signals = result = 0 seq = 5 #2 0x00007fc25171d9f3 in __pthread_cond_wait (cond=0x559f5d3d28f0, mutex=0x559f5d3d28c8) at pthread_cond_wait.c:655 #3 0x00007fc252d37fcf in ros::ROSOutAppender::logThread() () at /opt/ros/melodic/lib/libroscpp.so #4 0x00007fc24f803bcd in () at /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.65.1 #5 0x00007fc2517176db in start_thread (arg=0x7fc225776700) at pthread_create.c:463 pd = 0x7fc225776700 now = unwind_buf = {cancel_jmp_buf = {{jmp_buf = {140471828965120, 8542201946237295765, 140471828958592, 0, 94142952465248, 140737097307440, -8570431971138741099, -8570528711322116971}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} not_first_call = #6 0x00007fc24ff5e88f in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95 Thread 3 (Thread 0x7fc225f77700 (LWP 32135)): #0 0x00007fc24ff51bf9 in __GI___poll (fds=0x7fc225f75b00, nfds=2, timeout=100) at ../sysdeps/unix/sysv/linux/poll.c:29 resultvar = 18446744073709551100 sc_cancel_oldtype = 0 #1 0x00007fc2527c0eb8 in XmlRpc::XmlRpcDispatch::work(double) () at /opt/ros/melodic/lib/libxmlrpcpp.so #2 0x00007fc252cc7ee8 in ros::XMLRPCManager::serverThreadFunc() () at /opt/ros/melodic/lib/libroscpp.so #3 0x00007fc24f803bcd in () at /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.65.1 #4 0x00007fc2517176db in start_thread (arg=0x7fc225f77700) at pthread_create.c:463 pd = 0x7fc225f77700 now = unwind_buf = {cancel_jmp_buf = {{jmp_buf = {140471837357824, 8542201946237295765, 140471837351296, 0, 94142952464240, 140737097307440, -8570433070113497963, -8570528711322116971}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} not_first_call = #5 0x00007fc24ff5e88f in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95 Thread 2 (Thread 0x7fc226778700 (LWP 32134)): #0 0x00007fc24ff5ebb7 in epoll_wait (epfd=4, events=0x7fc226776860, maxevents=12, timeout=100) at ../sysdeps/unix/sysv/linux/epoll_wait.c:30 resultvar = 18446744073709551612 sc_cancel_oldtype = 0 #1 0x00007fc252cd4d37 in ros::poll_sockets(int, pollfd*, unsigned long, int) () at /opt/ros/melodic/lib/libroscpp.so #2 0x00007fc252d593c8 in ros::PollSet::update(int) () at /opt/ros/melodic/lib/libroscpp.so #3 0x00007fc252ce49a5 in ros::PollManager::threadFunc() () at /opt/ros/melodic/lib/libroscpp.so #4 0x00007fc24f803bcd in () at /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.65.1 #5 0x00007fc2517176db in start_thread (arg=0x7fc226778700) at pthread_create.c:463 pd = 0x7fc226778700 now = unwind_buf = {cancel_jmp_buf = {{jmp_buf = {140471845750528, 8542201946237295765, 140471845744000, 0, 94142952462176, 140737097308016, -8570434171235738475, -8570528711322116971}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} not_first_call = #6 0x00007fc24ff5e88f in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95 Thread 1 (Thread 0x7fc253c16980 (LWP 32066)): #0 0x00007fffe8ba67ee in clock_gettime () #1 0x00007fc24ff6dea6 in __GI___clock_gettime (clock_id=4, tp=0x7fffe8b10880) at ../sysdeps/unix/clock_gettime.c:115 sc_ret = vdsop = tp = 0x7fffe8b10880 clock_id = 4 #2 0x00007fc21704037e in () at /usr/lib/x86_64-linux-gnu/libcuda.so.1 #3 0x00007fc2171044f7 in () at /usr/lib/x86_64-linux-gnu/libcuda.so.1 #4 0x00007fc216fe1aa2 in () at /usr/lib/x86_64-linux-gnu/libcuda.so.1 #5 0x00007fc217011ffd in () at /usr/lib/x86_64-linux-gnu/libcuda.so.1 #6 0x00007fc216f190f9 in () at /usr/lib/x86_64-linux-gnu/libcuda.so.1 #7 0x00007fc2170874e9 in cuMemFreeHost () at /usr/lib/x86_64-linux-gnu/libcuda.so.1 #8 0x0000559f5bbea2fd in cudart::driverHelper::freeHost(void*) () #9 0x0000559f5bbb85dc in cudart::cudaApiFreeHost(void*) () #10 0x0000559f5bbfa731 in cudaFreeHost () #11 0x0000559f5bbab1fb in kfusion::device::ComputeIcpHelper::PageLockHelper::~PageLockHelper() (this=0x559f606fbf68, __in_chrg=) at /home/ros-industrial/workspaces/hybrid_perception/src/yak/yak/src/cuda/proj_icp.cu:472 #12 0x0000559f5bba5729 in kfusion::cuda::ProjectiveICP::StreamHelper::~StreamHelper() (this=0x559f606fbf60, __in_chrg=) at /home/ros-industrial/workspaces/hybrid_perception/src/yak/yak/src/kfusion/projective_icp.cpp:37 #13 0x0000559f5bba74b6 in cv::DefaultDeleter::operator()(kfusion::cuda::ProjectiveICP::StreamHelper*) const (this=0x7fc22000a648, p=0x559f606fbf60) at /usr/include/opencv2/core/ptr.inl.hpp:54 #14 0x0000559f5bba7473 in cv::detail::PtrOwnerImpl >::deleteSelf() (this=0x7fc22000a630) at /usr/include/opencv2/core/ptr.inl.hpp:99 #15 0x0000559f5bb555e4 in cv::detail::PtrOwner::decRef() (this=0x7fc22000a630) at /usr/include/opencv2/core/ptr.inl.hpp:72 #16 0x0000559f5bba613d in cv::Ptr::release() (this=0x559f5dd20558) at /usr/include/opencv2/core/ptr.inl.hpp:177 #17 0x0000559f5bba5a0e in cv::Ptr::~Ptr() (this=0x559f5dd20558, __in_chrg=) at /usr/include/opencv2/core/ptr.inl.hpp:156 #18 0x0000559f5bba424a in kfusion::cuda::ProjectiveICP::~ProjectiveICP() (this=0x559f5dd20510, __in_chrg=) at /home/ros-industrial/workspaces/hybrid_perception/src/yak/yak/src/kfusion/projective_icp.cpp:77 #19 0x0000559f5bba4286 in kfusion::cuda::ProjectiveICP::~ProjectiveICP() (this=0x559f5dd20510, __in_chrg=) at /home/ros-industrial/workspaces/hybrid_perception/src/yak/yak/src/kfusion/projective_icp.cpp:77 #20 0x0000559f5bba2b46 in cv::DefaultDeleter::operator()(kfusion::cuda::ProjectiveICP*) const (this=0x559f5dd2d348, p=0x559f5dd20510) at /usr/include/opencv2/core/ptr.inl.hpp:54 #21 0x0000559f5bba2aaf in cv::detail::PtrOwnerImpl >::deleteSelf() (this=0x559f5dd2d330) at /usr/include/opencv2/core/ptr.inl.hpp:99 #22 0x0000559f5bb555e4 in cv::detail::PtrOwner::decRef() (this=0x559f5dd2d330) at /usr/include/opencv2/core/ptr.inl.hpp:72 #23 0x0000559f5bb9ea53 in cv::Ptr::release() (this=0x559f5dc16a10) at /usr/include/opencv2/core/ptr.inl.hpp:177 #24 0x0000559f5bb9d1b2 in cv::Ptr::~Ptr() (this=0x559f5dc16a10, __in_chrg=) at /usr/include/opencv2/core/ptr.inl.hpp:156 #25 0x00007fc251e46a2e in kfusion::KinFu::~KinFu() (this=0x559f5dc16800, __in_chrg=) at /home/ros-industrial/workspaces/hybrid_perception/src/yak/yak/include/yak/kfusion/kinfu.hpp:87 #26 0x00007fc251e46af4 in cv::DefaultDeleter::operator()(kfusion::KinFu*) const (this=0x559f5d992d78, p=0x559f5dc16800) at /usr/include/opencv2/core/ptr.inl.hpp:54 #27 0x00007fc251e46973 in cv::detail::PtrOwnerImpl >::deleteSelf() (this=0x559f5d992d60) at /usr/include/opencv2/core/ptr.inl.hpp:99 #28 0x0000559f5bb555e4 in cv::detail::PtrOwner::decRef() (this=0x559f5d992d60) at /usr/include/opencv2/core/ptr.inl.hpp:72 #29 0x0000559f5bb5f8cf in cv::Ptr::release() (this=0x7fffe8b10f80) at /usr/include/opencv2/core/ptr.inl.hpp:177 #30 0x0000559f5bb5a3a2 in cv::Ptr::~Ptr() (this=0x7fffe8b10f80, __in_chrg=) at /usr/include/opencv2/core/ptr.inl.hpp:156 #31 0x00007fc251e3560b in cv::Ptr::reset(kfusion::KinFu*) (this=0x7fffe8b12040, p=0x559f5d377f00) at /usr/include/opencv2/core/ptr.inl.hpp:186 #32 0x00007fc251e33da4 in yak::FusionServer::resetWithNewParams(kfusion::KinFuParams const&) (this=0x7fffe8b12040, params=...) at /home/ros-industrial/workspaces/hybrid_perception/src/yak/yak/src/yak_server.cpp:48 #33 0x0000559f5bb508a4 in yak_ros::OnlineFusionServer::onUpdateParams(yak_ros_msgs::UpdateKinFuParamsRequest_ >&, yak_ros_msgs::UpdateKinFuParamsResponse_ >&) (this=0x7fffe8b12040, req=..., res=...) at /home/ros-industrial/workspaces/hybrid_perception/src/yak_ros/yak_ros/src/yak_ros1_node.cpp:222 __PRETTY_FUNCTION__ = "bool yak_ros::OnlineFusionServer::onUpdateParams(yak_ros_msgs::UpdateKinFuParamsRequest&, yak_ros_msgs::UpdateKinFuParamsResponse&)" #34 0x0000559f5bb7e606 in boost::_mfi::mf2 >&, yak_ros_msgs::UpdateKinFuParamsResponse_ >&>::operator()(yak_ros::OnlineFusionServer*, yak_ros_msgs::UpdateKinFuParamsRequest_ >&, yak_ros_msgs::UpdateKinFuParamsResponse_ >&) const (this=0x559f5dcfb270, p=0x7fffe8b12040, a1=..., a2=...) at /usr/include/boost/bind/mem_fn_template.hpp:280 #35 0x0000559f5bb79cce in boost::_bi::list3, boost::arg<1>, boost::arg<2> >::operator() >&, yak_ros_msgs::UpdateKinFuParamsResponse_ >&>, boost::_bi::rrlist2 >&, yak_ros_msgs::UpdateKinFuParamsResponse_ >&> >(boost::_bi::type, boost::_mfi::mf2 >&, yak_ros_msgs::UpdateKinFuParamsResponse_ >&>&, boost::_bi::rrlist2 >&, yak_ros_msgs::UpdateKinFuParamsResponse_ >&>&, long) (this=0x559f5dcfb280, f=..., a=...) at /usr/include/boost/bind/bind.hpp:388 #36 0x0000559f5bb75181 in boost::_bi::bind_t >&, yak_ros_msgs::UpdateKinFuParamsResponse_ >&>, boost::_bi::list3, boost::arg<1>, boost::arg<2> > >::operator() >&, yak_ros_msgs::UpdateKinFuParamsResponse_ >&>(yak_ros_msgs::UpdateKinFuParamsRequest_ >&, yak_ros_msgs::UpdateKinFuParamsResponse_ >&) (this=0x559f5dcfb270, a1=..., a2=...) at /usr/include/boost/bind/bind.hpp:1318 a = {a1_ = @0x559f5d9ce540, a2_ = @0x7fc22000c8e9} #37 0x0000559f5bb70ab8 in boost::detail::function::function_obj_invoker2 >&, yak_ros_msgs::UpdateKinFuParamsResponse_ >&>, boost::_bi::list3, boost::arg<1>, boost::arg<2> > >, bool, yak_ros_msgs::UpdateKinFuParamsRequest_ >&, yak_ros_msgs::UpdateKinFuParamsResponse_ >&>::invoke(boost::detail::function::function_buffer&, yak_ros_msgs::UpdateKinFuParamsRequest_ >&, yak_ros_msgs::UpdateKinFuParamsResponse_ >&) (function_obj_ptr=..., a0=..., a1=...) at /usr/include/boost/function/function_template.hpp:138 f = 0x559f5dcfb270 #38 0x0000559f5bb9515d in boost::function2 >&, yak_ros_msgs::UpdateKinFuParamsResponse_ >&>::operator()(yak_ros_msgs::UpdateKinFuParamsRequest_ >&, yak_ros_msgs::UpdateKinFuParamsResponse_ >&) const (this=0x559f5dcfb268, a0=..., a1=...) at /usr/include/boost/function/function_template.hpp:760 #39 0x0000559f5bb934af in ros::ServiceSpec >, yak_ros_msgs::UpdateKinFuParamsResponse_ > >::call(boost::function >&, yak_ros_msgs::UpdateKinFuParamsResponse_ >&)> const&, ros::ServiceSpecCallParams >, yak_ros_msgs::UpdateKinFuParamsResponse_ > >&) (cb=..., params=...) at /opt/ros/melodic/include/ros/service_callback_helper.h:125 #40 0x0000559f5bb91bbb in ros::ServiceCallbackHelperT >, yak_ros_msgs::UpdateKinFuParamsResponse_ > > >::call(ros::ServiceCallbackHelperCallParams&) (this=0x559f5dcfb260, params=...) at /opt/ros/melodic/include/ros/service_callback_helper.h:182 req = {px = 0x559f5d9ce540, pn = {pi_ = 0x559f5d9ce520}} res = {px = 0x7fc22000c8e9, pn = {pi_ = 0x7fc22000c8d0}} call_params = {request = {px = 0x559f5d9ce540, pn = {pi_ = 0x559f5d9ce520}}, response = {px = 0x7fc22000c8e9, pn = {pi_ = 0x7fc22000c8d0}}, connection_header = {px = 0x7fc20c005ea0, pn = {pi_ = 0x7fc220000b40}}} ok = false #41 0x00007fc252ca39ad in ros::ServiceCallback::call() () at /opt/ros/melodic/lib/libroscpp.so #42 0x00007fc252cf8e8c in ros::CallbackQueue::callOneCB(ros::CallbackQueue::TLS*) () at /opt/ros/melodic/lib/libroscpp.so #43 0x00007fc252cfa27b in ros::CallbackQueue::callAvailable(ros::WallDuration) () at /opt/ros/melodic/lib/libroscpp.so #44 0x00007fc252d522e9 in ros::SingleThreadedSpinner::spin(ros::CallbackQueue*) () at /opt/ros/melodic/lib/libroscpp.so #45 0x00007fc252d3ab5b in ros::spin() () at /opt/ros/melodic/lib/libroscpp.so #46 0x0000559f5bb5238a in main(int, char**) (argc=1, argv=0x7fffe8b12988) at /home/ros-industrial/workspaces/hybrid_perception/src/yak_ros/yak_ros/src/yak_ros1_node.cpp:342 pnh = {namespace_ = {static npos = 18446744073709551615, _M_dataplus = {> = {<__gnu_cxx::new_allocator> = {}, }, _M_p = 0x7fffe8b11ed0 "/yak_node"}, _M_string_length = 9, {_M_local_buf = "/yak_node\000\002S\302\177\000", _M_allocated_capacity = 7237124482310175023}}, unresolved_namespace_ = {static npos = 18446744073709551615, _M_dataplus = {> = {<__gnu_cxx::new_allocator> = {}, }, _M_p = 0x7fffe8b11ef0 "/yak_node"}, _M_string_length = 9, {_M_local_buf = "/yak_node\000\254S\302\177\000", _M_allocated_capacity = 7237124482310175023}}, remappings_ = {_M_t = {_M_impl = {, std::allocator > const, std::__cxx11::basic_string, std::allocator > > > >> = {<__gnu_cxx::new_allocator, std::allocator > const, std::__cxx11::basic_string, std::allocator > > > >> = {}, }, , std::allocator > > >> = {_M_key_compare = {, std::allocator >, std::__cxx11::basic_string, std::allocator >, bool>> = {}, }}, = {_M_header = {_M_color = std::_S_red, _M_parent = 0x0, _M_left = 0x7fffe8b11f08, _M_right = 0x7fffe8b11f08}, _M_node_count = 0}, }}}, unresolved_remappings_ = {_M_t = {_M_impl = {, std::allocator > const, std::__cxx11::basic_string, std::allocator > > > >> = {<__gnu_cxx::new_allocator, std::allocator > const, std::__cxx11::basic_string, std::allocator > > > >> = {}, }, , std::allocator > > >> = {_M_key_compare = {, std::allocator >, std::__cxx11::basic_string, std::allocator >, bool>> = {}, }}, = {_M_header = {_M_color = std::_S_red, _M_parent = 0x0, _M_left = 0x7fffe8b11f38, _M_right = 0x7fffe8b11f38}, _M_node_count = 0}, }}}, callback_queue_ = 0x0, collection_ = 0x559f5d3cab10, ok_ = true} kinfu_params = {cols = 640, rows = 480, intr = {fx = 380.863037, fy = 380.863037, cx = 316.530487, cy = 245.390289}, volume_dims = {> = {val = {128, 256, 128}}, }, volume_resolution = 0.00499999989, volume_pose = {matrix = {val = {1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1}}}, bilateral_sigma_depth = 0.0399999991, bilateral_sigma_spatial = 4.5, bilateral_kernel_size = 7, icp_truncate_depth_dist = 0, icp_dist_thres = 0.100000001, icp_angle_thres = 0.52359879, icp_iter_num = { >> = {_M_impl = {> = {<__gnu_cxx::new_allocator> = {}, }, _M_start = 0x559f5d3d7150, _M_finish = 0x559f5d3d7160, _M_end_of_storage = 0x559f5d3d7160}}, }, tsdf_min_camera_movement = 0, tsdf_trunc_dist = 0.0249999985, tsdf_max_weight = 50, raycast_step_factor = 0.25, gradient_delta_factor = 0.25, light_pose = {> = {val = {0, 0, 0}}, }, use_pose_hints = true, use_icp = false, update_via_sensor_motion = false} camera_matrix = {static _doubleFormat = {static npos = 18446744073709551615, _M_dataplus = {> = {<__gnu_cxx::new_allocator> = {}, }, _M_p = 0x7fc2529d2810 "%.16g"}, _M_string_length = 5, {_M_local_buf = "%.16g\000\000\000\000\000\000\000\000\000\000", _M_allocated_capacity = 443290824229}}, _type = XmlRpc::XmlRpcValue::TypeArray, _value = {asBool = 240, asInt = 1564306160, asDouble = 4.6512798612101038e-310, asTime = 0x559f5d3d6af0, asString = 0x559f5d3d6af0, asBinary = 0x559f5d3d6af0, asArray = 0x559f5d3d6af0, asStruct = 0x559f5d3d6af0}} __PRETTY_FUNCTION__ = "int main(int, char**)" volume_x = 128 volume_y = 256 volume_z = 128 tsdf_frame = {static npos = 18446744073709551615, _M_dataplus = {> = {<__gnu_cxx::new_allocator> = {}, }, _M_p = 0x7fffe8b11e70 "tsdf_frame"}, _M_string_length = 10, {_M_local_buf = "tsdf_frame\000S\302\177\000", _M_allocated_capacity = 7021787328949810036}} light_pose_x = 0 light_pose_y = 0 light_pose_z = 0 ofs = {fusion_ = {kinfu_ = {owner = 0x7fc2200082a0, stored = 0x559f5d377f00}, viewDevice_ = { = {data_ = 0x7fc1e5a00000, step_ = 5120, colsBytes_ = 5120, rows_ = 480, refcount_ = 0x559f6064f6f0}, }, depthDevice_ = { = {data_ = 0x7fc1e5800000, step_ = 1536, colsBytes_ = 1280, rows_ = 480, refcount_ = 0x559f5dd204c0}, }, volume_to_world_ = {m_matrix = { >> = { >> = { >> = {, 3>> = {, 1>> = {, 0>> = { >> = {}, }, }, }, }, }, m_storage = {m_data = {array = {1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, -0, -0, -0, 1}}}}, }}, last_camera_pose_ = {m_matrix = { >> = { >> = { >> = {, 3>> = {, 1>> = {, 0>> = { >> = {}, }, }, }, }, }, m_storage = {m_data = {array = {0.00391954184, 0.999989092, -0.00253854017, 0, 0.626764834, -0.000478584552, 0.779208302, 0, 0.779198587, -0.00464520743, -0.626759887, 0, 0.34855929, 0.684319198, 1.46575522, 1}}}}, }}}, params_ = {cols = 640, rows = 480, intr = {fx = 380.863037, fy = 380.863037, cx = 316.530487, cy = 245.390289}, volume_dims = {> = {val = {1024, 512, 512}}, }, volume_resolution = 0.00200000009, volume_pose = {matrix = {val = {1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1}}}, bilateral_sigma_depth = 0.0399999991, bilateral_sigma_spatial = 4.5, bilateral_kernel_size = 7, icp_truncate_depth_dist = 0, icp_dist_thres = 0.100000001, icp_angle_thres = 0.52359879, icp_iter_num = { >> = {_M_impl = {> = {<__gnu_cxx::new_allocator> = {}, }, _M_start = 0x559f5dccd440, _M_finish = 0x559f5dccd450, _M_end_of_storage = 0x559f5dccd450}}, }, tsdf_min_camera_movement = 0, tsdf_trunc_dist = 0.0249999985, tsdf_max_weight = 50, raycast_step_factor = 0.25, gradient_delta_factor = 0.25, light_pose = {> = {val = {0, 0, 0}}, }, use_pose_hints = true, use_icp = false, update_via_sensor_motion = false}, depth_image_raw_sub_ = {impl_ = {px = 0x559f5dcfaf90, pn = {pi_ = 0x559f5dcfaf70}}}, point_cloud_sub_ = {impl_ = {px = 0x559f5dce7ab0, pn = {pi_ = 0x559f5dce7a90}}}, tf_buffer_ = , robot_tform_listener_ = {tf_message_callback_queue_ = , dedicated_listener_thread_ = 0x559f5d3d97d0, node_ = {namespace_ = {static npos = 18446744073709551615, _M_dataplus = {> = {<__gnu_cxx::new_allocator> = {}, }, _M_p = 0x7fffe8b12500 "/"}, _M_string_length = 1, {_M_local_buf = "/\000\261\350\377\177\000\000\000\000\000\000\000\000\000", _M_allocated_capacity = 140737097302063}}, unresolved_namespace_ = {static npos = 18446744073709551615, _M_dataplus = {> = {<__gnu_cxx::new_allocator> = {}, }, _M_p = 0x7fffe8b12520 ""}, _M_string_length = 0, {_M_local_buf = "\000%\261\350\377\177\000\000\000\000\000\000\000\000\000", _M_allocated_capacity = 140737097311488}}, remappings_ = {_M_t = {_M_impl = {, std::allocator > const, std::__cxx11::basic_string, std::allocator > > > >> = {<__gnu_cxx::new_allocator, std::allocator > const, std::__cxx11::basic_string, std::allocator > > > >> = {}, }, , std::allocator > > >> = {_M_key_compare = {, std::allocator >, std::__cxx11::basic_string, std::allocator >, bool>> = {}, }}, = {_M_header = {_M_color = std::_S_red, _M_parent = 0x0, _M_left = 0x7fffe8b12538, _M_right = 0x7fffe8b12538}, _M_node_count = 0}, }}}, unresolved_remappings_ = {_M_t = {_M_impl = {, std::allocator > const, std::__cxx11::basic_string, std::allocator > > > >> = {<__gnu_cxx::new_allocator, std::allocator > const, std::__cxx11::basic_string, std::allocator > > > >> = {}, }, , std::allocator > > >> = {_M_key_compare = {, std::allocator >, std::__cxx11::basic_string, std::allocator >, bool>> = {}, }}, = {_M_header = {_M_color = std::_S_red, _M_parent = 0x0, _M_left = 0x7fffe8b12568, _M_right = 0x7fffe8b12568}, _M_node_count = 0}, }}}, callback_queue_ = 0x0, collection_ = 0x559f5dcdc100, ok_ = true}, message_subscriber_tf_ = {impl_ = {px = 0x559f5dc8aa70, pn = {pi_ = 0x559f5dc8aa50}}}, message_subscriber_tf_static_ = {impl_ = {px = 0x559f5dd039a0, pn = {pi_ = 0x559f5dd03980}}}, buffer_ = @0x7fffe8b121f8, using_dedicated_thread_ = true, last_update_ = {> = {sec = 1575925399, nsec = 638077236}, }}, generate_mesh_service_ = {impl_ = {px = 0x559f5dd1b3c0, pn = {pi_ = 0x559f5dd1b3a0}}}, reset_tsdf_service_ = {impl_ = {px = 0x559f5dd1bc80, pn = {pi_ = 0x559f5dd1bc60}}}, update_params_service_ = {impl_ = {px = 0x559f5dd1c1c0, pn = {pi_ = 0x559f5dd1c1a0}}}, tsdf_frame_to_camera_prev_ = {m_matrix = { >> = { >> = { >> = {, 3>> = {, 1>> = {, 0>> = { >> = {}, }, }, }, }, }, m_storage = {m_data = {array = {0.003919541780961211, 0.99998909644355016, -0.0025385401786775508, 0, 0.62676483530636229, -0.00047858453907689835, 0.77920832399315842, 0, 0.77919861294513049, -0.0046452072989711102, -0.62675987717269632, 0, 0.34855929112831618, 0.68431920492589737, 1.4657551968202116, 1}}}}, }}, tsdf_frame_ = {static npos = 18446744073709551615, _M_dataplus = {> = {<__gnu_cxx::new_allocator> = {}, }, _M_p = 0x7fffe8b126a0 "tsdf_frame"}, _M_string_length = 10, {_M_local_buf = "tsdf_frame\000\\\237U\000", _M_allocated_capacity = 7021787328949810036}}, image_queue_ = {c = { > const>, std::allocator > const> > >> = {_M_impl = { > const> >> = {<__gnu_cxx::new_allocator > const> >> = {}, }, _M_map = 0x559f5dc7f480, _M_map_size = 8, _M_start = {_M_cur = 0x559f5dbc2410, _M_first = 0x559f5dbc22a0, _M_last = 0x559f5dbc24a0, _M_node = 0x559f5dc7f4b8}, _M_finish = {_M_cur = 0x559f5dbc2410, _M_first = 0x559f5dbc22a0, _M_last = 0x559f5dbc24a0, _M_node = 0x559f5dc7f4b8}}}, }}, visualizer_ = {frame_id_ = {static npos = 18446744073709551615, _M_dataplus = {> = {<__gnu_cxx::new_allocator> = {}, }, _M_p = 0x7fffe8b12710 "tsdf_frame"}, _M_string_length = 10, {_M_local_buf = "tsdf_frame\000[\237U\000", _M_allocated_capacity = 7021787328949810036}}, bbox_ = {neg_x_ = 0, neg_y_ = 0, neg_z_ = 0, pos_x_ = 0.63999998569488525, pos_y_ = 1.2799999713897705, pos_z_ = 0.63999998569488525, frame_ = {static npos = 18446744073709551615, _M_dataplus = {> = {<__gnu_cxx::new_allocator> = {}, }, _M_p = 0x7fffe8b12760 "tsdf_frame"}, _M_string_length = 10, {_M_local_buf = "tsdf_frame\000[\237U\000", _M_allocated_capacity = 7021787328949810036}}}, mesh_resource_ = {static npos = 18446744073709551615, _M_dataplus = {> = {<__gnu_cxx::new_allocator> = {}, }, _M_p = 0x7fffe8b12780 ""}, _M_string_length = 0, {_M_local_buf = "\000\f=]\237U\000\000\377\377\377\377\000\000\000", _M_allocated_capacity = 94142952442880}}, bbox_timer_ = {impl_ = {px = 0x559f5dd1d770, pn = {pi_ = 0x559f5d3d98a0}}}, mesh_timer_ = {impl_ = {px = 0x559f5dd1f350, pn = {pi_ = 0x559f5dd1fd50}}}, nh_ = {namespace_ = {static npos = 18446744073709551615, _M_dataplus = {> = {<__gnu_cxx::new_allocator> = {}, }, _M_p = 0x7fffe8b127c0 "/yak_node"}, _M_string_length = 9, {_M_local_buf = "/yak_node\000\000\000\000\000\000", _M_allocated_capacity = 7237124482310175023}}, unresolved_namespace_ = {static npos = 18446744073709551615, _M_dataplus = {> = {<__gnu_cxx::new_allocator> = {}, }, _M_p = 0x7fffe8b127e0 "/yak_node"}, _M_string_length = 9, {_M_local_buf = "/yak_node\000\353[\237U\000", _M_allocated_capacity = 7237124482310175023}}, remappings_ = {_M_t = {_M_impl = {, std::allocator > const, std::__cxx11::basic_string, std::allocator > > > >> = {<__gnu_cxx::new_allocator, std::allocator > const, std::__cxx11::basic_string, std::allocator > > > >> = {}, }, , std::allocator > > >> = {_M_key_compare = {, std::allocator