[camera_info_manager] Segmentation fault

[MatthijsBurgh]

On a regular bases I get a segmentation fault in the camera_info_manager, in the isCalibrated function.

terminate called after throwing an instance of 'boost::wrapexcept<boost::lock_error>'
  what():  boost: mutex lock failed in pthread_mutex_lock: Invalid argument

It is related to the scoped_lock in that function,

image_common/camera_info_manager/src/camera_info_manager.cpp

Line 187 in 3eed8b5

boost::mutex::scoped_lock lock_(mutex_);

I have tried with a with a boost::lock_guard, but also a std::mutex in combination with a std::lock_guard. I keep getting seg faults on that line.

The camera_info_manager is used as part of the openni2_driver which is run as a nodelet.

To me it isn't logical the lock should result in a segfault. I have run many gdb sessions, but I couldn't find anything else that catched my eye.

[MatthijsBurgh]

@vrabaud @jack-oquin @mjcarroll You got any idea about this?

[devrite]

One reason might be you using camera_info_manager when it is already destroyed or not fully constructed yet (some race). In which case the mutex can be invalid to use.

Another cause:

I had boost issues before. In my case another proprietary API exported boost symbols of an incompatible version and started using those symbols. In this case you may inspect whether or not you end up in a function symbols of another DSO not part of your lib.