double free or corruption(out)

[zhao-zhibo]

Description

Steps to reproduce

I ran this code on my computer, but the computer was running normally three months ago, so it may be caused by environmental changes. However, I have tried installing other versions of Eigen 3.4, but it still doesn't work.

Now the error message is double free memory. From the error stack information, it seems that it is reported by GTSAM. I don't know what is wrong with my environment. I have also uninstalled and reinstalled GTSAM and Eigen, but it still doesn't work. The information reported is as follows：

double  free  or  corruption(out)    
 Thread 1 "lio_sam_6axis_m" received signal SIGABRT, Aborted.   
  __GI_raise (sig=sig@entry=6)  at ../sysdeps/unix/sysv/linux/raise.c:50  
 50   ../sysdeps/unix/sysv/linux/raise.c:  没有那个文件或目  

I used gdb to print the stack information, but still couldn't find the problem.The error message is double freeing memory in the nonlinear optimization function of GTSAM

#0  __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50
#1  0x00007ffff67be859 in __GI_abort () at abort.c:79
#2  0x00007ffff6829266 in __libc_message (action=action@entry=do_abort, fmt=fmt@entry=0x7ffff6953298 "%s\n") at ../sysdeps/posix/libc_fatal.c:156
#3  0x00007ffff68312fc in malloc_printerr (str=str@entry=0x7ffff6955670 "double free or corruption (out)") at malloc.c:5347
#4  0x00007ffff6832fa0 in _int_free (av=0x7ffff6988b80 <main_arena>, p=0x55555575a930, have_lock=<optimized out>) at malloc.c:4314
#5  0x00007ffff723285d in gtsam::NoiseModelFactor::linearize(gtsam::Values const&) const () from /usr/local/lib/libgtsam.so.4
#6  0x00007ffff7233b3c in gtsam::(anonymous namespace)::_LinearizeOneFactor::operator()(tbb::blocked_range<unsigned long> const&) const () from /usr/local/lib/libgtsam.so.4
#7  0x00007ffff7233f1d in tbb::interface9::internal::start_for<tbb::blocked_range<unsigned long>, gtsam::(anonymous namespace)::_LinearizeOneFactor, tbb::auto_partitioner const>::execute() () from /usr/local/lib/libgtsam.so.4
#8  0x00007ffff6d06545 in ?? () from /lib/x86_64-linux-gnu/libtbb.so.2
#9  0x00007ffff6d0680f in ?? () from /lib/x86_64-linux-gnu/libtbb.so.2
#10 0x00007ffff6d03b68 in ?? () from /lib/x86_64-linux-gnu/libtbb.so.2
#11 0x00007ffff7235c9f in gtsam::NonlinearFactorGraph::linearize(gtsam::Values const&) const () from /usr/local/lib/libgtsam.so.4
#12 0x00007ffff7207922 in gtsam::ISAM2::update(gtsam::NonlinearFactorGraph const&, gtsam::Values const&, gtsam::FastVector<unsigned long> const&, boost::optional<gtsam::FastMap<unsigned long, int> > const&, boost::optional<gtsam::FastList<unsigned long> > const&, boost::optional<gtsam::FastList<unsigned long> > const&, bool) () from /usr/local/lib/libgtsam.so.4
#13 0x000055555561add1 in mapOptimization::saveKeyFramesAndFactor (this=0x7fffffffbc80) at /usr/include/c++/9/bits/stl_vector.h:94
#14 0x000055555561e0be in mapOptimization::laserCloudInfoHandler (this=0x7fffffffbc80, msgIn=...) at /home/zhao/Codes/SLAM/LIO_SAM_history/src/LIO_SAM_6AIXS/LIO-SAM-6AXIS/src/mapOptmizationGps.cpp:380
#15 0x00005555555e0b82 in boost::function1<void, boost::shared_ptr<lio_sam_6axis::cloud_info_<std::allocator<void> > const> const&>::operator() (a0=..., this=<optimized out>) at /usr/include/boost/function/function_template.hpp:677
#16 boost::detail::function::void_function_obj_invoker1<boost::function<void (boost::shared_ptr<lio_sam_6axis::cloud_info_<std::allocator<void> > const> const&)>, void, boost::shared_ptr<lio_sam_6axis::cloud_info_<std::allocator<void> > const> >::invoke(boost::detail::function::function_buffer&, boost::shared_ptr<lio_sam_6axis::cloud_info_<std::allocator<void> > const>) (function_obj_ptr=..., a0=...) at /usr/include/boost/function/function_template.hpp:158
#17 0x00005555555e1dce in boost::function1<void, boost::shared_ptr<lio_sam_6axis::cloud_info_<std::allocator<void> > const> >::operator() (a0=..., this=0x555555744288) at /usr/include/boost/smart_ptr/detail/shared_count.hpp:474
#18 ros::SubscriptionCallbackHelperT<boost::shared_ptr<lio_sam_6axis::cloud_info_<std::allocator<void> > const> const&, void>::call (this=0x555555744280, params=...) at /opt/ros/noetic/include/ros/subscription_callback_helper.h:144
#19 0x00007ffff755d199 in ros::SubscriptionQueue::call() () from /opt/ros/noetic/lib/libroscpp.so
#20 0x00007ffff750b162 in ros::CallbackQueue::callOneCB(ros::CallbackQueue::TLS*) () from /opt/ros/noetic/lib/libroscpp.so
#21 0x00007ffff750c873 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/noetic/lib/libroscpp.so
#22 0x00007ffff756002f in ros::SingleThreadedSpinner::spin(ros::CallbackQueue*) () from /opt/ros/noetic/lib/libroscpp.so
#23 0x00007ffff754824f in ros::spin() () from /opt/ros/noetic/lib/libroscpp.so
#24 0x00005555555ae869 in main (argc=<optimized out>, argv=<optimized out>) at /home/zhao/Codes/SLAM/LIO_SAM_history/src/LIO_SAM_6AIXS/LIO-SAM-6AXIS/src/mapOptmizationGps.cpp:2462

Expected behavior

Environment

Ubuntu 20.04, C++ ,LIO_SAM_6Aixs(https://github.com/JokerJohn/LIO_SAM_6AXIS), GTSAM 4.0.0, Eigen 3.4.0

Additional information

[ProfFan]

Please try with latest GTSAM 4 release or develop and see if the issue persists.

[zhao-zhibo]

@ProfFan I tried Release 4.2 .I use Eigen 3.37, but still get this error

[ProfFan]

Please report to the original author, this does not seem to be a GTSAM issue. If you think this is with GTSAM, please provide a minimal reproduction that does not involve 3rd party code, many thanks!