*** stack smashing detected ***: terminated

[wlt027]

Hi,thanks for your open source code!
I found out that this version code has some little problems,I can fix some of them,but I can not fix this one.Here is the issue

*** stack smashing detected **: terminated
[clins_offline_node-2] process has died [pid 16244, exit code -6, cmd /home/wlt027/projects/clins_wlt/devel/lib/clins/clins_offline_node __name:=clins_offline_node __log:=/home/zhihui/.ros/log/fbbc3b14-7de1-11ec-bff4-b92add9b16f4/clins_offline_node-2.log].
log file: /home/zhihui/.ros/log/fbbc3b14-7de1-11ec-bff4-b92add9b16f4/clins_offline_node-2.log

My environment is Ubuntu20.04,ros noetic,and ceres-solver version is 1.14.0.
This bug comes at first,and I initially locate the problem at there,line 239 in odometry_helper.hpp
// step5: Update trajectory
lidar_odom_->UpdateOdometry();

After step5,this bug comes out

Any suggest about this？

[LetusRoll]

Hi,guys! I met the same problem.Have you solved it?

[mingloo]

@icameling

Could you please help review this issue?

[Yeah2333]

In ubuntu18.04， when use gcc-9 and g++-9, this problem can be produce. And change to gcc7 and g++-7 can avoid this problem.

[xtyang16]

Hi bro, I encountered the same problem and I've solved it.

1. Change all occurrences of "pcl_isfinite" to "std::isfinite" in the file <feature_extraction.cpp>.
2. Change all occurrences of "pcl_isnan" to "std::isnan" in the file <se3_trajectory.hpp>.