rosnode gdb 调试

参考链接：
http://wiki.ros.org/roslaunch/Tutorials/Roslaunch%20Nodes%20in%20Valgrind%20or%20GDB

<node launch-prefix="gdb -ex run --args" pkg="livox_mapping" type="scanRegistration_m1" name="scanRegistration_m1" output="screen">
</node>

~/livox_ws/ws_mapping$ roslaunch livox_mapping mapping_m1.launch 
... logging to /home/.ros/log/e14c5b2e-c4fa-11eb-a0c8-34e12d23369c/roslaunch-ThinkPad-L480-30537.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ThinkPad-L480:41989/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.11

NODES
  /
    scanRegistration_m1 (livox_mapping/scanRegistration_m1)

ROS_MASTER_URI=http://localhost:11311

process[scanRegistration_m1-1]: started with pid [30553]
GNU gdb (Ubuntu 8.1-0ubuntu3.2) 8.1.0.20180409-git
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Reading symbols from /home/livox_ws/ws_mapping/devel/lib/livox_mapping/scanRegistration_m1...done.
Starting program: /home/livox_ws/ws_mapping/devel/lib/livox_mapping/scanRegistration_m1 __name:=scanRegistration_m1 __log:=/home/.ros/log/e14c5b2e-c4fa-11eb-a0c8-34e12d23369c/scanRegistration_m1-1.log
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7ffff08bf700 (LWP 30560)]
[New Thread 0x7fffebfff700 (LWP 30561)]
[New Thread 0x7fffe3fff700 (LWP 30562)]
[New Thread 0x7fffeb7fe700 (LWP 30563)]
DEBUG first cloudSize 78750
start_idx=2,end_idx=78748,during_time=-1.62279e+09

Thread 1 "scanRegistratio" received signal SIGSEGV, Segmentation fault.
0x00005555555b4f44 in __gnu_cxx::new_allocator<pcl::PointXYZINormal>::construct<pcl::PointXYZINormal, pcl::PointXYZINormal const&> (this=0x555555875f78, 
    __p=0xa38203d20343654) at /usr/include/c++/7/ext/new_allocator.h:136
136		{ ::new((void *)__p) _Up(std::forward<_Args>(__args)...); }
(gdb) bt
#0  0x00005555555b4f44 in __gnu_cxx::new_allocator<pcl::PointXYZINormal>::construct<pcl::PointXYZINormal, pcl::PointXYZINormal const&> (this=0x555555875f78, 
    __p=0xa38203d20343654) at /usr/include/c++/7/ext/new_allocator.h:136
#1  0x00005555555b7b85 in std::allocator_traits<Eigen::aligned_allocator<pcl::PointXYZINormal> >::_S_construct<pcl::PointXYZINormal, pcl::PointXYZINormal const&> (__a=..., __p=0xa38203d20343654)
    at /usr/include/c++/7/bits/alloc_traits.h:243
#2  0x00005555555b46be in std::allocator_traits<Eigen::aligned_allocator<pcl::PointXYZINormal> >::construct<pcl::PointXYZINormal, pcl::PointXYZINormal const&>
    (__a=..., __p=0xa38203d20343654)
    at /usr/include/c++/7/bits/alloc_traits.h:344
#3  0x00005555555b0e8e in std::vector<pcl::PointXYZINormal, Eigen::aligned_allocator<pcl::PointXYZINormal> >::push_back (this=0x555555875f78, __x=...)
    at /usr/include/c++/7/bits/stl_vector.h:943
#4  0x00005555555acf5b in pcl::PointCloud<pcl::PointXYZINormal>::push_back (
    this=0x555555875f40, pt=...) at /usr/include/pcl-1.8/pcl/point_cloud.h:482
#5  0x00005555555a44b1 in laserCloudHandler (laserCloudMsg=...)
    at /home/livox_ws/ws_mapping/src/livox_mapping/src/scanRegistration_m1.cpp:212
#6  0x00005555555bb6e6 in boost::detail::function::void_function_invoker1<void (*)(boost::shared_ptr<sensor_msgs::PointCloud2_<std::allocator<void> > const> const&), void, boost::shared_ptr<sensor_msgs::PointCloud2_<std::allocator<void> > const> const&>::invoke (function_ptr=..., a0=...)
---Type <return> to continue, or q <return> to quit---