ros slam 问题及对应方案

在slam运行的过程中出现的问题做个记录总结，以备后查．-2017.09.13 乐

１、Gmapping 运行激光出错

pid 30640, exit code -11, cmd /opt/ros/kinetic/lib/gmapping/slam_gmapping __name:=slam_gmapping __log:=/home/chunle/.ros/log/92cda882-987f-11e7-9cd5-c85b762c8f74/slam_gmapping-1.log
*** Error in `/opt/ros/kinetic/lib/gmapping/slam_gmapping': malloc(): smallbin double linked list corrupted: 0x00000000012e0850 ***

gdb调试输出：错误位置在

Thread 1 "slam_gmapping" received signal SIGBUS, Bus error.
0x00007ffff7bc9603 in GMapping::GridSlamProcessor::setMatchingParameters(double, double, double, int, double, double, int, double, double, unsigned int)() from /opt/ros/kinetic/lib/libgridfastslam.so

*** Error in `/home/chunle/catkin_rikirobot/devel/lib/gmapping/slam_gmapping': malloc(): smallbin double linked list corrupted: 0x00000000021304a0 ***
段错误 (核心已转储)
slam_gmaping.cpp
gsp_odom_ = new GMapping::OdometrySensor(odom_frame_);
创建中异常导致的错误.

问题原因：未知,分析推测错误原因激光数据格式有问题，或者坐标系转换问题
解决方案：待解决