ros中 指针传递 ros::NodeHandle *node 报received signal SIGSEGV, Segmentation fault

ros中 指针传递 ros::NodeHandle *node

报错：

 Thread 1 "currencyChassis" received signal SIGSEGV, Segmentation fault. 0x00007fa8503fa3a6 in __GI___libc_realloc (oldmem=0x55ccc9afef20, bytes=64) at malloc.c:3233

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No source file named /home/iimt/workspace/workspace_ros_foodcar_noetic/src/slamservice/slamservice/src/currencyChassis/currencyChassis_savePoseByOdom_sql.cpp.
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7fd0881d2700 (LWP 798524)]
[New Thread 0x7fd0879d1700 (LWP 798525)]
[New Thread 0x7fd0871d0700 (LWP 798526)]
[New Thread 0x7fd0869cf700 (LWP 798527)]
[New Thread 0x7fd077fff700 (LWP 798528)]
[New Thread 0x7fd076bb8700 (LWP 798529)]
[New Thread 0x7fd0763b7700 (LWP 798530)]
[New Thread 0x7fd075905700 (LWP 798538)]

Thread 1 "currencyChassis" received signal SIGSEGV, Segmentation fault.
0x00007fd08bc10464 in __GI___libc_malloc (bytes=33) at malloc.c:3079
3079	malloc.c: 没有那个文件或目录.
(gdb) bt
#0  0x00007fd08bc10464 in __GI___libc_malloc (bytes=33) at malloc.c:3079
#1  0x00007fd08bf79b39 in operator new(unsigned long) () from /lib/x86_64-linux-gnu/libstdc++.so.6
#2  0x00007fd08c01229f in std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_M_assign(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) () from /lib/x86_64-linux-gnu/libstdc++.so.6
#3  0x00007fd08d067b8c in ros::Publisher::Publisher(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, ros::NodeHandle const&, boost::shared_ptr<ros::SubscriberCallbacks> const&) () from /opt/ros/noetic/lib/libroscpp.so
#4  0x00007fd08d0a0e24 in ros::NodeHandle::advertise(ros::AdvertiseOptions&) () from /opt/ros/noetic/lib/libroscpp.so
#5  0x00005582511d85fb in ros::NodeHandle::advertise<disinfect_msg::startCar_msg_<std::allocator<void> > > (this=0x7ffcaebf09a0, topic="/start_car", queue_size=10, latch=false) at /opt/ros/noetic/include/ros/node_handle.h:254
#6  0x00005582511e7758 in SocketData::initRosCommunication (this=0x558252b9ca00) at /home/iimt/workspace/workspace_ros_foodcar_noetic/src/slamservice/slamservice/src/NetWork/SocketData.cpp:70
#7  0x00005582511e72a0 in SocketData::SocketData (this=0x558252b9ca00, node=0x7ffcaebf09a0, parent=0x0) at /home/iimt/workspace/workspace_ros_foodcar_noetic/src/slamservice/slamservice/src/NetWork/SocketData.cpp:24
#8  0x00005582511d5549 in SocketData::getInstance (node=0x7ffcaebf09a0) at /home/iimt/workspace/workspace_ros_foodcar_noetic/src/slamservice/slamservice/src/NetWork/SocketData.h:237
#9  0x00005582511d096c in NetworkServer::NetworkServer (this=0x7ffcaebf0830, node=0x7ffcaebf09a0, parent=0x0) at /home/iimt/workspace/workspace_ros_foodcar_noetic/src/slamservice/slamservice/src/NetWork/NetworkServer.cpp:19
#10 0x00005582511d00a3 in main (argc=1, argv=0x7ffcaebf0b68) at /home/iimt/workspace/workspace_ros_foodcar_noetic/src/slamservice/slamservice/src/NetWork/main.cpp:34
#11 0x00007fd08bb9a0b3 in __libc_start_main (main=0x5582511cff48 <main(int, char**)>, argc=1, argv=0x7ffcaebf0b68, init=<optimized out>, fini=<optimized out>, rtld_fini=<optimized out>, stack_end=0x7ffcaebf0b58) at ../csu/libc-start.c:308
#12 0x00005582511ca60e in _start ()
Attempt to use a type name as an expression.
Attempt to use a type name as an expression.
[Switching to thread 2 (Thread 0x7fd0881d2700 (LWP 798524))]
Couldn't get registers: 没有那个进程.
[Thread 0x7fd075905700 (LWP 798538) exited]
[Thread 0x7fd0763b7700 (LWP 798530) exited]
[Thread 0x7fd076bb8700 (LWP 798529) exited]
[Thread 0x7fd077fff700 (LWP 798528) exited]
[Thread 0x7fd0869cf700 (LWP 798527) exited]
[Thread 0x7fd0871d0700 (LWP 798526) exited]
[Thread 0x7fd0879d1700 (LWP 798525) exited]
[Thread 0x7fd0881d2700 (LWP 798524) exited]

Program terminated with signal SIGSEGV, Segmentation fault.
The program no longer exists.

应该是：指针传递错误

解决办法：

       把指针传递改为引用传递；

ros 代码 （ ros::NodeHandle *node 指针传递）

int main(int argc, char *argv[]) {
    //节点名
    string nodeName = "currencyChassis_NetWorkNode";
    //初始化节点
    ros::init(argc,argv,nodeName);
    //创建节点
    ros::NodeHandle node;

    QApplication app(argc, argv);
    try {
    //数据解析类
    SocketData::getInstance(&node);

  
    } catch (std::exception e) {
        cout << "main currencyChassis_NetWorkNode 异常！" <<e.what()<< endl;
    }


    return QApplication::exec();
}

//
// Created by iimt on 21-12-1.
//

#ifndef SLAMSERVICE_SOCKETDATA_H
#define SLAMSERVICE_SOCKETDATA_H

using namespace std;
class SocketData:  public QWidget {
    Q_OBJECT
private:
    //私有三个构造函数
    SocketData(ros::NodeHandle *node, QWidget *parent = 0);
    SocketData(const  SocketData&);
    SocketData operator=(const  SocketData&);
    static mutex *m ;
    ros::NodeHandle *node;
public:
    ~SocketData();
            static SocketData * getInstance(ros::NodeHandle *node){
                if(instance == nullptr){
                    m->lock();
                    //懒汉式
                    if(instance == nullptr){
                        instance = new SocketData(node);
                    }
                    m->unlock();
                }
                return instance;
            }
};


#endif //SLAMSERVICE_SOCKETDATA_H

改 (ros::NodeHandle &node )引用传递后，代码不报错

int main(int argc, char *argv[]) {
    //节点名
    string nodeName = "currencyChassis_NetWorkNode";
    //初始化节点
    ros::init(argc,argv,nodeName);
    //创建节点
    ros::NodeHandle node;

    QApplication app(argc, argv);
    try {
    //数据解析类
    SocketData::getInstance(node);

  
    } catch (std::exception e) {
        cout << "main currencyChassis_NetWorkNode 异常！" <<e.what()<< endl;
    }


    return QApplication::exec();
}

//
// Created by iimt on 21-12-1.
//

#ifndef SLAMSERVICE_SOCKETDATA_H
#define SLAMSERVICE_SOCKETDATA_H

using namespace std;
class SocketData:  public QWidget {
    Q_OBJECT
private:
    //私有三个构造函数
    SocketData(ros::NodeHandle &node, QWidget *parent = 0);
    SocketData(const  SocketData&);
    SocketData operator=(const  SocketData&);
    static mutex *m ;
    ros::NodeHandle node;
public:
    ~SocketData();
            static SocketData * getInstance(ros::NodeHandle &node){
                if(instance == nullptr){
                    m->lock();
                    //懒汉式
                    if(instance == nullptr){
                        instance = new SocketData(node);
                    }
                    m->unlock();
                }
                return instance;
            }
};


#endif //SLAMSERVICE_SOCKETDATA_H