fix: segmentation fault from uninitialized pointer (#933)(backport) (#…

…348) fix: segmentation fault from uninitialized pointer (#933) tf2_buffer_ and tf2_listener_ were not initialized, causing segfault when the input cloud frame is not output_frame_ in PointCloudConcatenateDataSynchronizerComponent::transformPointCloud Co-authored-by: Vincent Richard <[email protected]> Co-authored-by: Vincent Richard <[email protected]>
tier4 · Apr 6, 2023 · 859af0a · 859af0a
1 parent b20c054
commit 859af0a
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_data_nodelet.cpp b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_data_nodelet.cpp
@@ -112,6 +112,12 @@ PointCloudConcatenateDataSynchronizerComponent::PointCloudConcatenateDataSynchro
     }
   }
 
+  // tf2 listener
+  {
+    tf2_buffer_ = std::make_shared<tf2_ros::Buffer>(this->get_clock());
+    tf2_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf2_buffer_);
+  }
+
   // Publishers
   {
     pub_output_ = this->create_publisher<PointCloud2>(