1舆床、過(guò)程記錄
sensor_msgs::NavSatStatus::STATUS_FIX
sensor_msgs::NavSatStatus::STATUS_GBAS_FIX;
sensor_msgs的doc
wjwwood的github
調(diào)試記錄
1 segment fault調(diào)試記錄
Version:0.9 StartHTML:0000000332 EndHTML:0000011185 StartFragment:0000000368 EndFragment:0000011149 SourceURL:https://landray.dingtalkapps.com/alid/app/reportpc/createreport.html?reportid=161bdab5ca387f7d1f380914eb29b0e0&templateid=15f0a2cd99cf637412bc7de4e1faa036&corpid=ding5feebb43dd76297235c2f4657eb6378f&comeFromInside=1
1棋蚌、調(diào)試novatel驅(qū)動(dòng)程序報(bào)segmentfualt錯(cuò)誤，已經(jīng)找到問(wèn)題并解決挨队，
過(guò)程記錄：
a谷暮、cmake工程 增加gdb調(diào)試信息
SET(CMAKE_BUILD_TYPE "Debug")
SET(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -O0 -Wall -g -ggdb")
SET(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -O3 -Wall")
然后重新編譯
b、catkin_make -DCMAKE_BUILD_TYPE=Debug
c盛垦、然后gdb調(diào)試湿弦，找到SIGSEGV的錯(cuò)誤調(diào)用堆棧信息
gdb ./novatel_read_from_file core.xxxx
set args 2018.1.15-1.GPS
run
直到segment fault出現(xiàn)，
使用bt命令就可以看到調(diào)用堆棧信息
gdb捕捉的調(diào)用堆棧信息腾夯，序號(hào)越大颊埃，表示越早進(jìn)入函數(shù)
d蔬充、確定調(diào)用棧后，發(fā)現(xiàn)時(shí)協(xié)議版本有更改班利，修復(fù)后
以下部分為出問(wèn)題的代碼的片段
修復(fù)前的代碼
case PSRDOPB_LOG_TYPE:
Dop psr_dop;
header_length = (uint16_t) *(message+3);
payload_length = (((uint16_t) *(message+9)) << 8) +
((uint16_t) *(message+8));
// Copy header and unrepeated fields
memcpy(&psr_dop, message, header_length+24);
//Copy repeated fields
memcpy(&psr_dop.prn, message+header_length+28, (4*psr_dop.number_of_prns));
//Copy CRC
memcpy(&psr_dop.crc, message+header_length+payload_length, 4);
if (pseudorange_dop_callback_)
pseudorange_dop_callback_(psr_dop, read_timestamp_);
break;
修復(fù)后的代碼如下饥漫，只有一個(gè)地方發(fā)生了變化
memcpy(&psr_dop, message, header_length+24);中的24變?yōu)榱?8
case PSRDOPB_LOG_TYPE:
Dop psr_dop;
//cout << "header_length:" << header_length << endl;//header_length=28
header_length = (uint16_t) * (message + 3);
//cout << "payload_length:" << payload_length << endl;//payload_length=2856
payload_length = (((uint16_t) * (message + 9)) << 8) +
((uint16_t) * (message + 8));
//Copy header and unrepeated fields
memcpy(&psr_dop, message, header_length + 28);
//cout << "psr_dop.number_of_prns:" << psr_dop.number_of_prns << endl;//psr_dop.number_of_prns=2856
//Copy repeated fields
memcpy(&psr_dop.prn, message + header_length + 28, (4 * psr_dop.number_of_prns));
//Copy CRC
memcpy(&psr_dop.crc, message + header_length + payload_length, 4);
if (pseudorange_dop_callback_)
pseudorange_dop_callback_(psr_dop, read_timestamp_);
break;
[yuhs@yuhs novatel]$./novatel_read_from_file 2018.1.15-1.GPS
BESTPOS:
GPS Week: 1984 GPS milliseconds: 110165000
Latitude: 34.3999
Longitude: 117.471
Height: 49.7971
Solution status: 0
position type: 50
number of svs tracked: 19
number of svs used: 16
BESTPOS:
GPS Week: 1984 GPS milliseconds: 110166000
Latitude: 34.3999
Longitude: 117.471
Height: 49.7933
Solution status: 0
position type: 50
number of svs tracked: 19
number of svs used: 16
BESTPOS:
GPS Week: 1984 GPS milliseconds: 110167000
Latitude: 34.3999
Longitude: 117.471
Height: 49.7869
Solution status: 0
position type: 50
number of svs tracked: 19
number of svs used: 16
BESTPOS:
GPS Week: 1984 GPS milliseconds: 110168000
Latitude: 34.3999
Longitude: 117.471
Height: 49.7905
Solution status: 0
position type: 50
number of svs tracked: 19
number of svs used: 16
BESTPOS:
GPS Week: 1984 GPS milliseconds: 110169000
Latitude: 34.3999
Longitude: 117.471
Height: 49.7808
Solution status: 0
position type: 50
number of svs tracked: 19
number of svs used: 16
BESTPOS:
GPS Week: 1984 GPS milliseconds: 110170000
Latitude: 34.3999
Longitude: 117.471
Height: 49.7824
Solution status: 0
position type: 50
number of svs tracked: 19
number of svs used: 16
BESTPOS:
GPS Week: 1984 GPS milliseconds: 110171000
Latitude: 34.3999
Longitude: 117.471
Height: 49.788
Solution status: 0
position type: 50
number of svs tracked: 19
number of svs used: 16
BESTPOS:
GPS Week: 1984 GPS milliseconds: 110172000
Latitude: 34.3999
Longitude: 117.471
Height: 49.7816
Solution status: 0
position type: 50
number of svs tracked: 19
number of svs used: 16
BESTPOS:
GPS Week: 1984 GPS milliseconds: 110173000
Latitude: 34.3999
Longitude: 117.471
Height: 49.7817
Solution status: 0
position type: 50
number of svs tracked: 19
number of svs used: 16
BESTPOS:
GPS Week: 1984 GPS milliseconds: 110174000
Latitude: 34.3999
Longitude: 117.471
Height: 49.7818
Solution status: 0
position type: 50
number of svs tracked: 19
number of svs used: 16
BESTPOS:
GPS Week: 1984 GPS milliseconds: 110175000
Latitude: 34.3999
Longitude: 117.471
Height: 49.7873
Solution status: 0
position type: 50
number of svs tracked: 19
number of svs used: 16
BESTPOS:
GPS Week: 1984 GPS milliseconds: 110176000
Latitude: 34.3999
Longitude: 117.471
Height: 49.7927
Solution status: 0
position type: 50
number of svs tracked: 19
number of svs used: 16
BESTPOS:
GPS Week: 1984 GPS milliseconds: 110177000
Latitude: 34.3999
Longitude: 117.471
Height: 49.7878
Solution status: 0
position type: 50
number of svs tracked: 19
number of svs used: 16
BESTPOS:
GPS Week: 1984 GPS milliseconds: 110178000
Latitude: 34.3999
Longitude: 117.471
Height: 49.7842
Solution status: 0
position type: 50
number of svs tracked: 19
number of svs used: 16
payload_length:2856
mssage[0]is:aa
mssage[1]is:44
mssage[2]is:12
mssage[3]is:1c
mssage[4]is:ae
mssage[5]is:0
mssage[6]is:0
mssage[7]is:3e
mssage[8]is:5c
mssage[9]is:0
mssage[10]is:0
mssage[11]is:0
mssage[12]is:7b
mssage[13]is:b4
mssage[14]is:c0
mssage[15]is:7
mssage[16]is:80
mssage[17]is:e8
mssage[18]is:90
mssage[19]is:6
mssage[20]is:0
mssage[21]is:0
mssage[22]is:0
mssage[23]is:0
mssage[24]is:79
mssage[25]is:17
mssage[26]is:16
mssage[27]is:37
mssage[28]is:cf
mssage[29]is:f7
mssage[30]is:b3
mssage[31]is:3f
mssage[32]is:5a
mssage[33]is:64
mssage[34]is:8b
mssage[35]is:3f
mssage[36]is:a0
mssage[37]is:1a
mssage[38]is:2f
mssage[39]is:3f
mssage[40]is:4a
mssage[41]is:c
mssage[42]is:62
mssage[43]is:3f
mssage[44]is:17
mssage[45]is:d9
mssage[46]is:e
mssage[47]is:3f
mssage[48]is:0
mssage[49]is:0
mssage[50]is:a0
mssage[51]is:40
mssage[52]is:10
mssage[53]is:0
mssage[54]is:0
mssage[55]is:0
mssage[56]is:e
mssage[57]is:0
mssage[58]is:0
mssage[59]is:0
mssage[60]is:12
mssage[61]is:0
mssage[62]is:0
mssage[63]is:0
mssage[64]is:1a
mssage[65]is:0
mssage[66]is:0
mssage[67]is:0
mssage[68]is:16
mssage[69]is:0
mssage[70]is:0
mssage[71]is:0
mssage[72]is:18
mssage[73]is:0
mssage[74]is:0
mssage[75]is:0
mssage[76]is:19
mssage[77]is:0
mssage[78]is:0
mssage[79]is:0
mssage[80]is:a
mssage[81]is:0
mssage[82]is:0
mssage[83]is:0
mssage[84]is:20
mssage[85]is:0
mssage[86]is:0
mssage[87]is:0
mssage[88]is:c
mssage[89]is:0
mssage[90]is:0
mssage[91]is:0
mssage[92]is:1f
mssage[93]is:0
mssage[94]is:0
mssage[95]is:0
mssage[96]is:2f
mssage[97]is:0
mssage[98]is:0
mssage[99]is:0
mssage[100]is:2b
mssage[101]is:0
mssage[102]is:0
mssage[103]is:0
mssage[104]is:2e
mssage[105]is:0
mssage[106]is:0
mssage[107]is:0
mssage[108]is:35
mssage[109]is:0
mssage[110]is:0
mssage[111]is:0
mssage[112]is:2a
mssage[113]is:0
mssage[114]is:0
mssage[115]is:0
mssage[116]is:2c
mssage[117]is:0
mssage[118]is:0
mssage[119]is:0
mssage[120]is:f4
mssage[121]is:47
mssage[122]is:7b
mssage[123]is:86
psr_dop.number_of_prns:135306244
Segmentation fault (core dumped)
