記録パケットの突然のメモリサージによって引き起こされる問題のトラブルシューティング

 

std::shared_ptr<ros::Subscriber> TaskManager::subscribe(const std::string &topic)
    {
        ROS_INFO("Subscribing to %s", topic.c_str());
        ros::NodeHandle nh;
        std::shared_ptr<ros::Subscriber> sub(std::make_shared<ros::Subscriber>());

        ros::SubscribeOptions ops;
        ops.topic = topic;
        ops.queue_size = 100; // modify jiaopeng 队列大小调小
        ops.md5sum = ros::message_traits::md5sum<topic_tools::ShapeShifter>();
        ops.datatype = ros::message_traits::datatype<topic_tools::ShapeShifter>();
        ops.helper = boost::make_shared<ros::SubscriptionCallbackHelperT<
            const ros::MessageEvent<topic_tools::ShapeShifter const> &>>(
            boost::bind(&TaskManager::doQueue, this, boost::placeholders::_1, topic, sub));
        // ops.transport_hints = options_.transport_hints;
        *sub = nh.subscribe(ops);
        currently_recording_->insert(topic);
        return sub;
    }