I have a SensorPlugin which subscribes to the sensor given as parameter in the Load function.
My goal is to get the msg from the topic and publish it to ros. But I am already failing in subscribing.
When I print the DebugString of the msg I get the following error
gzserver: /usr/include/boost/smart_ptr/shared_ptr.hpp:648: typename boost::detail::sp_member_access::type boost::shared_ptr::operator->() const [with T = const gazebo::msgs::RaySensor; typename boost::detail::sp_member_access::type = const gazebo::msgs::RaySensor*]: Assertion `px != 0' failed.
I am not doing much. So where is the problem? My code looks like this:
public: virtual void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf) {
this->sensor = _sensor;
this->sdf = sdf;
std::string topicName = sensor->Topic();
this->node = transport::NodePtr(new transport::Node());
this->node->Init();
this->sub = this->node->Subscribe(topicName, &SensorPlugin::OnMsg, this);
}
private: void OnMsg(ConstRaySensorPtr &_msg)
{
std::cout << _msg->DebugString() << std::endl;
}
Using `gz topic -e "..."` and an external subscriber running the same code are working. I get the correct topic from `sensor->Topic()`.
Is there a conflict using a SensorPlugin instead of RaySensorPlugin? I can't imagine that.
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