bdou0716/gdb bt Secret

## gdb bt
Thread 16 (Thread 0x7fdccce0d700 (LWP 21767)):
#0  0x00007fdcf91e7bad in poll () at ../sysdeps/unix/syscall-template.S:81
#1  0x00007fdcea2fa248 in ?? () from /lib/x86_64-linux-gnu/libusb-1.0.so.0
#2  0x00007fdcf3b13182 in start_thread (arg=0x7fdccce0d700) at pthread_create.c:312
#3  0x00007fdcf91f4efd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 15 (Thread 0x7fdccbd1e700 (LWP 21769)):
#0  0x00007fdcf91e7bad in poll () at ../sysdeps/unix/syscall-template.S:81
#1  0x00007fdcf9c83746 in ros::poll_sockets(pollfd*, unsigned long, int) () from /opt/ros/indigo/lib/libroscpp.so
#2  0x00007fdcf9ceba97 in ros::PollSet::update(int) () from /opt/ros/indigo/lib/libroscpp.so
#3  0x00007fdcf9c90905 in ros::PollManager::threadFunc() () from /opt/ros/indigo/lib/libroscpp.so
#4  0x00007fdcf3d34a4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#5  0x00007fdcf3b13182 in start_thread (arg=0x7fdccbd1e700) at pthread_create.c:312
#6  0x00007fdcf91f4efd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 14 (Thread 0x7fdccb51d700 (LWP 21770)):
#0  0x00007fdcf91ec823 in select () at ../sysdeps/unix/syscall-template.S:81
#1  0x00007fdcf31c8498 in XmlRpc::XmlRpcDispatch::work(double) () from /opt/ros/indigo/lib/libxmlrpcpp.so
#2  0x00007fdcf9c7a07a in ros::XMLRPCManager::serverThreadFunc() () from /opt/ros/indigo/lib/libroscpp.so
#3  0x00007fdcf3d34a4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#4  0x00007fdcf3b13182 in start_thread (arg=0x7fdccb51d700) at pthread_create.c:312
#5  0x00007fdcf91f4efd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 13 (Thread 0x7fdccad1c700 (LWP 21772)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
#1  0x00007fdcf9ccbecb in ros::ROSOutAppender::logThread() () from /opt/ros/indigo/lib/libroscpp.so
#2  0x00007fdcf3d34a4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#3  0x00007fdcf3b13182 in start_thread (arg=0x7fdccad1c700) at pthread_create.c:312
#4  0x00007fdcf91f4efd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 12 (Thread 0x7fdcca51b700 (LWP 21789)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:238
#1  0x00007fdcf9ca4145 in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/indigo/lib/libroscpp.so
#2  0x00007fdcf9ca243d in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/indigo/lib/libroscpp.so
#3  0x00007fdcf9cce5c4 in ros::internalCallbackQueueThreadFunc() () from /opt/ros/indigo/lib/libroscpp.so
#4  0x00007fdcf3d34a4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#5  0x00007fdcf3b13182 in start_thread (arg=0x7fdcca51b700) at pthread_create.c:312
#6  0x00007fdcf91f4efd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 11 (Thread 0x7fdcc9d1a700 (LWP 21807)):
#0  __lll_lock_wait () at ../nptl/sysdeps/unix/sysv/linux/x86_64/lowlevellock.S:135
#1  0x00007fdcf3b15657 in _L_lock_909 () from /lib/x86_64-linux-gnu/libpthread.so.0
#2  0x00007fdcf3b15480 in __GI___pthread_mutex_lock (mutex=0x7fffde7e9300) at ../nptl/pthread_mutex_lock.c:79
#3  0x00007fdcfa21b298 in pthread_mutex_lock (m=0x7fffde7e9300) at /usr/include/boost/thread/pthread/mutex.hpp:61
#4  boost::mutex::lock (this=0x7fffde7e9300) at /usr/include/boost/thread/pthread/mutex.hpp:113
#5  0x00007fdcfa21b31c in boost::unique_lock<boost::mutex>::lock (this=0x7fdcc9d19080) at /usr/include/boost/thread/lock_types.hpp:346
#6  0x00007fdcfa267c4e in unique_lock (m_=..., this=0x7fdcc9d19080) at /usr/include/boost/thread/lock_types.hpp:124
---Type <return> to continue, or q <return> to quit---
#7  tf2_ros::MessageFilter<pcl::PointCloud<stdr_velodyne::PointType> >::transformable (this=0x7fffde7e9240, request_handle=301, target_frame=..., source_frame=...,
    time=..., result=tf2::TransformAvailable) at /home/bertrand/ws/driving/src/driving/external/geometry_experimental/tf2_ros/include/tf2_ros/message_filter.h:458
#8  0x00007fdcfa255293 in operator() (a5=<optimized out>, a4=..., a3=..., a2=..., a1=<optimized out>, p=<optimized out>, this=<optimized out>)
    at /usr/include/boost/bind/mem_fn_template.hpp:619
#9  operator()<boost::_mfi::mf5<void, tf2_ros::MessageFilter<pcl::PointCloud<stdr_velodyne::PointType> >, long unsigned int, const std::basic_string<char>&, const std::basic_string<char>&, ros::Time, tf2::TransformableResult>, boost::_bi::list5<long unsigned int&, const std::basic_string<char>&, const std::basic_string<char>&, ros::Time&, tf2::TransformableResult&> > (a=<synthetic pointer>, f=..., this=<optimized out>) at /usr/include/boost/bind/bind.hpp:596
#10 operator()<long unsigned int, const std::basic_string<char>, const std::basic_string<char>, ros::Time, tf2::TransformableResult> (a5=<synthetic pointer>, a4=...,
    a3=..., a2=..., a1=<synthetic pointer>, this=<optimized out>) at /usr/include/boost/bind/bind_template.hpp:174
#11 boost::detail::function::void_function_obj_invoker5<boost::_bi::bind_t<void, boost::_mfi::mf5<void, tf2_ros::MessageFilter<pcl::PointCloud<stdr_velodyne::PointType> >, unsigned long, std::string const&, std::string const&, ros::Time, tf2::TransformableResult>, boost::_bi::list6<boost::_bi::value<tf2_ros::MessageFilter<pcl::PointCloud<stdr_velodyne::PointType> >*>, boost::arg<1>, boost::arg<2>, boost::arg<3>, boost::arg<4>, boost::arg<5> > >, void, unsigned long, std::string const&, std::string const&, ros::Time, tf2::TransformableResult>::invoke (function_obj_ptr=..., a0=<optimized out>, a1=..., a2=..., a3=..., a4=<optimized out>)
    at /usr/include/boost/function/function_template.hpp:153
#12 0x00007fdcf6746974 in operator() (a4=tf2::TransformAvailable, a3=..., a2=..., a1=..., a0=<optimized out>, this=0x1556448)
    at /usr/include/boost/function/function_template.hpp:767
#13 tf2::BufferCore::testTransformableRequests (this=this@entry=0x7fffde7e8a38)
    at /home/bertrand/ws/driving/src/driving/external/geometry_experimental/tf2/src/buffer_core.cpp:1309
#14 0x00007fdcf6746e6e in tf2::BufferCore::setTransform (this=0x7fffde7e8a38, transform_in=..., authority=..., is_static=is_static@entry=false)
    at /home/bertrand/ws/driving/src/driving/external/geometry_experimental/tf2/src/buffer_core.cpp:265
#15 0x00007fdcf6ba71b1 in tf2_ros::TransformListener::subscription_callback_impl (this=0x7fffde7e8bf0, msg_evt=..., is_static=<optimized out>)
    at /home/bertrand/ws/driving/src/driving/external/geometry_experimental/tf2_ros/src/transform_listener.cpp:119
#16 0x00007fdcf6bac42b in operator() (a1=..., p=<optimized out>, this=0x1456ea8) at /usr/include/boost/bind/mem_fn_template.hpp:165
#17 operator()<boost::_mfi::mf1<void, tf2_ros::TransformListener, const ros::MessageEvent<const tf2_msgs::TFMessage_<std::allocator<void> > >&>, boost::_bi::list1<const boost::shared_ptr<const tf2_msgs::TFMessage_<std::allocator<void> > >&> > (a=<synthetic pointer>, f=..., this=0x1456eb8) at /usr/include/boost/bind/bind.hpp:313
#18 operator()<boost::shared_ptr<const tf2_msgs::TFMessage_<std::allocator<void> > > > (a1=..., this=0x1456ea8) at /usr/include/boost/bind/bind_template.hpp:47
#19 boost::detail::function::void_function_obj_invoker1<boost::_bi::bind_t<void, boost::_mfi::mf1<void, tf2_ros::TransformListener, ros::MessageEvent<tf2_msgs::TFMessage_<std::allocator<void> > const> const&>, boost::_bi::list2<boost::_bi::value<tf2_ros::TransformListener*>, boost::arg<1> > >, void, boost::shared_ptr<tf2_msgs::TFMessage_<std::allocator<void> > const> const&>::invoke (function_obj_ptr=..., a0=...) at /usr/include/boost/function/function_template.hpp:153
#20 0x00007fdcf6baacdc in operator() (a0=..., this=<optimized out>) at /usr/include/boost/function/function_template.hpp:767
#21 boost::detail::function::void_function_obj_invoker1<boost::function<void (boost::shared_ptr<tf2_msgs::TFMessage_<std::allocator<void> > const> const&)>, void, boost::shared_ptr<tf2_msgs::TFMessage_<std::allocator<void> > const> >::invoke(boost::detail::function::function_buffer&, boost::shared_ptr<tf2_msgs::TFMessage_<std::allocator<void> > const>) (function_obj_ptr=..., a0=...) at /usr/include/boost/function/function_template.hpp:153
#22 0x00007fdcf6bac8bc in operator() (a0=..., this=0x1406ff8) at /usr/include/boost/function/function_template.hpp:767
#23 ros::SubscriptionCallbackHelperT<boost::shared_ptr<tf2_msgs::TFMessage_<std::allocator<void> > const> const&, void>::call (this=0x1406ff0, params=...)
    at /opt/ros/indigo/include/ros/subscription_callback_helper.h:144
#24 0x00007fdcf9ce3695 in ros::SubscriptionQueue::call() () from /opt/ros/indigo/lib/libroscpp.so
#25 0x00007fdcf9ca14f7 in ros::CallbackQueue::callOneCB(ros::CallbackQueue::TLS*) () from /opt/ros/indigo/lib/libroscpp.so
#26 0x00007fdcf9ca2303 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/indigo/lib/libroscpp.so
#27 0x00007fdcf6ba8b22 in tf2_ros::TransformListener::dedicatedListenerThread (this=0x7fffde7e8bf0)
    at /home/bertrand/ws/driving/src/driving/external/geometry_experimental/tf2_ros/include/tf2_ros/transform_listener.h:80
#28 0x00007fdcf3d34a4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#29 0x00007fdcf3b13182 in start_thread (arg=0x7fdcc9d1a700) at pthread_create.c:312
#30 0x00007fdcf91f4efd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 10 (Thread 0x7fdcc8ee9700 (LWP 21953)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
#1  0x00007fdcf73c3a05 in pl::Pipeline::run (this=0x487aa00) at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:445
#2  0x00007fdcf73c3a39 in pl::propagateComputation (pipeline=<optimized out>)
---Type <return> to continue, or q <return> to quit---
    at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:475
#3  0x00007fdcf3b13182 in start_thread (arg=0x7fdcc8ee9700) at pthread_create.c:312
#4  0x00007fdcf91f4efd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 9 (Thread 0x7fdcc86e8700 (LWP 21955)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
#1  0x00007fdcf73c3a05 in pl::Pipeline::run (this=0x487a8c0) at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:445
#2  0x00007fdcf73c3a39 in pl::propagateComputation (pipeline=<optimized out>)
    at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:475
#3  0x00007fdcf3b13182 in start_thread (arg=0x7fdcc86e8700) at pthread_create.c:312
#4  0x00007fdcf91f4efd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 8 (Thread 0x7fdcc7ee7700 (LWP 21957)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
#1  0x00007fdcf73c3a05 in pl::Pipeline::run (this=0x487a780) at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:445
#2  0x00007fdcf73c3a39 in pl::propagateComputation (pipeline=<optimized out>)
    at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:475
#3  0x00007fdcf3b13182 in start_thread (arg=0x7fdcc7ee7700) at pthread_create.c:312
#4  0x00007fdcf91f4efd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 7 (Thread 0x7fdcc76e6700 (LWP 21961)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
#1  0x00007fdcf73c3a05 in pl::Pipeline::run (this=0x487a640) at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:445
#2  0x00007fdcf73c3a39 in pl::propagateComputation (pipeline=<optimized out>)
    at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:475
#3  0x00007fdcf3b13182 in start_thread (arg=0x7fdcc76e6700) at pthread_create.c:312
#4  0x00007fdcf91f4efd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 6 (Thread 0x7fdcc6ee5700 (LWP 21962)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
#1  0x00007fdcf73c3a05 in pl::Pipeline::run (this=0x487a500) at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:445
#2  0x00007fdcf73c3a39 in pl::propagateComputation (pipeline=<optimized out>)
    at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:475
#3  0x00007fdcf3b13182 in start_thread (arg=0x7fdcc6ee5700) at pthread_create.c:312
#4  0x00007fdcf91f4efd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 5 (Thread 0x7fdcc66e4700 (LWP 21964)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
#1  0x00007fdcf73c3a05 in pl::Pipeline::run (this=0x487a3c0) at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:445
#2  0x00007fdcf73c3a39 in pl::propagateComputation (pipeline=<optimized out>)
    at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:475
#3  0x00007fdcf3b13182 in start_thread (arg=0x7fdcc66e4700) at pthread_create.c:312
#4  0x00007fdcf91f4efd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 4 (Thread 0x7fdcc5ee3700 (LWP 21965)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
#1  0x00007fdcf73c3a05 in pl::Pipeline::run (this=0x487a280) at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:445
#2  0x00007fdcf73c3a39 in pl::propagateComputation (pipeline=<optimized out>)
    at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:475
---Type <return> to continue, or q <return> to quit---
#3  0x00007fdcf3b13182 in start_thread (arg=0x7fdcc5ee3700) at pthread_create.c:312
#4  0x00007fdcf91f4efd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 3 (Thread 0x7fdcc56e2700 (LWP 21966)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
#1  0x00007fdcf73c3a05 in pl::Pipeline::run (this=0x487a140) at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:445
#2  0x00007fdcf73c3a39 in pl::propagateComputation (pipeline=<optimized out>)
    at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:475
#3  0x00007fdcf3b13182 in start_thread (arg=0x7fdcc56e2700) at pthread_create.c:312
#4  0x00007fdcf91f4efd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 2 (Thread 0x7fdcc4ee1700 (LWP 22050)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
#1  0x00007fdcfa250bdb in wait (m=..., this=0x7fffde7e9450) at /usr/include/boost/thread/pthread/condition_variable.hpp:73
#2  perception::PerceptionNodeBase::threadFunction (this=0x7fffde7e89a0)
    at /home/bertrand/ws/driving/src/driving/packages/perception/perception/src/perception_node_base.cpp:182
#3  0x00007fdcf3d34a4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#4  0x00007fdcf3b13182 in start_thread (arg=0x7fdcc4ee1700) at pthread_create.c:312
#5  0x00007fdcf91f4efd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

Thread 1 (Thread 0x7fdcfa620b40 (LWP 21641)):
#0  __lll_lock_wait () at ../nptl/sysdeps/unix/sysv/linux/x86_64/lowlevellock.S:135
#1  0x00007fdcf3b15657 in _L_lock_909 () from /lib/x86_64-linux-gnu/libpthread.so.0
#2  0x00007fdcf3b15480 in __GI___pthread_mutex_lock (mutex=0x7fffde7e8b90) at ../nptl/pthread_mutex_lock.c:79
#3  0x00007fdcfa21b298 in pthread_mutex_lock (m=0x7fffde7e8b90) at /usr/include/boost/thread/pthread/mutex.hpp:61
#4  boost::mutex::lock (this=0x7fffde7e8b90) at /usr/include/boost/thread/pthread/mutex.hpp:113
#5  0x00007fdcfa21b31c in boost::unique_lock<boost::mutex>::lock (this=0x7fffde7e7f20) at /usr/include/boost/thread/lock_types.hpp:346
#6  0x00007fdcf67416fa in unique_lock (m_=..., this=0x7fffde7e7f20) at /usr/include/boost/thread/lock_types.hpp:124
#7  tf2::BufferCore::cancelTransformableRequest (this=0x7fffde7e8a38, handle=279)
    at /home/bertrand/ws/driving/src/driving/external/geometry_experimental/tf2/src/buffer_core.cpp:1197
#8  0x00007fdcfa268b84 in tf2_ros::MessageFilter<pcl::PointCloud<stdr_velodyne::PointType> >::add (this=0x7fffde7e9240, evt=...)
    at /home/bertrand/ws/driving/src/driving/external/geometry_experimental/tf2_ros/include/tf2_ros/message_filter.h:381
#9  0x00007fdcfa25e772 in operator() (a0=..., this=0x155a578) at /usr/include/boost/function/function_template.hpp:767
#10 message_filters::CallbackHelper1T<ros::MessageEvent<pcl::PointCloud<stdr_velodyne::PointType> const> const&, pcl::PointCloud<stdr_velodyne::PointType> >::call (
    this=0x155a570, event=..., nonconst_force_copy=<optimized out>) at /opt/ros/indigo/include/message_filters/signal1.h:76
#11 0x00007fdcfa25e26f in message_filters::Signal1<pcl::PointCloud<stdr_velodyne::PointType> >::call (this=<optimized out>, event=...)
    at /opt/ros/indigo/include/message_filters/signal1.h:119
#12 0x00007fdcfa25bce6 in operator() (a0=..., this=0x1406e68) at /usr/include/boost/function/function_template.hpp:767
#13 ros::SubscriptionCallbackHelperT<ros::MessageEvent<pcl::PointCloud<stdr_velodyne::PointType> const> const&, void>::call (this=0x1406e60, params=...)
    at /opt/ros/indigo/include/ros/subscription_callback_helper.h:144
#14 0x00007fdcf9ce3695 in ros::SubscriptionQueue::call() () from /opt/ros/indigo/lib/libroscpp.so
#15 0x00007fdcf9ca14f7 in ros::CallbackQueue::callOneCB(ros::CallbackQueue::TLS*) () from /opt/ros/indigo/lib/libroscpp.so
#16 0x00007fdcf9ca2303 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/indigo/lib/libroscpp.so
#17 0x00007fdcf9ce61b5 in ros::SingleThreadedSpinner::spin(ros::CallbackQueue*) () from /opt/ros/indigo/lib/libroscpp.so
#18 0x00007fdcf9cce7bb in ros::spin() () from /opt/ros/indigo/lib/libroscpp.so
#19 0x0000000000403f2c in main (argc=1, argv=0x7fffde7e97e8) at /home/bertrand/ws/driving/src/driving/packages/perception/perception/src/perception_node.cpp:45
	Thread 16 (Thread 0x7fdccce0d700 (LWP 21767)):
	#0 0x00007fdcf91e7bad in poll () at ../sysdeps/unix/syscall-template.S:81
	#1 0x00007fdcea2fa248 in ?? () from /lib/x86_64-linux-gnu/libusb-1.0.so.0
	#2 0x00007fdcf3b13182 in start_thread (arg=0x7fdccce0d700) at pthread_create.c:312
	#3 0x00007fdcf91f4efd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

	Thread 15 (Thread 0x7fdccbd1e700 (LWP 21769)):
	#0 0x00007fdcf91e7bad in poll () at ../sysdeps/unix/syscall-template.S:81
	#1 0x00007fdcf9c83746 in ros::poll_sockets(pollfd*, unsigned long, int) () from /opt/ros/indigo/lib/libroscpp.so
	#2 0x00007fdcf9ceba97 in ros::PollSet::update(int) () from /opt/ros/indigo/lib/libroscpp.so
	#3 0x00007fdcf9c90905 in ros::PollManager::threadFunc() () from /opt/ros/indigo/lib/libroscpp.so
	#4 0x00007fdcf3d34a4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
	#5 0x00007fdcf3b13182 in start_thread (arg=0x7fdccbd1e700) at pthread_create.c:312
	#6 0x00007fdcf91f4efd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

	Thread 14 (Thread 0x7fdccb51d700 (LWP 21770)):
	#0 0x00007fdcf91ec823 in select () at ../sysdeps/unix/syscall-template.S:81
	#1 0x00007fdcf31c8498 in XmlRpc::XmlRpcDispatch::work(double) () from /opt/ros/indigo/lib/libxmlrpcpp.so
	#2 0x00007fdcf9c7a07a in ros::XMLRPCManager::serverThreadFunc() () from /opt/ros/indigo/lib/libroscpp.so
	#3 0x00007fdcf3d34a4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
	#4 0x00007fdcf3b13182 in start_thread (arg=0x7fdccb51d700) at pthread_create.c:312
	#5 0x00007fdcf91f4efd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

	Thread 13 (Thread 0x7fdccad1c700 (LWP 21772)):
	#0 pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
	#1 0x00007fdcf9ccbecb in ros::ROSOutAppender::logThread() () from /opt/ros/indigo/lib/libroscpp.so
	#2 0x00007fdcf3d34a4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
	#3 0x00007fdcf3b13182 in start_thread (arg=0x7fdccad1c700) at pthread_create.c:312
	#4 0x00007fdcf91f4efd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

	Thread 12 (Thread 0x7fdcca51b700 (LWP 21789)):
	#0 pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:238
	#1 0x00007fdcf9ca4145 in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/indigo/lib/libroscpp.so
	#2 0x00007fdcf9ca243d in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/indigo/lib/libroscpp.so
	#3 0x00007fdcf9cce5c4 in ros::internalCallbackQueueThreadFunc() () from /opt/ros/indigo/lib/libroscpp.so
	#4 0x00007fdcf3d34a4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
	#5 0x00007fdcf3b13182 in start_thread (arg=0x7fdcca51b700) at pthread_create.c:312
	#6 0x00007fdcf91f4efd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

	Thread 11 (Thread 0x7fdcc9d1a700 (LWP 21807)):
	#0 __lll_lock_wait () at ../nptl/sysdeps/unix/sysv/linux/x86_64/lowlevellock.S:135
	#1 0x00007fdcf3b15657 in _L_lock_909 () from /lib/x86_64-linux-gnu/libpthread.so.0
	#2 0x00007fdcf3b15480 in __GI___pthread_mutex_lock (mutex=0x7fffde7e9300) at ../nptl/pthread_mutex_lock.c:79
	#3 0x00007fdcfa21b298 in pthread_mutex_lock (m=0x7fffde7e9300) at /usr/include/boost/thread/pthread/mutex.hpp:61
	#4 boost::mutex::lock (this=0x7fffde7e9300) at /usr/include/boost/thread/pthread/mutex.hpp:113
	#5 0x00007fdcfa21b31c in boost::unique_lock<boost::mutex>::lock (this=0x7fdcc9d19080) at /usr/include/boost/thread/lock_types.hpp:346
	#6 0x00007fdcfa267c4e in unique_lock (m_=..., this=0x7fdcc9d19080) at /usr/include/boost/thread/lock_types.hpp:124
	---Type <return> to continue, or q <return> to quit---
	#7 tf2_ros::MessageFilter<pcl::PointCloud<stdr_velodyne::PointType> >::transformable (this=0x7fffde7e9240, request_handle=301, target_frame=..., source_frame=...,
	time=..., result=tf2::TransformAvailable) at /home/bertrand/ws/driving/src/driving/external/geometry_experimental/tf2_ros/include/tf2_ros/message_filter.h:458
	#8 0x00007fdcfa255293 in operator() (a5=<optimized out>, a4=..., a3=..., a2=..., a1=<optimized out>, p=<optimized out>, this=<optimized out>)
	at /usr/include/boost/bind/mem_fn_template.hpp:619
	#9 operator()<boost::_mfi::mf5<void, tf2_ros::MessageFilter<pcl::PointCloud<stdr_velodyne::PointType> >, long unsigned int, const std::basic_string<char>&, const std::basic_string<char>&, ros::Time, tf2::TransformableResult>, boost::_bi::list5<long unsigned int&, const std::basic_string<char>&, const std::basic_string<char>&, ros::Time&, tf2::TransformableResult&> > (a=<synthetic pointer>, f=..., this=<optimized out>) at /usr/include/boost/bind/bind.hpp:596
	#10 operator()<long unsigned int, const std::basic_string<char>, const std::basic_string<char>, ros::Time, tf2::TransformableResult> (a5=<synthetic pointer>, a4=...,
	a3=..., a2=..., a1=<synthetic pointer>, this=<optimized out>) at /usr/include/boost/bind/bind_template.hpp:174
	#11 boost::detail::function::void_function_obj_invoker5<boost::_bi::bind_t<void, boost::_mfi::mf5<void, tf2_ros::MessageFilter<pcl::PointCloud<stdr_velodyne::PointType> >, unsigned long, std::string const&, std::string const&, ros::Time, tf2::TransformableResult>, boost::_bi::list6<boost::_bi::value<tf2_ros::MessageFilter<pcl::PointCloud<stdr_velodyne::PointType> >*>, boost::arg<1>, boost::arg<2>, boost::arg<3>, boost::arg<4>, boost::arg<5> > >, void, unsigned long, std::string const&, std::string const&, ros::Time, tf2::TransformableResult>::invoke (function_obj_ptr=..., a0=<optimized out>, a1=..., a2=..., a3=..., a4=<optimized out>)
	at /usr/include/boost/function/function_template.hpp:153
	#12 0x00007fdcf6746974 in operator() (a4=tf2::TransformAvailable, a3=..., a2=..., a1=..., a0=<optimized out>, this=0x1556448)
	at /usr/include/boost/function/function_template.hpp:767
	#13 tf2::BufferCore::testTransformableRequests (this=this@entry=0x7fffde7e8a38)
	at /home/bertrand/ws/driving/src/driving/external/geometry_experimental/tf2/src/buffer_core.cpp:1309
	#14 0x00007fdcf6746e6e in tf2::BufferCore::setTransform (this=0x7fffde7e8a38, transform_in=..., authority=..., is_static=is_static@entry=false)
	at /home/bertrand/ws/driving/src/driving/external/geometry_experimental/tf2/src/buffer_core.cpp:265
	#15 0x00007fdcf6ba71b1 in tf2_ros::TransformListener::subscription_callback_impl (this=0x7fffde7e8bf0, msg_evt=..., is_static=<optimized out>)
	at /home/bertrand/ws/driving/src/driving/external/geometry_experimental/tf2_ros/src/transform_listener.cpp:119
	#16 0x00007fdcf6bac42b in operator() (a1=..., p=<optimized out>, this=0x1456ea8) at /usr/include/boost/bind/mem_fn_template.hpp:165
	#17 operator()<boost::_mfi::mf1<void, tf2_ros::TransformListener, const ros::MessageEvent<const tf2_msgs::TFMessage_<std::allocator<void> > >&>, boost::_bi::list1<const boost::shared_ptr<const tf2_msgs::TFMessage_<std::allocator<void> > >&> > (a=<synthetic pointer>, f=..., this=0x1456eb8) at /usr/include/boost/bind/bind.hpp:313
	#18 operator()<boost::shared_ptr<const tf2_msgs::TFMessage_<std::allocator<void> > > > (a1=..., this=0x1456ea8) at /usr/include/boost/bind/bind_template.hpp:47
	#19 boost::detail::function::void_function_obj_invoker1<boost::_bi::bind_t<void, boost::_mfi::mf1<void, tf2_ros::TransformListener, ros::MessageEvent<tf2_msgs::TFMessage_<std::allocator<void> > const> const&>, boost::_bi::list2<boost::_bi::value<tf2_ros::TransformListener*>, boost::arg<1> > >, void, boost::shared_ptr<tf2_msgs::TFMessage_<std::allocator<void> > const> const&>::invoke (function_obj_ptr=..., a0=...) at /usr/include/boost/function/function_template.hpp:153
	#20 0x00007fdcf6baacdc in operator() (a0=..., this=<optimized out>) at /usr/include/boost/function/function_template.hpp:767
	#21 boost::detail::function::void_function_obj_invoker1<boost::function<void (boost::shared_ptr<tf2_msgs::TFMessage_<std::allocator<void> > const> const&)>, void, boost::shared_ptr<tf2_msgs::TFMessage_<std::allocator<void> > const> >::invoke(boost::detail::function::function_buffer&, boost::shared_ptr<tf2_msgs::TFMessage_<std::allocator<void> > const>) (function_obj_ptr=..., a0=...) at /usr/include/boost/function/function_template.hpp:153
	#22 0x00007fdcf6bac8bc in operator() (a0=..., this=0x1406ff8) at /usr/include/boost/function/function_template.hpp:767
	#23 ros::SubscriptionCallbackHelperT<boost::shared_ptr<tf2_msgs::TFMessage_<std::allocator<void> > const> const&, void>::call (this=0x1406ff0, params=...)
	at /opt/ros/indigo/include/ros/subscription_callback_helper.h:144
	#24 0x00007fdcf9ce3695 in ros::SubscriptionQueue::call() () from /opt/ros/indigo/lib/libroscpp.so
	#25 0x00007fdcf9ca14f7 in ros::CallbackQueue::callOneCB(ros::CallbackQueue::TLS*) () from /opt/ros/indigo/lib/libroscpp.so
	#26 0x00007fdcf9ca2303 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/indigo/lib/libroscpp.so
	#27 0x00007fdcf6ba8b22 in tf2_ros::TransformListener::dedicatedListenerThread (this=0x7fffde7e8bf0)
	at /home/bertrand/ws/driving/src/driving/external/geometry_experimental/tf2_ros/include/tf2_ros/transform_listener.h:80
	#28 0x00007fdcf3d34a4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
	#29 0x00007fdcf3b13182 in start_thread (arg=0x7fdcc9d1a700) at pthread_create.c:312
	#30 0x00007fdcf91f4efd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

	Thread 10 (Thread 0x7fdcc8ee9700 (LWP 21953)):
	#0 pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
	#1 0x00007fdcf73c3a05 in pl::Pipeline::run (this=0x487aa00) at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:445
	#2 0x00007fdcf73c3a39 in pl::propagateComputation (pipeline=<optimized out>)
	---Type <return> to continue, or q <return> to quit---
	at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:475
	#3 0x00007fdcf3b13182 in start_thread (arg=0x7fdcc8ee9700) at pthread_create.c:312
	#4 0x00007fdcf91f4efd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

	Thread 9 (Thread 0x7fdcc86e8700 (LWP 21955)):
	#0 pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
	#1 0x00007fdcf73c3a05 in pl::Pipeline::run (this=0x487a8c0) at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:445
	#2 0x00007fdcf73c3a39 in pl::propagateComputation (pipeline=<optimized out>)
	at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:475
	#3 0x00007fdcf3b13182 in start_thread (arg=0x7fdcc86e8700) at pthread_create.c:312
	#4 0x00007fdcf91f4efd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

	Thread 8 (Thread 0x7fdcc7ee7700 (LWP 21957)):
	#0 pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
	#1 0x00007fdcf73c3a05 in pl::Pipeline::run (this=0x487a780) at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:445
	#2 0x00007fdcf73c3a39 in pl::propagateComputation (pipeline=<optimized out>)
	at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:475
	#3 0x00007fdcf3b13182 in start_thread (arg=0x7fdcc7ee7700) at pthread_create.c:312
	#4 0x00007fdcf91f4efd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

	Thread 7 (Thread 0x7fdcc76e6700 (LWP 21961)):
	#0 pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
	#1 0x00007fdcf73c3a05 in pl::Pipeline::run (this=0x487a640) at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:445
	#2 0x00007fdcf73c3a39 in pl::propagateComputation (pipeline=<optimized out>)
	at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:475
	#3 0x00007fdcf3b13182 in start_thread (arg=0x7fdcc76e6700) at pthread_create.c:312
	#4 0x00007fdcf91f4efd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

	Thread 6 (Thread 0x7fdcc6ee5700 (LWP 21962)):
	#0 pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
	#1 0x00007fdcf73c3a05 in pl::Pipeline::run (this=0x487a500) at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:445
	#2 0x00007fdcf73c3a39 in pl::propagateComputation (pipeline=<optimized out>)
	at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:475
	#3 0x00007fdcf3b13182 in start_thread (arg=0x7fdcc6ee5700) at pthread_create.c:312
	#4 0x00007fdcf91f4efd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

	Thread 5 (Thread 0x7fdcc66e4700 (LWP 21964)):
	#0 pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
	#1 0x00007fdcf73c3a05 in pl::Pipeline::run (this=0x487a3c0) at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:445
	#2 0x00007fdcf73c3a39 in pl::propagateComputation (pipeline=<optimized out>)
	at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:475
	#3 0x00007fdcf3b13182 in start_thread (arg=0x7fdcc66e4700) at pthread_create.c:312
	#4 0x00007fdcf91f4efd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

	Thread 4 (Thread 0x7fdcc5ee3700 (LWP 21965)):
	#0 pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
	#1 0x00007fdcf73c3a05 in pl::Pipeline::run (this=0x487a280) at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:445
	#2 0x00007fdcf73c3a39 in pl::propagateComputation (pipeline=<optimized out>)
	at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:475
	---Type <return> to continue, or q <return> to quit---
	#3 0x00007fdcf3b13182 in start_thread (arg=0x7fdcc5ee3700) at pthread_create.c:312
	#4 0x00007fdcf91f4efd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

	Thread 3 (Thread 0x7fdcc56e2700 (LWP 21966)):
	#0 pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
	#1 0x00007fdcf73c3a05 in pl::Pipeline::run (this=0x487a140) at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:445
	#2 0x00007fdcf73c3a39 in pl::propagateComputation (pipeline=<optimized out>)
	at /home/bertrand/ws/driving/src/driving/packages/perception/classification/pipeline/src/pipeline.cpp:475
	#3 0x00007fdcf3b13182 in start_thread (arg=0x7fdcc56e2700) at pthread_create.c:312
	#4 0x00007fdcf91f4efd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

	Thread 2 (Thread 0x7fdcc4ee1700 (LWP 22050)):
	#0 pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:185
	#1 0x00007fdcfa250bdb in wait (m=..., this=0x7fffde7e9450) at /usr/include/boost/thread/pthread/condition_variable.hpp:73
	#2 perception::PerceptionNodeBase::threadFunction (this=0x7fffde7e89a0)
	at /home/bertrand/ws/driving/src/driving/packages/perception/perception/src/perception_node_base.cpp:182
	#3 0x00007fdcf3d34a4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
	#4 0x00007fdcf3b13182 in start_thread (arg=0x7fdcc4ee1700) at pthread_create.c:312
	#5 0x00007fdcf91f4efd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

	Thread 1 (Thread 0x7fdcfa620b40 (LWP 21641)):
	#0 __lll_lock_wait () at ../nptl/sysdeps/unix/sysv/linux/x86_64/lowlevellock.S:135
	#1 0x00007fdcf3b15657 in _L_lock_909 () from /lib/x86_64-linux-gnu/libpthread.so.0
	#2 0x00007fdcf3b15480 in __GI___pthread_mutex_lock (mutex=0x7fffde7e8b90) at ../nptl/pthread_mutex_lock.c:79
	#3 0x00007fdcfa21b298 in pthread_mutex_lock (m=0x7fffde7e8b90) at /usr/include/boost/thread/pthread/mutex.hpp:61
	#4 boost::mutex::lock (this=0x7fffde7e8b90) at /usr/include/boost/thread/pthread/mutex.hpp:113
	#5 0x00007fdcfa21b31c in boost::unique_lock<boost::mutex>::lock (this=0x7fffde7e7f20) at /usr/include/boost/thread/lock_types.hpp:346
	#6 0x00007fdcf67416fa in unique_lock (m_=..., this=0x7fffde7e7f20) at /usr/include/boost/thread/lock_types.hpp:124
	#7 tf2::BufferCore::cancelTransformableRequest (this=0x7fffde7e8a38, handle=279)
	at /home/bertrand/ws/driving/src/driving/external/geometry_experimental/tf2/src/buffer_core.cpp:1197
	#8 0x00007fdcfa268b84 in tf2_ros::MessageFilter<pcl::PointCloud<stdr_velodyne::PointType> >::add (this=0x7fffde7e9240, evt=...)
	at /home/bertrand/ws/driving/src/driving/external/geometry_experimental/tf2_ros/include/tf2_ros/message_filter.h:381
	#9 0x00007fdcfa25e772 in operator() (a0=..., this=0x155a578) at /usr/include/boost/function/function_template.hpp:767
	#10 message_filters::CallbackHelper1T<ros::MessageEvent<pcl::PointCloud<stdr_velodyne::PointType> const> const&, pcl::PointCloud<stdr_velodyne::PointType> >::call (
	this=0x155a570, event=..., nonconst_force_copy=<optimized out>) at /opt/ros/indigo/include/message_filters/signal1.h:76
	#11 0x00007fdcfa25e26f in message_filters::Signal1<pcl::PointCloud<stdr_velodyne::PointType> >::call (this=<optimized out>, event=...)
	at /opt/ros/indigo/include/message_filters/signal1.h:119
	#12 0x00007fdcfa25bce6 in operator() (a0=..., this=0x1406e68) at /usr/include/boost/function/function_template.hpp:767
	#13 ros::SubscriptionCallbackHelperT<ros::MessageEvent<pcl::PointCloud<stdr_velodyne::PointType> const> const&, void>::call (this=0x1406e60, params=...)
	at /opt/ros/indigo/include/ros/subscription_callback_helper.h:144
	#14 0x00007fdcf9ce3695 in ros::SubscriptionQueue::call() () from /opt/ros/indigo/lib/libroscpp.so
	#15 0x00007fdcf9ca14f7 in ros::CallbackQueue::callOneCB(ros::CallbackQueue::TLS*) () from /opt/ros/indigo/lib/libroscpp.so
	#16 0x00007fdcf9ca2303 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/indigo/lib/libroscpp.so
	#17 0x00007fdcf9ce61b5 in ros::SingleThreadedSpinner::spin(ros::CallbackQueue*) () from /opt/ros/indigo/lib/libroscpp.so
	#18 0x00007fdcf9cce7bb in ros::spin() () from /opt/ros/indigo/lib/libroscpp.so
	#19 0x0000000000403f2c in main (argc=1, argv=0x7fffde7e97e8) at /home/bertrand/ws/driving/src/driving/packages/perception/perception/src/perception_node.cpp:45