Issues with Point Cloud Transmission Using Fast DDS: IDL Structure and Pub-Sub Code

[MAXIANH0NG]

Here is the IDL structure and the publish-subscribe code I used for transmitting point clouds with Fast DDS. The specific issue I encounter is: why does an error occur in the subscriber's callback function when executing the line serialize_msg.data().assign(msg.data.begin(), msg.data.end());? The error message is shown in the last section. My callback function does not perform any actions. Once I comment out the line serialize_msg.data().assign(msg.data.begin(), msg.data.end());, everything returns to normal.

 struct SerializedData {
        unsigned long size;
        sequence<octet> data;
    };

void RobotReceiver::PointCloudHandler(const void* msg)
{
  std::cout << "PointCloudHandler" << std::endl;

}

void RobotSender::ObstaclePointcloudCallback(sensor_msgs::PointCloud2 msg)
{
  std::cout << "ObstaclePointcloudCallback" << std::endl;

  SerializedData serialize_msg;

  serialize_msg.size(msg.data.size());
  serialize_msg.data().assign(msg.data.begin(), msg.data.end());

  if (m_ObstaclePointpub->Write(&serialize_msg))
  {
    std::cout<< "ObstaclePointcloudCallback write msg" <<std::endl;
  } else {
    std::cout<< " ObstaclePointcloudCallback write msg filed" <<std::endl;
  }
}

#0  0x00007ffff760c610 in eprosima::fastrtps::rtps::RTPSParticipantImpl::assert_remote_participant_liveliness(eprosima::fastrtps::rtps::GuidPrefix_t const&) ()
   from /usr/local/lib/libfastrtps.so.2.12
#1  0x00007ffff7601c11 in eprosima::fastrtps::rtps::MessageReceiver::processCDRMsg(eprosima::fastrtps::rtps::Locator_t const&, eprosima::fastrtps::rtps::Locator_t const&, eprosima::fastrtps::rtps::CDRMessage_t*) () from /usr/local/lib/libfastrtps.so.2.12
#2  0x00007ffff760ab7c in eprosima::fastrtps::rtps::ReceiverResource::OnDataReceived(unsigned char const*, unsigned int, eprosima::fastrtps::rtps::Locator_t const&, eprosima::fastrtps::rtps::Locator_t const&) () from /usr/local/lib/libfastrtps.so.2.12
#3  0x00007ffff76da04f in eprosima::fastdds::rtps::UDPChannelResource::perform_listen_operation(eprosima::fastrtps::rtps::Locator_t) ()
   from /usr/local/lib/libfastrtps.so.2.12
#4  0x00007ffff76da55a in std::thread::_State_impl<std::thread::_Invoker<std::tuple<void (eprosima::fastdds::rtps::UDPChannelResource::*)(eprosima::fastrtps::rtps::Locator_t), eprosima::fastdds::rtps::UDPChannelResource*, eprosima::fastrtps::rtps::Locator_t> > >::_M_run() () from /usr/local/lib/libfastrtps.so.2.12
#5  0x00007ffff6f12df4 in ?? () from /lib/x86_64-linux-gnu/libstdc++.so.6
#6  0x00007ffff70d1609 in start_thread (arg=<optimized out>) at pthread_create.c:477
#7  0x00007ffff6bff133 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95