使用rosbag::Bag bag(“20130110.bag“)出现段错误

问题：

Starting program: /bin/test_rosbag_io 
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".

Program received signal SIGSEGV, Segmentation fault.
0x00007ffff7f9e093 in pluginlib::ClassLoader<rosbag::EncryptorBase>::getClassLibraryPath(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) () from /opt/ros/noetic/lib/librosbag_storage.so
(gdb) bt
#0  0x00007ffff7f9e093 in pluginlib::ClassLoader<rosbag::EncryptorBase>::getClassLibraryPath(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) () from /opt/ros/noetic/lib/librosbag_storage.so
#1  0x00007ffff7f923f0 in pluginlib::ClassLoader<rosbag::EncryptorBase>::loadLibraryForClass(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) () from /opt/ros/noetic/lib/librosbag_storage.so
#2  0x00007ffff7f9b3f1 in pluginlib::ClassLoader<rosbag::EncryptorBase>::createInstance(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) () from /opt/ros/noetic/lib/librosbag_storage.so
#3  0x00007ffff7f80b4c in rosbag::Bag::setEncryptorPlugin(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) () from /opt/ros/noetic/lib/librosbag_storage.so
#4  0x00007ffff7f80d38 in rosbag::Bag::init() () from /opt/ros/noetic/lib/librosbag_storage.so
#5  0x00007ffff7f81fbb in rosbag::Bag::Bag() () from /opt/ros/noetic/lib/librosbag_storage.so

分析：

尝试各种方式，最终发现在make时，有以下警告

/usr/bin/ld: warning: libboost_filesystem.so.1.71.0, needed by /opt/ros/noetic/lib/librosbag_storage.so, may conflict with libboost_filesystem.so.1.84.0

这个警告表示系统中有两个不同版本的Boost库（1.71.0和1.84.0）存在冲突。ROS Noetic需要Boost 1.71版本。

解决：

终端运行：

export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.71.0
./bin/test_io