Segfault on Jetson Orin Nano with some config files

[gmmyung]

I am trying to use openvins with d435i, and have calibrated all sensors.
The config file gives me an instant segfault:

mr2@mr2-jetson:~/ros2_ws$ ros2 launch ov_msckf subscribe.launch.py config_path:=/home/mr2/ros2_ws/src/mr2_launch/config/openvins/estimator_config.yaml
[INFO] [launch]: All log files can be found below /home/mr2/.ros/log/2025-06-26-01-10-59-961173-mr2-jetson-32062
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [run_subscribe_msckf-1]: process started with pid [32063]
[run_subscribe_msckf-1] overriding node verbosity with value from ROS!
[run_subscribe_msckf-1] Setting printing level to: INFO
[ERROR] [run_subscribe_msckf-1]: process has died [pid 32063, exit code -11, cmd '/home/mr2/ros2_ws/install/ov_msckf/lib/ov_msckf/run_subscribe_msckf --ros-args -r __ns:=/ov_msckf --params-file /tmp/launch_params_2lp64g70 --params-file /tmp/launch_params_zvtzkck5 --params-file /tmp/launch_params_3ls_c5wh --params-file /tmp/launch_params_7zyg8ieq --params-file /tmp/launch_params_qm19lny1'].

The thing is, it segfaults on rs_455 too. (Even without the camera nodes on)

mr2@mr2-jetson:~/ros2_ws$ ros2 launch ov_msckf subscribe.launch.py config:=rs_d455
[INFO] [launch]: All log files can be found below /home/mr2/.ros/log/2025-06-26-01-11-57-050540-mr2-jetson-32083
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [run_subscribe_msckf-1]: process started with pid [32084]
[run_subscribe_msckf-1] overriding node verbosity with value from ROS!
[run_subscribe_msckf-1] Setting printing level to: INFO
[ERROR] [run_subscribe_msckf-1]: process has died [pid 32084, exit code -11, cmd '/home/mr2/ros2_ws/install/ov_msckf/lib/ov_msckf/run_subscribe_msckf --ros-args -r __ns:=/ov_msckf --params-file /tmp/launch_params_e5nqqu9x --params-file /tmp/launch_params_15xxk96v --params-file /tmp/launch_params_pnyxqm_n --params-file /tmp/launch_params_i09cyb2y --params-file /tmp/launch_params_xbj8893u'].

But rs_t265 does not segfault:

ros2 launch ov_msckf subscribe.launch.py config:=rs_t265
[INFO] [launch]: All log files can be found below /home/mr2/.ros/log/2025-06-26-01-13-01-097377-mr2-jetson-32139
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [run_subscribe_msckf-1]: process started with pid [32140]
[run_subscribe_msckf-1] overriding node verbosity with value from ROS!
[run_subscribe_msckf-1] Setting printing level to: INFO

One thing I have in mind is that my version of opencv is 4.12.0 with CUDA, but i am not so sure if it is the reason.

[jessicatodd]

I'm running into the same issue running OpenVins inside Docker on my Rpi5. I get an instant segfault with the rs_d455 config file, but the rest seem to work ok. Did you resolve the issue?