How to use libSegFault with ROS node(let)s?

Question

I'm trying to debug a segmentation fault on a ROS nodelet. I've tried to use libSegFault by adding the following lines to CMakeLists.txt:

set(CMAKE_BUILD_TYPE Debug)
set(CMAKE_CXX_STANDARD_LIBRARIES -lSegFault)

Further, if I enable verbose output with:

set(CMAKE_VERBOSE_MAKEFILE on)

I can see that the nodelet library is indeed being compiled with -g and linked against libSegFault.

However, no additional output is generated when the nodelet crashes.

What am I missing? Is the output maybe being suppressed by the ROS logger?

Answer 1

It turns out that (as shown here) I had to set the LD_PRELOAD environment variable prior to starting the nodelet, for example:

LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libSegFault.so roslaunch ...

A dump was then correctly printed after the nodelet crashed.