Interesting error kills all tracking

[imcnanie]

I'm seeing this interesting error, I'm working on diagnosing it, but let me know if you've come across it before. It kills the whole docker container and I loose all tracking. It happens quite frequently.

|docker compose up      | libsurvive_ros2-libsurvive_ros2-1  | [libsurvive_ros2_node-1] libsurvive_ros2_node: /home/ubuntu/ros2_ws/build/libsurvive_ros2/libsurvive-prefix/src/libsurvive/src/survive_optimizer.c:338: survive_optimizer_get_max_parameters_count: Assertion `ctx->poseLength < 20' failed.
0|docker compose up      | libsurvive_ros2-libsurvive_ros2-1  | [ERROR] [libsurvive_ros2_node-1]: process has died [pid 55, exit code -6, cmd '/home/ubuntu/ros2_ws/install/libsurvive_ros2/lib/libsurvive_ros2/libsurvive_ros2_node --ros-args -r __node:=libsurvive_ros2_node -r __ns:=/libsurvive --params-file /tmp/launch_params_f2vdvjmj --params-file /tmp/launch_params_2agln105 --params-file /tmp/launch_params_6mse9_j7 --params-file /tmp/launch_params_8p1tp_l1 --params-file /tmp/launch_params__lqm5n5_ --params-file /tmp/launch_params_n2zbx89m'].

[asymingt]

Very interesting. I have noticed myself that the node crashes randomly every ~30min, and I believe that it's an assert being hit inside the libsurvive library. We should wrap the node with a debug prefix and get a backtrace when this happens, and maybe we can isolate where in the library it crashes. You don't perhaps have a backtrace do you?

[asymingt]

Here's a way to bandaid over the asserts, plus a few fixes: #6

[asymingt]

Change just merged. Let me know if it works for you.

[asymingt]

Related to: cntools/libsurvive#281

[imcnanie]

I left my tracking running all night and worked with it all day today, and it didn't crash once. So it's working pretty well as far as I can tell! Thanks for the quick fix!!