tpp.c:84:使用pcl_ros::transformPointCloud时断言失败

我正在尝试创建一个节点来使用tf侦听器并订阅PointCloud2主题，并使用pcl_ros：transformPointCloud函数输出一个已转换为基础框架的新PointCloud2话题。代码运行良好，直到收到消息，当它在第一次调用pcl_ros函数时失败，并显示以下错误消息：

transf_vox_cloud:tpp.c:84:__pthread_tpp_change_priority:断言`new_prio=-1||(new_prio>=fifo_min_prio&&new_prio<=fifo_max_prio'失败。中止(堆芯转储)

#include <ros/ros.h>
#include <tf/tf.h>
#include <tf/transform_listener.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl_ros/transforms.h>
#include <string>
class STP
{
public:
STP()
{
new_PCD_pub = n.advertise<sensor_msgs::PointCloud2>("new_voxel_cloud",500); //define publisher
old_PCD_sub = n.subscribe("voxel_cloud",500, &STP::transformCallback, this); //define subscriber
ros::spin();
}
private: //initialize node, define pub/sub, initialize tf listener, define destination frame for transforms
ros::NodeHandle n;
ros::Publisher new_PCD_pub;
ros::Subscriber old_PCD_sub;
tf::TransformListener *tf_listener;
std::string dest_frame = "/map";
void transformCallback(const sensor_msgs::PointCloud2::ConstPtr& camera_frame_cloud) //callback func to transform received pointcloud
{
sensor_msgs::PointCloud2 map_frame_cloud;
pcl_ros::transformPointCloud(dest_frame, *camera_frame_cloud, map_frame_cloud, *tf_listener);
new_PCD_pub.publish(map_frame_cloud);
}
}; //end callback func
int main(int argc, char** argv){
ros::init(argc, argv, "voxel_cloud_transformer");
STP STPobject;
return 0;
}