问题：

Starting program: /bin/test_rosbag_io[Thread debugging using libthread_db enabled]Usinghostlibthread_db library"/lib/x86_64-linux-gnu/libthread_db.so.1".Program received signal SIGSEGV, Segmentation fault. 0x00007ffff7f9e093inpluginlib::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：

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