rosserial embedded - tf to Publish an Odometry transform cause Segmentation fault

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Hi Community,

i'm trying to include odometry to my tiny robot. So far, rosserial is running on a small linux board and gehts its sensor_msgs::imu from onboard an imu sensor.

Now i am working on odomety (primitive one)... For reference i have used: Navigatin Tutorial which worked great on my PC with rosbag an rviz.

But when i try to combine rosserial with tf (from the tutorial) on my rosserial node, i get an segmentation fault while:

odom_broadcaster.sendTransform(odom_trans); // Line 55 on the Tutorial page

Changes for rosserial for the tutorial: from:

ros::Publisher odom_pub = n.advertise<nav_msgs::Odometry>("odom", 50);

to:

ros::Publisher odom_pub ("odom", &odom_msg);
nh.advertise(odom_pub);

but what ever i try,

odom_broadcaster.sendTransform(odom_trans);

from tutorial an in libs/ros_lib/tf/transform_broadcaster.h causes an segmentation fault.

my other messages are quiet good, as long as this one line is commented out...

Has anyone an advice for me, or has encountered the same/similar problem?