libsub20 has a segfault somewhere.

[proan]

About to sub_i2c_read(). Handle: 0x6242a0

Program received signal SIGSEGV, Segmentation fault.
0x00000000f63249c4 in ?? ()
(gdb) backtrace
#0 0x00000000f63249c4 in ?? ()
#1 0x0000000000000001 in ?? ()
#2 0x0000000000000000 in ?? ()

[proan]

It can be run successfully with gdb by setting breakpoints at sub_i2c_read, and after breaking a few times, removing them. Because it doesn't repeatedly fail in gdb, but does when run as rosrun, it looks like it could be a threading issue.