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The version that worked was moveit-0.10.8 and eigen-3.2.8.
Reading through the patch notes for eigen, they introduced AVX support with version 3.3. Which is enabled with -march=native on my system. AVX requires 32 bit-alignment whereas RobotState enforces 16 bit-alignment here resulting in segfaults.
When I add "-DEIGEN_MAX_ALIGN_BYTES=16 -DEIGEN_UNALIGNED_VECTORIZE=0" to the CXXFLAGS for moveit it will run without issues, as this will create SSE compatible code.
As this is a bug in moveit i will open an issue on github.
@rhaschke that warning was introduced in gcc-8: https://gcc.gnu.org/onlinedocs/gcc/C_002b_002b-Dialect-Options.html#index-Wclass-memaccess.
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