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This is most likely not conceptually related to compiling in debug mode, but rather an issue in in using Eigen types. Eigen has special requirements for use because of the optimization it uses. Compiling in debug probably just brought the problem to the surface.

Are you running only ROS code, or is anything your own?

There is a possibility that this is a ROS bug, but if you have any of your own code involved, I'd definitely follow the link provided in the error message check that against your own code first.

If it's ROS code then it would be wise to file a bug report (user accound needed).