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Kobuki : eigen unaligned array

asked 2013-05-07 04:58:44 -0600

CarolineQ gravatar image

updated 2013-05-07 05:35:59 -0600

Hi everyone,

I am currently working with a Turtlebot 2 with a Kobuki base. I have a problem when I want to test the auto docking following the tutorial here : http://ros.org/wiki/kobuki/Tutorials/Testing%20Automatic%20Docking

When I try to launch the script compact.launch I have the following error :

[ INFO] [1367937642.195095811]: waitForService: Service [/kobuki/load_nodelet] is now available.

Warning: class_loader::class_loader_private: SEVERE WARNING!!! A namespace collision has occured with plugin factory for class kobuki::AutoDockingNodelet. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just dont link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.

         at line 180 in /opt/ros/groovy/include/class_loader/class_loader_core.h
nodelet: /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:69: Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 16>::plain_array() [with T = double, int Size = 4, int MatrixOrArrayOptions = 0]: Assertion (reinterpret_cast<size_t>(array) & 0xf) == 0 && "this assertion is explained here: " "http://eigen.tuxfamily.org/dox-devel/TopicUnalignedArrayAssert.html" " **** READ THIS WEB PAGE !!! ****" failed.

[FATAL] [1367937643.023125331]: Service call failed!
[FATAL] [1367937643.023446055]: Service call failed!
[kobuki-2] process has died [pid 10051, exit code -6, cmd /opt/ros/groovy/lib/nodelet/nodelet manager __name:=kobuki __log:=/home/turtlebot/.ros/log/09289394-b724-11e2-a331-446d57c545ae/kobuki-2.log].
log file: /home/turtlebot/.ros/log/09289394-b724-11e2-a331-446d57c545ae/kobuki-2*.log
[mobile_base-3] process has died [pid 10052, exit code 255, cmd /opt/ros/groovy/lib/nodelet/nodelet load kobuki_node/KobukiNodelet kobuki mobile_base/odom:=odom mobile_base/joint_states:=joint_states __name:=mobile_base __log:=/home/turtlebot/.ros/log/09289394-b724-11e2-a331-446d57c545ae/mobile_base-3.log].
log file: /home/turtlebot/.ros/log/09289394-b724-11e2-a331-446d57c545ae/mobile_base-3*.log
[dock_drive-4] process has died [pid 10110, exit code 255, cmd /opt/ros/groovy/lib/nodelet/nodelet load kobuki_auto_docking/AutoDockingNodelet kobuki dock_drive/odom:=odom dock_drive/core:=mobile_base/sensors/core dock_drive/dock_ir:=mobile_base/sensors/dock_ir dock_drive/motor_power:=mobile_base/commands/motor_power dock_drive/velocity:=mobile_base/commands/velocity __name:=dock_drive __log:=/home/turtlebot/.ros/log/09289394-b724-11e2-a331-446d57c545ae/dock_drive-4.log].
log file: /home/turtlebot/.ros/log/09289394-b724-11e2-a331-446d57c545ae/dock_drive-4*.log

In the same way when I launch the file minimal.launch of the turtlebot_bringup package I get the same error :

    nodelet: /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:69: Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 16>::plain_array() [with T = float, int Size = 4, int MatrixOrArrayOptions = 0]: Assertion (reinterpret_cast<size_t>(array) & 0xf) == 0 && "this assertion is explained here: " "http://eigen.tuxfamily.org/dox-devel/TopicUnalignedArrayAssert.html" " **** READ THIS WEB PAGE !!! ****" failed.
[FATAL] [1367936008.172819198]: Service call failed!
[FATAL] [1367936008.174865951]: Service call failed!
[FATAL] [1367936008.175274112]: Service call failed!
[mobile_base_nodelet_manager-5] process has died [pid 14661, exit code -6, cmd /opt/ros/groovy/lib/nodelet/nodelet manager __name:=mobile_base_nodelet_manager __log:=/home/turtlebot/.ros/log/16ea5958-b720-11e2-937d-446d57c545ae/mobile_base_nodelet_manager-5.log].
log file: /home/turtlebot/.ros/log/16ea5958-b720-11e2-937d-446d57c545ae/mobile_base_nodelet_manager-5*.log
[mobile_base-6] process has died [pid 14678, exit code 255, cmd /opt/ros/groovy/lib/nodelet/nodelet load kobuki_node/KobukiNodelet mobile_base_nodelet_manager mobile_base/odom:=odom mobile_base/enable:=enable mobile_base/disable:=disable mobile_base ...
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Btw, did you solved your problems with bumper in costmap? I updated my answer with all that I learned in a recent work. I'm curious about this issue ^_^

jorge gravatar imagejorge ( 2013-05-22 22:35:28 -0600 )edit

I replied to the post about bumpers in costmap. Sorry for this late reply.

CarolineQ gravatar imageCarolineQ ( 2013-06-03 21:36:20 -0600 )edit

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answered 2013-05-22 22:32:36 -0600

jorge gravatar image

Hello, it's the same problem you asked about in the other question. It should get solved after updating packages to the latest version (0.3.8) that I released yesterday. It's not still on shadow-fix, so you must wait maybe a while.

If you are not using shadow-fix packages, you will need to wait around a week to get the update.

Please tell me if the problem persist after updating.

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Thanks, I didn't test the update for the moment because I am not using shadow-fix packages, but I will keep you up to date about the test. But do you think the fix would also solve the problem about auto-docking ?

CarolineQ gravatar imageCarolineQ ( 2013-05-22 23:07:43 -0600 )edit

I am having the same problem here. What is strange is that it worked perfectly for a while and suddenly stopped working today. Could you let us know when the debs will be available ?

Lucile gravatar imageLucile ( 2013-05-29 04:15:26 -0600 )edit

Curious... did you switch from a 32 to a 64 bits Ubuntu? Or did you start using turtlebot_bringup instead of kobuki_node? Both things can explain that the error appears.

jorge gravatar imagejorge ( 2013-05-29 14:48:08 -0600 )edit

btw, the patch that fix this is ready in shadow-fix, in case you want to install it asap.

jorge gravatar imagejorge ( 2013-05-29 14:50:25 -0600 )edit

I updated the debs. It worked better. But sometimes, the error still occurs. I am not sure whether it is related to it or not, but most of the time, it seems that it happens after the laptop losts the wifi connexion with the workstation computer on which I launch the action client.

Lucile gravatar imageLucile ( 2013-05-29 21:25:46 -0600 )edit

But I didn't change neither the workstation computer, nor the laptop, nor the laptop OS, which is a 32 bits.

Lucile gravatar imageLucile ( 2013-05-29 21:35:57 -0600 )edit

It seems that I didn't manage to install the shadow-fixed packages. I tried to update again today and got a message error. Could you explain me how to do this update from shadow-fix ?

Lucile gravatar imageLucile ( 2013-05-30 23:48:15 -0600 )edit

Edit /etc/apt/sources.list.d/ros-latest.list file and replace line "deb http://packages.yujin.com/ros/ubuntu precise main" by "deb http://packages.ros.org/ros-shadow-fixed/ubuntu precise main". Then apt-get update and upgrade

jorge gravatar imagejorge ( 2013-06-02 14:35:09 -0600 )edit

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Asked: 2013-05-07 04:58:44 -0600

Seen: 907 times

Last updated: Jun 10 '13