SIGILL, Illegal instruction in libpcl_common.so.1.5.1 from costmap_2d

asked 2013-05-10 01:43:35 -0500

BtbN
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Since our latest ros fuerte update in ubuntu precise, our navigation crashes. After investigating the issue, we found out that the problem is the costmap_2d node, which crahses with SIGILL, which mean that an illegal assembler instruction was called. We furhter investigated this, and found out, that it's a AVX instruction call in Eigen, called from libpcl in libpcl_common.so.1.5.1 Our ros is running on an intel atom, which does not support avx, so we can't use it anymore.

We tried to build our own version without avx, but failed to find out how to build our own deb to replace the existing one. The avx instructions shouldn't be in there at all, as many CPUs don't support it. The problems started with the ros update on 2nd May.

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answered 2013-05-10 12:43:25 -0500

BtbN
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I managed to hack-fix this for now. All i did was just rebuilding pcl from ros-gbp/pcl-fuerte-release.git on github(debian/fuerte/precise/pcl branch) on the machine it's running on and then simply replacing the libpcl files in /opt/ros/fuerte/lib with the ones i built.

Not a clean fix as it interfers with the package manager, but it works for now and i hope that the next update fixes it.

It looks like cmake checks for the SSE and other cpu capabilitys when it's configuring. So if the buildservers are capable of avx and other extensions, that'd explain how the instructions got in there.

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Clearly, the build farm should not produce binaries that only work on its particular hardware.

joq ( 2013-05-10 12:54:18 -0500 )edit

This also cleared up the issue for me. While a bit hacky, works until the build farm produces a working release.

jarvisschultz ( 2013-05-12 13:57:15 -0500 )edit

This hack worked for me too

martimorta ( 2013-05-14 00:38:15 -0500 )edit

This hack also fixes my problem.

LEinig ( 2013-05-16 22:56:29 -0500 )edit

This "fix" will disappear the next time you upgrade this package. You should avoid upgrading your packages until it is really fixed in the repo.

joq ( 2013-05-17 05:39:16 -0500 )edit

How did you get the sources? I tried git clone https://github.com.ros-gbp/pcl-fuerte.release.git but there was nothing to compile in the downloaded folder (pcl-fuerte-release)